1 radix dec 2 ; Code bank 0; Start address: 0; End address: 2047 3 0000 : org 0 4 5 ; Define start addresses for data regions 6 00000070 = shared___globals equ 112 7 00000020 = globals___0 equ 32 8 000000a0 = globals___1 equ 160 9 00000120 = globals___2 equ 288 10 00000000 = __indf equ 0 11 00000002 = __pcl equ 2 12 00000003 = __status equ 3 13 00000004 = __fsr equ 4 14 00000003 = __c___byte equ 3 15 00000000 = __c___bit equ 0 16 00000003 = __z___byte equ 3 17 00000002 = __z___bit equ 2 18 00000003 = __rp0___byte equ 3 19 00000005 = __rp0___bit equ 5 20 00000003 = __rp1___byte equ 3 21 00000006 = __rp1___bit equ 6 22 00000003 = __irp___byte equ 3 23 00000007 = __irp___bit equ 7 24 0000000a = __pclath equ 10 25 0000000a = __cb0___byte equ 10 26 00000003 = __cb0___bit equ 3 27 0000000a = __cb1___byte equ 10 28 00000004 = __cb1___bit equ 4 29 30 ; # Copyright (c) 2006-2012 by Wayne C. Gramlich 31 ; # All rights reserved. 32 33 ; # This code implements the firmware for the MidiMotor1E. 34 ; # The MidiMotor1E differs from the MidiMotor1 in that the '1E has 35 ; # two extra connectors N2 and N4. N2 is a 5 pin connector that can 36 ; # be used to read in two channels of quardarature position (plus an 37 ; # an index pulse.) Alternatively, N2 can be used to read in an 38 ; # analog signal between 0 and 5V for an absolute position. N4 is 39 ; # used as an active low limit switch that can be used to term off 40 ; # the motor. 41 ; # 42 ; # The architecture of this firmware is actually pretty complicated. 43 ; # The pulse width modulation is controlled by the Timer0 and Timer1 44 ; # modules. The quadrature encoding and limit switch is delt with 45 ; # via some pins on Port A. The UART is responsible for dealing 46 ; # with RoboBricks2 bus I/O. The A/D converter is responsible 47 ; # for processing Analog to digital conversions. The code in the 48 ; # main loop is responsible for running a PID (Proportional, 49 ; # Integral, Derivative) motor control loop. The PID algorithm is 50 ; # done using 32-bit floating point arithmetic. Heavy use of interrupts 51 ; # is used to ensure that everything works in a timely fashion. 52 ; # 53 ; # There are three main routines -- interrupt(), main() and uart_manage(). 54 ; # The interrupt() routine is responsible for processing all interrupt 55 ; # events. UART processing is sufficiently complicated, that UART input 56 ; # is quickly stuffed into a temporary buffer, to minimize intterupt 57 ; # latency. Further UART process is handled by the uart_manage() routine. 58 ; # Calls to the uart_manage() routine are sprinkled throught the main 59 ; # loop in main() to ensure that any buffered uart commands are processed 60 ; # fairly quickly. 61 62 ; # We use the PIC16F688 for this module: 63 ; buffer = 'midimotor1e' 64 ; line_number = 36 65 ; library _pic16f688 entered 66 67 ; # Copyright (c) 2004-2006 by Wayne C. Gramlich 68 ; # All rights reserved. 69 70 ; buffer = '_pic16f688' 71 ; line_number = 6 72 ; processor pic16f688 73 ; line_number = 7 74 ; configure_address 0x2007 75 ; line_number = 8 76 ; configure_fill 0x3000 77 ; line_number = 9 78 ; configure_option fcmen: on = 0x800 79 ; line_number = 10 80 ; configure_option fcmen: off = 0x000 81 ; line_number = 11 82 ; configure_option ieso: on = 0x400 83 ; line_number = 12 84 ; configure_option ieso: off = 0x000 85 ; line_number = 13 86 ; configure_option boden: on = 0x300 87 ; line_number = 14 88 ; configure_option boden: partial = 0x200 89 ; line_number = 15 90 ; configure_option boden: sboden = 0x100 91 ; line_number = 16 92 ; configure_option boden: off = 0x000 93 ; line_number = 17 94 ; configure_option cpd: on = 0x00 95 ; line_number = 18 96 ; configure_option cpd: off = 0x80 97 ; line_number = 19 98 ; configure_option cp: on = 0x00 99 ; line_number = 20 100 ; configure_option cp: off = 0x40 101 ; line_number = 21 102 ; configure_option mclre: on = 0x20 103 ; line_number = 22 104 ; configure_option mclre: off = 0x00 105 ; line_number = 23 106 ; configure_option pwrte: on = 0x00 107 ; line_number = 24 108 ; configure_option pwrte: off = 0x10 109 ; line_number = 25 110 ; configure_option wdte: on = 8 111 ; line_number = 26 112 ; configure_option wdte: off = 0 113 ; line_number = 27 114 ; configure_option fosc: rc_clk = 7 115 ; line_number = 28 116 ; configure_option fosc: rc_no_clk = 6 117 ; line_number = 29 118 ; configure_option fosc: int_clk = 5 119 ; line_number = 30 120 ; configure_option fosc: int_no_clk = 4 121 ; line_number = 31 122 ; configure_option fosc: ec = 3 123 ; line_number = 32 124 ; configure_option fosc: hs = 2 125 ; line_number = 33 126 ; configure_option fosc: xt = 1 127 ; line_number = 34 128 ; configure_option fosc: lp = 0 129 130 ; line_number = 36 131 ; code_bank 0x0 : 0x7ff 132 ; line_number = 37 133 ; code_bank 0x800 : 0xfff 134 ; line_number = 38 135 ; data_bank 0x0 : 0x7f 136 ; line_number = 39 137 ; data_bank 0x80 : 0xff 138 ; line_number = 40 139 ; data_bank 0x100 : 0x17f 140 ; line_number = 41 141 ; data_bank 0x180 : 0x1ff 142 143 ; line_number = 43 144 ; global_region 0x20 : 0x6f 145 ; line_number = 44 146 ; icd2_global_region 0x20 : 0x6f 147 148 ; line_number = 46 149 ; global_region 0xa0 : 0xef 150 ; line_number = 47 151 ; icd2_global_region 0xa0 : 0xef 152 153 ; line_number = 49 154 ; global_region 0x120 : 0x16f 155 ; line_number = 50 156 ; icd2_global_region 0x120 : 0x164 157 158 ; line_number = 52 159 ; shared_region 0x70 : 0x7f 160 ; line_number = 53 161 ; icd2_shared_region 0x71 : 0x7f 162 163 ; line_number = 55 164 ; interrupts_possible 165 ; line_number = 56 166 ; packages pdip=14, soic=14, tssop=14 167 ; line_number = 57 168 ; pin vdd, power_supply 169 ; line_number = 58 170 ; pin_bindings pdip=1, soic=1, tssop=1 171 ; line_number = 59 172 ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin 173 ; line_number = 60 174 ; pin_bindings pdip=2, soic=2, tssop=2 175 ; line_number = 61 176 ; bind_to _porta@5 177 ; line_number = 62 178 ; or_if ra5_in _trisa 32 179 ; line_number = 63 180 ; or_if ra5_nc _trisa 32 181 ; line_number = 64 182 ; or_if ra5_out _trisa 0 183 ; line_number = 65 184 ; or_if osc1 _trisa 32 185 ; line_number = 66 186 ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout 187 ; line_number = 67 188 ; pin_bindings pdip=3, soic=3, tssop=3 189 ; line_number = 68 190 ; bind_to _porta@4 191 ; line_number = 69 192 ; or_if ra4_in _trisa 16 193 ; line_number = 70 194 ; or_if ra4_nc _trisa 16 195 ; line_number = 71 196 ; or_if ra4_out _trisa 0 197 ; line_number = 72 198 ; or_if an3 _trisa 16 199 ; line_number = 73 200 ; or_if osc2 _trisa 16 201 ; line_number = 74 202 ; or_if ra4_in _ansel 0 203 ; line_number = 75 204 ; or_if ra4_out _ansel 0 205 ; line_number = 76 206 ; or_if an3 _ansel 8 207 ; line_number = 77 208 ; or_if ra4_in _adcon0 0 209 ; line_number = 78 210 ; or_if ra4_out _adcon0 0 211 ; line_number = 79 212 ; or_if an3 _adcon0 1 213 ; line_number = 80 214 ; pin ra3_in, ra3_nc, mclr, vpp 215 ; line_number = 81 216 ; pin_bindings pdip=4, soic=4, tssop=4 217 ; line_number = 82 218 ; bind_to _porta@3 219 ; line_number = 83 220 ; or_if ra3_in _trisa 8 221 ; line_number = 84 222 ; or_if ra3_nc _trisa 8 223 ; line_number = 85 224 ; pin rc5_in, rc5_nc, rc5_out, rx, dt 225 ; line_number = 86 226 ; pin_bindings pdip=5, soic=5, tssop=5 227 ; line_number = 87 228 ; bind_to _portc@5 229 ; line_number = 88 230 ; or_if rc5_in _trisc 32 231 ; line_number = 89 232 ; or_if rc5_nc _trisc 32 233 ; line_number = 90 234 ; or_if rc5_out _trisc 0 235 ; line_number = 91 236 ; or_if rx _trisc 32 237 ; line_number = 92 238 ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck 239 ; line_number = 93 240 ; pin_bindings pdip=6, soic=6, tssop=6 241 ; line_number = 94 242 ; bind_to _portc@4 243 ; line_number = 95 244 ; or_if rc4_in _trisc 16 245 ; line_number = 96 246 ; or_if rc4_nc _trisc 16 247 ; line_number = 97 248 ; or_if rc4_out _trisc 0 249 ; # The UART documentation says TX must be marked as in input: 250 ; line_number = 99 251 ; or_if tx _trisc 16 252 ; line_number = 100 253 ; pin rc3_in, rc3_nc, rc3_out, an7 254 ; line_number = 101 255 ; pin_bindings pdip=7, soic=7, tssop=7 256 ; line_number = 102 257 ; bind_to _portc@3 258 ; line_number = 103 259 ; or_if rc3_in _trisc 8 260 ; line_number = 104 261 ; or_if rc3_nc _trisc 8 262 ; line_number = 105 263 ; or_if rc3_out _trisc 0 264 ; line_number = 106 265 ; or_if an7 _trisc 8 266 ; line_number = 107 267 ; or_if rc3_in _ansel 0 268 ; line_number = 108 269 ; or_if rc3_out _ansel 0 270 ; line_number = 109 271 ; or_if an7 _ansel 128 272 ; line_number = 110 273 ; or_if rc3_in _adcon0 0 274 ; line_number = 111 275 ; or_if rc3_out _adcon0 0 276 ; line_number = 112 277 ; or_if an7 _adcon0 1 278 ; line_number = 113 279 ; pin rc2_in, rc2_nc, rc2_out, an6 280 ; line_number = 114 281 ; pin_bindings pdip=8, soic=8, tssop=8 282 ; line_number = 115 283 ; bind_to _portc@2 284 ; line_number = 116 285 ; or_if rc2_in _trisc 4 286 ; line_number = 117 287 ; or_if rc2_nc _trisc 4 288 ; line_number = 118 289 ; or_if rc2_out _trisc 0 290 ; line_number = 119 291 ; or_if an6 _trisc 4 292 ; line_number = 120 293 ; or_if rc2_in _ansel 0 294 ; line_number = 121 295 ; or_if rc2_out _ansel 0 296 ; line_number = 122 297 ; or_if an6 _ansel 64 298 ; line_number = 123 299 ; or_if rc2_in _adcon0 0 300 ; line_number = 124 301 ; or_if rc2_out _adcon0 0 302 ; line_number = 125 303 ; or_if an6 _adcon0 1 304 ; line_number = 126 305 ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus 306 ; line_number = 127 307 ; pin_bindings pdip=9, soic=9, tssop=9 308 ; line_number = 128 309 ; bind_to _portc@1 310 ; line_number = 129 311 ; or_if rc1_in _trisc 2 312 ; line_number = 130 313 ; or_if rc1_nc _trisc 2 314 ; line_number = 131 315 ; or_if rc1_out _trisc 0 316 ; line_number = 132 317 ; or_if rc1_in _cmcon0 7 318 ; line_number = 133 319 ; or_if rc1_out _cmcon0 7 320 ; line_number = 134 321 ; or_if an5 _trisc 2 322 ; line_number = 135 323 ; or_if rc1_in _ansel 0 324 ; line_number = 136 325 ; or_if rc1_out _ansel 0 326 ; line_number = 137 327 ; or_if an5 _ansel 32 328 ; line_number = 138 329 ; or_if rc1_in _adcon0 0 330 ; line_number = 139 331 ; or_if rc1_out _adcon0 0 332 ; line_number = 140 333 ; or_if an5 _adcon0 1 334 ; line_number = 141 335 ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus 336 ; line_number = 142 337 ; pin_bindings pdip=10, soic=10, tssop=10 338 ; line_number = 143 339 ; bind_to _portc@0 340 ; line_number = 144 341 ; or_if rc0_in _trisc 1 342 ; line_number = 145 343 ; or_if rc0_nc _trisc 1 344 ; line_number = 146 345 ; or_if rc0_out _trisc 0 346 ; line_number = 147 347 ; or_if rc0_in _cmcon0 7 348 ; line_number = 148 349 ; or_if rc0_out _cmcon0 7 350 ; line_number = 149 351 ; or_if an4 _trisc 1 352 ; line_number = 150 353 ; or_if rc0_in _ansel 0 354 ; line_number = 151 355 ; or_if rc0_out _ansel 0 356 ; line_number = 152 357 ; or_if an4 _ansel 16 358 ; line_number = 153 359 ; or_if rc0_in _adcon0 0 360 ; line_number = 154 361 ; or_if rc0_out _adcon0 0 362 ; line_number = 155 363 ; or_if an4 _adcon0 1 364 ; line_number = 156 365 ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int 366 ; line_number = 157 367 ; pin_bindings pdip=11, soic=11, tssop=11 368 ; line_number = 158 369 ; bind_to _porta@2 370 ; line_number = 159 371 ; or_if ra2_in _trisa 4 372 ; line_number = 160 373 ; or_if ra2_nc _trisa 4 374 ; line_number = 161 375 ; or_if ra2_out _trisa 0 376 ; line_number = 162 377 ; or_if an2 _trisa 4 378 ; line_number = 163 379 ; or_if ra2_in _ansel 0 380 ; line_number = 164 381 ; or_if ra2_out _ansel 0 382 ; line_number = 165 383 ; or_if an2 _ansel 4 384 ; line_number = 166 385 ; or_if ra2_in _adcon0 0 386 ; line_number = 167 387 ; or_if ra2_out _adcon0 0 388 ; line_number = 168 389 ; or_if an2 _adcon0 1 390 ; line_number = 169 391 ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk 392 ; line_number = 170 393 ; pin_bindings pdip=12, soic=12, tssop=12 394 ; line_number = 171 395 ; bind_to _porta@1 396 ; line_number = 172 397 ; or_if ra1_in _trisa 2 398 ; line_number = 173 399 ; or_if ra1_nc _trisa 2 400 ; line_number = 174 401 ; or_if ra1_out _trisa 0 402 ; line_number = 175 403 ; or_if ra1_in _cmcon0 7 404 ; line_number = 176 405 ; or_if ra1_out _cmcon0 7 406 ; line_number = 177 407 ; or_if an1 _trisa 2 408 ; line_number = 178 409 ; or_if vref _trisa 2 410 ; line_number = 179 411 ; or_if ra1_in _ansel 0 412 ; line_number = 180 413 ; or_if ra1_out _ansel 0 414 ; line_number = 181 415 ; or_if an1 _ansel 2 416 ; line_number = 182 417 ; or_if vref _ansel 2 418 ; line_number = 183 419 ; or_if ra1_in _adcon0 0 420 ; line_number = 184 421 ; or_if ra1_out _adcon0 0 422 ; line_number = 185 423 ; or_if an1 _adcon0 1 # Turn on _addon 424 ; line_number = 186 425 ; or_if vref _adcon0 1 # Turn on _addon 426 ; line_number = 187 427 ; or_if vref _adcon0 64 # Turn of _vcfg 428 ; line_number = 188 429 ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu 430 ; line_number = 189 431 ; pin_bindings pdip=13, soic=13, tssop=13 432 ; line_number = 190 433 ; bind_to _porta@0 434 ; line_number = 191 435 ; or_if ra0_in _trisa 1 436 ; line_number = 192 437 ; or_if ra0_nc _trisa 1 438 ; line_number = 193 439 ; or_if ra0_out _trisa 0 440 ; line_number = 194 441 ; or_if ra0_in _cmcon0 7 442 ; line_number = 195 443 ; or_if ra0_out _cmcon0 7 444 ; line_number = 196 445 ; or_if an0 _trisa 1 446 ; line_number = 197 447 ; or_if ra0_in _ansel 0 448 ; line_number = 198 449 ; or_if ra0_out _ansel 0 450 ; line_number = 199 451 ; or_if an0 _ansel 1 452 ; line_number = 200 453 ; or_if ra0_in _adcon0 0 454 ; line_number = 201 455 ; or_if ra0_out _adcon0 0 456 ; line_number = 202 457 ; or_if an0 _adcon0 1 458 ; line_number = 203 459 ; pin vss, ground 460 ; line_number = 204 461 ; pin_bindings pdip=14, soic=14, tssop=14 462 463 ; line_number = 206 464 ; library _standard entered 465 466 ; # Copyright (c) 2006 by Wayne C. Gramlich 467 ; # All rights reserved. 468 469 ; # Standard definition for uCL: 470 471 ; buffer = '_standard' 472 ; line_number = 8 473 ; constant _true = (1 = 1) 474 00000001 = _true equ 1 475 ; line_number = 9 476 ; constant _false = (0 != 0) 477 00000000 = _false equ 0 478 479 480 ; buffer = '_pic16f688' 481 ; line_number = 206 482 ; library _standard exited 483 484 485 ; # Register/bit bindings: 486 487 ; # Databank 0 (0x0 - 0x7f): 488 489 ; line_number = 217 490 ; register _indf = 491 00000000 = _indf equ 0 492 493 ; line_number = 219 494 ; register _tmr0 = 495 00000001 = _tmr0 equ 1 496 497 ; line_number = 221 498 ; register _pcl = 499 00000002 = _pcl equ 2 500 501 ; line_number = 223 502 ; register _status = 503 00000003 = _status equ 3 504 ; line_number = 224 505 ; bind _irp = _status@7 506 00000003 = _irp___byte equ _status 507 00000007 = _irp___bit equ 7 508 ; line_number = 225 509 ; bind _rp1 = _status@5 510 00000003 = _rp1___byte equ _status 511 00000005 = _rp1___bit equ 5 512 ; line_number = 226 513 ; bind _rp0 = _status@5 514 00000003 = _rp0___byte equ _status 515 00000005 = _rp0___bit equ 5 516 ; line_number = 227 517 ; bind _to = _status@4 518 00000003 = _to___byte equ _status 519 00000004 = _to___bit equ 4 520 ; line_number = 228 521 ; bind _pd = _status@3 522 00000003 = _pd___byte equ _status 523 00000003 = _pd___bit equ 3 524 ; line_number = 229 525 ; bind _z = _status@2 526 00000003 = _z___byte equ _status 527 00000002 = _z___bit equ 2 528 ; line_number = 230 529 ; bind _dc = _status@1 530 00000003 = _dc___byte equ _status 531 00000001 = _dc___bit equ 1 532 ; line_number = 231 533 ; bind _c = _status@0 534 00000003 = _c___byte equ _status 535 00000000 = _c___bit equ 0 536 537 ; line_number = 233 538 ; register _fsr = 539 00000004 = _fsr equ 4 540 541 ; line_number = 235 542 ; register _porta = 543 00000005 = _porta equ 5 544 ; line_number = 236 545 ; register _ra = 546 00000005 = _ra equ 5 547 ; line_number = 237 548 ; bind _ra5 = _porta@5 549 00000005 = _ra5___byte equ _porta 550 00000005 = _ra5___bit equ 5 551 ; line_number = 238 552 ; bind _ra4 = _porta@4 553 00000005 = _ra4___byte equ _porta 554 00000004 = _ra4___bit equ 4 555 ; line_number = 239 556 ; bind _ra3 = _porta@3 557 00000005 = _ra3___byte equ _porta 558 00000003 = _ra3___bit equ 3 559 ; line_number = 240 560 ; bind _ra2 = _porta@2 561 00000005 = _ra2___byte equ _porta 562 00000002 = _ra2___bit equ 2 563 ; line_number = 241 564 ; bind _ra1 = _porta@1 565 00000005 = _ra1___byte equ _porta 566 00000001 = _ra1___bit equ 1 567 ; line_number = 242 568 ; bind _ra0 = _porta@0 569 00000005 = _ra0___byte equ _porta 570 00000000 = _ra0___bit equ 0 571 572 ; line_number = 244 573 ; register _portc = 574 00000007 = _portc equ 7 575 ; line_number = 245 576 ; register _rc = 577 00000007 = _rc equ 7 578 ; line_number = 246 579 ; bind _rc5 = _portc@5 580 00000007 = _rc5___byte equ _portc 581 00000005 = _rc5___bit equ 5 582 ; line_number = 247 583 ; bind _rc4 = _portc@4 584 00000007 = _rc4___byte equ _portc 585 00000004 = _rc4___bit equ 4 586 ; line_number = 248 587 ; bind _rc3 = _portc@3 588 00000007 = _rc3___byte equ _portc 589 00000003 = _rc3___bit equ 3 590 ; line_number = 249 591 ; bind _rc2 = _portc@2 592 00000007 = _rc2___byte equ _portc 593 00000002 = _rc2___bit equ 2 594 ; line_number = 250 595 ; bind _rc1 = _portc@1 596 00000007 = _rc1___byte equ _portc 597 00000001 = _rc1___bit equ 1 598 ; line_number = 251 599 ; bind _rc0 = _portc@0 600 00000007 = _rc0___byte equ _portc 601 00000000 = _rc0___bit equ 0 602 603 ; line_number = 253 604 ; register _pclath = 605 0000000a = _pclath equ 10 606 607 ; line_number = 255 608 ; register _intcon = 609 0000000b = _intcon equ 11 610 ; line_number = 256 611 ; bind _gie = _intcon@7 612 0000000b = _gie___byte equ _intcon 613 00000007 = _gie___bit equ 7 614 ; line_number = 257 615 ; bind _peie = _intcon@6 616 0000000b = _peie___byte equ _intcon 617 00000006 = _peie___bit equ 6 618 ; line_number = 258 619 ; bind _t0ie = _intcon@5 620 0000000b = _t0ie___byte equ _intcon 621 00000005 = _t0ie___bit equ 5 622 ; line_number = 259 623 ; bind _inte = _intcon@4 624 0000000b = _inte___byte equ _intcon 625 00000004 = _inte___bit equ 4 626 ; line_number = 260 627 ; bind _raie = _intcon@3 628 0000000b = _raie___byte equ _intcon 629 00000003 = _raie___bit equ 3 630 ; line_number = 261 631 ; bind _t0if = _intcon@2 632 0000000b = _t0if___byte equ _intcon 633 00000002 = _t0if___bit equ 2 634 ; line_number = 262 635 ; bind _intf = _intcon@1 636 0000000b = _intf___byte equ _intcon 637 00000001 = _intf___bit equ 1 638 ; line_number = 263 639 ; bind _raif = _intcon@0 640 0000000b = _raif___byte equ _intcon 641 00000000 = _raif___bit equ 0 642 643 ; line_number = 265 644 ; register _pir1 = 645 0000000c = _pir1 equ 12 646 ; line_number = 266 647 ; bind _eeif = _pir1@7 648 0000000c = _eeif___byte equ _pir1 649 00000007 = _eeif___bit equ 7 650 ; line_number = 267 651 ; bind _adif = _pir1@6 652 0000000c = _adif___byte equ _pir1 653 00000006 = _adif___bit equ 6 654 ; line_number = 268 655 ; bind _rcif = _pir1@5 656 0000000c = _rcif___byte equ _pir1 657 00000005 = _rcif___bit equ 5 658 ; line_number = 269 659 ; bind _c2if = _pir1@4 660 0000000c = _c2if___byte equ _pir1 661 00000004 = _c2if___bit equ 4 662 ; line_number = 270 663 ; bind _c1if = _pir1@3 664 0000000c = _c1if___byte equ _pir1 665 00000003 = _c1if___bit equ 3 666 ; line_number = 271 667 ; bind _osfif = _pir1@2 668 0000000c = _osfif___byte equ _pir1 669 00000002 = _osfif___bit equ 2 670 ; line_number = 272 671 ; bind _txif = _pir1@1 672 0000000c = _txif___byte equ _pir1 673 00000001 = _txif___bit equ 1 674 ; line_number = 273 675 ; bind _tmr1if = _pir1@0 676 0000000c = _tmr1if___byte equ _pir1 677 00000000 = _tmr1if___bit equ 0 678 679 ; line_number = 275 680 ; register _tmr1l = 681 0000000e = _tmr1l equ 14 682 683 ; line_number = 277 684 ; register _tmr1h = 685 0000000f = _tmr1h equ 15 686 687 ; line_number = 279 688 ; register _t1con = 689 00000010 = _t1con equ 16 690 ; line_number = 280 691 ; bind t1ginv = _t1con@7 692 00000010 = t1ginv___byte equ _t1con 693 00000007 = t1ginv___bit equ 7 694 ; line_number = 281 695 ; bind _tmr1ge = _t1con@6 696 00000010 = _tmr1ge___byte equ _t1con 697 00000006 = _tmr1ge___bit equ 6 698 ; line_number = 282 699 ; bind _t1ckps1 = _t1con@5 700 00000010 = _t1ckps1___byte equ _t1con 701 00000005 = _t1ckps1___bit equ 5 702 ; line_number = 283 703 ; bind _t1ckps0 = _t1con@4 704 00000010 = _t1ckps0___byte equ _t1con 705 00000004 = _t1ckps0___bit equ 4 706 ; line_number = 284 707 ; bind _t1oscen = _t1con@3 708 00000010 = _t1oscen___byte equ _t1con 709 00000003 = _t1oscen___bit equ 3 710 ; line_number = 285 711 ; bind _t1sync = _t1con@2 712 00000010 = _t1sync___byte equ _t1con 713 00000002 = _t1sync___bit equ 2 714 ; line_number = 286 715 ; bind _tmr1cs = _t1con@1 716 00000010 = _tmr1cs___byte equ _t1con 717 00000001 = _tmr1cs___bit equ 1 718 ; line_number = 287 719 ; bind _tmr1on = _t1con@0 720 00000010 = _tmr1on___byte equ _t1con 721 00000000 = _tmr1on___bit equ 0 722 723 ; line_number = 289 724 ; register _baudctl = 725 00000011 = _baudctl equ 17 726 ; line_number = 290 727 ; bind _abdovf = _baudctl@7 728 00000011 = _abdovf___byte equ _baudctl 729 00000007 = _abdovf___bit equ 7 730 ; line_number = 291 731 ; bind _rcidl = _baudctl@6 732 00000011 = _rcidl___byte equ _baudctl 733 00000006 = _rcidl___bit equ 6 734 ; line_number = 292 735 ; bind _sckp = _baudctl@4 736 00000011 = _sckp___byte equ _baudctl 737 00000004 = _sckp___bit equ 4 738 ; line_number = 293 739 ; bind _brg16 = _baudctl@3 740 00000011 = _brg16___byte equ _baudctl 741 00000003 = _brg16___bit equ 3 742 ; line_number = 294 743 ; bind _wue = _baudctl@1 744 00000011 = _wue___byte equ _baudctl 745 00000001 = _wue___bit equ 1 746 ; line_number = 295 747 ; bind _abden = _baudctl@0 748 00000011 = _abden___byte equ _baudctl 749 00000000 = _abden___bit equ 0 750 751 ; line_number = 297 752 ; register _spbrgh = 753 00000012 = _spbrgh equ 18 754 755 ; line_number = 299 756 ; register _spbrg = 757 00000013 = _spbrg equ 19 758 759 ; line_number = 301 760 ; register _rcreg = 761 00000014 = _rcreg equ 20 762 763 ; line_number = 303 764 ; register _txreg = 765 00000015 = _txreg equ 21 766 767 ; line_number = 305 768 ; register _txsta = 769 00000016 = _txsta equ 22 770 ; line_number = 306 771 ; bind _csrc = _txsta@7 772 00000016 = _csrc___byte equ _txsta 773 00000007 = _csrc___bit equ 7 774 ; line_number = 307 775 ; bind _tx9 = _txsta@6 776 00000016 = _tx9___byte equ _txsta 777 00000006 = _tx9___bit equ 6 778 ; line_number = 308 779 ; bind _txen = _txsta@5 780 00000016 = _txen___byte equ _txsta 781 00000005 = _txen___bit equ 5 782 ; line_number = 309 783 ; bind _sync = _txsta@4 784 00000016 = _sync___byte equ _txsta 785 00000004 = _sync___bit equ 4 786 ; line_number = 310 787 ; bind _sendb = _txsta@3 788 00000016 = _sendb___byte equ _txsta 789 00000003 = _sendb___bit equ 3 790 ; line_number = 311 791 ; bind _brgh = _txsta@2 792 00000016 = _brgh___byte equ _txsta 793 00000002 = _brgh___bit equ 2 794 ; line_number = 312 795 ; bind _trmt = _txsta@1 796 00000016 = _trmt___byte equ _txsta 797 00000001 = _trmt___bit equ 1 798 ; line_number = 313 799 ; bind _tx9d = _txsta@0 800 00000016 = _tx9d___byte equ _txsta 801 00000000 = _tx9d___bit equ 0 802 803 ; line_number = 315 804 ; register _rcsta = 805 00000017 = _rcsta equ 23 806 ; line_number = 316 807 ; bind _spen = _rcsta@7 808 00000017 = _spen___byte equ _rcsta 809 00000007 = _spen___bit equ 7 810 ; line_number = 317 811 ; bind _rx9 = _rcsta@6 812 00000017 = _rx9___byte equ _rcsta 813 00000006 = _rx9___bit equ 6 814 ; line_number = 318 815 ; bind _sren = _rcsta@5 816 00000017 = _sren___byte equ _rcsta 817 00000005 = _sren___bit equ 5 818 ; line_number = 319 819 ; bind _cren = _rcsta@4 820 00000017 = _cren___byte equ _rcsta 821 00000004 = _cren___bit equ 4 822 ; line_number = 320 823 ; bind _adden = _rcsta@3 824 00000017 = _adden___byte equ _rcsta 825 00000003 = _adden___bit equ 3 826 ; line_number = 321 827 ; bind _ferr = _rcsta@2 828 00000017 = _ferr___byte equ _rcsta 829 00000002 = _ferr___bit equ 2 830 ; line_number = 322 831 ; bind _oerr = _rcsta@1 832 00000017 = _oerr___byte equ _rcsta 833 00000001 = _oerr___bit equ 1 834 ; line_number = 323 835 ; bind _rx9d = _rcsta@0 836 00000017 = _rx9d___byte equ _rcsta 837 00000000 = _rx9d___bit equ 0 838 839 ; line_number = 325 840 ; register _wdtcon = 841 00000018 = _wdtcon equ 24 842 ; line_number = 326 843 ; bind _wdtps3 = _wdtcon@4 844 00000018 = _wdtps3___byte equ _wdtcon 845 00000004 = _wdtps3___bit equ 4 846 ; line_number = 327 847 ; bind _wdtps2 = _wdtcon@3 848 00000018 = _wdtps2___byte equ _wdtcon 849 00000003 = _wdtps2___bit equ 3 850 ; line_number = 328 851 ; bind _wdtps1 = _wdtcon@2 852 00000018 = _wdtps1___byte equ _wdtcon 853 00000002 = _wdtps1___bit equ 2 854 ; line_number = 329 855 ; bind _wdtps0 = _wdtcon@1 856 00000018 = _wdtps0___byte equ _wdtcon 857 00000001 = _wdtps0___bit equ 1 858 ; line_number = 330 859 ; bind _swdten = _wdtcon@0 860 00000018 = _swdten___byte equ _wdtcon 861 00000000 = _swdten___bit equ 0 862 863 ; line_number = 332 864 ; register _cmcon0 = 865 00000019 = _cmcon0 equ 25 866 ; line_number = 333 867 ; bind _c1out = _cmcon0@7 868 00000019 = _c1out___byte equ _cmcon0 869 00000007 = _c1out___bit equ 7 870 ; line_number = 334 871 ; bind _c2out = _cmcon0@6 872 00000019 = _c2out___byte equ _cmcon0 873 00000006 = _c2out___bit equ 6 874 ; line_number = 335 875 ; bind _c1inv = _cmcon0@5 876 00000019 = _c1inv___byte equ _cmcon0 877 00000005 = _c1inv___bit equ 5 878 ; line_number = 336 879 ; bind _c2inv = _cmcon0@4 880 00000019 = _c2inv___byte equ _cmcon0 881 00000004 = _c2inv___bit equ 4 882 ; line_number = 337 883 ; bind _cis = _cmcon0@3 884 00000019 = _cis___byte equ _cmcon0 885 00000003 = _cis___bit equ 3 886 ; line_number = 338 887 ; bind _cm2 = _cmcon0@2 888 00000019 = _cm2___byte equ _cmcon0 889 00000002 = _cm2___bit equ 2 890 ; line_number = 339 891 ; bind _cm1 = _cmcon0@1 892 00000019 = _cm1___byte equ _cmcon0 893 00000001 = _cm1___bit equ 1 894 ; line_number = 340 895 ; bind _cm0 = _cmcon0@0 896 00000019 = _cm0___byte equ _cmcon0 897 00000000 = _cm0___bit equ 0 898 899 ; line_number = 342 900 ; register _cmcon1 = 901 0000001a = _cmcon1 equ 26 902 ; line_number = 343 903 ; bind _t1gss = _cmcon1@0 904 0000001a = _t1gss___byte equ _cmcon1 905 00000000 = _t1gss___bit equ 0 906 ; line_number = 344 907 ; bind _c2sync = _cmcon1@1 908 0000001a = _c2sync___byte equ _cmcon1 909 00000001 = _c2sync___bit equ 1 910 911 ; line_number = 346 912 ; register _adresh = 913 0000001e = _adresh equ 30 914 915 ; line_number = 348 916 ; register _adcon0 = 917 0000001f = _adcon0 equ 31 918 ; line_number = 349 919 ; bind _adfm = _adcon0@7 920 0000001f = _adfm___byte equ _adcon0 921 00000007 = _adfm___bit equ 7 922 ; line_number = 350 923 ; bind _vcfg = _adcon0@6 924 0000001f = _vcfg___byte equ _adcon0 925 00000006 = _vcfg___bit equ 6 926 ; line_number = 351 927 ; bind _chs2 = _adcon0@4 928 0000001f = _chs2___byte equ _adcon0 929 00000004 = _chs2___bit equ 4 930 ; line_number = 352 931 ; bind _chs1 = _adcon0@3 932 0000001f = _chs1___byte equ _adcon0 933 00000003 = _chs1___bit equ 3 934 ; line_number = 353 935 ; bind _chs0 = _adcon0@2 936 0000001f = _chs0___byte equ _adcon0 937 00000002 = _chs0___bit equ 2 938 ; line_number = 354 939 ; bind _go = _adcon0@1 940 0000001f = _go___byte equ _adcon0 941 00000001 = _go___bit equ 1 942 ; line_number = 355 943 ; bind _adon = _adcon0@0 944 0000001f = _adon___byte equ _adcon0 945 00000000 = _adon___bit equ 0 946 947 ; # Data bank 1 (0x80-0xff): 948 949 ; line_number = 359 950 ; register _option_reg = 951 00000081 = _option_reg equ 129 952 ; line_number = 360 953 ; bind _rapu = _option_reg@7 954 00000081 = _rapu___byte equ _option_reg 955 00000007 = _rapu___bit equ 7 956 ; line_number = 361 957 ; bind _intedg = _option_reg@6 958 00000081 = _intedg___byte equ _option_reg 959 00000006 = _intedg___bit equ 6 960 ; line_number = 362 961 ; bind _t0cs = _option_reg@5 962 00000081 = _t0cs___byte equ _option_reg 963 00000005 = _t0cs___bit equ 5 964 ; line_number = 363 965 ; bind _t0se = _option_reg@4 966 00000081 = _t0se___byte equ _option_reg 967 00000004 = _t0se___bit equ 4 968 ; line_number = 364 969 ; bind _psa = _option_reg@3 970 00000081 = _psa___byte equ _option_reg 971 00000003 = _psa___bit equ 3 972 ; line_number = 365 973 ; bind _ps2 = _option_reg@2 974 00000081 = _ps2___byte equ _option_reg 975 00000002 = _ps2___bit equ 2 976 ; line_number = 366 977 ; bind _ps1 = _option_reg@1 978 00000081 = _ps1___byte equ _option_reg 979 00000001 = _ps1___bit equ 1 980 ; line_number = 367 981 ; bind _ps0 = _option_reg@0 982 00000081 = _ps0___byte equ _option_reg 983 00000000 = _ps0___bit equ 0 984 985 ; line_number = 369 986 ; register _trisa = 987 00000085 = _trisa equ 133 988 ; line_number = 370 989 ; bind _trisa5 = _trisa@5 990 00000085 = _trisa5___byte equ _trisa 991 00000005 = _trisa5___bit equ 5 992 ; line_number = 371 993 ; bind _trisa4 = _trisa@4 994 00000085 = _trisa4___byte equ _trisa 995 00000004 = _trisa4___bit equ 4 996 ; line_number = 372 997 ; bind _trisa3 = _trisa@3 998 00000085 = _trisa3___byte equ _trisa 999 00000003 = _trisa3___bit equ 3 1000 ; line_number = 373 1001 ; bind _trisa2 = _trisa@2 1002 00000085 = _trisa2___byte equ _trisa 1003 00000002 = _trisa2___bit equ 2 1004 ; line_number = 374 1005 ; bind _trisa1 = _trisa@1 1006 00000085 = _trisa1___byte equ _trisa 1007 00000001 = _trisa1___bit equ 1 1008 ; line_number = 375 1009 ; bind _trisa0 = _trisa@0 1010 00000085 = _trisa0___byte equ _trisa 1011 00000000 = _trisa0___bit equ 0 1012 1013 ; line_number = 377 1014 ; register _trisc = 1015 00000087 = _trisc equ 135 1016 ; line_number = 378 1017 ; bind _trisc5 = _trisc@5 1018 00000087 = _trisc5___byte equ _trisc 1019 00000005 = _trisc5___bit equ 5 1020 ; line_number = 379 1021 ; bind _trisc4 = _trisc@4 1022 00000087 = _trisc4___byte equ _trisc 1023 00000004 = _trisc4___bit equ 4 1024 ; line_number = 380 1025 ; bind _trisc3 = _trisc@3 1026 00000087 = _trisc3___byte equ _trisc 1027 00000003 = _trisc3___bit equ 3 1028 ; line_number = 381 1029 ; bind _trisc2 = _trisc@2 1030 00000087 = _trisc2___byte equ _trisc 1031 00000002 = _trisc2___bit equ 2 1032 ; line_number = 382 1033 ; bind _trisc1 = _trisc@1 1034 00000087 = _trisc1___byte equ _trisc 1035 00000001 = _trisc1___bit equ 1 1036 ; line_number = 383 1037 ; bind _trisc0 = _trisc@0 1038 00000087 = _trisc0___byte equ _trisc 1039 00000000 = _trisc0___bit equ 0 1040 1041 ; line_number = 385 1042 ; register _pie1 = 1043 0000008c = _pie1 equ 140 1044 ; line_number = 386 1045 ; bind _eeie = _pie1@7 1046 0000008c = _eeie___byte equ _pie1 1047 00000007 = _eeie___bit equ 7 1048 ; line_number = 387 1049 ; bind _adie = _pie1@6 1050 0000008c = _adie___byte equ _pie1 1051 00000006 = _adie___bit equ 6 1052 ; line_number = 388 1053 ; bind _rcie = _pie1@5 1054 0000008c = _rcie___byte equ _pie1 1055 00000005 = _rcie___bit equ 5 1056 ; line_number = 389 1057 ; bind _c2ie = _pie1@4 1058 0000008c = _c2ie___byte equ _pie1 1059 00000004 = _c2ie___bit equ 4 1060 ; line_number = 390 1061 ; bind _c1ie = _pie1@3 1062 0000008c = _c1ie___byte equ _pie1 1063 00000003 = _c1ie___bit equ 3 1064 ; line_number = 391 1065 ; bind _osfie = _pie1@2 1066 0000008c = _osfie___byte equ _pie1 1067 00000002 = _osfie___bit equ 2 1068 ; line_number = 392 1069 ; bind _txie = _pie1@1 1070 0000008c = _txie___byte equ _pie1 1071 00000001 = _txie___bit equ 1 1072 ; line_number = 393 1073 ; bind _tmr1ie = _pie1@0 1074 0000008c = _tmr1ie___byte equ _pie1 1075 00000000 = _tmr1ie___bit equ 0 1076 1077 ; line_number = 395 1078 ; register _pcon = 1079 0000008e = _pcon equ 142 1080 ; line_number = 396 1081 ; bind _ulpwue = _pcon@5 1082 0000008e = _ulpwue___byte equ _pcon 1083 00000005 = _ulpwue___bit equ 5 1084 ; line_number = 397 1085 ; bind _sboden = _pcon@4 1086 0000008e = _sboden___byte equ _pcon 1087 00000004 = _sboden___bit equ 4 1088 ; line_number = 398 1089 ; bind _por = _pcon@1 1090 0000008e = _por___byte equ _pcon 1091 00000001 = _por___bit equ 1 1092 ; line_number = 399 1093 ; bind _bod = _pcon@0 1094 0000008e = _bod___byte equ _pcon 1095 00000000 = _bod___bit equ 0 1096 1097 ; line_number = 401 1098 ; register _osccon = 1099 0000008f = _osccon equ 143 1100 ; line_number = 402 1101 ; bind _ircf2 = _osccon@6 1102 0000008f = _ircf2___byte equ _osccon 1103 00000006 = _ircf2___bit equ 6 1104 ; line_number = 403 1105 ; bind _ircf1 = _osccon@5 1106 0000008f = _ircf1___byte equ _osccon 1107 00000005 = _ircf1___bit equ 5 1108 ; line_number = 404 1109 ; bind _ircf0 = _osccon@4 1110 0000008f = _ircf0___byte equ _osccon 1111 00000004 = _ircf0___bit equ 4 1112 ; line_number = 405 1113 ; bind _osts = _osccon@3 1114 0000008f = _osts___byte equ _osccon 1115 00000003 = _osts___bit equ 3 1116 ; line_number = 406 1117 ; bind _hts = _osccon@2 1118 0000008f = _hts___byte equ _osccon 1119 00000002 = _hts___bit equ 2 1120 ; line_number = 407 1121 ; bind _lts = _osccon@3 1122 0000008f = _lts___byte equ _osccon 1123 00000003 = _lts___bit equ 3 1124 ; line_number = 408 1125 ; bind _scs = _osccon@2 1126 0000008f = _scs___byte equ _osccon 1127 00000002 = _scs___bit equ 2 1128 1129 ; line_number = 410 1130 ; register _osctune = 1131 00000090 = _osctune equ 144 1132 ; line_number = 411 1133 ; bind _tun4 = _osctune@4 1134 00000090 = _tun4___byte equ _osctune 1135 00000004 = _tun4___bit equ 4 1136 ; line_number = 412 1137 ; bind _tun3 = _osctune@3 1138 00000090 = _tun3___byte equ _osctune 1139 00000003 = _tun3___bit equ 3 1140 ; line_number = 413 1141 ; bind _tun2 = _osctune@2 1142 00000090 = _tun2___byte equ _osctune 1143 00000002 = _tun2___bit equ 2 1144 ; line_number = 414 1145 ; bind _tun1 = _osctune@1 1146 00000090 = _tun1___byte equ _osctune 1147 00000001 = _tun1___bit equ 1 1148 ; line_number = 415 1149 ; bind _tun0 = _osctune@0 1150 00000090 = _tun0___byte equ _osctune 1151 00000000 = _tun0___bit equ 0 1152 ; line_number = 416 1153 ; constant _osccal_lsb = 1 1154 00000001 = _osccal_lsb equ 1 1155 1156 ; line_number = 418 1157 ; register _ansel = 1158 00000091 = _ansel equ 145 1159 ; line_number = 419 1160 ; bind _ans7 = _ansel@7 1161 00000091 = _ans7___byte equ _ansel 1162 00000007 = _ans7___bit equ 7 1163 ; line_number = 420 1164 ; bind _ans6 = _ansel@6 1165 00000091 = _ans6___byte equ _ansel 1166 00000006 = _ans6___bit equ 6 1167 ; line_number = 421 1168 ; bind _ans5 = _ansel@5 1169 00000091 = _ans5___byte equ _ansel 1170 00000005 = _ans5___bit equ 5 1171 ; line_number = 422 1172 ; bind _ans4 = _ansel@4 1173 00000091 = _ans4___byte equ _ansel 1174 00000004 = _ans4___bit equ 4 1175 ; line_number = 423 1176 ; bind _ans3 = _ansel@3 1177 00000091 = _ans3___byte equ _ansel 1178 00000003 = _ans3___bit equ 3 1179 ; line_number = 424 1180 ; bind _ans2 = _ansel@2 1181 00000091 = _ans2___byte equ _ansel 1182 00000002 = _ans2___bit equ 2 1183 ; line_number = 425 1184 ; bind _ans1 = _ansel@1 1185 00000091 = _ans1___byte equ _ansel 1186 00000001 = _ans1___bit equ 1 1187 ; line_number = 426 1188 ; bind _ans0 = _ansel@0 1189 00000091 = _ans0___byte equ _ansel 1190 00000000 = _ans0___bit equ 0 1191 1192 ; line_number = 428 1193 ; register _wpua = 1194 00000095 = _wpua equ 149 1195 ; line_number = 429 1196 ; bind _wpua5 = _wpua@5 1197 00000095 = _wpua5___byte equ _wpua 1198 00000005 = _wpua5___bit equ 5 1199 ; line_number = 430 1200 ; bind _wpua4 = _wpua@4 1201 00000095 = _wpua4___byte equ _wpua 1202 00000004 = _wpua4___bit equ 4 1203 ; line_number = 431 1204 ; bind _wpua2 = _wpua@2 1205 00000095 = _wpua2___byte equ _wpua 1206 00000002 = _wpua2___bit equ 2 1207 ; line_number = 432 1208 ; bind _wpua1 = _wpua@1 1209 00000095 = _wpua1___byte equ _wpua 1210 00000001 = _wpua1___bit equ 1 1211 ; line_number = 433 1212 ; bind _wpua0 = _wpua@0 1213 00000095 = _wpua0___byte equ _wpua 1214 00000000 = _wpua0___bit equ 0 1215 1216 ; line_number = 435 1217 ; register _ioca = 1218 00000096 = _ioca equ 150 1219 ; line_number = 436 1220 ; bind _ioca5 = _ioca@5 1221 00000096 = _ioca5___byte equ _ioca 1222 00000005 = _ioca5___bit equ 5 1223 ; line_number = 437 1224 ; bind _ioca4 = _ioca@4 1225 00000096 = _ioca4___byte equ _ioca 1226 00000004 = _ioca4___bit equ 4 1227 ; line_number = 438 1228 ; bind _ioca3 = _ioca@3 1229 00000096 = _ioca3___byte equ _ioca 1230 00000003 = _ioca3___bit equ 3 1231 ; line_number = 439 1232 ; bind _ioca2 = _ioca@2 1233 00000096 = _ioca2___byte equ _ioca 1234 00000002 = _ioca2___bit equ 2 1235 ; line_number = 440 1236 ; bind _ioca1 = _ioca@1 1237 00000096 = _ioca1___byte equ _ioca 1238 00000001 = _ioca1___bit equ 1 1239 ; line_number = 441 1240 ; bind _ioca0 = _ioca@0 1241 00000096 = _ioca0___byte equ _ioca 1242 00000000 = _ioca0___bit equ 0 1243 1244 ; line_number = 443 1245 ; register _eedath = 1246 00000097 = _eedath equ 151 1247 1248 ; line_number = 445 1249 ; register _eeadrh = 1250 00000098 = _eeadrh equ 152 1251 1252 ; line_number = 447 1253 ; register _vrcon = 1254 00000099 = _vrcon equ 153 1255 ; line_number = 448 1256 ; bind _vren = _vrcon@7 1257 00000099 = _vren___byte equ _vrcon 1258 00000007 = _vren___bit equ 7 1259 ; line_number = 449 1260 ; bind _vrr = _vrcon@5 1261 00000099 = _vrr___byte equ _vrcon 1262 00000005 = _vrr___bit equ 5 1263 ; line_number = 450 1264 ; bind _vr3 = _vrcon@3 1265 00000099 = _vr3___byte equ _vrcon 1266 00000003 = _vr3___bit equ 3 1267 ; line_number = 451 1268 ; bind _vr2 = _vrcon@2 1269 00000099 = _vr2___byte equ _vrcon 1270 00000002 = _vr2___bit equ 2 1271 ; line_number = 452 1272 ; bind _vr1 = _vrcon@1 1273 00000099 = _vr1___byte equ _vrcon 1274 00000001 = _vr1___bit equ 1 1275 ; line_number = 453 1276 ; bind _vr0 = _vrcon@0 1277 00000099 = _vr0___byte equ _vrcon 1278 00000000 = _vr0___bit equ 0 1279 1280 ; line_number = 455 1281 ; register _eedat = 1282 0000009a = _eedat equ 154 1283 ; line_number = 456 1284 ; bind _eedat7 = _eedat@7 1285 0000009a = _eedat7___byte equ _eedat 1286 00000007 = _eedat7___bit equ 7 1287 ; line_number = 457 1288 ; bind _eedat6 = _eedat@6 1289 0000009a = _eedat6___byte equ _eedat 1290 00000006 = _eedat6___bit equ 6 1291 ; line_number = 458 1292 ; bind _eedat5 = _eedat@5 1293 0000009a = _eedat5___byte equ _eedat 1294 00000005 = _eedat5___bit equ 5 1295 ; line_number = 459 1296 ; bind _eedat4 = _eedat@4 1297 0000009a = _eedat4___byte equ _eedat 1298 00000004 = _eedat4___bit equ 4 1299 ; line_number = 460 1300 ; bind _eedat3 = _eedat@3 1301 0000009a = _eedat3___byte equ _eedat 1302 00000003 = _eedat3___bit equ 3 1303 ; line_number = 461 1304 ; bind _eedat2 = _eedat@2 1305 0000009a = _eedat2___byte equ _eedat 1306 00000002 = _eedat2___bit equ 2 1307 ; line_number = 462 1308 ; bind _eedat1 = _eedat@1 1309 0000009a = _eedat1___byte equ _eedat 1310 00000001 = _eedat1___bit equ 1 1311 ; line_number = 463 1312 ; bind _eedat0 = _eedat@0 1313 0000009a = _eedat0___byte equ _eedat 1314 00000000 = _eedat0___bit equ 0 1315 1316 ; line_number = 465 1317 ; register _eeadr = 1318 0000009b = _eeadr equ 155 1319 ; line_number = 466 1320 ; bind _eeadr7 = _eeadr@7 1321 0000009b = _eeadr7___byte equ _eeadr 1322 00000007 = _eeadr7___bit equ 7 1323 ; line_number = 467 1324 ; bind _eeadr6 = _eeadr@6 1325 0000009b = _eeadr6___byte equ _eeadr 1326 00000006 = _eeadr6___bit equ 6 1327 ; line_number = 468 1328 ; bind _eeadr5 = _eeadr@5 1329 0000009b = _eeadr5___byte equ _eeadr 1330 00000005 = _eeadr5___bit equ 5 1331 ; line_number = 469 1332 ; bind _eeadr4 = _eeadr@4 1333 0000009b = _eeadr4___byte equ _eeadr 1334 00000004 = _eeadr4___bit equ 4 1335 ; line_number = 470 1336 ; bind _eeadr3 = _eeadr@3 1337 0000009b = _eeadr3___byte equ _eeadr 1338 00000003 = _eeadr3___bit equ 3 1339 ; line_number = 471 1340 ; bind _eeadr2 = _eeadr@2 1341 0000009b = _eeadr2___byte equ _eeadr 1342 00000002 = _eeadr2___bit equ 2 1343 ; line_number = 472 1344 ; bind _eeadr1 = _eeadr@1 1345 0000009b = _eeadr1___byte equ _eeadr 1346 00000001 = _eeadr1___bit equ 1 1347 ; line_number = 473 1348 ; bind _eeadr0 = _eeadr@0 1349 0000009b = _eeadr0___byte equ _eeadr 1350 00000000 = _eeadr0___bit equ 0 1351 1352 ; line_number = 475 1353 ; register _eecon1 = 1354 0000009c = _eecon1 equ 156 1355 ; line_number = 476 1356 ; bind _eepgd = _eecon1@7 1357 0000009c = _eepgd___byte equ _eecon1 1358 00000007 = _eepgd___bit equ 7 1359 ; line_number = 477 1360 ; bind _wrerr = _eecon1@3 1361 0000009c = _wrerr___byte equ _eecon1 1362 00000003 = _wrerr___bit equ 3 1363 ; line_number = 478 1364 ; bind _wren = _eecon1@2 1365 0000009c = _wren___byte equ _eecon1 1366 00000002 = _wren___bit equ 2 1367 ; line_number = 479 1368 ; bind _wr = _eecon1@1 1369 0000009c = _wr___byte equ _eecon1 1370 00000001 = _wr___bit equ 1 1371 ; line_number = 480 1372 ; bind _rd = _eecon1@0 1373 0000009c = _rd___byte equ _eecon1 1374 00000000 = _rd___bit equ 0 1375 1376 ; line_number = 482 1377 ; register _eecon2 = 1378 0000009d = _eecon2 equ 157 1379 1380 ; line_number = 484 1381 ; register _adresl = 1382 0000009e = _adresl equ 158 1383 1384 ; line_number = 486 1385 ; register _adcon1 = 1386 0000009f = _adcon1 equ 159 1387 ; line_number = 487 1388 ; bind _adcs2 = _adcon1@6 1389 0000009f = _adcs2___byte equ _adcon1 1390 00000006 = _adcs2___bit equ 6 1391 ; line_number = 488 1392 ; bind _adcs1 = _adcon1@5 1393 0000009f = _adcs1___byte equ _adcon1 1394 00000005 = _adcs1___bit equ 5 1395 ; line_number = 489 1396 ; bind _adcs0 = _adcon1@4 1397 0000009f = _adcs0___byte equ _adcon1 1398 00000004 = _adcs0___bit equ 4 1399 1400 ; # Data Bank 2 (0x100 - 0x17f): 1401 1402 ; buffer = 'midimotor1e' 1403 ; line_number = 36 1404 ; library _pic16f688 exited 1405 1406 ; # The module runs at 20MHz: 1407 ; line_number = 39 1408 ; library clock20mhz entered 1409 ; # Copyright (c) 2004 by Wayne C. Gramlich 1410 ; # All rights reserved. 