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) 2006-2012 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 ; constant microsecond = 5 microsecond equ 5 ; line_number = 49 ; 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 = 49 ; 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 = 56 ; package pdip ; line_number = 57 ; pin 1 = power_supply ; line_number = 58 ; pin 2 = osc1 ; line_number = 59 ; pin 3 = osc2 ; line_number = 60 ; pin 4 = ra3_nc ; line_number = 61 ; pin 5 = rx, name=rx, bit=rx_bit rx___byte equ _portc rx___bit equ 5 rx_bit equ 5 ; line_number = 62 ; pin 6 = tx, name=tx, bit=tx_bit tx___byte equ _portc tx___bit equ 4 tx_bit equ 4 ; line_number = 63 ; pin 7 = rc3_nc ; line_number = 64 ; pin 8 = rc2_nc ; line_number = 65 ; 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 = 66 ; 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 = 67 ; pin 11 = an2 ; line_number = 68 ; 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 = 69 ; 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 = 70 ; 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 = 74 ; constant position_index = 0 # Current position position_index equ 0 ; line_number = 75 ; constant target_index = 1 # Target position target_index equ 1 ; line_number = 76 ; constant divisor_index = 2 # Denominator for {kp}, {ki}, and {kd} divisor_index equ 2 ; line_number = 77 ; constant kp_index = 3 # Numerator for {kp} kp_index equ 3 ; line_number = 78 ; constant ki_index = 4 # Numerator for {ki} ki_index equ 4 ; line_number = 79 ; constant kd_index = 5 # Numerator for {kd} kd_index equ 5 ; line_number = 80 ; constant ad0_value_index = 6 # AD0 ad0_value_index equ 6 ; line_number = 81 ; constant ad1_value_index = 7 # AD1 ad1_value_index equ 7 ; line_number = 82 ; constant ad0_limit_index = 8 # AD0 ad0_limit_index equ 8 ; line_number = 83 ; constant ad1_limit_index = 9 # AD1 ad1_limit_index equ 9 ; line_number = 84 ; constant file24_size = 10 # 24-bit register file has 6 registers file24_size equ 10 ; # We are short of bytes in data bank 0, so we stuff the 24-bit register ; # files off into data bank 2: ; line_number = 89 ; global highs[file24_size] array[byte] # All the highs are grouped together highs equ globals___2 ; line_number = 90 ; global middles[file24_size] array[byte] # All the middles are grouped together middles equ globals___2+10 ; line_number = 91 ; global lows[file24_size] array[byte] # All the lows are grouped together lows equ globals___2+20 ; # The quardarture is actually the same as the position: ; line_number = 94 ; bind quad_high = highs[position_index] quad_high equ globals___2 ; line_number = 95 ; bind quad_middle = middles[position_index] quad_middle equ globals___2+10 ; line_number = 96 ; bind quad_low = lows[position_index] quad_low equ globals___2+20 ; line_number = 97 ; global quad_state byte # The quadrature state quad_state equ globals___2+30 ; line_number = 99 ; bind ad0_value_high = highs[ad0_value_index] ad0_value_high equ globals___2+6 ; line_number = 100 ; bind ad0_value_middle = middles[ad0_value_index] ad0_value_middle equ globals___2+16 ; line_number = 101 ; bind ad0_value_low = lows[ad0_value_index] ad0_value_low equ globals___2+26 ; line_number = 102 ; bind ad1_value_high = highs[ad1_value_index] ad1_value_high equ globals___2+7 ; line_number = 103 ; bind ad1_value_middle = middles[ad1_value_index] ad1_value_middle equ globals___2+17 ; line_number = 104 ; bind ad1_value_low = lows[ad1_value_index] ad1_value_low equ globals___2+27 ; line_number = 106 ; bind ad0_limit_high = highs[ad0_limit_index] ad0_limit_high equ globals___2+8 ; line_number = 107 ; bind ad0_limit_middle = middles[ad0_limit_index] ad0_limit_middle equ globals___2+18 ; line_number = 108 ; bind ad0_limit_low = lows[ad0_limit_index] ad0_limit_low equ globals___2+28 ; line_number = 109 ; bind ad1_limit_high = highs[ad1_limit_index] ad1_limit_high equ globals___2+9 ; line_number = 110 ; bind ad1_limit_middle = middles[ad1_limit_index] ad1_limit_middle equ globals___2+19 ; line_number = 111 ; bind ad1_limit_low = lows[ad1_limit_index] ad1_limit_low equ globals___2+29 ; # Temporarily removed to free up some space: ; #global xstates[32] array[byte] ; # Every else with the 24-bit register file24 is in data bank 0: ; line_number = 118 ; global file24_changed byte # 1 bit for each value to mark change file24_changed equ globals___0 ; line_number = 119 ; 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 = 124 ; global high byte # Temporary high byte high equ globals___0+2 ; line_number = 125 ; global middle byte # Temporary middle byte middle equ globals___0+3 ; line_number = 126 ; 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 = 130 ; constant configure_index = 0 # Configuration byte index configure_index equ 0 ; line_number = 131 ; constant status_index = 1 # Status byte index status_index equ 1 ; line_number = 132 ; constant speed_index = 2 # Current motor speed index speed_index equ 2 ; line_number = 133 ; constant errors_index = 3 # Error count errors_index equ 3 ; line_number = 134 ; constant deadband_index = 4 # Deadband for error deadband_index equ 4 ; line_number = 135 ; constant minimum_index = 5 # Motor (non-zero) speed minimum minimum_index equ 5 ; line_number = 136 ; constant maximum_index = 6 # Motor speed maximum maximum_index equ 6 ; line_number = 137 ; constant file24_index_index = 7 # Index into 24-bit register file file24_index_index equ 7 ; line_number = 138 ; constant file8_size = 8 # We have 8 registers in {file8] file8_size equ 8 ; # These are the configure bits numbers: ; line_number = 141 ; constant configure_motor_reverse_bit = 0 # Motor reverse bit configure_motor_reverse_bit equ 0 ; line_number = 142 ; constant configure_position_reverse_bit = 1 # Position sensor reverse bit configure_position_reverse_bit equ 1 ; line_number = 143 ; constant configure_quadrature_bit = 2 # Quadrature disable bit configure_quadrature_bit equ 2 ; line_number = 144 ; constant configure_lock_bit = 3 # Lock configuration registers configure_lock_bit equ 3 ; line_number = 145 ; constant configure_analog1_reverse_bit = 4 # Reverse analog1 sense direction configure_analog1_reverse_bit equ 4 ; line_number = 146 ; constant configure_analog1_enable_bit = 5 # Reverse analog1 enable configure_analog1_enable_bit equ 5 ; line_number = 147 ; constant configure_analog0_reverse_bit = 6 # Reverse analog0 sense direction configure_analog0_reverse_bit equ 6 ; line_number = 148 ; constant configure_analog0_enable_bit = 7 # Reverse analog0 enable configure_analog0_enable_bit equ 7 ; # Associated analog masks: ; line_number = 151 ; constant configure_motor_reverse_mask = 1 << configure_motor_reverse_bit configure_motor_reverse_mask equ 1 ; line_number = 152 ; constant configure_position_reverse_mask = 1 << configure_position_reverse_bit configure_position_reverse_mask equ 2 ; line_number = 153 ; constant configure_quadrature_mask = 1 << configure_quadrature_bit configure_quadrature_mask equ 4 ; line_number = 154 ; constant configure_analog1_reverse_mask = 1 << configure_analog1_reverse_bit configure_analog1_reverse_mask equ 16 ; line_number = 155 ; constant configure_analog1_enable_mask = 1 << configure_analog1_enable_bit configure_analog1_enable_mask equ 32 ; line_number = 156 ; constant configure_analog0_reverse_mask = 1 << configure_analog0_reverse_bit configure_analog0_reverse_mask equ 64 ; line_number = 157 ; constant configure_analog0_enable_mask = 1 << configure_analog0_enable_bit configure_analog0_enable_mask equ 128 ; line_number = 158 ; constant configure_analogs_enabled_mask = configure_analog0_enable_mask | configure_analog1_enable_mask configure_analogs_enabled_mask equ 160 ; # Here is the actual array of {file8}: ; line_number = 162 ; 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 = 166 ; bind configure = file8[configure_index] configure equ globals___0+5 ; line_number = 167 ; bind motor_reverse = configure@configure_motor_reverse_bit motor_reverse___byte equ globals___0+5 motor_reverse___bit equ 0 ; line_number = 168 ; bind position_reverse = configure@configure_position_reverse_bit position_reverse___byte equ globals___0+5 position_reverse___bit equ 1 ; line_number = 169 ; bind use_potentiometer = configure@configure_quadrature_bit use_potentiometer___byte equ globals___0+5 use_potentiometer___bit equ 2 ; line_number = 170 ; bind configure_lock = configure@configure_lock_bit configure_lock___byte equ globals___0+5 configure_lock___bit equ 3 ; line_number = 171 ; bind ad0_reverse = configure@configure_analog0_reverse_bit ad0_reverse___byte equ globals___0+5 ad0_reverse___bit equ 6 ; line_number = 172 ; bind ad0_enable = configure@configure_analog0_enable_bit ad0_enable___byte equ globals___0+5 ad0_enable___bit equ 7 ; line_number = 173 ; bind ad1_reverse = configure@configure_analog0_reverse_bit ad1_reverse___byte equ globals___0+5 ad1_reverse___bit equ 6 ; line_number = 174 ; bind ad1_enable = configure@configure_analog1_enable_bit ad1_enable___byte equ globals___0+5 ad1_enable___bit equ 5 ; line_number = 175 ; bind status = file8[status_index] status equ globals___0+6 ; line_number = 176 ; bind speed = file8[speed_index] speed equ globals___0+7 ; line_number = 177 ; bind errors = file8[errors_index] errors equ globals___0+8 ; line_number = 178 ; bind deadband = file8[deadband_index] deadband equ globals___0+9 ; line_number = 179 ; bind minimum = file8[minimum_index] minimum equ globals___0+10 ; line_number = 180 ; bind maximum = file8[maximum_index] maximum equ globals___0+11 ; line_number = 181 ; bind file24_index = file8[file24_index_index] file24_index equ globals___0+12 ; # These are the variables used to control motor1: ; line_number = 184 ; global motor1_speed byte motor1_speed equ globals___0+13 ; line_number = 185 ; global motor1_on_mask byte motor1_on_mask equ globals___0+14 ; line_number = 186 ; global motor1_pulse_width byte motor1_pulse_width equ globals___0+15 ; # UART Globals and constants: ; line_number = 190 ; global state byte # State machine for command parsing state equ globals___0+16 ; line_number = 191 ; constant state_select_wait = 0 # Waiting for a select address state_select_wait equ 0 ; line_number = 192 ; constant state_echo_then_command = 1 # Wait for echo then a command state_echo_then_command equ 1 ; line_number = 193 ; constant state_command = 2 # Wait for a command state_command equ 2 ; line_number = 194 ; constant state_file24_full_get1 = 3 state_file24_full_get1 equ 3 ; line_number = 195 ; constant state_file24_full_get2 = 4 state_file24_full_get2 equ 4 ; line_number = 196 ; constant state_file24_full_set1 = 5 state_file24_full_set1 equ 5 ; line_number = 197 ; constant state_file24_full_set2 = 6 state_file24_full_set2 equ 6 ; line_number = 198 ; constant state_file24_full_set3 = 7 state_file24_full_set3 equ 7 ; line_number = 199 ; constant state_value_low_set1 = 8 state_value_low_set1 equ 8 ; line_number = 200 ; constant state_value_middle_set1 = 9 state_value_middle_set1 equ 9 ; line_number = 201 ; constant state_value_high_set1 = 10 state_value_high_set1 equ 10 ; line_number = 202 ; constant state_file8_set1 = 11 state_file8_set1 equ 11 ; line_number = 203 ; constant state_file8_set2 = 12 state_file8_set2 equ 12 ; line_number = 204 ; constant state_file8_set3 = 13 state_file8_set3 equ 13 ; line_number = 205 ; constant state_address_set1 = 14 state_address_set1 equ 14 ; line_number = 206 ; constant state_address_set2 = 15 state_address_set2 equ 15 ; line_number = 207 ; constant state_address_set3 = 16 state_address_set3 equ 16 ; line_number = 208 ; constant state_address_set4 = 17 state_address_set4 equ 17 ; line_number = 209 ; constant state_probe_get1 = 18 state_probe_get1 equ 18 ; line_number = 210 ; constant state_probe_get2 = 19 state_probe_get2 equ 19 ; line_number = 212 ; global id_index byte # Index into id string id_index equ globals___0+17 ; # UART data input buffer: ; line_number = 215 ; constant uart_input_size = 4 # Buffer size (=power of 2) uart_input_size equ 4 ; line_number = 216 ; constant uart_input_mask = uart_input_size - 1 # Mask for index uart_input_mask equ 3 ; line_number = 217 ; global uart_input[uart_input_size] array[byte] # Buffer for input uart_input equ globals___0+18 ; line_number = 218 ; global uart_input_in_index byte # Next index to insert into uart_input_in_index equ globals___0+22 ; line_number = 219 ; global uart_input_out_index byte # Next index to remove from uart_input_out_index equ globals___0+23 ; line_number = 220 ; global uart_input_count byte # Bytes in buffer