radix dec ; Code bank 0; Start address: 0; End address: 2047 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 288 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # Copyright (c) 2006-2009 by Wayne C. Gramlich ; # All rights reserved. ; # This code implements the firmware for the MidiMotor1E. ; # The MidiMotor1E differs from the MidiMotor1 in that the '1E has ; # two extra connectors N2 and N4. N2 is a 5 pin connector that can ; # be used to read in two channels of quardarature position (plus an ; # an index pulse.) Alternatively, N2 can be used to read in an ; # analog signal between 0 and 5V for an absolute position. N4 is ; # used as an active low limit switch that can be used to term off ; # the motor. ; # ; # The architecture of this firmware is actually pretty complicated. ; # The pulse width modulation is controlled by the Timer0 and Timer1 ; # modules. The quadrature encoding and limit switch is delt with ; # via some pins on Port A. The UART is responsible for dealing ; # with RoboBricks2 bus I/O. The A/D converter is responsible ; # for processing Analog to digital conversions. The code in the ; # main loop is responsible for running a PID (Proportional, ; # Integral, Derivative) motor control loop. The PID algorithm is ; # done using 32-bit floating point arithmetic. Heavy use of interrupts ; # is used to ensure that everything works in a timely fashion. ; # ; # There are three main routines -- interrupt(), main() and uart_manage(). ; # The interrupt() routine is responsible for processing all interrupt ; # events. UART processing is sufficiently complicated, that UART input ; # is quickly stuffed into a temporary buffer, to minimize intterupt ; # latency. Further UART process is handled by the uart_manage() routine. ; # Calls to the uart_manage() routine are sprinkled throught the main ; # loop in main() to ensure that any buffered uart commands are processed ; # fairly quickly. ; # We use the PIC16F688 for this module: ; buffer = 'midimotor1e' ; line_number = 36 ; library _pic16f688 entered ; # Copyright (c) 2004-2006 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f688' ; line_number = 6 ; processor pic16f688 ; line_number = 7 ; configure_address 0x2007 ; line_number = 8 ; configure_fill 0x3000 ; line_number = 9 ; configure_option fcmen: on = 0x800 ; line_number = 10 ; configure_option fcmen: off = 0x000 ; line_number = 11 ; configure_option ieso: on = 0x400 ; line_number = 12 ; configure_option ieso: off = 0x000 ; line_number = 13 ; configure_option boden: on = 0x300 ; line_number = 14 ; configure_option boden: partial = 0x200 ; line_number = 15 ; configure_option boden: sboden = 0x100 ; line_number = 16 ; configure_option boden: off = 0x000 ; line_number = 17 ; configure_option cpd: on = 0x00 ; line_number = 18 ; configure_option cpd: off = 0x80 ; line_number = 19 ; configure_option cp: on = 0x00 ; line_number = 20 ; configure_option cp: off = 0x40 ; line_number = 21 ; configure_option mclre: on = 0x20 ; line_number = 22 ; configure_option mclre: off = 0x00 ; line_number = 23 ; configure_option pwrte: on = 0x00 ; line_number = 24 ; configure_option pwrte: off = 0x10 ; line_number = 25 ; configure_option wdte: on = 8 ; line_number = 26 ; configure_option wdte: off = 0 ; line_number = 27 ; configure_option fosc: rc_clk = 7 ; line_number = 28 ; configure_option fosc: rc_no_clk = 6 ; line_number = 29 ; configure_option fosc: int_clk = 5 ; line_number = 30 ; configure_option fosc: int_no_clk = 4 ; line_number = 31 ; configure_option fosc: ec = 3 ; line_number = 32 ; configure_option fosc: hs = 2 ; line_number = 33 ; configure_option fosc: xt = 1 ; line_number = 34 ; configure_option fosc: lp = 0 ; line_number = 36 ; code_bank 0x0 : 0x7ff ; line_number = 37 ; code_bank 0x800 : 0xfff ; line_number = 38 ; data_bank 0x0 : 0x7f ; line_number = 39 ; data_bank 0x80 : 0xff ; line_number = 40 ; data_bank 0x100 : 0x17f ; line_number = 41 ; data_bank 0x180 : 0x1ff ; line_number = 43 ; global_region 0x20 : 0x6f ; line_number = 44 ; icd2_global_region 0x20 : 0x6f ; line_number = 46 ; global_region 0xa0 : 0xef ; line_number = 47 ; icd2_global_region 0xa0 : 0xef ; line_number = 49 ; global_region 0x120 : 0x16f ; line_number = 50 ; icd2_global_region 0x120 : 0x164 ; line_number = 52 ; shared_region 0x70 : 0x7f ; line_number = 53 ; icd2_shared_region 0x71 : 0x7f ; line_number = 55 ; interrupts_possible ; line_number = 56 ; packages pdip=14, soic=14, tssop=14 ; line_number = 57 ; pin vdd, power_supply ; line_number = 58 ; pin_bindings pdip=1, soic=1, tssop=1 ; line_number = 59 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin ; line_number = 60 ; pin_bindings pdip=2, soic=2, tssop=2 ; line_number = 61 ; bind_to _porta@5 ; line_number = 62 ; or_if ra5_in _trisa 32 ; line_number = 63 ; or_if ra5_nc _trisa 32 ; line_number = 64 ; or_if ra5_out _trisa 0 ; line_number = 65 ; or_if osc1 _trisa 32 ; line_number = 66 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout ; line_number = 67 ; pin_bindings pdip=3, soic=3, tssop=3 ; line_number = 68 ; bind_to _porta@4 ; line_number = 69 ; or_if ra4_in _trisa 16 ; line_number = 70 ; or_if ra4_nc _trisa 16 ; line_number = 71 ; or_if ra4_out _trisa 0 ; line_number = 72 ; or_if an3 _trisa 16 ; line_number = 73 ; or_if osc2 _trisa 16 ; line_number = 74 ; or_if ra4_in _ansel 0 ; line_number = 75 ; or_if ra4_out _ansel 0 ; line_number = 76 ; or_if an3 _ansel 8 ; line_number = 77 ; or_if ra4_in _adcon0 0 ; line_number = 78 ; or_if ra4_out _adcon0 0 ; line_number = 79 ; or_if an3 _adcon0 1 ; line_number = 80 ; pin ra3_in, ra3_nc, mclr, vpp ; line_number = 81 ; pin_bindings pdip=4, soic=4, tssop=4 ; line_number = 82 ; bind_to _porta@3 ; line_number = 83 ; or_if ra3_in _trisa 8 ; line_number = 84 ; or_if ra3_nc _trisa 8 ; line_number = 85 ; pin rc5_in, rc5_nc, rc5_out, rx, dt ; line_number = 86 ; pin_bindings pdip=5, soic=5, tssop=5 ; line_number = 87 ; bind_to _portc@5 ; line_number = 88 ; or_if rc5_in _trisc 32 ; line_number = 89 ; or_if rc5_nc _trisc 32 ; line_number = 90 ; or_if rc5_out _trisc 0 ; line_number = 91 ; or_if rx _trisc 32 ; line_number = 92 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck ; line_number = 93 ; pin_bindings pdip=6, soic=6, tssop=6 ; line_number = 94 ; bind_to _portc@4 ; line_number = 95 ; or_if rc4_in _trisc 16 ; line_number = 96 ; or_if rc4_nc _trisc 16 ; line_number = 97 ; or_if rc4_out _trisc 0 ; # The UART documentation says TX must be marked as in input: ; line_number = 99 ; or_if tx _trisc 16 ; line_number = 100 ; pin rc3_in, rc3_nc, rc3_out, an7 ; line_number = 101 ; pin_bindings pdip=7, soic=7, tssop=7 ; line_number = 102 ; bind_to _portc@3 ; line_number = 103 ; or_if rc3_in _trisc 8 ; line_number = 104 ; or_if rc3_nc _trisc 8 ; line_number = 105 ; or_if rc3_out _trisc 0 ; line_number = 106 ; or_if an7 _trisc 8 ; line_number = 107 ; or_if rc3_in _ansel 0 ; line_number = 108 ; or_if rc3_out _ansel 0 ; line_number = 109 ; or_if an7 _ansel 128 ; line_number = 110 ; or_if rc3_in _adcon0 0 ; line_number = 111 ; or_if rc3_out _adcon0 0 ; line_number = 112 ; or_if an7 _adcon0 1 ; line_number = 113 ; pin rc2_in, rc2_nc, rc2_out, an6 ; line_number = 114 ; pin_bindings pdip=8, soic=8, tssop=8 ; line_number = 115 ; bind_to _portc@2 ; line_number = 116 ; or_if rc2_in _trisc 4 ; line_number = 117 ; or_if rc2_nc _trisc 4 ; line_number = 118 ; or_if rc2_out _trisc 0 ; line_number = 119 ; or_if an6 _trisc 4 ; line_number = 120 ; or_if rc2_in _ansel 0 ; line_number = 121 ; or_if rc2_out _ansel 0 ; line_number = 122 ; or_if an6 _ansel 64 ; line_number = 123 ; or_if rc2_in _adcon0 0 ; line_number = 124 ; or_if rc2_out _adcon0 0 ; line_number = 125 ; or_if an6 _adcon0 1 ; line_number = 126 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus ; line_number = 127 ; pin_bindings pdip=9, soic=9, tssop=9 ; line_number = 128 ; bind_to _portc@1 ; line_number = 129 ; or_if rc1_in _trisc 2 ; line_number = 130 ; or_if rc1_nc _trisc 2 ; line_number = 131 ; or_if rc1_out _trisc 0 ; line_number = 132 ; or_if rc1_in _cmcon0 7 ; line_number = 133 ; or_if rc1_out _cmcon0 7 ; line_number = 134 ; or_if an5 _trisc 2 ; line_number = 135 ; or_if rc1_in _ansel 0 ; line_number = 136 ; or_if rc1_out _ansel 0 ; line_number = 137 ; or_if an5 _ansel 32 ; line_number = 138 ; or_if rc1_in _adcon0 0 ; line_number = 139 ; or_if rc1_out _adcon0 0 ; line_number = 140 ; or_if an5 _adcon0 1 ; line_number = 141 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus ; line_number = 142 ; pin_bindings pdip=10, soic=10, tssop=10 ; line_number = 143 ; bind_to _portc@0 ; line_number = 144 ; or_if rc0_in _trisc 1 ; line_number = 145 ; or_if rc0_nc _trisc 1 ; line_number = 146 ; or_if rc0_out _trisc 0 ; line_number = 147 ; or_if rc0_in _cmcon0 7 ; line_number = 148 ; or_if rc0_out _cmcon0 7 ; line_number = 149 ; or_if an4 _trisc 1 ; line_number = 150 ; or_if rc0_in _ansel 0 ; line_number = 151 ; or_if rc0_out _ansel 0 ; line_number = 152 ; or_if an4 _ansel 16 ; line_number = 153 ; or_if rc0_in _adcon0 0 ; line_number = 154 ; or_if rc0_out _adcon0 0 ; line_number = 155 ; or_if an4 _adcon0 1 ; line_number = 156 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int ; line_number = 157 ; pin_bindings pdip=11, soic=11, tssop=11 ; line_number = 158 ; bind_to _porta@2 ; line_number = 159 ; or_if ra2_in _trisa 4 ; line_number = 160 ; or_if ra2_nc _trisa 4 ; line_number = 161 ; or_if ra2_out _trisa 0 ; line_number = 162 ; or_if an2 _trisa 4 ; line_number = 163 ; or_if ra2_in _ansel 0 ; line_number = 164 ; or_if ra2_out _ansel 0 ; line_number = 165 ; or_if an2 _ansel 4 ; line_number = 166 ; or_if ra2_in _adcon0 0 ; line_number = 167 ; or_if ra2_out _adcon0 0 ; line_number = 168 ; or_if an2 _adcon0 1 ; line_number = 169 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk ; line_number = 170 ; pin_bindings pdip=12, soic=12, tssop=12 ; line_number = 171 ; bind_to _porta@1 ; line_number = 172 ; or_if ra1_in _trisa 2 ; line_number = 173 ; or_if ra1_nc _trisa 2 ; line_number = 174 ; or_if ra1_out _trisa 0 ; line_number = 175 ; or_if ra1_in _cmcon0 7 ; line_number = 176 ; or_if ra1_out _cmcon0 7 ; line_number = 177 ; or_if an1 _trisa 2 ; line_number = 178 ; or_if vref _trisa 2 ; line_number = 179 ; or_if ra1_in _ansel 0 ; line_number = 180 ; or_if ra1_out _ansel 0 ; line_number = 181 ; or_if an1 _ansel 2 ; line_number = 182 ; or_if vref _ansel 2 ; line_number = 183 ; or_if ra1_in _adcon0 0 ; line_number = 184 ; or_if ra1_out _adcon0 0 ; line_number = 185 ; or_if an1 _adcon0 1 # Turn on _addon ; line_number = 186 ; or_if vref _adcon0 1 # Turn on _addon ; line_number = 187 ; or_if vref _adcon0 64 # Turn of _vcfg ; line_number = 188 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu ; line_number = 189 ; pin_bindings pdip=13, soic=13, tssop=13 ; line_number = 190 ; bind_to _porta@0 ; line_number = 191 ; or_if ra0_in _trisa 1 ; line_number = 192 ; or_if ra0_nc _trisa 1 ; line_number = 193 ; or_if ra0_out _trisa 0 ; line_number = 194 ; or_if ra0_in _cmcon0 7 ; line_number = 195 ; or_if ra0_out _cmcon0 7 ; line_number = 196 ; or_if an0 _trisa 1 ; line_number = 197 ; or_if ra0_in _ansel 0 ; line_number = 198 ; or_if ra0_out _ansel 0 ; line_number = 199 ; or_if an0 _ansel 1 ; line_number = 200 ; or_if ra0_in _adcon0 0 ; line_number = 201 ; or_if ra0_out _adcon0 0 ; line_number = 202 ; or_if an0 _adcon0 1 ; line_number = 203 ; pin vss, ground ; line_number = 204 ; pin_bindings pdip=14, soic=14, tssop=14 ; line_number = 206 ; library _standard entered ; # Copyright (c) 2006 by Wayne C. Gramlich ; # All rights reserved. ; # Standard definition for uCL: ; buffer = '_standard' ; line_number = 8 ; constant _true = (1 = 1) _true equ 1 ; line_number = 9 ; constant _false = (0 != 0) _false equ 0 ; buffer = '_pic16f688' ; line_number = 206 ; library _standard exited ; # Register/bit bindings: ; # Databank 0 (0x0 - 0x7f): ; line_number = 217 ; register _indf = _indf equ 0 ; line_number = 219 ; register _tmr0 = _tmr0 equ 1 ; line_number = 221 ; register _pcl = _pcl equ 2 ; line_number = 223 ; register _status = _status equ 3 ; line_number = 224 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 225 ; bind _rp1 = _status@5 _rp1___byte equ _status _rp1___bit equ 5 ; line_number = 226 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 227 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 228 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 229 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 230 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 231 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 233 ; register _fsr = _fsr equ 4 ; line_number = 235 ; register _porta = _porta equ 5 ; line_number = 236 ; register _ra = _ra equ 5 ; line_number = 237 ; bind _ra5 = _porta@5 _ra5___byte equ _porta _ra5___bit equ 5 ; line_number = 238 ; bind _ra4 = _porta@4 _ra4___byte equ _porta _ra4___bit equ 4 ; line_number = 239 ; bind _ra3 = _porta@3 _ra3___byte equ _porta _ra3___bit equ 3 ; line_number = 240 ; bind _ra2 = _porta@2 _ra2___byte equ _porta _ra2___bit equ 2 ; line_number = 241 ; bind _ra1 = _porta@1 _ra1___byte equ _porta _ra1___bit equ 1 ; line_number = 242 ; bind _ra0 = _porta@0 _ra0___byte equ _porta _ra0___bit equ 0 ; line_number = 244 ; register _portc = _portc equ 7 ; line_number = 245 ; register _rc = _rc equ 7 ; line_number = 246 ; bind _rc5 = _portc@5 _rc5___byte equ _portc _rc5___bit equ 5 ; line_number = 247 ; bind _rc4 = _portc@4 _rc4___byte equ _portc _rc4___bit equ 4 ; line_number = 248 ; bind _rc3 = _portc@3 _rc3___byte equ _portc _rc3___bit equ 3 ; line_number = 249 ; bind _rc2 = _portc@2 _rc2___byte equ _portc _rc2___bit equ 2 ; line_number = 250 ; bind _rc1 = _portc@1 _rc1___byte equ _portc _rc1___bit equ 1 ; line_number = 251 ; bind _rc0 = _portc@0 _rc0___byte equ _portc _rc0___bit equ 0 ; line_number = 253 ; register _pclath = _pclath equ 10 ; line_number = 255 ; register _intcon = _intcon equ 11 ; line_number = 256 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 257 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 258 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 259 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 260 ; bind _raie = _intcon@3 _raie___byte equ _intcon _raie___bit equ 3 ; line_number = 261 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 262 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 263 ; bind _raif = _intcon@0 _raif___byte equ _intcon _raif___bit equ 0 ; line_number = 265 ; register _pir1 = _pir1 equ 12 ; line_number = 266 ; bind _eeif = _pir1@7 _eeif___byte equ _pir1 _eeif___bit equ 7 ; line_number = 267 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 268 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 269 ; bind _c2if = _pir1@4 _c2if___byte equ _pir1 _c2if___bit equ 4 ; line_number = 270 ; bind _c1if = _pir1@3 _c1if___byte equ _pir1 _c1if___bit equ 3 ; line_number = 271 ; bind _osfif = _pir1@2 _osfif___byte equ _pir1 _osfif___bit equ 2 ; line_number = 272 ; bind _txif = _pir1@1 _txif___byte equ _pir1 _txif___bit equ 1 ; line_number = 273 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 275 ; register _tmr1l = _tmr1l equ 14 ; line_number = 277 ; register _tmr1h = _tmr1h equ 15 ; line_number = 279 ; register _t1con = _t1con equ 16 ; line_number = 280 ; bind t1ginv = _t1con@7 t1ginv___byte equ _t1con t1ginv___bit equ 7 ; line_number = 281 ; bind _tmr1ge = _t1con@6 _tmr1ge___byte equ _t1con _tmr1ge___bit equ 6 ; line_number = 282 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 283 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 284 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 285 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 286 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 287 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 289 ; register _baudctl = _baudctl equ 17 ; line_number = 290 ; bind _abdovf = _baudctl@7 _abdovf___byte equ _baudctl _abdovf___bit equ 7 ; line_number = 291 ; bind _rcidl = _baudctl@6 _rcidl___byte equ _baudctl _rcidl___bit equ 6 ; line_number = 292 ; bind _sckp = _baudctl@4 _sckp___byte equ _baudctl _sckp___bit equ 4 ; line_number = 293 ; bind _brg16 = _baudctl@3 _brg16___byte equ _baudctl _brg16___bit equ 3 ; line_number = 294 ; bind _wue = _baudctl@1 _wue___byte equ _baudctl _wue___bit equ 1 ; line_number = 295 ; bind _abden = _baudctl@0 _abden___byte equ _baudctl _abden___bit equ 0 ; line_number = 297 ; register _spbrgh = _spbrgh equ 18 ; line_number = 299 ; register _spbrg = _spbrg equ 19 ; line_number = 301 ; register _rcreg = _rcreg equ 20 ; line_number = 303 ; register _txreg = _txreg equ 21 ; line_number = 305 ; register _txsta = _txsta equ 22 ; line_number = 306 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 307 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 308 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 309 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 310 ; bind _sendb = _txsta@3 _sendb___byte equ _txsta _sendb___bit equ 3 ; line_number = 311 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 312 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 313 ; bind _tx9d = _txsta@0 _tx9d___byte equ _txsta _tx9d___bit equ 0 ; line_number = 315 ; register _rcsta = _rcsta equ 23 ; line_number = 316 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 317 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 318 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 319 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 320 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 321 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 322 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 323 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 325 ; register _wdtcon = _wdtcon equ 24 ; line_number = 326 ; bind _wdtps3 = _wdtcon@4 _wdtps3___byte equ _wdtcon _wdtps3___bit equ 4 ; line_number = 327 ; bind _wdtps2 = _wdtcon@3 _wdtps2___byte equ _wdtcon _wdtps2___bit equ 3 ; line_number = 328 ; bind _wdtps1 = _wdtcon@2 _wdtps1___byte equ _wdtcon _wdtps1___bit equ 2 ; line_number = 329 ; bind _wdtps0 = _wdtcon@1 _wdtps0___byte equ _wdtcon _wdtps0___bit equ 1 ; line_number = 330 ; bind _swdten = _wdtcon@0 _swdten___byte equ _wdtcon _swdten___bit equ 0 ; line_number = 332 ; register _cmcon0 = _cmcon0 equ 25 ; line_number = 333 ; bind _c1out = _cmcon0@7 _c1out___byte equ _cmcon0 _c1out___bit equ 7 ; line_number = 334 ; bind _c2out = _cmcon0@6 _c2out___byte equ _cmcon0 _c2out___bit equ 6 ; line_number = 335 ; bind _c1inv = _cmcon0@5 _c1inv___byte equ _cmcon0 _c1inv___bit equ 5 ; line_number = 336 ; bind _c2inv = _cmcon0@4 _c2inv___byte equ _cmcon0 _c2inv___bit equ 4 ; line_number = 337 ; bind _cis = _cmcon0@3 _cis___byte equ _cmcon0 _cis___bit equ 3 ; line_number = 338 ; bind _cm2 = _cmcon0@2 _cm2___byte equ _cmcon0 _cm2___bit equ 2 ; line_number = 339 ; bind _cm1 = _cmcon0@1 _cm1___byte equ _cmcon0 _cm1___bit equ 1 ; line_number = 340 ; bind _cm0 = _cmcon0@0 _cm0___byte equ _cmcon0 _cm0___bit equ 0 ; line_number = 342 ; register _cmcon1 = _cmcon1 equ 26 ; line_number = 343 ; bind _t1gss = _cmcon1@0 _t1gss___byte equ _cmcon1 _t1gss___bit equ 0 ; line_number = 344 ; bind _c2sync = _cmcon1@1 _c2sync___byte equ _cmcon1 _c2sync___bit equ 1 ; line_number = 346 ; register _adresh = _adresh equ 30 ; line_number = 348 ; register _adcon0 = _adcon0 equ 31 ; line_number = 349 ; bind _adfm = _adcon0@7 _adfm___byte equ _adcon0 _adfm___bit equ 7 ; line_number = 350 ; bind _vcfg = _adcon0@6 _vcfg___byte equ _adcon0 _vcfg___bit equ 6 ; line_number = 351 ; bind _chs2 = _adcon0@4 _chs2___byte equ _adcon0 _chs2___bit equ 4 ; line_number = 352 ; bind _chs1 = _adcon0@3 _chs1___byte equ _adcon0 _chs1___bit equ 3 ; line_number = 353 ; bind _chs0 = _adcon0@2 _chs0___byte equ _adcon0 _chs0___bit equ 2 ; line_number = 354 ; bind _go = _adcon0@1 _go___byte equ _adcon0 _go___bit equ 1 ; line_number = 355 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Data bank 1 (0x80-0xff): ; line_number = 359 ; register _option_reg = _option_reg equ 129 ; line_number = 360 ; bind _rapu = _option_reg@7 _rapu___byte equ _option_reg _rapu___bit equ 7 ; line_number = 361 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 362 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 363 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 364 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 365 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 366 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 367 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 369 ; register _trisa = _trisa equ 133 ; line_number = 370 ; bind _trisa5 = _trisa@5 _trisa5___byte equ _trisa _trisa5___bit equ 5 ; line_number = 371 ; bind _trisa4 = _trisa@4 _trisa4___byte equ _trisa _trisa4___bit equ 4 ; line_number = 372 ; bind _trisa3 = _trisa@3 _trisa3___byte equ _trisa _trisa3___bit equ 3 ; line_number = 373 ; bind _trisa2 = _trisa@2 _trisa2___byte equ _trisa _trisa2___bit equ 2 ; line_number = 374 ; bind _trisa1 = _trisa@1 _trisa1___byte equ _trisa _trisa1___bit equ 1 ; line_number = 375 ; bind _trisa0 = _trisa@0 _trisa0___byte equ _trisa _trisa0___bit equ 0 ; line_number = 377 ; register _trisc = _trisc equ 135 ; line_number = 378 ; bind _trisc5 = _trisc@5 _trisc5___byte equ _trisc _trisc5___bit equ 5 ; line_number = 379 ; bind _trisc4 = _trisc@4 _trisc4___byte equ _trisc _trisc4___bit equ 4 ; line_number = 380 ; bind _trisc3 = _trisc@3 _trisc3___byte equ _trisc _trisc3___bit equ 3 ; line_number = 381 ; bind _trisc2 = _trisc@2 _trisc2___byte equ _trisc _trisc2___bit equ 2 ; line_number = 382 ; bind _trisc1 = _trisc@1 _trisc1___byte equ _trisc _trisc1___bit equ 1 ; line_number = 383 ; bind _trisc0 = _trisc@0 _trisc0___byte equ _trisc _trisc0___bit equ 0 ; line_number = 385 ; register _pie1 = _pie1 equ 140 ; line_number = 386 ; bind _eeie = _pie1@7 _eeie___byte equ _pie1 _eeie___bit equ 7 ; line_number = 387 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 388 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 389 ; bind _c2ie = _pie1@4 _c2ie___byte equ _pie1 _c2ie___bit equ 4 ; line_number = 390 ; bind _c1ie = _pie1@3 _c1ie___byte equ _pie1 _c1ie___bit equ 3 ; line_number = 391 ; bind _osfie = _pie1@2 _osfie___byte equ _pie1 _osfie___bit equ 2 ; line_number = 392 ; bind _txie = _pie1@1 _txie___byte equ _pie1 _txie___bit equ 1 ; line_number = 393 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 395 ; register _pcon = _pcon equ 142 ; line_number = 396 ; bind _ulpwue = _pcon@5 _ulpwue___byte equ _pcon _ulpwue___bit equ 5 ; line_number = 397 ; bind _sboden = _pcon@4 _sboden___byte equ _pcon _sboden___bit equ 4 ; line_number = 398 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 399 ; bind _bod = _pcon@0 _bod___byte equ _pcon _bod___bit equ 0 ; line_number = 401 ; register _osccon = _osccon equ 143 ; line_number = 402 ; bind _ircf2 = _osccon@6 _ircf2___byte equ _osccon _ircf2___bit equ 6 ; line_number = 403 ; bind _ircf1 = _osccon@5 _ircf1___byte equ _osccon _ircf1___bit equ 5 ; line_number = 404 ; bind _ircf0 = _osccon@4 _ircf0___byte equ _osccon _ircf0___bit equ 4 ; line_number = 405 ; bind _osts = _osccon@3 _osts___byte equ _osccon _osts___bit equ 3 ; line_number = 406 ; bind _hts = _osccon@2 _hts___byte equ _osccon _hts___bit equ 2 ; line_number = 407 ; bind _lts = _osccon@3 _lts___byte equ _osccon _lts___bit equ 3 ; line_number = 408 ; bind _scs = _osccon@2 _scs___byte equ _osccon _scs___bit equ 2 ; line_number = 410 ; register _osctune = _osctune equ 144 ; line_number = 411 ; bind _tun4 = _osctune@4 _tun4___byte equ _osctune _tun4___bit equ 4 ; line_number = 412 ; bind _tun3 = _osctune@3 _tun3___byte equ _osctune _tun3___bit equ 3 ; line_number = 413 ; bind _tun2 = _osctune@2 _tun2___byte equ _osctune _tun2___bit equ 2 ; line_number = 414 ; bind _tun1 = _osctune@1 _tun1___byte equ _osctune _tun1___bit equ 1 ; line_number = 415 ; bind _tun0 = _osctune@0 _tun0___byte equ _osctune _tun0___bit equ 0 ; line_number = 416 ; constant _osccal_lsb = 1 _osccal_lsb equ 1 ; line_number = 418 ; register _ansel = _ansel equ 145 ; line_number = 419 ; bind _ans7 = _ansel@7 _ans7___byte equ _ansel _ans7___bit equ 7 ; line_number = 420 ; bind _ans6 = _ansel@6 _ans6___byte equ _ansel _ans6___bit equ 6 ; line_number = 421 ; bind _ans5 = _ansel@5 _ans5___byte equ _ansel _ans5___bit equ 5 ; line_number = 422 ; bind _ans4 = _ansel@4 _ans4___byte equ _ansel _ans4___bit equ 4 ; line_number = 423 ; bind _ans3 = _ansel@3 _ans3___byte equ _ansel _ans3___bit equ 3 ; line_number = 424 ; bind _ans2 = _ansel@2 _ans2___byte equ _ansel _ans2___bit equ 2 ; line_number = 425 ; bind _ans1 = _ansel@1 _ans1___byte equ _ansel _ans1___bit equ 1 ; line_number = 426 ; bind _ans0 = _ansel@0 _ans0___byte equ _ansel _ans0___bit equ 0 ; line_number = 428 ; register _wpua = _wpua equ 149 ; line_number = 429 ; bind _wpua5 = _wpua@5 _wpua5___byte equ _wpua _wpua5___bit equ 5 ; line_number = 430 ; bind _wpua4 = _wpua@4 _wpua4___byte equ _wpua _wpua4___bit equ 4 ; line_number = 431 ; bind _wpua2 = _wpua@2 _wpua2___byte equ _wpua _wpua2___bit equ 2 ; line_number = 432 ; bind _wpua1 = _wpua@1 _wpua1___byte equ _wpua _wpua1___bit equ 1 ; line_number = 433 ; bind _wpua0 = _wpua@0 _wpua0___byte equ _wpua _wpua0___bit equ 0 ; line_number = 435 ; register _ioca = _ioca equ 150 ; line_number = 436 ; bind _ioca5 = _ioca@5 _ioca5___byte equ _ioca _ioca5___bit equ 5 ; line_number = 437 ; bind _ioca4 = _ioca@4 _ioca4___byte equ _ioca _ioca4___bit equ 4 ; line_number = 438 ; bind _ioca3 = _ioca@3 _ioca3___byte equ _ioca _ioca3___bit equ 3 ; line_number = 439 ; bind _ioca2 = _ioca@2 _ioca2___byte equ _ioca _ioca2___bit equ 2 ; line_number = 440 ; bind _ioca1 = _ioca@1 _ioca1___byte equ _ioca _ioca1___bit equ 1 ; line_number = 441 ; bind _ioca0 = _ioca@0 _ioca0___byte equ _ioca _ioca0___bit equ 0 ; line_number = 443 ; register _eedath = _eedath equ 151 ; line_number = 445 ; register _eeadrh = _eeadrh equ 152 ; line_number = 447 ; register _vrcon = _vrcon equ 153 ; line_number = 448 ; bind _vren = _vrcon@7 _vren___byte equ _vrcon _vren___bit equ 7 ; line_number = 449 ; bind _vrr = _vrcon@5 _vrr___byte equ _vrcon _vrr___bit equ 5 ; line_number = 450 ; bind _vr3 = _vrcon@3 _vr3___byte equ _vrcon _vr3___bit equ 3 ; line_number = 451 ; bind _vr2 = _vrcon@2 _vr2___byte equ _vrcon _vr2___bit equ 2 ; line_number = 452 ; bind _vr1 = _vrcon@1 _vr1___byte equ _vrcon _vr1___bit equ 1 ; line_number = 453 ; bind _vr0 = _vrcon@0 _vr0___byte equ _vrcon _vr0___bit equ 0 ; line_number = 455 ; register _eedat = _eedat equ 154 ; line_number = 456 ; bind _eedat7 = _eedat@7 _eedat7___byte equ _eedat _eedat7___bit equ 7 ; line_number = 457 ; bind _eedat6 = _eedat@6 _eedat6___byte equ _eedat _eedat6___bit equ 6 ; line_number = 458 ; bind _eedat5 = _eedat@5 _eedat5___byte equ _eedat _eedat5___bit equ 5 ; line_number = 459 ; bind _eedat4 = _eedat@4 _eedat4___byte equ _eedat _eedat4___bit equ 4 ; line_number = 460 ; bind _eedat3 = _eedat@3 _eedat3___byte equ _eedat _eedat3___bit equ 3 ; line_number = 461 ; bind _eedat2 = _eedat@2 _eedat2___byte equ _eedat _eedat2___bit equ 2 ; line_number = 462 ; bind _eedat1 = _eedat@1 _eedat1___byte equ _eedat _eedat1___bit equ 1 ; line_number = 463 ; bind _eedat0 = _eedat@0 _eedat0___byte equ _eedat _eedat0___bit equ 0 ; line_number = 465 ; register _eeadr = _eeadr equ 155 ; line_number = 466 ; bind _eeadr7 = _eeadr@7 _eeadr7___byte equ _eeadr _eeadr7___bit equ 7 ; line_number = 467 ; bind _eeadr6 = _eeadr@6 _eeadr6___byte equ _eeadr _eeadr6___bit equ 6 ; line_number = 468 ; bind _eeadr5 = _eeadr@5 _eeadr5___byte equ _eeadr _eeadr5___bit equ 5 ; line_number = 469 ; bind _eeadr4 = _eeadr@4 _eeadr4___byte equ _eeadr _eeadr4___bit equ 4 ; line_number = 470 ; bind _eeadr3 = _eeadr@3 _eeadr3___byte equ _eeadr _eeadr3___bit equ 3 ; line_number = 471 ; bind _eeadr2 = _eeadr@2 _eeadr2___byte equ _eeadr _eeadr2___bit equ 2 ; line_number = 472 ; bind _eeadr1 = _eeadr@1 _eeadr1___byte equ _eeadr _eeadr1___bit equ 1 ; line_number = 473 ; bind _eeadr0 = _eeadr@0 _eeadr0___byte equ _eeadr _eeadr0___bit equ 0 ; line_number = 475 ; register _eecon1 = _eecon1 equ 156 ; line_number = 476 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 477 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 478 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 479 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 480 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 482 ; register _eecon2 = _eecon2 equ 157 ; line_number = 484 ; register _adresl = _adresl equ 158 ; line_number = 486 ; register _adcon1 = _adcon1 equ 159 ; line_number = 487 ; bind _adcs2 = _adcon1@6 _adcs2___byte equ _adcon1 _adcs2___bit equ 6 ; line_number = 488 ; bind _adcs1 = _adcon1@5 _adcs1___byte equ _adcon1 _adcs1___bit equ 5 ; line_number = 489 ; bind _adcs0 = _adcon1@4 _adcs0___byte equ _adcon1 _adcs0___bit equ 4 ; # Data Bank 2 (0x100 - 0x17f): ; buffer = 'midimotor1e' ; line_number = 36 ; library _pic16f688 exited ; # The module runs at 20MHz: ; line_number = 39 ; library clock20mhz entered ; # Copyright (c) 2004 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock20mhz' ; line_number = 9 ; constant clock_rate = 20000000 clock_rate equ 20000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 5000000 ; buffer = 'midimotor1e' ; line_number = 39 ; library clock20mhz exited ; # The {_eusart} module needs the following 2 constants defined ; # before inclusion: ; line_number = 43 ; constant _eusart_clock = clock_rate _eusart_clock equ 20000000 ; line_number = 44 ; constant _eusart_factor = 4 _eusart_factor equ 4 ; line_number = 45 ; library _eusart entered ; # Copyright (c) 2005 by Wayne C. Gramlich ; # All rights reserved. ; # This library contains a bunch of definitions for the Enhanced Universal ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available ; # on many of the PIC microcontrollers. ; # In order to use this module you have to get two constants defined ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. ; # {_eusart_clock} should be set to the frequency oscillator for the chip. ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: ; # ; # _{brg16} {_brgh} _{eusart_factor} ; # 0 0 64 ; # 0 1 16 ; # 1 0 16 ; # 1 1 4 ; # 2400 bits/sec: ; buffer = '_eusart' ; line_number = 23 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 _eusart_2400 equ 2082 ; line_number = 24 ; constant _eusart_2400_low = _eusart_2400 & 0xff _eusart_2400_low equ 34 ; line_number = 25 ; constant _eusart_2400_high = _eusart_2400 >> 8 _eusart_2400_high equ 8 ; line_number = 26 ; constant _eusart_2400_index = 0 _eusart_2400_index equ 0 ; # 4800 bits/sec: ; line_number = 28 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 _eusart_4800 equ 1040 ; line_number = 29 ; constant _eusart_4800_low = _eusart_4800 & 0xff _eusart_4800_low equ 16 ; line_number = 30 ; constant _eusart_4800_high = _eusart_4800 >> 8 _eusart_4800_high equ 4 ; line_number = 31 ; constant _eusart_4800_index = 1 _eusart_4800_index equ 1 ; # 9600 bits/sec: ; line_number = 33 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 _eusart_9600 equ 519 ; line_number = 34 ; constant _eusart_9600_low = _eusart_9600 & 0xff _eusart_9600_low equ 7 ; line_number = 35 ; constant _eusart_9600_high = _eusart_9600 >> 8 _eusart_9600_high equ 2 ; line_number = 36 ; constant _eusart_9600_index = 2 _eusart_9600_index equ 2 ; # 19200 bits/sec: ; line_number = 38 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 _eusart_19200 equ 259 ; line_number = 39 ; constant _eusart_19200_low = _eusart_19200 & 0xff _eusart_19200_low equ 3 ; line_number = 40 ; constant _eusart_19200_high = _eusart_19200 >> 8 _eusart_19200_high equ 1 ; line_number = 41 ; constant _eusart_19200_index = 3 _eusart_19200_index equ 3 ; # 38400 bits/sec: ; line_number = 43 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 _eusart_38400 equ 129 ; line_number = 44 ; constant _eusart_38400_low = _eusart_38400 & 0xff _eusart_38400_low equ 129 ; line_number = 45 ; constant _eusart_38400_high = _eusart_38400 >> 8 _eusart_38400_high equ 0 ; line_number = 46 ; constant _eusart_38400_index = 4 _eusart_38400_index equ 4 ; # 57600 bits/sec: ; line_number = 48 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 _eusart_57600 equ 85 ; line_number = 49 ; constant _eusart_57600_low = _eusart_57600 & 0xff _eusart_57600_low equ 85 ; line_number = 50 ; constant _eusart_57600_high = _eusart_57600 >> 8 _eusart_57600_high equ 0 ; line_number = 51 ; constant _eusart_57600_index = 5 _eusart_57600_index equ 5 ; # 115200 bits/sec: ; line_number = 53 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 _eusart_115200 equ 42 ; line_number = 54 ; constant _eusart_115200_low = _eusart_115200 & 0xff _eusart_115200_low equ 42 ; line_number = 55 ; constant _eusart_115200_high = _eusart_115200 >> 8 _eusart_115200_high equ 0 ; line_number = 56 ; constant _eusart_115200_index = 6 _eusart_115200_index equ 6 ; # 203400 bits/sec: ; line_number = 58 ; constant _eusart_230400 = (_eusart_clock / (230400 * _eusart_factor)) - 1 _eusart_230400 equ 20 ; line_number = 59 ; constant _eusart_230400_low = _eusart_230400 & 0xff _eusart_230400_low equ 20 ; line_number = 60 ; constant _eusart_230400_high = _eusart_230400 >> 8 _eusart_230400_high equ 0 ; line_number = 61 ; constant _eusart_230400_index = 7 _eusart_230400_index equ 7 ; # 406800 bits/sec: ; line_number = 63 ; constant _eusart_460800 = (_eusart_clock / (460800 * _eusart_factor)) - 1 _eusart_460800 equ 9 ; line_number = 64 ; constant _eusart_460800_low = _eusart_460800 & 0xff _eusart_460800_low equ 9 ; line_number = 65 ; constant _eusart_460800_high = _eusart_460800 >> 8 _eusart_460800_high equ 0 ; line_number = 66 ; constant _eusart_460800_index = 8 _eusart_460800_index equ 8 ; # 500000 bits/sec: ; line_number = 68 ; constant _eusart_500000 = (_eusart_clock / (500000 * _eusart_factor)) - 1 _eusart_500000 equ 9 ; line_number = 69 ; constant _eusart_500000_low = _eusart_500000 & 0xff _eusart_500000_low equ 9 ; line_number = 70 ; constant _eusart_500000_high = _eusart_500000 >> 8 _eusart_500000_high equ 0 ; line_number = 71 ; constant _eusart_500000_index = 9 _eusart_500000_index equ 9 ; # 576000 bits/sec (1MHz): ; line_number = 73 ; constant _eusart_576000 = (_eusart_clock / (576000 * _eusart_factor)) - 1 _eusart_576000 equ 7 ; line_number = 74 ; constant _eusart_576000_low = _eusart_576000 & 0xff _eusart_576000_low equ 7 ; line_number = 75 ; constant _eusart_576000_high = _eusart_576000 >> 8 _eusart_576000_high equ 0 ; line_number = 76 ; constant _eusart_576000_index = 10 _eusart_576000_index equ 10 ; # 625000 bits/sec: ; line_number = 78 ; constant _eusart_625000 = (_eusart_clock / (625000 * _eusart_factor)) - 1 _eusart_625000 equ 7 ; line_number = 79 ; constant _eusart_625000_low = _eusart_625000 & 0xff _eusart_625000_low equ 7 ; line_number = 80 ; constant _eusart_625000_high = _eusart_625000 >> 8 _eusart_625000_high equ 0 ; line_number = 81 ; constant _eusart_625000_index = 11 _eusart_625000_index equ 11 ; # 833333 bits/sec: ; line_number = 83 ; constant _eusart_833333 = (_eusart_clock / (833333 * _eusart_factor)) - 1 _eusart_833333 equ 5 ; line_number = 84 ; constant _eusart_833333_low = _eusart_833333 & 0xff _eusart_833333_low equ 5 ; line_number = 85 ; constant _eusart_833333_high = _eusart_833333 >> 8 _eusart_833333_high equ 0 ; line_number = 86 ; constant _eusart_833333_index = 12 _eusart_833333_index equ 12 ; # 921600 bits/sec: ; line_number = 88 ; constant _eusart_921600 = (_eusart_clock / (921600 * _eusart_factor)) - 1 _eusart_921600 equ 4 ; line_number = 89 ; constant _eusart_921600_low = _eusart_921600 & 0xff _eusart_921600_low equ 4 ; line_number = 90 ; constant _eusart_921600_high = _eusart_921600 >> 8 _eusart_921600_high equ 0 ; line_number = 91 ; constant _eusart_921600_index = 13 _eusart_921600_index equ 13 ; # 1000000 bits/sec (1MHz): ; line_number = 93 ; constant _eusart_1000000 = (_eusart_clock / (1000000 * _eusart_factor)) - 1 _eusart_1000000 equ 4 ; line_number = 94 ; constant _eusart_1000000_low = _eusart_1000000 & 0xff _eusart_1000000_low equ 4 ; line_number = 95 ; constant _eusart_1000000_high = _eusart_1000000 >> 8 _eusart_1000000_high equ 0 ; line_number = 96 ; constant _eusart_1000000_index = 14 _eusart_1000000_index equ 14 ; buffer = 'midimotor1e' ; line_number = 45 ; library _eusart exited ; line_number = 47 ; library rb2_constants entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. ; # All rights reserved. ; buffer = 'rb2_constants' ; line_number = 6 ; constant rb2_ok = 0xa5 rb2_ok equ 165 ; line_number = 8 ; constant rb2_common_address_set = 0xfc rb2_common_address_set equ 252 ; line_number = 9 ; constant rb2_common_id_next = 0xfd rb2_common_id_next equ 253 ; line_number = 10 ; constant rb2_common_id_start = 0xfe rb2_common_id_start equ 254 ; line_number = 11 ; constant rb2_common_deselect = 0xff rb2_common_deselect equ 255 ; line_number = 13 ; constant rb2_laser1_address = 1 rb2_laser1_address equ 1 ; line_number = 14 ; constant rb2_laser1_sense_read = 0 rb2_laser1_sense_read equ 0 ; line_number = 15 ; constant rb2_laser1_enable_read = 1 rb2_laser1_enable_read equ 1 ; line_number = 16 ; constant rb2_laser1_enable_clear = 2 rb2_laser1_enable_clear equ 2 ; line_number = 17 ; constant rb2_laser1_enable_set = 3 rb2_laser1_enable_set equ 3 ; line_number = 19 ; constant rb2_minimotor2_address = 2 rb2_minimotor2_address equ 2 ; line_number = 20 ; constant rb2_midimotor2_address = 3 rb2_midimotor2_address equ 3 ; line_number = 21 ; constant rb2_motor0_speed_get = 0 rb2_motor0_speed_get equ 0 ; line_number = 22 ; constant rb2_motor0_speed_set = 1 rb2_motor0_speed_set equ 1 ; line_number = 23 ; constant rb2_motor1_speed_get = 2 rb2_motor1_speed_get equ 2 ; line_number = 24 ; constant rb2_motor1_speed_set = 3 rb2_motor1_speed_set equ 3 ; line_number = 25 ; constant rb2_duty_cycle_get = 4 rb2_duty_cycle_get equ 4 ; line_number = 26 ; constant rb2_duty_cycle_set = 8 rb2_duty_cycle_set equ 8 ; line_number = 28 ; constant rb2_irdistance2_address = 4 rb2_irdistance2_address equ 4 ; line_number = 29 ; constant rb2_irdistance2_raw0_get = 0 rb2_irdistance2_raw0_get equ 0 ; line_number = 30 ; constant rb2_irdistance2_raw1_get = 1 rb2_irdistance2_raw1_get equ 1 ; line_number = 31 ; constant rb2_irdistance2_smooth0_get = 2 rb2_irdistance2_smooth0_get equ 2 ; line_number = 32 ; constant rb2_irdistance2_smooth1_get = 3 rb2_irdistance2_smooth1_get equ 3 ; line_number = 33 ; constant rb2_irdistance2_linear0_get = 4 rb2_irdistance2_linear0_get equ 4 ; line_number = 34 ; constant rb2_irdistance2_linear1_get = 6 rb2_irdistance2_linear1_get equ 6 ; line_number = 36 ; constant rb2_shaft2_address = 5 rb2_shaft2_address equ 5 ; line_number = 37 ; constant rb2_shaft2_count_latch = 0 rb2_shaft2_count_latch equ 0 ; line_number = 38 ; constant rb2_shaft2_count_clear = 1 rb2_shaft2_count_clear equ 1 ; line_number = 39 ; constant rb2_shaft2_shaft0_high_get = 2 rb2_shaft2_shaft0_high_get equ 2 ; line_number = 40 ; constant rb2_shaft2_shaft1_high_get = 3 rb2_shaft2_shaft1_high_get equ 3 ; line_number = 41 ; constant rb2_shaft2_continue_get = 4 rb2_shaft2_continue_get equ 4 ; line_number = 42 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft0_low_get equ 4 ; line_number = 43 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft1_low_get equ 4 ; line_number = 44 ; constant rb2_shaft2_x_get = 0x10 rb2_shaft2_x_get equ 16 ; line_number = 45 ; constant rb2_shaft2_y_get = 0x11 rb2_shaft2_y_get equ 17 ; line_number = 46 ; constant rb2_shaft2_bearing16_get = 0x12 rb2_shaft2_bearing16_get equ 18 ; line_number = 47 ; constant rb2_shaft2_bearing8_get = 0x13 rb2_shaft2_bearing8_get equ 19 ; line_number = 48 ; constant rb2_shaft2_target_x_get = 0x14 rb2_shaft2_target_x_get equ 20 ; line_number = 49 ; constant rb2_shaft2_target_y_get = 0x15 rb2_shaft2_target_y_get equ 21 ; line_number = 50 ; constant rb2_shaft2_target_bearing16_get = 0x16 rb2_shaft2_target_bearing16_get equ 22 ; line_number = 51 ; constant rb2_shaft2_target_bearing8_get = 0x17 rb2_shaft2_target_bearing8_get equ 23 ; line_number = 52 ; constant rb2_shaft2_target_distance_get = 0x18 rb2_shaft2_target_distance_get equ 24 ; line_number = 53 ; constant rb2_shaft2_wheel_spacing_get = 0x19 rb2_shaft2_wheel_spacing_get equ 25 ; line_number = 54 ; constant rb2_shaft2_wheel_ticks_get = 0x1a rb2_shaft2_wheel_ticks_get equ 26 ; line_number = 55 ; constant rb2_shaft2_wheel_diameter_get = 0x1b rb2_shaft2_wheel_diameter_get equ 27 ; line_number = 56 ; constant rb2_shaft2_count_iteration_get = 0x1c rb2_shaft2_count_iteration_get equ 28 ; line_number = 57 ; constant rb2_shaft2_counter_signs_get = 0x1d rb2_shaft2_counter_signs_get equ 29 ; line_number = 58 ; constant rb2_shaft2_x_set = 0x20 rb2_shaft2_x_set equ 32 ; line_number = 59 ; constant rb2_shaft2_y_set = 0x21 rb2_shaft2_y_set equ 33 ; line_number = 60 ; constant rb2_shaft2_bearing16_set = 0x22 rb2_shaft2_bearing16_set equ 34 ; line_number = 61 ; constant rb2_shaft2_navigation_latch = 0x23 rb2_shaft2_navigation_latch equ 35 ; line_number = 62 ; constant rb2_shaft2_target_x_set = 0x24 rb2_shaft2_target_x_set equ 36 ; line_number = 63 ; constant rb2_shaft2_target_y_set = 0x25 rb2_shaft2_target_y_set equ 37 ; line_number = 64 ; constant rb2_shaft2_wheel_spacing_set = 0x29 rb2_shaft2_wheel_spacing_set equ 41 ; line_number = 65 ; constant rb2_shaft2_wheel_ticks_set = 0x2a rb2_shaft2_wheel_ticks_set equ 42 ; line_number = 66 ; constant rb2_shaft2_wheel_diameter_set = 0x2b rb2_shaft2_wheel_diameter_set equ 43 ; line_number = 67 ; constant rb2_shaft2_counter_signs_set = 0x2c rb2_shaft2_counter_signs_set equ 44 ; line_number = 69 ; constant rb2_orient5_address = 6 rb2_orient5_address equ 6 ; line_number = 71 ; constant rb2_compass8_address = 7 rb2_compass8_address equ 7 ; line_number = 73 ; constant rb2_io8_address = 8 rb2_io8_address equ 8 ; line_number = 74 ; constant rb2_io8_digital8_get = 0 rb2_io8_digital8_get equ 0 ; line_number = 75 ; constant rb2_io8_digital8_set = 1 rb2_io8_digital8_set equ 1 ; line_number = 76 ; constant rb2_io8_direction_get = 2 rb2_io8_direction_get equ 2 ; line_number = 77 ; constant rb2_io8_direction_set = 3 rb2_io8_direction_set equ 3 ; line_number = 78 ; constant rb2_io8_analog_mask_get = 4 rb2_io8_analog_mask_get equ 4 ; line_number = 79 ; constant rb2_io8_analog_mask_set = 5 rb2_io8_analog_mask_set equ 5 ; line_number = 80 ; constant rb2_io8_analog8_get = 0x10 rb2_io8_analog8_get equ 16 ; line_number = 81 ; constant rb2_io8_analog10_get = 0x18 rb2_io8_analog10_get equ 24 ; line_number = 82 ; constant rb2_low_set = 0x20 rb2_low_set equ 32 ; line_number = 83 ; constant rb2_high_set = 0x30 rb2_high_set equ 48 ; line_number = 85 ; constant rb2_sonar2_address = 9 rb2_sonar2_address equ 9 ; line_number = 87 ; constant rb2_voice1_address = 10 rb2_voice1_address equ 10 ; line_number = 89 ; constant rb2_servo4_address = 11 rb2_servo4_address equ 11 ; line_number = 90 ; constant rb2_servo4_servo0 = 0 rb2_servo4_servo0 equ 0 ; line_number = 91 ; constant rb2_servo4_servo1 = 1 rb2_servo4_servo1 equ 1 ; line_number = 92 ; constant rb2_servo4_servo2 = 2 rb2_servo4_servo2 equ 2 ; line_number = 93 ; constant rb2_servo4_servo3 = 3 rb2_servo4_servo3 equ 3 ; line_number = 94 ; constant rb2_servo4_quick_set = 0 rb2_servo4_quick_set equ 0 ; line_number = 95 ; constant rb2_servo4_quick_low = 0 rb2_servo4_quick_low equ 0 ; line_number = 96 ; constant rb2_servo4_quick_center = 40 rb2_servo4_quick_center equ 40 ; line_number = 97 ; constant rb2_servo4_quick_high = 0x7c rb2_servo4_quick_high equ 124 ; line_number = 98 ; constant rb2_servo4_high_low_set = 0x80 rb2_servo4_high_low_set equ 128 ; line_number = 99 ; constant rb2_servo4_short_high_low_set = 0x84 rb2_servo4_short_high_low_set equ 132 ; line_number = 100 ; constant rb2_servo4_high_set = 0x88 rb2_servo4_high_set equ 136 ; line_number = 101 ; constant rb2_servo4_low_set = 0x8c rb2_servo4_low_set equ 140 ; line_number = 102 ; constant rb2_servo4_enables_set = 0x90 rb2_servo4_enables_set equ 144 ; line_number = 103 ; constant rb2_servo4_enable0 = 1 rb2_servo4_enable0 equ 1 ; line_number = 104 ; constant rb2_servo4_enable1 = 2 rb2_servo4_enable1 equ 2 ; line_number = 105 ; constant rb2_servo4_enable2 = 4 rb2_servo4_enable2 equ 4 ; line_number = 106 ; constant rb2_servo4_enable3 = 8 rb2_servo4_enable3 equ 8 ; line_number = 107 ; constant rb2_servo4_enable_all = 0xf rb2_servo4_enable_all equ 15 ; line_number = 108 ; constant rb2_servo4_enable_none = 0 rb2_servo4_enable_none equ 0 ; line_number = 109 ; constant rb2_servo4_high_get = 0xa0 rb2_servo4_high_get equ 160 ; line_number = 110 ; constant rb2_servo4_low_get = 0xa4 rb2_servo4_low_get equ 164 ; line_number = 111 ; constant rb2_servo4_enables_get = 0xa8 rb2_servo4_enables_get equ 168 ; line_number = 113 ; constant rb2_controller28_address = 28 rb2_controller28_address equ 28 ; line_number = 115 ; constant rb2_lcd32_address = 32 rb2_lcd32_address equ 32 ; line_number = 116 ; constant rb2_lcd32_row_set = 4 rb2_lcd32_row_set equ 4 ; line_number = 117 ; constant rb2_lcd32_row0_set = rb2_lcd32_row_set | 0 rb2_lcd32_row0_set equ 4 ; line_number = 118 ; constant rb2_lcd32_row1_set = rb2_lcd32_row_set | 1 rb2_lcd32_row1_set equ 5 ; line_number = 119 ; constant rb2_lcd32_row2_set = rb2_lcd32_row_set | 2 rb2_lcd32_row2_set equ 6 ; line_number = 120 ; constant rb2_lcd32_row3_set = rb2_lcd32_row_set | 3 rb2_lcd32_row3_set equ 7 ; line_number = 121 ; constant rb2_lcd32_new_line = 0xa rb2_lcd32_new_line equ 10 ; line_number = 122 ; constant rb2_lcd32_form_feed = 0xc rb2_lcd32_form_feed equ 12 ; line_number = 123 ; constant rb2_lcd32_carriage_return = 0xd rb2_lcd32_carriage_return equ 13 ; line_number = 124 ; constant rb2_lcd32_column_set = 0x10 rb2_lcd32_column_set equ 16 ; buffer = 'midimotor1e' ; line_number = 47 ; library rb2_constants exited ; # The module uses a 20MHz resonator; thus, the oscillator mode is HS: ; # Besides the bus RX/TX lines, only 4 other lines are used to ; # control the motor -- RC<0:3>: ; line_number = 54 ; package pdip ; line_number = 55 ; pin 1 = power_supply ; line_number = 56 ; pin 2 = osc1 ; line_number = 57 ; pin 3 = osc2 ; line_number = 58 ; pin 4 = ra3_nc ; line_number = 59 ; pin 5 = rx, name=rx, bit=rx_bit rx___byte equ _portc rx___bit equ 5 rx_bit equ 5 ; line_number = 60 ; pin 6 = tx, name=tx, bit=tx_bit tx___byte equ _portc tx___bit equ 4 tx_bit equ 4 ; line_number = 61 ; pin 7 = rc3_nc ; line_number = 62 ; pin 8 = rc2_nc ; line_number = 63 ; pin 9 = rc1_out, name=m1b, mask=m1b_mask, bit=m1b_bit m1b___byte equ _portc m1b___bit equ 1 m1b_mask equ 2 m1b_bit equ 1 ; line_number = 64 ; pin 10 = rc0_out, name=m1a, mask=m1a_mask, bit=m1a_bit m1a___byte equ _portc m1a___bit equ 0 m1a_mask equ 1 m1a_bit equ 0 ; line_number = 65 ; pin 11 = an2 ; line_number = 66 ; pin 12 = ra1_in, name=quad_a, mask=quad_a_mask, bit=quad_a_bit quad_a___byte equ _porta quad_a___bit equ 1 quad_a_mask equ 2 quad_a_bit equ 1 ; line_number = 67 ; pin 13 = ra0_in, name=quad_b, mask=quad_b_mask, bit=quad_b_bit quad_b___byte equ _porta quad_b___bit equ 0 quad_b_mask equ 1 quad_b_bit equ 0 ; line_number = 68 ; pin 14 = ground ; # All of the 24-bit signed file24 in the 24-bit register file are stored ; # in the {highs}, {middles} and {lows} arrays: ; line_number = 72 ; constant position_index = 0 # Current position position_index equ 0 ; line_number = 73 ; constant target_index = 1 # Target position target_index equ 1 ; line_number = 74 ; constant divisor_index = 2 # Denominator for {kp}, {ki}, and {kd} divisor_index equ 2 ; line_number = 75 ; constant kp_index = 3 # Numerator for {kp} kp_index equ 3 ; line_number = 76 ; constant ki_index = 4 # Numerator for {ki} ki_index equ 4 ; line_number = 77 ; constant kd_index = 5 # Numerator for {kd} kd_index equ 5 ; line_number = 78 ; constant debug_index = 6 debug_index equ 6 ; line_number = 79 ; constant file24_size = 7 # 24-bit register file has 6 registers file24_size equ 7 ; # We are short of bytes in data bank 0, so we stuff the 24-bit register ; # files off into data bank 2: ; line_number = 84 ; global highs[file24_size] array[byte] # All the highs are grouped together highs equ globals___2 ; line_number = 85 ; global middles[file24_size] array[byte] # All the middles are grouped together middles equ globals___2+7 ; line_number = 86 ; global lows[file24_size] array[byte] # All the lows are grouped together lows equ globals___2+14 ; # The quardarture is actually the same as the position: ; line_number = 89 ; bind quad_high = highs[position_index] quad_high equ globals___2 ; line_number = 90 ; bind quad_middle = middles[position_index] quad_middle equ globals___2+7 ; line_number = 91 ; bind quad_low = lows[position_index] quad_low equ globals___2+14 ; line_number = 92 ; global quad_state byte # The quadrature state quad_state equ globals___2+21 ; line_number = 94 ; global xstates[32] array[byte] xstates equ globals___2+22 ; # Every else with the 24-bit register file24 is in data bank 0: ; line_number = 98 ; global file24_changed byte # 1 bit for each value to mark change file24_changed equ globals___0 ; line_number = 99 ; global file24_zero byte # 1 bit for each value set to zero file24_zero equ globals___0+1 ; # A number of places need a temporary for high, middle and low. Rather ; # than chew up scarse memory, we share them all with globals. As of now, ; # these bytes are used in {file24_float_convert}() and {uart_manage}(): ; line_number = 104 ; global high byte # Temporary high byte high equ globals___0+2 ; line_number = 105 ; global middle byte # Temporary middle byte middle equ globals___0+3 ; line_number = 106 ; global low byte # Temporary low byte low equ globals___0+4 ; # The 8-bit register file is stored in {file8} and indexed using the ; # indices below: ; line_number = 110 ; constant configure_index = 0 # Configuration byte index configure_index equ 0 ; line_number = 111 ; constant status_index = 1 # Status byte index status_index equ 1 ; line_number = 112 ; constant speed_index = 2 # Current motor speed index speed_index equ 2 ; line_number = 113 ; constant errors_index = 3 # Error count errors_index equ 3 ; line_number = 114 ; constant deadband_index = 4 # Deadband for motor speed deadband_index equ 4 ; line_number = 115 ; constant idle_index = 5 # Current idle count idle_index equ 5 ; line_number = 116 ; constant limit_index = 6 # Loop index limit_index equ 6 ; line_number = 117 ; constant file24_index_index = 7 # Index into 24-bit register file file24_index_index equ 7 ; line_number = 118 ; constant file8_size = 8 # We have 8 registers in {file8] file8_size equ 8 ; # Here is the actual array of {file8}: ; line_number = 121 ; global file8[file8_size] array[byte] file8 equ globals___0+5 ; # It is a hassle to always index into {file8}, we use binds to make ; # the code more readable: ; line_number = 125 ; bind configure = file8[configure_index] configure equ globals___0+5 ; line_number = 126 ; bind motor_reverse = configure@0 # 1=>reverse motor direction motor_reverse___byte equ globals___0+5 motor_reverse___bit equ 0 ; line_number = 127 ; bind position_reverse = configure@1 # 1=>reverse position direction position_reverse___byte equ globals___0+5 position_reverse___bit equ 1 ; line_number = 128 ; bind use_potentiometer = configure@2 # 1=>potentiometer; 0=>quadrature use_potentiometer___byte equ globals___0+5 use_potentiometer___bit equ 2 ; line_number = 129 ; bind status = file8[status_index] status equ globals___0+6 ; line_number = 130 ; bind speed = file8[speed_index] speed equ globals___0+7 ; line_number = 131 ; bind errors = file8[errors_index] errors equ globals___0+8 ; line_number = 132 ; bind deadband = file8[deadband_index] deadband equ globals___0+9 ; line_number = 133 ; bind idle = file8[idle_index] idle equ globals___0+10 ; line_number = 134 ; bind limit = file8[limit_index] limit equ globals___0+11 ; line_number = 135 ; bind file24_index = file8[file24_index_index] file24_index equ globals___0+12 ; # These are the variables used to control motor1: ; line_number = 138 ; global motor1_speed byte motor1_speed equ globals___0+13 ; line_number = 139 ; global motor1_on_mask byte motor1_on_mask equ globals___0+14 ; line_number = 140 ; global motor1_pulse_width byte motor1_pulse_width equ globals___0+15 ; # UART Globals and constants: ; line_number = 144 ; global state byte # State machine for command parsing state equ globals___0+16 ; line_number = 145 ; constant state_select_wait = 0 # Waiting for a select address state_select_wait equ 0 ; line_number = 146 ; constant state_echo_then_command = 1 # Wait for echo then a command state_echo_then_command equ 1 ; line_number = 147 ; constant state_command = 2 # Wait for a command state_command equ 2 ; line_number = 148 ; constant state_file24_full_get1 = 3 state_file24_full_get1 equ 3 ; line_number = 149 ; constant state_file24_full_get2 = 4 state_file24_full_get2 equ 4 ; line_number = 150 ; constant state_file24_full_set1 = 5 state_file24_full_set1 equ 5 ; line_number = 151 ; constant state_file24_full_set2 = 6 state_file24_full_set2 equ 6 ; line_number = 152 ; constant state_file24_full_set3 = 7 state_file24_full_set3 equ 7 ; line_number = 153 ; constant state_value_low_set1 = 8 state_value_low_set1 equ 8 ; line_number = 154 ; constant state_value_middle_set1 = 9 state_value_middle_set1 equ 9 ; line_number = 155 ; constant state_value_high_set1 = 10 state_value_high_set1 equ 10 ; line_number = 156 ; constant state_file8_set1 = 11 state_file8_set1 equ 11 ; line_number = 157 ; constant state_file8_set2 = 12 state_file8_set2 equ 12 ; line_number = 158 ; constant state_file8_set3 = 13 state_file8_set3 equ 13 ; line_number = 159 ; constant state_address_set1 = 14 state_address_set1 equ 14 ; line_number = 160 ; constant state_address_set2 = 15 state_address_set2 equ 15 ; line_number = 161 ; constant state_address_set3 = 16 state_address_set3 equ 16 ; line_number = 162 ; constant state_address_set4 = 17 state_address_set4 equ 17 ; line_number = 163 ; constant state_probe_get1 = 18 state_probe_get1 equ 18 ; line_number = 164 ; constant state_probe_get2 = 19 state_probe_get2 equ 19 ; line_number = 166 ; global id_index byte # Index into id string id_index equ globals___0+17 ; # UART data input buffer: ; line_number = 169 ; constant uart_input_size = 4 # Buffer size (=power of 2) uart_input_size equ 4 ; line_number = 170 ; constant uart_input_mask = uart_input_size - 1 # Mask for index uart_input_mask equ 3 ; line_number = 171 ; global uart_input[uart_input_size] array[byte] # Buffer for input uart_input equ globals___0+18 ; line_number = 172 ; global uart_input_in_index byte # Next index to insert into uart_input_in_index equ globals___0+22 ; line_number = 173 ; global uart_input_out_index byte # Next index to remove from uart_input_out_index equ globals___0+23 ; line_number = 174 ; global uart_input_count byte # Bytes in buffer uart_input_count equ globals___0+24 ; line_number = 175 ; global uart_input_pending bit # 1=>data is pending; 0=>no data uart_input_pending___byte equ globals___0+79 uart_input_pending___bit equ 0 ; line_number = 177 ; global address byte # Address of this module address equ globals___0+25 ; line_number = 178 ; global new_address byte # New address of this module new_address equ globals___0+26 ; # Load up floating point library in code bank 1 using datab bank 0: ; line_number = 181 ; library_bank 1 ; line_number = 183 ; library _float32 entered ; # Copyright (c) 2005-2006 Wayne C. Gramlich ; # All rights reserved. ; # This library implements the following procedures for general use ; # by users: ; # ; # _float32_from_byte return float(x) where x is a byte ; # _float32_to_byte return byte(x) whre x is a float ; # ; # The following additional procedures are implemented for use by the ; # compiler. ; # ; # _float32_pointer_load() A := M[W] ; # _float32_pointer_add() A := M[W] ; # _float32_pointer_divide() A := A / M[W] ; # _float32_pointer_multiply() A := A * M[W] ; # _float32_pointer_subtract() A := A - M[W] ; # _float32_pointer_store M[W] := A ; # _float32_pointer_negate A := -A ; # _float32_pointer_reciprocal A := 1/A ; # _float32_pointer_swap A <=> M[W] ; # _float32_equals _z := A = 0.0 ; # _float32_not_equal _z := A != 0.0 ; # _float32_less_than _z := if A < 0.0 ; # _float32_less_than_or_equal _z := A <= 0.0 ; # _float32_greater_than _z := A > 0.0 ; # _float32_greater_than_or_equal _z := A >= 0.0 ; # ; # All of the procedures constants and labels in this library are ; # prefixed by "_float32_". ; # ; # The _float32 library is seriously intertwingled (technical term) ; # with the _float32_base library. What this means is both libraries ; # need to be loaded into the same code bank and data bank. There ; # is no real nead to worry since there is a "library _float32_base" ; # immediately below. These two libraries pretty much fill up ; # all of the code bank they are loaded into. ; # ; # For the uCL compiler, floats are required to be aligned on even ; # memory addresses. Since the PIC16F* processor can not access more ; # 512 bytes of RAM, this means that a pointer a float can be represented ; # in 8-bits as (float_address>>1). (Pretty, slick!) ; buffer = '_float32' ; line_number = 46 ; library _float32_base entered ; # Copyright (c) 2005-2006 by Wayne C. Gramlich ; # All rights reserved. ; # Copyright (c) 1997 by Microchip, Inc. ; # All rights reserved. ; # ; # This code is based on a floating point library provided by Microchip ; # in AN575. Note, only the translation aspect is copyright Wayne C. ; # Gramlich; the original code is copyright by Microchip. ; # ; # ; # This library implements the following procedures: ; # ; # _float32_from_integer24() Convert 24-bit integer into float ; # _float32_normalize() Normalize a float ; # _float32_from integer32() Convert 32-bit integer into float ; # _float32_normalize40() Normalize a 40-bit float ; # _float32_integer24_convert() Convert float into 24 bit integer ; # _float32_integer32_convert() Convert float into 32 bit integer ; # _float32_multiply() Multiply two floats ; # _float32_divide() Divide two floats ; # _float32_subtract() Subtract two floats ; # _float32_add() Add two floats ; # ; # All procedures, constants, and labels in this procedure are ; # prefixed with "_float32_". ; # ; # Every attempt has been made to ensure that it compiles *exactly* as ; # the .hex file that ships with AN575. The remaining procedures ; # needed by the uCL compiler are in library _float32. ; # ; # Note that this procedure defines memory needed for both the ; # main arithmetic procedures and some of the square root and trigametric ; # procedures in the _float32_trig library. ; buffer = '_float32_base' ; line_number = 37 ; constant _float32_status = 3 _float32_status equ 3 ; line_number = 38 ; constant _float32_c = 0 _float32_c equ 0 ; line_number = 39 ; constant _float32_z = 2 _float32_z equ 2 ; # The floating point variables: ; line_number = 42 ; constant _float32_msb = 7 _float32_msb equ 7 ; line_number = 43 ; constant _float32_lsb = 0 _float32_lsb equ 0 ; line_number = 45 ; global _float32_loc20 byte _float32_loc20 equ globals___1 ; line_number = 46 ; global _float32_loc21 byte _float32_loc21 equ globals___1+1 ; line_number = 47 ; global _float32_loc22 byte _float32_loc22 equ globals___1+2 ; line_number = 48 ; global _float32_loc23 byte _float32_loc23 equ globals___1+3 ; line_number = 49 ; global _float32_loc24 byte _float32_loc24 equ globals___1+4 ; line_number = 50 ; global _float32_loc25 byte _float32_loc25 equ globals___1+5 ; line_number = 51 ; global _float32_loc26 byte _float32_loc26 equ globals___1+6 ; line_number = 52 ; global _float32_loc27 byte _float32_loc27 equ globals___1+7 ; line_number = 53 ; global _float32_loc28 byte _float32_loc28 equ globals___1+8 ; line_number = 54 ; global _float32_loc29 byte _float32_loc29 equ globals___1+9 ; line_number = 55 ; global _float32_loc2a byte _float32_loc2a equ globals___1+10 ; line_number = 56 ; global _float32_loc2b byte _float32_loc2b equ globals___1+11 ; line_number = 57 ; global _float32_loc2c byte _float32_loc2c equ globals___1+12 ; line_number = 58 ; global _float32_loc2d byte _float32_loc2d equ globals___1+13 ; line_number = 59 ; global _float32_loc2e byte _float32_loc2e equ globals___1+14 ; line_number = 60 ; global _float32_loc2f byte _float32_loc2f equ globals___1+15 ; line_number = 61 ; global _float32_loc30 byte _float32_loc30 equ globals___1+16 ; line_number = 62 ; global _float32_loc31 byte _float32_loc31 equ globals___1+17 ; line_number = 63 ; global _float32_loc32 byte _float32_loc32 equ globals___1+18 ; line_number = 64 ; global _float32_loc33 byte _float32_loc33 equ globals___1+19 ; line_number = 65 ; global _float32_loc34 byte _float32_loc34 equ globals___1+20 ; line_number = 66 ; global _float32_loc35 byte _float32_loc35 equ globals___1+21 ; line_number = 67 ; global _float32_loc36 byte _float32_loc36 equ globals___1+22 ; line_number = 68 ; global _float32_loc37 byte _float32_loc37 equ globals___1+23 ; line_number = 69 ; global _float32_loc38 byte _float32_loc38 equ globals___1+24 ; line_number = 70 ; global _float32_loc39 byte _float32_loc39 equ globals___1+25 ; line_number = 71 ; global _float32_loc3a byte _float32_loc3a equ globals___1+26 ; line_number = 72 ; global _float32_loc3b byte _float32_loc3b equ globals___1+27 ; line_number = 73 ; global _float32_loc3c byte _float32_loc3c equ globals___1+28 ; line_number = 74 ; global _float32_loc3d byte _float32_loc3d equ globals___1+29 ; line_number = 75 ; global _float32_loc3e byte _float32_loc3e equ globals___1+30 ; line_number = 76 ; global _float32_loc3f byte _float32_loc3f equ globals___1+31 ; line_number = 77 ; global _float32_loc40 byte _float32_loc40 equ globals___1+32 ; line_number = 78 ; global _float32_loc41 byte _float32_loc41 equ globals___1+33 ; line_number = 79 ; global _float32_loc42 byte _float32_loc42 equ globals___1+34 ; line_number = 80 ; global _float32_loc43 byte _float32_loc43 equ globals___1+35 ; #global _float32_loc44 byte ; #global _float32_loc45 byte ; #global _float32_loc46 byte ; #global _float32_loc47 byte ; #global _float32_loc48 byte ; #global _float32_loc49 byte ; #global _float32_loc4a byte ; #global _float32_loc4b byte ; # general register variables ; # These are not used currently!!! ; #bind _float32_accb7 = _float32_loc20 ; #bind _float32_accb6 = _float32_loc21 ; #bind _float32_accb5 = _float32_loc22 ; #bind _float32_accb4 = _float32_loc23 ; #bind _float32_accb3 = _float32_loc24 ; #bind _float32_accb2 = _float32_loc25 ; #bind _float32_accb1 = _float32_loc26 ; #bind _float32_accb0 = _float32_loc27 ; # most significant byte of contiguous 8 byte accumulator ; #bind _float32_acc = _float32_loc27 ; # save location for sign in MSB ; line_number = 105 ; bind _float32_sign = _float32_loc29 _float32_sign equ globals___1+9 ; line_number = 107 ; bind _float32_tempb3 = _float32_loc30 _float32_tempb3 equ globals___1+16 ; line_number = 108 ; bind _float32_tempb2 = _float32_loc31 _float32_tempb2 equ globals___1+17 ; line_number = 109 ; bind _float32_tempb1 = _float32_loc32 _float32_tempb1 equ globals___1+18 ; line_number = 110 ; bind _float32_tempb0 = _float32_loc33 _float32_tempb0 equ globals___1+19 ; # temporary storage ; line_number = 112 ; bind _float32_temp = _float32_loc33 _float32_temp equ globals___1+19 ; # binary operation arguments ; line_number = 116 ; bind _float32_aargb7 = _float32_loc20 _float32_aargb7 equ globals___1 ; line_number = 117 ; bind _float32_aargb6 = _float32_loc21 _float32_aargb6 equ globals___1+1 ; line_number = 118 ; bind _float32_aargb5 = _float32_loc22 _float32_aargb5 equ globals___1+2 ; line_number = 119 ; bind _float32_aargb4 = _float32_loc23 _float32_aargb4 equ globals___1+3 ; line_number = 120 ; bind _float32_aargb3 = _float32_loc24 _float32_aargb3 equ globals___1+4 ; line_number = 121 ; bind _float32_aargb2 = _float32_loc25 _float32_aargb2 equ globals___1+5 ; line_number = 122 ; bind _float32_aargb1 = _float32_loc26 _float32_aargb1 equ globals___1+6 ; line_number = 123 ; bind _float32_aargb0 = _float32_loc27 _float32_aargb0 equ globals___1+7 ; # most significant byte of