1411 1412 ; # This library defines the contstants {clock_rate}, {instruction_rate}, 1413 ; # and {clocks_per_instruction}. 1414 1415 ; # Define processor constants: 1416 ; buffer = 'clock20mhz' 1417 ; line_number = 9 1418 ; constant clock_rate = 20000000 1419 01312d00 = clock_rate equ 20000000 1420 ; line_number = 10 1421 ; constant clocks_per_instruction = 4 1422 00000004 = clocks_per_instruction equ 4 1423 ; line_number = 11 1424 ; constant instruction_rate = clock_rate / clocks_per_instruction 1425 004c4b40 = instruction_rate equ 5000000 1426 1427 1428 ; buffer = 'midimotor1e' 1429 ; line_number = 39 1430 ; library clock20mhz exited 1431 1432 ; # The {_eusart} module needs the following 2 constants defined 1433 ; # before inclusion: 1434 ; line_number = 43 1435 ; constant _eusart_clock = clock_rate 1436 01312d00 = _eusart_clock equ 20000000 1437 ; line_number = 44 1438 ; constant _eusart_factor = 4 1439 00000004 = _eusart_factor equ 4 1440 ; line_number = 45 1441 ; library _eusart entered 1442 1443 ; # Copyright (c) 2005 by Wayne C. Gramlich 1444 ; # All rights reserved. 1445 1446 ; # This library contains a bunch of definitions for the Enhanced Universal 1447 ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available 1448 ; # on many of the PIC microcontrollers. 1449 1450 ; # In order to use this module you have to get two constants defined 1451 ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}. 1452 ; # {_eusart_clock} should be set to the frequency oscillator for the chip. 1453 ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether 1454 ; # the {_brg16} and {_brgh} bits are set. Use the table below to select: 1455 ; # 1456 ; # _{brg16} {_brgh} _{eusart_factor} 1457 ; # 0 0 64 1458 ; # 0 1 16 1459 ; # 1 0 16 1460 ; # 1 1 4 1461 1462 ; # 2400 bits/sec: 1463 ; buffer = '_eusart' 1464 ; line_number = 23 1465 ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1 1466 00000822 = _eusart_2400 equ 2082 1467 ; line_number = 24 1468 ; constant _eusart_2400_low = _eusart_2400 & 0xff 1469 00000022 = _eusart_2400_low equ 34 1470 ; line_number = 25 1471 ; constant _eusart_2400_high = _eusart_2400 >> 8 1472 00000008 = _eusart_2400_high equ 8 1473 ; line_number = 26 1474 ; constant _eusart_2400_index = 0 1475 00000000 = _eusart_2400_index equ 0 1476 ; # 4800 bits/sec: 1477 ; line_number = 28 1478 ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1 1479 00000410 = _eusart_4800 equ 1040 1480 ; line_number = 29 1481 ; constant _eusart_4800_low = _eusart_4800 & 0xff 1482 00000010 = _eusart_4800_low equ 16 1483 ; line_number = 30 1484 ; constant _eusart_4800_high = _eusart_4800 >> 8 1485 00000004 = _eusart_4800_high equ 4 1486 ; line_number = 31 1487 ; constant _eusart_4800_index = 1 1488 00000001 = _eusart_4800_index equ 1 1489 ; # 9600 bits/sec: 1490 ; line_number = 33 1491 ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1 1492 00000207 = _eusart_9600 equ 519 1493 ; line_number = 34 1494 ; constant _eusart_9600_low = _eusart_9600 & 0xff 1495 00000007 = _eusart_9600_low equ 7 1496 ; line_number = 35 1497 ; constant _eusart_9600_high = _eusart_9600 >> 8 1498 00000002 = _eusart_9600_high equ 2 1499 ; line_number = 36 1500 ; constant _eusart_9600_index = 2 1501 00000002 = _eusart_9600_index equ 2 1502 ; # 19200 bits/sec: 1503 ; line_number = 38 1504 ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1 1505 00000103 = _eusart_19200 equ 259 1506 ; line_number = 39 1507 ; constant _eusart_19200_low = _eusart_19200 & 0xff 1508 00000003 = _eusart_19200_low equ 3 1509 ; line_number = 40 1510 ; constant _eusart_19200_high = _eusart_19200 >> 8 1511 00000001 = _eusart_19200_high equ 1 1512 ; line_number = 41 1513 ; constant _eusart_19200_index = 3 1514 00000003 = _eusart_19200_index equ 3 1515 ; # 38400 bits/sec: 1516 ; line_number = 43 1517 ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1 1518 00000081 = _eusart_38400 equ 129 1519 ; line_number = 44 1520 ; constant _eusart_38400_low = _eusart_38400 & 0xff 1521 00000081 = _eusart_38400_low equ 129 1522 ; line_number = 45 1523 ; constant _eusart_38400_high = _eusart_38400 >> 8 1524 00000000 = _eusart_38400_high equ 0 1525 ; line_number = 46 1526 ; constant _eusart_38400_index = 4 1527 00000004 = _eusart_38400_index equ 4 1528 ; # 57600 bits/sec: 1529 ; line_number = 48 1530 ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1 1531 00000055 = _eusart_57600 equ 85 1532 ; line_number = 49 1533 ; constant _eusart_57600_low = _eusart_57600 & 0xff 1534 00000055 = _eusart_57600_low equ 85 1535 ; line_number = 50 1536 ; constant _eusart_57600_high = _eusart_57600 >> 8 1537 00000000 = _eusart_57600_high equ 0 1538 ; line_number = 51 1539 ; constant _eusart_57600_index = 5 1540 00000005 = _eusart_57600_index equ 5 1541 ; # 115200 bits/sec: 1542 ; line_number = 53 1543 ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1 1544 0000002a = _eusart_115200 equ 42 1545 ; line_number = 54 1546 ; constant _eusart_115200_low = _eusart_115200 & 0xff 1547 0000002a = _eusart_115200_low equ 42 1548 ; line_number = 55 1549 ; constant _eusart_115200_high = _eusart_115200 >> 8 1550 00000000 = _eusart_115200_high equ 0 1551 ; line_number = 56 1552 ; constant _eusart_115200_index = 6 1553 00000006 = _eusart_115200_index equ 6 1554 ; # 203400 bits/sec: 1555 ; line_number = 58 1556 ; constant _eusart_230400 = (_eusart_clock / (230400 * _eusart_factor)) - 1 1557 00000014 = _eusart_230400 equ 20 1558 ; line_number = 59 1559 ; constant _eusart_230400_low = _eusart_230400 & 0xff 1560 00000014 = _eusart_230400_low equ 20 1561 ; line_number = 60 1562 ; constant _eusart_230400_high = _eusart_230400 >> 8 1563 00000000 = _eusart_230400_high equ 0 1564 ; line_number = 61 1565 ; constant _eusart_230400_index = 7 1566 00000007 = _eusart_230400_index equ 7 1567 ; # 406800 bits/sec: 1568 ; line_number = 63 1569 ; constant _eusart_460800 = (_eusart_clock / (460800 * _eusart_factor)) - 1 1570 00000009 = _eusart_460800 equ 9 1571 ; line_number = 64 1572 ; constant _eusart_460800_low = _eusart_460800 & 0xff 1573 00000009 = _eusart_460800_low equ 9 1574 ; line_number = 65 1575 ; constant _eusart_460800_high = _eusart_460800 >> 8 1576 00000000 = _eusart_460800_high equ 0 1577 ; line_number = 66 1578 ; constant _eusart_460800_index = 8 1579 00000008 = _eusart_460800_index equ 8 1580 ; # 500000 bits/sec: 1581 ; line_number = 68 1582 ; constant _eusart_500000 = (_eusart_clock / (500000 * _eusart_factor)) - 1 1583 00000009 = _eusart_500000 equ 9 1584 ; line_number = 69 1585 ; constant _eusart_500000_low = _eusart_500000 & 0xff 1586 00000009 = _eusart_500000_low equ 9 1587 ; line_number = 70 1588 ; constant _eusart_500000_high = _eusart_500000 >> 8 1589 00000000 = _eusart_500000_high equ 0 1590 ; line_number = 71 1591 ; constant _eusart_500000_index = 9 1592 00000009 = _eusart_500000_index equ 9 1593 ; # 576000 bits/sec (1MHz): 1594 ; line_number = 73 1595 ; constant _eusart_576000 = (_eusart_clock / (576000 * _eusart_factor)) - 1 1596 00000007 = _eusart_576000 equ 7 1597 ; line_number = 74 1598 ; constant _eusart_576000_low = _eusart_576000 & 0xff 1599 00000007 = _eusart_576000_low equ 7 1600 ; line_number = 75 1601 ; constant _eusart_576000_high = _eusart_576000 >> 8 1602 00000000 = _eusart_576000_high equ 0 1603 ; line_number = 76 1604 ; constant _eusart_576000_index = 10 1605 0000000a = _eusart_576000_index equ 10 1606 ; # 625000 bits/sec: 1607 ; line_number = 78 1608 ; constant _eusart_625000 = (_eusart_clock / (625000 * _eusart_factor)) - 1 1609 00000007 = _eusart_625000 equ 7 1610 ; line_number = 79 1611 ; constant _eusart_625000_low = _eusart_625000 & 0xff 1612 00000007 = _eusart_625000_low equ 7 1613 ; line_number = 80 1614 ; constant _eusart_625000_high = _eusart_625000 >> 8 1615 00000000 = _eusart_625000_high equ 0 1616 ; line_number = 81 1617 ; constant _eusart_625000_index = 11 1618 0000000b = _eusart_625000_index equ 11 1619 ; # 833333 bits/sec: 1620 ; line_number = 83 1621 ; constant _eusart_833333 = (_eusart_clock / (833333 * _eusart_factor)) - 1 1622 00000005 = _eusart_833333 equ 5 1623 ; line_number = 84 1624 ; constant _eusart_833333_low = _eusart_833333 & 0xff 1625 00000005 = _eusart_833333_low equ 5 1626 ; line_number = 85 1627 ; constant _eusart_833333_high = _eusart_833333 >> 8 1628 00000000 = _eusart_833333_high equ 0 1629 ; line_number = 86 1630 ; constant _eusart_833333_index = 12 1631 0000000c = _eusart_833333_index equ 12 1632 ; # 921600 bits/sec: 1633 ; line_number = 88 1634 ; constant _eusart_921600 = (_eusart_clock / (921600 * _eusart_factor)) - 1 1635 00000004 = _eusart_921600 equ 4 1636 ; line_number = 89 1637 ; constant _eusart_921600_low = _eusart_921600 & 0xff 1638 00000004 = _eusart_921600_low equ 4 1639 ; line_number = 90 1640 ; constant _eusart_921600_high = _eusart_921600 >> 8 1641 00000000 = _eusart_921600_high equ 0 1642 ; line_number = 91 1643 ; constant _eusart_921600_index = 13 1644 0000000d = _eusart_921600_index equ 13 1645 ; # 1000000 bits/sec (1MHz): 1646 ; line_number = 93 1647 ; constant _eusart_1000000 = (_eusart_clock / (1000000 * _eusart_factor)) - 1 1648 00000004 = _eusart_1000000 equ 4 1649 ; line_number = 94 1650 ; constant _eusart_1000000_low = _eusart_1000000 & 0xff 1651 00000004 = _eusart_1000000_low equ 4 1652 ; line_number = 95 1653 ; constant _eusart_1000000_high = _eusart_1000000 >> 8 1654 00000000 = _eusart_1000000_high equ 0 1655 ; line_number = 96 1656 ; constant _eusart_1000000_index = 14 1657 0000000e = _eusart_1000000_index equ 14 1658 1659 ; buffer = 'midimotor1e' 1660 ; line_number = 45 1661 ; library _eusart exited 1662 1663 ; line_number = 47 1664 ; constant microsecond = 5 1665 00000005 = microsecond equ 5 1666 1667 ; line_number = 49 1668 ; library rb2_constants entered 1669 1670 ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. 1671 ; # All rights reserved. 1672 1673 ; buffer = 'rb2_constants' 1674 ; line_number = 6 1675 ; constant rb2_ok = 0xa5 1676 000000a5 = rb2_ok equ 165 1677 1678 ; line_number = 8 1679 ; constant rb2_common_address_set = 0xfc 1680 000000fc = rb2_common_address_set equ 252 1681 ; line_number = 9 1682 ; constant rb2_common_id_next = 0xfd 1683 000000fd = rb2_common_id_next equ 253 1684 ; line_number = 10 1685 ; constant rb2_common_id_start = 0xfe 1686 000000fe = rb2_common_id_start equ 254 1687 ; line_number = 11 1688 ; constant rb2_common_deselect = 0xff 1689 000000ff = rb2_common_deselect equ 255 1690 1691 ; line_number = 13 1692 ; constant rb2_laser1_address = 1 1693 00000001 = rb2_laser1_address equ 1 1694 ; line_number = 14 1695 ; constant rb2_laser1_sense_read = 0 1696 00000000 = rb2_laser1_sense_read equ 0 1697 ; line_number = 15 1698 ; constant rb2_laser1_enable_read = 1 1699 00000001 = rb2_laser1_enable_read equ 1 1700 ; line_number = 16 1701 ; constant rb2_laser1_enable_clear = 2 1702 00000002 = rb2_laser1_enable_clear equ 2 1703 ; line_number = 17 1704 ; constant rb2_laser1_enable_set = 3 1705 00000003 = rb2_laser1_enable_set equ 3 1706 1707 ; line_number = 19 1708 ; constant rb2_minimotor2_address = 2 1709 00000002 = rb2_minimotor2_address equ 2 1710 ; line_number = 20 1711 ; constant rb2_midimotor2_address = 3 1712 00000003 = rb2_midimotor2_address equ 3 1713 ; line_number = 21 1714 ; constant rb2_motor0_speed_get = 0 1715 00000000 = rb2_motor0_speed_get equ 0 1716 ; line_number = 22 1717 ; constant rb2_motor0_speed_set = 1 1718 00000001 = rb2_motor0_speed_set equ 1 1719 ; line_number = 23 1720 ; constant rb2_motor1_speed_get = 2 1721 00000002 = rb2_motor1_speed_get equ 2 1722 ; line_number = 24 1723 ; constant rb2_motor1_speed_set = 3 1724 00000003 = rb2_motor1_speed_set equ 3 1725 ; line_number = 25 1726 ; constant rb2_duty_cycle_get = 4 1727 00000004 = rb2_duty_cycle_get equ 4 1728 ; line_number = 26 1729 ; constant rb2_duty_cycle_set = 8 1730 00000008 = rb2_duty_cycle_set equ 8 1731 1732 ; line_number = 28 1733 ; constant rb2_irdistance2_address = 4 1734 00000004 = rb2_irdistance2_address equ 4 1735 ; line_number = 29 1736 ; constant rb2_irdistance2_raw0_get = 0 1737 00000000 = rb2_irdistance2_raw0_get equ 0 1738 ; line_number = 30 1739 ; constant rb2_irdistance2_raw1_get = 1 1740 00000001 = rb2_irdistance2_raw1_get equ 1 1741 ; line_number = 31 1742 ; constant rb2_irdistance2_smooth0_get = 2 1743 00000002 = rb2_irdistance2_smooth0_get equ 2 1744 ; line_number = 32 1745 ; constant rb2_irdistance2_smooth1_get = 3 1746 00000003 = rb2_irdistance2_smooth1_get equ 3 1747 ; line_number = 33 1748 ; constant rb2_irdistance2_linear0_get = 4 1749 00000004 = rb2_irdistance2_linear0_get equ 4 1750 ; line_number = 34 1751 ; constant rb2_irdistance2_linear1_get = 6 1752 00000006 = rb2_irdistance2_linear1_get equ 6 1753 1754 ; line_number = 36 1755 ; constant rb2_shaft2_address = 5 1756 00000005 = rb2_shaft2_address equ 5 1757 ; line_number = 37 1758 ; constant rb2_shaft2_count_latch = 0 1759 00000000 = rb2_shaft2_count_latch equ 0 1760 ; line_number = 38 1761 ; constant rb2_shaft2_count_clear = 1 1762 00000001 = rb2_shaft2_count_clear equ 1 1763 ; line_number = 39 1764 ; constant rb2_shaft2_shaft0_high_get = 2 1765 00000002 = rb2_shaft2_shaft0_high_get equ 2 1766 ; line_number = 40 1767 ; constant rb2_shaft2_shaft1_high_get = 3 1768 00000003 = rb2_shaft2_shaft1_high_get equ 3 1769 ; line_number = 41 1770 ; constant rb2_shaft2_continue_get = 4 1771 00000004 = rb2_shaft2_continue_get equ 4 1772 ; line_number = 42 1773 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get 1774 00000004 = rb2_shaft2_shaft0_low_get equ 4 1775 ; line_number = 43 1776 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get 1777 00000004 = rb2_shaft2_shaft1_low_get equ 4 1778 ; line_number = 44 1779 ; constant rb2_shaft2_x_get = 0x10 1780 00000010 = rb2_shaft2_x_get equ 16 1781 ; line_number = 45 1782 ; constant rb2_shaft2_y_get = 0x11 1783 00000011 = rb2_shaft2_y_get equ 17 1784 ; line_number = 46 1785 ; constant rb2_shaft2_bearing16_get = 0x12 1786 00000012 = rb2_shaft2_bearing16_get equ 18 1787 ; line_number = 47 1788 ; constant rb2_shaft2_bearing8_get = 0x13 1789 00000013 = rb2_shaft2_bearing8_get equ 19 1790 ; line_number = 48 1791 ; constant rb2_shaft2_target_x_get = 0x14 1792 00000014 = rb2_shaft2_target_x_get equ 20 1793 ; line_number = 49 1794 ; constant rb2_shaft2_target_y_get = 0x15 1795 00000015 = rb2_shaft2_target_y_get equ 21 1796 ; line_number = 50 1797 ; constant rb2_shaft2_target_bearing16_get = 0x16 1798 00000016 = rb2_shaft2_target_bearing16_get equ 22 1799 ; line_number = 51 1800 ; constant rb2_shaft2_target_bearing8_get = 0x17 1801 00000017 = rb2_shaft2_target_bearing8_get equ 23 1802 ; line_number = 52 1803 ; constant rb2_shaft2_target_distance_get = 0x18 1804 00000018 = rb2_shaft2_target_distance_get equ 24 1805 ; line_number = 53 1806 ; constant rb2_shaft2_wheel_spacing_get = 0x19 1807 00000019 = rb2_shaft2_wheel_spacing_get equ 25 1808 ; line_number = 54 1809 ; constant rb2_shaft2_wheel_ticks_get = 0x1a 1810 0000001a = rb2_shaft2_wheel_ticks_get equ 26 1811 ; line_number = 55 1812 ; constant rb2_shaft2_wheel_diameter_get = 0x1b 1813 0000001b = rb2_shaft2_wheel_diameter_get equ 27 1814 ; line_number = 56 1815 ; constant rb2_shaft2_count_iteration_get = 0x1c 1816 0000001c = rb2_shaft2_count_iteration_get equ 28 1817 ; line_number = 57 1818 ; constant rb2_shaft2_counter_signs_get = 0x1d 1819 0000001d = rb2_shaft2_counter_signs_get equ 29 1820 ; line_number = 58 1821 ; constant rb2_shaft2_x_set = 0x20 1822 00000020 = rb2_shaft2_x_set equ 32 1823 ; line_number = 59 1824 ; constant rb2_shaft2_y_set = 0x21 1825 00000021 = rb2_shaft2_y_set equ 33 1826 ; line_number = 60 1827 ; constant rb2_shaft2_bearing16_set = 0x22 1828 00000022 = rb2_shaft2_bearing16_set equ 34 1829 ; line_number = 61 1830 ; constant rb2_shaft2_navigation_latch = 0x23 1831 00000023 = rb2_shaft2_navigation_latch equ 35 1832 ; line_number = 62 1833 ; constant rb2_shaft2_target_x_set = 0x24 1834 00000024 = rb2_shaft2_target_x_set equ 36 1835 ; line_number = 63 1836 ; constant rb2_shaft2_target_y_set = 0x25 1837 00000025 = rb2_shaft2_target_y_set equ 37 1838 ; line_number = 64 1839 ; constant rb2_shaft2_wheel_spacing_set = 0x29 1840 00000029 = rb2_shaft2_wheel_spacing_set equ 41 1841 ; line_number = 65 1842 ; constant rb2_shaft2_wheel_ticks_set = 0x2a 1843 0000002a = rb2_shaft2_wheel_ticks_set equ 42 1844 ; line_number = 66 1845 ; constant rb2_shaft2_wheel_diameter_set = 0x2b 1846 0000002b = rb2_shaft2_wheel_diameter_set equ 43 1847 ; line_number = 67 1848 ; constant rb2_shaft2_counter_signs_set = 0x2c 1849 0000002c = rb2_shaft2_counter_signs_set equ 44 1850 1851 ; line_number = 69 1852 ; constant rb2_orient5_address = 6 1853 00000006 = rb2_orient5_address equ 6 1854 1855 ; line_number = 71 1856 ; constant rb2_compass8_address = 7 1857 00000007 = rb2_compass8_address equ 7 1858 1859 ; line_number = 73 1860 ; constant rb2_io8_address = 8 1861 00000008 = rb2_io8_address equ 8 1862 ; line_number = 74 1863 ; constant rb2_io8_digital8_get = 0 1864 00000000 = rb2_io8_digital8_get equ 0 1865 ; line_number = 75 1866 ; constant rb2_io8_digital8_set = 1 1867 00000001 = rb2_io8_digital8_set equ 1 1868 ; line_number = 76 1869 ; constant rb2_io8_direction_get = 2 1870 00000002 = rb2_io8_direction_get equ 2 1871 ; line_number = 77 1872 ; constant rb2_io8_direction_set = 3 1873 00000003 = rb2_io8_direction_set equ 3 1874 ; line_number = 78 1875 ; constant rb2_io8_analog_mask_get = 4 1876 00000004 = rb2_io8_analog_mask_get equ 4 1877 ; line_number = 79 1878 ; constant rb2_io8_analog_mask_set = 5 1879 00000005 = rb2_io8_analog_mask_set equ 5 1880 ; line_number = 80 1881 ; constant rb2_io8_analog8_get = 0x10 1882 00000010 = rb2_io8_analog8_get equ 16 1883 ; line_number = 81 1884 ; constant rb2_io8_analog10_get = 0x18 1885 00000018 = rb2_io8_analog10_get equ 24 1886 ; line_number = 82 1887 ; constant rb2_low_set = 0x20 1888 00000020 = rb2_low_set equ 32 1889 ; line_number = 83 1890 ; constant rb2_high_set = 0x30 1891 00000030 = rb2_high_set equ 48 1892 1893 ; line_number = 85 1894 ; constant rb2_sonar2_address = 9 1895 00000009 = rb2_sonar2_address equ 9 1896 1897 ; line_number = 87 1898 ; constant rb2_voice1_address = 10 1899 0000000a = rb2_voice1_address equ 10 1900 1901 ; line_number = 89 1902 ; constant rb2_servo4_address = 11 1903 0000000b = rb2_servo4_address equ 11 1904 ; line_number = 90 1905 ; constant rb2_servo4_servo0 = 0 1906 00000000 = rb2_servo4_servo0 equ 0 1907 ; line_number = 91 1908 ; constant rb2_servo4_servo1 = 1 1909 00000001 = rb2_servo4_servo1 equ 1 1910 ; line_number = 92 1911 ; constant rb2_servo4_servo2 = 2 1912 00000002 = rb2_servo4_servo2 equ 2 1913 ; line_number = 93 1914 ; constant rb2_servo4_servo3 = 3 1915 00000003 = rb2_servo4_servo3 equ 3 1916 ; line_number = 94 1917 ; constant rb2_servo4_quick_set = 0 1918 00000000 = rb2_servo4_quick_set equ 0 1919 ; line_number = 95 1920 ; constant rb2_servo4_quick_low = 0 1921 00000000 = rb2_servo4_quick_low equ 0 1922 ; line_number = 96 1923 ; constant rb2_servo4_quick_center = 40 1924 00000028 = rb2_servo4_quick_center equ 40 1925 ; line_number = 97 1926 ; constant rb2_servo4_quick_high = 0x7c 1927 0000007c = rb2_servo4_quick_high equ 124 1928 ; line_number = 98 1929 ; constant rb2_servo4_high_low_set = 0x80 1930 00000080 = rb2_servo4_high_low_set equ 128 1931 ; line_number = 99 1932 ; constant rb2_servo4_short_high_low_set = 0x84 1933 00000084 = rb2_servo4_short_high_low_set equ 132 1934 ; line_number = 100 1935 ; constant rb2_servo4_high_set = 0x88 1936 00000088 = rb2_servo4_high_set equ 136 1937 ; line_number = 101 1938 ; constant rb2_servo4_low_set = 0x8c 1939 0000008c = rb2_servo4_low_set equ 140 1940 ; line_number = 102 1941 ; constant rb2_servo4_enables_set = 0x90 1942 00000090 = rb2_servo4_enables_set equ 144 1943 ; line_number = 103 1944 ; constant rb2_servo4_enable0 = 1 1945 00000001 = rb2_servo4_enable0 equ 1 1946 ; line_number = 104 1947 ; constant rb2_servo4_enable1 = 2 1948 00000002 = rb2_servo4_enable1 equ 2 1949 ; line_number = 105 1950 ; constant rb2_servo4_enable2 = 4 1951 00000004 = rb2_servo4_enable2 equ 4 1952 ; line_number = 106 1953 ; constant rb2_servo4_enable3 = 8 1954 00000008 = rb2_servo4_enable3 equ 8 1955 ; line_number = 107 1956 ; constant rb2_servo4_enable_all = 0xf 1957 0000000f = rb2_servo4_enable_all equ 15 1958 ; line_number = 108 1959 ; constant rb2_servo4_enable_none = 0 1960 00000000 = rb2_servo4_enable_none equ 0 1961 ; line_number = 109 1962 ; constant rb2_servo4_high_get = 0xa0 1963 000000a0 = rb2_servo4_high_get equ 160 1964 ; line_number = 110 1965 ; constant rb2_servo4_low_get = 0xa4 1966 000000a4 = rb2_servo4_low_get equ 164 1967 ; line_number = 111 1968 ; constant rb2_servo4_enables_get = 0xa8 1969 000000a8 = rb2_servo4_enables_get equ 168 1970 1971 ; line_number = 113 1972 ; constant rb2_controller28_address = 28 1973 0000001c = rb2_controller28_address equ 28 1974 1975 ; line_number = 115 1976 ; constant rb2_lcd32_address = 32 1977 00000020 = rb2_lcd32_address equ 32 1978 ; line_number = 116 1979 ; constant rb2_lcd32_row_set = 4 1980 00000004 = rb2_lcd32_row_set equ 4 1981 ; line_number = 117 1982 ; constant rb2_lcd32_row0_set = rb2_lcd32_row_set | 0 1983 00000004 = rb2_lcd32_row0_set equ 4 1984 ; line_number = 118 1985 ; constant rb2_lcd32_row1_set = rb2_lcd32_row_set | 1 1986 00000005 = rb2_lcd32_row1_set equ 5 1987 ; line_number = 119 1988 ; constant rb2_lcd32_row2_set = rb2_lcd32_row_set | 2 1989 00000006 = rb2_lcd32_row2_set equ 6 1990 ; line_number = 120 1991 ; constant rb2_lcd32_row3_set = rb2_lcd32_row_set | 3 1992 00000007 = rb2_lcd32_row3_set equ 7 1993 ; line_number = 121 1994 ; constant rb2_lcd32_new_line = 0xa 1995 0000000a = rb2_lcd32_new_line equ 10 1996 ; line_number = 122 1997 ; constant rb2_lcd32_form_feed = 0xc 1998 0000000c = rb2_lcd32_form_feed equ 12 1999 ; line_number = 123 2000 ; constant rb2_lcd32_carriage_return = 0xd 2001 0000000d = rb2_lcd32_carriage_return equ 13 2002 ; line_number = 124 2003 ; constant rb2_lcd32_column_set = 0x10 2004 00000010 = rb2_lcd32_column_set equ 16 2005 2006 2007 ; buffer = 'midimotor1e' 2008 ; line_number = 49 2009 ; library rb2_constants exited 2010 2011 ; # The module uses a 20MHz resonator; thus, the oscillator mode is HS: 2012 2013 ; # Besides the bus RX/TX lines, only 4 other lines are used to 2014 ; # control the motor -- RC<0:3>: 2015 ; line_number = 56 2016 ; package pdip 2017 ; line_number = 57 2018 ; pin 1 = power_supply 2019 ; line_number = 58 2020 ; pin 2 = osc1 2021 ; line_number = 59 2022 ; pin 3 = osc2 2023 ; line_number = 60 2024 ; pin 4 = ra3_nc 2025 ; line_number = 61 2026 ; pin 5 = rx, name=rx, bit=rx_bit 2027 00000007 = rx___byte equ _portc 2028 00000005 = rx___bit equ 5 2029 00000005 = rx_bit equ 5 2030 ; line_number = 62 2031 ; pin 6 = tx, name=tx, bit=tx_bit 2032 00000007 = tx___byte equ _portc 2033 00000004 = tx___bit equ 4 2034 00000004 = tx_bit equ 4 2035 ; line_number = 63 2036 ; pin 7 = rc3_nc 2037 ; line_number = 64 2038 ; pin 8 = rc2_nc 2039 ; line_number = 65 2040 ; pin 9 = rc1_out, name=m1b, mask=m1b_mask, bit=m1b_bit 2041 00000007 = m1b___byte equ _portc 2042 00000001 = m1b___bit equ 1 2043 00000002 = m1b_mask equ 2 2044 00000001 = m1b_bit equ 1 2045 ; line_number = 66 2046 ; pin 10 = rc0_out, name=m1a, mask=m1a_mask, bit=m1a_bit 2047 00000007 = m1a___byte equ _portc 2048 00000000 = m1a___bit equ 0 2049 00000001 = m1a_mask equ 1 2050 00000000 = m1a_bit equ 0 2051 ; line_number = 67 2052 ; pin 11 = an2 2053 ; line_number = 68 2054 ; pin 12 = ra1_in, name=quad_a, mask=quad_a_mask, bit=quad_a_bit 2055 00000005 = quad_a___byte equ _porta 2056 00000001 = quad_a___bit equ 1 2057 00000002 = quad_a_mask equ 2 2058 00000001 = quad_a_bit equ 1 2059 ; line_number = 69 2060 ; pin 13 = ra0_in, name=quad_b, mask=quad_b_mask, bit=quad_b_bit 2061 00000005 = quad_b___byte equ _porta 2062 00000000 = quad_b___bit equ 0 2063 00000001 = quad_b_mask equ 1 2064 00000000 = quad_b_bit equ 0 2065 ; line_number = 70 2066 ; pin 14 = ground 2067 2068 ; # All of the 24-bit signed file24 in the 24-bit register file are stored 2069 ; # in the {highs}, {middles} and {lows} arrays: 2070 ; line_number = 74 2071 ; constant position_index = 0 # Current position 2072 00000000 = position_index equ 0 2073 ; line_number = 75 2074 ; constant target_index = 1 # Target position 2075 00000001 = target_index equ 1 2076 ; line_number = 76 2077 ; constant divisor_index = 2 # Denominator for {kp}, {ki}, and {kd} 2078 00000002 = divisor_index equ 2 2079 ; line_number = 77 2080 ; constant kp_index = 3 # Numerator for {kp} 2081 00000003 = kp_index equ 3 2082 ; line_number = 78 2083 ; constant ki_index = 4 # Numerator for {ki} 2084 00000004 = ki_index equ 4 2085 ; line_number = 79 2086 ; constant kd_index = 5 # Numerator for {kd} 2087 00000005 = kd_index equ 5 2088 ; line_number = 80 2089 ; constant ad0_value_index = 6 # AD0 2090 00000006 = ad0_value_index equ 6 2091 ; line_number = 81 2092 ; constant ad1_value_index = 7 # AD1 2093 00000007 = ad1_value_index equ 7 2094 ; line_number = 82 2095 ; constant ad0_limit_index = 8 # AD0 2096 00000008 = ad0_limit_index equ 8 2097 ; line_number = 83 2098 ; constant ad1_limit_index = 9 # AD1 2099 00000009 = ad1_limit_index equ 9 2100 ; line_number = 84 2101 ; constant file24_size = 10 # 24-bit register file has 6 registers 2102 0000000a = file24_size equ 10 2103 2104 ; # We are short of bytes in data bank 0, so we stuff the 24-bit register 2105 ; # files off into data bank 2: 2106 ; line_number = 89 2107 ; global highs[file24_size] array[byte] # All the highs are grouped together 2108 00000120 = highs equ globals___2 2109 ; line_number = 90 2110 ; global middles[file24_size] array[byte] # All the middles are grouped together 2111 0000012a = middles equ globals___2+10 2112 ; line_number = 91 2113 ; global lows[file24_size] array[byte] # All the lows are grouped together 2114 00000134 = lows equ globals___2+20 2115 2116 ; # The quardarture is actually the same as the position: 2117 ; line_number = 94 2118 ; bind quad_high = highs[position_index] 2119 00000120 = quad_high equ globals___2 2120 ; line_number = 95 2121 ; bind quad_middle = middles[position_index] 2122 0000012a = quad_middle equ globals___2+10 2123 ; line_number = 96 2124 ; bind quad_low = lows[position_index] 2125 00000134 = quad_low equ globals___2+20 2126 ; line_number = 97 2127 ; global quad_state byte # The quadrature state 2128 0000013e = quad_state equ globals___2+30 2129 2130 ; line_number = 99 2131 ; bind ad0_value_high = highs[ad0_value_index] 2132 00000126 = ad0_value_high equ globals___2+6 2133 ; line_number = 100 2134 ; bind ad0_value_middle = middles[ad0_value_index] 2135 00000130 = ad0_value_middle equ globals___2+16 2136 ; line_number = 101 2137 ; bind ad0_value_low = lows[ad0_value_index] 2138 0000013a = ad0_value_low equ globals___2+26 2139 ; line_number = 102 2140 ; bind ad1_value_high = highs[ad1_value_index] 2141 00000127 = ad1_value_high equ globals___2+7 2142 ; line_number = 103 2143 ; bind ad1_value_middle = middles[ad1_value_index] 2144 00000131 = ad1_value_middle equ globals___2+17 2145 ; line_number = 104 2146 ; bind ad1_value_low = lows[ad1_value_index] 2147 0000013b = ad1_value_low equ globals___2+27 2148 2149 ; line_number = 106 2150 ; bind ad0_limit_high = highs[ad0_limit_index] 2151 00000128 = ad0_limit_high equ globals___2+8 2152 ; line_number = 107 2153 ; bind ad0_limit_middle = middles[ad0_limit_index] 2154 00000132 = ad0_limit_middle equ globals___2+18 2155 ; line_number = 108 2156 ; bind ad0_limit_low = lows[ad0_limit_index] 2157 0000013c = ad0_limit_low equ globals___2+28 2158 ; line_number = 109 2159 ; bind ad1_limit_high = highs[ad1_limit_index] 2160 00000129 = ad1_limit_high equ globals___2+9 2161 ; line_number = 110 2162 ; bind ad1_limit_middle = middles[ad1_limit_index] 2163 00000133 = ad1_limit_middle equ globals___2+19 2164 ; line_number = 111 2165 ; bind ad1_limit_low = lows[ad1_limit_index] 2166 0000013d = ad1_limit_low equ globals___2+29 2167 2168 ; # Temporarily removed to free up some space: 2169 ; #global xstates[32] array[byte] 2170 2171 ; # Every else with the 24-bit register file24 is in data bank 0: 2172 ; line_number = 118 2173 ; global file24_changed byte # 1 bit for each value to mark change 2174 00000020 = file24_changed equ globals___0 2175 ; line_number = 119 2176 ; global file24_zero byte # 1 bit for each value set to zero 2177 00000021 = file24_zero equ globals___0+1 2178 2179 ; # A number of places need a temporary for high, middle and low. Rather 2180 ; # than chew up scarse memory, we share them all with globals. As of now, 2181 ; # these bytes are used in {file24_float_convert}() and {uart_manage}(): 2182 ; line_number = 124 2183 ; global high byte # Temporary high byte 2184 00000022 = high equ globals___0+2 2185 ; line_number = 125 2186 ; global middle byte # Temporary middle byte 2187 00000023 = middle equ globals___0+3 2188 ; line_number = 126 2189 ; global low byte # Temporary low byte 2190 00000024 = low equ globals___0+4 2191 2192 ; # The 8-bit register file is stored in {file8} and indexed using the 2193 ; # indices below: 2194 ; line_number = 130 2195 ; constant configure_index = 0 # Configuration byte index 2196 00000000 = configure_index equ 0 2197 ; line_number = 131 2198 ; constant status_index = 1 # Status byte index 2199 00000001 = status_index equ 1 2200 ; line_number = 132 2201 ; constant speed_index = 2 # Current motor speed index 2202 00000002 = speed_index equ 2 2203 ; line_number = 133 2204 ; constant errors_index = 3 # Error count 2205 00000003 = errors_index equ 3 2206 ; line_number = 134 2207 ; constant deadband_index = 4 # Deadband for error 2208 00000004 = deadband_index equ 4 2209 ; line_number = 135 2210 ; constant minimum_index = 5 # Motor (non-zero) speed minimum 2211 00000005 = minimum_index equ 5 2212 ; line_number = 136 2213 ; constant maximum_index = 6 # Motor speed maximum 2214 00000006 = maximum_index equ 6 2215 ; line_number = 137 2216 ; constant file24_index_index = 7 # Index into 24-bit register file 2217 00000007 = file24_index_index equ 7 2218 ; line_number = 138 2219 ; constant file8_size = 8 # We have 8 registers in {file8] 2220 00000008 = file8_size equ 8 2221 2222 ; # These are the configure bits numbers: 2223 ; line_number = 141 2224 ; constant configure_motor_reverse_bit = 0 # Motor reverse bit 2225 00000000 = configure_motor_reverse_bit equ 0 2226 ; line_number = 142 2227 ; constant configure_position_reverse_bit = 1 # Position sensor reverse bit 2228 00000001 = configure_position_reverse_bit equ 1 2229 ; line_number = 143 2230 ; constant configure_quadrature_bit = 2 # Quadrature disable bit 2231 00000002 = configure_quadrature_bit equ 2 2232 ; line_number = 144 2233 ; constant configure_lock_bit = 3 # Lock configuration registers 2234 00000003 = configure_lock_bit equ 3 2235 ; line_number = 145 2236 ; constant configure_analog1_reverse_bit = 4 # Reverse analog1 sense direction 2237 00000004 = configure_analog1_reverse_bit equ 4 2238 ; line_number = 146 2239 ; constant configure_analog1_enable_bit = 5 # Reverse analog1 enable 2240 00000005 = configure_analog1_enable_bit equ 5 2241 ; line_number = 147 2242 ; constant configure_analog0_reverse_bit = 6 # Reverse analog0 sense direction 2243 00000006 = configure_analog0_reverse_bit equ 6 2244 ; line_number = 148 2245 ; constant configure_analog0_enable_bit = 7 # Reverse analog0 enable 2246 00000007 = configure_analog0_enable_bit equ 7 2247 2248 ; # Associated analog masks: 2249 ; line_number = 151 2250 ; constant configure_motor_reverse_mask = 1 << configure_motor_reverse_bit 2251 00000001 = configure_motor_reverse_mask equ 1 2252 ; line_number = 152 2253 ; constant configure_position_reverse_mask = 1 << configure_position_reverse_bit 2254 00000002 = configure_position_reverse_mask equ 2 2255 ; line_number = 153 2256 ; constant configure_quadrature_mask = 1 << configure_quadrature_bit 2257 00000004 = configure_quadrature_mask equ 4 2258 ; line_number = 154 2259 ; constant configure_analog1_reverse_mask = 1 << configure_analog1_reverse_bit 2260 00000010 = configure_analog1_reverse_mask equ 16 2261 ; line_number = 155 2262 ; constant configure_analog1_enable_mask = 1 << configure_analog1_enable_bit 2263 00000020 = configure_analog1_enable_mask equ 32 2264 ; line_number = 156 2265 ; constant configure_analog0_reverse_mask = 1 << configure_analog0_reverse_bit 2266 00000040 = configure_analog0_reverse_mask equ 64 2267 ; line_number = 157 2268 ; constant configure_analog0_enable_mask = 1 << configure_analog0_enable_bit 2269 00000080 = configure_analog0_enable_mask equ 128 2270 ; line_number = 158 2271 ; constant configure_analogs_enabled_mask = configure_analog0_enable_mask | configure_analog1_enable_mask 2272 000000a0 = configure_analogs_enabled_mask equ 160 2273 2274 ; # Here is the actual array of {file8}: 2275 ; line_number = 162 2276 ; global file8[file8_size] array[byte] 2277 00000025 = file8 equ globals___0+5 2278 2279 ; # It is a hassle to always index into {file8}, we use binds to make 2280 ; # the code more readable: 2281 ; line_number = 166 2282 ; bind configure = file8[configure_index] 2283 00000025 = configure equ globals___0+5 2284 ; line_number = 167 2285 ; bind motor_reverse = configure@configure_motor_reverse_bit 2286 00000025 = motor_reverse___byte equ globals___0+5 2287 00000000 = motor_reverse___bit equ 0 2288 ; line_number = 168 2289 ; bind position_reverse = configure@configure_position_reverse_bit 2290 00000025 = position_reverse___byte equ globals___0+5 2291 00000001 = position_reverse___bit equ 1 2292 ; line_number = 169 2293 ; bind use_potentiometer = configure@configure_quadrature_bit 2294 00000025 = use_potentiometer___byte equ globals___0+5 2295 00000002 = use_potentiometer___bit equ 2 2296 ; line_number = 170 2297 ; bind configure_lock = configure@configure_lock_bit 2298 00000025 = configure_lock___byte equ globals___0+5 2299 00000003 = configure_lock___bit equ 3 2300 ; line_number = 171 2301 ; bind ad0_reverse = configure@configure_analog0_reverse_bit 2302 00000025 = ad0_reverse___byte equ globals___0+5 2303 00000006 = ad0_reverse___bit equ 6 2304 ; line_number = 172 2305 ; bind ad0_enable = configure@configure_analog0_enable_bit 2306 00000025 = ad0_enable___byte equ globals___0+5 2307 00000007 = ad0_enable___bit equ 7 2308 ; line_number = 173 2309 ; bind ad1_reverse = configure@configure_analog0_reverse_bit 2310 00000025 = ad1_reverse___byte equ globals___0+5 2311 00000006 = ad1_reverse___bit equ 6 2312 ; line_number = 174 2313 ; bind ad1_enable = configure@configure_analog1_enable_bit 2314 00000025 = ad1_enable___byte equ globals___0+5 2315 00000005 = ad1_enable___bit equ 5 2316 ; line_number = 175 2317 ; bind status = file8[status_index] 2318 00000026 = status equ globals___0+6 2319 ; line_number = 176 2320 ; bind speed = file8[speed_index] 2321 00000027 = speed equ globals___0+7 2322 ; line_number = 177 2323 ; bind errors = file8[errors_index] 2324 00000028 = errors equ globals___0+8 2325 ; line_number = 178 2326 ; bind deadband = file8[deadband_index] 2327 00000029 = deadband equ globals___0+9 2328 ; line_number = 179 2329 ; bind minimum = file8[minimum_index] 2330 0000002a = minimum equ globals___0+10 2331 ; line_number = 180 2332 ; bind maximum = file8[maximum_index] 2333 0000002b = maximum equ globals___0+11 2334 ; line_number = 181 2335 ; bind file24_index = file8[file24_index_index] 2336 0000002c = file24_index equ globals___0+12 2337 2338 ; # These are the variables used to control motor1: 2339 ; line_number = 184 2340 ; global motor1_speed byte 2341 0000002d = motor1_speed equ globals___0+13 2342 ; line_number = 185 2343 ; global motor1_on_mask byte 2344 0000002e = motor1_on_mask equ globals___0+14 2345 ; line_number = 186 2346 ; global motor1_pulse_width byte 2347 0000002f = motor1_pulse_width equ globals___0+15 2348 2349 ; # UART Globals and constants: 2350 2351 ; line_number = 190 2352 ; global state byte # State machine for command parsing 2353 00000030 = state equ globals___0+16 2354 ; line_number = 191 2355 ; constant state_select_wait = 0 # Waiting for a select address 2356 00000000 = state_select_wait equ 0 2357 ; line_number = 192 2358 ; constant state_echo_then_command = 1 # Wait for echo then a command 2359 00000001 = state_echo_then_command equ 1 2360 ; line_number = 193 2361 ; constant state_command = 2 # Wait for a command 2362 00000002 = state_command equ 2 2363 ; line_number = 194 2364 ; constant state_file24_full_get1 = 3 2365 00000003 = state_file24_full_get1 equ 3 2366 ; line_number = 195 2367 ; constant state_file24_full_get2 = 4 2368 00000004 = state_file24_full_get2 equ 4 2369 ; line_number = 196 2370 ; constant state_file24_full_set1 = 5 2371 00000005 = state_file24_full_set1 equ 5 2372 ; line_number = 197 2373 ; constant state_file24_full_set2 = 6 2374 00000006 = state_file24_full_set2 equ 6 2375 ; line_number = 198 2376 ; constant state_file24_full_set3 = 7 2377 00000007 = state_file24_full_set3 equ 7 2378 ; line_number = 199 2379 ; constant state_value_low_set1 = 8 2380 00000008 = state_value_low_set1 equ 8 2381 ; line_number = 200 2382 ; constant state_value_middle_set1 = 9 2383 00000009 = state_value_middle_set1 equ 9 2384 ; line_number = 201 2385 ; constant state_value_high_set1 = 10 2386 0000000a = state_value_high_set1 equ 10 2387 ; line_number = 202 2388 ; constant state_file8_set1 = 11 2389 0000000b = state_file8_set1 equ 11 2390 ; line_number = 203 2391 ; constant state_file8_set2 = 12 2392 0000000c = state_file8_set2 equ 12 2393 ; line_number = 204 2394 ; constant state_file8_set3 = 13 2395 0000000d = state_file8_set3 equ 13 2396 ; line_number = 205 2397 ; constant state_address_set1 = 14 2398 0000000e = state_address_set1 equ 14 2399 ; line_number = 206 2400 ; constant state_address_set2 = 15 2401 0000000f = state_address_set2 equ 15 2402 ; line_number = 207 2403 ; constant state_address_set3 = 16 2404 00000010 = state_address_set3 equ 16 2405 ; line_number = 208 2406 ; constant state_address_set4 = 17 2407 00000011 = state_address_set4 equ 17 2408 ; line_number = 209 2409 ; constant state_probe_get1 = 18 2410 00000012 = state_probe_get1 equ 18 2411 ; line_number = 210 2412 ; constant state_probe_get2 = 19 2413 00000013 = state_probe_get2 equ 19 2414 2415 ; line_number = 212 2416 ; global id_index byte # Index into id string 2417 00000031 = id_index equ globals___0+17 2418 2419 ; # UART data input buffer: 2420 ; line_number = 215 2421 ; constant uart_input_size = 4 # Buffer size (=power of 2) 2422 00000004 = uart_input_size equ 4 2423 ; line_number = 216 2424 ; constant uart_input_mask = uart_input_size - 1 # Mask for index 2425 00000003 = uart_input_mask equ 3 2426 ; line_number = 217 2427 ; global uart_input[uart_input_size] array[byte] # Buffer for input 2428 00000032 = uart_input equ globals___0+18 2429 ; line_number = 218 2430 ; global uart_input_in_index byte # Next index to insert into 2431 00000036 = uart_input_in_index equ globals___0+22 2432 ; line_number = 219 2433 ; global uart_input_out_index byte # Next index to remove from 2434 00000037 = uart_input_out_index equ globals___0+23 2435 ; line_number = 220 2436 ; global uart_input_count byte # Bytes in buffer 2437 00000038 = uart_input_count equ globals___0+24 2438 ; line_number = 221 2439 ; global uart_input_pending bit # 1=>data is pending; 0=>no data 2440 0000006f = uart_input_pending___byte equ globals___0+79 2441 00000000 = uart_input_pending___bit equ 0 2442 2443 ; line_number = 223 2444 ; global address byte # Address of this module 2445 00000039 = address equ globals___0+25 2446 ; line_number = 224 2447 ; global new_address byte # New address of this module 2448 0000003a = new_address equ globals___0+26 2449 ; line_number = 225 2450 ; global channel byte # A/D channel 2451 0000003b = channel equ globals___0+27 2452 2453 ; # Load up floating point library in code bank 1 using datab bank 0: 2454 ; line_number = 228 2455 ; library_bank 1 2456 ; line_number = 230 2457 ; library _float32 entered 2458 2459 ; # Copyright (c) 2005-2006 Wayne C. Gramlich 2460 ; # All rights reserved. 