uart_input_count equ globals___0+24 ; line_number = 221 ; 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 = 223 ; global address byte # Address of this module address equ globals___0+25 ; line_number = 224 ; global new_address byte # New address of this module new_address equ globals___0+26 ; line_number = 225 ; global channel byte # A/D channel channel equ globals___0+27 ; # Load up floating point library in code bank 1 using datab bank 0: ; line_number = 228 ; library_bank 1 ; line_number = 230 ; 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 = 230 ; library _float32 exited ; line_number = 233 ; origin 0 org 0 ; line_number = 235 ;info 235, 0 ; procedure start start: ; arguments_none ; line_number = 237 ; returns_nothing ; line_number = 238 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 240 ; assemble ;info 240, 0 ; line_number = 241 ;info 241, 0 ; databank start, main ; line_number = 242 ;info 242, 0 ; codebank start, main ; line_number = 243 ;info 243, 0 goto main ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 245 ; origin 4 org 4 ; line_number = 247 ;info 247, 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 = 249 ; 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 = 291 ; local fsr_save byte interrupt__fsr_save equ globals___0+28 ; line_number = 292 ; local pclath_save byte interrupt__pclath_save equ globals___0+29 ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:X0=cu=>X0) ; line_number = 294 ; fsr_save := _fsr ;info 294, 7 movf _fsr,w bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movwf interrupt__fsr_save ; line_number = 295 ; pclath_save := _pclath ;info 295, 11 movf _pclath,w movwf interrupt__pclath_save ; # Make sure we are on correct page: ; line_number = 297 ; _pclath := 0 ;info 297, 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 = 314 ; if _t0if start ;info 314, 14 ; =>bit_code_emit@symbol(): sym=_t0if ; No 1TEST: true.size=89 false.size=0 ; No 2TEST: true.size=89 false.size=0 ; 1GOTO: Single test with GOTO btfss _t0if___byte, _t0if___bit goto interrupt__14 ; # Timer 0 just triggered. It is time to start a new pulse width ; # duty cycle: ; # Clear the interrupt flag: ; line_number = 319 ; _t0if := _false ;info 319, 16 bcf _t0if___byte, _t0if___bit ; # Make sure Timer1 is off while we muck around with Timer1: ; line_number = 322 ; _tmr1on := _false ;info 322, 17 bcf _tmr1on___byte, _tmr1on___bit ; # Set the pulse width to W::0, where W=255-PW, where PW={0,...,255}. ; line_number = 325 ; _tmr1l := 0 ;info 325, 18 clrf _tmr1l ; line_number = 326 ; _tmr1h := motor1_pulse_width ;info 326, 19 movf motor1_pulse_width,w movwf _tmr1h ; # Make sure that we clear off the Timer1 interrupt flag, just in case: ; line_number = 329 ; _tmr1if := _false ;info 329, 21 bcf _tmr1if___byte, _tmr1if___bit ; # Turn on Timer1: ; line_number = 332 ; _tmr1on := _true ;info 332, 22 bsf _tmr1on___byte, _tmr1on___bit ; # Finally, turn on the appropriate leads of the motor to make it move. ; line_number = 335 ; _portc := motor1_on_mask ;info 335, 23 movf motor1_on_mask,w movwf _portc ; line_number = 337 ; if use_potentiometer start ;info 337, 25 ; =>bit_code_emit@symbol(): sym=use_potentiometer ; No 1TEST: true.size=77 false.size=0 ; No 2TEST: true.size=77 false.size=0 ; 1GOTO: Single test with GOTO btfss use_potentiometer___byte, use_potentiometer___bit goto interrupt__13 ; line_number = 338 ; switch channel start ;info 338, 27 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 358 ; case_maximum 2 movlw interrupt__6>>8 movwf __pclath movf channel,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 interrupt__6 movwf __pcl ; page_group 3 interrupt__6: goto interrupt__3 goto interrupt__4 goto interrupt__5 ; line_number = 339 ; case 0 interrupt__3: ; line_number = 340 ; ad1_value_low := _adresl ;info 340, 36 movf _adresl,w bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf ad1_value_low ; line_number = 341 ; ad1_value_middle := _adresh ;info 341, 40 bcf __rp1___byte, __rp1___bit movf _adresh,w bsf __rp1___byte, __rp1___bit movwf ad1_value_middle ; line_number = 342 ; ad1_value_high := 0 ;info 342, 44 clrf ad1_value_high goto interrupt__7 ; line_number = 343 ; case 1 interrupt__4: ; line_number = 344 ; ad0_value_low := _adresl ;info 344, 46 movf _adresl,w bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf ad0_value_low ; line_number = 345 ; ad0_value_middle := _adresh ;info 345, 50 bcf __rp1___byte, __rp1___bit movf _adresh,w bsf __rp1___byte, __rp1___bit movwf ad0_value_middle ; line_number = 346 ; ad0_value_high := 0 ;info 346, 54 clrf ad0_value_high goto interrupt__7 ; line_number = 347 ; case 2 interrupt__5: ; line_number = 348 ; quad_low := _adresl ;info 348, 56 movf _adresl,w bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf quad_low ; line_number = 349 ; quad_middle := _adresh ;info 349, 60 bcf __rp1___byte, __rp1___bit movf _adresh,w bsf __rp1___byte, __rp1___bit movwf quad_middle ; line_number = 350 ; quad_high := 0 ;info 350, 64 clrf quad_high ; line_number = 351 ; if position_reverse start ;info 351, 65 ; =>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 = 353 ; quad_low := quad_low ^ 0xff ;info 353, 69 comf quad_low,f ; line_number = 354 ; quad_middle := quad_middle ^ 3 ;info 354, 70 movlw 3 xorwf quad_middle,f ; line_number = 355 ; quad_low := quad_low + 1 ;info 355, 72 incf quad_low,f ; line_number = 356 ; if _z start ;info 356, 73 ; =>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 = 357 ; quad_middle := (quad_middle + 1) & 3 ;info 357, 75 incf quad_middle,w andlw 3 movwf quad_middle ; Recombine size1 = 0 || size2 = 0 interrupt__1: ; line_number = 356 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__2: ; line_number = 351 ; if position_reverse done interrupt__7: ; line_number = 338 ; switch channel done ; line_number = 359 ; if configure & configure_analogs_enabled_mask = 0 start ;info 359, 78 ; Left minus Right movlw 160 bcf __rp1___byte, __rp1___bit andwf configure,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=5 ; No 2TEST: true.size=2 false.size=5 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto interrupt__8 ; line_number = 360 ; channel := 2 ;info 360, 83 movlw 2 movwf channel goto interrupt__9 ; 2GOTO: Starting code 2 interrupt__8: ; line_number = 362 ; channel := channel + 1 ;info 362, 86 incf channel,f ; line_number = 363 ; if channel >= 3 start ;info 363, 87 movlw 3 subwf channel,w ; =>bit_code_emit@symbol(): sym=__c ; 1TEST: Single test with code in skip slot btfsc __c___byte, __c___bit ; line_number = 364 ; channel := 0 ;info 364, 90 clrf channel ; Recombine size1 = 0 || size2 = 0 ; line_number = 363 ; if channel >= 3 done interrupt__9: ; 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 = 359 ; if configure & configure_analogs_enabled_mask = 0 done ; # The other channels are enabled: ; line_number = 367 ; _adcon0 := _adcon0 & 0xc3 | (channel << 2) ;info 367, 91 interrupt__10 equ globals___0+64 movlw 195 andwf _adcon0,w movwf interrupt__10 interrupt__11 equ globals___0+65 rlf channel,w movwf interrupt__11 rlf interrupt__11,w andlw 252 iorwf interrupt__10,w movwf _adcon0 ; line_number = 368 ; delay 20 * microsecond start ;info 368, 100 ; Delay expression evaluates to 100 ; line_number = 369 ; do_nothing ;info 369, 100 ; Delay 100 cycles ; Delay loop takes 25 * 4 = 100 cycles movlw 25 interrupt__12: addlw 255 btfss __z___byte, __z___bit goto interrupt__12 ; line_number = 368 ; delay 20 * microsecond done ; Recombine size1 = 0 || size2 = 0 interrupt__13: ; line_number = 337 ; if use_potentiometer done ; # Trigger an A/D conversion to pick up next time: ; line_number = 373 ; _go := _true ;info 373, 104 bsf _go___byte, _go___bit ; Recombine size1 = 0 || size2 = 0 interrupt__14: ; line_number = 314 ; if _t0if done ; # Deal with Timer 1 interrupt: ; line_number = 376 ; if _tmr1if start ;info 376, 105 ; =>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__15 ; # Timer 1 just triggered. It is time to turn off the pulse width. ; # Turn off the motor leads: ; line_number = 380 ; _portc := 0 ;info 380, 107 clrf _portc ; # Turn off Timer 1: ; line_number = 383 ; _tmr1on := _false ;info 383, 108 bcf _tmr1on___byte, _tmr1on___bit ; # Make sure we clear timer 1 interrupt flag: ; line_number = 386 ; _tmr1if := _false ;info 386, 109 bcf _tmr1if___byte, _tmr1if___bit ; Recombine size1 = 0 || size2 = 0 interrupt__15: ; line_number = 376 ; if _tmr1if done ; # Deal with UART receive interrupt: ; line_number = 389 ; if _rcif start ;info 389, 110 ; =>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__20 ; # 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 = 396 ; if _rx9d start ;info 396, 112 ; =>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__18 ; # The ninth bit is set, we have an module address select ; # command: ; line_number = 399 ; if _rcreg = address start ;info 399, 114 ; 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__16 ; # 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 = 405 ; _adden := _false ;info 405, 118 bcf _adden___byte, _adden___bit ; # Clear out the input data buffer: ; line_number = 408 ; uart_input_in_index := 0 ;info 408, 119 clrf uart_input_in_index ; line_number = 409 ; uart_input_out_index := 0 ;info 409, 120 clrf uart_input_out_index ; line_number = 410 ; uart_input_count := 0 ;info 410, 121 clrf uart_input_count ; line_number = 411 ; uart_input_pending := _false ;info 411, 122 bcf uart_input_pending___byte, uart_input_pending___bit ; # Send an acknowledge byte: ; line_number = 414 ; call uart_byte_put(rb2_ok) ;info 414, 123 movlw 165 call uart_byte_put ; # Set the state machine for {uart_manage} to eat the echo ; # and start processing commands: ; line_number = 418 ; state := state_echo_then_command ;info 418, 125 movlw 1 movwf state ; Recombine code1_bit_states != code2_bit_states goto interrupt__17 ; 2GOTO: Starting code 2 interrupt__16: ; # 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 = 425 ; _adden := _true ;info 425, 128 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 = 430 ; state := state_select_wait ;info 430, 129 clrf state interrupt__17: ; 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 = 399 ; if _rcreg = address done ; Recombine code1_bit_states != code2_bit_states goto interrupt__19 ; 2GOTO: Starting code 2 interrupt__18: ; # 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 = 439 ; uart_input[uart_input_in_index & uart_input_mask] := _rcreg ;info 439, 131 ; 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 = 443 ; uart_input_in_index := uart_input_in_index + 1 ;info 443, 138 incf uart_input_in_index,f ; # Keep track of how many bytes are in the input buffer: ; line_number = 446 ; uart_input_count := uart_input_count + 1 ;info 446, 139 incf uart_input_count,f ; # Let the {uart_manage} routine know that it has work to do: ; line_number = 449 ; uart_input_pending := _true ;info 449, 140 bsf uart_input_pending___byte, uart_input_pending___bit interrupt__19: ; 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 = 396 ; 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 = 454 ; if _oerr start ;info 454, 141 ; =>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 = 456 ; _cren := _false ;info 456, 142 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 454 ; if _oerr done ; line_number = 457 ; if _ferr start ;info 457, 143 ; =>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 = 459 ; _cren := _false ;info 459, 144 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 457 ; 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 = 464 ; _cren := _true ;info 464, 145 bsf _cren___byte, _cren___bit ; # Clear the recieve interrupt condition: ; line_number = 467 ; _rcif := _false ;info 467, 146 bcf _rcif___byte, _rcif___bit ; Recombine size1 = 0 || size2 = 0 interrupt__20: ; line_number = 389 ; if _rcif done ; # Deal with quadrature input changes: ; line_number = 470 ; if _raif start ;info 470, 147 ; =>bit_code_emit@symbol(): sym=_raif ; No 1TEST: true.size=56 false.size=0 ; No 2TEST: true.size=56 false.size=0 ; 1GOTO: Single test with GOTO btfss _raif___byte, _raif___bit goto interrupt__35 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: ; #FIXME: should be {xstates}!!! ; #quad_state := xstates[quad_state & 7 | (_porta << 3) & 0x18] ; line_number = 483 ; quad_state := states[quad_state & 7 | (_porta << 3) & 0x18] ;info 483, 150 interrupt__21 equ globals___0+64 movlw 7 andwf quad_state,w bcf __rp1___byte, __rp1___bit movwf interrupt__21 interrupt__22 equ globals___0+65 rlf _porta,w movwf interrupt__22 rlf interrupt__22,f rlf interrupt__22,w andlw 