argument A ; line_number = 125 ; bind _float32_aarg = _float32_loc27 _float32_aarg equ globals___1+7 ; line_number = 127 ; bind _float32_bargb3 = _float32_loc2b _float32_bargb3 equ globals___1+11 ; line_number = 128 ; bind _float32_bargb2 = _float32_loc2c _float32_bargb2 equ globals___1+12 ; line_number = 129 ; bind _float32_bargb1 = _float32_loc2d _float32_bargb1 equ globals___1+13 ; line_number = 130 ; bind _float32_bargb0 = _float32_loc2e _float32_bargb0 equ globals___1+14 ; # most significant byte of argument B ; line_number = 132 ; bind _float32_barg = _float32_loc2e _float32_barg equ globals___1+14 ; # Note that AARG and ACC reference the same storage locations ; # FIXED POINT SPECIFIC DEFINITIONS ; # remainder storage ; # These are not currently being used!!! ; #bind _float32_remb3 = _float32_loc20 ; #bind _float32_remb2 = _float32_loc21 ; #bind _float32_remb1 = _float32_loc22 ; ## most significant byte of remainder ; #bind _float32_remb0 = _float32_loc23 ; line_number = 146 ; bind _float32_loopcount = _float32_loc34 _float32_loopcount equ globals___1+20 ; # FLOATING POINT SPECIFIC DEFINITIONS ; # literal constants ; line_number = 150 ; constant _float32_expbias = 127 _float32_expbias equ 127 ; line_number = 151 ; constant _float32_expbias_1 = _float32_expbias - 1 _float32_expbias_1 equ 126 ; line_number = 152 ; constant _float32_expbias_23 = _float32_expbias + 23 _float32_expbias_23 equ 150 ; line_number = 153 ; constant _float32_expbias_31 = _float32_expbias + 31 _float32_expbias_31 equ 158 ; # biased exponents: ; # 8 bit biased exponent ; line_number = 158 ; bind _float32_exp = _float32_loc28 _float32_exp equ globals___1+8 ; # 8 bit biased exponent for argument A ; line_number = 161 ; bind _float32_aexp = _float32_loc28 _float32_aexp equ globals___1+8 ; # 8 bit biased exponent for argument B ; line_number = 164 ; bind _float32_bexp = _float32_loc2f _float32_bexp equ globals___1+15 ; # floating point library exception flags ; # floating point library exception flags ; line_number = 169 ; bind _float32_fpflags = _float32_loc2a _float32_fpflags equ globals___1+10 ; # bit0 = integer overflow flag ; line_number = 172 ; constant _float32_iov = 0 _float32_iov equ 0 ; # bit1 = floating point overflow flag ; line_number = 175 ; constant _float32_fov = 1 _float32_fov equ 1 ; # bit2 = floating point underflow flag ; line_number = 178 ; constant _float32_fun = 2 _float32_fun equ 2 ; # bit3 = floating point divide by zero flag ; line_number = 181 ; constant _float32_fdz = 3 _float32_fdz equ 3 ; # bit4 = not-a-number exception flag ; line_number = 184 ; constant _float32_nan = 4 _float32_nan equ 4 ; # bit5 = domain error exception flag ; line_number = 187 ; constant _float32_dom = 5 _float32_dom equ 5 ; # bit6 = floating point rounding flag, 0 = truncation; 1 = unbiased rounding ; # to nearest LSB ; line_number = 191 ; constant _float32_rnd = 6 _float32_rnd equ 6 ; # bit7 = floating point saturate flag, 0 = terminate on ; # exception without saturation, 1 = terminate on ; # exception with saturation to appropriate value ; line_number = 196 ; constant _float32_sat = 7 _float32_sat equ 7 ; # ELEMENTARY FUNCTION MEMORY ; line_number = 200 ; bind _float32_cexp = _float32_loc35 _float32_cexp equ globals___1+21 ; line_number = 201 ; bind _float32_cargb0 = _float32_loc36 _float32_cargb0 equ globals___1+22 ; line_number = 202 ; bind _float32_cargb1 = _float32_loc37 _float32_cargb1 equ globals___1+23 ; line_number = 203 ; bind _float32_cargb2 = _float32_loc38 _float32_cargb2 equ globals___1+24 ; line_number = 204 ; bind _float32_cargb3 = _float32_loc39 _float32_cargb3 equ globals___1+25 ; line_number = 206 ; bind _float32_dexp = _float32_loc3a _float32_dexp equ globals___1+26 ; line_number = 207 ; bind _float32_dargb0 = _float32_loc3b _float32_dargb0 equ globals___1+27 ; line_number = 208 ; bind _float32_dargb1 = _float32_loc3c _float32_dargb1 equ globals___1+28 ; line_number = 209 ; bind _float32_dargb2 = _float32_loc3d _float32_dargb2 equ globals___1+29 ; line_number = 210 ; bind _float32_dargb3 = _float32_loc3e _float32_dargb3 equ globals___1+30 ; line_number = 212 ; bind _float32_eexp = _float32_loc3f _float32_eexp equ globals___1+31 ; line_number = 213 ; bind _float32_eargb0 = _float32_loc40 _float32_eargb0 equ globals___1+32 ; line_number = 214 ; bind _float32_eargb1 = _float32_loc41 _float32_eargb1 equ globals___1+33 ; line_number = 215 ; bind _float32_eargb2 = _float32_loc42 _float32_eargb2 equ globals___1+34 ; line_number = 216 ; bind _float32_eargb3 = _float32_loc43 _float32_eargb3 equ globals___1+35 ; #bind _float32_zargb0 = _float32_loc44 ; #bind _float32_zargb1 = _float32_loc45 ; #bind _float32_zargb2 = _float32_loc46 ; #bind _float32_zargb3 = _float32_loc47 ; #bind _float32_randb0 = _float32_loc48 ; #bind _float32_randb1 = _float32_loc49 ; #bind _float32_randb2 = _float32_loc4a ; #bind _float32_randb3 = _float32_loc4b ; # 32 BIT FLOATING POINT CONSTANTS ; # Machine precision ; # 5.96046447754E-8 = 2**-24 ; line_number = 232 ; constant _float32_machep32exp = 0x67 _float32_machep32exp equ 103 ; line_number = 233 ; constant _float32_machep32b0 = 0 _float32_machep32b0 equ 0 ; line_number = 234 ; constant _float32_machep32b1 = 0 _float32_machep32b1 equ 0 ; line_number = 235 ; constant _float32_machep32b2 = 0 _float32_machep32b2 equ 0 ; # Maximum argument to EXP32 ; # 88.7228391117 = log(2**128) ; line_number = 239 ; constant _float32_maxlog32exp = 0x85 _float32_maxlog32exp equ 133 ; line_number = 240 ; constant _float32_maxlog32b0 = 0x31 _float32_maxlog32b0 equ 49 ; line_number = 241 ; constant _float32_maxlog32b1 = 0x72 _float32_maxlog32b1 equ 114 ; line_number = 242 ; constant _float32_maxlog32b2 = 0x18 _float32_maxlog32b2 equ 24 ; # Minimum argument to EXP32 ; # -87.3365447506 = log(2**-126) ; line_number = 246 ; constant _float32_minlog32exp = 0x85 _float32_minlog32exp equ 133 ; line_number = 247 ; constant _float32_minlog32b0 = 0xae _float32_minlog32b0 equ 174 ; line_number = 248 ; constant _float32_minlog32b1 = 0xac _float32_minlog32b1 equ 172 ; line_number = 249 ; constant _float32_minlog32b2 = 0x50 _float32_minlog32b2 equ 80 ; # Maximum argument to EXP1032 ; # 38.531839445 = log10(2**128) ; line_number = 253 ; constant _float32_maxlog1032exp = 0x84 _float32_maxlog1032exp equ 132 ; line_number = 254 ; constant _float32_maxlog1032b0 = 0x1a _float32_maxlog1032b0 equ 26 ; line_number = 255 ; constant _float32_maxlog1032b1 = 0x20 _float32_maxlog1032b1 equ 32 ; line_number = 256 ; constant _float32_maxlog1032b2 = 0x9b _float32_maxlog1032b2 equ 155 ; # Minimum argument to EXP1032 ; # -37.9297794537 = log10(2**-126) ; line_number = 260 ; constant _float32_minlog1032exp = 0x84 _float32_minlog1032exp equ 132 ; line_number = 261 ; constant _float32_minlog1032b0 = 0x97 _float32_minlog1032b0 equ 151 ; line_number = 262 ; constant _float32_minlog1032b1 = 0xb8 _float32_minlog1032b1 equ 184 ; line_number = 263 ; constant _float32_minlog1032b2 = 0x18 _float32_minlog1032b2 equ 24 ; # Maximum representable number before overflow ; # 6.80564774407E38 = (2**128) * (2 - 2**-23) ; line_number = 267 ; constant _float32_maxnum32exp = 0xff _float32_maxnum32exp equ 255 ; line_number = 268 ; constant _float32_maxnum32b0 = 0x7f _float32_maxnum32b0 equ 127 ; line_number = 269 ; constant _float32_maxnum32b1 = 0xff _float32_maxnum32b1 equ 255 ; line_number = 270 ; constant _float32_maxnum32b2 = 0xff _float32_maxnum32b2 equ 255 ; # Minimum representable number before underflow ; # 1.17549435082E-38 = (2**-126) * 1 ; line_number = 274 ; constant _float32_minnum32exp = 1 _float32_minnum32exp equ 1 ; line_number = 275 ; constant _float32_minnum32b0 = 0 _float32_minnum32b0 equ 0 ; line_number = 276 ; constant _float32_minnum32b1 = 0 _float32_minnum32b1 equ 0 ; line_number = 277 ; constant _float32_minnum32b2 = 0 _float32_minnum32b2 equ 0 ; # Loss threshhold for argument to SIN32 and COS32 ; # 4096 = sqrt(2**24) ; line_number = 281 ; constant _float32_lossthr32exp = 0x8b _float32_lossthr32exp equ 139 ; line_number = 282 ; constant _float32_lossthr32b0 = 0 _float32_lossthr32b0 equ 0 ; line_number = 283 ; constant _float32_lossthr32b1 = 0 _float32_lossthr32b1 equ 0 ; line_number = 284 ; constant _float32_lossthr32b2 = 0 _float32_lossthr32b2 equ 0 ; # PIC16 32 BIT FLOATING POINT LIBRARY ; # ; # Unary operations: both input and output are in _float32_aexp,_FLOAT32_AARG ; # Binary operations: input in _float32_aexp,_FLOAT32_AARG and _float32_bexp,_FLOAT32_BARG with output in _float32_aexp,_FLOAT32_AARG ; # ; # All routines return WREG = 0x00 for successful completion, and WREG = 0xFF ; # for an error condition specified in _FLOAT32_FPFLAGS. ; # All timings are worst case cycle counts ; # Routine Function ; # FLO2432 24 bit integer to 32 bit floating point conversion ; # FLO32 ; # Timing: RND0 RND1 ; # SAT0 104 104 ; # SAT1 110 110 ; # NRM3232 32 bit normalization of unnormalized 32 bit ; # NRM32 floating point numbers ; # Timing: RND0 RND1 ; # SAT0 90 90 ; # SAT1 96 96 ; # INT3224 32 bit floating point to 24 bit integer conversion ; # INT32 ; # Timing: RND0 RND1 ; # SAT0 104 112 ; # SAT1 104 114 ; # FLO3232 32 bit integer to 32 bit floating point conversion ; # Timing: RND0 RND1 ; # SAT0 129 145 ; # SAT1 129 152 ; # NRM4032 32 bit normalization of unnormalized 40 bit floating ; # point numbers ; # Timing: RND0 RND1 ; # SAT0 112 128 ; # SAT1 112 135 ; # INT3232 32 bit floating point to 32 bit integer conversion ; # Timing: RND0 RND1 ; # SAT0 130 137 ; # SAT1 130 137 ; # FPA32 32 bit floating point add ; # Timing: RND0 RND1 ; # SAT0 251 265 ; # SAT1 251 271 ; # FPS32 32 bit floating point subtract ; # Timing: RND0 RND1 ; # SAT0 253 267 ; # SAT1 253 273 ; # FPM32 32 bit floating point multiply ; # Timing: RND0 RND1 ; # SAT0 574 588 ; # SAT1 574 591 ; # FPD32 32 bit floating point divide ; # Timing: RND0 RND1 ; # SAT0 932 968 ; # SAT1 932 971 ; # 32 bit floating point representation ; # ; # EXPONENT 8 bit biased exponent ; # It is important to note that the use of biased ; # exponents produces a unique representation of a ; # floating point 0, given by ; # EXP = HIGHBYTE = MIDBYTE = LOWBYTE = 0x00, ; # with 0 being the only number with EXP = 0. ; # ; # HIGHBYTE 8 bit most significant byte of fraction in ; # sign-magnitude representation, with SIGN = MSB, ; # implicit MSB = 1 and radix point to the right of MSB ; # ; # MIDBYTE 8 bit middle significant byte of sign-magnitude fraction ; # ; # LOWBYTE 8 bit least significant byte of sign-magnitude fraction ; # ; # EXPONENT HIGHBYTE MIDBYTE LOWBYTE ; # xxxxxxxx S.xxxxxxx xxxxxxxx xxxxxxxx ; # | ; # RADIX ; # POINT ; Delaying code generation for procedure _float32_from_integer24 ; Delaying code generation for procedure _float32_normalize ; Delaying code generation for procedure _float32_from_integer32 ; Delaying code generation for procedure _float32_normalize40 ; Delaying code generation for procedure _float32_integer24_convert ; Delaying code generation for procedure float32_integer32_convert ; Delaying code generation for procedure _float32_multiply ; Delaying code generation for procedure _float32_divide ; Delaying code generation for procedure _float32_subtract ; Delaying code generation for procedure _float32_add ; buffer = '_float32' ; line_number = 46 ; library _float32_base exited ; # FIXME: Make sure that none of the procedure allocate any argument storage!!! ; Delaying code generation for procedure _float32_pointer_load ; Delaying code generation for procedure _float32_pointer_add ; Delaying code generation for procedure _float32_pointer_divide ; Delaying code generation for procedure _float32_pointer_multiply ; Delaying code generation for procedure _float32_pointer_subtract ; Delaying code generation for procedure _float32_pointer_store ; Delaying code generation for procedure _float32_negate ; Delaying code generation for procedure _float32_reciprocal ; Delaying code generation for procedure _float32_pointer_swap ; Delaying code generation for procedure _float32_from_byte ; Delaying code generation for procedure _float32_to_byte ; Delaying code generation for procedure _float32_equals ; Delaying code generation for procedure _float32_not_equal ; Delaying code generation for procedure _float32_less_than ; Delaying code generation for procedure _float32_less_than_or_equal ; Delaying code generation for procedure _float32_greater_than ; Delaying code generation for procedure _float32_greater_than_or_equal ; buffer = 'midimotor1e' ; line_number = 183 ; library _float32 exited ; line_number = 186 ; origin 0 org 0 ; line_number = 188 ;info 188, 0 ; procedure start start: ; arguments_none ; line_number = 190 ; returns_nothing ; line_number = 191 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 193 ; assemble ;info 193, 0 ; line_number = 194 ;info 194, 0 ; databank start, main ; line_number = 195 ;info 195, 0 ; codebank start, main ; line_number = 196 ;info 196, 0 goto main ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 198 ; origin 4 org 4 ; line_number = 200 ;info 200, 4 ; procedure interrupt interrupt: interrupt___w_save equ shared___globals+1 interrupt___status_save equ shared___globals ; Carefully save __w and __tatus into RAM ; Save W first (easy) movwf interrupt___w_save ; Save Status without smashing it (tricky) ; Move swapped version of status into W swapf __status,w ; Store swapped version of status into RAM movwf interrupt___status_save ; arguments_none ; line_number = 202 ; returns_nothing ; # This is the interrupt processing routine. While it is quite long ; # it actually does not take very long to execute. This is important ; # since long interrupt routines can cause problems with over module ; # latency. ; # Step1: Save our system registers. There are 4 registers that ; # need to be saved -- W, STATUS, FSR, and PCLATH. ; # ; # W & STATUS: ; # The compiler takes care of the weird code needed to safely ; # save W adn STATUS registers. (Read the generated assembly code ; # comments to see some strange usage of the SWAPF instruction.) ; # Since the microcontroller can be using any of the 4 register ; # banks when the interrupt occurs, the W and STATUS register ; # are stored into a couple of shared memory bank registers. ; # There are 16 of these registers available, and the interupt ; # takes 2 of the 16. ; # ; # PCLATH: ; # When the interrupt occurs, the previous progam counter is ; # pushed onto the stack and then the program counter is set ; # to 4 to force execution of the interrupt routine. The PCLATH ; # register is left unchanged. Since the PCLATH register can ; # pointing to any of the 4 code banks (only 2 implemented for ; # the PIC16F688), it is vital that we update PCLATH to point ; # to code bank 0 (where the interrupt routine is) before the ; # first GOTO, CALL, or computed GOTO. Otherwise, the first ; # GOTO, CALL, or computed GOTO will jump off into code bank ; # that was being used prior to the interrupt. ; # ; # FSR: ; # The FSR register needs to be saved since we using code that ; # indexes into a small buffer to store UART input. ; # ; # Both PCLATH and FSR can be saved into regular registers in ; # register bank 0. No shared registers are needed. Once we have ; # STATUS stashed away, the register bank can be set to 0. The ; # compiler takes care of this automagically before the first save ; # assignment. ; line_number = 244 ; local fsr_save byte interrupt__fsr_save equ globals___0+27 ; line_number = 245 ; local pclath_save byte interrupt__pclath_save equ globals___0+28 ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:X0=cu=>X0) ; line_number = 247 ; fsr_save := _fsr ;info 247, 7 movf _fsr,w bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movwf interrupt__fsr_save ; line_number = 248 ; pclath_save := _pclath ;info 248, 11 movf _pclath,w movwf interrupt__pclath_save ; # Make sure we are on correct page: ; line_number = 250 ; _pclath := 0 ;info 250, 13 clrf _pclath ; # Now we have to deal with any of the pending interrupts. Timer0 ; # is set to go off at the overall duty cycle of the PWM (Pulse Width ; # Modulation) rate. We turn the motor "on" each time Timer0 triggers ; # an interrupt. We also start Timer1 to specifiy the over width of ; # the pulse before we turn it off. When Timer1 triggers, it is time ; # to turn the pulse off. Timer0 is an 8-bit register and it it is ; # being driven by a the system clock divided by 256. Thus, the Timer0 ; # triggers every 65536 (=2^16) clock ticks. Timer 1 is a 16-bit ; # counter that runs at the system clock. We always set the low ; # order byte to 0, and the high order byte to W, where W=255-PW and ; # PW is the pulse width as a number between 0 and 255. Thus, we can ; # have the pulse width vary in increments of 1/256 of the total duty ; # cycle. ; # Deal with Timer 0 interrupt: ; line_number = 267 ; if _t0if start ;info 267, 14 ; =>bit_code_emit@symbol(): sym=_t0if ; No 1TEST: true.size=36 false.size=0 ; No 2TEST: true.size=36 false.size=0 ; 1GOTO: Single test with GOTO btfss _t0if___byte, _t0if___bit goto interrupt__4 ; # Timer 0 just triggered. It is time to start a new pulse width ; # duty cycle: ; # Clear the interrupt flag: ; line_number = 272 ; _t0if := _false ;info 272, 16 bcf _t0if___byte, _t0if___bit ; # Make sure Timer1 is off while we muck around with Timer1: ; line_number = 275 ; _tmr1on := _false ;info 275, 17 bcf _tmr1on___byte, _tmr1on___bit ; # Set the pulse width to W::0, where W=255-PW, where PW={0,...,255}. ; line_number = 278 ; _tmr1l := 0 ;info 278, 18 clrf _tmr1l ; line_number = 279 ; _tmr1h := motor1_pulse_width ;info 279, 19 movf motor1_pulse_width,w movwf _tmr1h ; # Make sure that we clear off the Timer1 interrupt flag, just in case: ; line_number = 282 ; _tmr1if := _false ;info 282, 21 bcf _tmr1if___byte, _tmr1if___bit ; # Turn on Timer1: ; line_number = 285 ; _tmr1on := _true ;info 285, 22 bsf _tmr1on___byte, _tmr1on___bit ; # Finally, turn on the appropriate leads of the motor to make it move. ; line_number = 288 ; _portc := motor1_on_mask ;info 288, 23 movf motor1_on_mask,w movwf _portc ; line_number = 290 ; if use_potentiometer start ;info 290, 25 ; =>bit_code_emit@symbol(): sym=use_potentiometer ; No 1TEST: true.size=22 false.size=0 ; No 2TEST: true.size=22 false.size=0 ; 1GOTO: Single test with GOTO btfss use_potentiometer___byte, use_potentiometer___bit goto interrupt__3 bsf __rp0___byte, __rp0___bit ; line_number = 291 ; quad_low := _adresl ;info 291, 28 movf _adresl,w bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf quad_low ; line_number = 292 ; quad_middle := _adresh ;info 292, 32 bcf __rp1___byte, __rp1___bit movf _adresh,w bsf __rp1___byte, __rp1___bit movwf quad_middle ; line_number = 293 ; quad_high := 0 ;info 293, 36 clrf quad_high ; line_number = 294 ; if position_reverse start ;info 294, 37 ; =>bit_code_emit@symbol(): sym=position_reverse ; No 1TEST: true.size=9 false.size=0 ; No 2TEST: true.size=9 false.size=0 ; 1GOTO: Single test with GOTO bcf __rp1___byte, __rp1___bit btfss position_reverse___byte, position_reverse___bit goto interrupt__2 bsf __rp1___byte, __rp1___bit ; # Perform a 1's complement of the result: ; line_number = 296 ; quad_low := quad_low ^ 0xff ;info 296, 41 comf quad_low,f ; line_number = 297 ; quad_middle := quad_middle ^ 3 ;info 297, 42 movlw 3 xorwf quad_middle,f ; line_number = 298 ; quad_low := quad_low + 1 ;info 298, 44 incf quad_low,f ; line_number = 299 ; if _z start ;info 299, 45 ; =>bit_code_emit@symbol(): sym=_z ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss _z___byte, _z___bit goto interrupt__1 ; line_number = 300 ; quad_middle := (quad_middle + 1) & 3 ;info 300, 47 incf quad_middle,w andlw 3 movwf quad_middle ; Recombine size1 = 0 || size2 = 0 interrupt__1: ; line_number = 299 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__2: ; line_number = 294 ; if position_reverse done ; Recombine size1 = 0 || size2 = 0 interrupt__3: ; line_number = 290 ; if use_potentiometer done ; # Trigger an A/D conversion to pick up next time: ; line_number = 303 ; _go := _true ;info 303, 50 bcf __rp1___byte, __rp1___bit bsf _go___byte, _go___bit ; Recombine size1 = 0 || size2 = 0 interrupt__4: ; line_number = 267 ; if _t0if done ; # Deal with Timer 1 interrupt: ; line_number = 306 ; if _tmr1if start ;info 306, 52 ; =>bit_code_emit@symbol(): sym=_tmr1if ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss _tmr1if___byte, _tmr1if___bit goto interrupt__5 ; # Timer 1 just triggered. It is time to turn off the pulse width. ; # Turn off the motor leads: ; line_number = 310 ; _portc := 0 ;info 310, 54 clrf _portc ; # Turn off Timer 1: ; line_number = 313 ; _tmr1on := _false ;info 313, 55 bcf _tmr1on___byte, _tmr1on___bit ; # Make sure we clear timer 1 interrupt flag: ; line_number = 316 ; _tmr1if := _false ;info 316, 56 bcf _tmr1if___byte, _tmr1if___bit ; Recombine size1 = 0 || size2 = 0 interrupt__5: ; line_number = 306 ; if _tmr1if done ; # Deal with UART receive interrupt: ; line_number = 319 ; if _rcif start ;info 319, 57 ; =>bit_code_emit@symbol(): sym=_rcif ; No 1TEST: true.size=35 false.size=0 ; No 2TEST: true.size=35 false.size=0 ; 1GOTO: Single test with GOTO btfss _rcif___byte, _rcif___bit goto interrupt__10 ; # We have a byte in the UART receive buffer. We want to be as ; # quick as possible here. Do the minimum to process the incoming ; # byte and move on.a ; # First, look at the ninth bit. If the ninth bit is set, we ; # process it immediately. ; line_number = 326 ; if _rx9d start ;info 326, 59 ; =>bit_code_emit@symbol(): sym=_rx9d ; No 1TEST: true.size=16 false.size=10 ; No 2TEST: true.size=16 false.size=10 ; 2GOTO: Single test with two GOTO's btfss _rx9d___byte, _rx9d___bit goto interrupt__8 ; # The ninth bit is set, we have an module address select ; # command: ; line_number = 329 ; if _rcreg = address start ;info 329, 61 ; Left minus Right movf address,w subwf _rcreg,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=9 false.size=2 ; No 2TEST: true.size=9 false.size=2 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto interrupt__6 ; # The address that came in matches ours in {address}. ; # We need to prepare for further incoming data bytes: ; # Force the UART to start accepting data bytes with the ; # ninth bit clear: ; line_number = 335 ; _adden := _false ;info 335, 65 bcf _adden___byte, _adden___bit ; # Clear out the input data buffer: ; line_number = 338 ; uart_input_in_index := 0 ;info 338, 66 clrf uart_input_in_index ; line_number = 339 ; uart_input_out_index := 0 ;info 339, 67 clrf uart_input_out_index ; line_number = 340 ; uart_input_count := 0 ;info 340, 68 clrf uart_input_count ; line_number = 341 ; uart_input_pending := _false ;info 341, 69 bcf uart_input_pending___byte, uart_input_pending___bit ; # Send an acknowledge byte: ; line_number = 344 ; call uart_byte_put(rb2_ok) ;info 344, 70 movlw 165 call uart_byte_put ; # Set the state machine for {uart_manage} to eat the echo ; # and start processing commands: ; line_number = 348 ; state := state_echo_then_command ;info 348, 72 movlw 1 movwf state ; Recombine code1_bit_states != code2_bit_states goto interrupt__7 ; 2GOTO: Starting code 2 interrupt__6: ; # The address that came in did not match our address: ; # Force the UART to only listen to bytes that have the ; # ninth bit set (i.e. address commands). All data bytes ; # to the other selected module will be invisible to us: ; line_number = 355 ; _adden := _true ;info 355, 75 bsf _adden___byte, _adden___bit ; # Set the state machine for {uart_manage} to ignore any ; # incoming data bytes. This should never happen, be it ; # it never hurts to be careful. ; line_number = 360 ; state := state_select_wait ;info 360, 76 clrf state interrupt__7: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 329 ; if _rcreg = address done ; Recombine code1_bit_states != code2_bit_states goto interrupt__9 ; 2GOTO: Starting code 2 interrupt__8: ; # We have a data byte for us to process. For now we ; # stuff it into an input buffer: ; # Stuff the byte into the {uart_input} buffer being careful ; # not to go out of bounds. The buffer is a power of 2 in ; # size, so masking {uart_input_in_index} with {uart_input_mask} ; # will keep us in bounds: ; line_number = 369 ; uart_input[uart_input_in_index & uart_input_mask] := _rcreg ;info 369, 78 ; index_fsr_first movlw 3 andwf uart_input_in_index,w addlw uart_input movwf __fsr bcf __irp___byte, __irp___bit movf _rcreg,w movwf __indf ; # Bump {uart_input_in_index} so that we next byte the comes ; # in will follow this current byte: ; line_number = 373 ; uart_input_in_index := uart_input_in_index + 1 ;info 373, 85 incf uart_input_in_index,f ; # Keep track of how many bytes are in the input buffer: ; line_number = 376 ; uart_input_count := uart_input_count + 1 ;info 376, 86 incf uart_input_count,f ; # Let the {uart_manage} routine know that it has work to do: ; line_number = 379 ; uart_input_pending := _true ;info 379, 87 bsf uart_input_pending___byte, uart_input_pending___bit interrupt__9: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 326 ; if _rx9d done ; # The PIC UART can get wedged by errors. We fix that problem ; # by toggling {_cren} whenever we have an overrun error. The ; # code below is really tight (5 instructions): ; line_number = 384 ; if _oerr start ;info 384, 88 ; =>bit_code_emit@symbol(): sym=_oerr ; 1TEST: Single test with code in skip slot btfsc _oerr___byte, _oerr___bit ; # We have an over run error, clear {_cren}: ; line_number = 386 ; _cren := _false ;info 386, 89 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 384 ; if _oerr done ; line_number = 387 ; if _ferr start ;info 387, 90 ; =>bit_code_emit@symbol(): sym=_ferr ; 1TEST: Single test with code in skip slot btfsc _ferr___byte, _ferr___bit ; # We have a framing error, clear {_cren}: ; line_number = 389 ; _cren := _false ;info 389, 91 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 387 ; if _ferr done ; # If either of the two previous statements triggered, {_cren} ; # got turned off. This next statement will turn it on again. ; # Otherwise, {_cren} is already on, and this statement will do ; # nothing: ; line_number = 394 ; _cren := _true ;info 394, 92 bsf _cren___byte, _cren___bit ; # Clear the recieve interrupt condition: ; line_number = 397 ; _rcif := _false ;info 397, 93 bcf _rcif___byte, _rcif___bit ; Recombine size1 = 0 || size2 = 0 interrupt__10: ; line_number = 319 ; if _rcif done ; # Deal with quadrature input changes: ; line_number = 400 ; if _raif start ;info 400, 94 ; =>bit_code_emit@symbol(): sym=_raif ; No 1TEST: true.size=59 false.size=0 ; No 2TEST: true.size=59 false.size=0 ; 1GOTO: Single test with GOTO btfss _raif___byte, _raif___bit goto interrupt__25 bsf __rp1___byte, __rp1___bit ; # The file24 a the A and B channels of Port A have changed ; # since the last time we read Port A. Deal with the change ; # by cycling the {quad_state} state machine. Please carefully ; # read the documentation in the states.ucl library to understand ; # the format of the {states} vector. ; # Cycle the {quad_state} state machine. Use only the lower 3 bits ; # currently in {quad_state} concatenated with the low order 2 bits ; # of {_porta} (the A and B quadrature channels). That gives a total ; # of 5 bits to work with: ; line_number = 411 ; quad_state := xstates[quad_state & 7 | (_porta << 3) & 0x18] ;info 411, 97 interrupt__11 equ globals___0+62 movlw 7 andwf quad_state,w bcf __rp1___byte, __rp1___bit movwf interrupt__11 interrupt__12 equ globals___0+63 rlf _porta,w movwf interrupt__12 rlf interrupt__12,f rlf interrupt__12,w andlw 24 iorwf interrupt__11,w addlw xstates movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w bsf __rp1___byte, __rp1___bit movwf quad_state ; # Disable interrupt condition until the next time: ; line_number = 414 ; _raif := _false ;info 414, 113 bcf _raif___byte, _raif___bit ; # The rest of this code just increments and decrements the quadrature ; # counter. The quad counter is signed 24 bit integer that is stored ; # in {quad_high}, {quad_middle}, and {quad_low}. This code is kind ; # big and long, but in reality, 99% of the time we will perform either ; # a single increment or decrement of {quad_low}. So, most of the ; # time this code very fast: ; line_number = 423 ; if quad_state@7 start ;info 423, 114 interrupt__select__17___byte equ quad_state interrupt__select__17___bit equ 7 ; =>bit_code_emit@symbol(): sym=interrupt__select__17 ; No 1TEST: true.size=17 false.size=0 ; No 2TEST: true.size=17 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__17___byte, interrupt__select__17___bit goto interrupt__18 ; # The state machine wants us to increment the quadrature counter ; # by 1. We work our way from {quad_low} through {quad_high}: ; line_number = 426 ; quad_low := quad_low + 1 ;info 426, 116 incf quad_low,f ; line_number = 427 ; if _z start ;info 427, 117 ; =>bit_code_emit@symbol(): sym=_z ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss _z___byte, _z___bit goto interrupt__13 ; # The zero status flag is set, so {quad_low} just wrapped from ; # 0xff to 0. Thus, we need to increment {quad_middle}" ; line_number = 430 ; quad_middle := quad_middle + 1 ;info 430, 119 incf quad_middle,f ; line_number = 431 ; if _z start ;info 431, 120 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; # The zero status flat is set, so {quad_middle} just ; # wrapped from 0xff to 0. Thus we need to increment ; # {quad_high}: ; line_number = 435 ; quad_high := quad_high + 1 ;info 435, 121 incf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 431 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__13: ; line_number = 427 ; if _z done ; line_number = 437 ; if quad_state@6 start ;info 437, 122 interrupt__select__15___byte equ quad_state interrupt__select__15___bit equ 6 ; =>bit_code_emit@symbol(): sym=interrupt__select__15 ; No 1TEST: true.size=8 false.size=0 ; No 2TEST: true.size=8 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__15___byte, interrupt__select__15___bit goto interrupt__16 bcf __rp1___byte, __rp1___bit ; # This bit will be set in the state machine if we have an ; # "illegal" state machine transistion. ; # Bump the {errors} counter to let somebody know ; # that we are having problems: ; line_number = 443 ; errors := errors + 1 ;info 443, 125 incf errors,f ; # This code is the same as the first increment, so the ; # comments are not repeated: ; line_number = 447 ; quad_low := quad_low + 1 ;info 447, 126 bsf __rp1___byte, __rp1___bit incf quad_low,f ; line_number = 448 ; if _z start ;info 448, 128 ; =>bit_code_emit@symbol(): sym=_z ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss _z___byte, _z___bit goto interrupt__14 ; line_number = 449 ; quad_middle := quad_middle + 1 ;info 449, 130 incf quad_middle,f ; line_number = 450 ; if _z start ;info 450, 131 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 451 ; quad_high := quad_high + 1 ;info 451, 132 incf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 450 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__14: ; line_number = 448 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__16: ; line_number = 437 ; if quad_state@6 done ; Recombine size1 = 0 || size2 = 0 interrupt__18: ; line_number = 423 ; if quad_state@7 done ; line_number = 452 ; if quad_state@5 start ;info 452, 133 interrupt__select__23___byte equ quad_state interrupt__select__23___bit equ 5 ; =>bit_code_emit@symbol(): sym=interrupt__select__23 ; No 1TEST: true.size=21 false.size=0 ; No 2TEST: true.size=21 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__23___byte, interrupt__select__23___bit goto interrupt__24 ; # The state machine wants us to decrement the quadrature counter ; # by 1. We work our way from {quad_low} through {quad_high}: ; line_number = 455 ; if quad_low = 0 start ;info 455, 135 ; Left minus Right movf quad_low,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=4 false.size=0 ; No 2TEST: true.size=4 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto interrupt__19 ; # {quad_low} is 0, so we are going to wrap down to 0xff. ; # We need to