2461 2462 ; # This library implements the following procedures for general use 2463 ; # by users: 2464 ; # 2465 ; # _float32_from_byte return float(x) where x is a byte 2466 ; # _float32_to_byte return byte(x) whre x is a float 2467 ; # 2468 ; # The following additional procedures are implemented for use by the 2469 ; # compiler. 2470 ; # 2471 ; # _float32_pointer_load() A := M[W] 2472 ; # _float32_pointer_add() A := M[W] 2473 ; # _float32_pointer_divide() A := A / M[W] 2474 ; # _float32_pointer_multiply() A := A * M[W] 2475 ; # _float32_pointer_subtract() A := A - M[W] 2476 ; # _float32_pointer_store M[W] := A 2477 ; # _float32_pointer_negate A := -A 2478 ; # _float32_pointer_reciprocal A := 1/A 2479 ; # _float32_pointer_swap A <=> M[W] 2480 ; # _float32_equals _z := A = 0.0 2481 ; # _float32_not_equal _z := A != 0.0 2482 ; # _float32_less_than _z := if A < 0.0 2483 ; # _float32_less_than_or_equal _z := A <= 0.0 2484 ; # _float32_greater_than _z := A > 0.0 2485 ; # _float32_greater_than_or_equal _z := A >= 0.0 2486 ; # 2487 ; # All of the procedures constants and labels in this library are 2488 ; # prefixed by "_float32_". 2489 ; # 2490 ; # The _float32 library is seriously intertwingled (technical term) 2491 ; # with the _float32_base library. What this means is both libraries 2492 ; # need to be loaded into the same code bank and data bank. There 2493 ; # is no real nead to worry since there is a "library _float32_base" 2494 ; # immediately below. These two libraries pretty much fill up 2495 ; # all of the code bank they are loaded into. 2496 ; # 2497 ; # For the uCL compiler, floats are required to be aligned on even 2498 ; # memory addresses. Since the PIC16F* processor can not access more 2499 ; # 512 bytes of RAM, this means that a pointer a float can be represented 2500 ; # in 8-bits as (float_address>>1). (Pretty, slick!) 2501 2502 ; buffer = '_float32' 2503 ; line_number = 46 2504 ; library _float32_base entered 2505 2506 ; # Copyright (c) 2005-2006 by Wayne C. Gramlich 2507 ; # All rights reserved. 2508 ; # Copyright (c) 1997 by Microchip, Inc. 2509 ; # All rights reserved. 2510 ; # 2511 ; # This code is based on a floating point library provided by Microchip 2512 ; # in AN575. Note, only the translation aspect is copyright Wayne C. 2513 ; # Gramlich; the original code is copyright by Microchip. 2514 ; # 2515 ; # 2516 ; # This library implements the following procedures: 2517 ; # 2518 ; # _float32_from_integer24() Convert 24-bit integer into float 2519 ; # _float32_normalize() Normalize a float 2520 ; # _float32_from integer32() Convert 32-bit integer into float 2521 ; # _float32_normalize40() Normalize a 40-bit float 2522 ; # _float32_integer24_convert() Convert float into 24 bit integer 2523 ; # _float32_integer32_convert() Convert float into 32 bit integer 2524 ; # _float32_multiply() Multiply two floats 2525 ; # _float32_divide() Divide two floats 2526 ; # _float32_subtract() Subtract two floats 2527 ; # _float32_add() Add two floats 2528 ; # 2529 ; # All procedures, constants, and labels in this procedure are 2530 ; # prefixed with "_float32_". 2531 ; # 2532 ; # Every attempt has been made to ensure that it compiles *exactly* as 2533 ; # the .hex file that ships with AN575. The remaining procedures 2534 ; # needed by the uCL compiler are in library _float32. 2535 ; # 2536 ; # Note that this procedure defines memory needed for both the 2537 ; # main arithmetic procedures and some of the square root and trigametric 2538 ; # procedures in the _float32_trig library. 2539 2540 ; buffer = '_float32_base' 2541 ; line_number = 37 2542 ; constant _float32_status = 3 2543 00000003 = _float32_status equ 3 2544 ; line_number = 38 2545 ; constant _float32_c = 0 2546 00000000 = _float32_c equ 0 2547 ; line_number = 39 2548 ; constant _float32_z = 2 2549 00000002 = _float32_z equ 2 2550 2551 ; # The floating point variables: 2552 ; line_number = 42 2553 ; constant _float32_msb = 7 2554 00000007 = _float32_msb equ 7 2555 ; line_number = 43 2556 ; constant _float32_lsb = 0 2557 00000000 = _float32_lsb equ 0 2558 2559 ; line_number = 45 2560 ; global _float32_loc20 byte 2561 000000a0 = _float32_loc20 equ globals___1 2562 ; line_number = 46 2563 ; global _float32_loc21 byte 2564 000000a1 = _float32_loc21 equ globals___1+1 2565 ; line_number = 47 2566 ; global _float32_loc22 byte 2567 000000a2 = _float32_loc22 equ globals___1+2 2568 ; line_number = 48 2569 ; global _float32_loc23 byte 2570 000000a3 = _float32_loc23 equ globals___1+3 2571 ; line_number = 49 2572 ; global _float32_loc24 byte 2573 000000a4 = _float32_loc24 equ globals___1+4 2574 ; line_number = 50 2575 ; global _float32_loc25 byte 2576 000000a5 = _float32_loc25 equ globals___1+5 2577 ; line_number = 51 2578 ; global _float32_loc26 byte 2579 000000a6 = _float32_loc26 equ globals___1+6 2580 ; line_number = 52 2581 ; global _float32_loc27 byte 2582 000000a7 = _float32_loc27 equ globals___1+7 2583 ; line_number = 53 2584 ; global _float32_loc28 byte 2585 000000a8 = _float32_loc28 equ globals___1+8 2586 ; line_number = 54 2587 ; global _float32_loc29 byte 2588 000000a9 = _float32_loc29 equ globals___1+9 2589 ; line_number = 55 2590 ; global _float32_loc2a byte 2591 000000aa = _float32_loc2a equ globals___1+10 2592 ; line_number = 56 2593 ; global _float32_loc2b byte 2594 000000ab = _float32_loc2b equ globals___1+11 2595 ; line_number = 57 2596 ; global _float32_loc2c byte 2597 000000ac = _float32_loc2c equ globals___1+12 2598 ; line_number = 58 2599 ; global _float32_loc2d byte 2600 000000ad = _float32_loc2d equ globals___1+13 2601 ; line_number = 59 2602 ; global _float32_loc2e byte 2603 000000ae = _float32_loc2e equ globals___1+14 2604 ; line_number = 60 2605 ; global _float32_loc2f byte 2606 000000af = _float32_loc2f equ globals___1+15 2607 ; line_number = 61 2608 ; global _float32_loc30 byte 2609 000000b0 = _float32_loc30 equ globals___1+16 2610 ; line_number = 62 2611 ; global _float32_loc31 byte 2612 000000b1 = _float32_loc31 equ globals___1+17 2613 ; line_number = 63 2614 ; global _float32_loc32 byte 2615 000000b2 = _float32_loc32 equ globals___1+18 2616 ; line_number = 64 2617 ; global _float32_loc33 byte 2618 000000b3 = _float32_loc33 equ globals___1+19 2619 ; line_number = 65 2620 ; global _float32_loc34 byte 2621 000000b4 = _float32_loc34 equ globals___1+20 2622 ; line_number = 66 2623 ; global _float32_loc35 byte 2624 000000b5 = _float32_loc35 equ globals___1+21 2625 ; line_number = 67 2626 ; global _float32_loc36 byte 2627 000000b6 = _float32_loc36 equ globals___1+22 2628 ; line_number = 68 2629 ; global _float32_loc37 byte 2630 000000b7 = _float32_loc37 equ globals___1+23 2631 ; line_number = 69 2632 ; global _float32_loc38 byte 2633 000000b8 = _float32_loc38 equ globals___1+24 2634 ; line_number = 70 2635 ; global _float32_loc39 byte 2636 000000b9 = _float32_loc39 equ globals___1+25 2637 ; line_number = 71 2638 ; global _float32_loc3a byte 2639 000000ba = _float32_loc3a equ globals___1+26 2640 ; line_number = 72 2641 ; global _float32_loc3b byte 2642 000000bb = _float32_loc3b equ globals___1+27 2643 ; line_number = 73 2644 ; global _float32_loc3c byte 2645 000000bc = _float32_loc3c equ globals___1+28 2646 ; line_number = 74 2647 ; global _float32_loc3d byte 2648 000000bd = _float32_loc3d equ globals___1+29 2649 ; line_number = 75 2650 ; global _float32_loc3e byte 2651 000000be = _float32_loc3e equ globals___1+30 2652 ; line_number = 76 2653 ; global _float32_loc3f byte 2654 000000bf = _float32_loc3f equ globals___1+31 2655 ; line_number = 77 2656 ; global _float32_loc40 byte 2657 000000c0 = _float32_loc40 equ globals___1+32 2658 ; line_number = 78 2659 ; global _float32_loc41 byte 2660 000000c1 = _float32_loc41 equ globals___1+33 2661 ; line_number = 79 2662 ; global _float32_loc42 byte 2663 000000c2 = _float32_loc42 equ globals___1+34 2664 ; line_number = 80 2665 ; global _float32_loc43 byte 2666 000000c3 = _float32_loc43 equ globals___1+35 2667 ; #global _float32_loc44 byte 2668 ; #global _float32_loc45 byte 2669 ; #global _float32_loc46 byte 2670 ; #global _float32_loc47 byte 2671 ; #global _float32_loc48 byte 2672 ; #global _float32_loc49 byte 2673 ; #global _float32_loc4a byte 2674 ; #global _float32_loc4b byte 2675 2676 ; # general register variables 2677 2678 ; # These are not used currently!!! 2679 ; #bind _float32_accb7 = _float32_loc20 2680 ; #bind _float32_accb6 = _float32_loc21 2681 ; #bind _float32_accb5 = _float32_loc22 2682 ; #bind _float32_accb4 = _float32_loc23 2683 ; #bind _float32_accb3 = _float32_loc24 2684 ; #bind _float32_accb2 = _float32_loc25 2685 ; #bind _float32_accb1 = _float32_loc26 2686 ; #bind _float32_accb0 = _float32_loc27 2687 ; # most significant byte of contiguous 8 byte accumulator 2688 ; #bind _float32_acc = _float32_loc27 2689 2690 ; # save location for sign in MSB 2691 ; line_number = 105 2692 ; bind _float32_sign = _float32_loc29 2693 000000a9 = _float32_sign equ globals___1+9 2694 2695 ; line_number = 107 2696 ; bind _float32_tempb3 = _float32_loc30 2697 000000b0 = _float32_tempb3 equ globals___1+16 2698 ; line_number = 108 2699 ; bind _float32_tempb2 = _float32_loc31 2700 000000b1 = _float32_tempb2 equ globals___1+17 2701 ; line_number = 109 2702 ; bind _float32_tempb1 = _float32_loc32 2703 000000b2 = _float32_tempb1 equ globals___1+18 2704 ; line_number = 110 2705 ; bind _float32_tempb0 = _float32_loc33 2706 000000b3 = _float32_tempb0 equ globals___1+19 2707 ; # temporary storage 2708 ; line_number = 112 2709 ; bind _float32_temp = _float32_loc33 2710 000000b3 = _float32_temp equ globals___1+19 2711 2712 ; # binary operation arguments 2713 2714 ; line_number = 116 2715 ; bind _float32_aargb7 = _float32_loc20 2716 000000a0 = _float32_aargb7 equ globals___1 2717 ; line_number = 117 2718 ; bind _float32_aargb6 = _float32_loc21 2719 000000a1 = _float32_aargb6 equ globals___1+1 2720 ; line_number = 118 2721 ; bind _float32_aargb5 = _float32_loc22 2722 000000a2 = _float32_aargb5 equ globals___1+2 2723 ; line_number = 119 2724 ; bind _float32_aargb4 = _float32_loc23 2725 000000a3 = _float32_aargb4 equ globals___1+3 2726 ; line_number = 120 2727 ; bind _float32_aargb3 = _float32_loc24 2728 000000a4 = _float32_aargb3 equ globals___1+4 2729 ; line_number = 121 2730 ; bind _float32_aargb2 = _float32_loc25 2731 000000a5 = _float32_aargb2 equ globals___1+5 2732 ; line_number = 122 2733 ; bind _float32_aargb1 = _float32_loc26 2734 000000a6 = _float32_aargb1 equ globals___1+6 2735 ; line_number = 123 2736 ; bind _float32_aargb0 = _float32_loc27 2737 000000a7 = _float32_aargb0 equ globals___1+7 2738 ; # most significant byte of argument A 2739 ; line_number = 125 2740 ; bind _float32_aarg = _float32_loc27 2741 000000a7 = _float32_aarg equ globals___1+7 2742 2743 ; line_number = 127 2744 ; bind _float32_bargb3 = _float32_loc2b 2745 000000ab = _float32_bargb3 equ globals___1+11 2746 ; line_number = 128 2747 ; bind _float32_bargb2 = _float32_loc2c 2748 000000ac = _float32_bargb2 equ globals___1+12 2749 ; line_number = 129 2750 ; bind _float32_bargb1 = _float32_loc2d 2751 000000ad = _float32_bargb1 equ globals___1+13 2752 ; line_number = 130 2753 ; bind _float32_bargb0 = _float32_loc2e 2754 000000ae = _float32_bargb0 equ globals___1+14 2755 ; # most significant byte of argument B 2756 ; line_number = 132 2757 ; bind _float32_barg = _float32_loc2e 2758 000000ae = _float32_barg equ globals___1+14 2759 2760 ; # Note that AARG and ACC reference the same storage locations 2761 2762 ; # FIXED POINT SPECIFIC DEFINITIONS 2763 ; # remainder storage 2764 2765 ; # These are not currently being used!!! 2766 ; #bind _float32_remb3 = _float32_loc20 2767 ; #bind _float32_remb2 = _float32_loc21 2768 ; #bind _float32_remb1 = _float32_loc22 2769 ; ## most significant byte of remainder 2770 ; #bind _float32_remb0 = _float32_loc23 2771 2772 ; line_number = 146 2773 ; bind _float32_loopcount = _float32_loc34 2774 000000b4 = _float32_loopcount equ globals___1+20 2775 2776 ; # FLOATING POINT SPECIFIC DEFINITIONS 2777 ; # literal constants 2778 ; line_number = 150 2779 ; constant _float32_expbias = 127 2780 0000007f = _float32_expbias equ 127 2781 ; line_number = 151 2782 ; constant _float32_expbias_1 = _float32_expbias - 1 2783 0000007e = _float32_expbias_1 equ 126 2784 ; line_number = 152 2785 ; constant _float32_expbias_23 = _float32_expbias + 23 2786 00000096 = _float32_expbias_23 equ 150 2787 ; line_number = 153 2788 ; constant _float32_expbias_31 = _float32_expbias + 31 2789 0000009e = _float32_expbias_31 equ 158 2790 2791 ; # biased exponents: 2792 2793 ; # 8 bit biased exponent 2794 ; line_number = 158 2795 ; bind _float32_exp = _float32_loc28 2796 000000a8 = _float32_exp equ globals___1+8 2797 2798 ; # 8 bit biased exponent for argument A 2799 ; line_number = 161 2800 ; bind _float32_aexp = _float32_loc28 2801 000000a8 = _float32_aexp equ globals___1+8 2802 2803 ; # 8 bit biased exponent for argument B 2804 ; line_number = 164 2805 ; bind _float32_bexp = _float32_loc2f 2806 000000af = _float32_bexp equ globals___1+15 2807 2808 ; # floating point library exception flags 2809 2810 ; # floating point library exception flags 2811 ; line_number = 169 2812 ; bind _float32_fpflags = _float32_loc2a 2813 000000aa = _float32_fpflags equ globals___1+10 2814 2815 ; # bit0 = integer overflow flag 2816 ; line_number = 172 2817 ; constant _float32_iov = 0 2818 00000000 = _float32_iov equ 0 2819 2820 ; # bit1 = floating point overflow flag 2821 ; line_number = 175 2822 ; constant _float32_fov = 1 2823 00000001 = _float32_fov equ 1 2824 2825 ; # bit2 = floating point underflow flag 2826 ; line_number = 178 2827 ; constant _float32_fun = 2 2828 00000002 = _float32_fun equ 2 2829 2830 ; # bit3 = floating point divide by zero flag 2831 ; line_number = 181 2832 ; constant _float32_fdz = 3 2833 00000003 = _float32_fdz equ 3 2834 2835 ; # bit4 = not-a-number exception flag 2836 ; line_number = 184 2837 ; constant _float32_nan = 4 2838 00000004 = _float32_nan equ 4 2839 2840 ; # bit5 = domain error exception flag 2841 ; line_number = 187 2842 ; constant _float32_dom = 5 2843 00000005 = _float32_dom equ 5 2844 2845 ; # bit6 = floating point rounding flag, 0 = truncation; 1 = unbiased rounding 2846 ; # to nearest LSB 2847 ; line_number = 191 2848 ; constant _float32_rnd = 6 2849 00000006 = _float32_rnd equ 6 2850 2851 ; # bit7 = floating point saturate flag, 0 = terminate on 2852 ; # exception without saturation, 1 = terminate on 2853 ; # exception with saturation to appropriate value 2854 ; line_number = 196 2855 ; constant _float32_sat = 7 2856 00000007 = _float32_sat equ 7 2857 2858 ; # ELEMENTARY FUNCTION MEMORY 2859 2860 ; line_number = 200 2861 ; bind _float32_cexp = _float32_loc35 2862 000000b5 = _float32_cexp equ globals___1+21 2863 ; line_number = 201 2864 ; bind _float32_cargb0 = _float32_loc36 2865 000000b6 = _float32_cargb0 equ globals___1+22 2866 ; line_number = 202 2867 ; bind _float32_cargb1 = _float32_loc37 2868 000000b7 = _float32_cargb1 equ globals___1+23 2869 ; line_number = 203 2870 ; bind _float32_cargb2 = _float32_loc38 2871 000000b8 = _float32_cargb2 equ globals___1+24 2872 ; line_number = 204 2873 ; bind _float32_cargb3 = _float32_loc39 2874 000000b9 = _float32_cargb3 equ globals___1+25 2875 2876 ; line_number = 206 2877 ; bind _float32_dexp = _float32_loc3a 2878 000000ba = _float32_dexp equ globals___1+26 2879 ; line_number = 207 2880 ; bind _float32_dargb0 = _float32_loc3b 2881 000000bb = _float32_dargb0 equ globals___1+27 2882 ; line_number = 208 2883 ; bind _float32_dargb1 = _float32_loc3c 2884 000000bc = _float32_dargb1 equ globals___1+28 2885 ; line_number = 209 2886 ; bind _float32_dargb2 = _float32_loc3d 2887 000000bd = _float32_dargb2 equ globals___1+29 2888 ; line_number = 210 2889 ; bind _float32_dargb3 = _float32_loc3e 2890 000000be = _float32_dargb3 equ globals___1+30 2891 2892 ; line_number = 212 2893 ; bind _float32_eexp = _float32_loc3f 2894 000000bf = _float32_eexp equ globals___1+31 2895 ; line_number = 213 2896 ; bind _float32_eargb0 = _float32_loc40 2897 000000c0 = _float32_eargb0 equ globals___1+32 2898 ; line_number = 214 2899 ; bind _float32_eargb1 = _float32_loc41 2900 000000c1 = _float32_eargb1 equ globals___1+33 2901 ; line_number = 215 2902 ; bind _float32_eargb2 = _float32_loc42 2903 000000c2 = _float32_eargb2 equ globals___1+34 2904 ; line_number = 216 2905 ; bind _float32_eargb3 = _float32_loc43 2906 000000c3 = _float32_eargb3 equ globals___1+35 2907 2908 ; #bind _float32_zargb0 = _float32_loc44 2909 ; #bind _float32_zargb1 = _float32_loc45 2910 ; #bind _float32_zargb2 = _float32_loc46 2911 ; #bind _float32_zargb3 = _float32_loc47 2912 2913 ; #bind _float32_randb0 = _float32_loc48 2914 ; #bind _float32_randb1 = _float32_loc49 2915 ; #bind _float32_randb2 = _float32_loc4a 2916 ; #bind _float32_randb3 = _float32_loc4b 2917 2918 ; # 32 BIT FLOATING POINT CONSTANTS 2919 2920 ; # Machine precision 2921 ; # 5.96046447754E-8 = 2**-24 2922 ; line_number = 232 2923 ; constant _float32_machep32exp = 0x67 2924 00000067 = _float32_machep32exp equ 103 2925 ; line_number = 233 2926 ; constant _float32_machep32b0 = 0 2927 00000000 = _float32_machep32b0 equ 0 2928 ; line_number = 234 2929 ; constant _float32_machep32b1 = 0 2930 00000000 = _float32_machep32b1 equ 0 2931 ; line_number = 235 2932 ; constant _float32_machep32b2 = 0 2933 00000000 = _float32_machep32b2 equ 0 2934 2935 ; # Maximum argument to EXP32 2936 ; # 88.7228391117 = log(2**128) 2937 ; line_number = 239 2938 ; constant _float32_maxlog32exp = 0x85 2939 00000085 = _float32_maxlog32exp equ 133 2940 ; line_number = 240 2941 ; constant _float32_maxlog32b0 = 0x31 2942 00000031 = _float32_maxlog32b0 equ 49 2943 ; line_number = 241 2944 ; constant _float32_maxlog32b1 = 0x72 2945 00000072 = _float32_maxlog32b1 equ 114 2946 ; line_number = 242 2947 ; constant _float32_maxlog32b2 = 0x18 2948 00000018 = _float32_maxlog32b2 equ 24 2949 2950 ; # Minimum argument to EXP32 2951 ; # -87.3365447506 = log(2**-126) 2952 ; line_number = 246 2953 ; constant _float32_minlog32exp = 0x85 2954 00000085 = _float32_minlog32exp equ 133 2955 ; line_number = 247 2956 ; constant _float32_minlog32b0 = 0xae 2957 000000ae = _float32_minlog32b0 equ 174 2958 ; line_number = 248 2959 ; constant _float32_minlog32b1 = 0xac 2960 000000ac = _float32_minlog32b1 equ 172 2961 ; line_number = 249 2962 ; constant _float32_minlog32b2 = 0x50 2963 00000050 = _float32_minlog32b2 equ 80 2964 2965 ; # Maximum argument to EXP1032 2966 ; # 38.531839445 = log10(2**128) 2967 ; line_number = 253 2968 ; constant _float32_maxlog1032exp = 0x84 2969 00000084 = _float32_maxlog1032exp equ 132 2970 ; line_number = 254 2971 ; constant _float32_maxlog1032b0 = 0x1a 2972 0000001a = _float32_maxlog1032b0 equ 26 2973 ; line_number = 255 2974 ; constant _float32_maxlog1032b1 = 0x20 2975 00000020 = _float32_maxlog1032b1 equ 32 2976 ; line_number = 256 2977 ; constant _float32_maxlog1032b2 = 0x9b 2978 0000009b = _float32_maxlog1032b2 equ 155 2979 2980 ; # Minimum argument to EXP1032 2981 ; # -37.9297794537 = log10(2**-126) 2982 ; line_number = 260 2983 ; constant _float32_minlog1032exp = 0x84 2984 00000084 = _float32_minlog1032exp equ 132 2985 ; line_number = 261 2986 ; constant _float32_minlog1032b0 = 0x97 2987 00000097 = _float32_minlog1032b0 equ 151 2988 ; line_number = 262 2989 ; constant _float32_minlog1032b1 = 0xb8 2990 000000b8 = _float32_minlog1032b1 equ 184 2991 ; line_number = 263 2992 ; constant _float32_minlog1032b2 = 0x18 2993 00000018 = _float32_minlog1032b2 equ 24 2994 2995 ; # Maximum representable number before overflow 2996 ; # 6.80564774407E38 = (2**128) * (2 - 2**-23) 2997 ; line_number = 267 2998 ; constant _float32_maxnum32exp = 0xff 2999 000000ff = _float32_maxnum32exp equ 255 3000 ; line_number = 268 3001 ; constant _float32_maxnum32b0 = 0x7f 3002 0000007f = _float32_maxnum32b0 equ 127 3003 ; line_number = 269 3004 ; constant _float32_maxnum32b1 = 0xff 3005 000000ff = _float32_maxnum32b1 equ 255 3006 ; line_number = 270 3007 ; constant _float32_maxnum32b2 = 0xff 3008 000000ff = _float32_maxnum32b2 equ 255 3009 3010 ; # Minimum representable number before underflow 3011 ; # 1.17549435082E-38 = (2**-126) * 1 3012 ; line_number = 274 3013 ; constant _float32_minnum32exp = 1 3014 00000001 = _float32_minnum32exp equ 1 3015 ; line_number = 275 3016 ; constant _float32_minnum32b0 = 0 3017 00000000 = _float32_minnum32b0 equ 0 3018 ; line_number = 276 3019 ; constant _float32_minnum32b1 = 0 3020 00000000 = _float32_minnum32b1 equ 0 3021 ; line_number = 277 3022 ; constant _float32_minnum32b2 = 0 3023 00000000 = _float32_minnum32b2 equ 0 3024 3025 ; # Loss threshhold for argument to SIN32 and COS32 3026 ; # 4096 = sqrt(2**24) 3027 ; line_number = 281 3028 ; constant _float32_lossthr32exp = 0x8b 3029 0000008b = _float32_lossthr32exp equ 139 3030 ; line_number = 282 3031 ; constant _float32_lossthr32b0 = 0 3032 00000000 = _float32_lossthr32b0 equ 0 3033 ; line_number = 283 3034 ; constant _float32_lossthr32b1 = 0 3035 00000000 = _float32_lossthr32b1 equ 0 3036 ; line_number = 284 3037 ; constant _float32_lossthr32b2 = 0 3038 00000000 = _float32_lossthr32b2 equ 0 3039 3040 ; # PIC16 32 BIT FLOATING POINT LIBRARY 3041 ; # 3042 ; # Unary operations: both input and output are in _float32_aexp,_FLOAT32_AARG 3043 ; # Binary operations: input in _float32_aexp,_FLOAT32_AARG and _float32_bexp,_FLOAT32_BARG with output in _float32_aexp,_FLOAT32_AARG 3044 ; # 3045 ; # All routines return WREG = 0x00 for successful completion, and WREG = 0xFF 3046 ; # for an error condition specified in _FLOAT32_FPFLAGS. 3047 ; # All timings are worst case cycle counts 3048 3049 ; # Routine Function 3050 3051 ; # FLO2432 24 bit integer to 32 bit floating point conversion 3052 ; # FLO32 3053 ; # Timing: RND0 RND1 3054 ; # SAT0 104 104 3055 ; # SAT1 110 110 3056 3057 ; # NRM3232 32 bit normalization of unnormalized 32 bit 3058 ; # NRM32 floating point numbers 3059 ; # Timing: RND0 RND1 3060 ; # SAT0 90 90 3061 ; # SAT1 96 96 3062 3063 ; # INT3224 32 bit floating point to 24 bit integer conversion 3064 ; # INT32 3065 ; # Timing: RND0 RND1 3066 ; # SAT0 104 112 3067 ; # SAT1 104 114 3068 3069 ; # FLO3232 32 bit integer to 32 bit floating point conversion 3070 ; # Timing: RND0 RND1 3071 ; # SAT0 129 145 3072 ; # SAT1 129 152 3073 3074 ; # NRM4032 32 bit normalization of unnormalized 40 bit floating 3075 ; # point numbers 3076 ; # Timing: RND0 RND1 3077 ; # SAT0 112 128 3078 ; # SAT1 112 135 3079 3080 ; # INT3232 32 bit floating point to 32 bit integer conversion 3081 ; # Timing: RND0 RND1 3082 ; # SAT0 130 137 3083 ; # SAT1 130 137 3084 3085 ; # FPA32 32 bit floating point add 3086 ; # Timing: RND0 RND1 3087 ; # SAT0 251 265 3088 ; # SAT1 251 271 3089 3090 ; # FPS32 32 bit floating point subtract 3091 ; # Timing: RND0 RND1 3092 ; # SAT0 253 267 3093 ; # SAT1 253 273 3094 3095 ; # FPM32 32 bit floating point multiply 3096 ; # Timing: RND0 RND1 3097 ; # SAT0 574 588 3098 ; # SAT1 574 591 3099 3100 ; # FPD32 32 bit floating point divide 3101 ; # Timing: RND0 RND1 3102 ; # SAT0 932 968 3103 ; # SAT1 932 971 3104 3105 ; # 32 bit floating point representation 3106 ; # 3107 ; # EXPONENT 8 bit biased exponent 3108 ; # It is important to note that the use of biased 3109 ; # exponents produces a unique representation of a 3110 ; # floating point 0, given by 3111 ; # EXP = HIGHBYTE = MIDBYTE = LOWBYTE = 0x00, 3112 ; # with 0 being the only number with EXP = 0. 3113 ; # 3114 ; # HIGHBYTE 8 bit most significant byte of fraction in 3115 ; # sign-magnitude representation, with SIGN = MSB, 3116 ; # implicit MSB = 1 and radix point to the right of MSB 3117 ; # 3118 ; # MIDBYTE 8 bit middle significant byte of sign-magnitude fraction 3119 ; # 3120 ; # LOWBYTE 8 bit least significant byte of sign-magnitude fraction 3121 ; # 3122 ; # EXPONENT HIGHBYTE MIDBYTE LOWBYTE 3123 ; # xxxxxxxx S.xxxxxxx xxxxxxxx xxxxxxxx 3124 ; # | 3125 ; # RADIX 3126 ; # POINT 3127 3128 ; Delaying code generation for procedure _float32_from_integer24 3129 ; Delaying code generation for procedure _float32_normalize 3130 ; Delaying code generation for procedure _float32_from_integer32 3131 ; Delaying code generation for procedure _float32_normalize40 3132 ; Delaying code generation for procedure _float32_integer24_convert 3133 ; Delaying code generation for procedure float32_integer32_convert 3134 ; Delaying code generation for procedure _float32_multiply 3135 ; Delaying code generation for procedure _float32_divide 3136 ; Delaying code generation for procedure _float32_subtract 3137 ; Delaying code generation for procedure _float32_add 3138 3139 ; buffer = '_float32' 3140 ; line_number = 46 3141 ; library _float32_base exited 3142 3143 ; # FIXME: Make sure that none of the procedure allocate any argument storage!!! 3144 3145 ; Delaying code generation for procedure _float32_pointer_load 3146 ; Delaying code generation for procedure _float32_pointer_add 3147 ; Delaying code generation for procedure _float32_pointer_divide 3148 ; Delaying code generation for procedure _float32_pointer_multiply 3149 ; Delaying code generation for procedure _float32_pointer_subtract 3150 ; Delaying code generation for procedure _float32_pointer_store 3151 ; Delaying code generation for procedure _float32_negate 3152 ; Delaying code generation for procedure _float32_reciprocal 3153 ; Delaying code generation for procedure _float32_pointer_swap 3154 ; Delaying code generation for procedure _float32_from_byte 3155 ; Delaying code generation for procedure _float32_to_byte 3156 ; Delaying code generation for procedure _float32_equals 3157 ; Delaying code generation for procedure _float32_not_equal 3158 ; Delaying code generation for procedure _float32_less_than 3159 ; Delaying code generation for procedure _float32_less_than_or_equal 3160 ; Delaying code generation for procedure _float32_greater_than 3161 ; Delaying code generation for procedure _float32_greater_than_or_equal 3162 3163 ; buffer = 'midimotor1e' 3164 ; line_number = 230 3165 ; library _float32 exited 3166 3167 ; line_number = 233 3168 ; origin 0 3169 0000 : org 0 3170 3171 ; line_number = 235 3172 ;info 235, 0 3173 ; procedure start 3174 0000 : start: 3175 ; arguments_none 3176 ; line_number = 237 3177 ; returns_nothing 3178 ; line_number = 238 3179 ; return_suppress 3180 3181 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 3182 ; line_number = 240 3183 ; assemble 3184 ;info 240, 0 3185 ; line_number = 241 3186 ;info 241, 0 3187 ; databank start, main 3188 ; line_number = 242 3189 ;info 242, 0 3190 ; codebank start, main 3191 ; line_number = 243 3192 ;info 243, 0 3193 0000 28d8 goto main 3194 3195 ; delay after procedure statements=non-uniform 3196 ; Return instruction suppressed by 'return_suppress' 3197 3198 3199 3200 3201 ; line_number = 245 3202 ; origin 4 3203 0004 : org 4 3204 3205 ; line_number = 247 3206 ;info 247, 4 3207 ; procedure interrupt 3208 0004 : interrupt: 3209 00000071 = interrupt___w_save equ shared___globals+1 3210 00000070 = interrupt___status_save equ shared___globals 3211 ; Carefully save __w and __tatus into RAM 3212 ; Save W first (easy) 3213 0004 00f1 movwf interrupt___w_save 3214 ; Save Status without smashing it (tricky) 3215 ; Move swapped version of status into W 3216 0005 0e03 swapf __status,w 3217 ; Store swapped version of status into RAM 3218 0006 00f0 movwf interrupt___status_save 3219 ; arguments_none 3220 ; line_number = 249 3221 ; returns_nothing 3222 3223 ; # This is the interrupt processing routine. While it is quite long 3224 ; # it actually does not take very long to execute. This is important 3225 ; # since long interrupt routines can cause problems with over module 3226 ; # latency. 3227 3228 ; # Step1: Save our system registers. There are 4 registers that 3229 ; # need to be saved -- W, STATUS, FSR, and PCLATH. 3230 ; # 3231 ; # W & STATUS: 3232 ; # The compiler takes care of the weird code needed to safely 3233 ; # save W adn STATUS registers. (Read the generated assembly code 3234 ; # comments to see some strange usage of the SWAPF instruction.) 3235 ; # Since the microcontroller can be using any of the 4 register 3236 ; # banks when the interrupt occurs, the W and STATUS register 3237 ; # are stored into a couple of shared memory bank registers. 3238 ; # There are 16 of these registers available, and the interupt 3239 ; # takes 2 of the 16. 3240 ; # 3241 ; # PCLATH: 3242 ; # When the interrupt occurs, the previous progam counter is 3243 ; # pushed onto the stack and then the program counter is set 3244 ; # to 4 to force execution of the interrupt routine. The PCLATH 3245 ; # register is left unchanged. Since the PCLATH register can 3246 ; # pointing to any of the 4 code banks (only 2 implemented for 3247 ; # the PIC16F688), it is vital that we update PCLATH to point 3248 ; # to code bank 0 (where the interrupt routine is) before the 3249 ; # first GOTO, CALL, or computed GOTO. Otherwise, the first 3250 ; # GOTO, CALL, or computed GOTO will jump off into code bank 3251 ; # that was being used prior to the interrupt. 3252 ; # 3253 ; # FSR: 3254 ; # The FSR register needs to be saved since we using code that 3255 ; # indexes into a small buffer to store UART input. 3256 ; # 3257 ; # Both PCLATH and FSR can be saved into regular registers in 3258 ; # register bank 0. No shared registers are needed. Once we have 3259 ; # STATUS stashed away, the register bank can be set to 0. The 3260 ; # compiler takes care of this automagically before the first save 3261 ; # assignment. 3262 3263 ; line_number = 291 3264 ; local fsr_save byte 3265 0000003c = interrupt__fsr_save equ globals___0+28 3266 ; line_number = 292 3267 ; local pclath_save byte 3268 0000003d = interrupt__pclath_save equ globals___0+29 3269 3270 ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:X0=cu=>X0) 3271 ; line_number = 294 3272 ; fsr_save := _fsr 3273 ;info 294, 7 3274 0007 0804 movf _fsr,w 3275 0008 1283 bcf __rp0___byte, __rp0___bit 3276 0009 1303 bcf __rp1___byte, __rp1___bit 3277 000a 00bc movwf interrupt__fsr_save 3278 ; line_number = 295 3279 ; pclath_save := _pclath 3280 ;info 295, 11 3281 000b 080a movf _pclath,w 3282 000c 00bd movwf interrupt__pclath_save 3283 ; # Make sure we are on correct page: 3284 ; line_number = 297 3285 ; _pclath := 0 3286 ;info 297, 13 3287 000d 018a clrf _pclath 3288 3289 ; # Now we have to deal with any of the pending interrupts. Timer0 3290 ; # is set to go off at the overall duty cycle of the PWM (Pulse Width 3291 ; # Modulation) rate. We turn the motor "on" each time Timer0 triggers 3292 ; # an interrupt. We also start Timer1 to specifiy the over width of 3293 ; # the pulse before we turn it off. When Timer1 triggers, it is time 3294 ; # to turn the pulse off. Timer0 is an 8-bit register and it it is 3295 ; # being driven by a the system clock divided by 256. Thus, the Timer0 3296 ; # triggers every 65536 (=2^16) clock ticks. Timer 1 is a 16-bit 3297 ; # counter that runs at the system clock. We always set the low 3298 ; # order byte to 0, and the high order byte to W, where W=255-PW and 3299 ; # PW is the pulse width as a number between 0 and 255. Thus, we can 3300 ; # have the pulse width vary in increments of 1/256 of the total duty 3301 ; # cycle. 3302 3303 ; # Deal with Timer 0 interrupt: 3304 ; line_number = 314 3305 ; if _t0if start 3306 ;info 314, 14 3307 ; =>bit_code_emit@symbol(): sym=_t0if 3308 ; No 1TEST: true.size=89 false.size=0 3309 ; No 2TEST: true.size=89 false.size=0 3310 ; 1GOTO: Single test with GOTO 3311 000e 1d0b btfss _t0if___byte, _t0if___bit 3312 000f 2869 goto interrupt__14 3313 ; # Timer 0 just triggered. It is time to start a new pulse width 3314 ; # duty cycle: 3315 3316 ; # Clear the interrupt flag: 3317 ; line_number = 319 3318 ; _t0if := _false 3319 ;info 319, 16 3320 0010 110b bcf _t0if___byte, _t0if___bit 3321 3322 ; # Make sure Timer1 is off while we muck around with Timer1: 3323 ; line_number = 322 3324 ; _tmr1on := _false 3325 ;info 322, 17 3326 0011 1010 bcf _tmr1on___byte, _tmr1on___bit 3327 3328 ; # Set the pulse width to W::0, where W=255-PW, where PW={0,...,255}. 3329 ; line_number = 325 3330 ; _tmr1l := 0 3331 ;info 325, 18 3332 0012 018e clrf _tmr1l 3333 ; line_number = 326 3334 ; _tmr1h := motor1_pulse_width 3335 ;info 326, 19 3336 0013 082f movf motor1_pulse_width,w 3337 0014 008f movwf _tmr1h 3338 3339 ; # Make sure that we clear off the Timer1 interrupt flag, just in case: 3340 ; line_number = 329 3341 ; _tmr1if := _false 3342 ;info 329, 21 3343 0015 100c bcf _tmr1if___byte, _tmr1if___bit 3344 3345 ; # Turn on Timer1: 3346 ; line_number = 332 3347 ; _tmr1on := _true 3348 ;info 332, 22 3349 0016 1410 bsf _tmr1on___byte, _tmr1on___bit 3350 3351 ; # Finally, turn on the appropriate leads of the motor to make it move. 3352 ; line_number = 335 3353 ; _portc := motor1_on_mask 3354 ;info 335, 23 3355 0017 082e movf motor1_on_mask,w 3356 0018 0087 movwf _portc 3357 3358 ; line_number = 337 3359 ; if use_potentiometer start 3360 ;info 337, 25 3361 ; =>bit_code_emit@symbol(): sym=use_potentiometer 3362 ; No 1TEST: true.size=77 false.size=0 3363 ; No 2TEST: true.size=77 false.size=0 3364 ; 1GOTO: Single test with GOTO 3365 0019 1d25 btfss use_potentiometer___byte, use_potentiometer___bit 3366 001a 2868 goto interrupt__13 3367 ; line_number = 338 3368 ; switch channel start 3369 ;info 338, 27 3370 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 3371 ; line_number = 358 3372 ; case_maximum 2 3373 001b 3000 movlw interrupt__6>>8 3374 001c 008a movwf __pclath 3375 001d 083b movf channel,w 3376 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 3377 ; All case bodies prefer this bit set 3378 001e 1683 bsf __rp0___byte, __rp0___bit 3379 001f 3e21 addlw interrupt__6 3380 0020 0082 movwf __pcl 3381 ; page_group 3 3382 0021 : interrupt__6: 3383 0021 2824 goto interrupt__3 3384 0022 282e goto interrupt__4 3385 0023 2838 goto interrupt__5 3386 ; line_number = 339 3387 ; case 0 3388 0024 : interrupt__3: 3389 ; line_number = 340 3390 ; ad1_value_low := _adresl 3391 ;info 340, 36 3392 0024 081e movf _adresl,w 3393 0025 1283 bcf __rp0___byte, __rp0___bit 3394 0026 1703 bsf __rp1___byte, __rp1___bit 3395 0027 00bb movwf ad1_value_low 3396 ; line_number = 341 3397 ; ad1_value_middle := _adresh 3398 ;info 341, 40 3399 0028 1303 bcf __rp1___byte, __rp1___bit 3400 0029 081e movf _adresh,w 3401 002a 1703 bsf __rp1___byte, __rp1___bit 3402 002b 00b1 movwf ad1_value_middle 3403 ; line_number = 342 3404 ; ad1_value_high := 0 3405 ;info 342, 44 3406 002c 01a7 clrf ad1_value_high 3407 002d 284e goto interrupt__7 3408 ; line_number = 343 3409 ; case 1 3410 002e : interrupt__4: 3411 ; line_number = 344 3412 ; ad0_value_low := _adresl 3413 ;info 344, 46 3414 002e 081e movf _adresl,w 3415 002f 1283 bcf __rp0___byte, __rp0___bit 3416 0030 1703 bsf __rp1___byte, __rp1___bit 3417 0031 00ba movwf ad0_value_low 3418 ; line_number = 345 3419 ; ad0_value_middle := _adresh 3420 ;info 345, 50 3421 0032 1303 bcf __rp1___byte, __rp1___bit 3422 0033 081e movf _adresh,w 3423 0034 1703 bsf __rp1___byte, __rp1___bit 3424 0035 00b0 movwf ad0_value_middle 3425 ; line_number = 346 3426 ; ad0_value_high := 0 3427 ;info 346, 54 3428 0036 01a6 clrf ad0_value_high 3429 0037 284e goto interrupt__7 3430 ; line_number = 347 3431 ; case 2 3432 0038 : interrupt__5: 3433 ; line_number = 348 3434 ; quad_low := _adresl 3435 ;info 348, 56 3436 0038 081e movf _adresl,w 3437 0039 1283 bcf __rp0___byte, __rp0___bit 3438 003a 1703 bsf __rp1___byte, __rp1___bit 3439 003b 00b4 movwf quad_low 3440 ; line_number = 349 3441 ; quad_middle := _adresh 3442 ;info 349, 60 3443 003c 1303 bcf __rp1___byte, __rp1___bit 3444 003d 081e movf _adresh,w 3445 003e 1703 bsf __rp1___byte, __rp1___bit 3446 003f 00aa movwf quad_middle 3447 ; line_number = 350 3448 ; quad_high := 0 3449 ;info 350, 64 3450 0040 01a0 clrf quad_high 3451 ; line_number = 351 3452 ; if position_reverse start 3453 ;info 351, 65 3454 ; =>bit_code_emit@symbol(): sym=position_reverse 3455 ; No 1TEST: true.size=9 false.size=0 3456 ; No 2TEST: true.size=9 false.size=0 3457 ; 1GOTO: Single test with GOTO 3458 0041 1303 bcf __rp1___byte, __rp1___bit 3459 0042 1ca5 btfss position_reverse___byte, position_reverse___bit 3460 0043 284e goto interrupt__2 3461 0044 1703 bsf __rp1___byte, __rp1___bit 3462 ; # Perform a 1's complement of the result: 3463 ; line_number = 353 3464 ; quad_low := quad_low ^ 0xff 3465 ;info 353, 69 3466 0045 09b4 comf quad_low,f 3467 ; line_number = 354 3468 ; quad_middle := quad_middle ^ 3 3469 ;info 354, 70 3470 0046 3003 movlw 3 3471 0047 06aa xorwf quad_middle,f 3472 ; line_number = 355 3473 ; quad_low := quad_low + 1 3474 ;info 355, 72 3475 0048 0ab4 incf quad_low,f 3476 ; line_number = 356 3477 ; if _z start 3478 ;info 356, 73 3479 ; =>bit_code_emit@symbol(): sym=_z 3480 ; No 1TEST: true.size=3 false.size=0 3481 ; No 2TEST: true.size=3 false.size=0 3482 ; 1GOTO: Single test with GOTO 3483 0049 1d03 btfss _z___byte, _z___bit 3484 004a 284e goto interrupt__1 3485 ; line_number = 357 3486 ; quad_middle := (quad_middle + 1) & 3 3487 ;info 357, 75 3488 004b 0a2a incf quad_middle,w 3489 004c 3903 andlw 3 3490 004d 00aa movwf quad_middle 3491 ; Recombine size1 = 0 || size2 = 0 3492 004e : interrupt__1: 3493 ; line_number = 356 3494 ; if _z done 3495 ; Recombine size1 = 0 || size2 = 0 3496 004e : interrupt__2: 3497 ; line_number = 351 3498 ; if position_reverse done 3499 004e : interrupt__7: 3500 ; line_number = 338 3501 ; switch channel done 3502 ; line_number = 359 3503 ; if configure & configure_analogs_enabled_mask = 0 start 3504 ;info 359, 78 3505 ; Left minus Right 3506 004e 30a0 movlw 160 3507 004f 1303 bcf __rp1___byte, __rp1___bit 3508 0050 0525 andwf configure,w 3509 ; =>bit_code_emit@symbol(): sym=__z 3510 ; No 1TEST: true.size=2 false.size=5 3511 ; No 2TEST: true.size=2 false.size=5 3512 ; 2GOTO: Single test with two GOTO's 3513 0051 1d03 btfss __z___byte, __z___bit 3514 0052 2856 goto interrupt__8 3515 ; line_number = 360 3516 ; channel := 2 3517 ;info 360, 83 3518 0053 3002 movlw 2 3519 0054 00bb movwf channel 3520 0055 285b goto interrupt__9 3521 ; 2GOTO: Starting code 2 3522 0056 : interrupt__8: 3523 ; line_number = 362 3524 ; channel := channel + 1 3525 ;info 362, 86 3526 0056 0abb incf channel,f 3527 ; line_number = 363 3528 ; if channel >= 3 start 3529 ;info 363, 87 3530 0057 3003 movlw 3 3531 0058 023b subwf channel,w 3532 ; =>bit_code_emit@symbol(): sym=__c 3533 ; 1TEST: Single test with code in skip slot 3534 0059 1803 btfsc __c___byte, __c___bit 3535 ; line_number = 364 3536 ; channel := 0 3537 ;info 364, 90 3538 005a 01bb clrf channel 3539 3540 ; Recombine size1 = 0 || size2 = 0 3541 ; line_number = 363 3542 ; if channel >= 3 done 3543 005b : interrupt__9: 3544 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3545 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3546 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 3547 ; line_number = 359 3548 ; if configure & configure_analogs_enabled_mask = 0 done 3549 ; # The other channels are enabled: 3550 ; line_number = 367 3551 ; _adcon0 := _adcon0 & 0xc3 | (channel << 2) 3552 ;info 367, 91 3553 00000060 = interrupt__10 equ globals___0+64 3554 005b 30c3 movlw 195 3555 005c 051f andwf _adcon0,w 3556 005d 00e0 movwf interrupt__10 3557 00000061 = interrupt__11 equ globals___0+65 3558 005e 0d3b rlf channel,w 3559 005f 00e1 movwf interrupt__11 3560 0060 0d61 rlf interrupt__11,w 3561 0061 39fc andlw 252 3562 0062 0460 iorwf interrupt__10,w 3563 0063 009f movwf _adcon0 3564 ; line_number = 368 3565 ; delay 20 * microsecond start 3566 ;info 368, 100 3567 ; Delay expression evaluates to 100 3568 ; line_number = 369 3569 ; do_nothing 3570 ;info 369, 100 3571 3572 3573 ; Delay 100 cycles 3574 ; Delay loop takes 25 * 4 = 100 cycles 3575 0064 3019 movlw 25 3576 0065 : interrupt__12: 3577 0065 3eff addlw 255 3578 0066 1d03 btfss __z___byte, __z___bit 3579 0067 2865 goto interrupt__12 3580 ; line_number = 368 3581 ; delay 20 * microsecond done 3582 ; Recombine size1 = 0 || size2 = 0 3583 0068 : interrupt__13: 3584 ; line_number = 337 3585 ; if use_potentiometer done 3586 ; # Trigger an A/D conversion to pick up next time: 3587 ; line_number = 373 3588 ; _go := _true 3589 ;info 373, 104 3590 0068 149f bsf _go___byte, _go___bit 3591 3592 ; Recombine size1 = 0 || size2 = 0 3593 0069 : interrupt__14: 3594 ; line_number = 314 3595 ; if _t0if done 3596 ; # Deal with Timer 1 interrupt: 3597 ; line_number = 376 3598 ; if _tmr1if start 3599 ;info 376, 105 3600 ; =>bit_code_emit@symbol(): sym=_tmr1if 3601 ; No 1TEST: true.size=3 false.size=0 3602 ; No 2TEST: true.size=3 false.size=0 3603 ; 1GOTO: Single test with GOTO 3604 0069 1c0c btfss _tmr1if___byte, _tmr1if___bit 3605 006a 286e goto interrupt__15 3606 ; # Timer 1 just triggered. It is time to turn off the pulse width. 