24 iorwf interrupt__21,w call states bsf __rp1___byte, __rp1___bit movwf quad_state ; # Disable interrupt condition until the next time: ; line_number = 486 ; _raif := _false ;info 486, 163 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 = 495 ; if quad_state@7 start ;info 495, 164 interrupt__select__27___byte equ quad_state interrupt__select__27___bit equ 7 ; =>bit_code_emit@symbol(): sym=interrupt__select__27 ; No 1TEST: true.size=17 false.size=0 ; No 2TEST: true.size=17 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__27___byte, interrupt__select__27___bit goto interrupt__28 ; # The state machine wants us to increment the quadrature counter ; # by 1. We work our way from {quad_low} through {quad_high}: ; line_number = 498 ; quad_low := quad_low + 1 ;info 498, 166 incf quad_low,f ; line_number = 499 ; if _z start ;info 499, 167 ; =>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__23 ; # The zero status flag is set, so {quad_low} just wrapped from ; # 0xff to 0. Thus, we need to increment {quad_middle}" ; line_number = 502 ; quad_middle := quad_middle + 1 ;info 502, 169 incf quad_middle,f ; line_number = 503 ; if _z start ;info 503, 170 ; =>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 = 507 ; quad_high := quad_high + 1 ;info 507, 171 incf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 503 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__23: ; line_number = 499 ; if _z done ; line_number = 509 ; if quad_state@6 start ;info 509, 172 interrupt__select__25___byte equ quad_state interrupt__select__25___bit equ 6 ; =>bit_code_emit@symbol(): sym=interrupt__select__25 ; No 1TEST: true.size=8 false.size=0 ; No 2TEST: true.size=8 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__25___byte, interrupt__select__25___bit goto interrupt__26 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 = 515 ; errors := errors + 1 ;info 515, 175 incf errors,f ; # This code is the same as the first increment, so the ; # comments are not repeated: ; line_number = 519 ; quad_low := quad_low + 1 ;info 519, 176 bsf __rp1___byte, __rp1___bit incf quad_low,f ; line_number = 520 ; if _z start ;info 520, 178 ; =>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__24 ; line_number = 521 ; quad_middle := quad_middle + 1 ;info 521, 180 incf quad_middle,f ; line_number = 522 ; if _z start ;info 522, 181 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 523 ; quad_high := quad_high + 1 ;info 523, 182 incf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 522 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__24: ; line_number = 520 ; if _z done ; Recombine size1 = 0 || size2 = 0 interrupt__26: ; line_number = 509 ; if quad_state@6 done ; Recombine size1 = 0 || size2 = 0 interrupt__28: ; line_number = 495 ; if quad_state@7 done ; line_number = 524 ; if quad_state@5 start ;info 524, 183 interrupt__select__33___byte equ quad_state interrupt__select__33___bit equ 5 ; =>bit_code_emit@symbol(): sym=interrupt__select__33 ; No 1TEST: true.size=21 false.size=0 ; No 2TEST: true.size=21 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__33___byte, interrupt__select__33___bit goto interrupt__34 ; # The state machine wants us to decrement the quadrature counter ; # by 1. We work our way from {quad_low} through {quad_high}: ; line_number = 527 ; if quad_low = 0 start ;info 527, 185 ; 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__29 ; # {quad_low} is 0, so we are going to wrap down to 0xff. ; # We need to decrement {quad_middle}: ; line_number = 530 ; if quad_middle = 0 start ;info 530, 188 ; 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 = 533 ; quad_high := quad_high - 1 ;info 533, 190 decf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 530 ; if quad_middle = 0 done ; # Do the {quad_middle} decrement: ; line_number = 535 ; quad_middle := quad_middle - 1 ;info 535, 191 decf quad_middle,f ; Recombine size1 = 0 || size2 = 0 interrupt__29: ; line_number = 527 ; if quad_low = 0 done ; # Do the {quad_low} decrement: ; line_number = 537 ; quad_low := quad_low - 1 ;info 537, 192 decf quad_low,f ; line_number = 539 ; if quad_state@4 start ;info 539, 193 interrupt__select__31___byte equ quad_state interrupt__select__31___bit equ 4 ; =>bit_code_emit@symbol(): sym=interrupt__select__31 ; No 1TEST: true.size=10 false.size=0 ; No 2TEST: true.size=10 false.size=0 ; 1GOTO: Single test with GOTO btfss interrupt__select__31___byte, interrupt__select__31___bit goto interrupt__32 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 = 545 ; errors := errors + 1 ;info 545, 196 incf errors,f ; # This code is the same as the first decrement, so the ; # comments are not repeated: ; line_number = 549 ; if quad_low = 0 start ;info 549, 197 ; 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__30 ; line_number = 550 ; if quad_middle = 0 start ;info 550, 201 ; 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 = 551 ; quad_high := quad_high - 1 ;info 551, 203 decf quad_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 550 ; if quad_middle = 0 done ; line_number = 552 ; quad_middle := quad_middle - 1 ;info 552, 204 decf quad_middle,f ; Recombine size1 = 0 || size2 = 0 interrupt__30: ; line_number = 549 ; if quad_low = 0 done ; line_number = 553 ; quad_low := quad_low - 1 ;info 553, 205 decf quad_low,f ; Recombine size1 = 0 || size2 = 0 interrupt__32: ; line_number = 539 ; if quad_state@4 done ; Recombine size1 = 0 || size2 = 0 interrupt__34: ; line_number = 524 ; if quad_state@5 done ; Recombine size1 = 0 || size2 = 0 interrupt__35: ; line_number = 470 ; if _raif done ; # All done processing interrupt conditions. Let's get out of here by ; # restoring {_fsr} and {_pclath}: ; line_number = 557 ; _fsr := fsr_save ;info 557, 206 bcf __rp1___byte, __rp1___bit movf interrupt__fsr_save,w movwf _fsr ; line_number = 558 ; _pclath := pclath_save ;info 558, 209 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 = 566 ; global error float32 error equ globals___2+32 ; line_number = 567 ; global position float32 position equ globals___2+36 ; line_number = 568 ; global target float32 target equ globals___2+40 ; line_number = 569 ; global kp float32 kp equ globals___2+44 ; line_number = 570 ; global ki float32 ki equ globals___2+48 ; line_number = 574 ; global kd float32 kd equ globals___1+52 ; line_number = 575 ; global pid float32 pid equ globals___1+56 ; line_number = 576 ; global divisor float32 divisor equ globals___1+60 ; line_number = 577 ; global numerator float32 numerator equ globals___1+64 ; line_number = 578 ; global previous_error float32 previous_error equ globals___1+68 ; line_number = 579 ; global error_sum float32 error_sum equ globals___1+72 ; line_number = 583 ; global target_speed byte # Target motor speed target_speed equ globals___0+30 ; line_number = 584 ; global target_seek bit target_seek___byte equ globals___0+79 target_seek___bit equ 1 ; line_number = 585 ; global analog0_greater_than bit # Analog0 value > analog0 limit analog0_greater_than___byte equ globals___0+79 analog0_greater_than___bit equ 2 ; line_number = 586 ; global analog1_greater_than bit # Analog1 value > analog1 limit analog1_greater_than___byte equ globals___0+79 analog1_greater_than___bit equ 3 ; line_number = 587 ; global value byte # 8-bit analog value value equ globals___0+31 ; line_number = 588 ; global limit byte # 8-bit limit value limit equ globals___0+32 ; line_number = 590 ;info 590, 216 ; 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 = 592 ; returns_nothing ; line_number = 594 ; local pos_high byte main__pos_high equ globals___0+33 ; line_number = 595 ; local pos_middle byte main__pos_middle equ globals___0+34 ; line_number = 596 ; local pos_low byte main__pos_low equ globals___0+35 ; line_number = 597 ; local negative bit main__negative___byte equ globals___0+79 main__negative___bit equ 4 ; line_number = 598 ; local small_error byte main__small_error equ globals___0+36 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:X0=cu=>X0) ; line_number = 600 ; call reset() ;info 600, 229 bcf __rp0___byte, __rp0___bit call reset ; line_number = 602 ; loop_forever start main__1: ; # Make sure we manage the UART: ; line_number = 604 ; call uart_manage() ;info 604, 231 call uart_manage ; # Update target if necesary ; line_number = 607 ; if file24_changed != 0 start ;info 607, 232 ; 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 = 609 ; if file24_changed@target_index start ;info 609, 235 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 = 610 ; target_seek := _true ;info 610, 237 bsf target_seek___byte, target_seek___bit ; line_number = 611 ; target := file24_float_convert(target_index) ;info 611, 238 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 = 612 ; file24_changed@target_index := _false ;info 612, 246 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 = 613 ; call uart_manage() ;info 613, 248 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__4: ; line_number = 609 ; if file24_changed@target_index done ; line_number = 614 ; if file24_changed@divisor_index start ;info 614, 250 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 = 615 ; divisor := file24_float_convert(divisor_index) ;info 615, 252 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 = 616 ; if file24_zero@divisor_index start ;info 616, 260 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 = 618 ; lows[divisor_index] := 1 ;info 618, 265 movlw 1 movwf lows+2 ; line_number = 619 ; divisor := 1.0 ;info 619, 267 ; 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 = 616 ; if file24_zero@divisor_index done ; line_number = 620 ; file24_changed@divisor_index := _false ;info 620, 274 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 = 621 ; file24_changed@kp_index := _true ;info 621, 276 main__select__8___byte equ file24_changed main__select__8___bit equ 3 bsf main__select__8___byte, main__select__8___bit ; line_number = 622 ; file24_changed@ki_index := _true ;info 622, 277 main__select__9___byte equ file24_changed main__select__9___bit equ 4 bsf main__select__9___byte, main__select__9___bit ; line_number = 623 ; file24_changed@kd_index := _true ;info 623, 278 main__select__10___byte equ file24_changed main__select__10___bit equ 5 bsf main__select__10___byte, main__select__10___bit ; line_number = 624 ; call uart_manage() ;info 624, 279 call uart_manage ; Recombine size1 = 0 || size2 = 0 main__12: ; line_number = 614 ; if file24_changed@divisor_index done ; line_number = 625 ; if file24_changed@kp_index start ;info 625, 280 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 = 626 ; numerator := file24_float_convert(kp_index) ;info 626, 282 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 = 627 ; call uart_manage() ;info 627, 290 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 628 ; kp := numerator / divisor ;info 628, 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 kp>>1 call _float32_pointer_store ; line_number = 629 ; file24_changed@kp_index := _false ;info 629, 301 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 = 630 ; call uart_manage() ;info 630, 303 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__15: ; line_number = 625 ; if file24_changed@kp_index done ; line_number = 631 ; if file24_changed@ki_index start ;info 631, 305 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 = 632 ; numerator := file24_float_convert(ki_index) ;info 632, 307 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 = 633 ; call uart_manage() ;info 633, 315 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 634 ; ki := numerator / divisor ;info 634, 318 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 = 635 ; file24_changed@ki_index := _false ;info 635, 326 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 = 636 ; call uart_manage() ;info 636, 328 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__18: ; line_number = 631 ; if file24_changed@ki_index done ; line_number = 637 ; if file24_changed@kd_index start ;info 637, 330 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 = 638 ; numerator := file24_float_convert(kd_index) ;info 638, 332 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 = 639 ; call uart_manage() ;info 639, 340 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 640 ; kd := numerator / divisor ;info 640, 343 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 = 641 ; file24_changed@kd_index := _false ;info 641, 351 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 = 642 ; call uart_manage() ;info 642, 353 bcf __cb0___byte, __cb0___bit call uart_manage ; Recombine size1 = 