decrement {quad_middle}: ; line_number = 458 ; if quad_middle = 0 start ;info 458, 138 ; Left minus Right movf quad_middle,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; # {quad_middle} is 0, we are going to wrap down to 0xff. ; # We need to decrement {quad_high}: ; line_number = 461 ; quad_high := quad_high - 1 ;info 461, 140 decf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 458 ; if quad_middle = 0 done ; # Do the {quad_middle} decrement: ; line_number = 463 ; quad_middle := quad_middle - 1 ;info 463, 141 decf quad_middle,f ; Recombine size1 = 0 || size2 = 0 interrupt__19: ; line_number = 455 ; if quad_low = 0 done ; # Do the {quad_low} decrement: ; line_number = 465 ; quad_low := quad_low - 1 ;info 465, 142 decf quad_low,f ; line_number = 467 ; if quad_state@4 start ;info 467, 143 interrupt__select__21___byte equ quad_state interrupt__select__21___bit equ 4 ; =>bit_code_emit@symbol(): sym=interrupt__select__21 ; No 1TEST: true.size=10 false.size=0 ; No 2TEST: true.size=10 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__21___byte, interrupt__select__21___bit goto interrupt__22 bcf __rp1___byte, __rp1___bit ; # This bit will be set in the state machine if we have an ; # "illegal" state machine transition: ; # Bump the {errors} counter to let somebody know that ; # we are having problems: ; line_number = 473 ; errors := errors + 1 ;info 473, 146 incf errors,f ; # This code is the same as the first decrement, so the ; # comments are not repeated: ; line_number = 477 ; if quad_low = 0 start ;info 477, 147 ; Left minus Right bsf __rp1___byte, __rp1___bit movf quad_low,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=4 false.size=0 ; No 2TEST: true.size=4 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto interrupt__20 ; line_number = 478 ; if quad_middle = 0 start ;info 478, 151 ; Left minus Right movf quad_middle,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; line_number = 479 ; quad_high := quad_high - 1 ;info 479, 153 decf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 478 ; if quad_middle = 0 done ; line_number = 480 ; quad_middle := quad_middle - 1 ;info 480, 154 decf quad_middle,f ; Recombine size1 = 0 || size2 = 0 interrupt__20: ; line_number = 477 ; if quad_low = 0 done ; line_number = 481 ; quad_low := quad_low - 1 ;info 481, 155 decf quad_low,f ; Recombine size1 = 0 || size2 = 0 interrupt__22: ; line_number = 467 ; if quad_state@4 done ; Recombine size1 = 0 || size2 = 0 interrupt__24: ; line_number = 452 ; if quad_state@5 done ; Recombine size1 = 0 || size2 = 0 interrupt__25: ; line_number = 400 ; if _raif done ; # All done processing interrupt conditions. Let's get out of here by ; # restoring {_fsr} and {_pclath}: ; line_number = 485 ; _fsr := fsr_save ;info 485, 156 bcf __rp1___byte, __rp1___bit movf interrupt__fsr_save,w movwf _fsr ; line_number = 486 ; _pclath := pclath_save ;info 486, 159 movf interrupt__pclath_save,w movwf _pclath ; # The compiler takes care of restoring {_status} and {_w}. ; delay after procedure statements=non-uniform ; Interrupt return ; Carefully restore __w and __tatus from RAM ; Restore swapped status into W swapf interrupt___status_save,w ; W now contains (unswapped) status ; Restore W to __status movwf __status ; From here on out, do not modify __status ; Swap saved W register in RAM swapf interrupt___w_save,f ; Unswap the saved W reg and restore to W swapf interrupt___w_save,w ; __w and __status are now restored ; Return from interrupt retfie ; # Split the floats between data banks 1 and 2: ; line_number = 494 ; global error float32 error equ globals___2+54 ; line_number = 495 ; global position float32 position equ globals___2+58 ; line_number = 496 ; global target float32 target equ globals___2+62 ; line_number = 497 ; global kp float32 kp equ globals___2+66 ; line_number = 498 ; global ki float32 ki equ globals___2+70 ; line_number = 502 ; global kd float32 kd equ globals___1+52 ; line_number = 503 ; global pid float32 pid equ globals___1+56 ; line_number = 504 ; global divisor float32 divisor equ globals___1+60 ; line_number = 505 ; global numerator float32 numerator equ globals___1+64 ; line_number = 509 ; global target_speed byte # Target motor speed target_speed equ globals___0+29 ; line_number = 510 ; global target_seek bit target_seek___byte equ globals___0+79 target_seek___bit equ 1 ; line_number = 512 ;info 512, 166 ; procedure main main: ; Initialize some registers movlw 1 movwf _adcon0 movlw 4 bsf __rp0___byte, __rp0___bit movwf _ansel movlw 7 bcf __rp0___byte, __rp0___bit movwf _cmcon0 movlw 63 bsf __rp0___byte, __rp0___bit movwf _trisa movlw 60 movwf _trisc ; arguments_none ; line_number = 514 ; returns_nothing ; line_number = 516 ; local pos_high byte main__pos_high equ globals___0+30 ; line_number = 517 ; local pos_middle byte main__pos_middle equ globals___0+31 ; line_number = 518 ; local pos_low byte main__pos_low equ globals___0+32 ; line_number = 519 ; local negative bit main__negative___byte equ globals___0+79 main__negative___bit equ 2 ; line_number = 520 ; local small_error byte main__small_error equ globals___0+33 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:X0=cu=>X0) ; line_number = 522 ; call reset() ;info 522, 179 bcf __rp0___byte, __rp0___bit call reset ; line_number = 524 ; loop_forever start main__1: ; # Make sure we manage the UART: ; line_number = 526 ; call uart_manage() ;info 526, 181 call uart_manage ; # Update target if necesary ; line_number = 529 ; if file24_changed != 0 start ;info 529, 182 ; Left minus Right movf file24_changed,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=0 false.size=120 ; No 2TEST: true.size=0 false.size=120 ; 1GOTO: Single test with GOTO btfsc __z___byte, __z___bit goto main__22 ; # Something has changed: ; line_number = 531 ; if file24_changed@target_index start ;info 531, 185 main__select__3___byte equ file24_changed main__select__3___bit equ 1 ; =>bit_code_emit@symbol(): sym=main__select__3 ; No 1TEST: true.size=13 false.size=0 ; No 2TEST: true.size=13 false.size=0 ; 1GOTO: Single test with GOTO btfss main__select__3___byte, main__select__3___bit goto main__4 ; line_number = 532 ; target_seek := _true ;info 532, 187 bsf target_seek___byte, target_seek___bit ; line_number = 533 ; target := file24_float_convert(target_index) ;info 533, 188 movlw 1 call file24_float_convert movlw file24_float_convert__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw target>>1 call _float32_pointer_store ; line_number = 534 ; file24_changed@target_index := _false ;info 534, 196 main__select__2___byte equ file24_changed main__select__2___bit equ 1 bcf __rp0___byte, __rp0___bit bcf main__select__2___byte, main__select__2___bit ; line_number = 535 ; call uart_manage() ;info 535, 198 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__4: ; line_number = 531 ; if file24_changed@target_index done ; line_number = 536 ; if file24_changed@divisor_index start ;info 536, 200 main__select__11___byte equ file24_changed main__select__11___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__11 ; No 1TEST: true.size=28 false.size=0 ; No 2TEST: true.size=28 false.size=0 ; 1GOTO: Single test with GOTO btfss main__select__11___byte, main__select__11___bit goto main__12 ; line_number = 537 ; divisor := file24_float_convert(divisor_index) ;info 537, 202 movlw 2 call file24_float_convert movlw file24_float_convert__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw divisor>>1 call _float32_pointer_store ; line_number = 538 ; if file24_zero@divisor_index start ;info 538, 210 main__select__5___byte equ file24_zero main__select__5___bit equ 2 ; =>bit_code_emit@symbol(): sym=main__select__5 ; No 1TEST: true.size=9 false.size=0 ; No 2TEST: true.size=9 false.size=0 ; 1GOTO: Single test with GOTO bcf __rp0___byte, __rp0___bit bcf __cb0___byte, __cb0___bit btfss main__select__5___byte, main__select__5___bit goto main__6 bsf __rp1___byte, __rp1___bit ; # Yikes, the user set the divisor to zero; set to 1 instead: ; line_number = 540 ; lows[divisor_index] := 1 ;info 540, 215 movlw 1 movwf lows+2 ; line_number = 541 ; divisor := 1.0 ;info 541, 217 ; divisor := 1 (7F 00 00 00) movlw 127 bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movwf divisor clrf divisor+1 clrf divisor+2 clrf divisor+3 ; Recombine size1 = 0 || size2 = 0 main__6: ; line_number = 538 ; if file24_zero@divisor_index done ; line_number = 542 ; file24_changed@divisor_index := _false ;info 542, 224 main__select__7___byte equ file24_changed main__select__7___bit equ 2 bcf __rp0___byte, __rp0___bit bcf main__select__7___byte, main__select__7___bit ; line_number = 543 ; file24_changed@kp_index := _true ;info 543, 226 main__select__8___byte equ file24_changed main__select__8___bit equ 3 bsf main__select__8___byte, main__select__8___bit ; line_number = 544 ; file24_changed@ki_index := _true ;info 544, 227 main__select__9___byte equ file24_changed main__select__9___bit equ 4 bsf main__select__9___byte, main__select__9___bit ; line_number = 545 ; file24_changed@kd_index := _true ;info 545, 228 main__select__10___byte equ file24_changed main__select__10___bit equ 5 bsf main__select__10___byte, main__select__10___bit ; line_number = 546 ; call uart_manage() ;info 546, 229 call uart_manage ; Recombine size1 = 0 || size2 = 0 main__12: ; line_number = 536 ; if file24_changed@divisor_index done ; line_number = 547 ; if file24_changed@kp_index start ;info 547, 230 main__select__14___byte equ file24_changed main__select__14___bit equ 3 ; =>bit_code_emit@symbol(): sym=main__select__14 ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO btfss main__select__14___byte, main__select__14___bit goto main__15 ; line_number = 548 ; numerator := file24_float_convert(kp_index) ;info 548, 232 movlw 3 call file24_float_convert movlw file24_float_convert__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw numerator>>1 call _float32_pointer_store ; line_number = 549 ; call uart_manage() ;info 549, 240 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 550 ; kp := numerator / divisor ;info 550, 243 movlw numerator>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw divisor>>1 call _float32_pointer_divide movlw kp>>1 call _float32_pointer_store ; line_number = 551 ; file24_changed@kp_index := _false ;info 551, 251 main__select__13___byte equ file24_changed main__select__13___bit equ 3 bcf __rp0___byte, __rp0___bit bcf main__select__13___byte, main__select__13___bit ; line_number = 552 ; call uart_manage() ;info 552, 253 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__15: ; line_number = 547 ; if file24_changed@kp_index done ; line_number = 553 ; if file24_changed@ki_index start ;info 553, 255 main__select__17___byte equ file24_changed main__select__17___bit equ 4 ; =>bit_code_emit@symbol(): sym=main__select__17 ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO btfss main__select__17___byte, main__select__17___bit goto main__18 ; line_number = 554 ; numerator := file24_float_convert(ki_index) ;info 554, 257 movlw 4 call file24_float_convert movlw file24_float_convert__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw numerator>>1 call _float32_pointer_store ; line_number = 555 ; call uart_manage() ;info 555, 265 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 556 ; ki := numerator / divisor ;info 556, 268 movlw numerator>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw divisor>>1 call _float32_pointer_divide movlw ki>>1 call _float32_pointer_store ; line_number = 557 ; file24_changed@ki_index := _false ;info 557, 276 main__select__16___byte equ file24_changed main__select__16___bit equ 4 bcf __rp0___byte, __rp0___bit bcf main__select__16___byte, main__select__16___bit ; line_number = 558 ; call uart_manage() ;info 558, 278 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__18: ; line_number = 553 ; if file24_changed@ki_index done ; line_number = 559 ; if file24_changed@kd_index start ;info 559, 280 main__select__20___byte equ file24_changed main__select__20___bit equ 5 ; =>bit_code_emit@symbol(): sym=main__select__20 ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO btfss main__select__20___byte, main__select__20___bit goto main__21 ; line_number = 560 ; numerator := file24_float_convert(kd_index) ;info 560, 282 movlw 5 call file24_float_convert movlw file24_float_convert__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw numerator>>1 call _float32_pointer_store ; line_number = 561 ; call uart_manage() ;info 561, 290 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 562 ; kd := numerator / divisor ;info 562, 293 movlw numerator>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw divisor>>1 call _float32_pointer_divide movlw kd>>1 call _float32_pointer_store ; line_number = 563 ; file24_changed@kd_index := _false ;info 563, 301 main__select__19___byte equ file24_changed main__select__19___bit equ 5 bcf __rp0___byte, __rp0___bit bcf main__select__19___byte, main__select__19___bit ; line_number = 564 ; call uart_manage() ;info 564, 303 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__21: ; line_number = 559 ; if file24_changed@kd_index done main__22: ; Recombine size1 = 0 || size2 = 0 ; line_number = 529 ; if file24_changed != 0 done ; line_number = 566 ; if target_seek start ;info 566, 305 ; =>bit_code_emit@symbol(): sym=target_seek ; No 1TEST: true.size=179 false.size=0 ; No 2TEST: true.size=179 false.size=0 ; 1GOTO: Single test with GOTO btfss target_seek___byte, target_seek___bit goto main__35 bsf __rp1___byte, __rp1___bit ; # Fetch the position atomically: ; line_number = 568 ; _gie := _false ;info 568, 308 bcf _gie___byte, _gie___bit ; line_number = 569 ; pos_high := quad_high ;info 569, 309 movf quad_high,w bcf __rp1___byte, __rp1___bit movwf main__pos_high ; line_number = 570 ; pos_middle := quad_middle ;info 570, 312 bsf __rp1___byte, __rp1___bit movf quad_middle,w bcf __rp1___byte, __rp1___bit movwf main__pos_middle ; line_number = 571 ; pos_low := quad_low ;info 571, 316 bsf __rp1___byte, __rp1___bit movf quad_low,w bcf __rp1___byte, __rp1___bit movwf main__pos_low ; line_number = 572 ; _gie := _true ;info 572, 320 bsf _gie___byte, _gie___bit ; line_number = 573 ; call uart_manage() ;info 573, 321 call uart_manage ; # Convert the position bytes into a float: ; line_number = 576 ; position := xyz(pos_high, pos_middle, pos_low) ;info 576, 322 movf main__pos_high,w movwf xyz__high movf main__pos_middle,w movwf xyz__middle movf main__pos_low,w call xyz movlw xyz__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw position>>1 call _float32_pointer_store ; line_number = 577 ; call uart_manage() ;info 577, 334 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; # Figure out the proportional error: ; line_number = 580 ; error := position - target ;info 580, 337 movlw position>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw target>>1 call _float32_pointer_subtract movlw error>>1 call _float32_pointer_store ; line_number = 581 ; call uart_manage() ;info 581, 345 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; # Compute the PID equation: ; line_number = 584 ; pid := kp * error ;info 584, 348 movlw kp>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw error>>1 call _float32_pointer_multiply movlw pid>>1 call _float32_pointer_store ; line_number = 585 ; call uart_manage() ;info 585, 356 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; # Set the new motor speed: ; line_number = 588 ; negative := _false ;info 588, 359 bcf main__negative___byte, main__negative___bit ; line_number = 589 ; if pid < 0.0 start ;info 589, 360 movlw pid>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=7 false.size=0 ; No 2TEST: true.size=7 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb0___byte, __cb0___bit btfss __z___byte, __z___bit goto main__23 bsf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit ; # Work in positive arithmetic: ; line_number = 591 ; negative := _true ;info 591, 370 bsf main__negative___byte, main__negative___bit ; line_number = 592 ; pid := -pid ;info 592, 371 movlw pid>>1 bsf __rp0___byte, __rp0___bit call _float32_pointer_load call _float32_negate movlw pid>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 main__23: ; line_number = 589 ; if pid < 0.0 done ; line_number = 593 ; if pid > 127.0 start ;info 593, 377 ; -127 = 85 fe 00 00 movlw 133 movwf _float32_aexp movlw 254 movwf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw pid>>1 bsf __cb0___byte, __cb0___bit call _float32_pointer_add call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=3 false.size=84 ; No 2TEST: true.size=3 false.size=84 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__32 bcf __rp0___byte, __rp0___bit ; line_number = 594 ; target_speed := 127 ;info 594, 391 movlw 127 movwf target_speed ; line_number = 595 ; idle := 0 ;info 595, 393 clrf idle ; Recombine code1_bit_states != code2_bit_states goto main__33 ; 2GOTO: Starting code 2 main__32: bsf __cb0___byte, __cb0___bit ; line_number = 597 ; target_speed := _float32_to_byte(pid) ;info 597, 396 movlw pid>>1 call _float32_pointer_load movlw _float32_to_byte__number>>1 call _float32_pointer_store call _float32_to_byte bcf __rp0___byte, __rp0___bit movwf target_speed ; line_number = 598 ; call uart_manage() ;info 598, 403 bcf __cb0___byte, __cb0___bit call uart_manage ; line_number = 599 ; if error >= 0.0 start ;info 599, 405 movlw error>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load call _float32_greater_than_or_equal ; =>bit_code_emit@symbol(): sym=__z ; line_number = 600 ; if error >= 255.0 start ;info 600, 410 ; -255 = 86 ff 00 00 movlw 134 movwf _float32_aexp ; line_number = 605 ; if error < -255.0 start ;info 605, 412 ; 255 = 86 7f 00 00 ; No 1TEST: true.size=22 false.size=23 ; No 2TEST: true.size=22 false.size=23 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__28 bsf __cb0___byte, __cb0___bit movlw 255 movwf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw error>>1 call _float32_pointer_add call _float32_greater_than_or_equal ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=7 ; No 2TEST: true.size=2 false.size=7 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__26 bcf __rp0___byte, __rp0___bit ; line_number = 601 ; small_error := 255 ;info 601, 427 movlw 255 movwf main__small_error ; Recombine code1_bit_states != code2_bit_states goto main__27 ; 2GOTO: Starting code 2 main__26: bsf __cb0___byte, __cb0___bit ; line_number = 603 ; small_error := _float32_to_byte(error) ;info 603, 431 movlw error>>1 call _float32_pointer_load movlw _float32_to_byte__number>>1 call _float32_pointer_store call _float32_to_byte bcf __rp0___byte, __rp0___bit movwf main__small_error main__27: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:01=uu=>00 code:X1=cu=>X1) ; 2GOTO: code final bitstates:(data:01=uu=>00 code:X1=cu=>X?) ; line_number = 600 ; if error >= 255.0 done bcf __cb0___byte, __cb0___bit goto main__29 ; 2GOTO: Starting code 2 main__28: bsf __cb0___byte, __cb0___bit movlw 127 movwf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw error>>1 call _float32_pointer_add call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=8 ; No 2TEST: true.size=2 false.size=8 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__24 bcf __rp0___byte, __rp0___bit ; line_number = 606 ; small_error := 255 ;info 606, 452 movlw 255 movwf main__small_error ; Recombine code1_bit_states != code2_bit_states goto main__25 ; 2GOTO: Starting code 2 main__24: bsf __cb0___byte, __cb0___bit ; line_number = 608 ; small_error := _float32_to_byte(-error) ;info 608, 456 movlw error>>1 call _float32_pointer_load call _float32_negate movlw _float32_to_byte__number>>1 call _float32_pointer_store call _float32_to_byte bcf __rp0___byte, __rp0___bit movwf main__small_error main__25: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:01=uu=>00 code:X1=cu=>X1) ; 2GOTO: code final bitstates:(data:01=uu=>00 code:X1=cu=>X?) ; line_number = 605 ; if error < -255.0 done main__29: ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) ; 2GOTO: code final bitstates:(data:01=uu=>01 code:X1=cu=>X?) bcf __rp0___byte, __rp0___bit ; line_number = 599 ; if error >= 0.0 done ; line_number = 609 ; call uart_manage() ;info 609, 465 bcf __cb0___byte, __cb0___bit call uart_manage ; line_number = 610 ; if small_error <= deadband start ;info 610, 467 movf deadband,w subwf main__small_error,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=7 ; No 2TEST: true.size=0 false.size=7 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__31 ; line_number = 611 ; idle := idle + 1 ;info 611, 473 incf idle,f ; line_number = 612 ; if idle >= limit start ;info 612, 474 movf limit,w subwf idle,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __c___byte, __c___bit goto main__30 ; line_number = 613 ; target_seek := _false ;info 613, 478 bcf target_seek___byte, target_seek___bit ; line_number = 614 ; target_speed := 0 ;info 614, 479 clrf target_speed ; Recombine size1 = 0 || size2 = 0 main__30: ; line_number = 612 ; if idle >= limit done main__31: ; Recombine size1 = 0 || size2 = 0 ; line_number = 610 ; if small_error <= deadband done main__33: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:01=uu=>00 code:X1=cu=>X0) ; 2GOTO: code final bitstates:(data:10=uu=>00 code:X0=cu=>X0) ; line_number = 593 ; if pid > 127.0 done ; line_number = 615 ; if negative start ;info 615, 480 ; =>bit_code_emit@symbol(): sym=main__negative ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss main__negative___byte, main__negative___bit goto main__34 ; line_number = 616 ; target_speed := 0 - target_speed ;info 616, 482 movf target_speed,w sublw 0 movwf target_speed ; Recombine size1 = 0 || size2 = 0 main__34: ; line_number = 615 ; if negative done ; line_number = 617 ; call speed_set(target_speed) ;info 617, 485 movf target_speed,w call speed_set ; Recombine size1 = 0 || size2 = 0 main__35: ; line_number = 566 ; if target_seek done ; line_number = 524 ; loop_forever wrap-up goto main__1 ; line_number = 524 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 620 ;info 620, 488 ; procedure reset reset: ; arguments_none ; line_number = 622 ; returns_nothing ; # This procedure will return the restore all of the state to start-up state. ; line_number = 626 ; local index byte reset__index equ globals___0+34 ; # Initialize UART: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 629 ; address := rb2bus_eedata_read() ;info 629, 488 call rb2bus_eedata_read movwf address ; line_number = 630 ; if address = 0 start ;info 630, 490 ; Left minus Right movf address,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto reset__1 ; line_number = 631 ; address := 21 ;info 631, 493 movlw 21 movwf address ; Recombine size1 = 0 || size2 = 0 reset__1: ; line_number = 630 ; if address = 0 done ; line_number = 632 ; call uart_initialize() ;info 632, 495 call uart_initialize ; # Initialize prescaler for use by Timer 0: ; # _rapu := _true # Disable bit port A pull-ups (bit 7) ; # _integ := _false # Interrupt edge select (bit 6) ; # _t0cs := _false # Use clock for tmr0 (bit 5) ; # _t0se := _false # Source edge select (bit 4) ; # _psa := _false # Prescaler is assigned to timer0 (bit 3) ; # _ps2 := _true ; # _ps1 := _true ; # _ps0 := _true # Prescaler = 256 ; # 1000 0111 = 0x87 ; line_number = 644 ; _option_reg := 0x87 ;info 644, 496 movlw 135 bsf __rp0___byte, __rp0___bit movwf _option_reg ; # Initialize Timer 1: ; # _t1ginv := _false # Timer1 gate (bit 7) ; # _tmr1ge := _false # Timer1 gate enable (bit 6) ; # _t1ckps1 := _false # (bit 5) ; # _t1ckps0 := _false # Timer1 prescale = 1:1 (bit 4) ; # _t10scen := _false # LP oscillator is off (bit 3) ; # _t1sync := _false # Timer 1 synchorinize (bit 2) ; # _tmr1cs := _false # Use internal clock (bit 1) ; # _tmr1on := _false # Leave timer off for now (bit 0) ; # 0000 0000 = 0 ; line_number = 656 ; _t1con := 0 ;info 656, 499 bcf __rp0___byte, __rp0___bit clrf _t1con ; # Initialize A/D module: ; # ANSEL is already set by the compiler: ; # ; # ADCON0 needs to be configured: ; # _adfm := _true # Right justified result ; # _vcfg := _false # Use 5V as Vref ; # _chs2 := _false ; # _chs1 := _true ; # _chs0 := _false # Channel = 010 = AN2 ; # _go := _false ; # _adon := _true # Turn on A/D converter ; # 10x0 1001 = 0x89 ; line_number = 670 ; _adcon0 := 0x89 ;info 670, 501 movlw 137 movwf _adcon0 ; # ADCON1 needs to be configured: ; # ADCS<2:0> := 110 = Tad=3.2uS at Fosc=20MHz ; # _adcs2 := _true ; # _adcs1 := _true ; # _adcs0 := _false ; # x110 xxxx = 0x60 ; line_number = 678 ; _adcon1 := 0x60 ;info 678, 503 movlw 96 bsf __rp0___byte, __rp0___bit movwf _adcon1 ; # Initialize motor: ; line_number = 681 ; call speed_set(0) ;info 681, 506 movlw 0 bcf __rp0___byte, __rp0___bit call speed_set ; # Initialize {file8}: ; line_number = 684 ; index := 0 ;info 684, 509 clrf reset__index ; line_number = 685 ; while index < file8_size start reset__2: ;info 685, 510 movlw 8 subwf reset__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=7 ; No 2TEST: true.size=0 false.size=7 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto reset__3 ; line_number = 686 ; file8[index] := 0 ;info 686, 514 ; index_fsr_first movf reset__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit clrf __indf ; line_number = 687 ; index := index + 1 ;info 687, 519 incf reset__index,f goto reset__2 reset__3: ; Recombine size1 = 0 || size2 = 0 ; line_number = 685 ; while index < file8_size done ; line_number = 688 ; call configure_update() ;info 688, 521 call configure_update ; line_number = 689 ; deadband := 4 ;info 689, 522 movlw 4 movwf deadband ; line_number = 690 ; limit := 20 ;info 690, 524 movlw 20 movwf limit ; # Initialize {file24}: ; line_number = 693 ; index := 0 ;info 693, 526 clrf reset__index ; line_number = 694 ; while index < file24_size start reset__4: ;info 694, 527 movlw 7 subwf reset__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=17 ; No 2TEST: true.size=0 false.size=17 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto reset__5 ; line_number = 695 ; highs[index] := 0 ;info 695, 531 ; index_fsr_first movf reset__index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 696 ; middles[index] := 0 ;info 696, 536 ; index_fsr_first movf reset__index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 697 ; lows[index] := 0 ;info 697, 541 ; index_fsr_first movf reset__index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 698 ; index := index + 1 ;info 698, 546 incf reset__index,f goto reset__4 reset__5: ; Recombine size1 = 0 || size2 = 0 ; line_number = 694 ; while index < file24_size done ; line_number = 699 ; file24_index := 0 ;info 699, 548 clrf file24_index ; line_number = 700 ; file24_changed := 0 ;info 700, 549 clrf file24_changed ; line_number = 701 ; file24_zero := 0 ;info 701, 550 clrf file24_zero ; # For now force divisor to -1: ; line_number = 704 ; highs[divisor_index] := 0xff ;info 704, 551 movlw 255 bsf __rp1___byte, __rp1___bit movwf highs+2 ; line_number = 705 ; middles[divisor_index] := 0xff ;info 705, 554 movlw 255 movwf middles+2 ; line_number = 706 ; lows[divisor_index] := 0xff ;info 706, 556 movlw 255 movwf lows+2 ; # Force the an update of {divisor}: ; line_number = 709 ; file24_changed@divisor_index := _true ;info 709, 558 reset__select__6___byte equ file24_changed reset__select__6___bit equ 2 bcf __rp1___byte, __rp1___bit bsf reset__select__6___byte, reset__select__6___bit ; # For now kp = 20: ; line_number = 712 ; lows[kp_index] := 1 ;info 712, 560 movlw 1 bsf __rp1___byte, __rp1___bit movwf lows+3 ; # No need to manually force a {kp} update, since updating {divisor} does ; # that already: ; # We only turn on target seeking when the {target} is changed. ; # It gets turned off when find the target (or a limit switch is hit): ; line_number = 719 ; target_seek := _false ;info 719, 563 bcf __rp1___byte, __rp1___bit bcf target_seek___byte, target_seek___bit ; # It does not really matter, but setting {target} to 0.0 does not hurt: ; line_number = 722 ; target := 0.0 ;info 722, 565 ; target := 0 (00 00 00 00) bsf __rp1___byte, __rp1___bit clrf target clrf target+1 clrf target+2 clrf target+3 ; # Always initialize {quad_state} even if we do not use quadrature: ; line_number = 725 ; quad_state := 0 ;info 725, 570 clrf quad_state ; # The weak pull-ups can be turned off: ; line_number = 728 ; _wpua := 0 ;info 728, 571 bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit clrf _wpua ; # We are only interested in changes in the A and B channels: ; line_number = 731 ; _ioca := quad_a_mask | quad_b_mask ;info 731, 574 movlw 3 movwf _ioca ; # We only want to turn on the interrupt on change if we are using ; # the quadrature (i.e. !