3607 3608 ; # Turn off the motor leads: 3609 ; line_number = 380 3610 ; _portc := 0 3611 ;info 380, 107 3612 006b 0187 clrf _portc 3613 3614 ; # Turn off Timer 1: 3615 ; line_number = 383 3616 ; _tmr1on := _false 3617 ;info 383, 108 3618 006c 1010 bcf _tmr1on___byte, _tmr1on___bit 3619 3620 ; # Make sure we clear timer 1 interrupt flag: 3621 ; line_number = 386 3622 ; _tmr1if := _false 3623 ;info 386, 109 3624 006d 100c bcf _tmr1if___byte, _tmr1if___bit 3625 3626 ; Recombine size1 = 0 || size2 = 0 3627 006e : interrupt__15: 3628 ; line_number = 376 3629 ; if _tmr1if done 3630 ; # Deal with UART receive interrupt: 3631 ; line_number = 389 3632 ; if _rcif start 3633 ;info 389, 110 3634 ; =>bit_code_emit@symbol(): sym=_rcif 3635 ; No 1TEST: true.size=35 false.size=0 3636 ; No 2TEST: true.size=35 false.size=0 3637 ; 1GOTO: Single test with GOTO 3638 006e 1e8c btfss _rcif___byte, _rcif___bit 3639 006f 2893 goto interrupt__20 3640 ; # We have a byte in the UART receive buffer. We want to be as 3641 ; # quick as possible here. Do the minimum to process the incoming 3642 ; # byte and move on.a 3643 3644 ; # First, look at the ninth bit. If the ninth bit is set, we 3645 ; # process it immediately. 3646 ; line_number = 396 3647 ; if _rx9d start 3648 ;info 396, 112 3649 ; =>bit_code_emit@symbol(): sym=_rx9d 3650 ; No 1TEST: true.size=16 false.size=10 3651 ; No 2TEST: true.size=16 false.size=10 3652 ; 2GOTO: Single test with two GOTO's 3653 0070 1c17 btfss _rx9d___byte, _rx9d___bit 3654 0071 2883 goto interrupt__18 3655 ; # The ninth bit is set, we have an module address select 3656 ; # command: 3657 ; line_number = 399 3658 ; if _rcreg = address start 3659 ;info 399, 114 3660 ; Left minus Right 3661 0072 0839 movf address,w 3662 0073 0214 subwf _rcreg,w 3663 ; =>bit_code_emit@symbol(): sym=__z 3664 ; No 1TEST: true.size=9 false.size=2 3665 ; No 2TEST: true.size=9 false.size=2 3666 ; 2GOTO: Single test with two GOTO's 3667 0074 1d03 btfss __z___byte, __z___bit 3668 0075 2880 goto interrupt__16 3669 ; # The address that came in matches ours in {address}. 3670 ; # We need to prepare for further incoming data bytes: 3671 3672 ; # Force the UART to start accepting data bytes with the 3673 ; # ninth bit clear: 3674 ; line_number = 405 3675 ; _adden := _false 3676 ;info 405, 118 3677 0076 1197 bcf _adden___byte, _adden___bit 3678 3679 ; # Clear out the input data buffer: 3680 ; line_number = 408 3681 ; uart_input_in_index := 0 3682 ;info 408, 119 3683 0077 01b6 clrf uart_input_in_index 3684 ; line_number = 409 3685 ; uart_input_out_index := 0 3686 ;info 409, 120 3687 0078 01b7 clrf uart_input_out_index 3688 ; line_number = 410 3689 ; uart_input_count := 0 3690 ;info 410, 121 3691 0079 01b8 clrf uart_input_count 3692 ; line_number = 411 3693 ; uart_input_pending := _false 3694 ;info 411, 122 3695 007a 106f bcf uart_input_pending___byte, uart_input_pending___bit 3696 3697 ; # Send an acknowledge byte: 3698 ; line_number = 414 3699 ; call uart_byte_put(rb2_ok) 3700 ;info 414, 123 3701 007b 30a5 movlw 165 3702 007c 258e call uart_byte_put 3703 3704 ; # Set the state machine for {uart_manage} to eat the echo 3705 ; # and start processing commands: 3706 ; line_number = 418 3707 ; state := state_echo_then_command 3708 ;info 418, 125 3709 007d 3001 movlw 1 3710 007e 00b0 movwf state 3711 ; Recombine code1_bit_states != code2_bit_states 3712 007f 2882 goto interrupt__17 3713 ; 2GOTO: Starting code 2 3714 0080 : interrupt__16: 3715 ; # The address that came in did not match our address: 3716 3717 ; # Force the UART to only listen to bytes that have the 3718 ; # ninth bit set (i.e. address commands). All data bytes 3719 ; # to the other selected module will be invisible to us: 3720 ; line_number = 425 3721 ; _adden := _true 3722 ;info 425, 128 3723 0080 1597 bsf _adden___byte, _adden___bit 3724 3725 ; # Set the state machine for {uart_manage} to ignore any 3726 ; # incoming data bytes. This should never happen, be it 3727 ; # it never hurts to be careful. 3728 ; line_number = 430 3729 ; state := state_select_wait 3730 ;info 430, 129 3731 0081 01b0 clrf state 3732 0082 : interrupt__17: 3733 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 3734 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3735 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 3736 ; line_number = 399 3737 ; if _rcreg = address done 3738 ; Recombine code1_bit_states != code2_bit_states 3739 0082 288d goto interrupt__19 3740 ; 2GOTO: Starting code 2 3741 0083 : interrupt__18: 3742 ; # We have a data byte for us to process. For now we 3743 ; # stuff it into an input buffer: 3744 3745 ; # Stuff the byte into the {uart_input} buffer being careful 3746 ; # not to go out of bounds. The buffer is a power of 2 in 3747 ; # size, so masking {uart_input_in_index} with {uart_input_mask} 3748 ; # will keep us in bounds: 3749 ; line_number = 439 3750 ; uart_input[uart_input_in_index & uart_input_mask] := _rcreg 3751 ;info 439, 131 3752 ; index_fsr_first 3753 0083 3003 movlw 3 3754 0084 0536 andwf uart_input_in_index,w 3755 0085 3e32 addlw uart_input 3756 0086 0084 movwf __fsr 3757 0087 1383 bcf __irp___byte, __irp___bit 3758 0088 0814 movf _rcreg,w 3759 0089 0080 movwf __indf 3760 3761 ; # Bump {uart_input_in_index} so that we next byte the comes 3762 ; # in will follow this current byte: 3763 ; line_number = 443 3764 ; uart_input_in_index := uart_input_in_index + 1 3765 ;info 443, 138 3766 008a 0ab6 incf uart_input_in_index,f 3767 3768 ; # Keep track of how many bytes are in the input buffer: 3769 ; line_number = 446 3770 ; uart_input_count := uart_input_count + 1 3771 ;info 446, 139 3772 008b 0ab8 incf uart_input_count,f 3773 3774 ; # Let the {uart_manage} routine know that it has work to do: 3775 ; line_number = 449 3776 ; uart_input_pending := _true 3777 ;info 449, 140 3778 008c 146f bsf uart_input_pending___byte, uart_input_pending___bit 3779 3780 008d : interrupt__19: 3781 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 3782 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 3783 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 3784 ; line_number = 396 3785 ; if _rx9d done 3786 ; # The PIC UART can get wedged by errors. We fix that problem 3787 ; # by toggling {_cren} whenever we have an overrun error. The 3788 ; # code below is really tight (5 instructions): 3789 ; line_number = 454 3790 ; if _oerr start 3791 ;info 454, 141 3792 ; =>bit_code_emit@symbol(): sym=_oerr 3793 ; 1TEST: Single test with code in skip slot 3794 008d 1897 btfsc _oerr___byte, _oerr___bit 3795 ; # We have an over run error, clear {_cren}: 3796 ; line_number = 456 3797 ; _cren := _false 3798 ;info 456, 142 3799 008e 1217 bcf _cren___byte, _cren___bit 3800 ; Recombine size1 = 0 || size2 = 0 3801 ; line_number = 454 3802 ; if _oerr done 3803 ; line_number = 457 3804 ; if _ferr start 3805 ;info 457, 143 3806 ; =>bit_code_emit@symbol(): sym=_ferr 3807 ; 1TEST: Single test with code in skip slot 3808 008f 1917 btfsc _ferr___byte, _ferr___bit 3809 ; # We have a framing error, clear {_cren}: 3810 ; line_number = 459 3811 ; _cren := _false 3812 ;info 459, 144 3813 0090 1217 bcf _cren___byte, _cren___bit 3814 ; Recombine size1 = 0 || size2 = 0 3815 ; line_number = 457 3816 ; if _ferr done 3817 ; # If either of the two previous statements triggered, {_cren} 3818 ; # got turned off. This next statement will turn it on again. 3819 ; # Otherwise, {_cren} is already on, and this statement will do 3820 ; # nothing: 3821 ; line_number = 464 3822 ; _cren := _true 3823 ;info 464, 145 3824 0091 1617 bsf _cren___byte, _cren___bit 3825 3826 ; # Clear the recieve interrupt condition: 3827 ; line_number = 467 3828 ; _rcif := _false 3829 ;info 467, 146 3830 0092 128c bcf _rcif___byte, _rcif___bit 3831 3832 ; Recombine size1 = 0 || size2 = 0 3833 0093 : interrupt__20: 3834 ; line_number = 389 3835 ; if _rcif done 3836 ; # Deal with quadrature input changes: 3837 ; line_number = 470 3838 ; if _raif start 3839 ;info 470, 147 3840 ; =>bit_code_emit@symbol(): sym=_raif 3841 ; No 1TEST: true.size=56 false.size=0 3842 ; No 2TEST: true.size=56 false.size=0 3843 ; 1GOTO: Single test with GOTO 3844 0093 1c0b btfss _raif___byte, _raif___bit 3845 0094 28ce goto interrupt__35 3846 0095 1703 bsf __rp1___byte, __rp1___bit 3847 ; # The file24 a the A and B channels of Port A have changed 3848 ; # since the last time we read Port A. Deal with the change 3849 ; # by cycling the {quad_state} state machine. Please carefully 3850 ; # read the documentation in the states.ucl library to understand 3851 ; # the format of the {states} vector. 3852 3853 ; # Cycle the {quad_state} state machine. Use only the lower 3 bits 3854 ; # currently in {quad_state} concatenated with the low order 2 bits 3855 ; # of {_porta} (the A and B quadrature channels). That gives a total 3856 ; # of 5 bits to work with: 3857 ; #FIXME: should be {xstates}!!! 3858 ; #quad_state := xstates[quad_state & 7 | (_porta << 3) & 0x18] 3859 ; line_number = 483 3860 ; quad_state := states[quad_state & 7 | (_porta << 3) & 0x18] 3861 ;info 483, 150 3862 00000060 = interrupt__21 equ globals___0+64 3863 0096 3007 movlw 7 3864 0097 053e andwf quad_state,w 3865 0098 1303 bcf __rp1___byte, __rp1___bit 3866 0099 00e0 movwf interrupt__21 3867 00000061 = interrupt__22 equ globals___0+65 3868 009a 0d05 rlf _porta,w 3869 009b 00e1 movwf interrupt__22 3870 009c 0de1 rlf interrupt__22,f 3871 009d 0d61 rlf interrupt__22,w 3872 009e 3918 andlw 24 3873 009f 0460 iorwf interrupt__21,w 3874 00a0 265a call states 3875 00a1 1703 bsf __rp1___byte, __rp1___bit 3876 00a2 00be movwf quad_state 3877 3878 ; # Disable interrupt condition until the next time: 3879 ; line_number = 486 3880 ; _raif := _false 3881 ;info 486, 163 3882 00a3 100b bcf _raif___byte, _raif___bit 3883 3884 ; # The rest of this code just increments and decrements the quadrature 3885 ; # counter. The quad counter is signed 24 bit integer that is stored 3886 ; # in {quad_high}, {quad_middle}, and {quad_low}. This code is kind 3887 ; # big and long, but in reality, 99% of the time we will perform either 3888 ; # a single increment or decrement of {quad_low}. So, most of the 3889 ; # time this code very fast: 3890 3891 ; line_number = 495 3892 ; if quad_state@7 start 3893 ;info 495, 164 3894 0000013e = interrupt__select__27___byte equ quad_state 3895 00000007 = interrupt__select__27___bit equ 7 3896 ; =>bit_code_emit@symbol(): sym=interrupt__select__27 3897 ; No 1TEST: true.size=17 false.size=0 3898 ; No 2TEST: true.size=17 false.size=0 3899 ; 1GOTO: Single test with GOTO 3900 00a4 1fbe btfss interrupt__select__27___byte, interrupt__select__27___bit 3901 00a5 28b7 goto interrupt__28 3902 ; # The state machine wants us to increment the quadrature counter 3903 ; # by 1. We work our way from {quad_low} through {quad_high}: 3904 ; line_number = 498 3905 ; quad_low := quad_low + 1 3906 ;info 498, 166 3907 00a6 0ab4 incf quad_low,f 3908 ; line_number = 499 3909 ; if _z start 3910 ;info 499, 167 3911 ; =>bit_code_emit@symbol(): sym=_z 3912 ; No 1TEST: true.size=3 false.size=0 3913 ; No 2TEST: true.size=3 false.size=0 3914 ; 1GOTO: Single test with GOTO 3915 00a7 1d03 btfss _z___byte, _z___bit 3916 00a8 28ac goto interrupt__23 3917 ; # The zero status flag is set, so {quad_low} just wrapped from 3918 ; # 0xff to 0. Thus, we need to increment {quad_middle}" 3919 ; line_number = 502 3920 ; quad_middle := quad_middle + 1 3921 ;info 502, 169 3922 00a9 0aaa incf quad_middle,f 3923 ; line_number = 503 3924 ; if _z start 3925 ;info 503, 170 3926 ; =>bit_code_emit@symbol(): sym=_z 3927 ; 1TEST: Single test with code in skip slot 3928 00aa 1903 btfsc _z___byte, _z___bit 3929 ; # The zero status flat is set, so {quad_middle} just 3930 ; # wrapped from 0xff to 0. Thus we need to increment 3931 ; # {quad_high}: 3932 ; line_number = 507 3933 ; quad_high := quad_high + 1 3934 ;info 507, 171 3935 00ab 0aa0 incf quad_high,f 3936 3937 ; Recombine size1 = 0 || size2 = 0 3938 ; line_number = 503 3939 ; if _z done 3940 ; Recombine size1 = 0 || size2 = 0 3941 00ac : interrupt__23: 3942 ; line_number = 499 3943 ; if _z done 3944 ; line_number = 509 3945 ; if quad_state@6 start 3946 ;info 509, 172 3947 0000013e = interrupt__select__25___byte equ quad_state 3948 00000006 = interrupt__select__25___bit equ 6 3949 ; =>bit_code_emit@symbol(): sym=interrupt__select__25 3950 ; No 1TEST: true.size=8 false.size=0 3951 ; No 2TEST: true.size=8 false.size=0 3952 ; 1GOTO: Single test with GOTO 3953 00ac 1f3e btfss interrupt__select__25___byte, interrupt__select__25___bit 3954 00ad 28b7 goto interrupt__26 3955 00ae 1303 bcf __rp1___byte, __rp1___bit 3956 ; # This bit will be set in the state machine if we have an 3957 ; # "illegal" state machine transistion. 3958 3959 ; # Bump the {errors} counter to let somebody know 3960 ; # that we are having problems: 3961 ; line_number = 515 3962 ; errors := errors + 1 3963 ;info 515, 175 3964 00af 0aa8 incf errors,f 3965 3966 ; # This code is the same as the first increment, so the 3967 ; # comments are not repeated: 3968 ; line_number = 519 3969 ; quad_low := quad_low + 1 3970 ;info 519, 176 3971 00b0 1703 bsf __rp1___byte, __rp1___bit 3972 00b1 0ab4 incf quad_low,f 3973 ; line_number = 520 3974 ; if _z start 3975 ;info 520, 178 3976 ; =>bit_code_emit@symbol(): sym=_z 3977 ; No 1TEST: true.size=3 false.size=0 3978 ; No 2TEST: true.size=3 false.size=0 3979 ; 1GOTO: Single test with GOTO 3980 00b2 1d03 btfss _z___byte, _z___bit 3981 00b3 28b7 goto interrupt__24 3982 ; line_number = 521 3983 ; quad_middle := quad_middle + 1 3984 ;info 521, 180 3985 00b4 0aaa incf quad_middle,f 3986 ; line_number = 522 3987 ; if _z start 3988 ;info 522, 181 3989 ; =>bit_code_emit@symbol(): sym=_z 3990 ; 1TEST: Single test with code in skip slot 3991 00b5 1903 btfsc _z___byte, _z___bit 3992 ; line_number = 523 3993 ; quad_high := quad_high + 1 3994 ;info 523, 182 3995 00b6 0aa0 incf quad_high,f 3996 ; Recombine size1 = 0 || size2 = 0 3997 ; line_number = 522 3998 ; if _z done 3999 ; Recombine size1 = 0 || size2 = 0 4000 00b7 : interrupt__24: 4001 ; line_number = 520 4002 ; if _z done 4003 ; Recombine size1 = 0 || size2 = 0 4004 00b7 : interrupt__26: 4005 ; line_number = 509 4006 ; if quad_state@6 done 4007 ; Recombine size1 = 0 || size2 = 0 4008 00b7 : interrupt__28: 4009 ; line_number = 495 4010 ; if quad_state@7 done 4011 ; line_number = 524 4012 ; if quad_state@5 start 4013 ;info 524, 183 4014 0000013e = interrupt__select__33___byte equ quad_state 4015 00000005 = interrupt__select__33___bit equ 5 4016 ; =>bit_code_emit@symbol(): sym=interrupt__select__33 4017 ; No 1TEST: true.size=21 false.size=0 4018 ; No 2TEST: true.size=21 false.size=0 4019 ; 1GOTO: Single test with GOTO 4020 00b7 1ebe btfss interrupt__select__33___byte, interrupt__select__33___bit 4021 00b8 28ce goto interrupt__34 4022 ; # The state machine wants us to decrement the quadrature counter 4023 ; # by 1. We work our way from {quad_low} through {quad_high}: 4024 ; line_number = 527 4025 ; if quad_low = 0 start 4026 ;info 527, 185 4027 ; Left minus Right 4028 00b9 0834 movf quad_low,w 4029 ; =>bit_code_emit@symbol(): sym=__z 4030 ; No 1TEST: true.size=4 false.size=0 4031 ; No 2TEST: true.size=4 false.size=0 4032 ; 1GOTO: Single test with GOTO 4033 00ba 1d03 btfss __z___byte, __z___bit 4034 00bb 28c0 goto interrupt__29 4035 ; # {quad_low} is 0, so we are going to wrap down to 0xff. 4036 ; # We need to decrement {quad_middle}: 4037 ; line_number = 530 4038 ; if quad_middle = 0 start 4039 ;info 530, 188 4040 ; Left minus Right 4041 00bc 082a movf quad_middle,w 4042 ; =>bit_code_emit@symbol(): sym=__z 4043 ; 1TEST: Single test with code in skip slot 4044 00bd 1903 btfsc __z___byte, __z___bit 4045 ; # {quad_middle} is 0, we are going to wrap down to 0xff. 4046 ; # We need to decrement {quad_high}: 4047 ; line_number = 533 4048 ; quad_high := quad_high - 1 4049 ;info 533, 190 4050 00be 03a0 decf quad_high,f 4051 ; Recombine size1 = 0 || size2 = 0 4052 ; line_number = 530 4053 ; if quad_middle = 0 done 4054 ; # Do the {quad_middle} decrement: 4055 ; line_number = 535 4056 ; quad_middle := quad_middle - 1 4057 ;info 535, 191 4058 00bf 03aa decf quad_middle,f 4059 ; Recombine size1 = 0 || size2 = 0 4060 00c0 : interrupt__29: 4061 ; line_number = 527 4062 ; if quad_low = 0 done 4063 ; # Do the {quad_low} decrement: 4064 ; line_number = 537 4065 ; quad_low := quad_low - 1 4066 ;info 537, 192 4067 00c0 03b4 decf quad_low,f 4068 4069 ; line_number = 539 4070 ; if quad_state@4 start 4071 ;info 539, 193 4072 0000013e = interrupt__select__31___byte equ quad_state 4073 00000004 = interrupt__select__31___bit equ 4 4074 ; =>bit_code_emit@symbol(): sym=interrupt__select__31 4075 ; No 1TEST: true.size=10 false.size=0 4076 ; No 2TEST: true.size=10 false.size=0 4077 ; 1GOTO: Single test with GOTO 4078 00c1 1e3e btfss interrupt__select__31___byte, interrupt__select__31___bit 4079 00c2 28ce goto interrupt__32 4080 00c3 1303 bcf __rp1___byte, __rp1___bit 4081 ; # This bit will be set in the state machine if we have an 4082 ; # "illegal" state machine transition: 4083 4084 ; # Bump the {errors} counter to let somebody know that 4085 ; # we are having problems: 4086 ; line_number = 545 4087 ; errors := errors + 1 4088 ;info 545, 196 4089 00c4 0aa8 incf errors,f 4090 4091 ; # This code is the same as the first decrement, so the 4092 ; # comments are not repeated: 4093 ; line_number = 549 4094 ; if quad_low = 0 start 4095 ;info 549, 197 4096 ; Left minus Right 4097 00c5 1703 bsf __rp1___byte, __rp1___bit 4098 00c6 0834 movf quad_low,w 4099 ; =>bit_code_emit@symbol(): sym=__z 4100 ; No 1TEST: true.size=4 false.size=0 4101 ; No 2TEST: true.size=4 false.size=0 4102 ; 1GOTO: Single test with GOTO 4103 00c7 1d03 btfss __z___byte, __z___bit 4104 00c8 28cd goto interrupt__30 4105 ; line_number = 550 4106 ; if quad_middle = 0 start 4107 ;info 550, 201 4108 ; Left minus Right 4109 00c9 082a movf quad_middle,w 4110 ; =>bit_code_emit@symbol(): sym=__z 4111 ; 1TEST: Single test with code in skip slot 4112 00ca 1903 btfsc __z___byte, __z___bit 4113 ; line_number = 551 4114 ; quad_high := quad_high - 1 4115 ;info 551, 203 4116 00cb 03a0 decf quad_high,f 4117 ; Recombine size1 = 0 || size2 = 0 4118 ; line_number = 550 4119 ; if quad_middle = 0 done 4120 ; line_number = 552 4121 ; quad_middle := quad_middle - 1 4122 ;info 552, 204 4123 00cc 03aa decf quad_middle,f 4124 ; Recombine size1 = 0 || size2 = 0 4125 00cd : interrupt__30: 4126 ; line_number = 549 4127 ; if quad_low = 0 done 4128 ; line_number = 553 4129 ; quad_low := quad_low - 1 4130 ;info 553, 205 4131 00cd 03b4 decf quad_low,f 4132 4133 ; Recombine size1 = 0 || size2 = 0 4134 00ce : interrupt__32: 4135 ; line_number = 539 4136 ; if quad_state@4 done 4137 ; Recombine size1 = 0 || size2 = 0 4138 00ce : interrupt__34: 4139 ; line_number = 524 4140 ; if quad_state@5 done 4141 ; Recombine size1 = 0 || size2 = 0 4142 00ce : interrupt__35: 4143 ; line_number = 470 4144 ; if _raif done 4145 ; # All done processing interrupt conditions. Let's get out of here by 4146 ; # restoring {_fsr} and {_pclath}: 4147 ; line_number = 557 4148 ; _fsr := fsr_save 4149 ;info 557, 206 4150 00ce 1303 bcf __rp1___byte, __rp1___bit 4151 00cf 083c movf interrupt__fsr_save,w 4152 00d0 0084 movwf _fsr 4153 ; line_number = 558 4154 ; _pclath := pclath_save 4155 ;info 558, 209 4156 00d1 083d movf interrupt__pclath_save,w 4157 00d2 008a movwf _pclath 4158 4159 ; # The compiler takes care of restoring {_status} and {_w}. 4160 4161 ; delay after procedure statements=non-uniform 4162 ; Interrupt return 4163 ; Carefully restore __w and __tatus from RAM 4164 ; Restore swapped status into W 4165 00d3 0e70 swapf interrupt___status_save,w 4166 ; W now contains (unswapped) status 4167 ; Restore W to __status 4168 00d4 0083 movwf __status 4169 ; From here on out, do not modify __status 4170 ; Swap saved W register in RAM 4171 00d5 0ef1 swapf interrupt___w_save,f 4172 ; Unswap the saved W reg and restore to W 4173 00d6 0e71 swapf interrupt___w_save,w 4174 ; __w and __status are now restored 4175 ; Return from interrupt 4176 00d7 0009 retfie 4177 4178 4179 4180 4181 ; # Split the floats between data banks 1 and 2: 4182 4183 4184 ; line_number = 566 4185 ; global error float32 4186 00000140 = error equ globals___2+32 4187 ; line_number = 567 4188 ; global position float32 4189 00000144 = position equ globals___2+36 4190 ; line_number = 568 4191 ; global target float32 4192 00000148 = target equ globals___2+40 4193 ; line_number = 569 4194 ; global kp float32 4195 0000014c = kp equ globals___2+44 4196 ; line_number = 570 4197 ; global ki float32 4198 00000150 = ki equ globals___2+48 4199 4200 4201 ; line_number = 574 4202 ; global kd float32 4203 000000d4 = kd equ globals___1+52 4204 ; line_number = 575 4205 ; global pid float32 4206 000000d8 = pid equ globals___1+56 4207 ; line_number = 576 4208 ; global divisor float32 4209 000000dc = divisor equ globals___1+60 4210 ; line_number = 577 4211 ; global numerator float32 4212 000000e0 = numerator equ globals___1+64 4213 ; line_number = 578 4214 ; global previous_error float32 4215 000000e4 = previous_error equ globals___1+68 4216 ; line_number = 579 4217 ; global error_sum float32 4218 000000e8 = error_sum equ globals___1+72 4219 4220 4221 ; line_number = 583 4222 ; global target_speed byte # Target motor speed 4223 0000003e = target_speed equ globals___0+30 4224 ; line_number = 584 4225 ; global target_seek bit 4226 0000006f = target_seek___byte equ globals___0+79 4227 00000001 = target_seek___bit equ 1 4228 ; line_number = 585 4229 ; global analog0_greater_than bit # Analog0 value > analog0 limit 4230 0000006f = analog0_greater_than___byte equ globals___0+79 4231 00000002 = analog0_greater_than___bit equ 2 4232 ; line_number = 586 4233 ; global analog1_greater_than bit # Analog1 value > analog1 limit 4234 0000006f = analog1_greater_than___byte equ globals___0+79 4235 00000003 = analog1_greater_than___bit equ 3 4236 ; line_number = 587 4237 ; global value byte # 8-bit analog value 4238 0000003f = value equ globals___0+31 4239 ; line_number = 588 4240 ; global limit byte # 8-bit limit value 4241 00000040 = limit equ globals___0+32 4242 4243 ; line_number = 590 4244 ;info 590, 216 4245 ; procedure main 4246 00d8 : main: 4247 ; Initialize some registers 4248 00d8 3001 movlw 1 4249 00d9 009f movwf _adcon0 4250 00da 3004 movlw 4 4251 00db 1683 bsf __rp0___byte, __rp0___bit 4252 00dc 0091 movwf _ansel 4253 00dd 3007 movlw 7 4254 00de 1283 bcf __rp0___byte, __rp0___bit 4255 00df 0099 movwf _cmcon0 4256 00e0 303f movlw 63 4257 00e1 1683 bsf __rp0___byte, __rp0___bit 4258 00e2 0085 movwf _trisa 4259 00e3 303c movlw 60 4260 00e4 0087 movwf _trisc 4261 ; arguments_none 4262 ; line_number = 592 4263 ; returns_nothing 4264 4265 ; line_number = 594 4266 ; local pos_high byte 4267 00000041 = main__pos_high equ globals___0+33 4268 ; line_number = 595 4269 ; local pos_middle byte 4270 00000042 = main__pos_middle equ globals___0+34 4271 ; line_number = 596 4272 ; local pos_low byte 4273 00000043 = main__pos_low equ globals___0+35 4274 ; line_number = 597 4275 ; local negative bit 4276 0000006f = main__negative___byte equ globals___0+79 4277 00000004 = main__negative___bit equ 4 4278 ; line_number = 598 4279 ; local small_error byte 4280 00000044 = main__small_error equ globals___0+36 4281 4282 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>01 code:X0=cu=>X0) 4283 ; line_number = 600 4284 ; call reset() 4285 ;info 600, 229 4286 00e5 1283 bcf __rp0___byte, __rp0___bit 4287 00e6 22d2 call reset 4288 4289 ; line_number = 602 4290 ; loop_forever start 4291 00e7 : main__1: 4292 ; # Make sure we manage the UART: 4293 ; line_number = 604 4294 ; call uart_manage() 4295 ;info 604, 231 4296 00e7 2340 call uart_manage 4297 4298 ; # Update target if necesary 4299 ; line_number = 607 4300 ; if file24_changed != 0 start 4301 ;info 607, 232 4302 ; Left minus Right 4303 00e8 0820 movf file24_changed,w 4304 ; =>bit_code_emit@symbol(): sym=__z 4305 ; No 1TEST: true.size=0 false.size=120 4306 ; No 2TEST: true.size=0 false.size=120 4307 ; 1GOTO: Single test with GOTO 4308 00e9 1903 btfsc __z___byte, __z___bit 4309 00ea 2963 goto main__22 4310 ; # Something has changed: 4311 ; line_number = 609 4312 ; if file24_changed@target_index start 4313 ;info 609, 235 4314 00000020 = main__select__3___byte equ file24_changed 4315 00000001 = main__select__3___bit equ 1 4316 ; =>bit_code_emit@symbol(): sym=main__select__3 4317 ; No 1TEST: true.size=13 false.size=0 4318 ; No 2TEST: true.size=13 false.size=0 4319 ; 1GOTO: Single test with GOTO 4320 00eb 1ca0 btfss main__select__3___byte, main__select__3___bit 4321 00ec 28fa goto main__4 4322 ; line_number = 610 4323 ; target_seek := _true 4324 ;info 610, 237 4325 00ed 14ef bsf target_seek___byte, target_seek___bit 4326 ; line_number = 611 4327 ; target := file24_float_convert(target_index) 4328 ;info 611, 238 4329 00ee 3001 movlw 1 4330 00ef 252a call file24_float_convert 4331 00f0 3025 movlw file24_float_convert__0return>>1 4332 00f1 158a bsf __cb0___byte, __cb0___bit 4333 00f2 1683 bsf __rp0___byte, __rp0___bit 4334 00f3 22d8 call _float32_pointer_load 4335 00f4 30a4 movlw target>>1 4336 00f5 2337 call _float32_pointer_store 4337 ; line_number = 612 4338 ; file24_changed@target_index := _false 4339 ;info 612, 246 4340 00000020 = main__select__2___byte equ file24_changed 4341 00000001 = main__select__2___bit equ 1 4342 00f6 1283 bcf __rp0___byte, __rp0___bit 4343 00f7 10a0 bcf main__select__2___byte, main__select__2___bit 4344 ; line_number = 613 4345 ; call uart_manage() 4346 ;info 613, 248 4347 00f8 118a bcf __cb0___byte, __cb0___bit 4348 00f9 2340 call uart_manage 4349 ; Recombine size1 = 0 || size2 = 0 4350 00fa : main__4: 4351 ; line_number = 609 4352 ; if file24_changed@target_index done 4353 ; line_number = 614 4354 ; if file24_changed@divisor_index start 4355 ;info 614, 250 4356 00000020 = main__select__11___byte equ file24_changed 4357 00000002 = main__select__11___bit equ 2 4358 ; =>bit_code_emit@symbol(): sym=main__select__11 4359 ; No 1TEST: true.size=28 false.size=0 4360 ; No 2TEST: true.size=28 false.size=0 4361 ; 1GOTO: Single test with GOTO 4362 00fa 1d20 btfss main__select__11___byte, main__select__11___bit 4363 00fb 2918 goto main__12 4364 ; line_number = 615 4365 ; divisor := file24_float_convert(divisor_index) 4366 ;info 615, 252 4367 00fc 3002 movlw 2 4368 00fd 252a call file24_float_convert 4369 00fe 3025 movlw file24_float_convert__0return>>1 4370 00ff 158a bsf __cb0___byte, __cb0___bit 4371 0100 1683 bsf __rp0___byte, __rp0___bit 4372 0101 22d8 call _float32_pointer_load 4373 0102 306e movlw divisor>>1 4374 0103 2337 call _float32_pointer_store 4375 ; line_number = 616 4376 ; if file24_zero@divisor_index start 4377 ;info 616, 260 4378 00000021 = main__select__5___byte equ file24_zero 4379 00000002 = main__select__5___bit equ 2 4380 ; =>bit_code_emit@symbol(): sym=main__select__5 4381 ; No 1TEST: true.size=9 false.size=0 4382 ; No 2TEST: true.size=9 false.size=0 4383 ; 1GOTO: Single test with GOTO 4384 0104 1283 bcf __rp0___byte, __rp0___bit 4385 0105 118a bcf __cb0___byte, __cb0___bit 4386 0106 1d21 btfss main__select__5___byte, main__select__5___bit 4387 0107 2912 goto main__6 4388 0108 1703 bsf __rp1___byte, __rp1___bit 4389 ; # Yikes, the user set the divisor to zero; set to 1 instead: 4390 ; line_number = 618 4391 ; lows[divisor_index] := 1 4392 ;info 618, 265 4393 0109 3001 movlw 1 4394 010a 00b6 movwf lows+2 4395 ; line_number = 619 4396 ; divisor := 1.0 4397 ;info 619, 267 4398 ; divisor := 1 (7F 00 00 00) 4399 010b 307f movlw 127 4400 010c 1683 bsf __rp0___byte, __rp0___bit 4401 010d 1303 bcf __rp1___byte, __rp1___bit 4402 010e 00dc movwf divisor 4403 010f 01dd clrf divisor+1 4404 0110 01de clrf divisor+2 4405 0111 01df clrf divisor+3 4406 ; Recombine size1 = 0 || size2 = 0 4407 0112 : main__6: 4408 ; line_number = 616 4409 ; if file24_zero@divisor_index done 4410 ; line_number = 620 4411 ; file24_changed@divisor_index := _false 4412 ;info 620, 274 4413 00000020 = main__select__7___byte equ file24_changed 4414 00000002 = main__select__7___bit equ 2 4415 0112 1283 bcf __rp0___byte, __rp0___bit 4416 0113 1120 bcf main__select__7___byte, main__select__7___bit 4417 ; line_number = 621 4418 ; file24_changed@kp_index := _true 4419 ;info 621, 276 4420 00000020 = main__select__8___byte equ file24_changed 4421 00000003 = main__select__8___bit equ 3 4422 0114 15a0 bsf main__select__8___byte, main__select__8___bit 4423 ; line_number = 622 4424 ; file24_changed@ki_index := _true 4425 ;info 622, 277 4426 00000020 = main__select__9___byte equ file24_changed 4427 00000004 = main__select__9___bit equ 4 4428 0115 1620 bsf main__select__9___byte, main__select__9___bit 4429 ; line_number = 623 4430 ; file24_changed@kd_index := _true 4431 ;info 623, 278 4432 00000020 = main__select__10___byte equ file24_changed 4433 00000005 = main__select__10___bit equ 5 4434 0116 16a0 bsf main__select__10___byte, main__select__10___bit 4435 ; line_number = 624 4436 ; call uart_manage() 4437 ;info 624, 279 4438 0117 2340 call uart_manage 4439 ; Recombine size1 = 0 || size2 = 0 4440 0118 : main__12: 4441 ; line_number = 614 4442 ; if file24_changed@divisor_index done 4443 ; line_number = 625 4444 ; if file24_changed@kp_index start 4445 ;info 625, 280 4446 00000020 = main__select__14___byte equ file24_changed 4447 00000003 = main__select__14___bit equ 3 4448 ; =>bit_code_emit@symbol(): sym=main__select__14 4449 ; No 1TEST: true.size=23 false.size=0 4450 ; No 2TEST: true.size=23 false.size=0 4451 ; 1GOTO: Single test with GOTO 4452 0118 1da0 btfss main__select__14___byte, main__select__14___bit 4453 0119 2931 goto main__15 4454 ; line_number = 626 4455 ; numerator := file24_float_convert(kp_index) 4456 ;info 626, 282 4457 011a 3003 movlw 3 4458 011b 252a call file24_float_convert 4459 011c 3025 movlw file24_float_convert__0return>>1 4460 011d 158a bsf __cb0___byte, __cb0___bit 4461 011e 1683 bsf __rp0___byte, __rp0___bit 4462 011f 22d8 call _float32_pointer_load 4463 0120 3070 movlw numerator>>1 4464 0121 2337 call _float32_pointer_store 4465 ; line_number = 627 4466 ; call uart_manage() 4467 ;info 627, 290 4468 0122 118a bcf __cb0___byte, __cb0___bit 4469 0123 1283 bcf __rp0___byte, __rp0___bit 4470 0124 2340 call uart_manage 4471 ; line_number = 628 4472 ; kp := numerator / divisor 4473 ;info 628, 293 4474 0125 3070 movlw numerator>>1 4475 0126 158a bsf __cb0___byte, __cb0___bit 4476 0127 1683 bsf __rp0___byte, __rp0___bit 4477 0128 22d8 call _float32_pointer_load 4478 0129 306e movlw divisor>>1 4479 012a 22fe call _float32_pointer_divide 4480 012b 30a6 movlw kp>>1 4481 012c 2337 call _float32_pointer_store 4482 ; line_number = 629 4483 ; file24_changed@kp_index := _false 4484 ;info 629, 301 4485 00000020 = main__select__13___byte equ file24_changed 4486 00000003 = main__select__13___bit equ 3 4487 012d 1283 bcf __rp0___byte, __rp0___bit 4488 012e 11a0 bcf main__select__13___byte, main__select__13___bit 4489 ; line_number = 630 4490 ; call uart_manage() 4491 ;info 630, 303 4492 012f 118a bcf __cb0___byte, __cb0___bit 4493 0130 2340 call uart_manage 4494 ; Recombine size1 = 0 || size2 = 0 4495 0131 : main__15: 4496 ; line_number = 625 4497 ; if file24_changed@kp_index done 4498 ; line_number = 631 4499 ; if file24_changed@ki_index start 4500 ;info 631, 305 4501 00000020 = main__select__17___byte equ file24_changed 4502 00000004 = main__select__17___bit equ 4 4503 ; =>bit_code_emit@symbol(): sym=main__select__17 4504 ; No 1TEST: true.size=23 false.size=0 4505 ; No 2TEST: true.size=23 false.size=0 4506 ; 1GOTO: Single test with GOTO 4507 0131 1e20 btfss main__select__17___byte, main__select__17___bit 4508 0132 294a goto main__18 4509 ; line_number = 632 4510 ; numerator := file24_float_convert(ki_index) 4511 ;info 632, 307 4512 0133 3004 movlw 4 4513 0134 252a call file24_float_convert 4514 0135 3025 movlw file24_float_convert__0return>>1 4515 0136 158a bsf __cb0___byte, __cb0___bit 4516 0137 1683 bsf __rp0___byte, __rp0___bit 4517 0138 22d8 call _float32_pointer_load 4518 0139 3070 movlw numerator>>1 4519 013a 2337 call _float32_pointer_store 4520 ; line_number = 633 4521 ; call uart_manage() 4522 ;info 633, 315 4523 013b 118a bcf __cb0___byte, __cb0___bit 4524 013c 1283 bcf __rp0___byte, __rp0___bit 4525 013d 2340 call uart_manage 4526 ; line_number = 634 4527 ; ki := numerator / divisor 4528 ;info 634, 318 4529 013e 3070 movlw numerator>>1 4530 013f 158a bsf __cb0___byte, __cb0___bit 4531 0140 1683 bsf __rp0___byte, __rp0___bit 4532 0141 22d8 call _float32_pointer_load 4533 0142 306e movlw divisor>>1 4534 0143 22fe call _float32_pointer_divide 4535 0144 30a8 movlw ki>>1 4536 0145 2337 call _float32_pointer_store 4537 ; line_number = 635 4538 ; file24_changed@ki_index := _false 4539 ;info 635, 326 4540 00000020 = main__select__16___byte equ file24_changed 4541 00000004 = main__select__16___bit equ 4 4542 0146 1283 bcf __rp0___byte, __rp0___bit 4543 0147 1220 bcf main__select__16___byte, main__select__16___bit 4544 ; line_number = 636 4545 ; call uart_manage() 4546 ;info 636, 328 4547 0148 118a bcf __cb0___byte, __cb0___bit 4548 0149 2340 call uart_manage 4549 ; Recombine size1 = 0 || size2 = 0 4550 014a : main__18: 4551 ; line_number = 631 4552 ; if file24_changed@ki_index done 4553 ; line_number = 637 4554 ; if file24_changed@kd_index start 4555 ;info 637, 330 4556 00000020 = main__select__20___byte equ file24_changed 4557 00000005 = main__select__20___bit equ 5 4558 ; =>bit_code_emit@symbol(): sym=main__select__20 4559 ; No 1TEST: true.size=23 false.size=0 4560 ; No 2TEST: true.size=23 false.size=0 4561 ; 1GOTO: Single test with GOTO 4562 014a 1ea0 btfss main__select__20___byte, main__select__20___bit 4563 014b 2963 goto main__21 4564 ; line_number = 638 4565 ; numerator := file24_float_convert(kd_index) 4566 ;info 638, 332 4567 014c 3005 movlw 5 4568 014d 252a call file24_float_convert 4569 014e 3025 movlw file24_float_convert__0return>>1 4570 014f 158a bsf __cb0___byte, __cb0___bit 4571 0150 1683 bsf __rp0___byte, __rp0___bit 4572 0151 22d8 call _float32_pointer_load 4573 0152 3070 movlw numerator>>1 4574 0153 2337 call _float32_pointer_store 4575 ; line_number = 639 4576 ; call uart_manage() 4577 ;info 639, 340 4578 0154 118a bcf __cb0___byte, __cb0___bit 4579 0155 1283 bcf __rp0___byte, __rp0___bit 4580 0156 2340 call uart_manage 4581 ; line_number = 640 4582 ; kd := numerator / divisor 4583 ;info 640, 343 4584 0157 3070 movlw numerator>>1 4585 0158 158a bsf __cb0___byte, __cb0___bit 4586 0159 1683 bsf __rp0___byte, __rp0___bit 4587 015a 22d8 call _float32_pointer_load 4588 015b 306e movlw divisor>>1 4589 015c 22fe call _float32_pointer_divide 4590 015d 306a movlw kd>>1 4591 015e 2337 call _float32_pointer_store 4592 ; line_number = 641 4593 ; file24_changed@kd_index := _false 4594 ;info 641, 351 4595 00000020 = main__select__19___byte equ file24_changed 4596 00000005 = main__select__19___bit equ 5 4597 015f 1283 bcf __rp0___byte, __rp0___bit 4598 0160 12a0 bcf main__select__19___byte, main__select__19___bit 4599 ; line_number = 642 4600 ; call uart_manage() 4601 ;info 642, 353 4602 0161 118a bcf __cb0___byte, __cb0___bit 4603 0162 2340 call uart_manage 4604 4605 ; Recombine size1 = 0 || size2 = 0 4606 0163 : main__21: 4607 ; line_number = 637 4608 ; if file24_changed@kd_index done 4609 0163 : main__22: 4610 ; Recombine size1 = 0 || size2 = 0 4611 ; line_number = 607 4612 ; if file24_changed != 0 done 4613 ; line_number = 644 4614 ; if target_seek start 4615 ;info 644, 355 4616 ; =>bit_code_emit@symbol(): sym=target_seek 4617 ; No 1TEST: true.size=363 false.size=0 4618 ; No 2TEST: true.size=363 false.size=0 4619 ; 1GOTO: Single test with GOTO 4620 0163 1cef btfss target_seek___byte, target_seek___bit 4621 0164 2ad1 goto main__52 4622 0165 1703 bsf __rp1___byte, __rp1___bit 4623 ; # Fetch the position atomically: 4624 ; line_number = 646 4625 ; _gie := _false 4626 ;info 646, 358 4627 0166 138b bcf _gie___byte, _gie___bit 4628 ; line_number = 647 4629 ; pos_high := quad_high 4630 ;info 647, 359 4631 0167 0820 movf quad_high,w 4632 0168 1303 bcf __rp1___byte, __rp1___bit 4633 0169 00c1 movwf main__pos_high 4634 ; line_number = 648 4635 ; pos_middle := quad_middle 4636 ;info 648, 362 4637 016a 1703 bsf __rp1___byte, __rp1___bit 4638 016b 082a movf quad_middle,w 4639 016c 1303 bcf __rp1___byte, __rp1___bit 4640 016d 00c2 movwf main__pos_middle 4641 ; line_number = 649 4642 ; pos_low := quad_low 4643 ;info 649, 366 4644 016e 1703 bsf __rp1___byte, __rp1___bit 4645 016f 0834 movf quad_low,w 4646 0170 1303 bcf __rp1___byte, __rp1___bit 4647 0171 00c3 movwf main__pos_low 4648 ; line_number = 650 4649 ; _gie := _true 4650 ;info 650, 370 4651 0172 178b bsf _gie___byte, _gie___bit 4652 ; line_number = 651 4653 ; call uart_manage() 4654 ;info 651, 371 4655 0173 2340 call uart_manage 4656 4657 ; # Convert the position bytes into a float: 4658 ; line_number = 654 4659 ; position := xyz(pos_high, pos_middle, pos_low) 4660 ;info 654, 372 4661 0174 0841 movf main__pos_high,w 4662 0175 00d5 movwf xyz__high 4663 0176 0842 movf main__pos_middle,w 4664 0177 00d6 movwf xyz__middle 4665 0178 0843 movf main__pos_low,w 4666 0179 2605 call xyz 4667 017a 302c movlw xyz__0return>>1 4668 017b 158a bsf __cb0___byte, __cb0___bit 4669 017c 1683 bsf __rp0___byte, __rp0___bit 4670 017d 22d8 call _float32_pointer_load 4671 017e 30a2 movlw position>>1 4672 017f 2337 call _float32_pointer_store 4673 ; line_number = 655 4674 ; call uart_manage() 4675 ;info 655, 384 4676 0180 118a bcf __cb0___byte, __cb0___bit 4677 0181 1283 bcf __rp0___byte, __rp0___bit 4678 0182 2340 call uart_manage 4679 4680 ; # Figure out the proportional error: 4681 ; line_number = 658 4682 ; previous_error := error 4683 ;info 658, 387 4684 0183 30a0 movlw error>>1 4685 0184 158a bsf __cb0___byte, __cb0___bit 4686 0185 1683 bsf __rp0___byte, __rp0___bit 4687 0186 22d8 call _float32_pointer_load 4688 0187 3072 movlw previous_error>>1 4689 0188 2337 call _float32_pointer_store 4690 ; line_number = 659 4691 ; error := position - target 4692 ;info 659, 393 4693 0189 30a2 movlw position>>1 4694 018a 22d8 call _float32_pointer_load 4695 018b 30a4 movlw target>>1 4696 018c 2324 call _float32_pointer_subtract 4697 018d 30a0 movlw error>>1 4698 018e 2337 call _float32_pointer_store 4699 ; line_number = 660 4700 ; error_sum := error_sum + error 4701 ;info 660, 399 4702 018f 3074 movlw error_sum>>1 4703 0190 22d8 call _float32_pointer_load 4704 0191 30a0 movlw error>>1 4705 0192 22eb call _float32_pointer_add 4706 0193 3074 movlw error_sum>>1 4707 0194 2337 call _float32_pointer_store 4708 ; line_number = 661 4709 ; call uart_manage() 4710 ;info 661, 405 4711 0195 118a bcf __cb0___byte, __cb0___bit 4712 0196 1283 bcf __rp0___byte, __rp0___bit 4713 0197 2340 call uart_manage 4714 4715 ; # Compute the PID equation: 4716 ; line_number = 664 4717 ; pid := kp * error 4718 ;info 664, 408 4719 0198 30a6 movlw kp>>1 4720 0199 158a bsf __cb0___byte, __cb0___bit 4721 019a 1683 bsf __rp0___byte, __rp0___bit 4722 019b 22d8 call _float32_pointer_load 4723 019c 30a0 movlw error>>1 4724 019d 2311 call _float32_pointer_multiply 4725 019e 306c movlw pid>>1 4726 019f 2337 call _float32_pointer_store 4727 ; line_number = 665 4728 ; call uart_manage() 4729 ;info 665, 416 4730 01a0 118a bcf __cb0___byte, __cb0___bit 4731 01a1 1283 bcf __rp0___byte, __rp0___bit 4732 01a2 2340 call uart_manage 4733 ; line_number = 666 4734 ; pid := pid + kd * (error - previous_error) 4735 ;info 666, 419 4736 01a3 30a0 movlw error>>1 4737 01a4 158a bsf __cb0___byte, __cb0___bit 4738 01a5 1683 bsf __rp0___byte, __rp0___bit 4739 01a6 22d8 call _float32_pointer_load 4740 01a7 3072 movlw previous_error>>1 4741 01a8 2324 call _float32_pointer_subtract 4742 01a9 306a movlw kd>>1 4743 01aa 2311 call _float32_pointer_multiply 4744 01ab 306c movlw pid>>1 4745 01ac 22eb call _float32_pointer_add 4746 01ad 306c movlw pid>>1 4747 01ae 2337 call _float32_pointer_store 4748 ; line_number = 667 4749 ; call uart_manage() 4750 ;info 667, 431 4751 01af 118a