0 || size2 = 0 main__21: ; line_number = 637 ; if file24_changed@kd_index done main__22: ; Recombine size1 = 0 || size2 = 0 ; line_number = 607 ; if file24_changed != 0 done ; line_number = 644 ; if target_seek start ;info 644, 355 ; =>bit_code_emit@symbol(): sym=target_seek ; No 1TEST: true.size=363 false.size=0 ; No 2TEST: true.size=363 false.size=0 ; 1GOTO: Single test with GOTO btfss target_seek___byte, target_seek___bit goto main__52 bsf __rp1___byte, __rp1___bit ; # Fetch the position atomically: ; line_number = 646 ; _gie := _false ;info 646, 358 bcf _gie___byte, _gie___bit ; line_number = 647 ; pos_high := quad_high ;info 647, 359 movf quad_high,w bcf __rp1___byte, __rp1___bit movwf main__pos_high ; line_number = 648 ; pos_middle := quad_middle ;info 648, 362 bsf __rp1___byte, __rp1___bit movf quad_middle,w bcf __rp1___byte, __rp1___bit movwf main__pos_middle ; line_number = 649 ; pos_low := quad_low ;info 649, 366 bsf __rp1___byte, __rp1___bit movf quad_low,w bcf __rp1___byte, __rp1___bit movwf main__pos_low ; line_number = 650 ; _gie := _true ;info 650, 370 bsf _gie___byte, _gie___bit ; line_number = 651 ; call uart_manage() ;info 651, 371 call uart_manage ; # Convert the position bytes into a float: ; line_number = 654 ; position := xyz(pos_high, pos_middle, pos_low) ;info 654, 372 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 = 655 ; call uart_manage() ;info 655, 384 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; # Figure out the proportional error: ; line_number = 658 ; previous_error := error ;info 658, 387 movlw error>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw previous_error>>1 call _float32_pointer_store ; line_number = 659 ; error := position - target ;info 659, 393 movlw position>>1 call _float32_pointer_load movlw target>>1 call _float32_pointer_subtract movlw error>>1 call _float32_pointer_store ; line_number = 660 ; error_sum := error_sum + error ;info 660, 399 movlw error_sum>>1 call _float32_pointer_load movlw error>>1 call _float32_pointer_add movlw error_sum>>1 call _float32_pointer_store ; line_number = 661 ; call uart_manage() ;info 661, 405 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; # Compute the PID equation: ; line_number = 664 ; pid := kp * error ;info 664, 408 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 = 665 ; call uart_manage() ;info 665, 416 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 666 ; pid := pid + kd * (error - previous_error) ;info 666, 419 movlw error>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw previous_error>>1 call _float32_pointer_subtract movlw kd>>1 call _float32_pointer_multiply movlw pid>>1 call _float32_pointer_add movlw pid>>1 call _float32_pointer_store ; line_number = 667 ; call uart_manage() ;info 667, 431 bcf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit call uart_manage ; line_number = 668 ; pid := pid + ki * error_sum ;info 668, 434 movlw ki>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw error_sum>>1 call _float32_pointer_multiply movlw pid>>1 call _float32_pointer_add movlw pid>>1 call _float32_pointer_store ; # Set the new motor speed: ; line_number = 671 ; negative := _false ;info 671, 444 bcf __rp0___byte, __rp0___bit bcf main__negative___byte, main__negative___bit ; line_number = 672 ; if pid < 0.0 start ;info 672, 446 movlw pid>>1 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 = 674 ; negative := _true ;info 674, 455 bsf main__negative___byte, main__negative___bit ; line_number = 675 ; pid := -pid ;info 675, 456 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 = 672 ; if pid < 0.0 done ; line_number = 677 ; if pid > 127.0 start ;info 677, 462 ; -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=7 false.size=83 ; No 2TEST: true.size=7 false.size=83 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__31 bcf __rp0___byte, __rp0___bit ; line_number = 678 ; target_speed := 127 ;info 678, 476 movlw 127 movwf target_speed ; line_number = 679 ; error_sum := 0.0 ;info 679, 478 ; error_sum := 0 (00 00 00 00) bsf __rp0___byte, __rp0___bit clrf error_sum clrf error_sum+1 clrf error_sum+2 clrf error_sum+3 ; Recombine code1_bit_states != code2_bit_states goto main__32 ; 2GOTO: Starting code 2 main__31: bsf __cb0___byte, __cb0___bit ; line_number = 681 ; target_speed := _float32_to_byte(pid) ;info 681, 485 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 = 682 ; call uart_manage() ;info 682, 492 bcf __cb0___byte, __cb0___bit call uart_manage ; # Extract the error as a small byte: ; line_number = 685 ; if error >= 0.0 start ;info 685, 494 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 = 686 ; if error >= 255.0 start ;info 686, 499 ; -255 = 86 ff 00 00 movlw 134 movwf _float32_aexp ; line_number = 691 ; if error < -255.0 start ;info 691, 501 ; 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 = 687 ; small_error := 255 ;info 687, 516 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 = 689 ; small_error := _float32_to_byte(error) ;info 689, 520 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 = 686 ; 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 = 692 ; small_error := 255 ;info 692, 541 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 = 694 ; small_error := _float32_to_byte(-error) ;info 694, 545 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 = 691 ; 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 = 685 ; if error >= 0.0 done ; line_number = 695 ; call uart_manage() ;info 695, 554 bcf __cb0___byte, __cb0___bit call uart_manage ; # We we are in -{deadband} <= {error} <= {deadband}, ; # we turn everything off: ; line_number = 699 ; if small_error <= deadband start ;info 699, 556 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=6 ; No 2TEST: true.size=0 false.size=6 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto main__30 ; line_number = 700 ; target_speed := 0 ;info 700, 562 clrf target_speed ; line_number = 701 ; error_sum := 0.0 ;info 701, 563 ; error_sum := 0 (00 00 00 00) bsf __rp0___byte, __rp0___bit clrf error_sum clrf error_sum+1 clrf error_sum+2 clrf error_sum+3 main__30: ; Recombine size1 = 0 || size2 = 0 ; line_number = 699 ; if small_error <= deadband done main__32: ; 2GOTO: code1 final bitstates:(data:00=uu=>01 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:01=uu=>0? code:X1=cu=>X0) ; 2GOTO: code final bitstates:(data:10=uu=>0? code:X0=cu=>X0) ; line_number = 677 ; if pid > 127.0 done ; # Deal with {minimum}: ; line_number = 704 ; if target_speed != 0 start ;info 704, 568 ; Left minus Right bcf __rp0___byte, __rp0___bit movf target_speed,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=0 false.size=15 ; No 2TEST: true.size=0 false.size=15 ; 1GOTO: Single test with GOTO btfsc __z___byte, __z___bit goto main__35 ; line_number = 705 ; target_speed := target_speed + minimum ;info 705, 572 movf minimum,w addwf target_speed,f ; line_number = 706 ; if target_speed > maximum start ;info 706, 574 movf maximum,w subwf target_speed,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>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__33 ; line_number = 707 ; target_speed := maximum ;info 707, 580 movf maximum,w movwf target_speed ; Recombine size1 = 0 || size2 = 0 main__33: ; line_number = 706 ; if target_speed > maximum done ; line_number = 709 ; if negative start ;info 709, 582 ; =>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 = 710 ; target_speed := 0 - target_speed ;info 710, 584 movf target_speed,w sublw 0 movwf target_speed ; Recombine size1 = 0 || size2 = 0 main__34: ; line_number = 709 ; if negative done main__35: ; Recombine size1 = 0 || size2 = 0 ; line_number = 704 ; if target_speed != 0 done ; # Deal with analog0 motor disable: ; line_number = 713 ; if ad0_enable start ;info 713, 587 ; =>bit_code_emit@symbol(): sym=ad0_enable ; No 1TEST: true.size=62 false.size=0 ; No 2TEST: true.size=62 false.size=0 ; 1GOTO: Single test with GOTO btfss ad0_enable___byte, ad0_enable___bit goto main__43 bsf __rp1___byte, __rp1___bit ; line_number = 714 ; value := (ad0_value_middle << 6) | (ad0_value_low >> 2) ;info 714, 590 main__36 equ globals___0+66 swapf ad0_value_middle,w bcf __rp1___byte, __rp1___bit movwf main__36 rlf main__36,f rlf main__36,f movlw 192 andwf main__36,f main__37 equ globals___0+67 bsf __rp1___byte, __rp1___bit rrf ad0_value_low,w bcf __rp1___byte, __rp1___bit movwf main__37 rrf main__37,w andlw 63 iorwf main__36,w movwf value ; line_number = 715 ; limit := (ad0_limit_middle << 6) | (ad0_limit_low >> 2) ;info 715, 605 main__38 equ globals___0+67 bsf __rp1___byte, __rp1___bit swapf ad0_limit_middle,w bcf __rp1___byte, __rp1___bit movwf main__38 rlf main__38,f rlf main__38,f movlw 192 andwf main__38,f main__39 equ globals___0+68 bsf __rp1___byte, __rp1___bit rrf ad0_limit_low,w bcf __rp1___byte, __rp1___bit movwf main__39 rrf main__39,w andlw 63 iorwf main__38,w movwf limit ; line_number = 716 ; analog0_greater_than := _false ;info 716, 621 bcf analog0_greater_than___byte, analog0_greater_than___bit ; line_number = 717 ; if value > limit start ;info 717, 622 movf limit,w subwf value,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO btfss __c___byte, __c___bit goto main__42 bsf __cb0___byte, __cb0___bit ; line_number = 718 ; analog0_greater_than := _true ;info 718, 629 bsf analog0_greater_than___byte, analog0_greater_than___bit ; line_number = 719 ; if ad0_reverse start ;info 719, 630 ; =>bit_code_emit@symbol(): sym=ad0_reverse bsf __rp0___byte, __rp0___bit ; line_number = 720 ; if target < position start ;info 720, 631 movlw target>>1 call _float32_pointer_load movlw position>>1 call _float32_pointer_subtract ; line_number = 723 ; if target > position start ;info 723, 635 ; No 1TEST: true.size=1 false.size=1 ; No 2TEST: data0 mismatch bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's bcf __rp0___byte, __rp0___bit btfss ad0_reverse___byte, ad0_reverse___bit goto main__40 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot bcf __cb0___byte, __cb0___bit goto main__41 ; 2GOTO: Starting code 2 main__40: bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot main__41: ; 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:00=uu=>01 code:X1=cu=>X?) bsf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit bcf __rp0___byte, __rp0___bit btfsc __z___byte, __z___bit ; line_number = 721 ; target_speed := 0 ;info 721, 651 clrf target_speed ; Recombine size1 = 0 || size2 = 0 ; line_number = 720 ; if target < position done ; line_number = 724 ; target_speed := 0 ;info 724, 652 ; Recombine size1 = 0 || size2 = 0 ; line_number = 723 ; if target > position done ; line_number = 719 ; if ad0_reverse done ; Recombine size1 = 0 || size2 = 0 main__42: ; line_number = 717 ; if value > limit done ; Recombine size1 = 0 || size2 = 0 main__43: ; line_number = 713 ; if ad0_enable done ; # Deal with analog1 motor disable: ; line_number = 727 ; if ad1_enable start ;info 727, 652 ; =>bit_code_emit@symbol(): sym=ad1_enable ; No 1TEST: true.size=62 false.size=0 ; No 2TEST: true.size=62 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb0___byte, __cb0___bit btfss ad1_enable___byte, ad1_enable___bit goto main__51 bsf __rp1___byte, __rp1___bit ; line_number = 728 ; value := (ad1_value_middle << 6) | (ad1_value_low >> 2) ;info 728, 656 main__44 equ globals___0+67 swapf ad1_value_middle,w bcf __rp1___byte, __rp1___bit movwf main__44 rlf main__44,f rlf main__44,f movlw 192 andwf main__44,f main__45 equ globals___0+68 bsf __rp1___byte, __rp1___bit rrf ad1_value_low,w bcf __rp1___byte, __rp1___bit movwf main__45 rrf main__45,w andlw 63 iorwf main__44,w movwf value ; line_number = 729 ; limit := (ad1_limit_middle << 6) | (ad1_limit_low >> 2) ;info 729, 671 main__46 equ globals___0+68 bsf __rp1___byte, __rp1___bit swapf ad1_limit_middle,w bcf __rp1___byte, __rp1___bit movwf main__46 rlf main__46,f rlf main__46,f movlw 192 andwf main__46,f main__47 equ globals___0+69 bsf __rp1___byte, __rp1___bit rrf ad1_limit_low,w bcf __rp1___byte, __rp1___bit movwf main__47 rrf main__47,w andlw 63 iorwf main__46,w movwf limit ; line_number = 730 ; analog1_greater_than := _false ;info 730, 687 bcf analog1_greater_than___byte, analog1_greater_than___bit ; line_number = 731 ; if value > limit start ;info 731, 688 movf limit,w subwf value,w btfsc __z___byte, __z___bit bcf __c___byte, __c___bit ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO btfss __c___byte, __c___bit goto main__50 bsf __cb0___byte, __cb0___bit ; line_number = 732 ; analog1_greater_than := _true ;info 732, 695 bsf analog1_greater_than___byte, analog1_greater_than___bit ; line_number = 733 ; if ad1_reverse start ;info 733, 696 ; =>bit_code_emit@symbol(): sym=ad1_reverse bsf __rp0___byte, __rp0___bit ; line_number = 734 ; if target < position start ;info 734, 697 movlw target>>1 call _float32_pointer_load movlw position>>1 call _float32_pointer_subtract ; line_number = 737 ; if target > position start ;info 737, 701 ; No 1TEST: true.size=1 false.size=1 ; No 2TEST: data0 mismatch bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's bcf __rp0___byte, __rp0___bit btfss ad1_reverse___byte, ad1_reverse___bit goto main__48 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot bcf __cb0___byte, __cb0___bit goto main__49 ; 2GOTO: Starting code 2 main__48: bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot main__49: ; 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:00=uu=>01 code:X1=cu=>X?) bsf __cb0___byte, __cb0___bit bcf __rp0___byte, __rp0___bit bcf __rp0___byte, __rp0___bit btfsc __z___byte, __z___bit ; line_number = 735 ; target_speed := 0 ;info 735, 717 clrf target_speed ; Recombine size1 = 0 || size2 = 0 ; line_number = 734 ; if target < position done ; line_number = 738 ; target_speed := 0 ;info 738, 718 ; Recombine size1 = 0 || size2 = 0 ; line_number = 737 ; if target > position done ; line_number = 733 ; if ad1_reverse done ; Recombine size1 = 0 || size2 = 0 main__50: ; line_number = 731 ; if value > limit done ; Recombine size1 = 0 || size2 = 0 main__51: ; line_number = 727 ; if ad1_enable done ; line_number = 740 ; call speed_set(target_speed) ;info 740, 718 movf target_speed,w bcf __cb0___byte, __cb0___bit call speed_set ; Recombine size1 = 0 || size2 = 0 main__52: ; line_number = 644 ; if target_seek done ; line_number = 602 ; loop_forever wrap-up goto main__1 ; line_number = 602 ; loop_forever done ; delay after procedure statements=non-uniform ; line_number = 743 ;info 743, 722 ; procedure reset reset: ; arguments_none ; line_number = 745 ; returns_nothing ; # This procedure will return the restore all of the state to start-up state. ; line_number = 749 ; local index byte reset__index equ globals___0+37 ; # Initialize UART: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 752 ; address := rb2bus_eedata_read() ;info 752, 722 call rb2bus_eedata_read movwf address ; line_number = 753 ; if address = 0 start ;info 753, 724 ; 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 = 754 ; address := 21 ;info 754, 727 movlw 21 movwf address ; Recombine size1 = 0 || size2 = 0 reset__1: ; line_number = 753 ; if address = 0 done ; line_number = 755 ; call uart_initialize() ;info 755, 729 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 = 767 ; _option_reg := 0x87 ;info 767, 730 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 = 779 ; _t1con := 0 ;info 779, 733 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 = 793 ; _adcon0 := 0x89 ;info 793, 735 movlw 137 movwf _adcon0 ; line_number = 794 ; channel := 2 ;info 794, 737 movlw 2 movwf channel ; # ADCON1 needs to be configured: ; # ADCS<2:0> := 101 = Tad=1.6uS at Fosc=20MHz ; # _adcs2 := _true ; # _adcs1 := _false ; # _adcs0 := _true ; # x110 xxxx = 0x50 ; line_number = 802 ; _adcon1 := 0x50 ;info 802, 739 movlw 80 bsf __rp0___byte, __rp0___bit movwf _adcon1 ; # Initialize motor: ; line_number = 805 ; call speed_set(0) ;info 805, 742 movlw 0 bcf __rp0___byte, __rp0___bit call speed_set ; # Initialize {file8}: ; line_number = 808 ; index := 0 ;info 808, 745 clrf reset__index ; line_number = 809 ; while index < file8_size start reset__2: ;info 809, 746 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 = 810 ; file8[index] := 0 ;info 810, 750 ; index_fsr_first movf reset__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit clrf __indf ; line_number = 811 ; index := index + 1 ;info 811, 755 incf reset__index,f goto reset__2 reset__3: ; Recombine size1 = 0 || size2 = 0 ; line_number = 809 ; while index < file8_size done ; line_number = 812 ; call configure_update() ;info 812, 757 call configure_update ; line_number = 813 ; deadband := 5 ;info 813, 758 movlw 5 movwf deadband ; line_number = 814 ; minimum := 0 ;info 814, 760 clrf minimum ; line_number = 815 ; maximum := 60 ;info 815, 761 movlw 60 movwf maximum ; line_number = 816 ; error_sum := 0.0 ;info 816, 763 ; error_sum := 0 (00 00 00 00) bsf __rp0___byte, __rp0___bit clrf error_sum clrf error_sum+1 clrf error_sum+2 clrf error_sum+3 ; # Initialize {file24}: ; line_number = 819 ; index := 0 ;info 819, 768 bcf __rp0___byte, __rp0___bit clrf reset__index ; line_number = 820 ; while index < file24_size start reset__4: ;info 820, 770 movlw 10 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 = 821 ; highs[index] := 0 ;info 821, 774 ; index_fsr_first movf reset__index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 822 ; middles[index] := 0 ;info 822, 779 ; index_fsr_first movf reset__index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 823 ; lows[index] := 0 ;info 823, 784 ; index_fsr_first movf reset__index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit clrf __indf ; line_number = 824 ; index := index + 1 ;info 824, 789 incf reset__index,f goto reset__4 reset__5: ; Recombine size1 = 0 || size2 = 0 ; line_number = 820 ; while index < file24_size done ; line_number = 825 ; file24_index := 0 ;info 825, 791 clrf file24_index ; line_number = 826 ; file24_changed := 0 ;info 826, 792 clrf file24_changed ; line_number = 827 ; file24_zero := 0 ;info 827, 793 clrf file24_zero ; # For now force divisor to -1: ; line_number = 830 ; highs[divisor_index] := 0xff ;info 830, 794 movlw 255 bsf __rp1___byte, __rp1___bit movwf highs+2 ; line_number = 831 ; middles[divisor_index] := 0xff ;info 831, 797 movlw 255 movwf middles+2 ; line_number = 832 ; lows[divisor_index] := 0xff ;info 832, 799 movlw 255 movwf lows+2 ; # Force the an update of {divisor}: ; line_number = 835 ; file24_changed@divisor_index := _true ;info 835, 801 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 = 838 ; lows[kp_index] := 1 ;info 838, 803 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 = 845 ; target_seek := _false ;info 845, 806 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 = 848 ; target := 0.0 ;info 848, 808 ; 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 = 851 ; quad_state := 0 ;info 851, 813 clrf quad_state ; # The weak pull-ups can be turned off: ; line_number = 854 ; _wpua := 0 ;info 854, 814 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 = 857 ; _ioca := quad_a_mask | quad_b_mask ;info 857, 817 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 = 861 ; _raie := !use_potentiometer ;info 861, 819 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 = 864 ; _t0if := _false ;info 864, 823 bcf _t0if___byte, _t0if___bit ; line_number = 865 ; _t0ie := _true ;info 865, 824 bsf _t0ie___byte, _t0ie___bit ; line_number = 866 ; _tmr1if := _false ;info 866, 825 bcf _tmr1if___byte, _tmr1if___bit ; line_number = 867 ; _tmr1ie := _true ;info 867, 826 bsf __rp0___byte, __rp0___bit bsf _tmr1ie___byte, _tmr1ie___bit ; line_number = 868 ; _peie := _true ;info 868, 828 bsf _peie___byte, _peie___bit ; line_number = 869 ; _gie := _true ;info 869, 829 bsf _gie___byte, _gie___bit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit ; Implied return retlw 0 ; line_number = 872 ;info 872, 832 ; procedure uart_manage uart_manage: ; arguments_none ; line_number = 874 ; returns_nothing ; line_number = 876 ; local command byte uart_manage__command equ globals___0+38 ; line_number = 877 ; local index byte uart_manage__index equ globals___0+39 ; line_number = 878 ; local allow bit uart_manage__allow___byte equ globals___0+79 uart_manage__allow___bit equ 5 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 880 ; if uart_input_count != 0 start ;info 880, 832 ; Left minus Right movf uart_input_count,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=0 false.size=464 ; No 2TEST: true.size=0 false.size=464 ; 1GOTO: Single test with GOTO btfsc __z___byte, __z___bit goto uart_manage__75 ; # We have a data/command byte to process: ; line_number = 882 ; command := uart_input[uart_input_out_index & uart_input_mask] ;info 882, 835 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 = 883 ; uart_input_out_index := uart_input_out_index + 1 ;info 883, 842 incf uart_input_out_index,f ; # Manage {uart_input_count} and {uart_input_pending} atomically: ; line_number = 886 ; _gie := _false ;info 886, 843 bcf _gie___byte, _gie___bit ; line_number = 887 ; uart_input_count := uart_input_count - 1 ;info 887, 844 decf uart_input_count,f ; line_number = 888 ; if uart_input_count = 0 start ;info 888, 845 ; 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 = 889 ; uart_input_pending := _false ;info 889, 847 bcf uart_input_pending___byte, uart_input_pending___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 888 ; if uart_input_count = 0 done ; line_number = 890 ; _gie := _true ;info 890, 848 bsf _gie___byte, _gie___bit ; # We received a "data" byte" ; line_number = 893 ; switch state start ;info 893, 849 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=14 movlw uart_manage__73>>8 movwf __pclath movf state,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw uart_manage__73 movwf __pcl ; page_group 20 uart_manage__73: 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__61 goto uart_manage__62 goto uart_manage__63 goto uart_manage__64 goto uart_manage__65 goto uart_manage__66 goto uart_manage__74 goto uart_manage__74 goto uart_manage__67 goto uart_manage__68 goto uart_manage__69 goto uart_manage__70 goto uart_manage__71 goto uart_manage__72 ; line_number = 894 ; case 0 uart_manage__55: ; # Technically we should not get here because {_adden} should ; # be {_true}, but just in case we do, we just ignore the byte: ; line_number = 897 ; do_nothing ;info 897, 874 goto uart_manage__74 ; line_number = 898 ; case 1 uart_manage__56: ; # Ignore the echo before processing a command byte: ; line_number = 900 ; state := state_command ;info 900, 875 movlw 2 movwf state goto uart_manage__74 ; line_number = 901 ; case 2 uart_manage__57: ; # Process a command byte: ; line_number = 903 ; switch command >> 6 start ;info 903, 878 ; 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+70 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 = 904 ; case 0 uart_manage__37: ; # 00xx xxxx: ; line_number = 906 ; switch (command >> 3) & 7 start ;info 906, 891 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 975 ; case_maximum 7 movlw uart_manage__24>>8 movwf __pclath uart_manage__25 equ globals___0+70 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 = 907 ; case 0 uart_manage__19: ; # 0000 0xxx: ; line_number = 909 ; switch command & 7 start ;info 909, 908 ; 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 = 910 ; case 0 uart_manage__1: ; # 0000 0000 (Value All Get): ; line_number = 912 ; call uart_byte_put(highs[file24_index]) ;info 912, 922 movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 913 ; state := state_file24_full_get1 ;info 913, 928 movlw 3 movwf state goto uart_manage__10 ; line_number = 914 ; case 1 uart_manage__2: ; # 0000 0001 (Value Low Get): ; line_number = 916 ; call uart_byte_put(lows[file24_index]) ;info 916, 931 movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 917 ; state := state_echo_then_command ;info 917, 937 movlw 1 movwf state goto uart_manage__10 ; line_number = 918 ; case 2 uart_manage__3: ; # 0000 0010 (Value Middle Get): ; line_number = 920 ; call uart_byte_put(middles[file24_index]) ;info 920, 940 movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 921 ; state := state_echo_then_command ;info 921, 946 movlw 1 movwf state goto uart_manage__10 ; line_number = 922 ; case 3 uart_manage__4: ; # 0000 0011 (Value High Get): ; line_number = 924 ; call uart_byte_put(highs[file24_index]) ;info 924, 949 movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 925 ; state := state_echo_then_command ;info 925, 955 movlw 1 movwf state goto uart_manage__10 ; line_number = 926 ; case 4 uart_manage__5: ; # 0000 0100 (Value All Set): ; line_number = 928 ; state := state_file24_full_set1 ;info 928, 958 movlw 5 movwf state goto uart_manage__10 ; line_number = 929 ; case 5 uart_manage__6: ; # 0000 0101 (Value Low Set): ; line_number = 931 ; state := state_value_low_set1 ;info 931, 961 movlw 8 movwf state goto uart_manage__10 ; line_number = 932 ; case 6 uart_manage__7: ; # 0000 0110 (Value Middle Set): ; line_number = 934 ; state := state_value_middle_set1 ;info 934, 964 movlw 9 movwf state goto uart_manage__10 ; line_number = 935 ; case 7 uart_manage__8: ; # 0000 0111 (Value High Set): ; line_number = 937 ; state := state_value_high_set1 ;info 937, 967 movlw 10 movwf state uart_manage__10: ; line_number = 909 ; switch command & 7 done goto uart_manage__26 ; line_number = 938 ; case 1 uart_manage__20: ; # 0000 1sss (Value Index Set): ; line_number = 940 ; file24_index := command & 7 ;info 940, 970 movlw 7 andwf uart_manage__command,w movwf file24_index ; # Make sure we stay in bounds: ; line_number = 942 ; if file24_index >= file24_size start ;info 942, 973 movlw 10 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 = 943 ; file24_index := 0 ;info 943, 976 clrf file24_index ; Recombine size1 = 0 || size2 = 0 ; line_number = 942 ; if file24_index >= file24_size done ; line_number = 944 ; state := state_command ;info 944, 977 movlw 2 movwf state goto uart_manage__26 ; line_number = 945 ; case 2 uart_manage__21: ; # 0001 0xxx (Byte Get): ; line_number = 947 ; index := command & 7 ;info 947, 980 movlw 7 andwf uart_manage__command,w movwf uart_manage__index ; line_number = 948 ; if index = 2 start ;info 948, 983 ; 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 = 950 ; call status_update() ;info 950, 986 call status_update ; Recombine size1 = 0 || size2 = 0 ; line_number = 948 ; if index = 2 done ; line_number = 951 ; call uart_byte_put(file8[index]) ;info 951, 987 movf uart_manage__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 952 ; state := state_echo_then_command ;info 952, 993 movlw 1 movwf state goto uart_manage__26 ; line_number = 953 ; case 3 uart_manage__22: ; # 0001 1xxx (Byte Set): ; line_number = 955 ; index := command & 7 ;info 955, 996 movlw 7 andwf uart_manage__command,w movwf uart_manage__index ; line_number = 956 ; state := state_file8_set1 ;info 956, 999 movlw 11 movwf state goto uart_manage__26 ; line_number = 957 ; case 4 uart_manage__23: ; # 0010 0xxx (Probe Get): ; line_number = 959 ; switch command & 7 start ;info 959, 1002 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 972 ; 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 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 = 960 ; case 0 uart_manage__11: bsf __cb0___byte, __cb0___bit ; line_number = 961 ; call zyx(position) ;info 961, 1018 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 = 962 ; case 1 uart_manage__12: bsf __cb0___byte, __cb0___bit ; line_number = 963 ; call zyx(target) ;info 963, 1027 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 = 964 ; case 2 uart_manage__13: bsf __cb0___byte, __cb0___bit ; line_number = 965 ; call zyx(error) ;info 965, 1036 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 = 966 ; case 3 uart_manage__14: bsf __cb0___byte, __cb0___bit ; line_number = 967 ; call zyx(pid) ;info 967, 1045 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 = 968 ; case 4 uart_manage__15: bsf __cb0___byte, __cb0___bit ; line_number = 969 ; call zyx(divisor) ;info 969, 1054 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 = 970 ; case 5 uart_manage__16: bsf __cb0___byte, __cb0___bit ; line_number = 971 ; call zyx(kp) ;info 971, 1063 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 = 959 ; switch command & 7 done ; line_number = 973 ; call uart_byte_put(high) ;info 973, 1070 movf high,w call uart_byte_put ; line_number = 974 ; state := state_probe_get1 ;info 974, 1072 movlw 18 movwf state uart_manage__26: ; line_number = 906 ; switch (command >> 3) & 7 done goto uart_manage__41 ; line_number = 976 ; case 3 uart_manage__38: ; # 11xx xxxx: ; line_number = 978 ; switch (command >> 3) & 7 start ;info 978, 1075 ; 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+70 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 = 979 ; case 7 uart_manage__33: ; # 1111 1xxx: ; line_number = 981 ; switch command & 7 start ;info 981, 1092 ; 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 = 982 ; case 4 uart_manage__27: ; # 1111 1100 (Address Set): ; line_number = 984 ; call uart_byte_put(address) ;info 984, 1106 movf address,w call uart_byte_put ; line_number = 985 ; state := state_address_set1 ;info 985, 1108 movlw 14 movwf state goto uart_manage__32 ; line_number = 986 ; case 5 uart_manage__28: ; # 1111 1101 (Id_Next): ; line_number = 988 ; call uart_byte_put(id[id_index]) ;info 988, 1111 movf id_index,w call id call uart_byte_put ; line_number = 989 ; id_index := id_index + 1 ;info 989, 1114 incf id_index,f ; line_number = 990 ; if id_index >= id.size start ;info 990, 1115 movlw 28 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 = 991 ; id_index := id_index - 1 ;info 991, 1118 decf id_index,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 990 ; if id_index >= id.size done ; line_number = 992 ; state := state_echo_then_command ;info 992, 1119 movlw 1 movwf state goto uart_manage__32 ; line_number = 993 ; case 6 uart_manage__29: ; # 1111 1110 (Id_Start): ; line_number = 995 ; id_index := 0 ;info 995, 1122 clrf id_index goto uart_manage__32 ; line_number = 996 ; case 7 uart_manage__30: ; # 1111 1111 (Deselect): ; line_number = 998 ; _adden := _true ;info 998, 1124 bsf _adden___byte, _adden___bit ; line_number = 999 ; state := state_select_wait ;info 999, 1125 clrf state uart_manage__32: ; line_number = 981 ; switch command & 7 done uart_manage__36: ; line_number = 978 ; switch (command >> 3) & 7 done uart_manage__41: ; line_number = 903 ; switch command >> 6 done goto uart_manage__74 ; line_number = 1000 ; case 3 uart_manage__58: ; # Value All Get 2nd response byte: ; line_number = 1002 ; call uart_byte_put(middles[file24_index]) ;info 1002, 1127 movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 1003 ; state := state_file24_full_get2 ;info 1003, 1133 movlw 4 movwf state goto uart_manage__74 ; line_number = 1004 ; case 4 uart_manage__59: ; # Value All Get 3rd response byte: ; line_number = 1006 ; call uart_byte_put(lows[file24_index]) ;info 1006, 1136 movf file24_index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w call uart_byte_put ; line_number = 1007 ; state := state_echo_then_command ;info 1007, 1142 movlw 1 movwf state goto uart_manage__74 ; line_number = 1008 ; case 5 uart_manage__60: ; # Value All Set 2nd command byte: ; line_number = 1010 ; high := command ;info 1010, 1145 movf uart_manage__command,w movwf high ; line_number = 1011 ; state := state_file24_full_set2 ;info 1011, 1147 movlw 6 movwf state goto uart_manage__74 ; line_number = 1012 ; case 6 uart_manage__61: ; # Value All Set 3rd command byte: ; line_number = 1014 ; middle := command ;info 1014, 1150 movf uart_manage__command,w movwf middle ; line_number = 1015 ; state := state_file24_full_set3 ;info 1015, 1152 movlw 7 movwf state goto uart_manage__74 ; line_number = 1016 ; case 7 uart_manage__62: ; # Value All Set 4th command byte: ; line_number = 1018 ; highs[file24_index] := high ;info 1018, 1155 ; index_fsr_first movf file24_index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf high,w movwf __indf ; line_number = 1019 ; middles[file24_index] := middle ;info 1019, 1161 ; index_fsr_first movf file24_index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf middle,w movwf __indf ; line_number = 1020 ; lows[file24_index] := command ;info 1020, 1167 ; 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 = 1021 ; call file24_updated() ;info 1021, 1173 call file24_updated ; line_number = 1022 ; state := state_command ;info 1022, 1174 movlw 2 movwf state goto uart_manage__74 ; line_number = 1023 ; case 8 uart_manage__63: ; # Value Low Set 2nd command byte: ; line_number = 1025 ; lows[file24_index] := command ;info 1025, 1177 ; 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 = 1026 ; call file24_updated() ;info 1026, 1183 call file24_updated ; line_number = 1027 ; state := state_command ;info 1027, 1184 movlw 2 movwf state goto uart_manage__74 ; line_number = 1028 ; case 9 uart_manage__64: ; # Value Middle Set 2nd command byte: ; line_number = 1030 ; middles[file24_index] := command ;info 1030, 1187 ; 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 = 1031 ; call file24_updated() ;info 1031, 1193 call file24_updated ; line_number = 1032 ; state := state_command ;info 1032, 1194 movlw 2 movwf state goto uart_manage__74 ; line_number = 1033 ; case 10 uart_manage__65: ; # Value High Set 2nd command byte: ; line_number = 1035 ; highs[file24_index] := command ;info 1035, 1197 ; 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 = 1036 ; call file24_updated() ;info 1036, 1203 call file24_updated ; line_number = 1037 ; state := state_command ;info 1037, 1204 movlw 2 movwf state goto uart_manage__74 ; line_number = 1038 ; case 11 uart_manage__66: ; # File8 Set 2nd command byte: ; line_number = 1040 ; allow := _false ;info 1040, 1207 bcf uart_manage__allow___byte, uart_manage__allow___bit ; line_number = 1041 ; switch index start ;info 1041, 1208 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=1 ; line_number = 1049 ; 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__43 goto uart_manage__44 goto uart_manage__44 goto uart_manage__44 goto uart_manage__44 goto uart_manage__44 goto uart_manage__44 ; line_number = 1042 ; case 0 uart_manage__42: ; line_number = 1043 ; allow := _true ;info 1043, 1221 bsf uart_manage__allow___byte, uart_manage__allow___bit goto uart_manage__46 ; line_number = 1044 ; case 1 uart_manage__43: ; line_number = 1045 ; do_nothing ;info 1045, 1223 goto uart_manage__46 ; line_number = 1046 ; default uart_manage__44: ; line_number = 1047 ; if !configure_lock start ;info 1047, 1224 ; =>bit_code_emit@symbol(): sym=configure_lock ; 1TEST: Single test with code in skip slot btfss configure_lock___byte, configure_lock___bit ; line_number = 1048 ; allow := _true ;info 1048, 1225 bsf uart_manage__allow___byte, uart_manage__allow___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 1047 ; if !configure_lock done uart_manage__46: ; line_number = 1041 ; switch index done ; line_number = 1050 ; if allow start ;info 1050, 1226 ; =>bit_code_emit@symbol(): sym=uart_manage__allow ; No 1TEST: true.size=6 false.size=0 ; No 2TEST: true.size=6 false.size=0 ; 1GOTO: Single test with GOTO btfss uart_manage__allow___byte, uart_manage__allow___bit goto uart_manage__47 ; line_number = 1051 ; file8[index] := command ;info 1051, 1228 ; index_fsr_first movf uart_manage__index,w addlw file8 movwf __fsr bcf __irp___byte, __irp___bit movf uart_manage__command,w movwf __indf ; Recombine size1 = 0 || size2 = 0 uart_manage__47: ; line_number = 1050 ; if allow done ; line_number = 1052 ; switch index start ;info 1052, 1234 ; switch_before:(data:00=uu=>00 code:X0=cu=>X0) size=27 ; line_number = 1060 ; case_maximum 7 movlw uart_manage__51>>8 movwf __pclath movf uart_manage__index,w ; switch after expression:(data:00=uu=>00 code:X0=cu=>X0) addlw uart_manage__51 movwf __pcl ; page_group 8 uart_manage__51: goto uart_manage__48 goto uart_manage__52 goto uart_manage__49 goto uart_manage__52 goto uart_manage__52 goto uart_manage__52 goto uart_manage__52 goto uart_manage__50 ; line_number = 1053 ; case 0 uart_manage__48: ; line_number = 1054 ; call configure_update() ;info 1054, 1247 call configure_update goto uart_manage__52 ; line_number = 1055 ; case 2 uart_manage__49: ; line_number = 1056 ; call speed_set(speed) ;info 1056, 1249 movf speed,w call speed_set goto uart_manage__52 ; line_number = 1057 ; case 7 uart_manage__50: ; line_number = 1058 ; if command > file24_size start ;info 1058, 1252 movlw 10 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 = 1059 ; command := 0 ;info 1059, 1257 clrf uart_manage__command ; Recombine size1 = 0 || size2 = 0 ; line_number = 1058 ; if command > file24_size done uart_manage__52: ; line_number = 1052 ; switch index done ; line_number = 1061 ; state:= state_command ;info 1061, 1258 movlw 2 movwf state goto uart_manage__74 ; line_number = 1062 ; case 14 uart_manage__67: ; # Ignore the echo and wait for the new address: ; line_number = 1064 ; state := state_address_set2 ;info 1064, 1261 movlw 15 movwf state goto uart_manage__74 ; line_number = 1065 ; case 15 uart_manage__68: ; # First, copy of new address just arrived: ; line_number = 1067 ; new_address := command ;info 1067, 1264 movf uart_manage__command,w movwf new_address ; # Return it ; line_number = 1069 ; call uart_byte_put(new_address) ;info 1069, 1266 movf new_address,w call uart_byte_put ; line_number = 1070 ; state := state_address_set3 ;info 1070, 1268 movlw 16 movwf state goto uart_manage__74 ; line_number = 1071 ; case 16 uart_manage__69: ; # Ignore the echo ; line_number = 1073 ; state := state_address_set4 ;info 1073, 1271 movlw 17 movwf state goto