{use_potentiometer}: ; line_number = 735 ; _raie := !use_potentiometer ;info 735, 576 bcf _raie___byte, _raie___bit ; =>bit_code_emit@symbol(): sym=use_potentiometer ; 1TEST: Single test with code in skip slot bcf __rp0___byte, __rp0___bit btfss use_potentiometer___byte, use_potentiometer___bit bsf _raie___byte, _raie___bit ; Recombine size1 = 0 || size2 = 0 ; # Enable the appropriate interrupts: ; line_number = 738 ; _t0if := _false ;info 738, 580 bcf _t0if___byte, _t0if___bit ; line_number = 739 ; _t0ie := _true ;info 739, 581 bsf _t0ie___byte, _t0ie___bit ; line_number = 740 ; _tmr1if := _false ;info 740, 582 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 741 ; _tmr1ie := _true ;info 741, 583 bsf __rp0___byte, __rp0___bit bsf _tmr1ie___byte, _tmr1ie___bit ; line_number = 742 ; _peie := _true ;info 742, 585 bsf _peie___byte, _peie___bit ; line_number = 743 ; _gie := _true ;info 743, 586 bsf _gie___byte, _gie___bit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit ; Implied return retlw 0 ; line_number = 746 ;info 746, 589 ; procedure uart_manage uart_manage: ; arguments_none ; line_number = 748 ; returns_nothing ; line_number = 750 ; local command byte uart_manage__command equ globals___0+35 ; line_number = 751 ; local index byte uart_manage__index equ globals___0+36 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 753 ; if uart_input_count != 0 start ;info 753, 589 ; Left minus Right movf uart_input_count,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=0 false.size=443 ; No 2TEST: true.size=0 false.size=443 ; 1GOTO: Single test with GOTO btfsc __z___byte, __z___bit goto uart_manage__69 ; # We have a data/command byte to process: ; line_number = 755 ; command := uart_input[uart_input_out_index & uart_input_mask] ;info 755, 592 movlw 3 andwf uart_input_out_index,w addlw uart_input movwf __fsr bcf __irp___byte, __irp___bit movf __indf,w movwf uart_manage__command ; line_number = 756 ; uart_input_out_index := uart_input_out_index + 1 ;info 756, 599 incf uart_input_out_index,f ; # Manage {uart_input_count} and {uart_input_pending} atomically: ; line_number = 759 ; _gie := _false ;info 759, 600 bcf _gie___byte, _gie___bit ; line_number = 760 ; uart_input_count := uart_input_count - 1 ;info 760, 601 decf uart_input_count,f ; line_number = 761 ; if uart_input_count = 0 start ;info 761, 602 ; Left minus Right movf uart_input_count,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; line_number = 762 ; uart_input_pending := _false ;info 762, 604 bcf uart_input_pending___byte, uart_input_pending___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 761 ; if uart_input_count = 0 done ; line_number = 763 ; _gie := _true ;info 763, 605 bsf _gie___byte, _gie___bit ; # We received a "data" byte" ; line_number = 766 ; switch state start ;info 766, 606 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=14 movlw uart_manage__67>>8 movwf __pclath movf state,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__67 movwf __pcl ; page_group 20 uart_manage__67: goto uart_manage__49 goto uart_manage__50 goto uart_manage__51 goto uart_manage__52 goto uart_manage__53 goto uart_manage__54 goto uart_manage__55 goto uart_manage__56 goto uart_manage__57 goto uart_manage__58 goto uart_manage__59 goto uart_manage__60 goto uart_manage__68 goto uart_manage__68 goto uart_manage__61 goto uart_manage__62 goto uart_manage__63 goto uart_manage__64 goto uart_manage__65 goto uart_manage__66 ; line_number = 767 ; case 0 uart_manage__49: ; # Technically we should not get here because {_adden} should ; # be {_true}, but just in case we do, we just ignore the byte: ; line_number = 770 ; do_nothing ;info 770, 631 goto uart_manage__68 ; line_number = 771 ; case 1 uart_manage__50: ; # Ignore the echo before processing a command byte: ; line_number = 773 ; state := state_command ;info 773, 632 movlw 2 movwf state goto uart_manage__68 ; line_number = 774 ; case 2 uart_manage__51: ; # Process a command byte: ; line_number = 776 ; switch command >> 6 start ;info 776, 635 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw uart_manage__39>>8 movwf __pclath uart_manage__40 equ globals___0+64 swapf uart_manage__command,w movwf uart_manage__40 rrf uart_manage__40,f rrf uart_manage__40,w andlw 3 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__39 movwf __pcl ; page_group 4 uart_manage__39: goto uart_manage__37 goto uart_manage__41 goto uart_manage__41 goto uart_manage__38 ; line_number = 777 ; case 0 uart_manage__37: ; # 00xx xxxx: ; line_number = 779 ; switch (command >> 3) & 7 start ;info 779, 648 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 848 ; case_maximum 7 movlw uart_manage__24>>8 movwf __pclath uart_manage__25 equ globals___0+64 rrf uart_manage__command,w movwf uart_manage__25 rrf uart_manage__25,f rrf uart_manage__25,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__24 movwf __pcl ; page_group 8 uart_manage__24: goto uart_manage__19 goto uart_manage__20 goto uart_manage__21 goto uart_manage__22 goto uart_manage__23 goto uart_manage__26 goto uart_manage__26 goto uart_manage__26 ; line_number = 780 ; case 0 uart_manage__19: ; # 0000 0xxx: ; line_number = 782 ; switch command & 7 start ;info 782, 665 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw uart_manage__9>>8 movwf __pclath movlw 7 andwf uart_manage__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__9 movwf __pcl ; page_group 8 uart_manage__9: goto uart_manage__1 goto uart_manage__2 goto uart_manage__3 goto uart_manage__4 goto uart_manage__5 goto uart_manage__6 goto uart_manage__7 goto uart_manage__8 ; line_number = 783 ; case 0 uart_manage__1: ; # 0000 0000 (Value All Get): ; line_number = 785 ; call uart_byte_put(highs[file24_index]) ;info 785, 679 movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 786 ; state := state_file24_full_get1 ;info 786, 685 movlw 3 movwf state goto uart_manage__10 ; line_number = 787 ; case 1 uart_manage__2: ; # 0000 0001 (Value Low Get): ; line_number = 789 ; call uart_byte_put(lows[file24_index]) ;info 789, 688 movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 790 ; state := state_echo_then_command ;info 790, 694 movlw 1 movwf state goto uart_manage__10 ; line_number = 791 ; case 2 uart_manage__3: ; # 0000 0010 (Value Middle Get): ; line_number = 793 ; call uart_byte_put(middles[file24_index]) ;info 793, 697 movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 794 ; state := state_echo_then_command ;info 794, 703 movlw 1 movwf state goto uart_manage__10 ; line_number = 795 ; case 3 uart_manage__4: ; # 0000 0011 (Value High Get): ; line_number = 797 ; call uart_byte_put(highs[file24_index]) ;info 797, 706 movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 798 ; state := state_echo_then_command ;info 798, 712 movlw 1 movwf state goto uart_manage__10 ; line_number = 799 ; case 4 uart_manage__5: ; # 0000 0100 (Value All Set): ; line_number = 801 ; state := state_file24_full_set1 ;info 801, 715 movlw 5 movwf state goto uart_manage__10 ; line_number = 802 ; case 5 uart_manage__6: ; # 0000 0101 (Value Low Set): ; line_number = 804 ; state := state_value_low_set1 ;info 804, 718 movlw 8 movwf state goto uart_manage__10 ; line_number = 805 ; case 6 uart_manage__7: ; # 0000 0110 (Value Middle Set): ; line_number = 807 ; state := state_value_middle_set1 ;info 807, 721 movlw 9 movwf state goto uart_manage__10 ; line_number = 808 ; case 7 uart_manage__8: ; # 0000 0111 (Value High Set): ; line_number = 810 ; state := state_value_high_set1 ;info 810, 724 movlw 10 movwf state uart_manage__10: ; line_number = 782 ; switch command & 7 done goto uart_manage__26 ; line_number = 811 ; case 1 uart_manage__20: ; # 0000 1sss (Value Index Set): ; line_number = 813 ; file24_index := command & 7 ;info 813, 727 movlw 7 andwf uart_manage__command,w movwf file24_index ; # Make sure we stay in bounds: ; line_number = 815 ; if file24_index >= file24_size start ;info 815, 730 movlw 7 subwf file24_index,w ; =>bit_code_emit@symbol(): sym=__c ; 1TEST: Single test with code in skip slot btfsc __c___byte, __c___bit ; line_number = 816 ; file24_index := 0 ;info 816, 733 clrf file24_index ; Recombine size1 = 0 || size2 = 0 ; line_number = 815 ; if file24_index >= file24_size done ; line_number = 817 ; state := state_command ;info 817, 734 movlw 2 movwf state goto uart_manage__26 ; line_number = 818 ; case 2 uart_manage__21: ; # 0001 0xxx (Byte Get): ; line_number = 820 ; index := command & 7 ;info 820, 737 movlw 7 andwf uart_manage__command,w movwf uart_manage__index ; line_number = 821 ; if index = 2 start ;info 821, 740 ; Left minus Right movlw 254 addwf uart_manage__index,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; # 0001 0010: (Status_Get): ; line_number = 823 ; call status_update() ;info 823, 743 call status_update ; Recombine size1 = 0 || size2 = 0 ; line_number = 821 ; if index = 2 done ; line_number = 824 ; call uart_byte_put(file8[index]) ;info 824, 744 movf uart_manage__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 825 ; state := state_echo_then_command ;info 825, 750 movlw 1 movwf state goto uart_manage__26 ; line_number = 826 ; case 3 uart_manage__22: ; # 0001 1xxx (Byte Set): ; line_number = 828 ; index := command & 7 ;info 828, 753 movlw 7 andwf uart_manage__command,w movwf uart_manage__index ; line_number = 829 ; state := state_file8_set1 ;info 829, 756 movlw 11 movwf state goto uart_manage__26 ; line_number = 830 ; case 4 uart_manage__23: ; # 0010 0xxx (Probe Get): ; line_number = 832 ; switch command & 7 start ;info 832, 759 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 845 ; case_maximum 7 movlw uart_manage__17>>8 movwf __pclath movlw 7 andwf uart_manage__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) ; All case bodies prefer this bit set bsf __rp0___byte, __rp0___bit addlw uart_manage__17 movwf __pcl ; page_group 8 ; Add 2 NOP's until start of new page nop nop uart_manage__17: goto uart_manage__11 goto uart_manage__12 goto uart_manage__13 goto uart_manage__14 goto uart_manage__15 goto uart_manage__16 goto uart_manage__18 goto uart_manage__18 ; line_number = 833 ; case 0 uart_manage__11: bsf __cb0___byte, __cb0___bit ; line_number = 834 ; call zyx(position) ;info 834, 777 movlw position>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx goto uart_manage__18 ; line_number = 835 ; case 1 uart_manage__12: bsf __cb0___byte, __cb0___bit ; line_number = 836 ; call zyx(target) ;info 836, 786 movlw target>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx goto uart_manage__18 ; line_number = 837 ; case 2 uart_manage__13: bsf __cb0___byte, __cb0___bit ; line_number = 838 ; call zyx(error) ;info 838, 795 movlw error>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx goto uart_manage__18 ; line_number = 839 ; case 3 uart_manage__14: bsf __cb0___byte, __cb0___bit ; line_number = 840 ; call zyx(pid) ;info 840, 804 movlw pid>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx goto uart_manage__18 ; line_number = 841 ; case 4 uart_manage__15: bsf __cb0___byte, __cb0___bit ; line_number = 842 ; call zyx(divisor) ;info 842, 813 movlw divisor>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx goto uart_manage__18 ; line_number = 843 ; case 5 uart_manage__16: bsf __cb0___byte, __cb0___bit ; line_number = 844 ; call zyx(kp) ;info 844, 822 movlw kp>>1 call _float32_pointer_load movlw zyx__value>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call zyx uart_manage__18: ; line_number = 832 ; switch command & 7 done ; line_number = 846 ; call uart_byte_put(high) ;info 846, 829 movf high,w call uart_byte_put ; line_number = 847 ; state := state_probe_get1 ;info 847, 831 movlw 18 movwf state uart_manage__26: ; line_number = 779 ; switch (command >> 3) & 7 done goto uart_manage__41 ; line_number = 849 ; case 3 uart_manage__38: ; # 11xx xxxx: ; line_number = 851 ; switch (command >> 3) & 7 start ;info 851, 834 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw uart_manage__34>>8 movwf __pclath uart_manage__35 equ globals___0+64 rrf uart_manage__command,w movwf uart_manage__35 rrf uart_manage__35,f rrf uart_manage__35,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__34 movwf __pcl ; page_group 8 uart_manage__34: goto uart_manage__36 goto uart_manage__36 goto uart_manage__36 goto uart_manage__36 goto uart_manage__36 goto uart_manage__36 goto uart_manage__36 goto uart_manage__33 ; line_number = 852 ; case 7 uart_manage__33: ; # 1111 1xxx: ; line_number = 854 ; switch command & 7 start ;info 854, 851 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw uart_manage__31>>8 movwf __pclath movlw 7 andwf uart_manage__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__31 movwf __pcl ; page_group 8 uart_manage__31: goto uart_manage__32 goto uart_manage__32 goto uart_manage__32 goto uart_manage__32 goto uart_manage__27 goto uart_manage__28 goto uart_manage__29 goto uart_manage__30 ; line_number = 855 ; case 4 uart_manage__27: ; # 1111 1100 (Address Set): ; line_number = 857 ; call uart_byte_put(address) ;info 857, 865 movf address,w call uart_byte_put ; line_number = 858 ; state := state_address_set1 ;info 858, 867 movlw 14 movwf state goto uart_manage__32 ; line_number = 859 ; case 5 uart_manage__28: ; # 1111 1101 (Id_Next): ; line_number = 861 ; call uart_byte_put(id[id_index]) ;info 861, 870 movf id_index,w call id call uart_byte_put ; line_number = 862 ; id_index := id_index + 1 ;info 862, 873 incf id_index,f ; line_number = 863 ; if id_index >= id.size start ;info 863, 874 movlw 27 subwf id_index,w ; =>bit_code_emit@symbol(): sym=__c ; 1TEST: Single test with code in skip slot btfsc __c___byte, __c___bit ; line_number = 864 ; id_index := id_index - 1 ;info 864, 877 decf id_index,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 863 ; if id_index >= id.size done ; line_number = 865 ; state := state_echo_then_command ;info 865, 878 movlw 1 movwf state goto uart_manage__32 ; line_number = 866 ; case 6 uart_manage__29: ; # 1111 1110 (Id_Start): ; line_number = 868 ; id_index := 0 ;info 868, 881 clrf id_index goto uart_manage__32 ; line_number = 869 ; case 7 uart_manage__30: ; # 1111 1111 (Deselect): ; line_number = 871 ; _adden := _true ;info 871, 883 bsf _adden___byte, _adden___bit ; line_number = 872 ; state := state_select_wait ;info 872, 884 clrf state uart_manage__32: ; line_number = 854 ; switch command & 7 done uart_manage__36: ; line_number = 851 ; switch (command >> 3) & 7 done uart_manage__41: ; line_number = 776 ; switch command >> 6 done goto uart_manage__68 ; line_number = 873 ; case 3 uart_manage__52: ; # Value All Get 2nd response byte: ; line_number = 875 ; call uart_byte_put(middles[file24_index]) ;info 875, 886 movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 876 ; state := state_file24_full_get2 ;info 876, 892 movlw 4 movwf state goto uart_manage__68 ; line_number = 877 ; case 4 uart_manage__53: ; # Value All Get 3rd response byte: ; line_number = 879 ; call uart_byte_put(lows[file24_index]) ;info 879, 895 movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 880 ; state := state_echo_then_command ;info 880, 901 movlw 1 movwf state goto uart_manage__68 ; line_number = 881 ; case 5 uart_manage__54: ; # Value All Set 2nd command byte: ; line_number = 883 ; high := command ;info 883, 904 movf uart_manage__command,w movwf high ; line_number = 884 ; state := state_file24_full_set2 ;info 884, 906 movlw 6 movwf state goto uart_manage__68 ; line_number = 885 ; case 6 uart_manage__55: ; # Value All Set 3rd command byte: ; line_number = 887 ; middle := command ;info 887, 909 movf uart_manage__command,w movwf middle ; line_number = 888 ; state := state_file24_full_set3 ;info 888, 911 movlw 7 movwf state goto uart_manage__68 ; line_number = 889 ; case 7 uart_manage__56: ; # Value All Set 4th command byte: ; line_number = 891 ; highs[file24_index] := high ;info 891, 914 ; index_fsr_first movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf high,w movwf __indf ; line_number = 892 ; middles[file24_index] := middle ;info 892, 920 ; index_fsr_first movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf middle,w movwf __indf ; line_number = 893 ; lows[file24_index] := command ;info 893, 926 ; index_fsr_first movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; line_number = 894 ; call file24_updated() ;info 894, 932 call file24_updated ; line_number = 895 ; state := state_command ;info 895, 933 movlw 2 movwf state goto uart_manage__68 ; line_number = 896 ; case 8 uart_manage__57: ; # Value Low Set 2nd command byte: ; line_number = 898 ; lows[file24_index] := command ;info 898, 936 ; index_fsr_first movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; line_number = 899 ; call file24_updated() ;info 899, 942 call file24_updated ; line_number = 900 ; state := state_command ;info 900, 943 movlw 2 movwf state goto uart_manage__68 ; line_number = 901 ; case 9 uart_manage__58: ; # Value Middle Set 2nd command byte: ; line_number = 903 ; middles[file24_index] := command ;info 903, 946 ; index_fsr_first movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; line_number = 904 ; call file24_updated() ;info 904, 952 call file24_updated ; line_number = 905 ; state := state_command ;info 905, 953 movlw 2 movwf state goto uart_manage__68 ; line_number = 906 ; case 10 uart_manage__59: ; # Value High Set 2nd command byte: ; line_number = 908 ; highs[file24_index] := command ;info 908, 956 ; index_fsr_first movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; line_number = 909 ; call file24_updated() ;info 909, 962 call file24_updated ; line_number = 910 ; state := state_command ;info 910, 963 movlw 2 movwf state goto uart_manage__68 ; line_number = 911 ; case 11 uart_manage__60: ; # File8 Set 2nd command byte: ; line_number = 913 ; file8[index] := command ;info 913, 966 ; index_fsr_first movf uart_manage__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; line_number = 914 ; switch index start ;info 914, 972 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=6 ; line_number = 922 ; case_maximum 7 movlw uart_manage__45>>8 movwf __pclath movf uart_manage__index,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__45 movwf __pcl ; page_group 8 uart_manage__45: goto uart_manage__42 goto uart_manage__46 goto uart_manage__43 goto uart_manage__46 goto uart_manage__46 goto uart_manage__46 goto uart_manage__46 goto uart_manage__44 ; line_number = 915 ; case 0 uart_manage__42: ; line_number = 916 ; call configure_update() ;info 916, 985 call configure_update goto uart_manage__46 ; line_number = 917 ; case 2 uart_manage__43: ; line_number = 918 ; call speed_set(speed) ;info 918, 987 movf speed,w call speed_set goto uart_manage__46 ; line_number = 919 ; case 7 uart_manage__44: ; line_number = 920 ; if command > file24_size start ;info 920, 990 movlw 7 subwf uart_manage__command,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; 1TEST: Single test with code in skip slot btfsc __c___byte, __c___bit ; line_number = 921 ; command := 0 ;info 921, 995 clrf uart_manage__command ; Recombine size1 = 0 || size2 = 0 ; line_number = 920 ; if command > file24_size done uart_manage__46: ; line_number = 914 ; switch index done ; line_number = 923 ; state:= state_command ;info 923, 996 movlw 2 movwf state goto uart_manage__68 ; line_number = 924 ; case 14 uart_manage__61: ; # Ignore the echo and wait for the new address: ; line_number = 926 ; state := state_address_set2 ;info 926, 999 movlw 15 movwf state goto uart_manage__68 ; line_number = 927 ; case 15 uart_manage__62: ; # First, copy of new address just arrived: ; line_number = 929 ; new_address := command ;info 929, 1002 movf uart_manage__command,w movwf new_address ; # Return it ; line_number = 931 ; call uart_byte_put(new_address) ;info 931, 1004 movf new_address,w call uart_byte_put ; line_number = 932 ; state := state_address_set3 ;info 932, 1006 movlw 16 movwf state goto uart_manage__68 ; line_number = 933 ; case 16 uart_manage__63: ; # Ignore the echo ; line_number = 935 ; state := state_address_set4 ;info 935, 1009 movlw 17 movwf state goto uart_manage__68 ; line_number = 936 ; case 17 uart_manage__64: ; # We have the 2nd copy of new addres. ; line_number = 938 ; if command = new_address start ;info 938, 1012 ; Left minus Right movf new_address,w subwf uart_manage__command,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=6 false.size=1 ; No 2TEST: true.size=6 false.size=1 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto uart_manage__47 ; # They match; write it in: ; line_number = 940 ; call rb2bus_eedata_write(new_address) ;info 940, 1016 movf new_address,w call rb2bus_eedata_write ; line_number = 941 ; _gie := _true ;info 941, 1018 bsf _gie___byte, _gie___bit ; line_number = 942 ; address := new_address ;info 942, 1019 movf new_address,w movwf address ; line_number = 943 ; call uart_byte_put(rb2_ok) ;info 943, 1021 movlw 165 goto uart_manage__48 ; 2GOTO: Starting code 2 uart_manage__47: ; # They do not match, return an error: ; line_number = 946 ; call uart_byte_put(0) ;info 946, 1023 movlw 0 uart_manage__48: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) call uart_byte_put ; line_number = 938 ; if command = new_address done ; line_number = 947 ; state := state_echo_then_command ;info 947, 1025 movlw 1 movwf state goto uart_manage__68 ; line_number = 948 ; case 18 uart_manage__65: ; line_number = 949 ; call uart_byte_put(middle) ;info 949, 1028 movf middle,w call uart_byte_put ; line_number = 950 ; state := state_probe_get2 ;info 950, 1030 movlw 19 movwf state goto uart_manage__68 ; line_number = 951 ; case 19 uart_manage__66: ; line_number = 952 ; call uart_byte_put(low) ;info 952, 1033 movf low,w call uart_byte_put ; line_number = 953 ; state := state_echo_then_command ;info 953, 1035 movlw 1 movwf state uart_manage__68: ; line_number = 766 ; switch state done uart_manage__69: ; Recombine size1 = 0 || size2 = 0 ; line_number = 753 ; if uart_input_count != 0 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 957 ;info 957, 1038 ; procedure file24_updated file24_updated: ; arguments_none ; line_number = 959 ; returns_nothing ; # This routine will cause the {file24_change} mask to be updated ; # with the value that changed. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 964 ; switch file24_index start ;info 964, 1038 ; switch_before:(data:00=uu=>00 code:X0=cu=>X0) size=0 movlw file24_updated__12>>8 movwf __pclath movf file24_index,w ; switch after expression:(data:00=uu=>00 code:X0=cu=>X0) addlw file24_updated__12 movwf __pcl ; page_group 6 file24_updated__12: goto file24_updated__6 goto file24_updated__7 goto file24_updated__8 goto file24_updated__9 goto file24_updated__10 goto file24_updated__11 ; line_number = 965 ; case 0 file24_updated__6: ; line_number = 966 ; do_nothing ;info 966, 1049 goto file24_updated__13 ; line_number = 967 ; case 1 file24_updated__7: ; line_number = 968 ; file24_changed@target_index := _true ;info 968, 1050 file24_updated__select__1___byte equ file24_changed file24_updated__select__1___bit equ 1 bsf file24_updated__select__1___byte, file24_updated__select__1___bit goto file24_updated__13 ; line_number = 969 ; case 2 file24_updated__8: ; line_number = 970 ; file24_changed@divisor_index := _true ;info 970, 1052 file24_updated__select__2___byte equ file24_changed file24_updated__select__2___bit equ 2 bsf file24_updated__select__2___byte, file24_updated__select__2___bit ; # Changing the divisor will cause kp, ki, and kd to be updated: goto file24_updated__13 ; line_number = 972 ; case 3 file24_updated__9: ; line_number = 973 ; file24_changed@kp_index := _true ;info 973, 1054 file24_updated__select__3___byte equ file24_changed file24_updated__select__3___bit equ 3 bsf file24_updated__select__3___byte, file24_updated__select__3___bit goto file24_updated__13 ; line_number = 974 ; case 4 file24_updated__10: ; line_number = 975 ; file24_changed@ki_index := _true ;info 975, 1056 file24_updated__select__4___byte equ file24_changed file24_updated__select__4___bit equ 4 bsf file24_updated__select__4___byte, file24_updated__select__4___bit goto file24_updated__13 ; line_number = 976 ; case 5 file24_updated__11: ; line_number = 977 ; file24_changed@kd_index := _true ;info 977, 1058 file24_updated__select__5___byte equ file24_changed file24_updated__select__5___bit equ 5 bsf file24_updated__select__5___byte, file24_updated__select__5___bit file24_updated__13: ; line_number = 964 ; switch file24_index done ; delay after procedure statements=non-uniform ; Implied return retlw 0 file24_float_convert__0return equ globals___0+40 ; line_number = 980 ;info 980, 1060 ; procedure file24_float_convert file24_float_convert: ; Last argument is sitting in W; save into argument variable movwf file24_float_convert__index ; delay=4294967295 ; line_number = 981 ; argument index byte file24_float_convert__index equ globals___0+38 ; line_number = 982 ; returns float32 ; # This routine will return {file24}[{index}] as a {float32}. ; line_number = 986 ; local mask byte file24_float_convert__mask equ globals___0+37 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 988 ; high := highs[index] ;info 988, 1061 movf file24_float_convert__index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf high ; line_number = 989 ; middle := middles[index] ;info 989, 1067 movf file24_float_convert__index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf middle ; line_number = 990 ; low := lows[index] ;info 990, 1073 movf file24_float_convert__index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf low ; line_number = 991 ; mask := index2mask[index] ;info 991, 1079 movf file24_float_convert__index,w call index2mask movwf file24_float_convert__mask ; line_number = 992 ; if high = 0 && middle = 0 && low = 0 start ;info 992, 1082 ; Left minus Right movf high,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=11 false.size=1 ; No 2TEST: true.size=11 false.size=1 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto file24_float_convert__1 ; Left minus Right movf middle,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=8 false.size=1 ; No 2TEST: true.size=8 false.size=1 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto file24_float_convert__1 ; &&||: index=2 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; Left minus Right movf low,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=2 ; No 2TEST: true.size=2 false.size=2 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto file24_float_convert__2 ; line_number = 993 ; file24_zero := file24_zero | mask ;info 993, 1091 movf file24_float_convert__mask,w iorwf file24_zero,f goto file24_float_convert__3 ; 2GOTO: Starting code 2 file24_float_convert__2: file24_float_convert__1: ; line_number = 995 ; file24_zero := file24_zero & (mask ^ 0xff) ;info 995, 1094 comf file24_float_convert__mask,w andwf file24_zero,f file24_float_convert__3: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; &&||:: index=1 new_delay=4294967295 goto_delay=4294967295 ; Recombine code1_bit_states != code2_bit_states ; 2GOTO: No goto needed; true= false=file24_float_convert__1 true_size=8 false_size=1 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:X0=cu=>X0) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 ; Recombine code1_bit_states != code2_bit_states ; 2GOTO: No goto needed; true= false=file24_float_convert__1 true_size=11 false_size=1 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:X0=cu=>X0) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 992 ; if high = 0 && middle = 0 && low = 0 done ; line_number = 996 ; return xyz(high, middle, low) start ; line_number = 996 ;info 996, 1096 movf high,w movwf xyz__high movf middle,w movwf xyz__middle movf low,w call xyz movlw xyz__0return>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw file24_float_convert__0return>>1 call _float32_pointer_store bcf __rp0___byte, __rp0___bit bcf __cb0___byte, __cb0___bit return ; line_number = 996 ; return xyz(high, middle, low) done ; delay after procedure statements=non-uniform ; line_number = 999 ;info 999, 1111 ; procedure status_update status_update: ; arguments_none ; line_number = 1001 ; returns_nothing ; # This routine will cause {status} to be updated. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1005 ; do_nothing ;info 1005, 1111 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1007 ;info 1007, 1112 ; procedure configure_update configure_update: ; arguments_none ; line_number = 1009 ; returns_nothing ; line_number = 1011 ; local index byte configure_update__index equ globals___0+44 ; line_number = 1012 ; local state byte configure_update__state equ globals___0+45 ; # This routine will read {configure} and process it: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1016 ; index := 0 ;info 1016, 1112 clrf configure_update__index ; line_number = 1017 ; while index < 32 start configure_update__1: ;info 1017, 1113 movlw 32 subwf configure_update__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=27 ; No 2TEST: true.size=0 false.size=27 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto configure_update__6 ; line_number = 1018 ; state := states[index] ;info 1018, 1117 movf configure_update__index,w call states movwf configure_update__state ; line_number = 1019 ; if position_reverse start ;info 1019, 1120 ; =>bit_code_emit@symbol(): sym=position_reverse ; No 1TEST: true.size=14 false.size=0 ; No 2TEST: true.size=14 false.size=0 ; 1GOTO: Single test with GOTO btfss position_reverse___byte, position_reverse___bit goto configure_update__5 ; # Swap the increment and decrement bits in {xstates}: ; line_number = 1021 ; state := state & 0xf | (state << 2) & 0xc0 | (state >> 2) & 0x30 ;info 1021, 1122 configure_update__2 equ globals___0+65 movlw 15 andwf configure_update__state,w movwf configure_update__2 configure_update__3 equ globals___0+66 rlf configure_update__state,w movwf configure_update__3 rlf configure_update__3,w andlw 192 iorwf configure_update__2,f configure_update__4 equ globals___0+67 rrf configure_update__state,w movwf configure_update__4 rrf configure_update__4,w andlw 48 iorwf configure_update__2,w movwf configure_update__state ; Recombine size1 = 0 || size2 = 0 configure_update__5: ; line_number = 1019 ; if position_reverse done ; line_number = 1022 ; xstates[index] := state ;info 1022, 1136 ; index_fsr_first movf configure_update__index,w addlw xstates movwf __fsr bsf __irp___byte, __irp___bit movf configure_update__state,w movwf __indf ; line_number = 1023 ; index := index + 1 ;info 1023, 1142 incf configure_update__index,f goto configure_update__1 configure_update__6: ; Recombine size1 = 0 || size2 = 0 ; line_number = 1017 ; while index < 32 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1026 ;info 1026, 1145 ; procedure uart_byte_put uart_byte_put: ; Last argument is sitting in W; save into argument variable movwf uart_byte_put__value ; delay=4294967295 ; line_number = 1027 ; argument value byte uart_byte_put__value equ globals___0+46 ; line_number = 1028 ; returns_nothing ; # This routine will send {value} to the bus. ; # Wait until {_txreg} is ready for a value: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1033 ; while !_txif start uart_byte_put__1: ;info 1033, 1146 ; =>bit_code_emit@symbol(): sym=_txif ; 1TEST: Single test with code in skip slot btfss _txif___byte, _txif___bit ; line_number = 1034 ; do_nothing ;info 1034, 1147 goto uart_byte_put__1 ; Recombine size1 = 0 || size2 = 0 ; line_number = 1033 ; while !_txif done ; # Ship {value} out to the bus with 9th bit turned off: ; line_number = 1037 ; _adden := _false ;info 1037, 1148 bcf _adden___byte, _adden___bit ; line_number = 1038 ; _tx9d := _false ;info 1038, 1149 bcf _tx9d___byte, _tx9d___bit ; line_number = 1039 ; _txreg := value ;info 1039, 1150 movf uart_byte_put__value,w movwf _txreg ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1042 ;info 1042, 1153 ; procedure uart_initialize uart_initialize: ; arguments_none ; line_number = 1044 ; returns_nothing ; # This procedure is responsibile for initializing the UART ; # connected to the bus. This code is currently specific to ; # the PIC16F688. ; #FIXME: Use {rx_bit} and {tx_bit}!!! ; # Warm up the UART: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1053 ; _trisc@5 := _true ;info 1053, 1153 uart_initialize__select__1___byte equ _trisc uart_initialize__select__1___bit equ 5 bsf __rp0___byte, __rp0___bit bsf uart_initialize__select__1___byte, uart_initialize__select__1___bit ; line_number = 1054 ; _trisc@4 := _true ;info 1054, 1155 uart_initialize__select__2___byte equ _trisc uart_initialize__select__2___bit equ 4 bsf uart_initialize__select__2___byte, uart_initialize__select__2___bit ; # Initialize the {_txsta} register: ; line_number = 1057 ; _txsta := 0 ;info 1057, 1156 bcf __rp0___byte, __rp0___bit clrf _txsta ; line_number = 1058 ; _tx9 := _true ;info 1058, 1158 bsf _tx9___byte, _tx9___bit ; line_number = 1059 ; _txen := _true ;info 1059, 1159 bsf _txen___byte, _txen___bit ; line_number = 1060 ; _brgh := _true ;info 1060, 1160 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 1063 ; _rcsta := 0 ;info 1063, 1161 clrf _rcsta ; line_number = 1064 ; _spen := _true ;info 1064, 1162 bsf _spen___byte, _spen___bit ; line_number = 1065 ; _rx9 := _true ;info 1065, 1163 bsf _rx9___byte, _rx9___bit ; line_number = 1066 ; _cren := _true ;info 1066, 1164 bsf _cren___byte, _cren___bit ; line_number = 1067 ; _adden := _true ;info 1067, 1165 bsf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 1070 ; _baudctl := 0 ;info 1070, 1166 clrf _baudctl ; line_number = 1071 ; _brg16 := _true ;info 1071, 1167 bsf _brg16___byte, _brg16___bit ; line_number = 1072 ; _spbrg := _eusart_500000_low ;info 1072, 1168 movlw 9 movwf _spbrg ; line_number = 1073 ; _spbrgh := _eusart_500000_high ;info 1073, 1170 clrf _spbrgh ; line_number = 1075 ; state := state_select_wait ;info 1075, 1171 clrf state ; line_number = 1076 ; id_index := 0 ;info 1076, 1172 clrf id_index ; line_number = 1077 ; uart_input_in_index := 0 ;info 1077, 1173 clrf uart_input_in_index ; line_number = 1078 ; uart_input_out_index := 0 ;info 1078, 1174 clrf uart_input_out_index ; line_number = 1079 ; uart_input_count := 0 ;info 1079, 1175 clrf uart_input_count ; line_number = 1080 ; uart_input_pending := _false ;info 1080, 1176 bcf uart_input_pending___byte, uart_input_pending___bit ; # Turn on the interrupts: ; line_number = 1083 ; _txie := _false ;info 1083, 1177 bsf __rp0___byte, __rp0___bit bcf _txie___byte, _txie___bit ; line_number = 1084 ; _rcie := _true ;info 1084, 1179 bsf _rcie___byte, _rcie___bit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit ; Implied return retlw 0 ; line_number = 1087 ;info 1087, 1182 ; procedure speed_set speed_set: ; Last argument is sitting in W; save into argument variable movwf speed_set__speed ; delay=4294967295 ; line_number = 1088 ; argument speed byte speed_set__speed equ globals___0+47 ; line_number = 1089 ; returns_nothing ; # This procedure will set {motor1_speed}, {motor1_on_mask}, and ; # {motor1_pulse_width} from {speed}. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1094 ; motor1_speed := speed ;info 1094, 1183 movf speed_set__speed,w movwf motor1_speed ; line_number = 1095 ; if motor1_speed@7 start ;info 1095, 1185 speed_set__select__4___byte equ motor1_speed speed_set__select__4___bit equ 7 ; =>bit_code_emit@symbol(): sym=speed_set__select__4 ; No 1TEST: true.size=8 false.size=14 ; No 2TEST: true.size=8 false.size=14 ; 2GOTO: Single test with two GOTO's btfss speed_set__select__4___byte, speed_set__select__4___bit goto speed_set__5 ; # Reverse direction: ; line_number = 1097 ; if motor_reverse start ;info 1097, 1187 ; =>bit_code_emit@symbol(): sym=motor_reverse ; No 1TEST: true.size=1 false.size=1 ; 2TEST: two tests with code in both delay slots btfsc motor_reverse___byte, motor_reverse___bit ; line_number = 1098 ; motor1_on_mask := 1 ;info 1098, 1188 movlw 1 btfss motor_reverse___byte, motor_reverse___bit ; line_number = 1100 ; motor1_on_mask := 2 ;info 1100, 1190 movlw 2 movwf motor1_on_mask ; line_number = 1097 ; if motor_reverse done ; line_number = 1101 ; motor1_pulse_width := speed << 1 ;info 1101, 1192 rlf speed_set__speed,w movwf motor1_pulse_width bcf motor1_pulse_width, 0 ; Recombine code1_bit_states != code2_bit_states goto speed_set__6 ; 2GOTO: Starting code 2 speed_set__5: ; line_number = 1103 ; if speed = 0 start ;info 1103, 1196 ; Left minus Right movf speed_set__speed,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=1 false.size=5 ; No 2TEST: true.size=1 false.size=5 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto speed_set__1 ; # Stopped ; line_number = 1105 ; motor1_on_mask := 0 ;info 1105, 1199 clrf motor1_on_mask goto speed_set__2 ; 2GOTO: Starting code 2 speed_set__1: ; # Forward direction: ; line_number = 1108 ; if motor_reverse start ;info 1108, 1201 ; =>bit_code_emit@symbol(): sym=motor_reverse ; No 1TEST: true.size=1 false.size=1 ; 2TEST: two tests with code in both delay slots btfsc motor_reverse___byte, motor_reverse___bit ; line_number = 1109 ; motor1_on_mask := 2 ;info 1109, 1202 movlw 2 btfss motor_reverse___byte, motor_reverse___bit ; line_number = 1111 ; motor1_on_mask := 1 ;info 1111, 1204 movlw 1 movwf motor1_on_mask ; line_number = 1108 ; if motor_reverse done speed_set__2: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1103 ; if speed = 0 done ; line_number = 1112 ; motor1_pulse_width := 0xff - (speed << 1) ;info 1112, 1206 speed_set__3 equ globals___0+68 rlf speed_set__speed,w andlw 254 sublw 255 movwf motor1_pulse_width speed_set__6: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1095 ; if motor1_speed@7 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; # FIXME: These two routines are directly copied from rb2_pic16f688.ucl ; # and should be included via a library command. Alas, the rb2_pic16f688.ucl ; # library also include rb2bus.ucl, which we do not want!!! ; line_number = 1119 ; constant rb2bus_eedata_address = 0xfe rb2bus_eedata_address equ 254 ; line_number = 1121 ;info 1121, 1211 ; procedure rb2bus_eedata_read rb2bus_eedata_read: ; arguments_none ; line_number = 1123 ; returns byte ; # This procedure will return the address stored in EEData. If ; # there is no data, 0 is returned. ; line_number = 1128 ; local temp1 byte rb2bus_eedata_read__temp1 equ globals___0+48 ; line_number = 1129 ; local temp2 byte rb2bus_eedata_read__temp2 equ globals___0+49 ; # Read the first byte (the address): ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1132 ; _eecon1 := 0 ;info 1132, 1211 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 1133 ; _eeadr := rb2bus_eedata_address ;info 1133, 1213 movlw 254 movwf _eeadr ; line_number = 1134 ; _rd := _true ;info 1134, 1215 bsf _rd___byte, _rd___bit ; line_number = 1135 ; temp1 := _eedat ;info 1135, 1216 movf _eedat,w bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp1 ; # Read the second byte (the 1'z complement) ; line_number = 1138 ; _eeadr := _eeadr + 1 ;info 1138, 1219 bsf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 1139 ; _rd := _true ;info 1139, 1221 bsf _rd___byte, _rd___bit ; line_number = 1140 ; temp2 := _eedat ;info 1140, 1222 movf _eedat,w bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp2 ; # If they are 1's complement of one another, they are valid: ; line_number = 1143 ; if temp1 = (0xff ^ temp2) start ;info 1143, 1225 ; Left minus Right comf rb2bus_eedata_read__temp2,w subwf rb2bus_eedata_read__temp1,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto rb2bus_eedata_read__1 ; # Return the valid address: ; line_number = 1145 ; return temp1 start ; line_number = 1145 ;info 1145, 1229 movf rb2bus_eedata_read__temp1,w return ; line_number = 1145 ; return temp1 done ; Recombine size1 = 0 || size2 = 0 rb2bus_eedata_read__1: ; line_number = 1143 ; if temp1 = (0xff ^ temp2) done ; # They are not 1's complement, so return 0 as an error: ; line_number = 1148 ; return 0 start ; line_number = 1148 ;info 1148, 1231 retlw 0 ; line_number = 1148 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 1151 ;info 1151, 1232 ; procedure rb2bus_eedata_write rb2bus_eedata_write: ; Last argument is sitting in W; save into argument variable movwf rb2bus_eedata_write__address ; delay=4294967295 ; line_number = 1152 ; argument address byte rb2bus_eedata_write__address equ globals___0+50 ; line_number = 1153 ; returns_nothing ; # This procedure will write {address} into the EEData. The ; # microcontroller pauses while the EEData is written. ; # Clear out the {_eecon1} register ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1159 ; _eecon1 := 0 ;info 1159, 1233 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 1160 ; _eeadr := rb2bus_eedata_address ;info 1160, 1235 movlw 254 movwf _eeadr ; line_number = 1161 ; _eedat := address ;info 1161, 1237 bcf __rp0___byte, __rp0___bit movf rb2bus_eedata_write__address,w bsf __rp0___byte, __rp0___bit movwf _eedat ; # Write 2 bytes ({address} followed by {address}^0xff): ; line_number = 1164 ; loop_exactly 2 start ;info 1164, 1241 rb2bus_eedata_write__1 equ globals___0+69 movlw 2 bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_write__1 rb2bus_eedata_write__2: ; # Set the data to write: ; # Set up the for the write: ; line_number = 1168 ; _wren := _true ;info 1168, 1244 bsf __rp0___byte, __rp0___bit bsf _wren___byte, _wren___bit ; line_number = 1169 ; _gie := _false ;info 1169, 1246 bcf _gie___byte, _gie___bit ; line_number = 1170 ; _eecon2 := 0x55 ;info 1170, 1247 movlw 85 movwf _eecon2 ; line_number = 1171 ; _eecon2 := 0xaa ;info 1171, 1249 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 1173 ; _wr := _true ;info 1173, 1251 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 1176 ; while _wr start rb2bus_eedata_write__3: ;info 1176, 1252 ; =>bit_code_emit@symbol(): sym=_wr ; 1TEST: Single test with code in skip slot btfsc _wr___byte, _wr___bit ; line_number = 1177 ; do_nothing ;info 1177, 1253 goto rb2bus_eedata_write__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 1176 ; while _wr done ; # Disable writing: ; line_number = 1180 ; _wren := _false ;info 1180, 1254 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 1183 ; _eeadr := _eeadr + 1 ;info 1183, 1255 incf _eeadr,f ; line_number = 1184 ; _eedat := address ^ 0xff ;info 1184, 1256 bcf __rp0___byte, __rp0___bit comf rb2bus_eedata_write__address,w bsf __rp0___byte, __rp0___bit movwf _eedat bcf __rp0___byte, __rp0___bit ; line_number = 1164 ; loop_exactly 2 wrap-up decfsz rb2bus_eedata_write__1,f goto rb2bus_eedata_write__2 ; line_number = 1164 ; loop_exactly 2 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; # 24-bit convert to from float code: xyz__0return equ globals___0+54 ; line_number = 1188 ;info 1188, 1264 ; procedure xyz xyz: ; Last argument is sitting in W; save into argument variable movwf xyz__low ; delay=4294967295 ; line_number = 1189 ; argument high byte xyz__high equ globals___0+51 ; line_number = 1190 ; argument middle byte xyz__middle equ globals___0+52 ; line_number = 1191 ; argument low byte xyz__low equ globals___0+53 ; line_number = 1192 ; returns float32 ; line_number = 1193 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1195 ; assemble ;info 1195, 1265 ; # Grab the high byte: ; line_number = 1197 ;info 1197, 1265 movf xyz__high,w ; line_number = 1198 ;info 1198, 1266 ; databank xyz, _float32_aargb0 bsf __rp0___byte, __rp0___bit ; line_number = 1199 ;info 1199, 1267 movwf _float32_aargb0 ; # Grab the middle byte: ; line_number = 1202 ;info 1202, 1268 ; databank _float32_aargb0, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1203 ;info 1203, 1269 movf xyz__middle,w ; line_number = 1204 ;info 1204, 1270 ; databank xyz, _float32_aargb1 bsf __rp0___byte, __rp0___bit ; line_number = 1205 ;info 1205, 1271 movwf _float32_aargb1 ; # Grab the low byte: ; line_number = 1208 ;info 1208, 1272 ; databank _float32_aargb1, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1209 ;info 1209, 1273 movf xyz__low,w ; line_number = 1210 ;info 1210, 1274 ; databank xyz, _float32_aargb2 bsf __rp0___byte, __rp0___bit ; line_number = 1211 ;info 1211, 1275 movwf _float32_aargb2 ; # Do the conversion to float32: ; line_number = 1214 ;info 1214, 1276 ; databank _float32_aargb2, _float32_from_integer24 ; line_number = 1215 ;info 1215, 1276 ; codebank xyz, _float32_from_integer24 bsf __cb0___byte, __cb0___bit ; line_number = 1216 ;info 1216, 1277 call _float32_from_integer24 ; # Result is in the float32 A "register"l not move to 0return: ; line_number = 1219 ;info 1219, 1278 movlw xyz__0return>>1 ; line_number = 1220 ;info 1220, 1279 ; databank _float32_from_integer24, _float32_pointer_store ; line_number = 1221 ;info 1221, 1279 ; codebank _float32_from_integer24, _float32_pointer_store ; line_number = 1222 ;info 1222, 1279 call _float32_pointer_store ; # Get out code and data banks back home: ; line_number = 1225 ;info 1225, 1280 ; databank _float32_pointer_store, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1226 ;info 1226, 1281 ; codebank _float32_pointer_store, xyz bcf __cb0___byte, __cb0___bit ; line_number = 1227 ;info 1227, 1282 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; # 24-bit convert to from float code: ; line_number = 1230 ;info 1230, 1283 ; procedure zyx zyx: ; line_number = 1231 ; argument value float32 zyx__value equ globals___0+58 ; line_number = 1232 ; returns byte ; line_number = 1233 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1235 ; assemble ;info 1235, 1283 ; line_number = 1236 ;info 1236, 1283 movlw zyx__value>>1 ; line_number = 1237 ;info 1237, 1284 ; databank zyx, _float32_pointer_load bsf __rp0___byte, __rp0___bit ; line_number = 1238 ;info 1238, 1285 ; codebank zyx, _float32_pointer_load bsf __cb0___byte, __cb0___bit ; line_number = 1239 ;info 1239, 1286 call _float32_pointer_load ; line_number = 1241 ;info 1241, 1287 ; databank _float32_pointer_load, _float32_integer24_convert ; line_number = 1242 ;info 1242, 1287 ; codebank _float32_pointer_load, _float32_integer24_convert ; line_number = 1243 ;info 1243, 1287 call _float32_integer24_convert ; line_number = 1244 ;info 1244, 1288 ; codebank _float32_integer24_convert, zyx bcf __cb0___byte, __cb0___bit ; line_number = 1246 ;info 1246, 1289 ; databank _float32_integer24_convert, _float32_aargb0 ; line_number = 1247 ;info 1247, 1289 movf _float32_aargb0,w ; line_number = 1248 ;info 1248, 1290 ; databank _float32_aargb0, high bcf __rp0___byte, __rp0___bit ; line_number = 1249 ;info 1249, 1291 movwf high ; line_number = 1251 ;info 1251, 1292 ; databank high, _float32_aargb1 bsf __rp0___byte, __rp0___bit ; line_number = 1252 ;info 1252, 1293 movf _float32_aargb1,w ; line_number = 1253 ;info 1253, 1294 ; databank _float32_aargb0, middle bcf __rp0___byte, __rp0___bit ; line_number = 1254 ;info 1254, 1295 movwf middle ; line_number = 1256 ;info 1256, 1296 ; databank middle, _float32_aargb2 bsf __rp0___byte, __rp0___bit ; line_number = 1257 ;info 1257, 1297 movf _float32_aargb2,w ; line_number = 1258 ;info 1258, 1298 ; databank _float32_aargb0, low bcf __rp0___byte, __rp0___bit ; line_number = 1259 ;info 1259, 1299 movwf low ; line_number = 1261 ;info 1261, 1300 ; databank low, zyx ; line_number = 1263 ;info 1263, 1300 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1267 ; string index2mask = "\1,2,4,8,16,32,64,128\" start ; index2mask = '\1,2,4,8,16\ @\128\' index2mask: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw index2mask___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw index2mask___base ; Index to the correct return value movwf __pcl ; page_group 8 index2mask___base: retlw 1 retlw 2 retlw 4 retlw 8 retlw 16 retlw 32 retlw 64 retlw 128 ; line_number = 1267 ; string index2mask = "\1,2,4,8,16,32,64,128\" start ; line_number = 1268 ; string id = "\16,0,21,1,3,13\MidiMotor1E-A\7\Gramson" start ; id = '\16,0,21,1,3,13\MidiMotor1E-A\7\Gramson' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 27 id___base: retlw 16 retlw 0 retlw 21 retlw 1 retlw 3 retlw 13 retlw 77 retlw 105 retlw 100 retlw 105 retlw 77 retlw 111 retlw 116 retlw 111 retlw 114 retlw 49 retlw 69 retlw 45 retlw 65 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 1268 ; string id = "\16,0,21,1,3,13\MidiMotor1E-A\7\Gramson" start ; # {state} is defined by another file: ; line_number = 1271 ; library states entered ; # Copyright (c) 2009 by Wayne C. Gramlich ; # All rights reserved ; # A quadrature encoder is a state machine that cycles through ; # 4 states in the following possible cycle: ; # ; # 00 <=> 01 ; # ^ ^ ; # | | ; # v v ; # 10 <=> 11 ; # ; # This is also known as a 2-bit Gray code. The bit on the left ; # is called the A channel and the bit on the right is called the ; # B channel. Typically, a counter is incremented for each ; # clockwise state transistion and decremented for each counter ; # clockwise transistion. The following state transistions show the ; # counter increments and decrements: ; # ; # 00 => 01 => 11 => 10 => 00 => 01 => 00 => 10 => 00 ; # +1 +1 +1 +1 +1 -1 -1 +1 ; # 0 1 2 3 4 5 4 3 4 ; # ; # Quadrature encoding does not allow two state transitions: ; # ; # 00 <=> 11 and 01 <=> 10 ; # ; # because it is ambigous whether or not to increment or decrement ; # the counter. None-the-less, sometimes such a state transition ; # occurs by accident. The solution is to double the number of states ; # from 4 to 8 and remember whether or not the last operation was an ; # increment or a decrement. Thus, the 8 new states are {+00}, ; # {+01}, {+11}, {+10}, {-00}, {-01}, {-11}, and {-11}. If the ; # Current state is {+01} and the new inputs are 11, then the new ; # state is {+11} and the counter is incremented. If the current ; # state is {+01} and the new inputs are 00, the next state is {-00} ; # and the counter is decremented; we changed from {+} to {-}. ; # Lastly, if we are in the state {+01} and the new inputs are 10, ; # we have an illegal/ambiguous transition that is resolved by ; # transitioning to {+10} and incrementing the counter by 2. ; # ; # This file contains the state transition table between all 8 of ; # these states along with the operations to perform. It a table ; # that is 32 bytes long. The current 8-bit state is concatenated ; # with two bits of input (for a total of 5 bits). This 5 bit ; # quantity indexes into a 32 byte table (2^5=32) to determine the ; # new state and whether to incement or decrement the counter by 1 ; # or 2. The index is constructed as follows: ; # ; # ABmab ; # ; # where {A} and {B} are the new inputs, and {m}, {a] and {b} ; # are the current 8-bit state, where m=0 for + and m=1 for -. ; # where {A} and {B} are the new inputs, and {m}, {a] and {b} ; # Each entry in the table looks as follows: ; # ; # iIdD 0mab ; # ; # where {i} means increment by 1, and {I} means increment by 2, ; # where {d} means decrement by 1, and {D} means decrement by 2, ; # and {mab} is the new state. ; # ; # Here is the {state vector}: ; # [0= 00 000]: 0=0000 0000 0=>0 ; # [1= 00 001]: 32=0010 0000 1=>0 ; # [2= 00 010]: 128=1000 0000 3=>0 ; # [3= 00 011]: 192=1100 0000 2=>0 ; # [4= 00 100]: 4=0000 0100 0=>0 ; # [5= 00 101]: 36=0010 0100 1=>0 ; # [6= 00 110]: 132=1000 0100 3=>0 ; # [7= 00 111]: 52=0011 0100 2=>0 ; # [8= 01 000]: 129=1000 0001 0=>1 ; # [9= 01 001]: 1=0000 0001 1=>1 ; # [10= 01 010]: 193=1100 0001 3=>1 ; # [11= 01 011]: 33=0010 0001 2=>1 ; # [12= 01 100]: 133=1000 0101 0=>1 ; # [13= 01 101]: 5=0000 0101 1=>1 ; # [14= 01 110]: 53=0011 0101 3=>1 ; # [15= 01 111]: 37=0010 0101 2=>1 ; # [16= 10 000]: 34=0010 0010 0=>3 ; # [17= 10 001]: 194=1100 0010 1=>3 ; # [18= 10 010]: 2=0000 0010 3=>3 ; # [19= 10 011]: 130=1000 0010 2=>3 ; # [20= 10 100]: 38=0010 0110 0=>3 ; # [21= 10 101]: 54=0011 0110 1=>3 ; # [22= 10 110]: 6=0000 0110 3=>3 ; # [23= 10 111]: 134=1000 0110 2=>3 ; # [24= 11 000]: 195=1100 0011 0=>2 ; # [25= 11 001]: 131=1000 0011 1=>2 ; # [26= 11 010]: 35=0010 0011 3=>2 ; # [27= 11 011]: 3=0000 0011 2=>2 ; # [28= 11 100]: 55=0011 0111 0=>2 ; # [29= 11 101]: 135=1000 0111 1=>2 ; # [30= 11 110]: 39=0010 0111 3=>2 ; # [31= 11 111]: 7=0000 0111 2=>2 ; buffer = 'states' ; line_number = 99 ; string states = "\0,32,128,192,4,36,132,52,129,1,193,33,133,5,53,37,34,194,2,130,38,54,6,134,195,131,35,3,55,135,39,7\" start ; states = '\0\ \128,192,4\_\132\4\129,1,193\!\133,5\5%"\194,2,130\&6\6,134,195,131\#\3\7\135,39,7\' states: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw states___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw states___base ; Index to the correct return value movwf __pcl ; page_group 32 states___base: retlw 0 retlw 32 retlw 128 retlw 192 retlw 4 retlw 36 retlw 132 retlw 52 retlw 129 retlw 1 retlw 193 retlw 33 retlw 133 retlw 5 retlw 53 retlw 37 retlw 34 retlw 194 retlw 2 retlw 130 retlw 38 retlw 54 retlw 6 retlw 134 retlw 195 retlw 131 retlw 35 retlw 3 retlw 55 retlw 135 retlw 39 retlw 7 ; line_number = 99 ; string states = "\0,32,128,192,4,36,132,52,129,1,193,33,133,5,53,37,34,194,2,130,38,54,6,134,195,131,35,3,55,135,39,7\" start ; buffer = 'midimotor1e' ; line_number = 1271 ; library states exited ; Code bank 1; Start address: 2048; End address: 4095 org 2048 ; Appending 27 delayed procedures to code bank 1 ; buffer = '_float32_base' ; line_number = 374 ;info 374, 2048 ; procedure _float32_from_integer24 _float32_from_integer24: ; arguments_none ; line_number = 376 ; returns_nothing ; line_number = 377 ; return_suppress ; # Integer to float conversion ; # Input: 24 bit 2's complement integer right justified in ; # _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Use: call flo2432() ; # Output: 32 bit floating point number in _float32_aexp, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) ; # Max Timing: 14+90 = 104 clks SAT = 0 ; # 14+96 = 110 clks SAT = 1 ; # Min Timing: 6+28 = 34 clks _FLOAT32_AARG = 0 ; # 6+18 = 24 clks ; # PM: 14+38 = 52 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 391 ; assemble ;info 391, 2048 ; line_number = 392 _float32_flo32: ; # initialize exponent and add bias ; line_number = 394 ;info 394, 2048 movlw _float32_expbias_23 ; line_number = 395 ;info 395, 2049 movwf _float32_exp ; line_number = 396 ;info 396, 2050 clrf _float32_sign ; # test sign ; line_number = 398 ;info 398, 2051 btfss _float32_aargb0, _float32_msb ; line_number = 399 ;info 399, 2052 goto _float32_normalize ; # if < 0, negate and set MSB in _float32_sign ; line_number = 401 ;info 401, 2053 comf _float32_aargb2,f ; line_number = 402 ;info 402, 2054 comf _float32_aargb1,f ; line_number = 403 ;info 403, 2055 comf _float32_aargb0,f ; line_number = 404 ;info 404, 2056 incf _float32_aargb2,f ; line_number = 405 ;info 405, 2057 btfsc _float32_status, _float32_z ; line_number = 406 ;info 406, 2058 incf _float32_aargb1,f ; line_number = 407 ;info 407, 2059 btfsc _float32_status, _float32_z ; line_number = 408 ;info 408, 2060 incf _float32_aargb0,f ; line_number = 409 ;info 409, 2061 bsf _float32_sign, _float32_msb ; # Note that this procedure runs into _float_normalize ; #goto _float_normalize ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 414 ;info 414, 2062 ; procedure _float32_normalize _float32_normalize: ; arguments_none ; line_number = 416 ; returns_nothing ; line_number = 417 ; return_suppress ; # Normalization routine ; # Input: 32 bit unnormalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, with sign in _float32_sign msb ; # Use: call _float32_normalize() ; # Output: 32 bit normalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) ; # Max Timing: 21+6+7*8+7 = 90 clks SAT = 0 ; # 21+6+7*8+1+12 = 96 clks SAT = 1 ; # Min Timing: 22+6 = 28 clks _FLOAT32_AARG = 0 ; # 5+9+4 = 18 clks ; # PM: 38 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 432 ; assemble ;info 432, 2062 ; #:nrm3232 ; line_number = 434 _float32_nrm32: ; # lear exponent decrement ; line_number = 436 ;info 436, 2062 clrf _float32_temp ; # test if highbyte=0 ; line_number = 438 ;info 438, 2063 movf _float32_aargb0,w ; line_number = 439 ;info 439, 2064 btfss _float32_status, _float32_z ; line_number = 440 ;info 440, 2065 goto _float32_norm3232 ; # if so, shift 8 bits by move ; line_number = 442 ;info 442, 2066 movf _float32_aargb1,w ; line_number = 443 ;info 443, 2067 movwf _float32_aargb0 ; line_number = 444 ;info 444, 2068 movf _float32_aargb2,w ; line_number = 445 ;info 445, 2069 movwf _float32_aargb1 ; line_number = 446 ;info 446, 2070 clrf _float32_aargb2 ; # increase decrement by 8 ; line_number = 448 ;info 448, 2071 bsf _float32_temp, 3 ; # test if highbyte=0 ; line_number = 451 ;info 451, 2072 movf _float32_aargb0,w ; line_number = 452 ;info 452, 2073 btfss _float32_status, _float32_z ; line_number = 453 ;info 453, 2074 goto _float32_norm3232 ; # if so, shift 8 bits by move ; line_number = 455 ;info 455, 2075 movf _float32_aargb1,w ; line_number = 456 ;info 456, 2076 movwf _float32_aargb0 ; line_number = 457 ;info 457, 2077 clrf _float32_aargb1 ; # increase decrement by 8 ; line_number = 459 ;info 459, 2078 bcf _float32_temp, 3 ; line_number = 460 ;info 460, 2079 bsf _float32_temp, 4 ; # if highbyte=0, result=0 ; line_number = 463 ;info 463, 2080 movf _float32_aargb0,w ; line_number = 464 ;info 464, 2081 btfsc _float32_status, _float32_z ; line_number = 465 ;info 465, 2082 goto _float32_res032 ; line_number = 467 _float32_norm3232: ; line_number = 468 ;info 468, 2083 movf _float32_temp,w ; line_number = 469 ;info 469, 2084 subwf _float32_exp,f ; line_number = 470 ;info 470, 2085 btfss _float32_status, _float32_z ; line_number = 471 ;info 471, 2086 btfss _float32_status, _float32_c ; line_number = 472 ;info 472, 2087 goto _float32_setfun32 ; # clear carry bit ; line_number = 475 ;info 475, 2088 bcf _float32_status, _float32_c ; line_number = 477 _float32_norm3232a: ; # if MSB=1, normalization done ; line_number = 479 ;info 479, 2089 btfsc _float32_aargb0, _float32_msb ; line_number = 480 ;info 480, 2090 goto _float32_fixsign32 ; # otherwise, shift left and ; line_number = 482 ;info 482, 2091 rlf _float32_aargb2,f ; # decrement exp ; line_number = 484 ;info 484, 2092 rlf _float32_aargb1,f ; line_number = 485 ;info 485, 2093 rlf _float32_aargb0,f ; line_number = 486 ;info 486, 2094 decfsz _float32_exp,f ; line_number = 487 ;info 487, 2095 goto _float32_norm3232a ; # underflow if exp=0 ; line_number = 490 ;info 490, 2096 goto _float32_setfun32 ; line_number = 492 _float32_fixsign32: ; line_number = 493 ;info 493, 2097 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 495 ;info 495, 2098 bcf _float32_aargb0, _float32_msb ; line_number = 496 ;info 496, 2099 retlw 0 ; # result equals zero ; line_number = 499 _float32_res032: ; line_number = 500 ;info 500, 2100 clrf _float32_aargb0 ; line_number = 501 ;info 501, 2101 clrf _float32_aargb1 ; line_number = 502 ;info 502, 2102 clrf _float32_aargb2 ; line_number = 503 ;info 503, 2103 clrf _float32_aargb3 ; line_number = 504 ;info 504, 2104 clrf _float32_exp ; line_number = 505 ;info 505, 2105 retlw 0 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 508 ;info 508, 2106 ; procedure _float32_from_integer32 _float32_from_integer32: ; arguments_none ; line_number = 510 ; returns_nothing ; line_number = 511 ; return_suppress ; # Integer to float conversion ; # Input: 32 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Use: call flo3232() ; # Output: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) ; # Max Timing: 17+112 = 129 clks RND = 0 ; # 17+128 = 145 clks RND = 1, SAT = 0 ; # 17+135 = 152 clks RND = 1, SAT = 1 ; # Min Timing: 6+39 = 45 clks _FLOAT32_AARG = 0 ; # 6+22 = 28 clks ; # PM: 17+66 = 83 DM: 8 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 526 ; assemble ;info 526, 2106 ; # initialize exponent and add bias ; line_number = 528 ;info 528, 2106 movlw _float32_expbias_31 ; line_number = 529 ;info 529, 2107 movwf _float32_exp ; line_number = 530 ;info 530, 2108 clrf _float32_sign ; # test sign ; line_number = 532 ;info 532, 2109 btfss _float32_aargb0, _float32_msb ; line_number = 533 ;info 533, 2110 goto _float32_normalize40 ; # if < 0, negate and set MSB in _float32_sign ; line_number = 535 ;info 535, 2111 comf _float32_aargb3,f ; line_number = 536 ;info 536, 2112 comf _float32_aargb2,f ; line_number = 537 ;info 537, 2113 comf _float32_aargb1,f ; line_number = 538 ;info 538, 2114 comf _float32_aargb0,f ; line_number = 539 ;info 539, 2115 incf _float32_aargb3,f ; line_number = 540 ;info 540, 2116 btfsc _float32_status, _float32_z ; line_number = 541 ;info 541, 2117 incf _float32_aargb2,f ; line_number = 542 ;info 542, 2118 btfsc _float32_status, _float32_z ; line_number = 543 ;info 543, 2119 incf _float32_aargb1,f ; line_number = 544 ;info 544, 2120 btfsc _float32_status, _float32_z ; line_number = 545 ;info 545, 2121 incf _float32_aargb0,f ; line_number = 546 ;info 546, 2122 bsf _float32_sign, _float32_msb ; # This procedure falls through to nrm4032 ; #goto nrm4032 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 551 ;info 551, 2123 ; procedure _float32_normalize40 _float32_normalize40: ; arguments_none ; line_number = 553 ; returns_nothing ; line_number = 554 ; return_suppress ; # Normalization routine ; # Input: 40 bit unnormalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 with sign in _float32_sign, MSB ; # Use: call nrm4032() ; # Output: 32 bit normalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) ; # Max Timing: 38+6*9+12+8 = 112 clks RND = 0 ; # 38+6*9+12+24 = 128 clks RND = 1, SAT = 0 ; # 38+6*9+12+31 = 135 clks RND = 1, SAT = 1 ; # Min Timing: 33+6 = 39 clks _FLOAT32_AARG = 0 ; # 5+9+8 = 22 clks ; # PM: 66 DM: 8 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 570 ; assemble ;info 570, 2123 ; #:nrm4032 ; # clear exponent decrement ; line_number = 573 ;info 573, 2123 clrf _float32_temp ; # test if highbyte=0 ; line_number = 575 ;info 575, 2124 movf _float32_aargb0,w ; line_number = 576 ;info 576, 2125 btfss _float32_status, _float32_z ; line_number = 577 ;info 577, 2126 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 579 ;info 579, 2127 movf _float32_aargb1,w ; line_number = 580 ;info 580, 2128 movwf _float32_aargb0 ; line_number = 581 ;info 581, 2129 movf _float32_aargb2,w ; line_number = 582 ;info 582, 2130 movwf _float32_aargb1 ; line_number = 583 ;info 583, 2131 movf _float32_aargb3,w ; line_number = 584 ;info 584, 2132 movwf _float32_aargb2 ; line_number = 585 ;info 585, 2133 clrf _float32_aargb3 ; # increase decrement by 8 ; line_number = 587 ;info 587, 2134 bsf _float32_temp, 3 ; # test if highbyte=0 ; line_number = 590 ;info 590, 2135 movf _float32_aargb0,w ; line_number = 591 ;info 591, 2136 btfss _float32_status, _float32_z ; line_number = 592 ;info 592, 2137 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 594 ;info 594, 2138 movf _float32_aargb1,w ; line_number = 595 ;info 595, 2139 movwf _float32_aargb0 ; line_number = 596 ;info 596, 2140 movf _float32_aargb2,w ; line_number = 597 ;info 597, 2141 movwf _float32_aargb1 ; line_number = 598 ;info 598, 2142 clrf _float32_aargb2 ; # increase decrement by 8 ; line_number = 600 ;info 600, 2143 bcf _float32_temp, 3 ; line_number = 601 ;info 601, 2144 bsf _float32_temp, 4 ; # test if highbyte=0 ; line_number = 604 ;info 604, 2145 movf _float32_aargb0,w ; line_number = 605 ;info 605, 2146 btfss _float32_status, _float32_z ; line_number = 606 ;info 606, 2147 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 608 ;info 608, 2148 movf _float32_aargb1,w ; line_number = 609 ;info 609, 2149 movwf _float32_aargb0 ; line_number = 610 ;info 610, 2150 clrf _float32_aargb1 ; # increase decrement by 8 ; line_number = 612 ;info 612, 2151 bsf _float32_temp, 3 ; # if highbyte=0, result=0 ; line_number = 615 ;info 615, 2152 movf _float32_aargb0,w ; line_number = 616 ;info 616, 2153 btfsc _float32_status, _float32_z ; line_number = 617 ;info 617, 2154 goto _float32_res032 ; line_number = 619 _float32_norm4032: ; line_number = 620 ;info 620, 2155 movf _float32_temp,w ; line_number = 621 ;info 621, 2156 subwf _float32_exp,f ; line_number = 622 ;info 622, 2157 btfss _float32_status, _float32_z ; line_number = 623 ;info 623, 2158 btfss _float32_status, _float32_c ; line_number = 624 ;info 624, 2159 goto _float32_setfun32 ; # clear carry bit ; line_number = 627 ;info 627, 2160 bcf _float32_status, _float32_c ; line_number = 629 _float32_norm4032a: ; # if MSB=1, normalization done ; line_number = 631 ;info 631, 2161 btfsc _float32_aargb0, _float32_msb ; line_number = 632 ;info 632, 2162 goto _float32_nrmrnd4032 ; # otherwise, shift left and ; line_number = 634 ;info 634, 2163 rlf _float32_aargb3,f ; # decrement exp ; line_number = 636 ;info 636, 2164 rlf _float32_aargb2,f ; line_number = 637 ;info 637, 2165 rlf _float32_aargb1,f ; line_number = 638 ;info 638, 2166 rlf _float32_aargb0,f ; line_number = 639 ;info 639, 2167 decfsz _float32_exp,f ; line_number = 640 ;info 640, 2168 goto _float32_norm4032a ; # underflow if exp=0 ; line_number = 643 ;info 643, 2169 goto _float32_setfun32 ; line_number = 645 _float32_nrmrnd4032: ; line_number = 646 ;info 646, 2170 btfsc _float32_fpflags, _float32_rnd ; line_number = 647 ;info 647, 2171 btfss _float32_aargb2, _float32_lsb ; line_number = 648 ;info 648, 2172 goto _float32_fixsign32 ; # round if next bit is set ; line_number = 650 ;info 650, 2173 btfss _float32_aargb3, _float32_msb ; line_number = 651 ;info 651, 2174 goto _float32_fixsign32 ; line_number = 652 ;info 652, 2175 incf _float32_aargb2,f ; line_number = 653 ;info 653, 2176 btfsc _float32_status, _float32_z ; line_number = 654 ;info 654, 2177 incf _float32_aargb1,f ; line_number = 655 ;info 655, 2178 btfsc _float32_status, _float32_z ; line_number = 656 ;info 656, 2179 incf _float32_aargb0,f ; # has rounding caused carryout ; line_number = 659 ;info 659, 2180 btfss _float32_status, _float32_z ; line_number = 660 ;info 660, 2181 goto _float32_fixsign32 ; # if so, right shift ; line_number = 662 ;info 662, 2182 rrf _float32_aargb0,f ; line_number = 663 ;info 663, 2183 rrf _float32_aargb1,f ; line_number = 664 ;info 664, 2184 rrf _float32_aargb2,f ; line_number = 665 ;info 665, 2185 incf _float32_exp,f ; # check for overflow ; line_number = 667 ;info 667, 2186 btfsc _float32_status, _float32_z ; line_number = 668 ;info 668, 2187 goto _float32_setfov32 ; line_number = 669 ;info 669, 2188 goto _float32_fixsign32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 672 ;info 672, 2189 ; procedure _float32_integer24_convert _float32_integer24_convert: ; arguments_none ; line_number = 674 ; returns_nothing ; line_number = 675 ; return_suppress ; # Float to integer conversion ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Use: call int3224() ; # Output: 24 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) ; # Max Timing: 40+6*7+6+16 = 104 clks RND = 0 ; # 40+6*7+6+24 = 112 clks RND = 1, SAT = 0 ; # 40+6*7+6+26 = 114 clks RND = 1, SAT = 1 ; # Min Timing: 4 clks ; # PM: 82 DM: 6 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 689 ; assemble ;info 689, 2189 ; line_number = 690 _float32_int32: ; # test for zero argument ; line_number = 692 ;info 692, 2189 movf _float32_exp,w ; line_number = 693 ;info 693, 2190 btfsc _float32_status, _float32_z ; line_number = 694 ;info 694, 2191 retlw 0 ; # save sign in _float32_sign ; line_number = 697 ;info 697, 2192 movf _float32_aargb0,w ; line_number = 698 ;info 698, 2193 movwf _float32_sign ; # make MSB explicit ; line_number = 700 ;info 700, 2194 bsf _float32_aargb0, _float32_msb ; # remove bias from exp ; line_number = 703 ;info 703, 2195 movlw _float32_expbias_23 ; line_number = 704 ;info 704, 2196 subwf _float32_exp,f ; line_number = 705 ;info 705, 2197 btfss _float32_exp, _float32_msb ; line_number = 706 ;info 706, 2198 goto _float32_setiov3224 ; line_number = 707 ;info 707, 2199 comf _float32_exp,f ; line_number = 708 ;info 708, 2200 incf _float32_exp,f ; # do byte shift if exp >= 8 ; line_number = 711 ;info 711, 2201 movlw 8 ; line_number = 712 ;info 712, 2202 subwf _float32_exp,w ; line_number = 713 ;info 713, 2203 btfss _float32_status, _float32_c ; line_number = 714 ;info 714, 2204 goto _float32_tshift3224 ; line_number = 715 ;info 715, 2205 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 717 ;info 717, 2206 rlf _float32_aargb2,f ; line_number = 718 ;info 718, 2207 movf _float32_aargb1,w ; line_number = 719 ;info 719, 2208 movwf _float32_aargb2 ; line_number = 720 ;info 720, 2209 movf _float32_aargb0,w ; line_number = 721 ;info 721, 2210 movwf _float32_aargb1 ; line_number = 722 ;info 722, 2211 clrf _float32_aargb0 ; # do another byte shift if exp >= 8 ; line_number = 725 ;info 725, 2212 movlw 8 ; line_number = 726 ;info 726, 2213 subwf _float32_exp,w ; line_number = 727 ;info 727, 2214 btfss _float32_status, _float32_c ; line_number = 728 ;info 728, 2215 goto _float32_tshift3224 ; line_number = 729 ;info 729, 2216 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 731 ;info 731, 2217 rlf _float32_aargb2,f ; line_number = 732 ;info 732, 2218 movf _float32_aargb1,w ; line_number = 733 ;info 733, 2219 movwf _float32_aargb2 ; line_number = 734 ;info 734, 2220 clrf _float32_aargb1 ; # do another byte shift if exp >= 8 ; line_number = 737 ;info 737, 2221 movlw 8 ; line_number = 738 ;info 738, 2222 subwf _float32_exp,w ; line_number = 739 ;info 739, 2223 btfss _float32_status, _float32_c ; line_number = 740 ;info 740, 2224 goto _float32_tshift3224 ; line_number = 741 ;info 741, 2225 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 743 ;info 743, 2226 rlf _float32_aargb2,f ; line_number = 744 ;info 744, 2227 clrf _float32_aargb2 ; line_number = 745 ;info 745, 2228 movf _float32_exp,w ; line_number = 746 ;info 746, 2229 btfss _float32_status, _float32_z ; line_number = 747 ;info 747, 2230 bcf _float32_status, _float32_c ; line_number = 748 ;info 748, 2231 goto _float32_shift3224ok ; line_number = 750 _float32_tshift3224: ; # shift completed if exp = 0 ; line_number = 752 ;info 752, 2232 movf _float32_exp,w ; line_number = 753 ;info 753, 2233 btfsc _float32_status, _float32_z ; line_number = 754 ;info 754, 2234 goto _float32_shift3224ok ; line_number = 756 _float32_shift3224: ; line_number = 757 ;info 757, 2235 bcf _float32_status, _float32_c ; # right shift by exp ; line_number = 759 ;info 759, 2236 rrf _float32_aargb0,f ; line_number = 760 ;info 760, 2237 rrf _float32_aargb1,f ; line_number = 761 ;info 761, 2238 rrf _float32_aargb2,f ; line_number = 762 ;info 762, 2239 decfsz _float32_exp,f ; line_number = 763 ;info 763, 2240 goto _float32_shift3224 ; line_number = 765 _float32_shift3224ok: ; line_number = 766 ;info 766, 2241 btfsc _float32_fpflags, _float32_rnd ; line_number = 767 ;info 767, 2242 btfss _float32_aargb2, _float32_lsb ; line_number = 768 ;info 768, 2243 goto _float32_int3224ok ; line_number = 769 ;info 769, 2244 btfss _float32_status, _float32_c ; line_number = 770 ;info 770, 2245 goto _float32_int3224ok ; line_number = 771 ;info 771, 2246 incf _float32_aargb2,f ; line_number = 772 ;info 772, 2247 btfsc _float32_status, _float32_z ; line_number = 773 ;info 773, 2248 incf _float32_aargb1,f ; line_number = 774 ;info 774, 2249 btfsc _float32_status, _float32_z ; line_number = 775 ;info 775, 2250 incf _float32_aargb0,f ; # test for overflow ; line_number = 777 ;info 777, 2251 btfsc _float32_aargb0, _float32_msb ; line_number = 778 ;info 778, 2252 goto _float32_setiov3224 ; line_number = 780 _float32_int3224ok: ; # if sign bit set, negate ; line_number = 782 ;info 782, 2253 btfss _float32_sign, _float32_msb ; line_number = 783 ;info 783, 2254 retlw 0 ; line_number = 784 ;info 784, 2255 comf _float32_aargb0,f ; line_number = 785 ;info 785, 2256 comf _float32_aargb1,f ; line_number = 786 ;info 786, 2257 comf _float32_aargb2,f ; line_number = 787 ;info 787, 2258 incf _float32_aargb2,f ; line_number = 788 ;info 788, 2259 btfsc _float32_status, _float32_z ; line_number = 789 ;info 789, 2260 incf _float32_aargb1,f ; line_number = 790 ;info 790, 2261 btfsc _float32_status, _float32_z ; line_number = 791 ;info 791, 2262 incf _float32_aargb0,f ; line_number = 792 ;info 792, 2263 retlw 0 ; line_number = 794 _float32_ires03224: ; # integer result equals zero ; line_number = 796 ;info 796, 2264 clrf _float32_aargb0 ; line_number = 797 ;info 797, 2265 clrf _float32_aargb1 ; line_number = 798 ;info 798, 2266 clrf _float32_aargb2 ; line_number = 799 ;info 799, 2267 retlw 0 ; # set integer overflow flag ; line_number = 802 _float32_setiov3224: ; line_number = 803 ;info 803, 2268 bsf _float32_fpflags, _float32_iov ; # test for saturation ; line_number = 805 ;info 805, 2269 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 807 ;info 807, 2270 retlw 255 ; # saturate to largest two's ; line_number = 810 ;info 810, 2271 clrf _float32_aargb0 ; # complement 24 bit integer ; line_number = 812 ;info 812, 2272 btfss _float32_sign, _float32_msb ; line_number = 813 ;info 813, 2273 movlw 255 ; # sign = 0, 0x 7F FF FF ; line_number = 815 ;info 815, 2274 movwf _float32_aargb0 ; # sign = 1, 0x 80 00 00 ; line_number = 817 ;info 817, 2275 movwf _float32_aargb1 ; line_number = 818 ;info 818, 2276 movwf _float32_aargb2 ; line_number = 819 ;info 819, 2277 rlf _float32_sign,f ; line_number = 820 ;info 820, 2278 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 822 ;info 822, 2279 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 825 ;info 825, 2280 ; procedure float32_integer32_convert float32_integer32_convert: ; arguments_none ; line_number = 827 ; returns_nothing ; line_number = 828 ; return_suppress ; # Float to integer conversion ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Use: call int3232() ; # Output: 32 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) ; # Max Timing: 54+6*8+7+21 = 130 clks RND = 0 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 0 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 1 ; # Min Timing: 5 clks ; # PM: 102 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 842 ; assemble ;info 842, 2280 ; #:int3232 ; line_number = 844 ;info 844, 2280 clrf _float32_aargb3 ; # test for zero argument ; line_number = 846 ;info 846, 2281 movf _float32_exp,w ; line_number = 847 ;info 847, 2282 btfsc _float32_status, _float32_z ; line_number = 848 ;info 848, 2283 retlw 0 ; # save sign in _float32_sign ; line_number = 851 ;info 851, 2284 movf _float32_aargb0,w ; line_number = 852 ;info 852, 2285 movwf _float32_sign ; # make MSB explicit ; line_number = 854 ;info 854, 2286 bsf _float32_aargb0, _float32_msb ; # remove bias from exp ; line_number = 857 ;info 857, 2287 movlw _float32_expbias_31 ; line_number = 858 ;info 858, 2288 subwf _float32_exp,f ; line_number = 859 ;info 859, 2289 btfss _float32_exp, _float32_msb ; line_number = 860 ;info 860, 2290 goto _float32_setiov32 ; line_number = 861 ;info 861, 2291 comf _float32_exp,f ; line_number = 862 ;info 862, 2292 incf _float32_exp,f ; # do byte shift if exp >= 8 ; line_number = 865 ;info 865, 2293 movlw 8 ; line_number = 866 ;info 866, 2294 subwf _float32_exp,w ; line_number = 867 ;info 867, 2295 btfss _float32_status, _float32_c ; line_number = 868 ;info 868, 2296 goto _float32_tshift3232 ; line_number = 869 ;info 869, 2297 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 871 ;info 871, 2298 rlf _float32_aargb3,f ; line_number = 872 ;info 872, 2299 movf _float32_aargb2,w ; line_number = 873 ;info 873, 2300 movwf _float32_aargb3 ; line_number = 874 ;info 874, 2301 movf _float32_aargb1,w ; line_number = 875 ;info 875, 2302 movwf _float32_aargb2 ; line_number = 876 ;info 876, 2303 movf _float32_aargb0,w ; line_number = 877 ;info 877, 2304 movwf _float32_aargb1 ; line_number = 878 ;info 878, 2305 clrf _float32_aargb0 ; # do another byte shift if exp >= 8 ; line_number = 881 ;info 881, 2306 movlw 8 ; line_number = 882 ;info 882, 2307 subwf _float32_exp,w ; line_number = 883 ;info 883, 2308 btfss _float32_status, _float32_c ; line_number = 884 ;info 884, 2309 goto _float32_tshift3232 ; line_number = 885 ;info 885, 2310 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 887 ;info 887, 2311 rlf _float32_aargb3,f ; line_number = 888 ;info 888, 2312 movf _float32_aargb2,w ; line_number = 889 ;info 889, 2313 movwf _float32_aargb3 ; line_number = 890 ;info 890, 2314 movf _float32_aargb1,w ; line_number = 891 ;info 891, 2315 movwf _float32_aargb2 ; line_number = 892 ;info 892, 2316 clrf _float32_aargb1 ; # do another byte shift if exp >= 8 ; line_number = 895 ;info 895, 2317 movlw 8 ; line_number = 896 ;info 896, 2318 subwf _float32_exp,w ; line_number = 897 ;info 897, 2319 btfss _float32_status, _float32_c ; line_number = 898 ;info 898, 2320 goto _float32_tshift3232 ; line_number = 899 ;info 899, 2321 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 901 ;info 901, 2322 rlf _float32_aargb3,f ; line_number = 902 ;info 902, 2323 movf _float32_aargb2,w ; line_number = 903 ;info 903, 2324 movwf _float32_aargb3 ; line_number = 904 ;info 904, 2325 clrf _float32_aargb2 ; # do another byte shift if exp >= 8 ; line_number = 907 ;info 907, 2326 movlw 8 ; line_number = 908 ;info 908, 2327 subwf _float32_exp,w ; line_number = 909 ;info 909, 2328 btfss _float32_status, _float32_c ; line_number = 910 ;info 910, 2329 goto _float32_tshift3232 ; line_number = 911 ;info 911, 2330 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 913 ;info 913, 2331 rlf _float32_aargb3,f ; line_number = 914 ;info 914, 2332 clrf _float32_aargb3 ; line_number = 915 ;info 915, 2333 movf _float32_exp,w ; line_number = 916 ;info 916, 2334 btfss _float32_status, _float32_z ; line_number = 917 ;info 917, 2335 bcf _float32_status, _float32_c ; line_number = 918 ;info 918, 2336 goto _float32_shift3232ok ; line_number = 920 _float32_tshift3232: ; # shift completed if exp = 0 ; line_number = 922 ;info 922, 2337 movf _float32_exp,w ; line_number = 923 ;info 923, 2338 btfsc _float32_status, _float32_z ; line_number = 924 ;info 924, 2339 goto _float32_shift3232ok ; line_number = 926 _float32_shift3232: ; line_number = 927 ;info 927, 2340 bcf _float32_status, _float32_c ; # right shift by exp ; line_number = 929 ;info 929, 2341 rrf _float32_aargb0,f ; line_number = 930 ;info 930, 2342 rrf _float32_aargb1,f ; line_number = 931 ;info 931, 2343 rrf _float32_aargb2,f ; line_number = 932 ;info 932, 2344 rrf _float32_aargb3,f ; line_number = 933 ;info 933, 2345 decfsz _float32_exp,f ; line_number = 934 ;info 934, 2346 goto _float32_shift3232 ; line_number = 936 _float32_shift3232ok: ; line_number = 937 ;info 937, 2347 btfsc _float32_fpflags, _float32_rnd ; line_number = 938 ;info 938, 2348 btfss _float32_aargb3, _float32_lsb ; line_number = 939 ;info 939, 2349 goto _float32_int3232ok ; line_number = 940 ;info 940, 2350 btfss _float32_status, _float32_c ; line_number = 941 ;info 941, 2351 goto _float32_int3232ok ; line_number = 942 ;info 942, 2352 incf _float32_aargb3,f ; line_number = 943 ;info 943, 2353 btfsc _float32_status, _float32_z ; line_number = 944 ;info 944, 2354 incf _float32_aargb2,f ; line_number = 945 ;info 945, 2355 btfsc _float32_status, _float32_z ; line_number = 946 ;info 946, 2356 incf _float32_aargb1,f ; line_number = 947 ;info 947, 2357 btfsc _float32_status, _float32_z ; line_number = 948 ;info 948, 2358 incf _float32_aargb0,f ; # test for overflow ; line_number = 950 ;info 950, 2359 btfsc _float32_aargb0, _float32_msb ; line_number = 951 ;info 951, 2360 goto _float32_setiov3224 ; line_number = 953 _float32_int3232ok: ; # if sign bit set, negate ; line_number = 955 ;info 955, 2361 btfss _float32_sign, _float32_msb ; line_number = 956 ;info 956, 2362 retlw 0 ; line_number = 957 ;info 957, 2363 comf _float32_aargb0,f ; line_number = 958 ;info 958, 2364 comf _float32_aargb1,f ; line_number = 959 ;info 959, 2365 comf _float32_aargb2,f ; line_number = 960 ;info 960, 2366 comf _float32_aargb3,f ; line_number = 961 ;info 961, 2367 incf _float32_aargb3,f ; line_number = 962 ;info 962, 2368 btfsc _float32_status, _float32_z ; line_number = 963 ;info 963, 2369 incf _float32_aargb2,f ; line_number = 964 ;info 964, 2370 btfsc _float32_status, _float32_z ; line_number = 965 ;info 965, 2371 incf _float32_aargb1,f ; line_number = 966 ;info 966, 2372 btfsc _float32_status, _float32_z ; line_number = 967 ;info 967, 2373 incf _float32_aargb0,f ; line_number = 968 ;info 968, 2374 retlw 0 ; line_number = 970 _float32_ires032: ; # integer result equals zero ; line_number = 972 ;info 972, 2375 clrf _float32_aargb0 ; line_number = 973 ;info 973, 2376 clrf _float32_aargb1 ; line_number = 974 ;info 974, 2377 clrf _float32_aargb2 ; line_number = 975 ;info 975, 2378 clrf _float32_aargb3 ; line_number = 976 ;info 976, 2379 retlw 0 ; line_number = 978 _float32_setiov32: ; # set integer overflow flag ; line_number = 980 ;info 980, 2380 bsf _float32_fpflags, _float32_iov ; # test for saturation ; line_number = 982 ;info 982, 2381 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 984 ;info 984, 2382 retlw 255 ; #saturate to largest two's ; line_number = 987 ;info 987, 2383 clrf _float32_aargb0 ; # complement 32 bit integer ; line_number = 989 ;info 989, 2384 btfss _float32_sign, _float32_msb ; line_number = 990 ;info 990, 2385 movlw 255 ; # sign = 0, 0x 7F FF FF FF ; line_number = 992 ;info 992, 2386 movwf _float32_aargb0 ; # sign = 1, 0x 80 00 00 00 ; line_number = 994 ;info 994, 2387 movwf _float32_aargb1 ; line_number = 995 ;info 995, 2388 movwf _float32_aargb2 ; line_number = 996 ;info 996, 2389 movwf _float32_aargb3 ; line_number = 997 ;info 997, 2390 rlf _float32_sign,f ; line_number = 998 ;info 998, 2391 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1000 ;info 1000, 2392 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1003 ;info 1003, 2393 ; procedure _float32_multiply _float32_multiply: ; arguments_none ; line_number = 1005 ; returns_nothing ; line_number = 1006 ; return_suppress ; # Floating Point Multiply ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _FLOAT32_BARGB0, _FLOAT32_BARGB1, _FLOAT32_BARGB2 ; # Use: call fpm32() ; # Output: 32 bit floating point product in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG * _FLOAT32_BARG ; # Max Timing: 26+23*22+21+21 = 574 clks RND = 0 ; # 26+23*22+21+35 = 588 clks RND = 1, SAT = 0 ; # 26+23*22+21+38 = 591 clks RND = 1, SAT = 1 ; # Min Timing: 6+6 = 12 clks _FLOAT32_AARG * _FLOAT32_BARG = 0 ; # 24+23*11+21+17 = 315 clks ; # PM: 94 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 1021 ; assemble ;info 1021, 2393 ; # test for zero arguments ; line_number = 1023 ;info 1023, 2393 movf _float32_aexp,w ; line_number = 1024 ;info 1024, 2394 btfss _float32_status, _float32_z ; line_number = 1025 ;info 1025, 2395 movf _float32_bexp,w ; line_number = 1026 ;info 1026, 2396 btfsc _float32_status, _float32_z ; line_number = 1027 ;info 1027, 2397 goto _float32_res032 ; line_number = 1029 _float32_m32bne0: ; line_number = 1030 ;info 1030, 2398 movf _float32_aargb0,w ; line_number = 1031 ;info 1031, 2399 xorwf _float32_bargb0,w ; # save sign in _float32_sign ; line_number = 1033 ;info 1033, 2400 movwf _float32_sign ; line_number = 1035 ;info 1035, 2401 movf _float32_bexp,w ; line_number = 1036 ;info 1036, 2402 addwf _float32_exp,f ; line_number = 1037 ;info 1037, 2403 movlw _float32_expbias_1 ; line_number = 1038 ;info 1038, 2404 btfss _float32_status, _float32_c ; line_number = 1039 ;info 1039, 2405 goto _float32_mtun32 ; line_number = 1041 ;info 1041, 2406 subwf _float32_exp,f ; line_number = 1042 ;info 1042, 2407 btfsc _float32_status, _float32_c ; # set multiply overflow flag ; line_number = 1044 ;info 1044, 2408 goto _float32_setfov32 ; line_number = 1045 ;info 1045, 2409 goto _float32_mok32 ; line_number = 1047 _float32_mtun32: ; line_number = 1048 ;info 1048, 2410 subwf _float32_exp,f ; line_number = 1049 ;info 1049, 2411 btfss _float32_status, _float32_c ; line_number = 1050 ;info 1050, 2412 goto _float32_setfun32 ; line_number = 1052 _float32_mok32: ; line_number = 1053 ;info 1053, 2413 movf _float32_aargb0,w ; line_number = 1054 ;info 1054, 2414 movwf _float32_aargb3 ; line_number = 1055 ;info 1055, 2415 movf _float32_aargb1,w ; line_number = 1056 ;info 1056, 2416 movwf _float32_aargb4 ; line_number = 1057 ;info 1057, 2417 movf _float32_aargb2,w ; line_number = 1058 ;info 1058, 2418 movwf _float32_aargb5 ; # make argument MSB's explicit ; line_number = 1060 ;info 1060, 2419 bsf _float32_aargb3, _float32_msb ; line_number = 1061 ;info 1061, 2420 bsf _float32_bargb0, _float32_msb ; line_number = 1062 ;info 1062, 2421 bcf _float32_status, _float32_c ; # clear initial partial product ; line_number = 1064 ;info 1064, 2422 clrf _float32_aargb0 ; line_number = 1065 ;info 1065, 2423 clrf _float32_aargb1 ; line_number = 1066 ;info 1066, 2424 clrf _float32_aargb2 ; line_number = 1067 ;info 1067, 2425 movlw 24 ; # initialize counter ; line_number = 1069 ;info 1069, 2426 movwf _float32_temp ; # test next bit ; line_number = 1072 _float32_mloop32: ; line_number = 1073 ;info 1073, 2427 btfss _float32_aargb5, _float32_lsb ; line_number = 1074 ;info 1074, 2428 goto _float32_mnoadd32 ; line_number = 1076 _float32_madd32: ; line_number = 1077 ;info 1077, 2429 movf _float32_bargb2,w ; line_number = 1078 ;info 1078, 2430 addwf _float32_aargb2,f ; line_number = 1079 ;info 1079, 2431 movf _float32_bargb1,w ; line_number = 1080 ;info 1080, 2432 btfsc _float32_status, _float32_c ; line_number = 1081 ;info 1081, 2433 incfsz _float32_bargb1,w ; line_number = 1082 ;info 1082, 2434 addwf _float32_aargb1,f ; line_number = 1084 ;info 1084, 2435 movf _float32_bargb0,w ; line_number = 1085 ;info 1085, 2436 btfsc _float32_status, _float32_c ; line_number = 1086 ;info 1086, 2437 incfsz _float32_bargb0,w ; line_number = 1087 ;info 1087, 2438 addwf _float32_aargb0,f ; line_number = 1089 _float32_mnoadd32: ; line_number = 1090 ;info 1090, 2439 rrf _float32_aargb0,f ; line_number = 1091 ;info 1091, 2440 rrf _float32_aargb1,f ; line_number = 1092 ;info 1092, 2441 rrf _float32_aargb2,f ; line_number = 1093 ;info 1093, 2442 rrf _float32_aargb3,f ; line_number = 1094 ;info 1094, 2443 rrf _float32_aargb4,f ; line_number = 1095 ;info 1095, 2444 rrf _float32_aargb5,f ; line_number = 1096 ;info 1096, 2445 bcf _float32_status, _float32_c ; line_number = 1097 ;info 1097, 2446 decfsz _float32_temp,f ; line_number = 1098 ;info 1098, 2447 goto _float32_mloop32 ; # check for postnormalization ; line_number = 1101 ;info 1101, 2448 btfsc _float32_aargb0, _float32_msb ; line_number = 1102 ;info 1102, 2449 goto _float32_mround32 ; line_number = 1103 ;info 1103, 2450 rlf _float32_aargb3,f ; line_number = 1104 ;info 1104, 2451 rlf _float32_aargb2,f ; line_number = 1105 ;info 1105, 2452 rlf _float32_aargb1,f ; line_number = 1106 ;info 1106, 2453 rlf _float32_aargb0,f ; line_number = 1107 ;info 1107, 2454 decf _float32_exp,f ; line_number = 1109 _float32_mround32: ; line_number = 1110 ;info 1110, 2455 btfsc _float32_fpflags, _float32_rnd ; line_number = 1111 ;info 1111, 2456 btfss _float32_aargb2, _float32_lsb ; line_number = 1112 ;info 1112, 2457 goto _float32_mul32ok ; line_number = 1113 ;info 1113, 2458 btfss _float32_aargb3, _float32_msb ; line_number = 1114 ;info 1114, 2459 goto _float32_mul32ok ; line_number = 1115 ;info 1115, 2460 incf _float32_aargb2,f ; line_number = 1116 ;info 1116, 2461 btfsc _float32_status, _float32_z ; line_number = 1117 ;info 1117, 2462 incf _float32_aargb1,f ; line_number = 1118 ;info 1118, 2463 btfsc _float32_status, _float32_z ; line_number = 1119 ;info 1119, 2464 incf _float32_aargb0,f ; # has rounding caused carryout? ; line_number = 1122 ;info 1122, 2465 btfss _float32_status, _float32_z ; line_number = 1123 ;info 1123, 2466 goto _float32_mul32ok ; # if so, right shift ; line_number = 1125 ;info 1125, 2467 rrf _float32_aargb0,f ; line_number = 1126 ;info 1126, 2468 rrf _float32_aargb1,f ; line_number = 1127 ;info 1127, 2469 rrf _float32_aargb2,f ; line_number = 1128 ;info 1128, 2470 incf _float32_exp,f ; # check for overflow ; line_number = 1130 ;info 1130, 2471 btfsc _float32_status, _float32_z ; line_number = 1131 ;info 1131, 2472 goto _float32_setfov32 ; line_number = 1133 _float32_mul32ok: ; line_number = 1134 ;info 1134, 2473 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 1136 ;info 1136, 2474 bcf _float32_aargb0, _float32_msb ; line_number = 1138 ;info 1138, 2475 retlw 0 ; # set floating point underflag ; line_number = 1141 _float32_setfov32: ; line_number = 1142 ;info 1142, 2476 bsf _float32_fpflags, _float32_fov ; # test for saturation ; line_number = 1144 ;info 1144, 2477 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 1146 ;info 1146, 2478 retlw 255 ; line_number = 1148 ;info 1148, 2479 movlw 255 ; # saturate to largest floating ; line_number = 1150 ;info 1150, 2480 movwf _float32_aexp ; # point number = 0x FF 7F FF FF ; line_number = 1152 ;info 1152, 2481 movwf _float32_aargb0 ; # modulo the appropriate sign bit ; line_number = 1154 ;info 1154, 2482 movwf _float32_aargb1 ; line_number = 1155 ;info 1155, 2483 movwf _float32_aargb2 ; line_number = 1156 ;info 1156, 2484 rlf _float32_sign,f ; line_number = 1157 ;info 1157, 2485 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1159 ;info 1159, 2486 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1162 ;info 1162, 2487 ; procedure _float32_divide _float32_divide: ; arguments_none ; line_number = 1164 ; returns_nothing ; line_number = 1165 ; return_suppress ; # Floating Point Divide ; # Input: 32 bit floating point dividend in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point divisor in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fpd32() ; # Output: 32 bit floating point quotient in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG / _FLOAT32_BARG ; # Max Timing: 43+12+23*36+35+14 = 932 clks RND = 0 ; # 43+12+23*36+35+50 = 968 clks RND = 1, SAT = 0 ; # 43+12+23*36+35+53 = 971 clks RND = 1, SAT = 1 ; # Min Timing: 7+6 = 13 clks ; # PM: 155 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 1179 ; assemble ;info 1179, 2487 ; # test for divide by zero ; line_number = 1181 ;info 1181, 2487 movf _float32_bexp,w ; line_number = 1182 ;info 1182, 2488 btfsc _float32_status, _float32_z ; line_number = 1183 ;info 1183, 2489 goto _float32_setfdz32 ; line_number = 1185 ;info 1185, 2490 movf _float32_aexp,w ; line_number = 1186 ;info 1186, 2491 btfsc _float32_status, _float32_z ; line_number = 1187 ;info 1187, 2492 goto _float32_res032 ; line_number = 1189 _float32_d32bne0: ; line_number = 1190 ;info 1190, 2493 movf _float32_aargb0,w ; line_number = 1191 ;info 1191, 2494 xorwf _float32_bargb0,w ; # save sign in _float32_sign ; line_number = 1193 ;info 1193, 2495 movwf _float32_sign ; # make argument MSB's explicit ; line_number = 1195 ;info 1195, 2496 bsf _float32_aargb0, _float32_msb ; line_number = 1196 ;info 1196, 2497 bsf _float32_bargb0, _float32_msb ; line_number = 1198 _float32_talign32: ; # clear align increment ; line_number = 1200 ;info 1200, 2498 clrf _float32_temp ; line_number = 1201 ;info 1201, 2499 movf _float32_aargb0,w ; # test for alignment ; line_number = 1203 ;info 1203, 2500 movwf _float32_aargb3 ; line_number = 1204 ;info 1204, 2501 movf _float32_aargb1,w ; line_number = 1205 ;info 1205, 2502 movwf _float32_aargb4 ; line_number = 1206 ;info 1206, 2503 movf _float32_aargb2,w ; line_number = 1207 ;info 1207, 2504 movwf _float32_aargb5 ; line_number = 1209 ;info 1209, 2505 movf _float32_bargb2,w ; line_number = 1210 ;info 1210, 2506 subwf _float32_aargb5,f ; line_number = 1211 ;info 1211, 2507 movf _float32_bargb1,w ; line_number = 1212 ;info 1212, 2508 btfss _float32_status, _float32_c ; line_number = 1213 ;info 1213, 2509 incfsz _float32_bargb1,w ; line_number = 1215 _float32_ts1align32: ; line_number = 1216 ;info 1216, 2510 subwf _float32_aargb4,f ; line_number = 1217 ;info 1217, 2511 movf _float32_bargb0,w ; line_number = 1218 ;info 1218, 2512 btfss _float32_status, _float32_c ; line_number = 1219 ;info 1219, 2513 incfsz _float32_bargb0,w ; line_number = 1221 _float32_ts2align32: ; line_number = 1222 ;info 1222, 2514 subwf _float32_aargb3,f ; line_number = 1224 ;info 1224, 2515 clrf _float32_aargb3 ; line_number = 1225 ;info 1225, 2516 clrf _float32_aargb4 ; line_number = 1226 ;info 1226, 2517 clrf _float32_aargb5 ; line_number = 1228 ;info 1228, 2518 btfss _float32_status, _float32_c ; line_number = 1229 ;info 1229, 2519 goto _float32_dalign32ok ; # align if necessary ; line_number = 1232 ;info 1232, 2520 bcf _float32_status, _float32_c ; line_number = 1233 ;info 1233, 2521 rrf _float32_aargb0,f ; line_number = 1234 ;info 1234, 2522 rrf _float32_aargb1,f ; line_number = 1235 ;info 1235, 2523 rrf _float32_aargb2,f ; line_number = 1236 ;info 1236, 2524 rrf _float32_aargb3,f ; line_number = 1237 ;info 1237, 2525 movlw 1 ; # save align increment ; line_number = 1239 ;info 1239, 2526 movwf _float32_temp ; line_number = 1241 _float32_dalign32ok: ; # compare _float32_aexp and _float32_bexp ; line_number = 1243 ;info 1243, 2527 movf _float32_bexp,w ; line_number = 1244 ;info 1244, 2528 subwf _float32_exp,f ; line_number = 1245 ;info 1245, 2529 btfss _float32_status, _float32_c ; line_number = 1246 ;info 1246, 2530 goto _float32_altb32 ; line_number = 1248 _float32_ageb32: ; line_number = 1249 ;info 1249, 2531 movlw _float32_expbias_1 ; line_number = 1250 ;info 1250, 2532 addwf _float32_temp,w ; line_number = 1251 ;info 1251, 2533 addwf _float32_exp,f ; line_number = 1252 ;info 1252, 2534 btfsc _float32_status, _float32_c ; line_number = 1253 ;info 1253, 2535 goto _float32_setfov32 ; # set overflow flag ; line_number = 1255 ;info 1255, 2536 goto _float32_dargok32 ; line_number = 1257 _float32_altb32: ; line_number = 1258 ;info 1258, 2537 movlw _float32_expbias_1 ; line_number = 1259 ;info 1259, 2538 addwf _float32_temp,w ; line_number = 1260 ;info 1260, 2539 addwf _float32_exp,f ; line_number = 1261 ;info 1261, 2540 btfss _float32_status, _float32_c ; # set underflow flag ; line_number = 1263 ;info 1263, 2541 goto _float32_setfun32 ; line_number = 1265 _float32_dargok32: ; # initialize counter ; line_number = 1267 ;info 1267, 2542 movlw 24 ; line_number = 1268 ;info 1268, 2543 movwf _float32_tempb1 ; line_number = 1270 _float32_dloop32: ; # left shift ; line_number = 1272 ;info 1272, 2544 rlf _float32_aargb5,f ; line_number = 1273 ;info 1273, 2545 rlf _float32_aargb4,f ; line_number = 1274 ;info 1274, 2546 rlf _float32_aargb3,f ; line_number = 1275 ;info 1275, 2547 rlf _float32_aargb2,f ; line_number = 1276 ;info 1276, 2548 rlf _float32_aargb1,f ; line_number = 1277 ;info 1277, 2549 rlf _float32_aargb0,f ; line_number = 1278 ;info 1278, 2550 rlf _float32_temp,f ; # subtract ; line_number = 1281 ;info 1281, 2551 movf _float32_bargb2,w ; line_number = 1282 ;info 1282, 2552 subwf _float32_aargb2,f ; line_number = 1283 ;info 1283, 2553 movf _float32_bargb1,w ; line_number = 1284 ;info 1284, 2554 btfss _float32_status, _float32_c ; line_number = 1285 ;info 1285, 2555 incfsz _float32_bargb1,w ; line_number = 1286 _float32_ds132: ; line_number = 1287 ;info 1287, 2556 subwf _float32_aargb1,f ; line_number = 1289 ;info 1289, 2557 movf _float32_bargb0,w ; line_number = 1290 ;info 1290, 2558 btfss _float32_status, _float32_c ; line_number = 1291 ;info 1291, 2559 incfsz _float32_bargb0,w ; line_number = 1292 _float32_DS232: ; line_number = 1293 ;info 1293, 2560 subwf _float32_aargb0,f ; line_number = 1295 ;info 1295, 2561 rlf _float32_bargb0,w ; line_number = 1296 ;info 1296, 2562 iorwf _float32_temp,f ; # test for restore ; line_number = 1299 ;info 1299, 2563 btfss _float32_temp, _float32_lsb ; line_number = 1300 ;info 1300, 2564 goto _float32_drest32 ; line_number = 1302 ;info 1302, 2565 bsf _float32_aargb5, _float32_lsb ; line_number = 1303 ;info 1303, 2566 goto _float32_dok32 ; line_number = 1305 _float32_drest32: ; # restore if necessary ; line_number = 1307 ;info 1307, 2567 movf _float32_bargb2,w ; line_number = 1308 ;info 1308, 2568 addwf _float32_aargb2,f ; line_number = 1309 ;info 1309, 2569 movf _float32_bargb1,w ; line_number = 1310 ;info 1310, 2570 btfsc _float32_status, _float32_c ; line_number = 1311 ;info 1311, 2571 incfsz _float32_bargb1,w ; line_number = 1312 _float32_darest32: ; line_number = 1313 ;info 1313, 2572 addwf _float32_aargb1,f ; line_number = 1315 ;info 1315, 2573 movf _float32_bargb0,w ; line_number = 1316 ;info 1316, 2574 btfsc _float32_status, _float32_c ; line_number = 1317 ;info 1317, 2575 incf _float32_bargb0,w ; line_number = 1318 ;info 1318, 2576 addwf _float32_aargb0,f ; line_number = 1320 ;info 1320, 2577 bcf _float32_aargb5, _float32_lsb ; line_number = 1322 _float32_dok32: ; line_number = 1323 ;info 1323, 2578 decfsz _float32_tempb1,f ; line_number = 1324 ;info 1324, 2579 goto _float32_dloop32 ; line_number = 1326 _float32_dround32: ; line_number = 1327 ;info 1327, 2580 btfsc _float32_fpflags, _float32_rnd ; line_number = 1328 ;info 1328, 2581 btfss _float32_aargb5, _float32_lsb ; line_number = 1329 ;info 1329, 2582 goto _float32_div32ok ; line_number = 1330 ;info 1330, 2583 bcf _float32_status, _float32_c ; # compute next significant bit ; line_number = 1332 ;info 1332, 2584 rlf _float32_aargb2,f ; # for rounding ; line_number = 1334 ;info 1334, 2585 rlf _float32_aargb1,f ; line_number = 1335 ;info 1335, 2586 rlf _float32_aargb0,f ; line_number = 1336 ;info 1336, 2587 rlf _float32_temp,f ; # subtract ; line_number = 1339 ;info 1339, 2588 movf _float32_bargb2,w ; line_number = 1340 ;info 1340, 2589 subwf _float32_aargb2,f ; line_number = 1341 ;info 1341, 2590 movf _float32_bargb1,w ; line_number = 1342 ;info 1342, 2591 btfss _float32_status, _float32_c ; line_number = 1343 ;info 1343, 2592 incfsz _float32_bargb1,w ; line_number = 1344 ;info 1344, 2593 subwf _float32_aargb1,f ; line_number = 1346 ;info 1346, 2594 movf _float32_bargb0,w ; line_number = 1347 ;info 1347, 2595 btfss _float32_status, _float32_c ; line_number = 1348 ;info 1348, 2596 incfsz _float32_bargb0,w ; line_number = 1349 ;info 1349, 2597 subwf _float32_aargb0,f ; line_number = 1351 ;info 1351, 2598 rlf _float32_bargb0,w ; line_number = 1352 ;info 1352, 2599 iorwf _float32_temp,w ; line_number = 1353 ;info 1353, 2600 andlw 1 ; line_number = 1355 ;info 1355, 2601 addwf _float32_aargb5,f ; line_number = 1356 ;info 1356, 2602 btfsc _float32_status, _float32_c ; line_number = 1357 ;info 1357, 2603 incf _float32_aargb4,f ; line_number = 1358 ;info 1358, 2604 btfsc _float32_status, _float32_z ; line_number = 1359 ;info 1359, 2605 incf _float32_aargb3,f ; # test if rounding caused carryout ; line_number = 1362 ;info 1362, 2606 btfss _float32_status, _float32_z ; line_number = 1363 ;info 1363, 2607 goto _float32_div32ok ; line_number = 1364 ;info 1364, 2608 rrf _float32_aargb3,f ; line_number = 1365 ;info 1365, 2609 rrf _float32_aargb4,f ; line_number = 1366 ;info 1366, 2610 rrf _float32_aargb5,f ; line_number = 1367 ;info 1367, 2611 incf _float32_exp,f ; # test for overflow# ; line_number = 1369 ;info 1369, 2612 btfsc _float32_status, _float32_z ; line_number = 1370 ;info 1370, 2613 goto _float32_setfov32 ; line_number = 1372 _float32_div32ok: ; line_number = 1373 ;info 1373, 2614 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 1375 ;info 1375, 2615 bcf _float32_aargb3, _float32_msb ; line_number = 1377 ;info 1377, 2616 movf _float32_aargb3,w ; # move result to _FLOAT32_AARG ; line_number = 1379 ;info 1379, 2617 movwf _float32_aargb0 ; line_number = 1380 ;info 1380, 2618 movf _float32_aargb4,w ; line_number = 1381 ;info 1381, 2619 movwf _float32_aargb1 ; line_number = 1382 ;info 1382, 2620 movf _float32_aargb5,w ; line_number = 1383 ;info 1383, 2621 movwf _float32_aargb2 ; line_number = 1385 ;info 1385, 2622 retlw 0 ; line_number = 1387 _float32_setfun32: ; # set floating point underflag ; line_number = 1389 ;info 1389, 2623 bsf _float32_fpflags, _float32_fun ; # test for saturation ; line_number = 1391 ;info 1391, 2624 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 1393 ;info 1393, 2625 retlw 255 ; # saturate to smallest floating ; line_number = 1396 ;info 1396, 2626 movlw 1 ; # point number = 0x 01 00 00 00 ; line_number = 1398 ;info 1398, 2627 movwf _float32_aexp ; # modulo the appropriate sign bit ; line_number = 1400 ;info 1400, 2628 clrf _float32_aargb0 ; line_number = 1401 ;info 1401, 2629 clrf _float32_aargb1 ; line_number = 1402 ;info 1402, 2630 clrf _float32_aargb2 ; line_number = 1403 ;info 1403, 2631 rlf _float32_sign,f ; line_number = 1404 ;info 1404, 2632 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1406 ;info 1406, 2633 retlw 255 ; # set divide by zero flag ; line_number = 1409 _float32_setfdz32: ; line_number = 1410 ;info 1410, 2634 bsf _float32_fpflags, _float32_fdz ; line_number = 1411 ;info 1411, 2635 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1414 ;info 1414, 2636 ; procedure _float32_subtract _float32_subtract: ; arguments_none ; line_number = 1416 ; returns_nothing ; line_number = 1417 ; return_suppress ; # Floating Point Subtract ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fps32() ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG ; # Max Timing: 2+251 = 253 clks RND = 0 ; # 2+265 = 267 clks RND = 1, SAT = 0 ; # 2+271 = 273 clks RND = 1, SAT = 1 ; # Min Timing: 2+12 = 14 clks ; # PM: 2+146 = 148 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 1431 ; assemble ;info 1431, 2636 ; line_number = 1432 ;info 1432, 2636 movlw 128 ; line_number = 1433 ;info 1433, 2637 xorwf _float32_bargb0,f ; # This procedure runs into FPA32 ; #goto fpa32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1438 ;info 1438, 2638 ; procedure _float32_add _float32_add: ; arguments_none ; line_number = 1440 ; returns_nothing ; line_number = 1441 ; return_suppress ; # Floating Point Add ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fpa32() ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG ; # Max Timing: 31+41+6*7+6+41+90 = 251 clks RND = 0 ; # 31+41+6*7+6+55+90 = 265 clks RND = 1, SAT = 0 ; # 31+41+6*7+6+55+96 = 271 clks RND = 1, SAT = 1 ; # Min Timing: 8+4 = 12 clks ; # PM: 146 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 1455 ; assemble ;info 1455, 2638 ; # exclusive or of signs in temp ; line_number = 1457 ;info 1457, 2638 movf _float32_aargb0,w ; line_number = 1458 ;info 1458, 2639 xorwf _float32_bargb0,w ; line_number = 1459 ;info 1459, 2640 movwf _float32_temp ; # clear extended byte ; line_number = 1462 ;info 1462, 2641 clrf _float32_aargb3 ; line_number = 1463 ;info 1463, 2642 clrf _float32_bargb3 ; # use _FLOAT32_AARG if _float32_aexp >= _float32_bexp ; line_number = 1466 ;info 1466, 2643 movf _float32_aexp,w ; line_number = 1467 ;info 1467, 2644 subwf _float32_bexp,w ; line_number = 1468 ;info 1468, 2645 btfss _float32_status, _float32_c ; line_number = 1469 ;info 1469, 2646 goto _float32_usea32 ; # use _FLOAT32_BARG if _float32_aexp < _float32_bexp ; line_number = 1472 ;info 1472, 2647 movf _float32_bexp,w ; # therefore, swap _FLOAT32_AARG and _FLOAT32_BARG ; line_number = 1474 ;info 1474, 2648 movwf _float32_aargb5 ; line_number = 1475 ;info 1475, 2649 movf _float32_aexp,w ; line_number = 1476 ;info 1476, 2650 movwf _float32_bexp ; line_number = 1477 ;info 1477, 2651 movf _float32_aargb5,w ; line_number = 1478 ;info 1478, 2652 movwf _float32_aexp ; line_number = 1480 ;info 1480, 2653 movf _float32_bargb0,w ; line_number = 1481 ;info 1481, 2654 movwf _float32_aargb5 ; line_number = 1482 ;info 1482, 2655 movf _float32_aargb0,w ; line_number = 1483 ;info 1483, 2656 movwf _float32_bargb0 ; line_number = 1484 ;info 1484, 2657 movf _float32_aargb5,w ; line_number = 1485 ;info 1485, 2658 movwf _float32_aargb0 ; line_number = 1487 ;info 1487, 2659 movf _float32_bargb1,w ; line_number = 1488 ;info 1488, 2660 movwf _float32_aargb5 ; line_number = 1489 ;info 1489, 2661 movf _float32_aargb1,w ; line_number = 1490 ;info 1490, 2662 movwf _float32_bargb1 ; line_number = 1491 ;info 1491, 2663 movf _float32_aargb5,w ; line_number = 1492 ;info 1492, 2664 movwf _float32_aargb1 ; line_number = 1494 ;info 1494, 2665 movf _float32_bargb2,w ; line_number = 1495 ;info 1495, 2666 movwf _float32_aargb5 ; line_number = 1496 ;info 1496, 2667 movf _float32_aargb2,w ; line_number = 1497 ;info 1497, 2668 movwf _float32_bargb2 ; line_number = 1498 ;info 1498, 2669 movf _float32_aargb5,w ; line_number = 1499 ;info 1499, 2670 movwf _float32_aargb2 ; line_number = 1501 _float32_usea32: ; # return _FLOAT32_AARG if _FLOAT32_BARG = 0 ; line_number = 1503 ;info 1503, 2671 movf _float32_bexp,w ; line_number = 1504 ;info 1504, 2672 btfsc _float32_status, _float32_z ; line_number = 1505 ;info 1505, 2673 retlw 0 ; line_number = 1507 ;info 1507, 2674 movf _float32_aargb0,w ; # save sign in _float32_sign ; line_number = 1509 ;info 1509, 2675 movwf _float32_sign ; # make MSB's explicit ; line_number = 1511 ;info 1511, 2676 bsf _float32_aargb0, _float32_msb ; line_number = 1512 ;info 1512, 2677 bsf _float32_bargb0, _float32_msb ; # compute shift count in _float32_bexp ; line_number = 1515 ;info 1515, 2678 movf _float32_bexp,w ; line_number = 1516 ;info 1516, 2679 subwf _float32_aexp,w ; line_number = 1517 ;info 1517, 2680 movwf _float32_bexp ; line_number = 1518 ;info 1518, 2681 btfsc _float32_status, _float32_z ; line_number = 1519 ;info 1519, 2682 goto _float32_aligned32 ; line_number = 1521 ;info 1521, 2683 movlw 8 ; line_number = 1522 ;info 1522, 2684 subwf _float32_bexp,w ; # if _float32_bexp >= 8, do byte shift ; line_number = 1524 ;info 1524, 2685 btfss _float32_status, _float32_c ; line_number = 1525 ;info 1525, 2686 goto _float32_alignb32 ; line_number = 1526 ;info 1526, 2687 movwf _float32_bexp ; # keep for postnormalization ; line_number = 1528 ;info 1528, 2688 movf _float32_bargb2,w ; line_number = 1529 ;info 1529, 2689 movwf _float32_bargb3 ; line_number = 1530 ;info 1530, 2690 movf _float32_bargb1,w ; line_number = 1531 ;info 1531, 2691 movwf _float32_bargb2 ; line_number = 1532 ;info 1532, 2692 movf _float32_bargb0,w ; line_number = 1533 ;info 1533, 2693 movwf _float32_bargb1 ; line_number = 1534 ;info 1534, 2694 clrf _float32_bargb0 ; line_number = 1536 ;info 1536, 2695 movlw 8 ; line_number = 1537 ;info 1537, 2696 subwf _float32_bexp,w ; # if _float32_bexp >= 8, do byte shift ; line_number = 1539 ;info 1539, 2697 btfss _float32_status, _float32_c ; line_number = 1540 ;info 1540, 2698 goto _float32_alignb32 ; line_number = 1541 ;info 1541, 2699 movwf _float32_bexp ; # keep for postnormalization ; line_number = 1543 ;info 1543, 2700 movf _float32_bargb2,w ; line_number = 1544 ;info 1544, 2701 movwf _float32_bargb3 ; line_number = 1545 ;info 1545, 2702 movf _float32_bargb1,w ; line_number = 1546 ;info 1546, 2703 movwf _float32_bargb2 ; line_number = 1547 ;info 1547, 2704 clrf _float32_bargb1 ; line_number = 1549 ;info 1549, 2705 movlw 8 ; line_number = 1550 ;info 1550, 2706 subwf _float32_bexp,w ; # if _float32_bexp >= 8, _FLOAT32_BARG = 0 relative to _FLOAT32_AARG ; line_number = 1552 ;info 1552, 2707 btfss _float32_status, _float32_c ; line_number = 1553 ;info 1553, 2708 goto _float32_alignb32 ; line_number = 1554 ;info 1554, 2709 movf _float32_sign,w ; line_number = 1555 ;info 1555, 2710 movwf _float32_aargb0 ; line_number = 1556 ;info 1556, 2711 retlw 0 ; line_number = 1558 _float32_alignb32: ; # already aligned if _float32_bexp = 0 ; line_number = 1560 ;info 1560, 2712 movf _float32_bexp,w ; line_number = 1561 ;info 1561, 2713 btfsc _float32_status, _float32_z ; line_number = 1562 ;info 1562, 2714 goto _float32_aligned32 ; line_number = 1564 _float32_aloopb32: ; # right shift by _float32_bexp ; line_number = 1566 ;info 1566, 2715 bcf _float32_status, _float32_c ; line_number = 1567 ;info 1567, 2716 rrf _float32_bargb0,f ; line_number = 1568 ;info 1568, 2717 rrf _float32_bargb1,f ; line_number = 1569 ;info 1569, 2718 rrf _float32_bargb2,f ; line_number = 1570 ;info 1570, 2719 rrf _float32_bargb3,f ; line_number = 1571 ;info 1571, 2720 decfsz _float32_bexp,f ; line_number = 1572 ;info 1572, 2721 goto _float32_aloopb32 ; line_number = 1574 _float32_aligned32: ; # negate if signs opposite ; line_number = 1576 ;info 1576, 2722 btfss _float32_temp, _float32_msb ; line_number = 1577 ;info 1577, 2723 goto _float32_aok32 ; line_number = 1579 ;info 1579, 2724 comf _float32_bargb3,f ; line_number = 1580 ;info 1580, 2725 comf _float32_bargb2,f ; line_number = 1581 ;info 1581, 2726 comf _float32_bargb1,f ; line_number = 1582 ;info 1582, 2727 comf _float32_bargb0,f ; line_number = 1583 ;info 1583, 2728 incf _float32_bargb3,f ; line_number = 1584 ;info 1584, 2729 btfsc _float32_status, _float32_z ; line_number = 1585 ;info 1585, 2730 incf _float32_bargb2,f ; line_number = 1586 ;info 1586, 2731 btfsc _float32_status, _float32_z ; line_number = 1587 ;info 1587, 2732 incf _float32_bargb1,f ; line_number = 1588 ;info 1588, 2733 btfsc _float32_status, _float32_z ; line_number = 1589 ;info 1589, 2734 incf _float32_bargb0,f ; line_number = 1591 _float32_aok32: ; line_number = 1592 ;info 1592, 2735 movf _float32_bargb3,w ; line_number = 1593 ;info 1593, 2736 addwf _float32_aargb3,f ; line_number = 1594 ;info 1594, 2737 movf _float32_bargb2,w ; line_number = 1595 ;info 1595, 2738 btfsc _float32_status, _float32_c ; line_number = 1596 ;info 1596, 2739 incfsz _float32_bargb2,w ; line_number = 1597 ;info 1597, 2740 addwf _float32_aargb2,f ; line_number = 1598 ;info 1598, 2741 movf _float32_bargb1,w ; line_number = 1599 ;info 1599, 2742 btfsc _float32_status, _float32_c ; line_number = 1600 ;info 1600, 2743 incfsz _float32_bargb1,w ; line_number = 1601 ;info 1601, 2744 addwf _float32_aargb1,f ; line_number = 1602 ;info 1602, 2745 movf _float32_bargb0,w ; line_number = 1603 ;info 1603, 2746 btfsc _float32_status, _float32_c ; line_number = 1604 ;info 1604, 2747 incfsz _float32_bargb0,w ; line_number = 1605 ;info 1605, 2748 addwf _float32_aargb0,f ; line_number = 1607 ;info 1607, 2749 btfsc _float32_temp, _float32_msb ; line_number = 1608 ;info 1608, 2750 goto _float32_acomp32 ; line_number = 1609 ;info 1609, 2751 btfss _float32_status, _float32_c ; line_number = 1610 ;info 1610, 2752 goto _float32_nrmrnd4032 ; # shift right and increment exp ; line_number = 1613 ;info 1613, 2753 rrf _float32_aargb0,f ; line_number = 1614 ;info 1614, 2754 rrf _float32_aargb1,f ; line_number = 1615 ;info 1615, 2755 rrf _float32_aargb2,f ; line_number = 1616 ;info 1616, 2756 rrf _float32_aargb3,f ; line_number = 1617 ;info 1617, 2757 incfsz _float32_aexp,f ; line_number = 1618 ;info 1618, 2758 goto _float32_nrmrnd4032 ; line_number = 1619 ;info 1619, 2759 goto _float32_setfov32 ; line_number = 1621 _float32_acomp32: ; line_number = 1622 ;info 1622, 2760 btfsc _float32_status, _float32_c ; # normalize and fix sign ; line_number = 1624 ;info 1624, 2761 goto _float32_normalize40 ; line_number = 1626 ;info 1626, 2762 comf _float32_aargb3,f ; # negate, toggle sign bit and ; line_number = 1628 ;info 1628, 2763 comf _float32_aargb2,f ; # then normalize ; line_number = 1630 ;info 1630, 2764 comf _float32_aargb1,f ; line_number = 1631 ;info 1631, 2765 comf _float32_aargb0,f ; line_number = 1632 ;info 1632, 2766 incf _float32_aargb3,f ; line_number = 1633 ;info 1633, 2767 btfsc _float32_status, _float32_z ; line_number = 1634 ;info 1634, 2768 incf _float32_aargb2,f ; line_number = 1635 ;info 1635, 2769 btfsc _float32_status, _float32_z ; line_number = 1636 ;info 1636, 2770 incf _float32_aargb1,f ; line_number = 1637 ;info 1637, 2771 btfsc _float32_status, _float32_z ; line_number = 1638 ;info 1638, 2772 incf _float32_aargb0,f ; line_number = 1640 ;info 1640, 2773 movlw 128 ; line_number = 1641 ;info 1641, 2774 xorwf _float32_sign,f ; line_number = 1642 ;info 1642, 2775 goto _float32_nrm32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; buffer = '_float32' ; line_number = 50 ;info 50, 2776 ; procedure _float32_pointer_load _float32_pointer_load: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_load__pointer ; delay=4294967295 ; line_number = 51 ; argument pointer byte _float32_pointer_load__pointer equ globals___1+36 ; line_number = 52 ; returns_nothing ; # This procedure will load the float32 "A" register with {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 56 ; assemble ;info 56, 2777 ; # Pointer is in W; move it to {_fsr}: ; line_number = 58 ;info 58, 2777 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 60 ;info 60, 2778 bcf _irp___byte, _irp___bit ; line_number = 61 ;info 61, 2779 rlf _fsr,f ; line_number = 62 ;info 62, 2780 btfsc _c___byte, _c___bit ; line_number = 63 ;info 63, 2781 bsf _irp___byte, _irp___bit ; line_number = 64 ;info 64, 2782 bcf _fsr, 0 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} ; line_number = 66 ;info 66, 2783 movf _indf,w ; line_number = 67 ;info 67, 2784 movwf _float32_aexp ; line_number = 68 ;info 68, 2785 incf _fsr,f ; line_number = 69 ;info 69, 2786 movf _indf,w ; line_number = 70 ;info 70, 2787 movwf _float32_aargb0 ; line_number = 71 ;info 71, 2788 incf _fsr,f ; line_number = 72 ;info 72, 2789 movf _indf,w ; line_number = 73 ;info 73, 2790 movwf _float32_aargb1 ; line_number = 74 ;info 74, 2791 incf _fsr,f ; line_number = 75 ;info 75, 2792 movf _indf,w ; line_number = 76 ;info 76, 2793 movwf _float32_aargb2 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 79 ;info 79, 2795 ; procedure _float32_pointer_add _float32_pointer_add: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_add__pointer ; delay=4294967295 ; line_number = 80 ; argument pointer byte _float32_pointer_add__pointer equ globals___1+37 ; line_number = 81 ; returns_nothing ; line_number = 82 ; return_suppress ; # This procedure will add the float32 "A" register with {pointer} ; # and store the result back into the "A" register. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 87 ; assemble ;info 87, 2796 ; # Pointer is in W; move it to {_fsr}: ; line_number = 89 ;info 89, 2796 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 91 ;info 91, 2797 bcf _irp___byte, _irp___bit ; line_number = 92 ;info 92, 2798 rlf _fsr,f ; line_number = 93 ;info 93, 2799 btfsc _c___byte, _c___bit ; line_number = 94 ;info 94, 2800 bsf _irp___byte, _irp___bit ; line_number = 95 ;info 95, 2801 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 97 ;info 97, 2802 movf _indf,w ; line_number = 98 ;info 98, 2803 movwf _float32_bexp ; line_number = 99 ;info 99, 2804 incf _fsr,f ; line_number = 100 ;info 100, 2805 movf _indf,w ; line_number = 101 ;info 101, 2806 movwf _float32_bargb0 ; line_number = 102 ;info 102, 2807 incf _fsr,f ; line_number = 103 ;info 103, 2808 movf _indf,w ; line_number = 104 ;info 104, 2809 movwf _float32_bargb1 ; line_number = 105 ;info 105, 2810 incf _fsr,f ; line_number = 106 ;info 106, 2811 movf _indf,w ; line_number = 107 ;info 107, 2812 movwf _float32_bargb2 ; line_number = 108 ;info 108, 2813 goto _float32_add ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 111 ;info 111, 2814 ; procedure _float32_pointer_divide _float32_pointer_divide: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_divide__pointer ; delay=4294967295 ; line_number = 112 ; argument pointer byte _float32_pointer_divide__pointer equ globals___1+38 ; line_number = 113 ; returns_nothing ; line_number = 114 ; return_suppress ; # This procedure will divide the float32 A register by {pointer} and ; # store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 119 ; assemble ;info 119, 2815 ; # Pointer is in W; move it to {_fsr}: ; line_number = 121 ;info 121, 2815 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 123 ;info 123, 2816 bcf _irp___byte, _irp___bit ; line_number = 124 ;info 124, 2817 rlf _fsr,f ; line_number = 125 ;info 125, 2818 btfsc _c___byte, _c___bit ; line_number = 126 ;info 126, 2819 bsf _irp___byte, _irp___bit ; line_number = 127 ;info 127, 2820 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 129 ;info 129, 2821 movf _indf,w ; line_number = 130 ;info 130, 2822 movwf _float32_bexp ; line_number = 131 ;info 131, 2823 incf _fsr,f ; line_number = 132 ;info 132, 2824 movf _indf,w ; line_number = 133 ;info 133, 2825 movwf _float32_bargb0 ; line_number = 134 ;info 134, 2826 incf _fsr,f ; line_number = 135 ;info 135, 2827 movf _indf,w ; line_number = 136 ;info 136, 2828 movwf _float32_bargb1 ; line_number = 137 ;info 137, 2829 incf _fsr,f ; line_number = 138 ;info 138, 2830 movf _indf,w ; line_number = 139 ;info 139, 2831 movwf _float32_bargb2 ; line_number = 140 ;info 140, 2832 goto _float32_divide ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 143 ;info 143, 2833 ; procedure _float32_pointer_multiply _float32_pointer_multiply: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_multiply__pointer ; delay=4294967295 ; line_number = 144 ; argument pointer byte _float32_pointer_multiply__pointer equ globals___1+39 ; line_number = 145 ; returns_nothing ; line_number = 146 ; return_suppress ; # This procedure will multiply {pointer} with the float32 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 151 ; assemble ;info 151, 2834 ; # Pointer is in W; move it to {_fsr}: ; line_number = 153 ;info 153, 2834 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 155 ;info 155, 2835 bcf _irp___byte, _irp___bit ; line_number = 156 ;info 156, 2836 rlf _fsr,f ; line_number = 157 ;info 157, 2837 btfsc _c___byte, _c___bit ; line_number = 158 ;info 158, 2838 bsf _irp___byte, _irp___bit ; line_number = 159 ;info 159, 2839 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 161 ;info 161, 2840 movf _indf,w ; line_number = 162 ;info 162, 2841 movwf _float32_bexp ; line_number = 163 ;info 163, 2842 incf _fsr,f ; line_number = 164 ;info 164, 2843 movf _indf,w ; line_number = 165 ;info 165, 2844 movwf _float32_bargb0 ; line_number = 166 ;info 166, 2845 incf _fsr,f ; line_number = 167 ;info 167, 2846 movf _indf,w ; line_number = 168 ;info 168, 2847 movwf _float32_bargb1 ; line_number = 169 ;info 169, 2848 incf _fsr,f ; line_number = 170 ;info 170, 2849 movf _indf,w ; line_number = 171 ;info 171, 2850 movwf _float32_bargb2 ; line_number = 172 ;info 172, 2851 goto _float32_multiply ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 175 ;info 175, 2852 ; procedure _float32_pointer_subtract _float32_pointer_subtract: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_subtract__pointer ; delay=4294967295 ; line_number = 176 ; argument pointer byte _float32_pointer_subtract__pointer equ globals___1+40 ; line_number = 177 ; returns_nothing ; line_number = 178 ; return_suppress ; # This procedure will subtract {pointer} from the float32 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 183 ; assemble ;info 183, 2853 ; # Pointer is in W; move it to {_fsr}: ; line_number = 185 ;info 185, 2853 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 187 ;info 187, 2854 bcf _irp___byte, _irp___bit ; line_number = 188 ;info 188, 2855 rlf _fsr,f ; line_number = 189 ;info 189, 2856 btfsc _c___byte, _c___bit ; line_number = 190 ;info 190, 2857 bsf _irp___byte, _irp___bit ; line_number = 191 ;info 191, 2858 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 193 ;info 193, 2859 movf _indf,w ; line_number = 194 ;info 194, 2860 movwf _float32_bexp ; line_number = 195 ;info 195, 2861 incf _fsr,f ; line_number = 196 ;info 196, 2862 movf _indf,w ; line_number = 197 ;info 197, 2863 movwf _float32_bargb0 ; line_number = 198 ;info 198, 2864 incf _fsr,f ; line_number = 199 ;info 199, 2865 movf _indf,w ; line_number = 200 ;info 200, 2866 movwf _float32_bargb1 ; line_number = 201 ;info 201, 2867 incf _fsr,f ; line_number = 202 ;info 202, 2868 movf _indf,w ; line_number = 203 ;info 203, 2869 movwf _float32_bargb2 ; line_number = 204 ;info 204, 2870 goto _float32_subtract ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 207 ;info 207, 2871 ; procedure _float32_pointer_store _float32_pointer_store: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_store__pointer ; delay=4294967295 ; line_number = 208 ; argument pointer byte _float32_pointer_store__pointer equ globals___1+41 ; line_number = 209 ; returns_nothing ; # This procedure will store the float32 A "register" into {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 213 ; assemble ;info 213, 2872 ; # Pointer is in W; move it to {_fsr}: ; line_number = 215 ;info 215, 2872 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 217 ;info 217, 2873 bcf _irp___byte, _irp___bit ; line_number = 218 ;info 218, 2874 rlf _fsr,f ; line_number = 219 ;info 219, 2875 btfsc _c___byte, _c___bit ; line_number = 220 ;info 220, 2876 bsf _irp___byte, _irp___bit ; line_number = 221 ;info 221, 2877 bcf _fsr, 0 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} ; line_number = 223 ;info 223, 2878 movf _float32_aexp,w ; line_number = 224 ;info 224, 2879 movwf _indf ; line_number = 225 ;info 225, 2880 incf _fsr,f ; line_number = 226 ;info 226, 2881 movf _float32_aargb0,w ; line_number = 227 ;info 227, 2882 movwf _indf ; line_number = 228 ;info 228, 2883 incf _fsr,f ; line_number = 229 ;info 229, 2884 movf _float32_aargb1,w ; line_number = 230 ;info 230, 2885 movwf _indf ; line_number = 231 ;info 231, 2886 incf _fsr,f ; line_number = 232 ;info 232, 2887 movf _float32_aargb2,w ; line_number = 233 ;info 233, 2888 movwf _indf ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 236 ;info 236, 2890 ; procedure _float32_negate _float32_negate: ; arguments_none ; line_number = 238 ; returns_nothing ; # This procedure will negate the float32 A registers. ; # Flip the sign bit: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 243 ; assemble ;info 243, 2890 ; line_number = 244 ;info 244, 2890 movlw 128 ; line_number = 245 ;info 245, 2891 xorwf _float32_aargb0,f ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 248 ;info 248, 2893 ; procedure _float32_reciprocal _float32_reciprocal: ; arguments_none ; line_number = 250 ; returns_nothing ; # This procedure will compute the reciprocal of the float32 A "register" ; # an store the result back into the float32 A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 255 ; assemble ;info 255, 2893 ; # Move A register to B register: ; line_number = 257 ;info 257, 2893 movf _float32_aexp,w ; line_number = 258 ;info 258, 2894 movwf _float32_bexp ; line_number = 259 ;info 259, 2895 movf _float32_aargb0,w ; line_number = 260 ;info 260, 2896 movwf _float32_bargb0 ; line_number = 261 ;info 261, 2897 movf _float32_aargb1,w ; line_number = 262 ;info 262, 2898 movwf _float32_bargb1 ; line_number = 263 ;info 263, 2899 movf _float32_aargb2,w ; line_number = 264 ;info 264, 2900 movwf _float32_bargb2 ; # Now store 1 into A: ; line_number = 267 ;info 267, 2901 movlw 127 ; line_number = 268 ;info 268, 2902 movwf _float32_aexp ; line_number = 269 ;info 269, 2903 clrf _float32_aargb0 ; line_number = 270 ;info 270, 2904 clrf _float32_aargb1 ; line_number = 271 ;info 271, 2905 clrf _float32_aargb2 ; # Now perform the division: ; line_number = 274 ;info 274, 2906 goto _float32_divide ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 277 ;info 277, 2908 ; procedure _float32_pointer_swap _float32_pointer_swap: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_swap__pointer ; delay=4294967295 ; line_number = 278 ; argument pointer byte _float32_pointer_swap__pointer equ globals___1+42 ; line_number = 279 ; returns_nothing ; # This procedure will swap the float32 A "register" with {pointer}: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 283 ; assemble ;info 283, 2909 ; # Pointer is in W; move it to {_fsr}: ; line_number = 285 ;info 285, 2909 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 287 ;info 287, 2910 bcf _irp___byte, _irp___bit ; line_number = 288 ;info 288, 2911 rlf _fsr,f ; line_number = 289 ;info 289, 2912 btfsc _c___byte, _c___bit ; line_number = 290 ;info 290, 2913 bsf _irp___byte, _irp___bit ; line_number = 291 ;info 291, 2914 bcf _fsr, 0 ; # Swap {pointer} with {_float32_aexp}: ; line_number = 294 ;info 294, 2915 movf _indf,w ; line_number = 295 ;info 295, 2916 xorwf _float32_aexp,f ; line_number = 296 ;info 296, 2917 xorwf _float32_aexp,w ; line_number = 297 ;info 297, 2918 xorwf _float32_aexp,f ; line_number = 298 ;info 298, 2919 movwf _indf ; # Swap {pointer}+1 with {_float32_aargb0}: ; line_number = 301 ;info 301, 2920 incf _fsr,f ; line_number = 302 ;info 302, 2921 movf _indf,w ; line_number = 303 ;info 303, 2922 xorwf _float32_aargb0,f ; line_number = 304 ;info 304, 2923 xorwf _float32_aargb0,w ; line_number = 305 ;info 305, 2924 xorwf _float32_aargb0,f ; line_number = 306 ;info 306, 2925 movwf _indf ; # Swap {pointer}+2 with {_float32_aargb1}: ; line_number = 309 ;info 309, 2926 incf _fsr,f ; line_number = 310 ;info 310, 2927 movf _indf,w ; line_number = 311 ;info 311, 2928 xorwf _float32_aargb1,f ; line_number = 312 ;info 312, 2929 xorwf _float32_aargb1,w ; line_number = 313 ;info 313, 2930 xorwf _float32_aargb1,f ; line_number = 314 ;info 314, 2931 movwf _indf ; # Swap {pointer}+3 with {_float32_aargb2}: ; line_number = 317 ;info 317, 2932 incf _fsr,f ; line_number = 318 ;info 318, 2933 movf _indf,w ; line_number = 319 ;info 319, 2934 xorwf _float32_aargb2,f ; line_number = 320 ;info 320, 2935 xorwf _float32_aargb2,w ; line_number = 321 ;info 321, 2936 xorwf _float32_aargb2,f ; line_number = 322 ;info 322, 2937 movwf _indf ; delay after procedure statements=non-uniform ; Implied return retlw 0 _float32_from_byte__0return equ globals___1+44 ; line_number = 325 ;info 325, 2939 ; procedure _float32_from_byte _float32_from_byte: ; Last argument is sitting in W; save into argument variable movwf _float32_from_byte__number ; delay=4294967295 ; line_number = 326 ; argument number byte _float32_from_byte__number equ globals___1+43 ; line_number = 327 ; returns float32 ; # This procedure will convert {number} into a float32 and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 331 ; _float32_aargb0 := 0 ;info 331, 2940 clrf _float32_aargb0 ; line_number = 332 ; _float32_aargb1 := 0 ;info 332, 2941 clrf _float32_aargb1 ; line_number = 333 ; _float32_aargb2 := number ;info 333, 2942 movf _float32_from_byte__number,w movwf _float32_aargb2 ; line_number = 334 ; assemble ;info 334, 2944 ; line_number = 335 ;info 335, 2944 call _float32_from_integer24 ; line_number = 336 ;info 336, 2945 movlw _float32_from_byte__0return>>1 ; line_number = 337 ;info 337, 2946 call _float32_pointer_store ; line_number = 338 ;info 338, 2947 retlw 0 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _float32_from_byte__1: goto _float32_from_byte__1 ; line_number = 341 ;info 341, 2949 ; procedure _float32_to_byte _float32_to_byte: ; line_number = 342 ; argument number float32 _float32_to_byte__number equ globals___1+48 ; line_number = 343 ; returns byte ; # This procedure will convert {number} into a 8-bit integer and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 347 ; assemble ;info 347, 2949 ; # Get the argument stored into the float32 "A" register: ; line_number = 349 ;info 349, 2949 movlw _float32_to_byte__number>>1 ; line_number = 350 ;info 350, 2950 call _float32_pointer_store ; line_number = 351 ;info 351, 2951 call _float32_integer24_convert ; line_number = 352 ; return _float32_aargb2 start ; line_number = 352 ;info 352, 2952 movf _float32_aargb2,w return ; line_number = 352 ; return _float32_aargb2 done ; delay after procedure statements=non-uniform ; line_number = 355 ;info 355, 2954 ; procedure _float32_equals _float32_equals: ; arguments_none ; line_number = 357 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 361 ; assemble ;info 361, 2954 ; line_number = 362 ;info 362, 2954 movf _float32_aexp,w ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 366 ;info 366, 2956 ; procedure _float32_not_equal _float32_not_equal: ; arguments_none ; line_number = 368 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 372 ; assemble ;info 372, 2956 ; line_number = 373 ;info 373, 2956 movf _float32_aexp,w ; line_number = 374 ;info 374, 2957 btfss _float32_status, _float32_z ; line_number = 375 ;info 375, 2958 goto _float32_not_equal1 ; # AEXP is zero; thus not_equal is false: ; line_number = 377 ;info 377, 2959 bcf _float32_status, _float32_z ; line_number = 378 ;info 378, 2960 retlw 0 ; line_number = 379 _float32_not_equal1: ; # AEXP is non-zero, the not_equal is true: ; line_number = 381 ;info 381, 2961 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 385 ;info 385, 2963 ; procedure _float32_less_than _float32_less_than: ; arguments_none ; line_number = 387 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 392 ; assemble ;info 392, 2963 ; # Test AEXP for 0: ; line_number = 394 ;info 394, 2963 movf _float32_aargb0,w ; line_number = 395 ;info 395, 2964 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; clear Z: ; line_number = 397 ;info 397, 2965 goto _float32_less_than1 ; # AEXP!=0; Z=0; Test sign ; line_number = 399 ;info 399, 2966 btfsc _float32_aargb0, 7 ; # Sign=1; Set Z ; line_number = 401 ;info 401, 2967 bsf _float32_status, _float32_z ; line_number = 402 ;info 402, 2968 retlw 0 ; line_number = 403 _float32_less_than1: ; # AXP=0; Z=1; clear Z: ; line_number = 405 ;info 405, 2969 bcf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 409 ;info 409, 2971 ; procedure _float32_less_than_or_equal _float32_less_than_or_equal: ; arguments_none ; line_number = 411 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 415 ; assemble ;info 415, 2971 ; # Test AEXP for 0: ; line_number = 417 ;info 417, 2971 movf _float32_aexp,w ; line_number = 418 ;info 418, 2972 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; Return ; line_number = 420 ;info 420, 2973 retlw 0 ; # AEXP!=0; Z=0; Test sign: ; line_number = 422 ;info 422, 2974 btfsc _float32_aargb0, 7 ; # Sign=1; Set Z ; line_number = 424 ;info 424, 2975 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 428 ;info 428, 2977 ; procedure _float32_greater_than _float32_greater_than: ; arguments_none ; line_number = 430 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 435 ; assemble ;info 435, 2977 ; # Test AEXP for 0: ; line_number = 437 ;info 437, 2977 movf _float32_aexp,w ; line_number = 438 ;info 438, 2978 btfsc _float32_status, _float32_z ; # AEXP=0 Z=1; Clear Z and return: ; line_number = 440 ;info 440, 2979 goto _float32_greater_than1 ; # AEXP!=0 Z=0; Test sign bit ; line_number = 442 ;info 442, 2980 btfss _float32_aargb0, 7 ; # Sign bit=0; Set Z ; line_number = 444 ;info 444, 2981 bsf _float32_status, _float32_z ; line_number = 445 ;info 445, 2982 retlw 0 ; line_number = 446 _float32_greater_than1: ; # AEXP=0 Z=1; Clear Z and return: ; line_number = 448 ;info 448, 2983 bcf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 452 ;info 452, 2985 ; procedure _float32_greater_than_or_equal _float32_greater_than_or_equal: ; arguments_none ; line_number = 454 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) ; line_number = 458 ; assemble ;info 458, 2985 ; # Test AEXP for 0: ; line_number = 460 ;info 460, 2985 movf _float32_aexp,w ; line_number = 461 ;info 461, 2986 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; We can return ; line_number = 463 ;info 463, 2987 retlw 0 ; # AEXP!=0; Z=0; now check sign ; line_number = 465 ;info 465, 2988 btfss _float32_aargb0, 7 ; # Sign=0; Set Z ; line_number = 467 ;info 467, 2989 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Configuration bits ; address = 0x2007, fill = 0x3000 ; fcmen = off (0x0) ; ieso = off (0x0) ; boden = off (0x0) ; cpd = off (0x80) ; cp = off (0x40) ; mclre = off (0x0) ; pwrte = off (0x10) ; wdte = off (0x0) ; fosc = hs (0x2) ; 12498 = 0x30d2 __config 12498 ; Define start addresses for data regions ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 ; Region="globals___0" Address=32" Size=80 Bytes=70 Bits=3 Available=9 ; Region="globals___1" Address=160" Size=80 Bytes=68 Bits=0 Available=12 ; Region="globals___2" Address=288" Size=80 Bytes=74 Bits=0 Available=6 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 end