bcf __cb0___byte, __cb0___bit 4752 01b0 1283 bcf __rp0___byte, __rp0___bit 4753 01b1 2340 call uart_manage 4754 ; line_number = 668 4755 ; pid := pid + ki * error_sum 4756 ;info 668, 434 4757 01b2 30a8 movlw ki>>1 4758 01b3 158a bsf __cb0___byte, __cb0___bit 4759 01b4 1683 bsf __rp0___byte, __rp0___bit 4760 01b5 22d8 call _float32_pointer_load 4761 01b6 3074 movlw error_sum>>1 4762 01b7 2311 call _float32_pointer_multiply 4763 01b8 306c movlw pid>>1 4764 01b9 22eb call _float32_pointer_add 4765 01ba 306c movlw pid>>1 4766 01bb 2337 call _float32_pointer_store 4767 4768 ; # Set the new motor speed: 4769 ; line_number = 671 4770 ; negative := _false 4771 ;info 671, 444 4772 01bc 1283 bcf __rp0___byte, __rp0___bit 4773 01bd 126f bcf main__negative___byte, main__negative___bit 4774 ; line_number = 672 4775 ; if pid < 0.0 start 4776 ;info 672, 446 4777 01be 306c movlw pid>>1 4778 01bf 1683 bsf __rp0___byte, __rp0___bit 4779 01c0 22d8 call _float32_pointer_load 4780 01c1 2393 call _float32_less_than 4781 ; =>bit_code_emit@symbol(): sym=__z 4782 ; No 1TEST: true.size=7 false.size=0 4783 ; No 2TEST: true.size=7 false.size=0 4784 ; 1GOTO: Single test with GOTO 4785 01c2 118a bcf __cb0___byte, __cb0___bit 4786 01c3 1d03 btfss __z___byte, __z___bit 4787 01c4 29ce goto main__23 4788 01c5 158a bsf __cb0___byte, __cb0___bit 4789 01c6 1283 bcf __rp0___byte, __rp0___bit 4790 ; # Work in positive arithmetic: 4791 ; line_number = 674 4792 ; negative := _true 4793 ;info 674, 455 4794 01c7 166f bsf main__negative___byte, main__negative___bit 4795 ; line_number = 675 4796 ; pid := -pid 4797 ;info 675, 456 4798 01c8 306c movlw pid>>1 4799 01c9 1683 bsf __rp0___byte, __rp0___bit 4800 01ca 22d8 call _float32_pointer_load 4801 01cb 234a call _float32_negate 4802 01cc 306c movlw pid>>1 4803 01cd 2337 call _float32_pointer_store 4804 4805 ; Recombine size1 = 0 || size2 = 0 4806 01ce : main__23: 4807 ; line_number = 672 4808 ; if pid < 0.0 done 4809 ; line_number = 677 4810 ; if pid > 127.0 start 4811 ;info 677, 462 4812 ; -127 = 85 fe 00 00 4813 01ce 3085 movlw 133 4814 01cf 00a8 movwf _float32_aexp 4815 01d0 30fe movlw 254 4816 01d1 00a7 movwf _float32_aargb0 4817 01d2 01a6 clrf _float32_aargb1 4818 01d3 01a5 clrf _float32_aargb2 4819 01d4 306c movlw pid>>1 4820 01d5 158a bsf __cb0___byte, __cb0___bit 4821 01d6 22eb call _float32_pointer_add 4822 01d7 23a1 call _float32_greater_than 4823 ; =>bit_code_emit@symbol(): sym=__z 4824 ; No 1TEST: true.size=7 false.size=83 4825 ; No 2TEST: true.size=7 false.size=83 4826 01d8 118a bcf __cb0___byte, __cb0___bit 4827 ; 2GOTO: Single test with two GOTO's 4828 01d9 1d03 btfss __z___byte, __z___bit 4829 01da 29e4 goto main__31 4830 01db 1283 bcf __rp0___byte, __rp0___bit 4831 ; line_number = 678 4832 ; target_speed := 127 4833 ;info 678, 476 4834 01dc 307f movlw 127 4835 01dd 00be movwf target_speed 4836 ; line_number = 679 4837 ; error_sum := 0.0 4838 ;info 679, 478 4839 ; error_sum := 0 (00 00 00 00) 4840 01de 1683 bsf __rp0___byte, __rp0___bit 4841 01df 01e8 clrf error_sum 4842 01e0 01e9 clrf error_sum+1 4843 01e1 01ea clrf error_sum+2 4844 01e2 01eb clrf error_sum+3 4845 ; Recombine code1_bit_states != code2_bit_states 4846 01e3 2a38 goto main__32 4847 ; 2GOTO: Starting code 2 4848 01e4 : main__31: 4849 01e4 158a bsf __cb0___byte, __cb0___bit 4850 ; line_number = 681 4851 ; target_speed := _float32_to_byte(pid) 4852 ;info 681, 485 4853 01e5 306c movlw pid>>1 4854 01e6 22d8 call _float32_pointer_load 4855 01e7 3068 movlw _float32_to_byte__number>>1 4856 01e8 2337 call _float32_pointer_store 4857 01e9 2385 call _float32_to_byte 4858 01ea 1283 bcf __rp0___byte, __rp0___bit 4859 01eb 00be movwf target_speed 4860 ; line_number = 682 4861 ; call uart_manage() 4862 ;info 682, 492 4863 01ec 118a bcf __cb0___byte, __cb0___bit 4864 01ed 2340 call uart_manage 4865 4866 ; # Extract the error as a small byte: 4867 ; line_number = 685 4868 ; if error >= 0.0 start 4869 ;info 685, 494 4870 01ee 30a0 movlw error>>1 4871 01ef 158a bsf __cb0___byte, __cb0___bit 4872 01f0 1683 bsf __rp0___byte, __rp0___bit 4873 01f1 22d8 call _float32_pointer_load 4874 01f2 23a9 call _float32_greater_than_or_equal 4875 ; =>bit_code_emit@symbol(): sym=__z 4876 ; line_number = 686 4877 ; if error >= 255.0 start 4878 ;info 686, 499 4879 ; -255 = 86 ff 00 00 4880 01f3 3086 movlw 134 4881 01f4 00a8 movwf _float32_aexp 4882 ; line_number = 691 4883 ; if error < -255.0 start 4884 ;info 691, 501 4885 ; 255 = 86 7f 00 00 4886 ; No 1TEST: true.size=22 false.size=23 4887 ; No 2TEST: true.size=22 false.size=23 4888 01f5 118a bcf __cb0___byte, __cb0___bit 4889 ; 2GOTO: Single test with two GOTO's 4890 01f6 1d03 btfss __z___byte, __z___bit 4891 01f7 2a11 goto main__28 4892 01f8 158a bsf __cb0___byte, __cb0___bit 4893 01f9 30ff movlw 255 4894 01fa 00a7 movwf _float32_aargb0 4895 01fb 01a6 clrf _float32_aargb1 4896 01fc 01a5 clrf _float32_aargb2 4897 01fd 30a0 movlw error>>1 4898 01fe 22eb call _float32_pointer_add 4899 01ff 23a9 call _float32_greater_than_or_equal 4900 ; =>bit_code_emit@symbol(): sym=__z 4901 ; No 1TEST: true.size=2 false.size=7 4902 ; No 2TEST: true.size=2 false.size=7 4903 0200 118a bcf __cb0___byte, __cb0___bit 4904 ; 2GOTO: Single test with two GOTO's 4905 0201 1d03 btfss __z___byte, __z___bit 4906 0202 2a07 goto main__26 4907 0203 1283 bcf __rp0___byte, __rp0___bit 4908 ; line_number = 687 4909 ; small_error := 255 4910 ;info 687, 516 4911 0204 30ff movlw 255 4912 0205 00c4 movwf main__small_error 4913 ; Recombine code1_bit_states != code2_bit_states 4914 0206 2a0f goto main__27 4915 ; 2GOTO: Starting code 2 4916 0207 : main__26: 4917 0207 158a bsf __cb0___byte, __cb0___bit 4918 ; line_number = 689 4919 ; small_error := _float32_to_byte(error) 4920 ;info 689, 520 4921 0208 30a0 movlw error>>1 4922 0209 22d8 call _float32_pointer_load 4923 020a 3068 movlw _float32_to_byte__number>>1 4924 020b 2337 call _float32_pointer_store 4925 020c 2385 call _float32_to_byte 4926 020d 1283 bcf __rp0___byte, __rp0___bit 4927 020e 00c4 movwf main__small_error 4928 020f : main__27: 4929 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 4930 ; 2GOTO: code2 final bitstates:(data:01=uu=>00 code:X1=cu=>X1) 4931 ; 2GOTO: code final bitstates:(data:01=uu=>00 code:X1=cu=>X?) 4932 ; line_number = 686 4933 ; if error >= 255.0 done 4934 020f 118a bcf __cb0___byte, __cb0___bit 4935 0210 2a29 goto main__29 4936 ; 2GOTO: Starting code 2 4937 0211 : main__28: 4938 0211 158a bsf __cb0___byte, __cb0___bit 4939 0212 307f movlw 127 4940 0213 00a7 movwf _float32_aargb0 4941 0214 01a6 clrf _float32_aargb1 4942 0215 01a5 clrf _float32_aargb2 4943 0216 30a0 movlw error>>1 4944 0217 22eb call _float32_pointer_add 4945 0218 2393 call _float32_less_than 4946 ; =>bit_code_emit@symbol(): sym=__z 4947 ; No 1TEST: true.size=2 false.size=8 4948 ; No 2TEST: true.size=2 false.size=8 4949 0219 118a bcf __cb0___byte, __cb0___bit 4950 ; 2GOTO: Single test with two GOTO's 4951 021a 1d03 btfss __z___byte, __z___bit 4952 021b 2a20 goto main__24 4953 021c 1283 bcf __rp0___byte, __rp0___bit 4954 ; line_number = 692 4955 ; small_error := 255 4956 ;info 692, 541 4957 021d 30ff movlw 255 4958 021e 00c4 movwf main__small_error 4959 ; Recombine code1_bit_states != code2_bit_states 4960 021f 2a29 goto main__25 4961 ; 2GOTO: Starting code 2 4962 0220 : main__24: 4963 0220 158a bsf __cb0___byte, __cb0___bit 4964 ; line_number = 694 4965 ; small_error := _float32_to_byte(-error) 4966 ;info 694, 545 4967 0221 30a0 movlw error>>1 4968 0222 22d8 call _float32_pointer_load 4969 0223 234a call _float32_negate 4970 0224 3068 movlw _float32_to_byte__number>>1 4971 0225 2337 call _float32_pointer_store 4972 0226 2385 call _float32_to_byte 4973 0227 1283 bcf __rp0___byte, __rp0___bit 4974 0228 00c4 movwf main__small_error 4975 0229 : main__25: 4976 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 4977 ; 2GOTO: code2 final bitstates:(data:01=uu=>00 code:X1=cu=>X1) 4978 ; 2GOTO: code final bitstates:(data:01=uu=>00 code:X1=cu=>X?) 4979 ; line_number = 691 4980 ; if error < -255.0 done 4981 0229 : main__29: 4982 ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 4983 ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 4984 ; 2GOTO: code final bitstates:(data:01=uu=>01 code:X1=cu=>X?) 4985 0229 1283 bcf __rp0___byte, __rp0___bit 4986 ; line_number = 685 4987 ; if error >= 0.0 done 4988 ; line_number = 695 4989 ; call uart_manage() 4990 ;info 695, 554 4991 022a 118a bcf __cb0___byte, __cb0___bit 4992 022b 2340 call uart_manage 4993 4994 ; # We we are in -{deadband} <= {error} <= {deadband}, 4995 ; # we turn everything off: 4996 ; line_number = 699 4997 ; if small_error <= deadband start 4998 ;info 699, 556 4999 022c 0829 movf deadband,w 5000 022d 0244 subwf main__small_error,w 5001 022e 1903 btfsc __z___byte, __z___bit 5002 022f 1003 bcf __c___byte, __c___bit 5003 ; =>bit_code_emit@symbol(): sym=__c 5004 ; No 1TEST: true.size=0 false.size=6 5005 ; No 2TEST: true.size=0 false.size=6 5006 ; 1GOTO: Single test with GOTO 5007 0230 1803 btfsc __c___byte, __c___bit 5008 0231 2a38 goto main__30 5009 ; line_number = 700 5010 ; target_speed := 0 5011 ;info 700, 562 5012 0232 01be clrf target_speed 5013 ; line_number = 701 5014 ; error_sum := 0.0 5015 ;info 701, 563 5016 ; error_sum := 0 (00 00 00 00) 5017 0233 1683 bsf __rp0___byte, __rp0___bit 5018 0234 01e8 clrf error_sum 5019 0235 01e9 clrf error_sum+1 5020 0236 01ea clrf error_sum+2 5021 0237 01eb clrf error_sum+3 5022 5023 0238 : main__30: 5024 ; Recombine size1 = 0 || size2 = 0 5025 ; line_number = 699 5026 ; if small_error <= deadband done 5027 0238 : main__32: 5028 ; 2GOTO: code1 final bitstates:(data:00=uu=>01 code:XX=cc=>XX) 5029 ; 2GOTO: code2 final bitstates:(data:01=uu=>0? code:X1=cu=>X0) 5030 ; 2GOTO: code final bitstates:(data:10=uu=>0? code:X0=cu=>X0) 5031 ; line_number = 677 5032 ; if pid > 127.0 done 5033 ; # Deal with {minimum}: 5034 ; line_number = 704 5035 ; if target_speed != 0 start 5036 ;info 704, 568 5037 ; Left minus Right 5038 0238 1283 bcf __rp0___byte, __rp0___bit 5039 0239 083e movf target_speed,w 5040 ; =>bit_code_emit@symbol(): sym=__z 5041 ; No 1TEST: true.size=0 false.size=15 5042 ; No 2TEST: true.size=0 false.size=15 5043 ; 1GOTO: Single test with GOTO 5044 023a 1903 btfsc __z___byte, __z___bit 5045 023b 2a4b goto main__35 5046 ; line_number = 705 5047 ; target_speed := target_speed + minimum 5048 ;info 705, 572 5049 023c 082a movf minimum,w 5050 023d 07be addwf target_speed,f 5051 ; line_number = 706 5052 ; if target_speed > maximum start 5053 ;info 706, 574 5054 023e 082b movf maximum,w 5055 023f 023e subwf target_speed,w 5056 0240 1903 btfsc __z___byte, __z___bit 5057 0241 1003 bcf __c___byte, __c___bit 5058 ; =>bit_code_emit@symbol(): sym=__c 5059 ; No 1TEST: true.size=2 false.size=0 5060 ; No 2TEST: true.size=2 false.size=0 5061 ; 1GOTO: Single test with GOTO 5062 0242 1c03 btfss __c___byte, __c___bit 5063 0243 2a46 goto main__33 5064 ; line_number = 707 5065 ; target_speed := maximum 5066 ;info 707, 580 5067 0244 082b movf maximum,w 5068 0245 00be movwf target_speed 5069 5070 ; Recombine size1 = 0 || size2 = 0 5071 0246 : main__33: 5072 ; line_number = 706 5073 ; if target_speed > maximum done 5074 ; line_number = 709 5075 ; if negative start 5076 ;info 709, 582 5077 ; =>bit_code_emit@symbol(): sym=main__negative 5078 ; No 1TEST: true.size=3 false.size=0 5079 ; No 2TEST: true.size=3 false.size=0 5080 ; 1GOTO: Single test with GOTO 5081 0246 1e6f btfss main__negative___byte, main__negative___bit 5082 0247 2a4b goto main__34 5083 ; line_number = 710 5084 ; target_speed := 0 - target_speed 5085 ;info 710, 584 5086 0248 083e movf target_speed,w 5087 0249 3c00 sublw 0 5088 024a 00be movwf target_speed 5089 5090 ; Recombine size1 = 0 || size2 = 0 5091 024b : main__34: 5092 ; line_number = 709 5093 ; if negative done 5094 024b : main__35: 5095 ; Recombine size1 = 0 || size2 = 0 5096 ; line_number = 704 5097 ; if target_speed != 0 done 5098 ; # Deal with analog0 motor disable: 5099 ; line_number = 713 5100 ; if ad0_enable start 5101 ;info 713, 587 5102 ; =>bit_code_emit@symbol(): sym=ad0_enable 5103 ; No 1TEST: true.size=62 false.size=0 5104 ; No 2TEST: true.size=62 false.size=0 5105 ; 1GOTO: Single test with GOTO 5106 024b 1fa5 btfss ad0_enable___byte, ad0_enable___bit 5107 024c 2a8c goto main__43 5108 024d 1703 bsf __rp1___byte, __rp1___bit 5109 ; line_number = 714 5110 ; value := (ad0_value_middle << 6) | (ad0_value_low >> 2) 5111 ;info 714, 590 5112 00000062 = main__36 equ globals___0+66 5113 024e 0e30 swapf ad0_value_middle,w 5114 024f 1303 bcf __rp1___byte, __rp1___bit 5115 0250 00e2 movwf main__36 5116 0251 0de2 rlf main__36,f 5117 0252 0de2 rlf main__36,f 5118 0253 30c0 movlw 192 5119 0254 05e2 andwf main__36,f 5120 00000063 = main__37 equ globals___0+67 5121 0255 1703 bsf __rp1___byte, __rp1___bit 5122 0256 0c3a rrf ad0_value_low,w 5123 0257 1303 bcf __rp1___byte, __rp1___bit 5124 0258 00e3 movwf main__37 5125 0259 0c63 rrf main__37,w 5126 025a 393f andlw 63 5127 025b 0462 iorwf main__36,w 5128 025c 00bf movwf value 5129 ; line_number = 715 5130 ; limit := (ad0_limit_middle << 6) | (ad0_limit_low >> 2) 5131 ;info 715, 605 5132 00000063 = main__38 equ globals___0+67 5133 025d 1703 bsf __rp1___byte, __rp1___bit 5134 025e 0e32 swapf ad0_limit_middle,w 5135 025f 1303 bcf __rp1___byte, __rp1___bit 5136 0260 00e3 movwf main__38 5137 0261 0de3 rlf main__38,f 5138 0262 0de3 rlf main__38,f 5139 0263 30c0 movlw 192 5140 0264 05e3 andwf main__38,f 5141 00000064 = main__39 equ globals___0+68 5142 0265 1703 bsf __rp1___byte, __rp1___bit 5143 0266 0c3c rrf ad0_limit_low,w 5144 0267 1303 bcf __rp1___byte, __rp1___bit 5145 0268 00e4 movwf main__39 5146 0269 0c64 rrf main__39,w 5147 026a 393f andlw 63 5148 026b 0463 iorwf main__38,w 5149 026c 00c0 movwf limit 5150 ; line_number = 716 5151 ; analog0_greater_than := _false 5152 ;info 716, 621 5153 026d 116f bcf analog0_greater_than___byte, analog0_greater_than___bit 5154 ; line_number = 717 5155 ; if value > limit start 5156 ;info 717, 622 5157 026e 0840 movf limit,w 5158 026f 023f subwf value,w 5159 0270 1903 btfsc __z___byte, __z___bit 5160 0271 1003 bcf __c___byte, __c___bit 5161 ; =>bit_code_emit@symbol(): sym=__c 5162 ; No 1TEST: true.size=23 false.size=0 5163 ; No 2TEST: true.size=23 false.size=0 5164 ; 1GOTO: Single test with GOTO 5165 0272 1c03 btfss __c___byte, __c___bit 5166 0273 2a8c goto main__42 5167 0274 158a bsf __cb0___byte, __cb0___bit 5168 ; line_number = 718 5169 ; analog0_greater_than := _true 5170 ;info 718, 629 5171 0275 156f bsf analog0_greater_than___byte, analog0_greater_than___bit 5172 ; line_number = 719 5173 ; if ad0_reverse start 5174 ;info 719, 630 5175 ; =>bit_code_emit@symbol(): sym=ad0_reverse 5176 0276 1683 bsf __rp0___byte, __rp0___bit 5177 ; line_number = 720 5178 ; if target < position start 5179 ;info 720, 631 5180 0277 30a4 movlw target>>1 5181 0278 22d8 call _float32_pointer_load 5182 0279 30a2 movlw position>>1 5183 027a 2324 call _float32_pointer_subtract 5184 ; line_number = 723 5185 ; if target > position start 5186 ;info 723, 635 5187 ; No 1TEST: true.size=1 false.size=1 5188 ; No 2TEST: data0 mismatch 5189 027b 118a bcf __cb0___byte, __cb0___bit 5190 ; 2GOTO: Single test with two GOTO's 5191 027c 1283 bcf __rp0___byte, __rp0___bit 5192 027d 1f25 btfss ad0_reverse___byte, ad0_reverse___bit 5193 027e 2a84 goto main__40 5194 027f 158a bsf __cb0___byte, __cb0___bit 5195 0280 1683 bsf __rp0___byte, __rp0___bit 5196 0281 2393 call _float32_less_than 5197 ; =>bit_code_emit@symbol(): sym=__z 5198 ; 1TEST: Single test with code in skip slot 5199 0282 118a bcf __cb0___byte, __cb0___bit 5200 0283 2a87 goto main__41 5201 ; 2GOTO: Starting code 2 5202 0284 : main__40: 5203 0284 158a bsf __cb0___byte, __cb0___bit 5204 0285 1683 bsf __rp0___byte, __rp0___bit 5205 0286 23a1 call _float32_greater_than 5206 ; =>bit_code_emit@symbol(): sym=__z 5207 ; 1TEST: Single test with code in skip slot 5208 0287 : main__41: 5209 ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 5210 ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 5211 ; 2GOTO: code final bitstates:(data:00=uu=>01 code:X1=cu=>X?) 5212 0287 158a bsf __cb0___byte, __cb0___bit 5213 0288 1283 bcf __rp0___byte, __rp0___bit 5214 0289 1283 bcf __rp0___byte, __rp0___bit 5215 028a 1903 btfsc __z___byte, __z___bit 5216 ; line_number = 721 5217 ; target_speed := 0 5218 ;info 721, 651 5219 028b 01be clrf target_speed 5220 ; Recombine size1 = 0 || size2 = 0 5221 ; line_number = 720 5222 ; if target < position done 5223 ; line_number = 724 5224 ; target_speed := 0 5225 ;info 724, 652 5226 5227 ; Recombine size1 = 0 || size2 = 0 5228 ; line_number = 723 5229 ; if target > position done 5230 ; line_number = 719 5231 ; if ad0_reverse done 5232 ; Recombine size1 = 0 || size2 = 0 5233 028c : main__42: 5234 ; line_number = 717 5235 ; if value > limit done 5236 ; Recombine size1 = 0 || size2 = 0 5237 028c : main__43: 5238 ; line_number = 713 5239 ; if ad0_enable done 5240 ; # Deal with analog1 motor disable: 5241 ; line_number = 727 5242 ; if ad1_enable start 5243 ;info 727, 652 5244 ; =>bit_code_emit@symbol(): sym=ad1_enable 5245 ; No 1TEST: true.size=62 false.size=0 5246 ; No 2TEST: true.size=62 false.size=0 5247 ; 1GOTO: Single test with GOTO 5248 028c 118a bcf __cb0___byte, __cb0___bit 5249 028d 1ea5 btfss ad1_enable___byte, ad1_enable___bit 5250 028e 2ace goto main__51 5251 028f 1703 bsf __rp1___byte, __rp1___bit 5252 ; line_number = 728 5253 ; value := (ad1_value_middle << 6) | (ad1_value_low >> 2) 5254 ;info 728, 656 5255 00000063 = main__44 equ globals___0+67 5256 0290 0e31 swapf ad1_value_middle,w 5257 0291 1303 bcf __rp1___byte, __rp1___bit 5258 0292 00e3 movwf main__44 5259 0293 0de3 rlf main__44,f 5260 0294 0de3 rlf main__44,f 5261 0295 30c0 movlw 192 5262 0296 05e3 andwf main__44,f 5263 00000064 = main__45 equ globals___0+68 5264 0297 1703 bsf __rp1___byte, __rp1___bit 5265 0298 0c3b rrf ad1_value_low,w 5266 0299 1303 bcf __rp1___byte, __rp1___bit 5267 029a 00e4 movwf main__45 5268 029b 0c64 rrf main__45,w 5269 029c 393f andlw 63 5270 029d 0463 iorwf main__44,w 5271 029e 00bf movwf value 5272 ; line_number = 729 5273 ; limit := (ad1_limit_middle << 6) | (ad1_limit_low >> 2) 5274 ;info 729, 671 5275 00000064 = main__46 equ globals___0+68 5276 029f 1703 bsf __rp1___byte, __rp1___bit 5277 02a0 0e33 swapf ad1_limit_middle,w 5278 02a1 1303 bcf __rp1___byte, __rp1___bit 5279 02a2 00e4 movwf main__46 5280 02a3 0de4 rlf main__46,f 5281 02a4 0de4 rlf main__46,f 5282 02a5 30c0 movlw 192 5283 02a6 05e4 andwf main__46,f 5284 00000065 = main__47 equ globals___0+69 5285 02a7 1703 bsf __rp1___byte, __rp1___bit 5286 02a8 0c3d rrf ad1_limit_low,w 5287 02a9 1303 bcf __rp1___byte, __rp1___bit 5288 02aa 00e5 movwf main__47 5289 02ab 0c65 rrf main__47,w 5290 02ac 393f andlw 63 5291 02ad 0464 iorwf main__46,w 5292 02ae 00c0 movwf limit 5293 ; line_number = 730 5294 ; analog1_greater_than := _false 5295 ;info 730, 687 5296 02af 11ef bcf analog1_greater_than___byte, analog1_greater_than___bit 5297 ; line_number = 731 5298 ; if value > limit start 5299 ;info 731, 688 5300 02b0 0840 movf limit,w 5301 02b1 023f subwf value,w 5302 02b2 1903 btfsc __z___byte, __z___bit 5303 02b3 1003 bcf __c___byte, __c___bit 5304 ; =>bit_code_emit@symbol(): sym=__c 5305 ; No 1TEST: true.size=23 false.size=0 5306 ; No 2TEST: true.size=23 false.size=0 5307 ; 1GOTO: Single test with GOTO 5308 02b4 1c03 btfss __c___byte, __c___bit 5309 02b5 2ace goto main__50 5310 02b6 158a bsf __cb0___byte, __cb0___bit 5311 ; line_number = 732 5312 ; analog1_greater_than := _true 5313 ;info 732, 695 5314 02b7 15ef bsf analog1_greater_than___byte, analog1_greater_than___bit 5315 ; line_number = 733 5316 ; if ad1_reverse start 5317 ;info 733, 696 5318 ; =>bit_code_emit@symbol(): sym=ad1_reverse 5319 02b8 1683 bsf __rp0___byte, __rp0___bit 5320 ; line_number = 734 5321 ; if target < position start 5322 ;info 734, 697 5323 02b9 30a4 movlw target>>1 5324 02ba 22d8 call _float32_pointer_load 5325 02bb 30a2 movlw position>>1 5326 02bc 2324 call _float32_pointer_subtract 5327 ; line_number = 737 5328 ; if target > position start 5329 ;info 737, 701 5330 ; No 1TEST: true.size=1 false.size=1 5331 ; No 2TEST: data0 mismatch 5332 02bd 118a bcf __cb0___byte, __cb0___bit 5333 ; 2GOTO: Single test with two GOTO's 5334 02be 1283 bcf __rp0___byte, __rp0___bit 5335 02bf 1f25 btfss ad1_reverse___byte, ad1_reverse___bit 5336 02c0 2ac6 goto main__48 5337 02c1 158a bsf __cb0___byte, __cb0___bit 5338 02c2 1683 bsf __rp0___byte, __rp0___bit 5339 02c3 2393 call _float32_less_than 5340 ; =>bit_code_emit@symbol(): sym=__z 5341 ; 1TEST: Single test with code in skip slot 5342 02c4 118a bcf __cb0___byte, __cb0___bit 5343 02c5 2ac9 goto main__49 5344 ; 2GOTO: Starting code 2 5345 02c6 : main__48: 5346 02c6 158a bsf __cb0___byte, __cb0___bit 5347 02c7 1683 bsf __rp0___byte, __rp0___bit 5348 02c8 23a1 call _float32_greater_than 5349 ; =>bit_code_emit@symbol(): sym=__z 5350 ; 1TEST: Single test with code in skip slot 5351 02c9 : main__49: 5352 ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 5353 ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:X1=cu=>X1) 5354 ; 2GOTO: code final bitstates:(data:00=uu=>01 code:X1=cu=>X?) 5355 02c9 158a bsf __cb0___byte, __cb0___bit 5356 02ca 1283 bcf __rp0___byte, __rp0___bit 5357 02cb 1283 bcf __rp0___byte, __rp0___bit 5358 02cc 1903 btfsc __z___byte, __z___bit 5359 ; line_number = 735 5360 ; target_speed := 0 5361 ;info 735, 717 5362 02cd 01be clrf target_speed 5363 ; Recombine size1 = 0 || size2 = 0 5364 ; line_number = 734 5365 ; if target < position done 5366 ; line_number = 738 5367 ; target_speed := 0 5368 ;info 738, 718 5369 5370 ; Recombine size1 = 0 || size2 = 0 5371 ; line_number = 737 5372 ; if target > position done 5373 ; line_number = 733 5374 ; if ad1_reverse done 5375 ; Recombine size1 = 0 || size2 = 0 5376 02ce : main__50: 5377 ; line_number = 731 5378 ; if value > limit done 5379 ; Recombine size1 = 0 || size2 = 0 5380 02ce : main__51: 5381 ; line_number = 727 5382 ; if ad1_enable done 5383 ; line_number = 740 5384 ; call speed_set(target_speed) 5385 ;info 740, 718 5386 02ce 083e movf target_speed,w 5387 02cf 118a bcf __cb0___byte, __cb0___bit 5388 02d0 25b3 call speed_set 5389 5390 5391 ; Recombine size1 = 0 || size2 = 0 5392 02d1 : main__52: 5393 ; line_number = 644 5394 ; if target_seek done 5395 ; line_number = 602 5396 ; loop_forever wrap-up 5397 02d1 28e7 goto main__1 5398 ; line_number = 602 5399 ; loop_forever done 5400 ; delay after procedure statements=non-uniform 5401 5402 5403 5404 5405 ; line_number = 743 5406 ;info 743, 722 5407 ; procedure reset 5408 02d2 : reset: 5409 ; arguments_none 5410 ; line_number = 745 5411 ; returns_nothing 5412 5413 ; # This procedure will return the restore all of the state to start-up state. 5414 5415 ; line_number = 749 5416 ; local index byte 5417 00000045 = reset__index equ globals___0+37 5418 5419 ; # Initialize UART: 5420 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 5421 ; line_number = 752 5422 ; address := rb2bus_eedata_read() 5423 ;info 752, 722 5424 02d2 25d0 call rb2bus_eedata_read 5425 02d3 00b9 movwf address 5426 ; line_number = 753 5427 ; if address = 0 start 5428 ;info 753, 724 5429 ; Left minus Right 5430 02d4 0839 movf address,w 5431 ; =>bit_code_emit@symbol(): sym=__z 5432 ; No 1TEST: true.size=2 false.size=0 5433 ; No 2TEST: true.size=2 false.size=0 5434 ; 1GOTO: Single test with GOTO 5435 02d5 1d03 btfss __z___byte, __z___bit 5436 02d6 2ad9 goto reset__1 5437 ; line_number = 754 5438 ; address := 21 5439 ;info 754, 727 5440 02d7 3015 movlw 21 5441 02d8 00b9 movwf address 5442 ; Recombine size1 = 0 || size2 = 0 5443 02d9 : reset__1: 5444 ; line_number = 753 5445 ; if address = 0 done 5446 ; line_number = 755 5447 ; call uart_initialize() 5448 ;info 755, 729 5449 02d9 2596 call uart_initialize 5450 5451 ; # Initialize prescaler for use by Timer 0: 5452 ; # _rapu := _true # Disable bit port A pull-ups (bit 7) 5453 ; # _integ := _false # Interrupt edge select (bit 6) 5454 ; # _t0cs := _false # Use clock for tmr0 (bit 5) 5455 ; # _t0se := _false # Source edge select (bit 4) 5456 ; # _psa := _false # Prescaler is assigned to timer0 (bit 3) 5457 ; # _ps2 := _true 5458 ; # _ps1 := _true 5459 ; # _ps0 := _true # Prescaler = 256 5460 ; # 1000 0111 = 0x87 5461 ; line_number = 767 5462 ; _option_reg := 0x87 5463 ;info 767, 730 5464 02da 3087 movlw 135 5465 02db 1683 bsf __rp0___byte, __rp0___bit 5466 02dc 0081 movwf _option_reg 5467 5468 ; # Initialize Timer 1: 5469 ; # _t1ginv := _false # Timer1 gate (bit 7) 5470 ; # _tmr1ge := _false # Timer1 gate enable (bit 6) 5471 ; # _t1ckps1 := _false # (bit 5) 5472 ; # _t1ckps0 := _false # Timer1 prescale = 1:1 (bit 4) 5473 ; # _t10scen := _false # LP oscillator is off (bit 3) 5474 ; # _t1sync := _false # Timer 1 synchorinize (bit 2) 5475 ; # _tmr1cs := _false # Use internal clock (bit 1) 5476 ; # _tmr1on := _false # Leave timer off for now (bit 0) 5477 ; # 0000 0000 = 0 5478 ; line_number = 779 5479 ; _t1con := 0 5480 ;info 779, 733 5481 02dd 1283 bcf __rp0___byte, __rp0___bit 5482 02de 0190 clrf _t1con 5483 5484 ; # Initialize A/D module: 5485 ; # ANSEL is already set by the compiler: 5486 ; # 5487 ; # ADCON0 needs to be configured: 5488 ; # _adfm := _true # Right justified result 5489 ; # _vcfg := _false # Use 5V as Vref 5490 ; # _chs2 := _false 5491 ; # _chs1 := _true 5492 ; # _chs0 := _false # Channel = 010 = AN2 5493 ; # _go := _false 5494 ; # _adon := _true # Turn on A/D converter 5495 ; # 10x0 1001 = 0x89 5496 ; line_number = 793 5497 ; _adcon0 := 0x89 5498 ;info 793, 735 5499 02df 3089 movlw 137 5500 02e0 009f movwf _adcon0 5501 ; line_number = 794 5502 ; channel := 2 5503 ;info 794, 737 5504 02e1 3002 movlw 2 5505 02e2 00bb movwf channel 5506 5507 ; # ADCON1 needs to be configured: 5508 ; # ADCS<2:0> := 101 = Tad=1.6uS at Fosc=20MHz 5509 ; # _adcs2 := _true 5510 ; # _adcs1 := _false 5511 ; # _adcs0 := _true 5512 ; # x110 xxxx = 0x50 5513 ; line_number = 802 5514 ; _adcon1 := 0x50 5515 ;info 802, 739 5516 02e3 3050 movlw 80 5517 02e4 1683 bsf __rp0___byte, __rp0___bit 5518 02e5 009f movwf _adcon1 5519 5520 ; # Initialize motor: 5521 ; line_number = 805 5522 ; call speed_set(0) 5523 ;info 805, 742 5524 02e6 3000 movlw 0 5525 02e7 1283 bcf __rp0___byte, __rp0___bit 5526 02e8 25b3 call speed_set 5527 5528 ; # Initialize {file8}: 5529 ; line_number = 808 5530 ; index := 0 5531 ;info 808, 745 5532 02e9 01c5 clrf reset__index 5533 ; line_number = 809 5534 ; while index < file8_size start 5535 02ea : reset__2: 5536 ;info 809, 746 5537 02ea 3008 movlw 8 5538 02eb 0245 subwf reset__index,w 5539 ; =>bit_code_emit@symbol(): sym=__c 5540 ; No 1TEST: true.size=0 false.size=7 5541 ; No 2TEST: true.size=0 false.size=7 5542 ; 1GOTO: Single test with GOTO 5543 02ec 1803 btfsc __c___byte, __c___bit 5544 02ed 2af5 goto reset__3 5545 ; line_number = 810 5546 ; file8[index] := 0 5547 ;info 810, 750 5548 ; index_fsr_first 5549 02ee 0845 movf reset__index,w 5550 02ef 3e25 addlw file8 5551 02f0 0084 movwf __fsr 5552 02f1 1383 bcf __irp___byte, __irp___bit 5553 02f2 0180 clrf __indf 5554 ; line_number = 811 5555 ; index := index + 1 5556 ;info 811, 755 5557 02f3 0ac5 incf reset__index,f 5558 02f4 2aea goto reset__2 5559 02f5 : reset__3: 5560 ; Recombine size1 = 0 || size2 = 0 5561 ; line_number = 809 5562 ; while index < file8_size done 5563 ; line_number = 812 5564 ; call configure_update() 5565 ;info 812, 757 5566 02f5 2567 call configure_update 5567 ; line_number = 813 5568 ; deadband := 5 5569 ;info 813, 758 5570 02f6 3005 movlw 5 5571 02f7 00a9 movwf deadband 5572 ; line_number = 814 5573 ; minimum := 0 5574 ;info 814, 760 5575 02f8 01aa clrf minimum 5576 ; line_number = 815 5577 ; maximum := 60 5578 ;info 815, 761 5579 02f9 303c movlw 60 5580 02fa 00ab movwf maximum 5581 ; line_number = 816 5582 ; error_sum := 0.0 5583 ;info 816, 763 5584 ; error_sum := 0 (00 00 00 00) 5585 02fb 1683 bsf __rp0___byte, __rp0___bit 5586 02fc 01e8 clrf error_sum 5587 02fd 01e9 clrf error_sum+1 5588 02fe 01ea clrf error_sum+2 5589 02ff 01eb clrf error_sum+3 5590 5591 ; # Initialize {file24}: 5592 ; line_number = 819 5593 ; index := 0 5594 ;info 819, 768 5595 0300 1283 bcf __rp0___byte, __rp0___bit 5596 0301 01c5 clrf reset__index 5597 ; line_number = 820 5598 ; while index < file24_size start 5599 0302 : reset__4: 5600 ;info 820, 770 5601 0302 300a movlw 10 5602 0303 0245 subwf reset__index,w 5603 ; =>bit_code_emit@symbol(): sym=__c 5604 ; No 1TEST: true.size=0 false.size=17 5605 ; No 2TEST: true.size=0 false.size=17 5606 ; 1GOTO: Single test with GOTO 5607 0304 1803 btfsc __c___byte, __c___bit 5608 0305 2b17 goto reset__5 5609 ; line_number = 821 5610 ; highs[index] := 0 5611 ;info 821, 774 5612 ; index_fsr_first 5613 0306 0845 movf reset__index,w 5614 0307 3e20 addlw highs 5615 0308 0084 movwf __fsr 5616 0309 1783 bsf __irp___byte, __irp___bit 5617 030a 0180 clrf __indf 5618 ; line_number = 822 5619 ; middles[index] := 0 5620 ;info 822, 779 5621 ; index_fsr_first 5622 030b 0845 movf reset__index,w 5623 030c 3e2a addlw middles 5624 030d 0084 movwf __fsr 5625 030e 1783 bsf __irp___byte, __irp___bit 5626 030f 0180 clrf __indf 5627 ; line_number = 823 5628 ; lows[index] := 0 5629 ;info 823, 784 5630 ; index_fsr_first 5631 0310 0845 movf reset__index,w 5632 0311 3e34 addlw lows 5633 0312 0084 movwf __fsr 5634 0313 1783 bsf __irp___byte, __irp___bit 5635 0314 0180 clrf __indf 5636 ; line_number = 824 5637 ; index := index + 1 5638 ;info 824, 789 5639 0315 0ac5 incf reset__index,f 5640 0316 2b02 goto reset__4 5641 0317 : reset__5: 5642 ; Recombine size1 = 0 || size2 = 0 5643 ; line_number = 820 5644 ; while index < file24_size done 5645 ; line_number = 825 5646 ; file24_index := 0 5647 ;info 825, 791 5648 0317 01ac clrf file24_index 5649 ; line_number = 826 5650 ; file24_changed := 0 5651 ;info 826, 792 5652 0318 01a0 clrf file24_changed 5653 ; line_number = 827 5654 ; file24_zero := 0 5655 ;info 827, 793 5656 0319 01a1 clrf file24_zero 5657 5658 ; # For now force divisor to -1: 5659 ; line_number = 830 5660 ; highs[divisor_index] := 0xff 5661 ;info 830, 794 5662 031a 30ff movlw 255 5663 031b 1703 bsf __rp1___byte, __rp1___bit 5664 031c 00a2 movwf highs+2 5665 ; line_number = 831 5666 ; middles[divisor_index] := 0xff 5667 ;info 831, 797 5668 031d 30ff movlw 255 5669 031e 00ac movwf middles+2 5670 ; line_number = 832 5671 ; lows[divisor_index] := 0xff 5672 ;info 832, 799 5673 031f 30ff movlw 255 5674 0320 00b6 movwf lows+2 5675 5676 ; # Force the an update of {divisor}: 5677 ; line_number = 835 5678 ; file24_changed@divisor_index := _true 5679 ;info 835, 801 5680 00000020 = reset__select__6___byte equ file24_changed 5681 00000002 = reset__select__6___bit equ 2 5682 0321 1303 bcf __rp1___byte, __rp1___bit 5683 0322 1520 bsf reset__select__6___byte, reset__select__6___bit 5684 5685 ; # For now kp = 20: 5686 ; line_number = 838 5687 ; lows[kp_index] := 1 5688 ;info 838, 803 5689 0323 3001 movlw 1 5690 0324 1703 bsf __rp1___byte, __rp1___bit 5691 0325 00b7 movwf lows+3 5692 5693 ; # No need to manually force a {kp} update, since updating {divisor} does 5694 ; # that already: 5695 5696 ; # We only turn on target seeking when the {target} is changed. 5697 ; # It gets turned off when find the target (or a limit switch is hit): 5698 ; line_number = 845 5699 ; target_seek := _false 5700 ;info 845, 806 5701 0326 1303 bcf __rp1___byte, __rp1___bit 5702 0327 10ef bcf target_seek___byte, target_seek___bit 5703 5704 ; # It does not really matter, but setting {target} to 0.0 does not hurt: 5705 ; line_number = 848 5706 ; target := 0.0 5707 ;info 848, 808 5708 ; target := 0 (00 00 00 00) 5709 0328 1703 bsf __rp1___byte, __rp1___bit 5710 0329 01c8 clrf target 5711 032a 01c9 clrf target+1 5712 032b 01ca clrf target+2 5713 032c 01cb clrf target+3 5714 5715 ; # Always initialize {quad_state} even if we do not use quadrature: 5716 ; line_number = 851 5717 ; quad_state := 0 5718 ;info 851, 813 5719 032d 01be clrf quad_state 5720 5721 ; # The weak pull-ups can be turned off: 5722 ; line_number = 854 5723 ; _wpua := 0 5724 ;info 854, 814 5725 032e 1683 bsf __rp0___byte, __rp0___bit 5726 032f 1303 bcf __rp1___byte, __rp1___bit 5727 0330 0195 clrf _wpua 5728 5729 ; # We are only interested in changes in the A and B channels: 5730 ; line_number = 857 5731 ; _ioca := quad_a_mask | quad_b_mask 5732 ;info 857, 817 5733 0331 3003 movlw 3 5734 0332 0096 movwf _ioca 5735 5736 ; # We only want to turn on the interrupt on change if we are using 5737 ; # the quadrature (i.e. !{use_potentiometer}: 5738 ; line_number = 861 5739 ; _raie := !use_potentiometer 5740 ;info 861, 819 5741 0333 118b bcf _raie___byte, _raie___bit 5742 ; =>bit_code_emit@symbol(): sym=use_potentiometer 5743 ; 1TEST: Single test with code in skip slot 5744 0334 1283 bcf __rp0___byte, __rp0___bit 5745 0335 1d25 btfss use_potentiometer___byte, use_potentiometer___bit 5746 0336 158b bsf _raie___byte, _raie___bit 5747 ; Recombine size1 = 0 || size2 = 0 5748 5749 ; # Enable the appropriate interrupts: 5750 ; line_number = 864 5751 ; _t0if := _false 5752 ;info 864, 823 5753 0337 110b bcf _t0if___byte, _t0if___bit 5754 ; line_number = 865 5755 ; _t0ie := _true 5756 ;info 865, 824 5757 0338 168b bsf _t0ie___byte, _t0ie___bit 5758 ; line_number = 866 5759 ; _tmr1if := _false 5760 ;info 866, 825 5761 0339 100c bcf _tmr1if___byte, _tmr1if___bit 5762 ; line_number = 867 5763 ; _tmr1ie := _true 5764 ;info 867, 826 5765 033a 1683 bsf __rp0___byte, __rp0___bit 5766 033b 140c bsf _tmr1ie___byte, _tmr1ie___bit 5767 ; line_number = 868 5768 ; _peie := _true 5769 ;info 868, 828 5770 033c 170b bsf _peie___byte, _peie___bit 5771 ; line_number = 869 5772 ; _gie := _true 5773 ;info 869, 829 5774 033d 178b bsf _gie___byte, _gie___bit 5775 5776 5777 ; delay after procedure statements=non-uniform 5778 033e 1283 bcf __rp0___byte, __rp0___bit 5779 ; Implied return 5780 033f 3400 retlw 0 5781 5782 5783 5784 5785 ; line_number = 872 5786 ;info 872, 832 5787 ; procedure uart_manage 5788 0340 : uart_manage: 5789 ; arguments_none 5790 ; line_number = 874 5791 ; returns_nothing 5792 5793 ; line_number = 876 5794 ; local command byte 5795 00000046 = uart_manage__command equ globals___0+38 5796 ; line_number = 877 5797 ; local index byte 5798 00000047 = uart_manage__index equ globals___0+39 5799 ; line_number = 878 5800 ; local allow bit 5801 0000006f = uart_manage__allow___byte equ globals___0+79 5802 00000005 = uart_manage__allow___bit equ 5 5803 5804 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 5805 ; line_number = 880 5806 ; if uart_input_count != 0 start 5807 ;info 880, 832 5808 ; Left minus Right 5809 0340 0838 movf uart_input_count,w 5810 ; =>bit_code_emit@symbol(): sym=__z 5811 ; No 1TEST: true.size=0 false.size=464 5812 ; No 2TEST: true.size=0 false.size=464 5813 ; 1GOTO: Single test with GOTO 5814 0341 1903 btfsc __z___byte, __z___bit 5815 0342 2d13 goto uart_manage__75 5816 ; # We have a data/command byte to process: 5817 ; line_number = 882 5818 ; command := uart_input[uart_input_out_index & uart_input_mask] 5819 ;info 882, 835 5820 0343 3003 movlw 3 5821 0344 0537 andwf uart_input_out_index,w 5822 0345 3e32 addlw uart_input 5823 0346 0084 movwf __fsr 5824 0347 1383 bcf __irp___byte, __irp___bit 5825 0348 0800 movf __indf,w 5826 0349 00c6 movwf uart_manage__command 5827 ; line_number = 883 5828 ; uart_input_out_index := uart_input_out_index + 1 5829 ;info 883, 842 5830 034a 0ab7 incf uart_input_out_index,f 5831 5832 ; # Manage {uart_input_count} and {uart_input_pending} atomically: 5833 ; line_number = 886 5834 ; _gie := _false 5835 ;info 886, 843 5836 034b 138b bcf _gie___byte, _gie___bit 5837 ; line_number = 887 5838 ; uart_input_count := uart_input_count - 1 5839 ;info 887, 844 5840 034c 03b8 decf uart_input_count,f 5841 ; line_number = 888 5842 ; if uart_input_count = 0 start 5843 ;info 888, 845 5844 ; Left minus Right 5845 034d 0838 movf uart_input_count,w 5846 ; =>bit_code_emit@symbol(): sym=__z 5847 ; 1TEST: Single test with code in skip slot 5848 034e 1903 btfsc __z___byte, __z___bit 5849 ; line_number = 889 5850 ; uart_input_pending := _false 5851 ;info 889, 847 5852 034f 106f bcf uart_input_pending___byte, uart_input_pending___bit 5853 ; Recombine size1 = 0 || size2 = 0 5854 ; line_number = 888 5855 ; if uart_input_count = 0 done 5856 ; line_number = 890 5857 ; _gie := _true 5858 ;info 890, 848 5859 0350 178b bsf _gie___byte, _gie___bit 5860 5861 ; # We received a "data" byte" 5862 ; line_number = 893 5863 ; switch state start 5864 ;info 893, 849 5865 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=14 5866 0351 3003 movlw uart_manage__73>>8 5867 0352 008a movwf __pclath 5868 0353 0830 movf state,w 5869 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 5870 0354 3e56 addlw uart_manage__73 5871 0355 0082 movwf __pcl 5872 ; page_group 20 5873 0356 : uart_manage__73: 5874 0356 2b6a goto uart_manage__55 5875 0357 2b6b goto uart_manage__56 5876 0358 2b6e goto uart_manage__57 5877 0359 2c67 goto uart_manage__58 5878 035a 2c70 goto uart_manage__59 5879 035b 2c79 goto uart_manage__60 5880 035c 2c7e goto uart_manage__61 5881 035d 2c83 goto uart_manage__62 5882 035e 2c99 goto uart_manage__63 5883 035f 2ca3 goto uart_manage__64 5884 0360 2cad goto uart_manage__65 5885 0361 2cb7 goto uart_manage__66 5886 0362 2d13 goto uart_manage__74 5887 0363 2d13 goto uart_manage__74 5888 0364 2ced goto uart_manage__67 5889 0365 2cf0 goto uart_manage__68 5890 0366 2cf7 goto uart_manage__69 5891 0367 2cfa goto uart_manage__70 5892 0368 2d0a goto uart_manage__71 5893 0369 2d0f goto uart_manage__72 5894 ; line_number = 894 5895 ; case 0 5896 036a : uart_manage__55: 5897 ; # Technically we should not get here because {_adden} should 5898 ; # be {_true}, but just in case we do, we just ignore the byte: 5899 ; line_number = 897 5900 ; do_nothing 5901 ;info 897, 874 5902 036a 2d13 goto uart_manage__74 5903 ; line_number = 898 5904 ; case 1 5905 036b : uart_manage__56: 5906 ; # Ignore the echo before processing a command byte: 5907 ; line_number = 900 5908 ; state := state_command 5909 ;info 900, 875 5910 036b 3002 movlw 2 5911 036c 00b0 movwf state 5912 036d 2d13 goto uart_manage__74 5913 ; line_number = 901 5914 ; case 2 5915 036e : uart_manage__57: 5916 ; # Process a command byte: 5917 ; line_number = 903 5918 ; switch command >> 6 start 5919 ;info 903, 878 5920 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 5921 036e 3003 movlw uart_manage__39>>8 5922 036f 008a movwf __pclath 5923 00000066 = uart_manage__40 equ globals___0+70 5924 0370 0e46 swapf uart_manage__command,w 5925 0371 00e6 movwf uart_manage__40 5926 0372 0ce6 rrf uart_manage__40,f 5927 0373 0c66 rrf uart_manage__40,w 5928 0374 3903 andlw 3 5929 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 5930 0375 3e77 addlw uart_manage__39 5931 0376 0082 movwf __pcl 5932 ; page_group 4 5933 0377 : uart_manage__39: 5934 0377 2b7b goto uart_manage__37 5935 0378 2c66 goto uart_manage__41 5936 0379 2c66 goto uart_manage__41 5937 037a 2c33 goto uart_manage__38 5938 ; line_number = 904 5939 ; case 0 5940 037b : uart_manage__37: 5941 ; # 00xx xxxx: 5942 ; line_number = 906 5943 ; switch (command >> 3) & 7 start 5944 ;info 906, 891 5945 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 5946 ; line_number = 975 5947 ; case_maximum 7 5948 037b 3003 movlw uart_manage__24>>8 5949 037c 008a movwf __pclath 5950 00000066 = uart_manage__25 equ globals___0+70 5951 037d 0c46 rrf uart_manage__command,w 5952 037e 00e6 movwf uart_manage__25 5953 037f 0ce6 rrf uart_manage__25,f 5954 0380 0c66 rrf uart_manage__25,w 5955 0381 3907 andlw 7 5956 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 5957 0382 3e84 addlw uart_manage__24 5958 0383 0082 movwf __pcl 5959 ; page_group 8 5960 0384 : uart_manage__24: 5961 0384 2b8c goto uart_manage__19 5962 0385 2bca goto uart_manage__20 5963 0386 2bd4 goto uart_manage__21 5964 0387 2be4 goto uart_manage__22 5965 0388 2bea goto uart_manage__23 5966 0389 2c32 goto uart_manage__26 5967 038a 2c32 goto uart_manage__26 5968 038b 2c32 goto uart_manage__26 5969 ; line_number = 907 5970 ; case 0 5971 038c : uart_manage__19: 5972 ; # 0000 0xxx: 5973 ; line_number = 909 5974 ; switch command & 7 start 5975 ;info 909, 908 5976 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 5977 038c 3003 movlw uart_manage__9>>8 5978 038d 008a movwf __pclath 5979 038e 3007 movlw 7 5980 038f 0546 andwf uart_manage__command,w 5981 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 5982 0390 3e92 addlw uart_manage__9 5983 0391 0082 movwf __pcl 5984 ; page_group 8 5985 0392 : uart_manage__9: 5986 0392 