uart_manage__74 ; line_number = 1074 ; case 17 uart_manage__70: ; # We have the 2nd copy of new addres. ; line_number = 1076 ; if command = new_address start ;info 1076, 1274 ; 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__53 ; # They match; write it in: ; line_number = 1078 ; call rb2bus_eedata_write(new_address) ;info 1078, 1278 movf new_address,w call rb2bus_eedata_write ; line_number = 1079 ; _gie := _true ;info 1079, 1280 bsf _gie___byte, _gie___bit ; line_number = 1080 ; address := new_address ;info 1080, 1281 movf new_address,w movwf address ; line_number = 1081 ; call uart_byte_put(rb2_ok) ;info 1081, 1283 movlw 165 goto uart_manage__54 ; 2GOTO: Starting code 2 uart_manage__53: ; # They do not match, return an error: ; line_number = 1084 ; call uart_byte_put(0) ;info 1084, 1285 movlw 0 uart_manage__54: ; 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 = 1076 ; if command = new_address done ; line_number = 1085 ; state := state_echo_then_command ;info 1085, 1287 movlw 1 movwf state goto uart_manage__74 ; line_number = 1086 ; case 18 uart_manage__71: ; line_number = 1087 ; call uart_byte_put(middle) ;info 1087, 1290 movf middle,w call uart_byte_put ; line_number = 1088 ; state := state_probe_get2 ;info 1088, 1292 movlw 19 movwf state goto uart_manage__74 ; line_number = 1089 ; case 19 uart_manage__72: ; line_number = 1090 ; call uart_byte_put(low) ;info 1090, 1295 movf low,w call uart_byte_put ; line_number = 1091 ; state := state_echo_then_command ;info 1091, 1297 movlw 1 movwf state uart_manage__74: ; line_number = 893 ; switch state done uart_manage__75: ; Recombine size1 = 0 || size2 = 0 ; line_number = 880 ; if uart_input_count != 0 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1095 ;info 1095, 1300 ; procedure file24_updated file24_updated: ; arguments_none ; line_number = 1097 ; 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 = 1102 ; switch file24_index start ;info 1102, 1300 ; 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 = 1103 ; case 0 file24_updated__6: ; line_number = 1104 ; do_nothing ;info 1104, 1311 goto file24_updated__13 ; line_number = 1105 ; case 1 file24_updated__7: ; line_number = 1106 ; file24_changed@target_index := _true ;info 1106, 1312 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 = 1107 ; case 2 file24_updated__8: ; line_number = 1108 ; file24_changed@divisor_index := _true ;info 1108, 1314 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 = 1110 ; case 3 file24_updated__9: ; line_number = 1111 ; file24_changed@kp_index := _true ;info 1111, 1316 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 = 1112 ; case 4 file24_updated__10: ; line_number = 1113 ; file24_changed@ki_index := _true ;info 1113, 1318 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 = 1114 ; case 5 file24_updated__11: ; line_number = 1115 ; file24_changed@kd_index := _true ;info 1115, 1320 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 = 1102 ; switch file24_index done ; delay after procedure statements=non-uniform ; Implied return retlw 0 file24_float_convert__0return equ globals___0+42 ; line_number = 1118 ;info 1118, 1322 ; 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 = 1119 ; argument index byte file24_float_convert__index equ globals___0+41 ; line_number = 1120 ; returns float32 ; # This routine will return {file24}[{index}] as a {float32}. ; line_number = 1124 ; local mask byte file24_float_convert__mask equ globals___0+40 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1126 ; high := highs[index] ;info 1126, 1323 movf file24_float_convert__index,w addlw highs movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf high ; line_number = 1127 ; middle := middles[index] ;info 1127, 1329 movf file24_float_convert__index,w addlw middles movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf middle ; line_number = 1128 ; low := lows[index] ;info 1128, 1335 movf file24_float_convert__index,w addlw lows movwf __fsr bsf __irp___byte, __irp___bit movf __indf,w movwf low ; line_number = 1129 ; mask := index2mask[index] ;info 1129, 1341 movf file24_float_convert__index,w call index2mask movwf file24_float_convert__mask ; line_number = 1130 ; if high = 0 && middle = 0 && low = 0 start ;info 1130, 1344 ; 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 = 1131 ; file24_zero := file24_zero | mask ;info 1131, 1353 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 = 1133 ; file24_zero := file24_zero & (mask ^ 0xff) ;info 1133, 1356 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 = 1130 ; if high = 0 && middle = 0 && low = 0 done ; line_number = 1134 ; return xyz(high, middle, low) start ; line_number = 1134 ;info 1134, 1358 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 = 1134 ; return xyz(high, middle, low) done ; delay after procedure statements=non-uniform ; line_number = 1137 ;info 1137, 1373 ; procedure status_update status_update: ; arguments_none ; line_number = 1139 ; 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 = 1143 ; status := 0 ;info 1143, 1373 clrf status ; line_number = 1144 ; if quad_a start ;info 1144, 1374 ; =>bit_code_emit@symbol(): sym=quad_a ; 1TEST: Single test with code in skip slot btfsc quad_a___byte, quad_a___bit ; line_number = 1145 ; status@0 := _true ;info 1145, 1375 status_update__select__1___byte equ status status_update__select__1___bit equ 0 bsf status_update__select__1___byte, status_update__select__1___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 1144 ; if quad_a done ; line_number = 1146 ; if quad_b start ;info 1146, 1376 ; =>bit_code_emit@symbol(): sym=quad_b ; 1TEST: Single test with code in skip slot btfsc quad_b___byte, quad_b___bit ; line_number = 1147 ; status@1 := _true ;info 1147, 1377 status_update__select__2___byte equ status status_update__select__2___bit equ 1 bsf status_update__select__2___byte, status_update__select__2___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 1146 ; if quad_b done ; line_number = 1148 ; if analog0_greater_than start ;info 1148, 1378 ; =>bit_code_emit@symbol(): sym=analog0_greater_than ; 1TEST: Single test with code in skip slot btfsc analog0_greater_than___byte, analog0_greater_than___bit ; line_number = 1149 ; status@2 := _true ;info 1149, 1379 status_update__select__3___byte equ status status_update__select__3___bit equ 2 bsf status_update__select__3___byte, status_update__select__3___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 1148 ; if analog0_greater_than done ; line_number = 1150 ; if analog1_greater_than start ;info 1150, 1380 ; =>bit_code_emit@symbol(): sym=analog1_greater_than ; 1TEST: Single test with code in skip slot btfsc analog1_greater_than___byte, analog1_greater_than___bit ; line_number = 1151 ; status@3 := _true ;info 1151, 1381 status_update__select__4___byte equ status status_update__select__4___bit equ 3 bsf status_update__select__4___byte, status_update__select__4___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 1150 ; if analog1_greater_than done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1154 ;info 1154, 1383 ; procedure configure_update configure_update: ; arguments_none ; line_number = 1156 ; returns_nothing ; line_number = 1158 ; local index byte configure_update__index equ globals___0+46 ; line_number = 1159 ; local state byte configure_update__state equ globals___0+47 ; # This routine will read {configure} and process it: ; # 0x1c = ad0_enable:ad1_enable: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1164 ; if configure & 0x18 != 0 start ;info 1164, 1383 ; Left minus Right movlw 24 andwf configure,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 configure_update__5 bsf __rp0___byte, __rp0___bit ; # We configure quad A and B as digital inputs: ; line_number = 1170 ; _ansel@0 := _false ;info 1170, 1388 configure_update__select__1___byte equ _ansel configure_update__select__1___bit equ 0 bcf configure_update__select__1___byte, configure_update__select__1___bit ; line_number = 1171 ; _ansel@1 := _false ;info 1171, 1389 configure_update__select__2___byte equ _ansel configure_update__select__2___bit equ 1 bcf configure_update__select__2___byte, configure_update__select__2___bit goto configure_update__6 ; 2GOTO: Starting code 2 configure_update__5: bsf __rp0___byte, __rp0___bit ; # We have to configure quad A and B as A/D inputs: ; line_number = 1166 ; _ansel@0 := _true ;info 1166, 1392 configure_update__select__3___byte equ _ansel configure_update__select__3___bit equ 0 bsf configure_update__select__3___byte, configure_update__select__3___bit ; line_number = 1167 ; _ansel@1 := _true ;info 1167, 1393 configure_update__select__4___byte equ _ansel configure_update__select__4___bit equ 1 bsf configure_update__select__4___byte, configure_update__select__4___bit configure_update__6: ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>01 code:X0=cu=>X0) ; line_number = 1164 ; if configure & 0x18 != 0 done ; line_number = 1173 ; index := 0 ;info 1173, 1394 bcf __rp0___byte, __rp0___bit clrf configure_update__index ; line_number = 1174 ; while index < 32 start configure_update__7: ;info 1174, 1396 movlw 32 subwf configure_update__index,w ; =>bit_code_emit@symbol(): sym=__c ; No 1TEST: true.size=0 false.size=21 ; No 2TEST: true.size=0 false.size=21 ; 1GOTO: Single test with GOTO btfsc __c___byte, __c___bit goto configure_update__12 ; line_number = 1175 ; state := states[index] ;info 1175, 1400 movf configure_update__index,w call states movwf configure_update__state ; line_number = 1176 ; if position_reverse start ;info 1176, 1403 ; =>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__11 ; # Swap the increment and decrement bits in {xstates}: ; line_number = 1178 ; state := state & 0xf | (state << 2) & 0xc0 | (state >> 2) & 0x30 ;info 1178, 1405 configure_update__8 equ globals___0+71 movlw 15 andwf configure_update__state,w movwf configure_update__8 configure_update__9 equ globals___0+72 rlf configure_update__state,w movwf configure_update__9 rlf configure_update__9,w andlw 192 iorwf configure_update__8,f configure_update__10 equ globals___0+73 rrf configure_update__state,w movwf configure_update__10 rrf configure_update__10,w andlw 48 iorwf configure_update__8,w movwf configure_update__state ; Recombine size1 = 0 || size2 = 0 configure_update__11: ; line_number = 1176 ; if position_reverse done ; #FIXME: Uncomment to enable {xstates}: ; #xstates[index] := state ; line_number = 1181 ; index := index + 1 ;info 1181, 1419 incf configure_update__index,f goto configure_update__7 configure_update__12: ; Recombine size1 = 0 || size2 = 0 ; line_number = 1174 ; while index < 32 done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1184 ;info 1184, 1422 ; 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 = 1185 ; argument value byte uart_byte_put__value equ globals___0+48 ; line_number = 1186 ; 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 = 1191 ; while !_txif start uart_byte_put__1: ;info 1191, 1423 ; =>bit_code_emit@symbol(): sym=_txif ; 1TEST: Single test with code in skip slot btfss _txif___byte, _txif___bit ; line_number = 1192 ; do_nothing ;info 1192, 1424 goto uart_byte_put__1 ; Recombine size1 = 0 || size2 = 0 ; line_number = 1191 ; while !