2b9a goto uart_manage__1 5987 0393 2ba3 goto uart_manage__2 5988 0394 2bac goto uart_manage__3 5989 0395 2bb5 goto uart_manage__4 5990 0396 2bbe goto uart_manage__5 5991 0397 2bc1 goto uart_manage__6 5992 0398 2bc4 goto uart_manage__7 5993 0399 2bc7 goto uart_manage__8 5994 ; line_number = 910 5995 ; case 0 5996 039a : uart_manage__1: 5997 ; # 0000 0000 (Value All Get): 5998 ; line_number = 912 5999 ; call uart_byte_put(highs[file24_index]) 6000 ;info 912, 922 6001 039a 082c movf file24_index,w 6002 039b 3e20 addlw highs 6003 039c 0084 movwf __fsr 6004 039d 1783 bsf __irp___byte, __irp___bit 6005 039e 0800 movf __indf,w 6006 039f 258e call uart_byte_put 6007 ; line_number = 913 6008 ; state := state_file24_full_get1 6009 ;info 913, 928 6010 03a0 3003 movlw 3 6011 03a1 00b0 movwf state 6012 03a2 2bc9 goto uart_manage__10 6013 ; line_number = 914 6014 ; case 1 6015 03a3 : uart_manage__2: 6016 ; # 0000 0001 (Value Low Get): 6017 ; line_number = 916 6018 ; call uart_byte_put(lows[file24_index]) 6019 ;info 916, 931 6020 03a3 082c movf file24_index,w 6021 03a4 3e34 addlw lows 6022 03a5 0084 movwf __fsr 6023 03a6 1783 bsf __irp___byte, __irp___bit 6024 03a7 0800 movf __indf,w 6025 03a8 258e call uart_byte_put 6026 ; line_number = 917 6027 ; state := state_echo_then_command 6028 ;info 917, 937 6029 03a9 3001 movlw 1 6030 03aa 00b0 movwf state 6031 03ab 2bc9 goto uart_manage__10 6032 ; line_number = 918 6033 ; case 2 6034 03ac : uart_manage__3: 6035 ; # 0000 0010 (Value Middle Get): 6036 ; line_number = 920 6037 ; call uart_byte_put(middles[file24_index]) 6038 ;info 920, 940 6039 03ac 082c movf file24_index,w 6040 03ad 3e2a addlw middles 6041 03ae 0084 movwf __fsr 6042 03af 1783 bsf __irp___byte, __irp___bit 6043 03b0 0800 movf __indf,w 6044 03b1 258e call uart_byte_put 6045 ; line_number = 921 6046 ; state := state_echo_then_command 6047 ;info 921, 946 6048 03b2 3001 movlw 1 6049 03b3 00b0 movwf state 6050 03b4 2bc9 goto uart_manage__10 6051 ; line_number = 922 6052 ; case 3 6053 03b5 : uart_manage__4: 6054 ; # 0000 0011 (Value High Get): 6055 ; line_number = 924 6056 ; call uart_byte_put(highs[file24_index]) 6057 ;info 924, 949 6058 03b5 082c movf file24_index,w 6059 03b6 3e20 addlw highs 6060 03b7 0084 movwf __fsr 6061 03b8 1783 bsf __irp___byte, __irp___bit 6062 03b9 0800 movf __indf,w 6063 03ba 258e call uart_byte_put 6064 ; line_number = 925 6065 ; state := state_echo_then_command 6066 ;info 925, 955 6067 03bb 3001 movlw 1 6068 03bc 00b0 movwf state 6069 03bd 2bc9 goto uart_manage__10 6070 ; line_number = 926 6071 ; case 4 6072 03be : uart_manage__5: 6073 ; # 0000 0100 (Value All Set): 6074 ; line_number = 928 6075 ; state := state_file24_full_set1 6076 ;info 928, 958 6077 03be 3005 movlw 5 6078 03bf 00b0 movwf state 6079 03c0 2bc9 goto uart_manage__10 6080 ; line_number = 929 6081 ; case 5 6082 03c1 : uart_manage__6: 6083 ; # 0000 0101 (Value Low Set): 6084 ; line_number = 931 6085 ; state := state_value_low_set1 6086 ;info 931, 961 6087 03c1 3008 movlw 8 6088 03c2 00b0 movwf state 6089 03c3 2bc9 goto uart_manage__10 6090 ; line_number = 932 6091 ; case 6 6092 03c4 : uart_manage__7: 6093 ; # 0000 0110 (Value Middle Set): 6094 ; line_number = 934 6095 ; state := state_value_middle_set1 6096 ;info 934, 964 6097 03c4 3009 movlw 9 6098 03c5 00b0 movwf state 6099 03c6 2bc9 goto uart_manage__10 6100 ; line_number = 935 6101 ; case 7 6102 03c7 : uart_manage__8: 6103 ; # 0000 0111 (Value High Set): 6104 ; line_number = 937 6105 ; state := state_value_high_set1 6106 ;info 937, 967 6107 03c7 300a movlw 10 6108 03c8 00b0 movwf state 6109 03c9 : uart_manage__10: 6110 ; line_number = 909 6111 ; switch command & 7 done 6112 03c9 2c32 goto uart_manage__26 6113 ; line_number = 938 6114 ; case 1 6115 03ca : uart_manage__20: 6116 ; # 0000 1sss (Value Index Set): 6117 ; line_number = 940 6118 ; file24_index := command & 7 6119 ;info 940, 970 6120 03ca 3007 movlw 7 6121 03cb 0546 andwf uart_manage__command,w 6122 03cc 00ac movwf file24_index 6123 ; # Make sure we stay in bounds: 6124 ; line_number = 942 6125 ; if file24_index >= file24_size start 6126 ;info 942, 973 6127 03cd 300a movlw 10 6128 03ce 022c subwf file24_index,w 6129 ; =>bit_code_emit@symbol(): sym=__c 6130 ; 1TEST: Single test with code in skip slot 6131 03cf 1803 btfsc __c___byte, __c___bit 6132 ; line_number = 943 6133 ; file24_index := 0 6134 ;info 943, 976 6135 03d0 01ac clrf file24_index 6136 ; Recombine size1 = 0 || size2 = 0 6137 ; line_number = 942 6138 ; if file24_index >= file24_size done 6139 ; line_number = 944 6140 ; state := state_command 6141 ;info 944, 977 6142 03d1 3002 movlw 2 6143 03d2 00b0 movwf state 6144 03d3 2c32 goto uart_manage__26 6145 ; line_number = 945 6146 ; case 2 6147 03d4 : uart_manage__21: 6148 ; # 0001 0xxx (Byte Get): 6149 ; line_number = 947 6150 ; index := command & 7 6151 ;info 947, 980 6152 03d4 3007 movlw 7 6153 03d5 0546 andwf uart_manage__command,w 6154 03d6 00c7 movwf uart_manage__index 6155 ; line_number = 948 6156 ; if index = 2 start 6157 ;info 948, 983 6158 ; Left minus Right 6159 03d7 30fe movlw 254 6160 03d8 0747 addwf uart_manage__index,w 6161 ; =>bit_code_emit@symbol(): sym=__z 6162 ; 1TEST: Single test with code in skip slot 6163 03d9 1903 btfsc __z___byte, __z___bit 6164 ; # 0001 0010: (Status_Get): 6165 ; line_number = 950 6166 ; call status_update() 6167 ;info 950, 986 6168 03da 255d call status_update 6169 ; Recombine size1 = 0 || size2 = 0 6170 ; line_number = 948 6171 ; if index = 2 done 6172 ; line_number = 951 6173 ; call uart_byte_put(file8[index]) 6174 ;info 951, 987 6175 03db 0847 movf uart_manage__index,w 6176 03dc 3e25 addlw file8 6177 03dd 0084 movwf __fsr 6178 03de 1383 bcf __irp___byte, __irp___bit 6179 03df 0800 movf __indf,w 6180 03e0 258e call uart_byte_put 6181 ; line_number = 952 6182 ; state := state_echo_then_command 6183 ;info 952, 993 6184 03e1 3001 movlw 1 6185 03e2 00b0 movwf state 6186 03e3 2c32 goto uart_manage__26 6187 ; line_number = 953 6188 ; case 3 6189 03e4 : uart_manage__22: 6190 ; # 0001 1xxx (Byte Set): 6191 ; line_number = 955 6192 ; index := command & 7 6193 ;info 955, 996 6194 03e4 3007 movlw 7 6195 03e5 0546 andwf uart_manage__command,w 6196 03e6 00c7 movwf uart_manage__index 6197 ; line_number = 956 6198 ; state := state_file8_set1 6199 ;info 956, 999 6200 03e7 300b movlw 11 6201 03e8 00b0 movwf state 6202 03e9 2c32 goto uart_manage__26 6203 ; line_number = 957 6204 ; case 4 6205 03ea : uart_manage__23: 6206 ; # 0010 0xxx (Probe Get): 6207 ; line_number = 959 6208 ; switch command & 7 start 6209 ;info 959, 1002 6210 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 6211 ; line_number = 972 6212 ; case_maximum 7 6213 03ea 3003 movlw uart_manage__17>>8 6214 03eb 008a movwf __pclath 6215 03ec 3007 movlw 7 6216 03ed 0546 andwf uart_manage__command,w 6217 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 6218 ; All case bodies prefer this bit set 6219 03ee 1683 bsf __rp0___byte, __rp0___bit 6220 03ef 3ef1 addlw uart_manage__17 6221 03f0 0082 movwf __pcl 6222 ; page_group 8 6223 03f1 : uart_manage__17: 6224 03f1 2bf9 goto uart_manage__11 6225 03f2 2c02 goto uart_manage__12 6226 03f3 2c0b goto uart_manage__13 6227 03f4 2c14 goto uart_manage__14 6228 03f5 2c1d goto uart_manage__15 6229 03f6 2c26 goto uart_manage__16 6230 03f7 2c2e goto uart_manage__18 6231 03f8 2c2e goto uart_manage__18 6232 ; line_number = 960 6233 ; case 0 6234 03f9 : uart_manage__11: 6235 03f9 158a bsf __cb0___byte, __cb0___bit 6236 ; line_number = 961 6237 ; call zyx(position) 6238 ;info 961, 1018 6239 03fa 30a2 movlw position>>1 6240 03fb 22d8 call _float32_pointer_load 6241 03fc 302e movlw zyx__value>>1 6242 03fd 2337 call _float32_pointer_store 6243 03fe 118a bcf __cb0___byte, __cb0___bit 6244 03ff 1283 bcf __rp0___byte, __rp0___bit 6245 0400 2618 call zyx 6246 0401 2c2e goto uart_manage__18 6247 ; line_number = 962 6248 ; case 1 6249 0402 : uart_manage__12: 6250 0402 158a bsf __cb0___byte, __cb0___bit 6251 ; line_number = 963 6252 ; call zyx(target) 6253 ;info 963, 1027 6254 0403 30a4 movlw target>>1 6255 0404 22d8 call _float32_pointer_load 6256 0405 302e movlw zyx__value>>1 6257 0406 2337 call _float32_pointer_store 6258 0407 118a bcf __cb0___byte, __cb0___bit 6259 0408 1283 bcf __rp0___byte, __rp0___bit 6260 0409 2618 call zyx 6261 040a 2c2e goto uart_manage__18 6262 ; line_number = 964 6263 ; case 2 6264 040b : uart_manage__13: 6265 040b 158a bsf __cb0___byte, __cb0___bit 6266 ; line_number = 965 6267 ; call zyx(error) 6268 ;info 965, 1036 6269 040c 30a0 movlw error>>1 6270 040d 22d8 call _float32_pointer_load 6271 040e 302e movlw zyx__value>>1 6272 040f 2337 call _float32_pointer_store 6273 0410 118a bcf __cb0___byte, __cb0___bit 6274 0411 1283 bcf __rp0___byte, __rp0___bit 6275 0412 2618 call zyx 6276 0413 2c2e goto uart_manage__18 6277 ; line_number = 966 6278 ; case 3 6279 0414 : uart_manage__14: 6280 0414 158a bsf __cb0___byte, __cb0___bit 6281 ; line_number = 967 6282 ; call zyx(pid) 6283 ;info 967, 1045 6284 0415 306c movlw pid>>1 6285 0416 22d8 call _float32_pointer_load 6286 0417 302e movlw zyx__value>>1 6287 0418 2337 call _float32_pointer_store 6288 0419 118a bcf __cb0___byte, __cb0___bit 6289 041a 1283 bcf __rp0___byte, __rp0___bit 6290 041b 2618 call zyx 6291 041c 2c2e goto uart_manage__18 6292 ; line_number = 968 6293 ; case 4 6294 041d : uart_manage__15: 6295 041d 158a bsf __cb0___byte, __cb0___bit 6296 ; line_number = 969 6297 ; call zyx(divisor) 6298 ;info 969, 1054 6299 041e 306e movlw divisor>>1 6300 041f 22d8 call _float32_pointer_load 6301 0420 302e movlw zyx__value>>1 6302 0421 2337 call _float32_pointer_store 6303 0422 118a bcf __cb0___byte, __cb0___bit 6304 0423 1283 bcf __rp0___byte, __rp0___bit 6305 0424 2618 call zyx 6306 0425 2c2e goto uart_manage__18 6307 ; line_number = 970 6308 ; case 5 6309 0426 : uart_manage__16: 6310 0426 158a bsf __cb0___byte, __cb0___bit 6311 ; line_number = 971 6312 ; call zyx(kp) 6313 ;info 971, 1063 6314 0427 30a6 movlw kp>>1 6315 0428 22d8 call _float32_pointer_load 6316 0429 302e movlw zyx__value>>1 6317 042a 2337 call _float32_pointer_store 6318 042b 118a bcf __cb0___byte, __cb0___bit 6319 042c 1283 bcf __rp0___byte, __rp0___bit 6320 042d 2618 call zyx 6321 042e : uart_manage__18: 6322 ; line_number = 959 6323 ; switch command & 7 done 6324 ; line_number = 973 6325 ; call uart_byte_put(high) 6326 ;info 973, 1070 6327 042e 0822 movf high,w 6328 042f 258e call uart_byte_put 6329 ; line_number = 974 6330 ; state := state_probe_get1 6331 ;info 974, 1072 6332 0430 3012 movlw 18 6333 0431 00b0 movwf state 6334 0432 : uart_manage__26: 6335 ; line_number = 906 6336 ; switch (command >> 3) & 7 done 6337 0432 2c66 goto uart_manage__41 6338 ; line_number = 976 6339 ; case 3 6340 0433 : uart_manage__38: 6341 ; # 11xx xxxx: 6342 ; line_number = 978 6343 ; switch (command >> 3) & 7 start 6344 ;info 978, 1075 6345 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 6346 0433 3004 movlw uart_manage__34>>8 6347 0434 008a movwf __pclath 6348 00000066 = uart_manage__35 equ globals___0+70 6349 0435 0c46 rrf uart_manage__command,w 6350 0436 00e6 movwf uart_manage__35 6351 0437 0ce6 rrf uart_manage__35,f 6352 0438 0c66 rrf uart_manage__35,w 6353 0439 3907 andlw 7 6354 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 6355 043a 3e3c addlw uart_manage__34 6356 043b 0082 movwf __pcl 6357 ; page_group 8 6358 043c : uart_manage__34: 6359 043c 2c66 goto uart_manage__36 6360 043d 2c66 goto uart_manage__36 6361 043e 2c66 goto uart_manage__36 6362 043f 2c66 goto uart_manage__36 6363 0440 2c66 goto uart_manage__36 6364 0441 2c66 goto uart_manage__36 6365 0442 2c66 goto uart_manage__36 6366 0443 2c44 goto uart_manage__33 6367 ; line_number = 979 6368 ; case 7 6369 0444 : uart_manage__33: 6370 ; # 1111 1xxx: 6371 ; line_number = 981 6372 ; switch command & 7 start 6373 ;info 981, 1092 6374 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 6375 0444 3004 movlw uart_manage__31>>8 6376 0445 008a movwf __pclath 6377 0446 3007 movlw 7 6378 0447 0546 andwf uart_manage__command,w 6379 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 6380 0448 3e4a addlw uart_manage__31 6381 0449 0082 movwf __pcl 6382 ; page_group 8 6383 044a : uart_manage__31: 6384 044a 2c66 goto uart_manage__32 6385 044b 2c66 goto uart_manage__32 6386 044c 2c66 goto uart_manage__32 6387 044d 2c66 goto uart_manage__32 6388 044e 2c52 goto uart_manage__27 6389 044f 2c57 goto uart_manage__28 6390 0450 2c62 goto uart_manage__29 6391 0451 2c64 goto uart_manage__30 6392 ; line_number = 982 6393 ; case 4 6394 0452 : uart_manage__27: 6395 ; # 1111 1100 (Address Set): 6396 ; line_number = 984 6397 ; call uart_byte_put(address) 6398 ;info 984, 1106 6399 0452 0839 movf address,w 6400 0453 258e call uart_byte_put 6401 ; line_number = 985 6402 ; state := state_address_set1 6403 ;info 985, 1108 6404 0454 300e movlw 14 6405 0455 00b0 movwf state 6406 0456 2c66 goto uart_manage__32 6407 ; line_number = 986 6408 ; case 5 6409 0457 : uart_manage__28: 6410 ; # 1111 1101 (Id_Next): 6411 ; line_number = 988 6412 ; call uart_byte_put(id[id_index]) 6413 ;info 988, 1111 6414 0457 0831 movf id_index,w 6415 0458 2638 call id 6416 0459 258e call uart_byte_put 6417 ; line_number = 989 6418 ; id_index := id_index + 1 6419 ;info 989, 1114 6420 045a 0ab1 incf id_index,f 6421 ; line_number = 990 6422 ; if id_index >= id.size start 6423 ;info 990, 1115 6424 045b 301c movlw 28 6425 045c 0231 subwf id_index,w 6426 ; =>bit_code_emit@symbol(): sym=__c 6427 ; 1TEST: Single test with code in skip slot 6428 045d 1803 btfsc __c___byte, __c___bit 6429 ; line_number = 991 6430 ; id_index := id_index - 1 6431 ;info 991, 1118 6432 045e 03b1 decf id_index,f 6433 ; Recombine size1 = 0 || size2 = 0 6434 ; line_number = 990 6435 ; if id_index >= id.size done 6436 ; line_number = 992 6437 ; state := state_echo_then_command 6438 ;info 992, 1119 6439 045f 3001 movlw 1 6440 0460 00b0 movwf state 6441 0461 2c66 goto uart_manage__32 6442 ; line_number = 993 6443 ; case 6 6444 0462 : uart_manage__29: 6445 ; # 1111 1110 (Id_Start): 6446 ; line_number = 995 6447 ; id_index := 0 6448 ;info 995, 1122 6449 0462 01b1 clrf id_index 6450 0463 2c66 goto uart_manage__32 6451 ; line_number = 996 6452 ; case 7 6453 0464 : uart_manage__30: 6454 ; # 1111 1111 (Deselect): 6455 ; line_number = 998 6456 ; _adden := _true 6457 ;info 998, 1124 6458 0464 1597 bsf _adden___byte, _adden___bit 6459 ; line_number = 999 6460 ; state := state_select_wait 6461 ;info 999, 1125 6462 0465 01b0 clrf state 6463 0466 : uart_manage__32: 6464 ; line_number = 981 6465 ; switch command & 7 done 6466 0466 : uart_manage__36: 6467 ; line_number = 978 6468 ; switch (command >> 3) & 7 done 6469 0466 : uart_manage__41: 6470 ; line_number = 903 6471 ; switch command >> 6 done 6472 0466 2d13 goto uart_manage__74 6473 ; line_number = 1000 6474 ; case 3 6475 0467 : uart_manage__58: 6476 ; # Value All Get 2nd response byte: 6477 ; line_number = 1002 6478 ; call uart_byte_put(middles[file24_index]) 6479 ;info 1002, 1127 6480 0467 082c movf file24_index,w 6481 0468 3e2a addlw middles 6482 0469 0084 movwf __fsr 6483 046a 1783 bsf __irp___byte, __irp___bit 6484 046b 0800 movf __indf,w 6485 046c 258e call uart_byte_put 6486 ; line_number = 1003 6487 ; state := state_file24_full_get2 6488 ;info 1003, 1133 6489 046d 3004 movlw 4 6490 046e 00b0 movwf state 6491 046f 2d13 goto uart_manage__74 6492 ; line_number = 1004 6493 ; case 4 6494 0470 : uart_manage__59: 6495 ; # Value All Get 3rd response byte: 6496 ; line_number = 1006 6497 ; call uart_byte_put(lows[file24_index]) 6498 ;info 1006, 1136 6499 0470 082c movf file24_index,w 6500 0471 3e34 addlw lows 6501 0472 0084 movwf __fsr 6502 0473 1783 bsf __irp___byte, __irp___bit 6503 0474 0800 movf __indf,w 6504 0475 258e call uart_byte_put 6505 ; line_number = 1007 6506 ; state := state_echo_then_command 6507 ;info 1007, 1142 6508 0476 3001 movlw 1 6509 0477 00b0 movwf state 6510 0478 2d13 goto uart_manage__74 6511 ; line_number = 1008 6512 ; case 5 6513 0479 : uart_manage__60: 6514 ; # Value All Set 2nd command byte: 6515 ; line_number = 1010 6516 ; high := command 6517 ;info 1010, 1145 6518 0479 0846 movf uart_manage__command,w 6519 047a 00a2 movwf high 6520 ; line_number = 1011 6521 ; state := state_file24_full_set2 6522 ;info 1011, 1147 6523 047b 3006 movlw 6 6524 047c 00b0 movwf state 6525 047d 2d13 goto uart_manage__74 6526 ; line_number = 1012 6527 ; case 6 6528 047e : uart_manage__61: 6529 ; # Value All Set 3rd command byte: 6530 ; line_number = 1014 6531 ; middle := command 6532 ;info 1014, 1150 6533 047e 0846 movf uart_manage__command,w 6534 047f 00a3 movwf middle 6535 ; line_number = 1015 6536 ; state := state_file24_full_set3 6537 ;info 1015, 1152 6538 0480 3007 movlw 7 6539 0481 00b0 movwf state 6540 0482 2d13 goto uart_manage__74 6541 ; line_number = 1016 6542 ; case 7 6543 0483 : uart_manage__62: 6544 ; # Value All Set 4th command byte: 6545 ; line_number = 1018 6546 ; highs[file24_index] := high 6547 ;info 1018, 1155 6548 ; index_fsr_first 6549 0483 082c movf file24_index,w 6550 0484 3e20 addlw highs 6551 0485 0084 movwf __fsr 6552 0486 1783 bsf __irp___byte, __irp___bit 6553 0487 0822 movf high,w 6554 0488 0080 movwf __indf 6555 ; line_number = 1019 6556 ; middles[file24_index] := middle 6557 ;info 1019, 1161 6558 ; index_fsr_first 6559 0489 082c movf file24_index,w 6560 048a 3e2a addlw middles 6561 048b 0084 movwf __fsr 6562 048c 1783 bsf __irp___byte, __irp___bit 6563 048d 0823 movf middle,w 6564 048e 0080 movwf __indf 6565 ; line_number = 1020 6566 ; lows[file24_index] := command 6567 ;info 1020, 1167 6568 ; index_fsr_first 6569 048f 082c movf file24_index,w 6570 0490 3e34 addlw lows 6571 0491 0084 movwf __fsr 6572 0492 1783 bsf __irp___byte, __irp___bit 6573 0493 0846 movf uart_manage__command,w 6574 0494 0080 movwf __indf 6575 ; line_number = 1021 6576 ; call file24_updated() 6577 ;info 1021, 1173 6578 0495 2514 call file24_updated 6579 ; line_number = 1022 6580 ; state := state_command 6581 ;info 1022, 1174 6582 0496 3002 movlw 2 6583 0497 00b0 movwf state 6584 0498 2d13 goto uart_manage__74 6585 ; line_number = 1023 6586 ; case 8 6587 0499 : uart_manage__63: 6588 ; # Value Low Set 2nd command byte: 6589 ; line_number = 1025 6590 ; lows[file24_index] := command 6591 ;info 1025, 1177 6592 ; index_fsr_first 6593 0499 082c movf file24_index,w 6594 049a 3e34 addlw lows 6595 049b 0084 movwf __fsr 6596 049c 1783 bsf __irp___byte, __irp___bit 6597 049d 0846 movf uart_manage__command,w 6598 049e 0080 movwf __indf 6599 ; line_number = 1026 6600 ; call file24_updated() 6601 ;info 1026, 1183 6602 049f 2514 call file24_updated 6603 ; line_number = 1027 6604 ; state := state_command 6605 ;info 1027, 1184 6606 04a0 3002 movlw 2 6607 04a1 00b0 movwf state 6608 04a2 2d13 goto uart_manage__74 6609 ; line_number = 1028 6610 ; case 9 6611 04a3 : uart_manage__64: 6612 ; # Value Middle Set 2nd command byte: 6613 ; line_number = 1030 6614 ; middles[file24_index] := command 6615 ;info 1030, 1187 6616 ; index_fsr_first 6617 04a3 082c movf file24_index,w 6618 04a4 3e2a addlw middles 6619 04a5 0084 movwf __fsr 6620 04a6 1783 bsf __irp___byte, __irp___bit 6621 04a7 0846 movf uart_manage__command,w 6622 04a8 0080 movwf __indf 6623 ; line_number = 1031 6624 ; call file24_updated() 6625 ;info 1031, 1193 6626 04a9 2514 call file24_updated 6627 ; line_number = 1032 6628 ; state := state_command 6629 ;info 1032, 1194 6630 04aa 3002 movlw 2 6631 04ab 00b0 movwf state 6632 04ac 2d13 goto uart_manage__74 6633 ; line_number = 1033 6634 ; case 10 6635 04ad : uart_manage__65: 6636 ; # Value High Set 2nd command byte: 6637 ; line_number = 1035 6638 ; highs[file24_index] := command 6639 ;info 1035, 1197 6640 ; index_fsr_first 6641 04ad 082c movf file24_index,w 6642 04ae 3e20 addlw highs 6643 04af 0084 movwf __fsr 6644 04b0 1783 bsf __irp___byte, __irp___bit 6645 04b1 0846 movf uart_manage__command,w 6646 04b2 0080 movwf __indf 6647 ; line_number = 1036 6648 ; call file24_updated() 6649 ;info 1036, 1203 6650 04b3 2514 call file24_updated 6651 ; line_number = 1037 6652 ; state := state_command 6653 ;info 1037, 1204 6654 04b4 3002 movlw 2 6655 04b5 00b0 movwf state 6656 04b6 2d13 goto uart_manage__74 6657 ; line_number = 1038 6658 ; case 11 6659 04b7 : uart_manage__66: 6660 ; # File8 Set 2nd command byte: 6661 ; line_number = 1040 6662 ; allow := _false 6663 ;info 1040, 1207 6664 04b7 12ef bcf uart_manage__allow___byte, uart_manage__allow___bit 6665 ; line_number = 1041 6666 ; switch index start 6667 ;info 1041, 1208 6668 ; switch_before:(data:00=uu=>00 code:XX=cc=>XX) size=1 6669 ; line_number = 1049 6670 ; case_maximum 7 6671 04b8 3004 movlw uart_manage__45>>8 6672 04b9 008a movwf __pclath 6673 04ba 0847 movf uart_manage__index,w 6674 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) 6675 04bb 3ebd addlw uart_manage__45 6676 04bc 0082 movwf __pcl 6677 ; page_group 8 6678 04bd : uart_manage__45: 6679 04bd 2cc5 goto uart_manage__42 6680 04be 2cc7 goto uart_manage__43 6681 04bf 2cc8 goto uart_manage__44 6682 04c0 2cc8 goto uart_manage__44 6683 04c1 2cc8 goto uart_manage__44 6684 04c2 2cc8 goto uart_manage__44 6685 04c3 2cc8 goto uart_manage__44 6686 04c4 2cc8 goto uart_manage__44 6687 ; line_number = 1042 6688 ; case 0 6689 04c5 : uart_manage__42: 6690 ; line_number = 1043 6691 ; allow := _true 6692 ;info 1043, 1221 6693 04c5 16ef bsf uart_manage__allow___byte, uart_manage__allow___bit 6694 04c6 2cca goto uart_manage__46 6695 ; line_number = 1044 6696 ; case 1 6697 04c7 : uart_manage__43: 6698 ; line_number = 1045 6699 ; do_nothing 6700 ;info 1045, 1223 6701 04c7 2cca goto uart_manage__46 6702 ; line_number = 1046 6703 ; default 6704 04c8 : uart_manage__44: 6705 ; line_number = 1047 6706 ; if !configure_lock start 6707 ;info 1047, 1224 6708 ; =>bit_code_emit@symbol(): sym=configure_lock 6709 ; 1TEST: Single test with code in skip slot 6710 04c8 1da5 btfss configure_lock___byte, configure_lock___bit 6711 ; line_number = 1048 6712 ; allow := _true 6713 ;info 1048, 1225 6714 04c9 16ef bsf uart_manage__allow___byte, uart_manage__allow___bit 6715 ; Recombine size1 = 0 || size2 = 0 6716 ; line_number = 1047 6717 ; if !configure_lock done 6718 04ca : uart_manage__46: 6719 ; line_number = 1041 6720 ; switch index done 6721 ; line_number = 1050 6722 ; if allow start 6723 ;info 1050, 1226 6724 ; =>bit_code_emit@symbol(): sym=uart_manage__allow 6725 ; No 1TEST: true.size=6 false.size=0 6726 ; No 2TEST: true.size=6 false.size=0 6727 ; 1GOTO: Single test with GOTO 6728 04ca 1eef btfss uart_manage__allow___byte, uart_manage__allow___bit 6729 04cb 2cd2 goto uart_manage__47 6730 ; line_number = 1051 6731 ; file8[index] := command 6732 ;info 1051, 1228 6733 ; index_fsr_first 6734 04cc 0847 movf uart_manage__index,w 6735 04cd 3e25 addlw file8 6736 04ce 0084 movwf __fsr 6737 04cf 1383 bcf __irp___byte, __irp___bit 6738 04d0 0846 movf uart_manage__command,w 6739 04d1 0080 movwf __indf 6740 ; Recombine size1 = 0 || size2 = 0 6741 04d2 : uart_manage__47: 6742 ; line_number = 1050 6743 ; if allow done 6744 ; line_number = 1052 6745 ; switch index start 6746 ;info 1052, 1234 6747 ; switch_before:(data:00=uu=>00 code:X0=cu=>X0) size=27 6748 ; line_number = 1060 6749 ; case_maximum 7 6750 04d2 3004 movlw uart_manage__51>>8 6751 04d3 008a movwf __pclath 6752 04d4 0847 movf uart_manage__index,w 6753 ; switch after expression:(data:00=uu=>00 code:X0=cu=>X0) 6754 04d5 3ed7 addlw uart_manage__51 6755 04d6 0082 movwf __pcl 6756 ; page_group 8 6757 04d7 : uart_manage__51: 6758 04d7 2cdf goto uart_manage__48 6759 04d8 2cea goto uart_manage__52 6760 04d9 2ce1 goto uart_manage__49 6761 04da 2cea goto uart_manage__52 6762 04db 2cea goto uart_manage__52 6763 04dc 2cea goto uart_manage__52 6764 04dd 2cea goto uart_manage__52 6765 04de 2ce4 goto uart_manage__50 6766 ; line_number = 1053 6767 ; case 0 6768 04df : uart_manage__48: 6769 ; line_number = 1054 6770 ; call configure_update() 6771 ;info 1054, 1247 6772 04df 2567 call configure_update 6773 04e0 2cea goto uart_manage__52 6774 ; line_number = 1055 6775 ; case 2 6776 04e1 : uart_manage__49: 6777 ; line_number = 1056 6778 ; call speed_set(speed) 6779 ;info 1056, 1249 6780 04e1 0827 movf speed,w 6781 04e2 25b3 call speed_set 6782 04e3 2cea goto uart_manage__52 6783 ; line_number = 1057 6784 ; case 7 6785 04e4 : uart_manage__50: 6786 ; line_number = 1058 6787 ; if command > file24_size start 6788 ;info 1058, 1252 6789 04e4 300a movlw 10 6790 04e5 0246 subwf uart_manage__command,w 6791 04e6 1903 btfsc __z___byte, __z___bit 6792 04e7 1003 bcf __c___byte, __c___bit 6793 ; =>bit_code_emit@symbol(): sym=__c 6794 ; 1TEST: Single test with code in skip slot 6795 04e8 1803 btfsc __c___byte, __c___bit 6796 ; line_number = 1059 6797 ; command := 0 6798 ;info 1059, 1257 6799 04e9 01c6 clrf uart_manage__command 6800 ; Recombine size1 = 0 || size2 = 0 6801 ; line_number = 1058 6802 ; if command > file24_size done 6803 04ea : uart_manage__52: 6804 ; line_number = 1052 6805 ; switch index done 6806 ; line_number = 1061 6807 ; state:= state_command 6808 ;info 1061, 1258 6809 04ea 3002 movlw 2 6810 04eb 00b0 movwf state 6811 04ec 2d13 goto uart_manage__74 6812 ; line_number = 1062 6813 ; case 14 6814 04ed : uart_manage__67: 6815 ; # Ignore the echo and wait for the new address: 6816 ; line_number = 1064 6817 ; state := state_address_set2 6818 ;info 1064, 1261 6819 04ed 300f movlw 15 6820 04ee 00b0 movwf state 6821 04ef 2d13 goto uart_manage__74 6822 ; line_number = 1065 6823 ; case 15 6824 04f0 : uart_manage__68: 6825 ; # First, copy of new address just arrived: 6826 ; line_number = 1067 6827 ; new_address := command 6828 ;info 1067, 1264 6829 04f0 0846 movf uart_manage__command,w 6830 04f1 00ba movwf new_address 6831 ; # Return it 6832 ; line_number = 1069 6833 ; call uart_byte_put(new_address) 6834 ;info 1069, 1266 6835 04f2 083a movf new_address,w 6836 04f3 258e call uart_byte_put 6837 ; line_number = 1070 6838 ; state := state_address_set3 6839 ;info 1070, 1268 6840 04f4 3010 movlw 16 6841 04f5 00b0 movwf state 6842 04f6 2d13 goto uart_manage__74 6843 ; line_number = 1071 6844 ; case 16 6845 04f7 : uart_manage__69: 6846 ; # Ignore the echo 6847 ; line_number = 1073 6848 ; state := state_address_set4 6849 ;info 1073, 1271 6850 04f7 3011 movlw 17 6851 04f8 00b0 movwf state 6852 04f9 2d13 goto uart_manage__74 6853 ; line_number = 1074 6854 ; case 17 6855 04fa : uart_manage__70: 6856 ; # We have the 2nd copy of new addres. 6857 ; line_number = 1076 6858 ; if command = new_address start 6859 ;info 1076, 1274 6860 ; Left minus Right 6861 04fa 083a movf new_address,w 6862 04fb 0246 subwf uart_manage__command,w 6863 ; =>bit_code_emit@symbol(): sym=__z 6864 ; No 1TEST: true.size=6 false.size=1 6865 ; No 2TEST: true.size=6 false.size=1 6866 ; 2GOTO: Single test with two GOTO's 6867 04fc 1d03 btfss __z___byte, __z___bit 6868 04fd 2d05 goto uart_manage__53 6869 ; # They match; write it in: 6870 ; line_number = 1078 6871 ; call rb2bus_eedata_write(new_address) 6872 ;info 1078, 1278 6873 04fe 083a movf new_address,w 6874 04ff 25e5 call rb2bus_eedata_write 6875 ; line_number = 1079 6876 ; _gie := _true 6877 ;info 1079, 1280 6878 0500 178b bsf _gie___byte, _gie___bit 6879 ; line_number = 1080 6880 ; address := new_address 6881 ;info 1080, 1281 6882 0501 083a movf new_address,w 6883 0502 00b9 movwf address 6884 ; line_number = 1081 6885 ; call uart_byte_put(rb2_ok) 6886 ;info 1081, 1283 6887 0503 30a5 movlw 165 6888 0504 2d06 goto uart_manage__54 6889 ; 2GOTO: Starting code 2 6890 0505 : uart_manage__53: 6891 ; # They do not match, return an error: 6892 ; line_number = 1084 6893 ; call uart_byte_put(0) 6894 ;info 1084, 1285 6895 0505 3000 movlw 0 6896 0506 : uart_manage__54: 6897 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 6898 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 6899 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 6900 0506 258e call uart_byte_put 6901 ; line_number = 1076 6902 ; if command = new_address done 6903 ; line_number = 1085 6904 ; state := state_echo_then_command 6905 ;info 1085, 1287 6906 0507 3001 movlw 1 6907 0508 00b0 movwf state 6908 0509 2d13 goto uart_manage__74 6909 ; line_number = 1086 6910 ; case 18 6911 050a : uart_manage__71: 6912 ; line_number = 1087 6913 ; call uart_byte_put(middle) 6914 ;info 1087, 1290 6915 050a 0823 movf middle,w 6916 050b 258e call uart_byte_put 6917 ; line_number = 1088 6918 ; state := state_probe_get2 6919 ;info 1088, 1292 6920 050c 3013 movlw 19 6921 050d 00b0 movwf state 6922 050e 2d13 goto uart_manage__74 6923 ; line_number = 1089 6924 ; case 19 6925 050f : uart_manage__72: 6926 ; line_number = 1090 6927 ; call uart_byte_put(low) 6928 ;info 1090, 1295 6929 050f 0824 movf low,w 6930 0510 258e call uart_byte_put 6931 ; line_number = 1091 6932 ; state := state_echo_then_command 6933 ;info 1091, 1297 6934 0511 3001 movlw 1 6935 0512 00b0 movwf state 6936 6937 6938 6939 0513 : uart_manage__74: 6940 ; line_number = 893 6941 ; switch state done 6942 0513 : uart_manage__75: 6943 ; Recombine size1 = 0 || size2 = 0 6944 ; line_number = 880 6945 ; if uart_input_count != 0 done 6946 ; delay after procedure statements=non-uniform 6947 ; Implied return 6948 0513 3400 retlw 0 6949 6950 6951 6952 6953 ; line_number = 1095 6954 ;info 1095, 1300 6955 ; procedure file24_updated 6956 0514 : file24_updated: 6957 ; arguments_none 6958 ; line_number = 1097 6959 ; returns_nothing 6960 6961 ; # This routine will cause the {file24_change} mask to be updated 6962 ; # with the value that changed. 6963 6964 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 6965 ; line_number = 1102 6966 ; switch file24_index start 6967 ;info 1102, 1300 6968 ; switch_before:(data:00=uu=>00 code:X0=cu=>X0) size=0 6969 0514 3005 movlw file24_updated__12>>8 6970 0515 008a movwf __pclath 6971 0516 082c movf file24_index,w 6972 ; switch after expression:(data:00=uu=>00 code:X0=cu=>X0) 6973 0517 3e19 addlw file24_updated__12 6974 0518 0082 movwf __pcl 6975 ; page_group 6 6976 0519 : file24_updated__12: 6977 0519 2d1f goto file24_updated__6 6978 051a 2d20 goto file24_updated__7 6979 051b 2d22 goto file24_updated__8 6980 051c 2d24 goto file24_updated__9 6981 051d 2d26 goto file24_updated__10 6982 051e 2d28 goto file24_updated__11 6983 ; line_number = 1103 6984 ; case 0 6985 051f : file24_updated__6: 6986 ; line_number = 1104 6987 ; do_nothing 6988 ;info 1104, 1311 6989 051f 2d29 goto file24_updated__13 6990 ; line_number = 1105 6991 ; case 1 6992 0520 : file24_updated__7: 6993 ; line_number = 1106 6994 ; file24_changed@target_index := _true 6995 ;info 1106, 1312 6996 00000020 = file24_updated__select__1___byte equ file24_changed 6997 00000001 = file24_updated__select__1___bit equ 1 6998 0520 14a0 bsf file24_updated__select__1___byte, file24_updated__select__1___bit 6999 0521 2d29 goto file24_updated__13 7000 ; line_number = 1107 7001 ; case 2 7002 0522 : file24_updated__8: 7003 ; line_number = 1108 7004 ; file24_changed@divisor_index := _true 7005 ;info 1108, 1314 7006 00000020 = file24_updated__select__2___byte equ file24_changed 7007 00000002 = file24_updated__select__2___bit equ 2 7008 0522 1520 bsf file24_updated__select__2___byte, file24_updated__select__2___bit 7009 ; # Changing the divisor will cause kp, ki, and kd to be updated: 7010 0523 2d29 goto file24_updated__13 7011 ; line_number = 1110 7012 ; case 3 7013 0524 : file24_updated__9: 7014 ; line_number = 1111 7015 ; file24_changed@kp_index := _true 7016 ;info 1111, 1316 7017 00000020 = file24_updated__select__3___byte equ file24_changed 7018 00000003 = file24_updated__select__3___bit equ 3 7019 0524 15a0 bsf file24_updated__select__3___byte, file24_updated__select__3___bit 7020 0525 2d29 goto file24_updated__13 7021 ; line_number = 1112 7022 ; case 4 7023 0526 : file24_updated__10: 7024 ; line_number = 1113 7025 ; file24_changed@ki_index := _true 7026 ;info 1113, 1318 7027 00000020 = file24_updated__select__4___byte equ file24_changed 7028 00000004 = file24_updated__select__4___bit equ 4 7029 0526 1620 bsf file24_updated__select__4___byte, file24_updated__select__4___bit 7030 0527 2d29 goto file24_updated__13 7031 ; line_number = 1114 7032 ; case 5 7033 0528 : file24_updated__11: 7034 ; line_number = 1115 7035 ; file24_changed@kd_index := _true 7036 ;info 1115, 1320 7037 00000020 = file24_updated__select__5___byte equ file24_changed 7038 00000005 = file24_updated__select__5___bit equ 5 7039 0528 16a0 bsf file24_updated__select__5___byte, file24_updated__select__5___bit 7040 7041 7042 0529 : file24_updated__13: 7043 ; line_number = 1102 7044 ; switch file24_index done 7045 ; delay after procedure statements=non-uniform 7046 ; Implied return 7047 0529 3400 retlw 0 7048 7049 7050 7051 7052 0000004a = file24_float_convert__0return equ globals___0+42 7053 ; line_number = 1118 7054 ;info 1118, 1322 7055 ; procedure file24_float_convert 7056 052a : file24_float_convert: 7057 ; Last argument is sitting in W; save into argument variable 7058 052a 00c9 movwf file24_float_convert__index 7059 ; delay=4294967295 7060 ; line_number = 1119 7061 ; argument index byte 7062 00000049 = file24_float_convert__index equ globals___0+41 7063 ; line_number = 1120 7064 ; returns float32 7065 7066 ; # This routine will return {file24}[{index}] as a {float32}. 7067 7068 ; line_number = 1124 7069 ; local mask byte 7070 00000048 = file24_float_convert__mask equ globals___0+40 7071 7072 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7073 ; line_number = 1126 7074 ; high := highs[index] 7075 ;info 1126, 1323 7076 052b 0849 movf file24_float_convert__index,w 7077 052c 3e20 addlw highs 7078 052d 0084 movwf __fsr 7079 052e 1783 bsf __irp___byte, __irp___bit 7080 052f 0800 movf __indf,w 7081 0530 00a2 movwf high 7082 ; line_number = 1127 7083 ; middle := middles[index] 7084 ;info 1127, 1329 7085 0531 0849 movf file24_float_convert__index,w 7086 0532 3e2a addlw middles 7087 0533 0084 movwf __fsr 7088 0534 1783 bsf __irp___byte, __irp___bit 7089 0535 0800 movf __indf,w 7090 0536 00a3 movwf middle 7091 ; line_number = 1128 7092 ; low := lows[index] 7093 ;info 1128, 1335 7094 0537 0849 movf file24_float_convert__index,w 7095 0538 3e34 addlw lows 7096 0539 0084 movwf __fsr 7097 053a 1783 bsf __irp___byte, __irp___bit 7098 053b 0800 movf __indf,w 7099 053c 00a4 movwf low 7100 ; line_number = 1129 7101 ; mask := index2mask[index] 7102 ;info 1129, 1341 7103 053d 0849 movf file24_float_convert__index,w 7104 053e 262a call index2mask 7105 053f 00c8 movwf file24_float_convert__mask 7106 ; line_number = 1130 7107 ; if high = 0 && middle = 0 && low = 0 start 7108 ;info 1130, 1344 7109 ; Left minus Right 7110 0540 0822 movf high,w 7111 ; =>bit_code_emit@symbol(): sym=__z 7112 ; No 1TEST: true.size=11 false.size=1 7113 ; No 2TEST: true.size=11 false.size=1 7114 ; 2GOTO: Single test with two GOTO's 7115 0541 1d03 btfss __z___byte, __z___bit 7116 0542 2d4c goto file24_float_convert__1 7117 ; Left minus Right 7118 0543 0823 movf middle,w 7119 ; =>bit_code_emit@symbol(): sym=__z 7120 ; No 1TEST: true.size=8 false.size=1 7121 ; No 2TEST: true.size=8 false.size=1 7122 ; 2GOTO: Single test with two GOTO's 7123 0544 1d03 btfss __z___byte, __z___bit 7124 0545 2d4c goto file24_float_convert__1 7125 ; &&||: index=2 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 7126 ; Left minus Right 7127 0546 0824 movf low,w 7128 ; =>bit_code_emit@symbol(): sym=__z 7129 ; No 1TEST: true.size=2 false.size=2 7130 ; No 2TEST: true.size=2 false.size=2 7131 ; 2GOTO: Single test with two GOTO's 7132 0547 1d03 btfss __z___byte, __z___bit 7133 0548 2d4c goto file24_float_convert__2 7134 ; line_number = 1131 7135 ; file24_zero := file24_zero | mask 7136 ;info 1131, 1353 7137 0549 0848 movf file24_float_convert__mask,w 7138 054a 04a1 iorwf file24_zero,f 7139 054b 2d4e goto file24_float_convert__3 7140 ; 2GOTO: Starting code 2 7141 054c : file24_float_convert__2: 7142 054c : file24_float_convert__1: 7143 ; line_number = 1133 7144 ; file24_zero := file24_zero & (mask ^ 0xff) 7145 ;info 1133, 1356 7146 054c 0948 comf file24_float_convert__mask,w 7147 054d 05a1 andwf file24_zero,f 7148 054e : file24_float_convert__3: 7149 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 7150 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 7151 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7152 ; &&||: index=1 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 7153 ; &&||:: index=1 new_delay=4294967295 goto_delay=4294967295 7154 ; Recombine code1_bit_states != code2_bit_states 7155 ; 2GOTO: No goto needed; true= false=file24_float_convert__1 true_size=8 false_size=1 7156 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7157 ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:X0=cu=>X0) 7158 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7159 ; &&||: index=0 true_delay=4294967295 false_delay=4294967295 goto_delay=4294967295 7160 ; &&||:: index=0 new_delay=4294967295 goto_delay=4294967295 7161 ; Recombine code1_bit_states != code2_bit_states 7162 ; 2GOTO: No goto needed; true= false=file24_float_convert__1 true_size=11 false_size=1 7163 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7164 ; 2GOTO: code2 final bitstates:(data:XX=cc=>XX code:X0=cu=>X0) 7165 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7166 ; line_number = 1130 7167 ; if high = 0 && middle = 0 && low = 0 done 7168 ; line_number = 1134 7169 ; return xyz(high, middle, low) start 7170 ; line_number = 1134 7171 ;info 1134, 1358 7172 054e 0822 movf high,w 7173 054f 00d5 movwf xyz__high 7174 0550 0823 movf middle,w 7175 0551 00d6 movwf xyz__middle 7176 0552 0824 movf low,w 7177 0553 2605 call xyz 7178 0554 302c movlw xyz__0return>>1 7179 0555 158a bsf __cb0___byte, __cb0___bit 7180 0556 1683 bsf __rp0___byte, __rp0___bit 7181 0557 22d8 call _float32_pointer_load 7182 0558 3025 movlw file24_float_convert__0return>>1 7183 0559 2337 call _float32_pointer_store 7184 055a 1283 bcf __rp0___byte, __rp0___bit 7185 055b 118a bcf __cb0___byte, __cb0___bit 7186 055c 0008 return 7187 ; line_number = 1134 7188 ; return xyz(high, middle, low) done 7189 7190 7191 ; delay after procedure statements=non-uniform 7192 7193 7194 7195 7196 ; line_number = 1137 7197 ;info 1137, 1373 7198 ; procedure status_update 7199 055d : status_update: 7200 ; arguments_none 7201 ; line_number = 1139 7202 ; returns_nothing 7203 7204 ; # This routine will cause {status} to be updated. 7205 7206 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7207 ; line_number = 1143 7208 ; status := 0 7209 ;info 1143, 1373 7210 055d 01a6 clrf status 7211 ; line_number = 1144 7212 ; if quad_a start 7213 ;info 1144, 1374 7214 ; =>bit_code_emit@symbol(): sym=quad_a 7215 ; 1TEST: Single test with code in skip slot 7216 055e 1885 btfsc quad_a___byte, quad_a___bit 7217 ; line_number = 1145 7218 ; status@0 := _true 7219 ;info 1145, 1375 7220 00000026 = status_update__select__1___byte equ status 7221 00000000 = status_update__select__1___bit equ 0 7222 055f 1426 bsf status_update__select__1___byte, status_update__select__1___bit 7223 ; Recombine size1 = 0 || size2 = 0 7224 ; line_number = 1144 7225 ; if quad_a done 7226 ; line_number = 1146 7227 ; if quad_b start 7228 ;info 1146, 1376 7229 ; =>bit_code_emit@symbol(): sym=quad_b 7230 ; 1TEST: Single test with code in skip slot 7231 0560 1805 btfsc quad_b___byte, quad_b___bit 7232 ; line_number = 1147 7233 ; status@1 := _true 7234 ;info 1147, 1377 7235 00000026 = status_update__select__2___byte equ status 7236 00000001 = status_update__select__2___bit equ 1 7237 0561 14a6 bsf status_update__select__2___byte, status_update__select__2___bit 7238 ; Recombine size1 = 0 || size2 = 0 7239 ; line_number = 1146 7240 ; if quad_b done 7241 ; line_number = 1148 7242 ; if analog0_greater_than start 7243 ;info 1148, 1378 7244 ; =>bit_code_emit@symbol(): sym=analog0_greater_than 7245 ; 1TEST: Single test with code in skip slot 7246 0562 196f btfsc analog0_greater_than___byte, analog0_greater_than___bit 7247 ; line_number = 1149 7248 ; status@2 := _true 7249 ;info 1149, 1379 7250 00000026 = status_update__select__3___byte equ status 7251 00000002 = status_update__select__3___bit equ 2 7252 0563 1526 bsf status_update__select__3___byte, status_update__select__3___bit 7253 ; Recombine size1 = 0 || size2 = 0 7254 ; line_number = 1148 7255 ; if analog0_greater_than done 7256 ; line_number = 1150 7257 ; if analog1_greater_than start 7258 ;info 1150, 1380 7259 ; =>bit_code_emit@symbol(): sym=analog1_greater_than 7260 ; 1TEST: Single test with code in skip slot 7261 0564 19ef btfsc analog1_greater_than___byte, analog1_greater_than___bit 7262 ; line_number = 1151 7263 ; status@3 := _true 7264 ;info 1151, 1381 7265 00000026 = status_update__select__4___byte equ status 7266 00000003 = status_update__select__4___bit equ 3 7267 0565 15a6 bsf status_update__select__4___byte, status_update__select__4___bit 7268 7269 7270 ; Recombine size1 = 0 || size2 = 0 7271 ; line_number = 1150 7272 ; if analog1_greater_than done 7273 ; delay after procedure statements=non-uniform 7274 ; Implied return 7275 0566 3400 retlw 0 7276 7277 7278 7279 7280 ; line_number = 1154 7281 ;info 1154, 1383 7282 ; procedure configure_update 7283 0567 : configure_update: 7284 ; arguments_none 7285 ; line_number = 1156 7286 ; returns_nothing 7287 7288 ; line_number = 1158 7289 ; local index byte 7290 0000004e = configure_update__index equ globals___0+46 7291 ; line_number = 1159 7292 ; local state byte 7293 0000004f = configure_update__state equ globals___0+47 7294 7295 ; # This routine will read {configure} and process it: 7296 7297 ; # 0x1c = ad0_enable:ad1_enable: 7298 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7299 ; line_number = 1164 7300 ; if configure & 0x18 != 0 start 7301 ;info 1164, 1383 7302 ; Left minus Right 7303 0567 3018 movlw 24 7304 0568 0525 andwf configure,w 7305 ; =>bit_code_emit@symbol(): sym=__z 7306 ; No 1TEST: true.size=2 false.size=2 7307 ; No 2TEST: true.size=2 false.size=2 7308 ; 2GOTO: Single test with two GOTO's 7309 0569 1d03 btfss __z___byte, __z___bit 7310 056a 2d6f goto configure_update__5 7311 056b 1683 bsf __rp0___byte, __rp0___bit 7312 ; # We configure quad A and B as digital inputs: 7313 ; line_number = 1170 7314 ; _ansel@0 := _false 7315 ;info 1170, 1388 7316 00000091 = configure_update__select__1___byte equ _ansel 7317 00000000 = configure_update__select__1___bit equ 0 7318 056c 1011 bcf configure_update__select__1___byte, configure_update__select__1___bit 7319 ; line_number = 1171 7320 ; _ansel@1 := _false 7321 ;info 1171, 1389 7322 00000091 = configure_update__select__2___byte equ _ansel 7323 00000001 = configure_update__select__2___bit equ 1 7324 056d 1091 bcf configure_update__select__2___byte, configure_update__select__2___bit 7325 7326 056e 2d72 goto configure_update__6 7327 ; 2GOTO: Starting code 2 7328 056f : configure_update__5: 7329 056f 1683 bsf __rp0___byte, __rp0___bit 7330 ; # We have to configure quad A and B as A/D inputs: 7331 ; line_number = 1166 7332 ; _ansel@0 := _true 7333 ;info 1166, 1392 7334 00000091 = configure_update__select__3___byte equ _ansel 7335 00000000 = configure_update__select__3___bit equ 0 7336 0570 1411 bsf configure_update__select__3___byte, configure_update__select__3___bit 7337 ; line_number = 1167 7338 ; _ansel@1 := _true 7339 ;info 1167, 1393 7340 00000091 = configure_update__select__4___byte equ _ansel 7341 00000001 = configure_update__select__4___bit equ 1 7342 0571 1491 bsf configure_update__select__4___byte, configure_update__select__4___bit 7343 0572 : configure_update__6: 7344 ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:XX=cc=>XX) 7345 ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:XX=cc=>XX) 7346 ; 2GOTO: code final bitstates:(data:00=uu=>01 code:X0=cu=>X0) 7347 ; line_number = 1164 7348 ; if configure & 0x18 != 0 done 7349 ; line_number = 1173 7350 ; index := 0 7351 ;info 1173, 1394 7352 0572 1283 bcf __rp0___byte, __rp0___bit 7353 0573 01ce clrf configure_update__index 7354 ; line_number = 1174 7355 ; while index < 32 start 7356 0574 : configure_update__7: 7357 ;info 1174, 1396 7358 0574 3020 movlw 32 7359 0575 024e subwf configure_update__index,w 7360 ; =>bit_code_emit@symbol(): sym=__c 7361 ; No 1TEST: true.size=0 false.size=21 7362 ; No 2TEST: true.size=0 false.size=21 7363 ; 1GOTO: Single test with GOTO 7364 0576 1803 btfsc __c___byte, __c___bit 7365 0577 2d8d goto configure_update__12 7366 ; line_number = 1175 7367 ; state := states[index] 7368 ;info 1175, 1400 7369 0578 084e movf configure_update__index,w 7370 0579 265a call states 7371 057a 00cf movwf configure_update__state 7372 ; line_number = 1176 7373 ; if position_reverse start 7374 ;info 1176, 1403 7375 ; =>bit_code_emit@symbol(): sym=position_reverse 7376 ; No 1TEST: true.size=14 false.size=0 7377 ; No 2TEST: true.size=14 false.size=0 7378 ; 1GOTO: Single test with GOTO 7379 057b 1ca5 btfss position_reverse___byte, position_reverse___bit 7380 057c 2d8b goto configure_update__11 7381 ; # Swap the increment and decrement bits in {xstates}: 7382 ; line_number = 1178 7383 ; state := state & 0xf | (state << 2) & 0xc0 | (state >> 2) & 0x30 7384 ;info 1178, 1405 7385 00000067 = configure_update__8 equ globals___0+71 7386 057d 300f movlw 15 7387 057e 054f andwf configure_update__state,w 7388 057f 00e7 movwf configure_update__8 7389 00000068 = configure_update__9 equ globals___0+72 7390 0580 0d4f rlf configure_update__state,w 7391 0581 00e8 movwf configure_update__9 7392 0582 0d68 rlf configure_update__9,w 7393 0583 39c0 andlw 192 7394 0584 04e7 iorwf configure_update__8,f 7395 00000069 = configure_update__10 equ globals___0+73 7396 0585 0c4f rrf configure_update__state,w 7397 0586 00e9 movwf configure_update__10 7398 0587 0c69 rrf configure_update__10,w 7399 0588 3930 andlw 48 7400 0589 0467 iorwf configure_update__8,w 7401 058a 00cf movwf configure_update__state 7402 ; Recombine size1 = 0 || size2 = 0 7403 058b : configure_update__11: 7404 ; line_number = 1176 7405 ; if position_reverse done 7406 ; #FIXME: Uncomment to enable {xstates}: 7407 ; #xstates[index] := state 7408 ; line_number = 1181 7409 ; index := index + 1 7410 ;info 1181, 1419 7411 058b 0ace incf configure_update__index,f 7412 7413 7414 058c 2d74 goto configure_update__7 7415 058d : configure_update__12: 7416 ; Recombine size1 = 0 || size2 = 0 7417 ; line_number = 1174 7418 ; while index < 32 done 7419 ; delay after procedure statements=non-uniform 7420 ; Implied return 7421 058d 3400 retlw 0 7422 7423 7424 7425 7426 ; line_number = 1184 7427 ;info 1184, 1422 7428 ; procedure uart_byte_put 7429 058e : uart_byte_put: 7430 ; Last argument is sitting in W; save into argument variable 7431 058e 00d0 movwf uart_byte_put__value 7432 ; delay=4294967295 7433 ; line_number = 1185 7434 ; argument value byte 7435 00000050 = uart_byte_put__value equ globals___0+48 7436 ; line_number = 1186 7437 ; returns_nothing 7438 7439 ; # This routine will send {value} to the bus. 7440 7441 ; # Wait until {_txreg} is ready for a value: 7442 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7443 ; line_number = 1191 7444 ; while !_txif start 7445 058f : uart_byte_put__1: 7446 ;info 1191, 1423 7447 ; =>bit_code_emit@symbol(): sym=_txif 7448 ; 1TEST: Single test with code in skip slot 7449 058f 1c8c btfss _txif___byte, _txif___bit 7450 ; line_number = 1192 7451 ; do_nothing 7452 ;info 1192, 1424 7453 7454 0590 2d8f goto uart_byte_put__1 7455 ; Recombine size1 = 0 || size2 = 0 7456 ; line_number = 1191 7457 ; while !_txif done 7458 ; # Ship {value} out to the bus with 9th bit turned off: 7459 ; line_number = 1195 7460 ; _adden := _false 7461 ;info 1195, 1425 7462 0591 1197 bcf _adden___byte, _adden___bit 7463 ; line_number = 1196 7464 ; _tx9d := _false 7465 ;info 1196, 1426 7466 0592 1016 bcf _tx9d___byte, _tx9d___bit 7467 ; line_number = 1197 7468 ; _txreg := value 7469 ;info 1197, 1427 7470 0593 0850 movf uart_byte_put__value,w 7471 0594 0095 movwf _txreg 7472 7473 7474 ; delay after procedure statements=non-uniform 7475 ; Implied return 7476 0595 3400 retlw 0 7477 7478 7479 7480 7481 ; line_number = 1200 7482 ;info 1200, 1430 7483 ; procedure uart_initialize 7484 0596 : uart_initialize: 7485 ; arguments_none 7486 ; line_number = 1202 7487 ; returns_nothing 7488 7489 ; # This procedure is responsibile for initializing the UART 7490 ; # connected to the bus. This code is currently specific to 7491 ; # the PIC16F688. 7492 7493 ; #FIXME: Use {rx_bit} and {tx_bit}!!! 7494 7495 ; # Warm up the UART: 7496 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7497 ; line_number = 1211 7498 ; _trisc@5 := _true 7499 ;info 1211, 1430 7500 00000087 = uart_initialize__select__1___byte equ _trisc 7501 00000005 = uart_initialize__select__1___bit equ 5 7502 0596 1683 bsf __rp0___byte, __rp0___bit 7503 0597 1687 bsf uart_initialize__select__1___byte, uart_initialize__select__1___bit 7504 ; line_number = 1212 7505 ; _trisc@4 := _true 7506 ;info 1212, 1432 7507 00000087 = uart_initialize__select__2___byte equ _trisc 7508 00000004 = uart_initialize__select__2___bit equ 4 7509 0598 1607 bsf uart_initialize__select__2___byte, uart_initialize__select__2___bit 7510 7511 ; # Initialize the {_txsta} register: 7512 ; line_number = 1215 7513 ; _txsta := 0 7514 ;info 1215, 1433 7515 0599 1283 bcf __rp0___byte, __rp0___bit 7516 059a 0196 clrf _txsta 7517 ; line_number = 1216 7518 ; _tx9 := _true 7519 ;info 1216, 1435 7520 059b 1716 bsf _tx9___byte, _tx9___bit 7521 ; line_number = 1217 7522 ; _txen := _true 7523 ;info 1217, 1436 7524 059c 1696 bsf _txen___byte, _txen___bit 7525 ; line_number = 1218 7526 ; _brgh := _true 7527 ;info 1218, 1437 7528 059d 1516 bsf _brgh___byte, _brgh___bit 7529 7530 ; # Initialize the {_rcsta} register: 7531 ; line_number = 1221 7532 ; _rcsta := 0 7533 ;info 1221, 1438 7534 059e 0197 clrf _rcsta 7535 ; line_number = 1222 7536 ; _spen := _true 7537 ;info 1222, 1439 7538 059f 1797 bsf _spen___byte, _spen___bit 7539 ; line_number = 1223 7540 ; _rx9 := _true 7541 ;info 1223, 1440 7542 05a0 1717 bsf _rx9___byte, _rx9___bit 7543 ; line_number = 1224 7544 ; _cren := _true 7545 ;info 1224, 1441 7546 05a1 1617 bsf _cren___byte, _cren___bit 7547 ; line_number = 1225 7548 ; _adden := _true 7549 ;info 1225, 1442 7550 05a2 1597 bsf _adden___byte, _adden___bit 7551 7552 ; # Set up the baud rate generator: 7553 ; line_number = 1228 7554 ; _baudctl := 0 7555 ;info 1228, 1443 7556 05a3 0191 clrf _baudctl 7557 ; line_number = 1229 7558 ; _brg16 := _true 7559 ;info 1229, 1444 7560 05a4 1591 bsf _brg16___byte, _brg16___bit 7561 ; line_number = 1230 7562 ; _spbrg := _eusart_500000_low 7563 ;info 1230, 1445 7564 05a5 3009 movlw 9 7565 05a6 0093 movwf _spbrg 7566 ; line_number = 1231 7567 ; _spbrgh := _eusart_500000_high 7568 ;info 1231, 1447 7569 05a7 0192 clrf _spbrgh 7570 7571 ; line_number = 1233 7572 ; state := state_select_wait 7573 ;info 1233, 1448 7574 05a8 01b0 clrf state 7575 ; line_number = 1234 7576 ; id_index := 0 7577 ;info 1234, 1449 7578 05a9 01b1 clrf id_index 7579 ; line_number = 1235 7580 ; uart_input_in_index := 0 7581 ;info 1235, 1450 7582 05aa 01b6 clrf uart_input_in_index 7583 ; line_number = 1236 7584 ; uart_input_out_index := 0 7585 ;info 1236, 1451 7586 05ab 01b7 clrf uart_input_out_index 7587 ; line_number = 1237 7588 ; uart_input_count := 0 7589 ;info 1237, 1452 7590 05ac 01b8 clrf uart_input_count 7591 ; line_number = 1238 7592 ; uart_input_pending := _false 7593 ;info 1238, 1453 7594 05ad 106f bcf uart_input_pending___byte, uart_input_pending___bit 7595 7596 ; # Turn on the interrupts: 7597 ; line_number = 1241 7598 ; _txie := _false 7599 ;info 1241, 1454 7600 05ae 1683 bsf __rp0___byte, __rp0___bit 7601 05af 108c bcf _txie___byte, _txie___bit 7602 ; line_number = 1242 7603 ; _rcie := _true 7604 ;info 1242, 1456 7605 05b0 168c bsf _rcie___byte, _rcie___bit 7606 7607 7608 ; delay after procedure statements=non-uniform 7609 05b1 1283 bcf __rp0___byte, __rp0___bit 7610 ; Implied return 7611 05b2 3400 retlw 0 7612 7613 7614 7615 7616 ; line_number = 1245 7617 ;info 1245, 1459 7618 ; procedure speed_set 7619 05b3 : speed_set: 7620 ; Last argument is sitting in W; save into argument variable 7621 05b3 00d1 movwf speed_set__speed 7622 ; delay=4294967295 7623 ; line_number = 1246 7624 ; argument speed byte 7625 00000051 = speed_set__speed equ globals___0+49 7626 ; line_number = 1247 7627 ; returns_nothing 7628 7629 ; # This procedure will set {motor1_speed}, {motor1_on_mask}, and 7630 ; # {motor1_pulse_width} from {speed}. 7631 7632 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7633 ; line_number = 1252 7634 ; motor1_speed := speed 7635 ;info 1252, 1460 7636 05b4 0851 movf speed_set__speed,w 7637 05b5 00ad movwf motor1_speed 7638 ; line_number = 1253 7639 ; if motor1_speed@7 start 7640 ;info 1253, 1462 7641 0000002d = speed_set__select__4___byte equ motor1_speed 7642 00000007 = speed_set__select__4___bit equ 7 7643 ; =>bit_code_emit@symbol(): sym=speed_set__select__4 7644 ; No 1TEST: true.size=8 false.size=14 7645 ; No 2TEST: true.size=8 false.size=14 7646 ; 2GOTO: Single test with two GOTO's 7647 05b6 1fad btfss speed_set__select__4___byte, speed_set__select__4___bit 7648 05b7 2dc1 goto speed_set__5 7649 ; # Reverse direction: 7650 ; line_number = 1255 7651 ; if motor_reverse start 7652 ;info 1255, 1464 7653 ; =>bit_code_emit@symbol(): sym=motor_reverse 7654 ; No 1TEST: true.size=1 false.size=1 7655 ; 2TEST: two tests with code in both delay slots 7656 05b8 1825 btfsc motor_reverse___byte, motor_reverse___bit 7657 ; line_number = 1256 7658 ; motor1_on_mask := 1 7659 ;info 1256, 1465 7660 05b9 3001 movlw 1 7661 05ba 1c25 btfss motor_reverse___byte, motor_reverse___bit 7662 ; line_number = 1258 7663 ; motor1_on_mask := 2 7664 ;info 1258, 1467 7665 05bb 3002 movlw 2 7666 05bc 00ae movwf motor1_on_mask 7667 ; line_number = 1255 7668 ; if motor_reverse done 7669 ; line_number = 1259 7670 ; motor1_pulse_width := speed << 1 7671 ;info 1259, 1469 7672 05bd 0d51 rlf speed_set__speed,w 7673 05be 00af movwf motor1_pulse_width 7674 05bf 102f bcf motor1_pulse_width, 0 7675 ; Recombine code1_bit_states != code2_bit_states 7676 05c0 2dcf goto speed_set__6 7677 ; 2GOTO: Starting code 2 7678 05c1 : speed_set__5: 7679 ; line_number = 1261 7680 ; if speed = 0 start 7681 ;info 1261, 1473 7682 ; Left minus Right 7683 05c1 0851 movf speed_set__speed,w 7684 ; =>bit_code_emit@symbol(): sym=__z 7685 ; No 1TEST: true.size=1 false.size=5 7686 ; No 2TEST: true.size=1 false.size=5 7687 ; 2GOTO: Single test with two GOTO's 7688 05c2 1d03 btfss __z___byte, __z___bit 7689 05c3 2dc6 goto speed_set__1 7690 ; # Stopped 7691 ; line_number = 1263 7692 ; motor1_on_mask := 0 7693 ;info 1263, 1476 7694 05c4 01ae clrf motor1_on_mask 7695 05c5 2dcb goto speed_set__2 7696 ; 2GOTO: Starting code 2 7697 05c6 : speed_set__1: 7698 ; # Forward direction: 7699 ; line_number = 1266 7700 ; if motor_reverse start 7701 ;info 1266, 1478 7702 ; =>bit_code_emit@symbol(): sym=motor_reverse 7703 ; No 1TEST: true.size=1 false.size=1 7704 ; 2TEST: two tests with code in both delay slots 7705 05c6 1825 btfsc motor_reverse___byte, motor_reverse___bit 7706 ; line_number = 1267 7707 ; motor1_on_mask := 2 7708 ;info 1267, 1479 7709 05c7 3002 movlw 2 7710 05c8 1c25 btfss motor_reverse___byte, motor_reverse___bit 7711 ; line_number = 1269 7712 ; motor1_on_mask := 1 7713 ;info 1269, 1481 7714 05c9 3001 movlw 1 7715 05ca 00ae movwf motor1_on_mask 7716 ; line_number = 1266 7717 ; if motor_reverse done 7718 05cb : speed_set__2: 7719 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 7720 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 7721 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7722 ; line_number = 1261 7723 ; if speed = 0 done 7724 ; line_number = 1270 7725 ; motor1_pulse_width := 0xff - (speed << 1) 7726 ;info 1270, 1483 7727 0000006a = speed_set__3 equ globals___0+74 7728 05cb 0d51 rlf speed_set__speed,w 7729 05cc 39fe andlw 254 7730 05cd 3cff sublw 255 7731 05ce 00af movwf motor1_pulse_width 7732 7733 7734 05cf : speed_set__6: 7735 ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) 7736 ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7737 ; 2GOTO: code final bitstates:(data:00=uu=>00 code:X0=cu=>X0) 7738 ; line_number = 1253 7739 ; if motor1_speed@7 done 7740 ; delay after procedure statements=non-uniform 7741 ; Implied return 7742 05cf 3400 retlw 0 7743 7744 7745 7746 7747 ; # FIXME: These two routines are directly copied from rb2_pic16f688.ucl 7748 ; # and should be included via a library command. Alas, the rb2_pic16f688.ucl 7749 ; # library also include rb2bus.ucl, which we do not want!!! 7750 7751 ; line_number = 1277 7752 ; constant rb2bus_eedata_address = 0xfe 7753 000000fe = rb2bus_eedata_address equ 254 7754 7755 ; line_number = 1279 7756 ;info 1279, 1488 7757 ; procedure rb2bus_eedata_read 7758 05d0 : rb2bus_eedata_read: 7759 ; arguments_none 7760 ; line_number = 1281 7761 ; returns byte 7762 7763 ; # This procedure will return the address stored in EEData. If 7764 ; # there is no data, 0 is returned. 7765 7766 ; line_number = 1286 7767 ; local temp1 byte 7768 00000052 = rb2bus_eedata_read__temp1 equ globals___0+50 7769 ; line_number = 1287 7770 ; local temp2 byte 7771 00000053 = rb2bus_eedata_read__temp2 equ globals___0+51 7772 7773 ; # Read the first byte (the address): 7774 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7775 ; line_number = 1290 7776 ; _eecon1 := 0 7777 ;info 1290, 1488 7778 05d0 1683 bsf __rp0___byte, __rp0___bit 7779 05d1 019c clrf _eecon1 7780 ; line_number = 1291 7781 ; _eeadr := rb2bus_eedata_address 7782 ;info 1291, 1490 7783 05d2 30fe movlw 254 7784 05d3 009b movwf _eeadr 7785 ; line_number = 1292 7786 ; _rd := _true 7787 ;info 1292, 1492 7788 05d4 141c bsf _rd___byte, _rd___bit 7789 ; line_number = 1293 7790 ; temp1 := _eedat 7791 ;info 1293, 1493 7792 05d5 081a movf _eedat,w 7793 05d6 1283 bcf __rp0___byte, __rp0___bit 7794 05d7 00d2 movwf rb2bus_eedata_read__temp1 7795 7796 ; # Read the second byte (the 1'z complement) 7797 ; line_number = 1296 7798 ; _eeadr := _eeadr + 1 7799 ;info 1296, 1496 7800 05d8 1683 bsf __rp0___byte, __rp0___bit 7801 05d9 0a9b incf _eeadr,f 7802 ; line_number = 1297 7803 ; _rd := _true 7804 ;info 1297, 1498 7805 05da 141c bsf _rd___byte, _rd___bit 7806 ; line_number = 1298 7807 ; temp2 := _eedat 7808 ;info 1298, 1499 7809 05db 081a movf _eedat,w 7810 05dc 1283 bcf __rp0___byte, __rp0___bit 7811 05dd 00d3 movwf rb2bus_eedata_read__temp2 7812 7813 ; # If they are 1's complement of one another, they are valid: 7814 ; line_number = 1301 7815 ; if temp1 = (0xff ^ temp2) start 7816 ;info 1301, 1502 7817 ; Left minus Right 7818 05de 0953 comf rb2bus_eedata_read__temp2,w 7819 05df 0252 subwf rb2bus_eedata_read__temp1,w 7820 ; =>bit_code_emit@symbol(): sym=__z 7821 ; No 1TEST: true.size=2 false.size=0 7822 ; No 2TEST: true.size=2 false.size=0 7823 ; 1GOTO: Single test with GOTO 7824 05e0 1d03 btfss __z___byte, __z___bit 7825 05e1 2de4 goto rb2bus_eedata_read__1 7826 ; # Return the valid address: 7827 ; line_number = 1303 7828 ; return temp1 start 7829 ; line_number = 1303 7830 ;info 1303, 1506 7831 05e2 0852 movf rb2bus_eedata_read__temp1,w 7832 05e3 0008 return 7833 ; line_number = 1303 7834 ; return temp1 done 7835 7836 ; Recombine size1 = 0 || size2 = 0 7837 05e4 : rb2bus_eedata_read__1: 7838 ; line_number = 1301 7839 ; if temp1 = (0xff ^ temp2) done 7840 ; # They are not 1's complement, so return 0 as an error: 7841 ; line_number = 1306 7842 ; return 0 start 7843 ; line_number = 1306 7844 ;info 1306, 1508 7845 05e4 3400 retlw 0 7846 ; line_number = 1306 7847 ; return 0 done 7848 7849 7850 ; delay after procedure statements=non-uniform 7851 7852 7853 7854 7855 ; line_number = 1309 7856 ;info 1309, 1509 7857 ; procedure rb2bus_eedata_write 7858 05e5 : rb2bus_eedata_write: 7859 ; Last argument is sitting in W; save into argument variable 7860 05e5 00d4 movwf rb2bus_eedata_write__address 7861 ; delay=4294967295 7862 ; line_number = 1310 7863 ; argument address byte 7864 00000054 = rb2bus_eedata_write__address equ globals___0+52 7865 ; line_number = 1311 7866 ; returns_nothing 7867 7868 ; # This procedure will write {address} into the EEData. The 7869 ; # microcontroller pauses while the EEData is written. 7870 7871 ; # Clear out the {_eecon1} register 7872 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 7873 ; line_number = 1317 7874 ; _eecon1 := 0 7875 ;info 1317, 1510 7876 05e6 1683 bsf __rp0___byte, __rp0___bit 7877 05e7 019c clrf _eecon1 7878 ; line_number = 1318 7879 ; _eeadr := rb2bus_eedata_address 7880 ;info 1318, 1512 7881 05e8 30fe movlw 254 7882 05e9 009b movwf _eeadr 7883 ; line_number = 1319 7884 ; _eedat := address 7885 ;info 1319, 1514 7886 05ea 1283 bcf __rp0___byte, __rp0___bit 7887 05eb 0854 movf rb2bus_eedata_write__address,w 7888 05ec 1683 bsf __rp0___byte, __rp0___bit 7889 05ed 009a movwf _eedat 7890 7891 ; # Write 2 bytes ({address} followed by {address}^0xff): 7892 ; line_number = 1322 7893 ; loop_exactly 2 start 7894 ;info 1322, 1518 7895 0000006b = rb2bus_eedata_write__1 equ globals___0+75 7896 05ee 3002 movlw 2 7897 05ef 1283 bcf __rp0___byte, __rp0___bit 7898 05f0 00eb movwf rb2bus_eedata_write__1 7899 05f1 : rb2bus_eedata_write__2: 7900 ; # Set the data to write: 7901 7902 ; # Set up the for the write: 7903 ; line_number = 1326 7904 ; _wren := _true 7905 ;info 1326, 1521 7906 05f1 1683 bsf __rp0___byte, __rp0___bit 7907 05f2 151c bsf _wren___byte, _wren___bit 7908 ; line_number = 1327 7909 ; _gie := _false 7910 ;info 1327, 1523 7911 05f3 138b bcf _gie___byte, _gie___bit 7912 ; line_number = 1328 7913 ; _eecon2 := 0x55 7914 ;info 1328, 1524 7915 05f4 3055 movlw 85 7916 05f5 009d movwf _eecon2 7917 ; line_number = 1329 7918 ; _eecon2 := 0xaa 7919 ;info 1329, 1526 7920 05f6 30aa movlw 170 7921 05f7 009d movwf _eecon2 7922 ; # Start the write: 7923 ; line_number = 1331 7924 ; _wr := _true 7925 ;info 1331, 1528 7926 05f8 149c bsf _wr___byte, _wr___bit 7927 7928 ; # Wait for write to complete: 7929 ; line_number = 1334 7930 ; while _wr start 7931 05f9 : rb2bus_eedata_write__3: 7932 ;info 1334, 1529 7933 ; =>bit_code_emit@symbol(): sym=_wr 7934 ; 1TEST: Single test with code in skip slot 7935 05f9 189c btfsc _wr___byte, _wr___bit 7936 ; line_number = 1335 7937 ; do_nothing 7938 ;info 1335, 1530 7939 7940 05fa 2df9 goto rb2bus_eedata_write__3 7941 ; Recombine size1 = 0 || size2 = 0 7942 ; line_number = 1334 7943 ; while _wr done 7944 ; # Disable writing: 7945 ; line_number = 1338 7946 ; _wren := _false 7947 ;info 1338, 1531 7948 05fb 111c bcf _wren___byte, _wren___bit 7949 7950 ; # Prepare the second byte of data: 7951 ; line_number = 1341 7952 ; _eeadr := _eeadr + 1 7953 ;info 1341, 1532 7954 05fc 0a9b incf _eeadr,f 7955 ; line_number = 1342 7956 ; _eedat := address ^ 0xff 7957 ;info 1342, 1533 7958 05fd 1283 bcf __rp0___byte, __rp0___bit 7959 05fe 0954 comf rb2bus_eedata_write__address,w 7960 05ff 1683 bsf __rp0___byte, __rp0___bit 7961 0600 009a movwf _eedat 7962 7963 7964 0601 1283 bcf __rp0___byte, __rp0___bit 7965 ; line_number = 1322 7966 ; loop_exactly 2 wrap-up 7967 0602 0beb decfsz rb2bus_eedata_write__1,f 7968 0603 2df1 goto rb2bus_eedata_write__2 7969 ; line_number = 1322 7970 ; loop_exactly 2 done 7971 ; delay after procedure statements=non-uniform 7972 ; Implied return 7973 0604 3400 retlw 0 7974 7975 7976 7977 7978 ; # 24-bit convert to from float code: 7979 00000058 = xyz__0return equ globals___0+56 7980 ; line_number = 1346 7981 ;info 1346, 1541 7982 ; procedure xyz 7983 0605 : xyz: 7984 ; Last argument is sitting in W; save into argument variable 7985 0605 00d7 movwf xyz__low 7986 ; delay=4294967295 7987 ; line_number = 1347 7988 ; argument high byte 7989 00000055 = xyz__high equ globals___0+53 7990 ; line_number = 1348 7991 ; argument middle byte 7992 00000056 = xyz__middle equ globals___0+54 7993 ; line_number = 1349 7994 ; argument low byte 7995 00000057 = xyz__low equ globals___0+55 7996 ; line_number = 1350 7997 ; returns float32 7998 ; line_number = 1351 7999 ; return_suppress 8000 8001 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 8002 ; line_number = 1353 8003 ; assemble 8004 ;info 1353, 1542 8005 ; # Grab the high byte: 8006 ; line_number = 1355 8007 ;info 1355, 1542 8008 0606 0855 movf xyz__high,w 8009 ; line_number = 1356 8010 ;info 1356, 1543 8011 ; databank xyz, _float32_aargb0 8012 0607 1683 bsf __rp0___byte, __rp0___bit 8013 ; line_number = 1357 8014 ;info 1357, 1544 8015 0608 00a7 movwf _float32_aargb0 8016 8017 ; # Grab the middle byte: 8018 ; line_number = 1360 8019 ;info 1360, 1545 8020 ; databank _float32_aargb0, xyz 8021 0609 1283 bcf __rp0___byte, __rp0___bit 8022 ; line_number = 1361 8023 ;info 1361, 1546 8024 060a 0856 movf xyz__middle,w 8025 ; line_number = 1362 8026 ;info 1362, 1547 8027 ; databank xyz, _float32_aargb1 8028 060b 1683 bsf __rp0___byte, __rp0___bit 8029 ; line_number = 1363 8030 ;info 1363, 1548 8031 060c 00a6 movwf _float32_aargb1 8032 8033 ; # Grab the low byte: 8034 ; line_number = 1366 8035 ;info 1366, 1549 8036 ; databank _float32_aargb1, xyz 8037 060d 1283 bcf __rp0___byte, __rp0___bit 8038 ; line_number = 1367 8039 ;info 1367, 1550 8040 060e 0857 movf xyz__low,w 8041 ; line_number = 1368 8042 ;info 1368, 1551 8043 ; databank xyz, _float32_aargb2 8044 060f 1683 bsf __rp0___byte, __rp0___bit 8045 ; line_number = 1369 8046 ;info 1369, 1552 8047 0610 00a5 movwf _float32_aargb2 8048 8049 ; # Do the conversion to float32: 8050 ; line_number = 1372 8051 ;info 1372, 1553 8052 ; databank _float32_aargb2, _float32_from_integer24 8053 ; line_number = 1373 8054 ;info 1373, 1553 8055 ; codebank xyz, _float32_from_integer24 8056 0611 158a bsf __cb0___byte, __cb0___bit 8057 ; line_number = 1374 8058 ;info 1374, 1554 8059 0612 2000 call _float32_from_integer24 8060 8061 ; # Result is in the float32 A "register"l not move to 0return: 8062 ; line_number = 1377 8063 ;info 1377, 1555 8064 0613 302c movlw xyz__0return>>1 8065 ; line_number = 1378 8066 ;info 1378, 1556 8067 ; databank _float32_from_integer24, _float32_pointer_store 8068 ; line_number = 1379 8069 ;info 1379, 1556 8070 ; codebank _float32_from_integer24, _float32_pointer_store 8071 ; line_number = 1380 8072 ;info 1380, 1556 8073 0614 2337 call _float32_pointer_store 8074 8075 ; # Get out code and data banks back home: 8076 ; line_number = 1383 8077 ;info 1383, 1557 8078 ; databank _float32_pointer_store, xyz 8079 0615 1283 bcf __rp0___byte, __rp0___bit 8080 ; line_number = 1384 8081 ;info 1384, 1558 8082 ; codebank _float32_pointer_store, xyz 8083 0616 118a bcf __cb0___byte, __cb0___bit 8084 ; line_number = 1385 8085 ;info 1385, 1559 8086 0617 0008 return 8087 8088 ; delay after procedure statements=non-uniform 8089 ; Return instruction suppressed by 'return_suppress' 8090 8091 8092 8093 8094 ; # 24-bit convert to from float code: 8095 ; line_number = 1388 8096 ;info 1388, 1560 8097 ; procedure zyx 8098 0618 : zyx: 8099 ; line_number = 1389 8100 ; argument value float32 8101 0000005c = zyx__value equ globals___0+60 8102 ; line_number = 1390 8103 ; returns byte 8104 ; line_number = 1391 8105 ; return_suppress 8106 8107 ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:X0=cu=>X0) 8108 ; line_number = 1393 8109 ; assemble 8110 ;info 1393, 1560 8111 ; line_number = 1394 8112 ;info 1394, 1560 8113 0618 302e movlw zyx__value>>1 8114 ; line_number = 1395 8115 ;info 1395, 1561 8116 ; databank zyx, _float32_pointer_load 8117 0619 1683 bsf __rp0___byte, __rp0___bit 8118 ; line_number = 1396 8119 ;info 1396, 1562 8120 ; codebank zyx, _float32_pointer_load 8121 061a 158a bsf __cb0___byte, __cb0___bit 8122 ; line_number = 1397 8123 ;info 1397, 1563 8124 061b 22d8 call _float32_pointer_load 8125 8126 ; line_number = 1399 8127 ;info 1399, 1564 8128 ; databank _float32_pointer_load, _float32_integer24_convert 8129 ; line_number = 1400 8130 ;info 1400, 1564 8131 ; codebank _float32_pointer_load, _float32_integer24_convert 8132 ; line_number = 1401 8133 ;info 1401, 1564 8134 061c 208d call _float32_integer24_convert 8135 ; line_number = 1402 8136 ;info 1402, 1565 8137 ; codebank _float32_integer24_convert, zyx 8138 061d 118a bcf __cb0___byte, __cb0___bit 8139 8140 ; line_number = 1404 8141 ;info 1404, 1566 8142 ; databank _float32_integer24_convert, _float32_aargb0 8143 ; line_number = 1405 8144 ;info 1405, 1566 8145 061e 0827 movf _float32_aargb0,w 8146 ; line_number = 1406 8147 ;info 1406, 1567 8148 ; databank _float32_aargb0, high 8149 061f 1283 bcf __rp0___byte, __rp0___bit 8150 ; line_number = 1407 8151 ;info 1407, 1568 8152 0620 00a2 movwf high 8153 8154 ; line_number = 1409 8155 ;info 1409, 1569 8156 ; databank high, _float32_aargb1 8157 0621 1683 bsf __rp0___byte, __rp0___bit 8158 ; line_number = 1410 8159 ;info 1410, 1570 8160 0622 0826 movf _float32_aargb1,w 8161 ; line_number = 1411 8162 ;info 1411, 1571 8163 ; databank _float32_aargb0, middle 8164 0623 1283 bcf __rp0___byte, __rp0___bit 8165 ; line_number = 1412 8166 ;info 1412, 1572 8167 0624 00a3 movwf middle 8168 8169 ; line_number = 1414 8170 ;info 1414, 1573 8171 ; databank middle, _float32_aargb2 8172 0625 1683 bsf __rp0___byte, __rp0___bit 8173 ; line_number = 1415 8174 ;info 1415, 1574 8175 0626 0825 movf _float32_aargb2,w 8176 ; line_number = 1416 8177 ;info 1416, 1575 8178 ; databank _float32_aargb0, low 8179 0627 1283 bcf __rp0___byte, __rp0___bit 8180 ; line_number = 1417 8181 ;info 1417, 1576 8182 0628 00a4 movwf low 8183 8184 ; line_number = 1419 8185 ;info 1419, 1577 8186 ; databank low, zyx 8187 8188 ; line_number = 1421 8189 ;info 1421, 1577 8190 0629 0008 return 8191 8192 8193 8194 ; delay after procedure statements=non-uniform 8195 ; Return instruction suppressed by 'return_suppress' 8196 8197 8198 8199 8200 ; line_number = 1425 8201 ; string index2mask = "\1,2,4,8,16,32,64,128\" start 8202 ; index2mask = '\1,2,4,8,16\ @\128\' 8203 062a : index2mask: 8204 ; Temporarily save index into FSR 8205 062a 0084 movwf __fsr 8206 ; Initialize PCLATH to point to this code page 8207 062b 3006 movlw index2mask___base>>8 8208 062c 008a movwf __pclath 8209 ; Restore index from FSR 8210 062d 0804 movf __fsr,w 8211 062e 3e30 addlw index2mask___base 8212 ; Index to the correct return value 8213 062f 0082 movwf __pcl 8214 ; page_group 8 8215 0630 : index2mask___base: 8216 0630 3401 retlw 1 8217 0631 3402 retlw 2 8218 0632 3404 retlw 4 8219 0633 3408 retlw 8 8220 0634 3410 retlw 16 8221 0635 3420 retlw 32 8222 0636 3440 retlw 64 8223 0637 3480 retlw 128 8224 ; line_number = 1425 8225 ; string index2mask = "\1,2,4,8,16,32,64,128\" start 8226 ; line_number = 1426 8227 ; string id = "\16,0,21,2,3,14\MidiMotor1E-B4\7\Gramson" start 8228 ; id = '\16,0,21,2,3,14\MidiMotor1E-B4\7\Gramson' 8229 0638 : id: 8230 ; Temporarily save index into FSR 8231 0638 0084 movwf __fsr 8232 ; Initialize PCLATH to point to this code page 8233 0639 3006 movlw id___base>>8 8234 063a 008a movwf __pclath 8235 ; Restore index from FSR 8236 063b 0804 movf __fsr,w 8237 063c 3e3e addlw id___base 8238 ; Index to the correct return value 8239 063d 0082 movwf __pcl 8240 ; page_group 28 8241 063e : id___base: 8242 063e 3410 retlw 16 8243 063f 3400 retlw 0 8244 0640 3415 retlw 21 8245 0641 3402 retlw 2 8246 0642 3403 retlw 3 8247 0643 340e retlw 14 8248 0644 344d retlw 77 8249 0645 3469 retlw 105 8250 0646 3464 retlw 100 8251 0647 3469 retlw 105 8252 0648 344d retlw 77 8253 0649 346f retlw 111 8254 064a 3474 retlw 116 8255 064b 346f retlw 111 8256 064c 3472 retlw 114 8257 064d 3431 retlw 49 8258 064e 3445 retlw 69 8259 064f 342d retlw 45 8260 0650 3442 retlw 66 8261 0651 3434 retlw 52 8262 0652 3407 retlw 7 8263 0653 3447 retlw 71 8264 0654 3472 retlw 114 8265 0655 3461 retlw 97 8266 0656 346d retlw 109 8267 0657 3473 retlw 115 8268 0658 346f retlw 111 8269 0659 346e retlw 110 8270 ; line_number = 1426 8271 ; string id = "\16,0,21,2,3,14\MidiMotor1E-B4\7\Gramson" start 8272 8273 ; # {state} is defined by another file: 8274 ; line_number = 1429 8275 ; library states entered 8276 8277 ; # Copyright (c) 2009 by Wayne C. Gramlich 8278 ; # All rights reserved 8279 8280 ; # A quadrature encoder is a state machine that cycles through 8281 ; # 4 states in the following possible cycle: 8282 ; # 8283 ; # 00 <=> 01 8284 ; # ^ ^ 8285 ; # | | 8286 ; # v v 8287 ; # 10 <=> 11 8288 ; # 8289 ; # This is also known as a 2-bit Gray code. The bit on the left 8290 ; # is called the A channel and the bit on the right is called the 8291 ; # B channel. Typically, a counter is incremented for each 8292 ; # clockwise state transistion and decremented for each counter 8293 ; # clockwise transistion. The following state transistions show the 8294 ; # counter increments and decrements: 8295 ; # 8296 ; # 00 => 01 => 11 => 10 => 00 => 01 => 00 => 10 => 00 8297 ; # +1 +1 +1 +1 +1 -1 -1 +1 8298 ; # 0 1 2 3 4 5 4 3 4 8299 ; # 8300 ; # Quadrature encoding does not allow two state transitions: 8301 ; # 8302 ; # 00 <=> 11 and 01 <=> 10 8303 ; # 8304 ; # because it is ambigous whether or not to increment or decrement 8305 ; # the counter. None-the-less, sometimes such a state transition 8306 ; # occurs by accident. The solution is to double the number of states 8307 ; # from 4 to 8 and remember whether or not the last operation was an 8308 ; # increment or a decrement. Thus, the 8 new states are {+00}, 8309 ; # {+01}, {+11}, {+10}, {-00}, {-01}, {-11}, and {-11}. If the 8310 ; # Current state is {+01} and the new inputs are 11, then the new 8311 ; # state is {+11} and the counter is incremented. If the current 8312 ; # state is {+01} and the new inputs are 00, the next state is {-00} 8313 ; # and the counter is decremented; we changed from {+} to {-}. 8314 ; # Lastly, if we are in the state {+01} and the new inputs are 10, 8315 ; # we have an illegal/ambiguous transition that is resolved by 8316 ; # transitioning to {+10} and incrementing the counter by 2. 8317 ; # 8318 ; # This file contains the state transition table between all 8 of 8319 ; # these states along with the operations to perform. It a table 8320 ; # that is 32 bytes long. The current 8-bit state is concatenated 8321 ; # with two bits of input (for a total of 5 bits). This 5 bit 8322 ; # quantity indexes into a 32 byte table (2^5=32) to determine the 8323 ; # new state and whether to incement or decrement the counter by 1 8324 ; # or 2. The index is constructed as follows: 8325 ; # 8326 ; # ABmab 8327 ; # 8328 ; # where {A} and {B} are the new inputs, and {m}, {a] and {b} 8329 ; # are the current 8-bit state, where m=0 for + and m=1 for -. 8330 ; # where {A} and {B} are the new inputs, and {m}, {a] and {b} 8331 ; # Each entry in the table looks as follows: 8332 ; # 8333 ; # iIdD 0mab 8334 ; # 8335 ; # where {i} means increment by 1, and {I} means increment by 2, 8336 ; # where {d} means decrement by 1, and {D} means decrement by 2, 8337 ; # and {mab} is the new state. 8338 ; # 8339 ; # Here is the {state vector}: 8340 8341 ; # [0= 00 000]: 0=0000 0000 0=>0 8342 ; # [1= 00 001]: 32=0010 0000 1=>0 8343 ; # [2= 00 010]: 128=1000 0000 3=>0 8344 ; # [3= 00 011]: 192=1100 0000 2=>0 8345 ; # [4= 00 100]: 4=0000 0100 0=>0 8346 ; # [5= 00 101]: 36=0010 0100 1=>0 8347 ; # [6= 00 110]: 132=1000 0100 3=>0 8348 ; # [7= 00 111]: 52=0011 0100 2=>0 8349 ; # [8= 01 000]: 129=1000 0001 0=>1 8350 ; # [9= 01 001]: 1=0000 0001 1=>1 8351 ; # [10= 01 010]: 193=1100 0001 3=>1 8352 ; # [11= 01 011]: 33=0010 0001 2=>1 8353 ; # [12= 01 100]: 133=1000 0101 0=>1 8354 ; # [13= 01 101]: 5=0000 0101 1=>1 8355 ; # [14= 01 110]: 53=0011 0101 3=>1 8356 ; # [15= 01 111]: 37=0010 0101 2=>1 8357 ; # [16= 10 000]: 34=0010 0010 0=>3 8358 ; # [17= 10 001]: 194=1100 0010 1=>3 8359 ; # [18= 10 010]: 2=0000 0010 3=>3 8360 ; # [19= 10 011]: 130=1000 0010 2=>3 8361 ; # [20= 10 100]: 38=0010 0110 0=>3 8362 ; # [21= 10 101]: 54=0011 0110 1=>3 8363 ; # [22= 10 110]: 6=0000 0110 3=>3 8364 ; # [23= 10 111]: 134=1000 0110 2=>3 8365 ; # [24= 11 000]: 195=1100 0011 0=>2 8366 ; # [25= 11 001]: 131=1000 0011 1=>2 8367 ; # [26= 11 010]: 35=0010 0011 3=>2 8368 ; # [27= 11 011]: 3=0000 0011 2=>2 8369 ; # [28= 11 100]: 55=0011 0111 0=>2 8370 ; # [29= 11 101]: 135=1000 0111 1=>2 8371 ; # [30= 11 110]: 39=0010 0111 3=>2 8372 ; # [31= 11 111]: 7=0000 0111 2=>2 8373 ; buffer = 'states' 8374 ; line_number = 99 8375 ; 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 8376 ; 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\' 8377 065a : states: 8378 ; Temporarily save index into FSR 8379 065a 0084 movwf __fsr 8380 ; Initialize PCLATH to point to this code page 8381 065b 3006 movlw states___base>>8 8382 065c 008a movwf __pclath 8383 ; Restore index from FSR 8384 065d 0804 movf __fsr,w 8385 065e 3e60 addlw states___base 8386 ; Index to the correct return value 8387 065f 0082 movwf __pcl 8388 ; page_group 32 8389 0660 : states___base: 8390 0660 3400 retlw 0 8391 0661 3420 retlw 32 8392 0662 3480 retlw 128 8393 0663 34c0 retlw 192 8394 0664 3404 retlw 4 8395 0665 3424 retlw 36 8396 0666 3484 retlw 132 8397 0667 3434 retlw 52 8398 0668 3481 retlw 129 8399 0669 3401 retlw 1 8400 066a 34c1 retlw 193 8401 066b 3421 retlw 33 8402 066c 3485 retlw 133 8403 066d 3405 retlw 5 8404 066e 3435 retlw 53 8405 066f 3425 retlw 37 8406 0670 3422 retlw 34 8407 0671 34c2 retlw 194 8408 0672 3402 retlw 2 8409 0673 3482 retlw 130 8410 0674 3426 retlw 38 8411 0675 3436 retlw 54 8412 0676 3406 retlw 6 8413 0677 3486 retlw 134 8414 0678 34c3 retlw 195 8415 0679 3483 retlw 131 8416 067a 3423 retlw 35 8417 067b 3403 retlw 3 8418 067c 3437 retlw 55 8419 067d 3487 retlw 135 8420 067e 3427 retlw 39 8421 067f 3407 retlw 7 8422 ; line_number = 99 8423 ; 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 8424 8425 ; buffer = 'midimotor1e' 8426 ; line_number = 1429 8427 ; library states exited 8428 8429 8430 8431 ; Code bank 1; Start address: 2048; End address: 4095 8432 0800 : org 2048 8433 ; Appending 27 delayed procedures to code bank 1 8434 ; buffer = '_float32_base' 8435 ; line_number = 374 8436 ;info 374, 2048 8437 ; procedure _float32_from_integer24 8438 0800 : _float32_from_integer24: 8439 ; arguments_none 8440 ; line_number = 376 8441 ; returns_nothing 8442 ; line_number = 377 8443 ; return_suppress 8444 8445 ; # Integer to float conversion 8446 ; # Input: 24 bit 2's complement integer right justified in 8447 ; # _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 8448 ; # Use: call flo2432() 8449 ; # Output: 32 bit floating point number in _float32_aexp, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 8450 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) 8451 ; # Max Timing: 14+90 = 104 clks SAT = 0 8452 ; # 14+96 = 110 clks SAT = 1 8453 ; # Min Timing: 6+28 = 34 clks _FLOAT32_AARG = 0 8454 ; # 6+18 = 24 clks 8455 ; # PM: 14+38 = 52 DM: 7 8456 8457 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 8458 ; line_number = 391 8459 ; assemble 8460 ;info 391, 2048 8461 ; line_number = 392 8462 0800 : _float32_flo32: 8463 ; # initialize exponent and add bias 8464 ; line_number = 394 8465 ;info 394, 2048 8466 0800 3096 movlw _float32_expbias_23 8467 ; line_number = 395 8468 ;info 395, 2049 8469 0801 00a8 movwf _float32_exp 8470 ; line_number = 396 8471 ;info 396, 2050 8472 0802 01a9 clrf _float32_sign 8473 ; # test sign 8474 ; line_number = 398 8475 ;info 398, 2051 8476 0803 1fa7 btfss _float32_aargb0, _float32_msb 8477 ; line_number = 399 8478 ;info 399, 2052 8479 0804 280e goto _float32_normalize 8480 ; # if < 0, negate and set MSB in _float32_sign 8481 ; line_number = 401 8482 ;info 401, 2053 8483 0805 09a5 comf _float32_aargb2,f 8484 ; line_number = 402 8485 ;info 402, 2054 8486 0806 09a6 comf _float32_aargb1,f 8487 ; line_number = 403 8488 ;info 403, 2055 8489 0807 09a7 comf _float32_aargb0,f 8490 ; line_number = 404 8491 ;info 404, 2056 8492 0808 0aa5 incf _float32_aargb2,f 8493 ; line_number = 405 8494 ;info 405, 2057 8495 0809 1903 btfsc _float32_status, _float32_z 8496 ; line_number = 406 8497 ;info 406, 2058 8498 080a 0aa6 incf _float32_aargb1,f 8499 ; line_number = 407 8500 ;info 407, 2059 8501 080b 1903 btfsc _float32_status, _float32_z 8502 ; line_number = 408 8503 ;info 408, 2060 8504 080c 0aa7 incf _float32_aargb0,f 8505 ; line_number = 409 8506 ;info 409, 2061 8507 080d 17a9 bsf _float32_sign, _float32_msb 8508 ; # Note that this procedure runs into _float_normalize 8509 ; #goto _float_normalize 8510 8511 8512 ; delay after procedure statements=non-uniform 8513 ; Return instruction suppressed by 'return_suppress' 8514 8515 8516 8517 8518 ; line_number = 414 8519 ;info 414, 2062 8520 ; procedure _float32_normalize 8521 080e : _float32_normalize: 8522 ; arguments_none 8523 ; line_number = 416 8524 ; returns_nothing 8525 ; line_number = 417 8526 ; return_suppress 8527 8528 ; # Normalization routine 8529 ; # Input: 32 bit unnormalized floating point number in 8530 ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, with sign in _float32_sign msb 8531 ; # Use: call _float32_normalize() 8532 ; # Output: 32 bit normalized floating point number in 8533 ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 8534 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) 8535 ; # Max Timing: 21+6+7*8+7 = 90 clks SAT = 0 8536 ; # 21+6+7*8+1+12 = 96 clks SAT = 1 8537 ; # Min Timing: 22+6 = 28 clks _FLOAT32_AARG = 0 8538 ; # 5+9+4 = 18 clks 8539 ; # PM: 38 DM: 7 8540 8541 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 