_txif done ; # Ship {value} out to the bus with 9th bit turned off: ; line_number = 1195 ; _adden := _false ;info 1195, 1425 bcf _adden___byte, _adden___bit ; line_number = 1196 ; _tx9d := _false ;info 1196, 1426 bcf _tx9d___byte, _tx9d___bit ; line_number = 1197 ; _txreg := value ;info 1197, 1427 movf uart_byte_put__value,w movwf _txreg ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 1200 ;info 1200, 1430 ; procedure uart_initialize uart_initialize: ; arguments_none ; line_number = 1202 ; 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 = 1211 ; _trisc@5 := _true ;info 1211, 1430 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 = 1212 ; _trisc@4 := _true ;info 1212, 1432 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 = 1215 ; _txsta := 0 ;info 1215, 1433 bcf __rp0___byte, __rp0___bit clrf _txsta ; line_number = 1216 ; _tx9 := _true ;info 1216, 1435 bsf _tx9___byte, _tx9___bit ; line_number = 1217 ; _txen := _true ;info 1217, 1436 bsf _txen___byte, _txen___bit ; line_number = 1218 ; _brgh := _true ;info 1218, 1437 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 1221 ; _rcsta := 0 ;info 1221, 1438 clrf _rcsta ; line_number = 1222 ; _spen := _true ;info 1222, 1439 bsf _spen___byte, _spen___bit ; line_number = 1223 ; _rx9 := _true ;info 1223, 1440 bsf _rx9___byte, _rx9___bit ; line_number = 1224 ; _cren := _true ;info 1224, 1441 bsf _cren___byte, _cren___bit ; line_number = 1225 ; _adden := _true ;info 1225, 1442 bsf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 1228 ; _baudctl := 0 ;info 1228, 1443 clrf _baudctl ; line_number = 1229 ; _brg16 := _true ;info 1229, 1444 bsf _brg16___byte, _brg16___bit ; line_number = 1230 ; _spbrg := _eusart_500000_low ;info 1230, 1445 movlw 9 movwf _spbrg ; line_number = 1231 ; _spbrgh := _eusart_500000_high ;info 1231, 1447 clrf _spbrgh ; line_number = 1233 ; state := state_select_wait ;info 1233, 1448 clrf state ; line_number = 1234 ; id_index := 0 ;info 1234, 1449 clrf id_index ; line_number = 1235 ; uart_input_in_index := 0 ;info 1235, 1450 clrf uart_input_in_index ; line_number = 1236 ; uart_input_out_index := 0 ;info 1236, 1451 clrf uart_input_out_index ; line_number = 1237 ; uart_input_count := 0 ;info 1237, 1452 clrf uart_input_count ; line_number = 1238 ; uart_input_pending := _false ;info 1238, 1453 bcf uart_input_pending___byte, uart_input_pending___bit ; # Turn on the interrupts: ; line_number = 1241 ; _txie := _false ;info 1241, 1454 bsf __rp0___byte, __rp0___bit bcf _txie___byte, _txie___bit ; line_number = 1242 ; _rcie := _true ;info 1242, 1456 bsf _rcie___byte, _rcie___bit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit ; Implied return retlw 0 ; line_number = 1245 ;info 1245, 1459 ; procedure speed_set speed_set: ; Last argument is sitting in W; save into argument variable movwf speed_set__speed ; delay=4294967295 ; line_number = 1246 ; argument speed byte speed_set__speed equ globals___0+49 ; line_number = 1247 ; 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 = 1252 ; motor1_speed := speed ;info 1252, 1460 movf speed_set__speed,w movwf motor1_speed ; line_number = 1253 ; if motor1_speed@7 start ;info 1253, 1462 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 = 1255 ; if motor_reverse start ;info 1255, 1464 ; =>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 = 1256 ; motor1_on_mask := 1 ;info 1256, 1465 movlw 1 btfss motor_reverse___byte, motor_reverse___bit ; line_number = 1258 ; motor1_on_mask := 2 ;info 1258, 1467 movlw 2 movwf motor1_on_mask ; line_number = 1255 ; if motor_reverse done ; line_number = 1259 ; motor1_pulse_width := speed << 1 ;info 1259, 1469 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 = 1261 ; if speed = 0 start ;info 1261, 1473 ; 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 = 1263 ; motor1_on_mask := 0 ;info 1263, 1476 clrf motor1_on_mask goto speed_set__2 ; 2GOTO: Starting code 2 speed_set__1: ; # Forward direction: ; line_number = 1266 ; if motor_reverse start ;info 1266, 1478 ; =>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 = 1267 ; motor1_on_mask := 2 ;info 1267, 1479 movlw 2 btfss motor_reverse___byte, motor_reverse___bit ; line_number = 1269 ; motor1_on_mask := 1 ;info 1269, 1481 movlw 1 movwf motor1_on_mask ; line_number = 1266 ; 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 = 1261 ; if speed = 0 done ; line_number = 1270 ; motor1_pulse_width := 0xff - (speed << 1) ;info 1270, 1483 speed_set__3 equ globals___0+74 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 = 1253 ; 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 = 1277 ; constant rb2bus_eedata_address = 0xfe rb2bus_eedata_address equ 254 ; line_number = 1279 ;info 1279, 1488 ; procedure rb2bus_eedata_read rb2bus_eedata_read: ; arguments_none ; line_number = 1281 ; returns byte ; # This procedure will return the address stored in EEData. If ; # there is no data, 0 is returned. ; line_number = 1286 ; local temp1 byte rb2bus_eedata_read__temp1 equ globals___0+50 ; line_number = 1287 ; local temp2 byte rb2bus_eedata_read__temp2 equ globals___0+51 ; # Read the first byte (the address): ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1290 ; _eecon1 := 0 ;info 1290, 1488 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 1291 ; _eeadr := rb2bus_eedata_address ;info 1291, 1490 movlw 254 movwf _eeadr ; line_number = 1292 ; _rd := _true ;info 1292, 1492 bsf _rd___byte, _rd___bit ; line_number = 1293 ; temp1 := _eedat ;info 1293, 1493 movf _eedat,w bcf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp1 ; # Read the second byte (the 1'z complement) ; line_number = 1296 ; _eeadr := _eeadr + 1 ;info 1296, 1496 bsf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 1297 ; _rd := _true ;info 1297, 1498 bsf _rd___byte, _rd___bit ; line_number = 1298 ; temp2 := _eedat ;info 1298, 1499 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 = 1301 ; if temp1 = (0xff ^ temp2) start ;info 1301, 1502 ; 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 = 1303 ; return temp1 start ; line_number = 1303 ;info 1303, 1506 movf rb2bus_eedata_read__temp1,w return ; line_number = 1303 ; return temp1 done ; Recombine size1 = 0 || size2 = 0 rb2bus_eedata_read__1: ; line_number = 1301 ; if temp1 = (0xff ^ temp2) done ; # They are not 1's complement, so return 0 as an error: ; line_number = 1306 ; return 0 start ; line_number = 1306 ;info 1306, 1508 retlw 0 ; line_number = 1306 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 1309 ;info 1309, 1509 ; 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 = 1310 ; argument address byte rb2bus_eedata_write__address equ globals___0+52 ; line_number = 1311 ; 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 = 1317 ; _eecon1 := 0 ;info 1317, 1510 bsf __rp0___byte, __rp0___bit clrf _eecon1 ; line_number = 1318 ; _eeadr := rb2bus_eedata_address ;info 1318, 1512 movlw 254 movwf _eeadr ; line_number = 1319 ; _eedat := address ;info 1319, 1514 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 = 1322 ; loop_exactly 2 start ;info 1322, 1518 rb2bus_eedata_write__1 equ globals___0+75 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 = 1326 ; _wren := _true ;info 1326, 1521 bsf __rp0___byte, __rp0___bit bsf _wren___byte, _wren___bit ; line_number = 1327 ; _gie := _false ;info 1327, 1523 bcf _gie___byte, _gie___bit ; line_number = 1328 ; _eecon2 := 0x55 ;info 1328, 1524 movlw 85 movwf _eecon2 ; line_number = 1329 ; _eecon2 := 0xaa ;info 1329, 1526 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 1331 ; _wr := _true ;info 1331, 1528 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 1334 ; while _wr start rb2bus_eedata_write__3: ;info 1334, 1529 ; =>bit_code_emit@symbol(): sym=_wr ; 1TEST: Single test with code in skip slot btfsc _wr___byte, _wr___bit ; line_number = 1335 ; do_nothing ;info 1335, 1530 goto rb2bus_eedata_write__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 1334 ; while _wr done ; # Disable writing: ; line_number = 1338 ; _wren := _false ;info 1338, 1531 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 1341 ; _eeadr := _eeadr + 1 ;info 1341, 1532 incf _eeadr,f ; line_number = 1342 ; _eedat := address ^ 0xff ;info 1342, 1533 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 = 1322 ; loop_exactly 2 wrap-up decfsz rb2bus_eedata_write__1,f goto rb2bus_eedata_write__2 ; line_number = 1322 ; 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+56 ; line_number = 1346 ;info 1346, 1541 ; procedure xyz xyz: ; Last argument is sitting in W; save into argument variable movwf xyz__low ; delay=4294967295 ; line_number = 1347 ; argument high byte xyz__high equ globals___0+53 ; line_number = 1348 ; argument middle byte xyz__middle equ globals___0+54 ; line_number = 1349 ; argument low byte xyz__low equ globals___0+55 ; line_number = 1350 ; returns float32 ; line_number = 1351 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1353 ; assemble ;info 1353, 1542 ; # Grab the high byte: ; line_number = 1355 ;info 1355, 1542 movf xyz__high,w ; line_number = 1356 ;info 1356, 1543 ; databank xyz, _float32_aargb0 bsf __rp0___byte, __rp0___bit ; line_number = 1357 ;info 1357, 1544 movwf _float32_aargb0 ; # Grab the middle byte: ; line_number = 1360 ;info 1360, 1545 ; databank _float32_aargb0, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1361 ;info 1361, 1546 movf xyz__middle,w ; line_number = 1362 ;info 1362, 1547 ; databank xyz, _float32_aargb1 bsf __rp0___byte, __rp0___bit ; line_number = 1363 ;info 1363, 1548 movwf _float32_aargb1 ; # Grab the low byte: ; line_number = 1366 ;info 1366, 1549 ; databank _float32_aargb1, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1367 ;info 1367, 1550 movf xyz__low,w ; line_number = 1368 ;info 1368, 1551 ; databank xyz, _float32_aargb2 bsf __rp0___byte, __rp0___bit ; line_number = 1369 ;info 1369, 1552 movwf _float32_aargb2 ; # Do the conversion to float32: ; line_number = 1372 ;info 1372, 1553 ; databank _float32_aargb2, _float32_from_integer24 ; line_number = 1373 ;info 1373, 1553 ; codebank xyz, _float32_from_integer24 bsf __cb0___byte, __cb0___bit ; line_number = 1374 ;info 1374, 1554 call _float32_from_integer24 ; # Result is in the float32 A "register"l not move to 0return: ; line_number = 1377 ;info 1377, 1555 movlw xyz__0return>>1 ; line_number = 1378 ;info 1378, 1556 ; databank _float32_from_integer24, _float32_pointer_store ; line_number = 1379 ;info 1379, 1556 ; codebank _float32_from_integer24, _float32_pointer_store ; line_number = 1380 ;info 1380, 1556 call _float32_pointer_store ; # Get out code and data banks back home: ; line_number = 1383 ;info 1383, 1557 ; databank _float32_pointer_store, xyz bcf __rp0___byte, __rp0___bit ; line_number = 1384 ;info 1384, 1558 ; codebank _float32_pointer_store, xyz bcf __cb0___byte, __cb0___bit ; line_number = 1385 ;info 1385, 1559 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; # 24-bit convert to from float code: ; line_number = 1388 ;info 1388, 1560 ; procedure zyx zyx: ; line_number = 1389 ; argument value float32 zyx__value equ globals___0+60 ; line_number = 1390 ; returns byte ; line_number = 1391 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) ; line_number = 1393 ; assemble ;info 1393, 1560 ; line_number = 1394 ;info 1394, 1560 movlw zyx__value>>1 ; line_number = 1395 ;info 1395, 1561 ; databank zyx, _float32_pointer_load bsf __rp0___byte, __rp0___bit ; line_number = 1396 ;info 1396, 1562 ; codebank zyx, _float32_pointer_load bsf __cb0___byte, __cb0___bit ; line_number = 1397 ;info 1397, 1563 call _float32_pointer_load ; line_number = 1399 ;info 1399, 1564 ; databank _float32_pointer_load, _float32_integer24_convert ; line_number = 1400 ;info 1400, 1564 ; codebank _float32_pointer_load, _float32_integer24_convert ; line_number = 1401 ;info 1401, 1564 call _float32_integer24_convert ; line_number = 1402 ;info 1402, 1565 ; codebank _float32_integer24_convert, zyx bcf __cb0___byte, __cb0___bit ; line_number = 1404 ;info 1404, 1566 ; databank _float32_integer24_convert, _float32_aargb0 ; line_number = 1405 ;info 1405, 1566 movf _float32_aargb0,w ; line_number = 1406 ;info 1406, 1567 ; databank _float32_aargb0, high bcf __rp0___byte, __rp0___bit ; line_number = 1407 ;info 1407, 1568 movwf high ; line_number = 1409 ;info 1409, 1569 ; databank high, _float32_aargb1 bsf __rp0___byte, __rp0___bit ; line_number = 1410 ;info 1410, 1570 movf _float32_aargb1,w ; line_number = 1411 ;info 1411, 1571 ; databank _float32_aargb0, middle bcf __rp0___byte, __rp0___bit ; line_number = 1412 ;info 1412, 1572 movwf middle ; line_number = 1414 ;info 1414, 1573 ; databank middle, _float32_aargb2 bsf __rp0___byte, __rp0___bit ; line_number = 1415 ;info 1415, 1574 movf _float32_aargb2,w ; line_number = 1416 ;info 1416, 1575 ; databank _float32_aargb0, low bcf __rp0___byte, __rp0___bit ; line_number = 1417 ;info 1417, 1576 movwf low ; line_number = 1419 ;info 1419, 1577 ; databank low, zyx ; line_number = 1421 ;info 1421, 1577 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1425 ; 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 = 1425 ; string index2mask = "\1,2,4,8,16,32,64,128\" start ; line_number = 1426 ; string id = "\16,0,21,2,3,14\MidiMotor1E-B4\7\Gramson" start ; id = '\16,0,21,2,3,14\MidiMotor1E-B4\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 28 id___base: retlw 16 retlw 0 retlw 21 retlw 2 retlw 3 retlw 14 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 66 retlw 52 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 1426 ; string id = "\16,0,21,2,3,14\MidiMotor1E-B4\7\Gramson" start ; # {state} is defined by another file: ; line_number = 1429 ; 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 = 1429 ; 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=76 Bits=6 Available=3 ; Region="globals___1" Address=160" Size=80 Bytes=76 Bits=0 Available=4 ; Region="globals___2" Address=288" Size=80 Bytes=52 Bits=0 Available=28 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 end