8542 ; line_number = 432 8543 ; assemble 8544 ;info 432, 2062 8545 ; #:nrm3232 8546 ; line_number = 434 8547 080e : _float32_nrm32: 8548 ; # lear exponent decrement 8549 ; line_number = 436 8550 ;info 436, 2062 8551 080e 01b3 clrf _float32_temp 8552 ; # test if highbyte=0 8553 ; line_number = 438 8554 ;info 438, 2063 8555 080f 0827 movf _float32_aargb0,w 8556 ; line_number = 439 8557 ;info 439, 2064 8558 0810 1d03 btfss _float32_status, _float32_z 8559 ; line_number = 440 8560 ;info 440, 2065 8561 0811 2823 goto _float32_norm3232 8562 ; # if so, shift 8 bits by move 8563 ; line_number = 442 8564 ;info 442, 2066 8565 0812 0826 movf _float32_aargb1,w 8566 ; line_number = 443 8567 ;info 443, 2067 8568 0813 00a7 movwf _float32_aargb0 8569 ; line_number = 444 8570 ;info 444, 2068 8571 0814 0825 movf _float32_aargb2,w 8572 ; line_number = 445 8573 ;info 445, 2069 8574 0815 00a6 movwf _float32_aargb1 8575 ; line_number = 446 8576 ;info 446, 2070 8577 0816 01a5 clrf _float32_aargb2 8578 ; # increase decrement by 8 8579 ; line_number = 448 8580 ;info 448, 2071 8581 0817 15b3 bsf _float32_temp, 3 8582 8583 ; # test if highbyte=0 8584 ; line_number = 451 8585 ;info 451, 2072 8586 0818 0827 movf _float32_aargb0,w 8587 ; line_number = 452 8588 ;info 452, 2073 8589 0819 1d03 btfss _float32_status, _float32_z 8590 ; line_number = 453 8591 ;info 453, 2074 8592 081a 2823 goto _float32_norm3232 8593 ; # if so, shift 8 bits by move 8594 ; line_number = 455 8595 ;info 455, 2075 8596 081b 0826 movf _float32_aargb1,w 8597 ; line_number = 456 8598 ;info 456, 2076 8599 081c 00a7 movwf _float32_aargb0 8600 ; line_number = 457 8601 ;info 457, 2077 8602 081d 01a6 clrf _float32_aargb1 8603 ; # increase decrement by 8 8604 ; line_number = 459 8605 ;info 459, 2078 8606 081e 11b3 bcf _float32_temp, 3 8607 ; line_number = 460 8608 ;info 460, 2079 8609 081f 1633 bsf _float32_temp, 4 8610 8611 ; # if highbyte=0, result=0 8612 ; line_number = 463 8613 ;info 463, 2080 8614 0820 0827 movf _float32_aargb0,w 8615 ; line_number = 464 8616 ;info 464, 2081 8617 0821 1903 btfsc _float32_status, _float32_z 8618 ; line_number = 465 8619 ;info 465, 2082 8620 0822 2834 goto _float32_res032 8621 8622 ; line_number = 467 8623 0823 : _float32_norm3232: 8624 ; line_number = 468 8625 ;info 468, 2083 8626 0823 0833 movf _float32_temp,w 8627 ; line_number = 469 8628 ;info 469, 2084 8629 0824 02a8 subwf _float32_exp,f 8630 ; line_number = 470 8631 ;info 470, 2085 8632 0825 1d03 btfss _float32_status, _float32_z 8633 ; line_number = 471 8634 ;info 471, 2086 8635 0826 1c03 btfss _float32_status, _float32_c 8636 ; line_number = 472 8637 ;info 472, 2087 8638 0827 2a3f goto _float32_setfun32 8639 8640 ; # clear carry bit 8641 ; line_number = 475 8642 ;info 475, 2088 8643 0828 1003 bcf _float32_status, _float32_c 8644 8645 ; line_number = 477 8646 0829 : _float32_norm3232a: 8647 ; # if MSB=1, normalization done 8648 ; line_number = 479 8649 ;info 479, 2089 8650 0829 1ba7 btfsc _float32_aargb0, _float32_msb 8651 ; line_number = 480 8652 ;info 480, 2090 8653 082a 2831 goto _float32_fixsign32 8654 ; # otherwise, shift left and 8655 ; line_number = 482 8656 ;info 482, 2091 8657 082b 0da5 rlf _float32_aargb2,f 8658 ; # decrement exp 8659 ; line_number = 484 8660 ;info 484, 2092 8661 082c 0da6 rlf _float32_aargb1,f 8662 ; line_number = 485 8663 ;info 485, 2093 8664 082d 0da7 rlf _float32_aargb0,f 8665 ; line_number = 486 8666 ;info 486, 2094 8667 082e 0ba8 decfsz _float32_exp,f 8668 ; line_number = 487 8669 ;info 487, 2095 8670 082f 2829 goto _float32_norm3232a 8671 8672 ; # underflow if exp=0 8673 ; line_number = 490 8674 ;info 490, 2096 8675 0830 2a3f goto _float32_setfun32 8676 8677 ; line_number = 492 8678 0831 : _float32_fixsign32: 8679 ; line_number = 493 8680 ;info 493, 2097 8681 0831 1fa9 btfss _float32_sign, _float32_msb 8682 ; # clear explicit MSB if positive 8683 ; line_number = 495 8684 ;info 495, 2098 8685 0832 13a7 bcf _float32_aargb0, _float32_msb 8686 ; line_number = 496 8687 ;info 496, 2099 8688 0833 3400 retlw 0 8689 8690 ; # result equals zero 8691 ; line_number = 499 8692 0834 : _float32_res032: 8693 ; line_number = 500 8694 ;info 500, 2100 8695 0834 01a7 clrf _float32_aargb0 8696 ; line_number = 501 8697 ;info 501, 2101 8698 0835 01a6 clrf _float32_aargb1 8699 ; line_number = 502 8700 ;info 502, 2102 8701 0836 01a5 clrf _float32_aargb2 8702 ; line_number = 503 8703 ;info 503, 2103 8704 0837 01a4 clrf _float32_aargb3 8705 ; line_number = 504 8706 ;info 504, 2104 8707 0838 01a8 clrf _float32_exp 8708 ; line_number = 505 8709 ;info 505, 2105 8710 0839 3400 retlw 0 8711 8712 8713 ; delay after procedure statements=non-uniform 8714 ; Return instruction suppressed by 'return_suppress' 8715 8716 8717 8718 8719 ; line_number = 508 8720 ;info 508, 2106 8721 ; procedure _float32_from_integer32 8722 083a : _float32_from_integer32: 8723 ; arguments_none 8724 ; line_number = 510 8725 ; returns_nothing 8726 ; line_number = 511 8727 ; return_suppress 8728 8729 ; # Integer to float conversion 8730 ; # Input: 32 bit 2's complement integer right justified in 8731 ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 8732 ; # Use: call flo3232() 8733 ; # Output: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 8734 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) 8735 ; # Max Timing: 17+112 = 129 clks RND = 0 8736 ; # 17+128 = 145 clks RND = 1, SAT = 0 8737 ; # 17+135 = 152 clks RND = 1, SAT = 1 8738 ; # Min Timing: 6+39 = 45 clks _FLOAT32_AARG = 0 8739 ; # 6+22 = 28 clks 8740 ; # PM: 17+66 = 83 DM: 8 8741 8742 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 8743 ; line_number = 526 8744 ; assemble 8745 ;info 526, 2106 8746 ; # initialize exponent and add bias 8747 ; line_number = 528 8748 ;info 528, 2106 8749 083a 309e movlw _float32_expbias_31 8750 ; line_number = 529 8751 ;info 529, 2107 8752 083b 00a8 movwf _float32_exp 8753 ; line_number = 530 8754 ;info 530, 2108 8755 083c 01a9 clrf _float32_sign 8756 ; # test sign 8757 ; line_number = 532 8758 ;info 532, 2109 8759 083d 1fa7 btfss _float32_aargb0, _float32_msb 8760 ; line_number = 533 8761 ;info 533, 2110 8762 083e 284b goto _float32_normalize40 8763 ; # if < 0, negate and set MSB in _float32_sign 8764 ; line_number = 535 8765 ;info 535, 2111 8766 083f 09a4 comf _float32_aargb3,f 8767 ; line_number = 536 8768 ;info 536, 2112 8769 0840 09a5 comf _float32_aargb2,f 8770 ; line_number = 537 8771 ;info 537, 2113 8772 0841 09a6 comf _float32_aargb1,f 8773 ; line_number = 538 8774 ;info 538, 2114 8775 0842 09a7 comf _float32_aargb0,f 8776 ; line_number = 539 8777 ;info 539, 2115 8778 0843 0aa4 incf _float32_aargb3,f 8779 ; line_number = 540 8780 ;info 540, 2116 8781 0844 1903 btfsc _float32_status, _float32_z 8782 ; line_number = 541 8783 ;info 541, 2117 8784 0845 0aa5 incf _float32_aargb2,f 8785 ; line_number = 542 8786 ;info 542, 2118 8787 0846 1903 btfsc _float32_status, _float32_z 8788 ; line_number = 543 8789 ;info 543, 2119 8790 0847 0aa6 incf _float32_aargb1,f 8791 ; line_number = 544 8792 ;info 544, 2120 8793 0848 1903 btfsc _float32_status, _float32_z 8794 ; line_number = 545 8795 ;info 545, 2121 8796 0849 0aa7 incf _float32_aargb0,f 8797 ; line_number = 546 8798 ;info 546, 2122 8799 084a 17a9 bsf _float32_sign, _float32_msb 8800 ; # This procedure falls through to nrm4032 8801 ; #goto nrm4032 8802 8803 8804 ; delay after procedure statements=non-uniform 8805 ; Return instruction suppressed by 'return_suppress' 8806 8807 8808 8809 8810 ; line_number = 551 8811 ;info 551, 2123 8812 ; procedure _float32_normalize40 8813 084b : _float32_normalize40: 8814 ; arguments_none 8815 ; line_number = 553 8816 ; returns_nothing 8817 ; line_number = 554 8818 ; return_suppress 8819 8820 ; # Normalization routine 8821 ; # Input: 40 bit unnormalized floating point number in 8822 ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 with sign in _float32_sign, MSB 8823 ; # Use: call nrm4032() 8824 ; # Output: 32 bit normalized floating point number in 8825 ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 8826 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) 8827 ; # Max Timing: 38+6*9+12+8 = 112 clks RND = 0 8828 ; # 38+6*9+12+24 = 128 clks RND = 1, SAT = 0 8829 ; # 38+6*9+12+31 = 135 clks RND = 1, SAT = 1 8830 ; # Min Timing: 33+6 = 39 clks _FLOAT32_AARG = 0 8831 ; # 5+9+8 = 22 clks 8832 ; # PM: 66 DM: 8 8833 8834 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 8835 ; line_number = 570 8836 ; assemble 8837 ;info 570, 2123 8838 ; #:nrm4032 8839 ; # clear exponent decrement 8840 ; line_number = 573 8841 ;info 573, 2123 8842 084b 01b3 clrf _float32_temp 8843 ; # test if highbyte=0 8844 ; line_number = 575 8845 ;info 575, 2124 8846 084c 0827 movf _float32_aargb0,w 8847 ; line_number = 576 8848 ;info 576, 2125 8849 084d 1d03 btfss _float32_status, _float32_z 8850 ; line_number = 577 8851 ;info 577, 2126 8852 084e 286b goto _float32_norm4032 8853 ; # if so, shift 8 bits by move 8854 ; line_number = 579 8855 ;info 579, 2127 8856 084f 0826 movf _float32_aargb1,w 8857 ; line_number = 580 8858 ;info 580, 2128 8859 0850 00a7 movwf _float32_aargb0 8860 ; line_number = 581 8861 ;info 581, 2129 8862 0851 0825 movf _float32_aargb2,w 8863 ; line_number = 582 8864 ;info 582, 2130 8865 0852 00a6 movwf _float32_aargb1 8866 ; line_number = 583 8867 ;info 583, 2131 8868 0853 0824 movf _float32_aargb3,w 8869 ; line_number = 584 8870 ;info 584, 2132 8871 0854 00a5 movwf _float32_aargb2 8872 ; line_number = 585 8873 ;info 585, 2133 8874 0855 01a4 clrf _float32_aargb3 8875 ; # increase decrement by 8 8876 ; line_number = 587 8877 ;info 587, 2134 8878 0856 15b3 bsf _float32_temp, 3 8879 8880 ; # test if highbyte=0 8881 ; line_number = 590 8882 ;info 590, 2135 8883 0857 0827 movf _float32_aargb0,w 8884 ; line_number = 591 8885 ;info 591, 2136 8886 0858 1d03 btfss _float32_status, _float32_z 8887 ; line_number = 592 8888 ;info 592, 2137 8889 0859 286b goto _float32_norm4032 8890 ; # if so, shift 8 bits by move 8891 ; line_number = 594 8892 ;info 594, 2138 8893 085a 0826 movf _float32_aargb1,w 8894 ; line_number = 595 8895 ;info 595, 2139 8896 085b 00a7 movwf _float32_aargb0 8897 ; line_number = 596 8898 ;info 596, 2140 8899 085c 0825 movf _float32_aargb2,w 8900 ; line_number = 597 8901 ;info 597, 2141 8902 085d 00a6 movwf _float32_aargb1 8903 ; line_number = 598 8904 ;info 598, 2142 8905 085e 01a5 clrf _float32_aargb2 8906 ; # increase decrement by 8 8907 ; line_number = 600 8908 ;info 600, 2143 8909 085f 11b3 bcf _float32_temp, 3 8910 ; line_number = 601 8911 ;info 601, 2144 8912 0860 1633 bsf _float32_temp, 4 8913 8914 ; # test if highbyte=0 8915 ; line_number = 604 8916 ;info 604, 2145 8917 0861 0827 movf _float32_aargb0,w 8918 ; line_number = 605 8919 ;info 605, 2146 8920 0862 1d03 btfss _float32_status, _float32_z 8921 ; line_number = 606 8922 ;info 606, 2147 8923 0863 286b goto _float32_norm4032 8924 ; # if so, shift 8 bits by move 8925 ; line_number = 608 8926 ;info 608, 2148 8927 0864 0826 movf _float32_aargb1,w 8928 ; line_number = 609 8929 ;info 609, 2149 8930 0865 00a7 movwf _float32_aargb0 8931 ; line_number = 610 8932 ;info 610, 2150 8933 0866 01a6 clrf _float32_aargb1 8934 ; # increase decrement by 8 8935 ; line_number = 612 8936 ;info 612, 2151 8937 0867 15b3 bsf _float32_temp, 3 8938 8939 ; # if highbyte=0, result=0 8940 ; line_number = 615 8941 ;info 615, 2152 8942 0868 0827 movf _float32_aargb0,w 8943 ; line_number = 616 8944 ;info 616, 2153 8945 0869 1903 btfsc _float32_status, _float32_z 8946 ; line_number = 617 8947 ;info 617, 2154 8948 086a 2834 goto _float32_res032 8949 8950 ; line_number = 619 8951 086b : _float32_norm4032: 8952 ; line_number = 620 8953 ;info 620, 2155 8954 086b 0833 movf _float32_temp,w 8955 ; line_number = 621 8956 ;info 621, 2156 8957 086c 02a8 subwf _float32_exp,f 8958 ; line_number = 622 8959 ;info 622, 2157 8960 086d 1d03 btfss _float32_status, _float32_z 8961 ; line_number = 623 8962 ;info 623, 2158 8963 086e 1c03 btfss _float32_status, _float32_c 8964 ; line_number = 624 8965 ;info 624, 2159 8966 086f 2a3f goto _float32_setfun32 8967 8968 ; # clear carry bit 8969 ; line_number = 627 8970 ;info 627, 2160 8971 0870 1003 bcf _float32_status, _float32_c 8972 8973 ; line_number = 629 8974 0871 : _float32_norm4032a: 8975 ; # if MSB=1, normalization done 8976 ; line_number = 631 8977 ;info 631, 2161 8978 0871 1ba7 btfsc _float32_aargb0, _float32_msb 8979 ; line_number = 632 8980 ;info 632, 2162 8981 0872 287a goto _float32_nrmrnd4032 8982 ; # otherwise, shift left and 8983 ; line_number = 634 8984 ;info 634, 2163 8985 0873 0da4 rlf _float32_aargb3,f 8986 ; # decrement exp 8987 ; line_number = 636 8988 ;info 636, 2164 8989 0874 0da5 rlf _float32_aargb2,f 8990 ; line_number = 637 8991 ;info 637, 2165 8992 0875 0da6 rlf _float32_aargb1,f 8993 ; line_number = 638 8994 ;info 638, 2166 8995 0876 0da7 rlf _float32_aargb0,f 8996 ; line_number = 639 8997 ;info 639, 2167 8998 0877 0ba8 decfsz _float32_exp,f 8999 ; line_number = 640 9000 ;info 640, 2168 9001 0878 2871 goto _float32_norm4032a 9002 9003 ; # underflow if exp=0 9004 ; line_number = 643 9005 ;info 643, 2169 9006 0879 2a3f goto _float32_setfun32 9007 9008 ; line_number = 645 9009 087a : _float32_nrmrnd4032: 9010 ; line_number = 646 9011 ;info 646, 2170 9012 087a 1b2a btfsc _float32_fpflags, _float32_rnd 9013 ; line_number = 647 9014 ;info 647, 2171 9015 087b 1c25 btfss _float32_aargb2, _float32_lsb 9016 ; line_number = 648 9017 ;info 648, 2172 9018 087c 2831 goto _float32_fixsign32 9019 ; # round if next bit is set 9020 ; line_number = 650 9021 ;info 650, 2173 9022 087d 1fa4 btfss _float32_aargb3, _float32_msb 9023 ; line_number = 651 9024 ;info 651, 2174 9025 087e 2831 goto _float32_fixsign32 9026 ; line_number = 652 9027 ;info 652, 2175 9028 087f 0aa5 incf _float32_aargb2,f 9029 ; line_number = 653 9030 ;info 653, 2176 9031 0880 1903 btfsc _float32_status, _float32_z 9032 ; line_number = 654 9033 ;info 654, 2177 9034 0881 0aa6 incf _float32_aargb1,f 9035 ; line_number = 655 9036 ;info 655, 2178 9037 0882 1903 btfsc _float32_status, _float32_z 9038 ; line_number = 656 9039 ;info 656, 2179 9040 0883 0aa7 incf _float32_aargb0,f 9041 9042 ; # has rounding caused carryout 9043 ; line_number = 659 9044 ;info 659, 2180 9045 0884 1d03 btfss _float32_status, _float32_z 9046 ; line_number = 660 9047 ;info 660, 2181 9048 0885 2831 goto _float32_fixsign32 9049 ; # if so, right shift 9050 ; line_number = 662 9051 ;info 662, 2182 9052 0886 0ca7 rrf _float32_aargb0,f 9053 ; line_number = 663 9054 ;info 663, 2183 9055 0887 0ca6 rrf _float32_aargb1,f 9056 ; line_number = 664 9057 ;info 664, 2184 9058 0888 0ca5 rrf _float32_aargb2,f 9059 ; line_number = 665 9060 ;info 665, 2185 9061 0889 0aa8 incf _float32_exp,f 9062 ; # check for overflow 9063 ; line_number = 667 9064 ;info 667, 2186 9065 088a 1903 btfsc _float32_status, _float32_z 9066 ; line_number = 668 9067 ;info 668, 2187 9068 088b 29ac goto _float32_setfov32 9069 ; line_number = 669 9070 ;info 669, 2188 9071 088c 2831 goto _float32_fixsign32 9072 9073 9074 ; delay after procedure statements=non-uniform 9075 ; Return instruction suppressed by 'return_suppress' 9076 9077 9078 9079 9080 ; line_number = 672 9081 ;info 672, 2189 9082 ; procedure _float32_integer24_convert 9083 088d : _float32_integer24_convert: 9084 ; arguments_none 9085 ; line_number = 674 9086 ; returns_nothing 9087 ; line_number = 675 9088 ; return_suppress 9089 9090 ; # Float to integer conversion 9091 ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 9092 ; # Use: call int3224() 9093 ; # Output: 24 bit 2's complement integer right justified in 9094 ; # _float32_aargb0, _float32_aargb1, _float32_aargb2 9095 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) 9096 ; # Max Timing: 40+6*7+6+16 = 104 clks RND = 0 9097 ; # 40+6*7+6+24 = 112 clks RND = 1, SAT = 0 9098 ; # 40+6*7+6+26 = 114 clks RND = 1, SAT = 1 9099 ; # Min Timing: 4 clks 9100 ; # PM: 82 DM: 6 9101 9102 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 9103 ; line_number = 689 9104 ; assemble 9105 ;info 689, 2189 9106 ; line_number = 690 9107 088d : _float32_int32: 9108 ; # test for zero argument 9109 ; line_number = 692 9110 ;info 692, 2189 9111 088d 0828 movf _float32_exp,w 9112 ; line_number = 693 9113 ;info 693, 2190 9114 088e 1903 btfsc _float32_status, _float32_z 9115 ; line_number = 694 9116 ;info 694, 2191 9117 088f 3400 retlw 0 9118 9119 ; # save sign in _float32_sign 9120 ; line_number = 697 9121 ;info 697, 2192 9122 0890 0827 movf _float32_aargb0,w 9123 ; line_number = 698 9124 ;info 698, 2193 9125 0891 00a9 movwf _float32_sign 9126 ; # make MSB explicit 9127 ; line_number = 700 9128 ;info 700, 2194 9129 0892 17a7 bsf _float32_aargb0, _float32_msb 9130 9131 ; # remove bias from exp 9132 ; line_number = 703 9133 ;info 703, 2195 9134 0893 3096 movlw _float32_expbias_23 9135 ; line_number = 704 9136 ;info 704, 2196 9137 0894 02a8 subwf _float32_exp,f 9138 ; line_number = 705 9139 ;info 705, 2197 9140 0895 1fa8 btfss _float32_exp, _float32_msb 9141 ; line_number = 706 9142 ;info 706, 2198 9143 0896 28dc goto _float32_setiov3224 9144 ; line_number = 707 9145 ;info 707, 2199 9146 0897 09a8 comf _float32_exp,f 9147 ; line_number = 708 9148 ;info 708, 2200 9149 0898 0aa8 incf _float32_exp,f 9150 9151 ; # do byte shift if exp >= 8 9152 ; line_number = 711 9153 ;info 711, 2201 9154 0899 3008 movlw 8 9155 ; line_number = 712 9156 ;info 712, 2202 9157 089a 0228 subwf _float32_exp,w 9158 ; line_number = 713 9159 ;info 713, 2203 9160 089b 1c03 btfss _float32_status, _float32_c 9161 ; line_number = 714 9162 ;info 714, 2204 9163 089c 28b8 goto _float32_tshift3224 9164 ; line_number = 715 9165 ;info 715, 2205 9166 089d 00a8 movwf _float32_exp 9167 ; # rotate next bit for rounding 9168 ; line_number = 717 9169 ;info 717, 2206 9170 089e 0da5 rlf _float32_aargb2,f 9171 ; line_number = 718 9172 ;info 718, 2207 9173 089f 0826 movf _float32_aargb1,w 9174 ; line_number = 719 9175 ;info 719, 2208 9176 08a0 00a5 movwf _float32_aargb2 9177 ; line_number = 720 9178 ;info 720, 2209 9179 08a1 0827 movf _float32_aargb0,w 9180 ; line_number = 721 9181 ;info 721, 2210 9182 08a2 00a6 movwf _float32_aargb1 9183 ; line_number = 722 9184 ;info 722, 2211 9185 08a3 01a7 clrf _float32_aargb0 9186 9187 ; # do another byte shift if exp >= 8 9188 ; line_number = 725 9189 ;info 725, 2212 9190 08a4 3008 movlw 8 9191 ; line_number = 726 9192 ;info 726, 2213 9193 08a5 0228 subwf _float32_exp,w 9194 ; line_number = 727 9195 ;info 727, 2214 9196 08a6 1c03 btfss _float32_status, _float32_c 9197 ; line_number = 728 9198 ;info 728, 2215 9199 08a7 28b8 goto _float32_tshift3224 9200 ; line_number = 729 9201 ;info 729, 2216 9202 08a8 00a8 movwf _float32_exp 9203 ; # rotate next bit for rounding 9204 ; line_number = 731 9205 ;info 731, 2217 9206 08a9 0da5 rlf _float32_aargb2,f 9207 ; line_number = 732 9208 ;info 732, 2218 9209 08aa 0826 movf _float32_aargb1,w 9210 ; line_number = 733 9211 ;info 733, 2219 9212 08ab 00a5 movwf _float32_aargb2 9213 ; line_number = 734 9214 ;info 734, 2220 9215 08ac 01a6 clrf _float32_aargb1 9216 9217 ; # do another byte shift if exp >= 8 9218 ; line_number = 737 9219 ;info 737, 2221 9220 08ad 3008 movlw 8 9221 ; line_number = 738 9222 ;info 738, 2222 9223 08ae 0228 subwf _float32_exp,w 9224 ; line_number = 739 9225 ;info 739, 2223 9226 08af 1c03 btfss _float32_status, _float32_c 9227 ; line_number = 740 9228 ;info 740, 2224 9229 08b0 28b8 goto _float32_tshift3224 9230 ; line_number = 741 9231 ;info 741, 2225 9232 08b1 00a8 movwf _float32_exp 9233 ; # rotate next bit for rounding 9234 ; line_number = 743 9235 ;info 743, 2226 9236 08b2 0da5 rlf _float32_aargb2,f 9237 ; line_number = 744 9238 ;info 744, 2227 9239 08b3 01a5 clrf _float32_aargb2 9240 ; line_number = 745 9241 ;info 745, 2228 9242 08b4 0828 movf _float32_exp,w 9243 ; line_number = 746 9244 ;info 746, 2229 9245 08b5 1d03 btfss _float32_status, _float32_z 9246 ; line_number = 747 9247 ;info 747, 2230 9248 08b6 1003 bcf _float32_status, _float32_c 9249 ; line_number = 748 9250 ;info 748, 2231 9251 08b7 28c1 goto _float32_shift3224ok 9252 9253 ; line_number = 750 9254 08b8 : _float32_tshift3224: 9255 ; # shift completed if exp = 0 9256 ; line_number = 752 9257 ;info 752, 2232 9258 08b8 0828 movf _float32_exp,w 9259 ; line_number = 753 9260 ;info 753, 2233 9261 08b9 1903 btfsc _float32_status, _float32_z 9262 ; line_number = 754 9263 ;info 754, 2234 9264 08ba 28c1 goto _float32_shift3224ok 9265 9266 ; line_number = 756 9267 08bb : _float32_shift3224: 9268 ; line_number = 757 9269 ;info 757, 2235 9270 08bb 1003 bcf _float32_status, _float32_c 9271 ; # right shift by exp 9272 ; line_number = 759 9273 ;info 759, 2236 9274 08bc 0ca7 rrf _float32_aargb0,f 9275 ; line_number = 760 9276 ;info 760, 2237 9277 08bd 0ca6 rrf _float32_aargb1,f 9278 ; line_number = 761 9279 ;info 761, 2238 9280 08be 0ca5 rrf _float32_aargb2,f 9281 ; line_number = 762 9282 ;info 762, 2239 9283 08bf 0ba8 decfsz _float32_exp,f 9284 ; line_number = 763 9285 ;info 763, 2240 9286 08c0 28bb goto _float32_shift3224 9287 9288 ; line_number = 765 9289 08c1 : _float32_shift3224ok: 9290 ; line_number = 766 9291 ;info 766, 2241 9292 08c1 1b2a btfsc _float32_fpflags, _float32_rnd 9293 ; line_number = 767 9294 ;info 767, 2242 9295 08c2 1c25 btfss _float32_aargb2, _float32_lsb 9296 ; line_number = 768 9297 ;info 768, 2243 9298 08c3 28cd goto _float32_int3224ok 9299 ; line_number = 769 9300 ;info 769, 2244 9301 08c4 1c03 btfss _float32_status, _float32_c 9302 ; line_number = 770 9303 ;info 770, 2245 9304 08c5 28cd goto _float32_int3224ok 9305 ; line_number = 771 9306 ;info 771, 2246 9307 08c6 0aa5 incf _float32_aargb2,f 9308 ; line_number = 772 9309 ;info 772, 2247 9310 08c7 1903 btfsc _float32_status, _float32_z 9311 ; line_number = 773 9312 ;info 773, 2248 9313 08c8 0aa6 incf _float32_aargb1,f 9314 ; line_number = 774 9315 ;info 774, 2249 9316 08c9 1903 btfsc _float32_status, _float32_z 9317 ; line_number = 775 9318 ;info 775, 2250 9319 08ca 0aa7 incf _float32_aargb0,f 9320 ; # test for overflow 9321 ; line_number = 777 9322 ;info 777, 2251 9323 08cb 1ba7 btfsc _float32_aargb0, _float32_msb 9324 ; line_number = 778 9325 ;info 778, 2252 9326 08cc 28dc goto _float32_setiov3224 9327 9328 ; line_number = 780 9329 08cd : _float32_int3224ok: 9330 ; # if sign bit set, negate 9331 ; line_number = 782 9332 ;info 782, 2253 9333 08cd 1fa9 btfss _float32_sign, _float32_msb 9334 ; line_number = 783 9335 ;info 783, 2254 9336 08ce 3400 retlw 0 9337 ; line_number = 784 9338 ;info 784, 2255 9339 08cf 09a7 comf _float32_aargb0,f 9340 ; line_number = 785 9341 ;info 785, 2256 9342 08d0 09a6 comf _float32_aargb1,f 9343 ; line_number = 786 9344 ;info 786, 2257 9345 08d1 09a5 comf _float32_aargb2,f 9346 ; line_number = 787 9347 ;info 787, 2258 9348 08d2 0aa5 incf _float32_aargb2,f 9349 ; line_number = 788 9350 ;info 788, 2259 9351 08d3 1903 btfsc _float32_status, _float32_z 9352 ; line_number = 789 9353 ;info 789, 2260 9354 08d4 0aa6 incf _float32_aargb1,f 9355 ; line_number = 790 9356 ;info 790, 2261 9357 08d5 1903 btfsc _float32_status, _float32_z 9358 ; line_number = 791 9359 ;info 791, 2262 9360 08d6 0aa7 incf _float32_aargb0,f 9361 ; line_number = 792 9362 ;info 792, 2263 9363 08d7 3400 retlw 0 9364 9365 ; line_number = 794 9366 08d8 : _float32_ires03224: 9367 ; # integer result equals zero 9368 ; line_number = 796 9369 ;info 796, 2264 9370 08d8 01a7 clrf _float32_aargb0 9371 ; line_number = 797 9372 ;info 797, 2265 9373 08d9 01a6 clrf _float32_aargb1 9374 ; line_number = 798 9375 ;info 798, 2266 9376 08da 01a5 clrf _float32_aargb2 9377 ; line_number = 799 9378 ;info 799, 2267 9379 08db 3400 retlw 0 9380 9381 ; # set integer overflow flag 9382 ; line_number = 802 9383 08dc : _float32_setiov3224: 9384 ; line_number = 803 9385 ;info 803, 2268 9386 08dc 142a bsf _float32_fpflags, _float32_iov 9387 ; # test for saturation 9388 ; line_number = 805 9389 ;info 805, 2269 9390 08dd 1faa btfss _float32_fpflags, _float32_sat 9391 ; # return error code in WREG 9392 ; line_number = 807 9393 ;info 807, 2270 9394 08de 34ff retlw 255 9395 9396 ; # saturate to largest two's 9397 ; line_number = 810 9398 ;info 810, 2271 9399 08df 01a7 clrf _float32_aargb0 9400 ; # complement 24 bit integer 9401 ; line_number = 812 9402 ;info 812, 2272 9403 08e0 1fa9 btfss _float32_sign, _float32_msb 9404 ; line_number = 813 9405 ;info 813, 2273 9406 08e1 30ff movlw 255 9407 ; # sign = 0, 0x 7F FF FF 9408 ; line_number = 815 9409 ;info 815, 2274 9410 08e2 00a7 movwf _float32_aargb0 9411 ; # sign = 1, 0x 80 00 00 9412 ; line_number = 817 9413 ;info 817, 2275 9414 08e3 00a6 movwf _float32_aargb1 9415 ; line_number = 818 9416 ;info 818, 2276 9417 08e4 00a5 movwf _float32_aargb2 9418 ; line_number = 819 9419 ;info 819, 2277 9420 08e5 0da9 rlf _float32_sign,f 9421 ; line_number = 820 9422 ;info 820, 2278 9423 08e6 0ca7 rrf _float32_aargb0,f 9424 ; # return error code in WREG 9425 ; line_number = 822 9426 ;info 822, 2279 9427 08e7 34ff retlw 255 9428 9429 9430 ; delay after procedure statements=non-uniform 9431 ; Return instruction suppressed by 'return_suppress' 9432 9433 9434 9435 9436 ; line_number = 825 9437 ;info 825, 2280 9438 ; procedure float32_integer32_convert 9439 08e8 : float32_integer32_convert: 9440 ; arguments_none 9441 ; line_number = 827 9442 ; returns_nothing 9443 ; line_number = 828 9444 ; return_suppress 9445 9446 ; # Float to integer conversion 9447 ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 9448 ; # Use: call int3232() 9449 ; # Output: 32 bit 2's complement integer right justified in 9450 ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 9451 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) 9452 ; # Max Timing: 54+6*8+7+21 = 130 clks RND = 0 9453 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 0 9454 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 1 9455 ; # Min Timing: 5 clks 9456 ; # PM: 102 DM: 7 9457 9458 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 9459 ; line_number = 842 9460 ; assemble 9461 ;info 842, 2280 9462 ; #:int3232 9463 ; line_number = 844 9464 ;info 844, 2280 9465 08e8 01a4 clrf _float32_aargb3 9466 ; # test for zero argument 9467 ; line_number = 846 9468 ;info 846, 2281 9469 08e9 0828 movf _float32_exp,w 9470 ; line_number = 847 9471 ;info 847, 2282 9472 08ea 1903 btfsc _float32_status, _float32_z 9473 ; line_number = 848 9474 ;info 848, 2283 9475 08eb 3400 retlw 0 9476 9477 ; # save sign in _float32_sign 9478 ; line_number = 851 9479 ;info 851, 2284 9480 08ec 0827 movf _float32_aargb0,w 9481 ; line_number = 852 9482 ;info 852, 2285 9483 08ed 00a9 movwf _float32_sign 9484 ; # make MSB explicit 9485 ; line_number = 854 9486 ;info 854, 2286 9487 08ee 17a7 bsf _float32_aargb0, _float32_msb 9488 9489 ; # remove bias from exp 9490 ; line_number = 857 9491 ;info 857, 2287 9492 08ef 309e movlw _float32_expbias_31 9493 ; line_number = 858 9494 ;info 858, 2288 9495 08f0 02a8 subwf _float32_exp,f 9496 ; line_number = 859 9497 ;info 859, 2289 9498 08f1 1fa8 btfss _float32_exp, _float32_msb 9499 ; line_number = 860 9500 ;info 860, 2290 9501 08f2 294c goto _float32_setiov32 9502 ; line_number = 861 9503 ;info 861, 2291 9504 08f3 09a8 comf _float32_exp,f 9505 ; line_number = 862 9506 ;info 862, 2292 9507 08f4 0aa8 incf _float32_exp,f 9508 9509 ; # do byte shift if exp >= 8 9510 ; line_number = 865 9511 ;info 865, 2293 9512 08f5 3008 movlw 8 9513 ; line_number = 866 9514 ;info 866, 2294 9515 08f6 0228 subwf _float32_exp,w 9516 ; line_number = 867 9517 ;info 867, 2295 9518 08f7 1c03 btfss _float32_status, _float32_c 9519 ; line_number = 868 9520 ;info 868, 2296 9521 08f8 2921 goto _float32_tshift3232 9522 ; line_number = 869 9523 ;info 869, 2297 9524 08f9 00a8 movwf _float32_exp 9525 ; # rotate next bit for rounding 9526 ; line_number = 871 9527 ;info 871, 2298 9528 08fa 0da4 rlf _float32_aargb3,f 9529 ; line_number = 872 9530 ;info 872, 2299 9531 08fb 0825 movf _float32_aargb2,w 9532 ; line_number = 873 9533 ;info 873, 2300 9534 08fc 00a4 movwf _float32_aargb3 9535 ; line_number = 874 9536 ;info 874, 2301 9537 08fd 0826 movf _float32_aargb1,w 9538 ; line_number = 875 9539 ;info 875, 2302 9540 08fe 00a5 movwf _float32_aargb2 9541 ; line_number = 876 9542 ;info 876, 2303 9543 08ff 0827 movf _float32_aargb0,w 9544 ; line_number = 877 9545 ;info 877, 2304 9546 0900 00a6 movwf _float32_aargb1 9547 ; line_number = 878 9548 ;info 878, 2305 9549 0901 01a7 clrf _float32_aargb0 9550 9551 ; # do another byte shift if exp >= 8 9552 ; line_number = 881 9553 ;info 881, 2306 9554 0902 3008 movlw 8 9555 ; line_number = 882 9556 ;info 882, 2307 9557 0903 0228 subwf _float32_exp,w 9558 ; line_number = 883 9559 ;info 883, 2308 9560 0904 1c03 btfss _float32_status, _float32_c 9561 ; line_number = 884 9562 ;info 884, 2309 9563 0905 2921 goto _float32_tshift3232 9564 ; line_number = 885 9565 ;info 885, 2310 9566 0906 00a8 movwf _float32_exp 9567 ; # rotate next bit for rounding 9568 ; line_number = 887 9569 ;info 887, 2311 9570 0907 0da4 rlf _float32_aargb3,f 9571 ; line_number = 888 9572 ;info 888, 2312 9573 0908 0825 movf _float32_aargb2,w 9574 ; line_number = 889 9575 ;info 889, 2313 9576 0909 00a4 movwf _float32_aargb3 9577 ; line_number = 890 9578 ;info 890, 2314 9579 090a 0826 movf _float32_aargb1,w 9580 ; line_number = 891 9581 ;info 891, 2315 9582 090b 00a5 movwf _float32_aargb2 9583 ; line_number = 892 9584 ;info 892, 2316 9585 090c 01a6 clrf _float32_aargb1 9586 9587 ; # do another byte shift if exp >= 8 9588 ; line_number = 895 9589 ;info 895, 2317 9590 090d 3008 movlw 8 9591 ; line_number = 896 9592 ;info 896, 2318 9593 090e 0228 subwf _float32_exp,w 9594 ; line_number = 897 9595 ;info 897, 2319 9596 090f 1c03 btfss _float32_status, _float32_c 9597 ; line_number = 898 9598 ;info 898, 2320 9599 0910 2921 goto _float32_tshift3232 9600 ; line_number = 899 9601 ;info 899, 2321 9602 0911 00a8 movwf _float32_exp 9603 ; # rotate next bit for rounding 9604 ; line_number = 901 9605 ;info 901, 2322 9606 0912 0da4 rlf _float32_aargb3,f 9607 ; line_number = 902 9608 ;info 902, 2323 9609 0913 0825 movf _float32_aargb2,w 9610 ; line_number = 903 9611 ;info 903, 2324 9612 0914 00a4 movwf _float32_aargb3 9613 ; line_number = 904 9614 ;info 904, 2325 9615 0915 01a5 clrf _float32_aargb2 9616 9617 ; # do another byte shift if exp >= 8 9618 ; line_number = 907 9619 ;info 907, 2326 9620 0916 3008 movlw 8 9621 ; line_number = 908 9622 ;info 908, 2327 9623 0917 0228 subwf _float32_exp,w 9624 ; line_number = 909 9625 ;info 909, 2328 9626 0918 1c03 btfss _float32_status, _float32_c 9627 ; line_number = 910 9628 ;info 910, 2329 9629 0919 2921 goto _float32_tshift3232 9630 ; line_number = 911 9631 ;info 911, 2330 9632 091a 00a8 movwf _float32_exp 9633 ; # rotate next bit for rounding 9634 ; line_number = 913 9635 ;info 913, 2331 9636 091b 0da4 rlf _float32_aargb3,f 9637 ; line_number = 914 9638 ;info 914, 2332 9639 091c 01a4 clrf _float32_aargb3 9640 ; line_number = 915 9641 ;info 915, 2333 9642 091d 0828 movf _float32_exp,w 9643 ; line_number = 916 9644 ;info 916, 2334 9645 091e 1d03 btfss _float32_status, _float32_z 9646 ; line_number = 917 9647 ;info 917, 2335 9648 091f 1003 bcf _float32_status, _float32_c 9649 ; line_number = 918 9650 ;info 918, 2336 9651 0920 292b goto _float32_shift3232ok 9652 9653 ; line_number = 920 9654 0921 : _float32_tshift3232: 9655 ; # shift completed if exp = 0 9656 ; line_number = 922 9657 ;info 922, 2337 9658 0921 0828 movf _float32_exp,w 9659 ; line_number = 923 9660 ;info 923, 2338 9661 0922 1903 btfsc _float32_status, _float32_z 9662 ; line_number = 924 9663 ;info 924, 2339 9664 0923 292b goto _float32_shift3232ok 9665 9666 ; line_number = 926 9667 0924 : _float32_shift3232: 9668 ; line_number = 927 9669 ;info 927, 2340 9670 0924 1003 bcf _float32_status, _float32_c 9671 ; # right shift by exp 9672 ; line_number = 929 9673 ;info 929, 2341 9674 0925 0ca7 rrf _float32_aargb0,f 9675 ; line_number = 930 9676 ;info 930, 2342 9677 0926 0ca6 rrf _float32_aargb1,f 9678 ; line_number = 931 9679 ;info 931, 2343 9680 0927 0ca5 rrf _float32_aargb2,f 9681 ; line_number = 932 9682 ;info 932, 2344 9683 0928 0ca4 rrf _float32_aargb3,f 9684 ; line_number = 933 9685 ;info 933, 2345 9686 0929 0ba8 decfsz _float32_exp,f 9687 ; line_number = 934 9688 ;info 934, 2346 9689 092a 2924 goto _float32_shift3232 9690 9691 ; line_number = 936 9692 092b : _float32_shift3232ok: 9693 ; line_number = 937 9694 ;info 937, 2347 9695 092b 1b2a btfsc _float32_fpflags, _float32_rnd 9696 ; line_number = 938 9697 ;info 938, 2348 9698 092c 1c24 btfss _float32_aargb3, _float32_lsb 9699 ; line_number = 939 9700 ;info 939, 2349 9701 092d 2939 goto _float32_int3232ok 9702 ; line_number = 940 9703 ;info 940, 2350 9704 092e 1c03 btfss _float32_status, _float32_c 9705 ; line_number = 941 9706 ;info 941, 2351 9707 092f 2939 goto _float32_int3232ok 9708 ; line_number = 942 9709 ;info 942, 2352 9710 0930 0aa4 incf _float32_aargb3,f 9711 ; line_number = 943 9712 ;info 943, 2353 9713 0931 1903 btfsc _float32_status, _float32_z 9714 ; line_number = 944 9715 ;info 944, 2354 9716 0932 0aa5 incf _float32_aargb2,f 9717 ; line_number = 945 9718 ;info 945, 2355 9719 0933 1903 btfsc _float32_status, _float32_z 9720 ; line_number = 946 9721 ;info 946, 2356 9722 0934 0aa6 incf _float32_aargb1,f 9723 ; line_number = 947 9724 ;info 947, 2357 9725 0935 1903 btfsc _float32_status, _float32_z 9726 ; line_number = 948 9727 ;info 948, 2358 9728 0936 0aa7 incf _float32_aargb0,f 9729 ; # test for overflow 9730 ; line_number = 950 9731 ;info 950, 2359 9732 0937 1ba7 btfsc _float32_aargb0, _float32_msb 9733 ; line_number = 951 9734 ;info 951, 2360 9735 0938 28dc goto _float32_setiov3224 9736 9737 ; line_number = 953 9738 0939 : _float32_int3232ok: 9739 ; # if sign bit set, negate 9740 ; line_number = 955 9741 ;info 955, 2361 9742 0939 1fa9 btfss _float32_sign, _float32_msb 9743 ; line_number = 956 9744 ;info 956, 2362 9745 093a 3400 retlw 0 9746 ; line_number = 957 9747 ;info 957, 2363 9748 093b 09a7 comf _float32_aargb0,f 9749 ; line_number = 958 9750 ;info 958, 2364 9751 093c 09a6 comf _float32_aargb1,f 9752 ; line_number = 959 9753 ;info 959, 2365 9754 093d 09a5 comf _float32_aargb2,f 9755 ; line_number = 960 9756 ;info 960, 2366 9757 093e 09a4 comf _float32_aargb3,f 9758 ; line_number = 961 9759 ;info 961, 2367 9760 093f 0aa4 incf _float32_aargb3,f 9761 ; line_number = 962 9762 ;info 962, 2368 9763 0940 1903 btfsc _float32_status, _float32_z 9764 ; line_number = 963 9765 ;info 963, 2369 9766 0941 0aa5 incf _float32_aargb2,f 9767 ; line_number = 964 9768 ;info 964, 2370 9769 0942 1903 btfsc _float32_status, _float32_z 9770 ; line_number = 965 9771 ;info 965, 2371 9772 0943 0aa6 incf _float32_aargb1,f 9773 ; line_number = 966 9774 ;info 966, 2372 9775 0944 1903 btfsc _float32_status, _float32_z 9776 ; line_number = 967 9777 ;info 967, 2373 9778 0945 0aa7 incf _float32_aargb0,f 9779 ; line_number = 968 9780 ;info 968, 2374 9781 0946 3400 retlw 0 9782 9783 ; line_number = 970 9784 0947 : _float32_ires032: 9785 ; # integer result equals zero 9786 ; line_number = 972 9787 ;info 972, 2375 9788 0947 01a7 clrf _float32_aargb0 9789 ; line_number = 973 9790 ;info 973, 2376 9791 0948 01a6 clrf _float32_aargb1 9792 ; line_number = 974 9793 ;info 974, 2377 9794 0949 01a5 clrf _float32_aargb2 9795 ; line_number = 975 9796 ;info 975, 2378 9797 094a 01a4 clrf _float32_aargb3 9798 ; line_number = 976 9799 ;info 976, 2379 9800 094b 3400 retlw 0 9801 9802 ; line_number = 978 9803 094c : _float32_setiov32: 9804 ; # set integer overflow flag 9805 ; line_number = 980 9806 ;info 980, 2380 9807 094c 142a bsf _float32_fpflags, _float32_iov 9808 ; # test for saturation 9809 ; line_number = 982 9810 ;info 982, 2381 9811 094d 1faa btfss _float32_fpflags, _float32_sat 9812 ; # return error code in WREG 9813 ; line_number = 984 9814 ;info 984, 2382 9815 094e 34ff retlw 255 9816 9817 ; #saturate to largest two's 9818 ; line_number = 987 9819 ;info 987, 2383 9820 094f 01a7 clrf _float32_aargb0 9821 ; # complement 32 bit integer 9822 ; line_number = 989 9823 ;info 989, 2384 9824 0950 1fa9 btfss _float32_sign, _float32_msb 9825 ; line_number = 990 9826 ;info 990, 2385 9827 0951 30ff movlw 255 9828 ; # sign = 0, 0x 7F FF FF FF 9829 ; line_number = 992 9830 ;info 992, 2386 9831 0952 00a7 movwf _float32_aargb0 9832 ; # sign = 1, 0x 80 00 00 00 9833 ; line_number = 994 9834 ;info 994, 2387 9835 0953 00a6 movwf _float32_aargb1 9836 ; line_number = 995 9837 ;info 995, 2388 9838 0954 00a5 movwf _float32_aargb2 9839 ; line_number = 996 9840 ;info 996, 2389 9841 0955 00a4 movwf _float32_aargb3 9842 ; line_number = 997 9843 ;info 997, 2390 9844 0956 0da9 rlf _float32_sign,f 9845 ; line_number = 998 9846 ;info 998, 2391 9847 0957 0ca7 rrf _float32_aargb0,f 9848 ; # return error code in WREG 9849 ; line_number = 1000 9850 ;info 1000, 2392 9851 0958 34ff retlw 255 9852 9853 9854 ; delay after procedure statements=non-uniform 9855 ; Return instruction suppressed by 'return_suppress' 9856 9857 9858 9859 9860 ; line_number = 1003 9861 ;info 1003, 2393 9862 ; procedure _float32_multiply 9863 0959 : _float32_multiply: 9864 ; arguments_none 9865 ; line_number = 1005 9866 ; returns_nothing 9867 ; line_number = 1006 9868 ; return_suppress 9869 9870 ; # Floating Point Multiply 9871 ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 9872 ; # 32 bit floating point number in _float32_bexp, _FLOAT32_BARGB0, _FLOAT32_BARGB1, _FLOAT32_BARGB2 9873 ; # Use: call fpm32() 9874 ; # Output: 32 bit floating point product in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 9875 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG * _FLOAT32_BARG 9876 ; # Max Timing: 26+23*22+21+21 = 574 clks RND = 0 9877 ; # 26+23*22+21+35 = 588 clks RND = 1, SAT = 0 9878 ; # 26+23*22+21+38 = 591 clks RND = 1, SAT = 1 9879 ; # Min Timing: 6+6 = 12 clks _FLOAT32_AARG * _FLOAT32_BARG = 0 9880 ; # 24+23*11+21+17 = 315 clks 9881 ; # PM: 94 DM: 14 9882 9883 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 9884 ; line_number = 1021 9885 ; assemble 9886 ;info 1021, 2393 9887 ; # test for zero arguments 9888 ; line_number = 1023 9889 ;info 1023, 2393 9890 0959 0828 movf _float32_aexp,w 9891 ; line_number = 1024 9892 ;info 1024, 2394 9893 095a 1d03 btfss _float32_status, _float32_z 9894 ; line_number = 1025 9895 ;info 1025, 2395 9896 095b 082f movf _float32_bexp,w 9897 ; line_number = 1026 9898 ;info 1026, 2396 9899 095c 1903 btfsc _float32_status, _float32_z 9900 ; line_number = 1027 9901 ;info 1027, 2397 9902 095d 2834 goto _float32_res032 9903 9904 ; line_number = 1029 9905 095e : _float32_m32bne0: 9906 ; line_number = 1030 9907 ;info 1030, 2398 9908 095e 0827 movf _float32_aargb0,w 9909 ; line_number = 1031 9910 ;info 1031, 2399 9911 095f 062e xorwf _float32_bargb0,w 9912 ; # save sign in _float32_sign 9913 ; line_number = 1033 9914 ;info 1033, 2400 9915 0960 00a9 movwf _float32_sign 9916 9917 ; line_number = 1035 9918 ;info 1035, 2401 9919 0961 082f movf _float32_bexp,w 9920 ; line_number = 1036 9921 ;info 1036, 2402 9922 0962 07a8 addwf _float32_exp,f 9923 ; line_number = 1037 9924 ;info 1037, 2403 9925 0963 307e movlw _float32_expbias_1 9926 ; line_number = 1038 9927 ;info 1038, 2404 9928 0964 1c03 btfss _float32_status, _float32_c 9929 ; line_number = 1039 9930 ;info 1039, 2405 9931 0965 296a goto _float32_mtun32 9932 9933 ; line_number = 1041 9934 ;info 1041, 2406 9935 0966 02a8 subwf _float32_exp,f 9936 ; line_number = 1042 9937 ;info 1042, 2407 9938 0967 1803 btfsc _float32_status, _float32_c 9939 ; # set multiply overflow flag 9940 ; line_number = 1044 9941 ;info 1044, 2408 9942 0968 29ac goto _float32_setfov32 9943 ; line_number = 1045 9944 ;info 1045, 2409 9945 0969 296d goto _float32_mok32 9946 9947 ; line_number = 1047 9948 096a : _float32_mtun32: 9949 ; line_number = 1048 9950 ;info 1048, 2410 9951 096a 02a8 subwf _float32_exp,f 9952 ; line_number = 1049 9953 ;info 1049, 2411 9954 096b 1c03 btfss _float32_status, _float32_c 9955 ; line_number = 1050 9956 ;info 1050, 2412 9957 096c 2a3f goto _float32_setfun32 9958 9959 ; line_number = 1052 9960 096d : _float32_mok32: 9961 ; line_number = 1053 9962 ;info 1053, 2413 9963 096d 0827 movf _float32_aargb0,w 9964 ; line_number = 1054 9965 ;info 1054, 2414 9966 096e 00a4 movwf _float32_aargb3 9967 ; line_number = 1055 9968 ;info 1055, 2415 9969 096f 0826 movf _float32_aargb1,w 9970 ; line_number = 1056 9971 ;info 1056, 2416 9972 0970 00a3 movwf _float32_aargb4 9973 ; line_number = 1057 9974 ;info 1057, 2417 9975 0971 0825 movf _float32_aargb2,w 9976 ; line_number = 1058 9977 ;info 1058, 2418 9978 0972 00a2 movwf _float32_aargb5 9979 ; # make argument MSB's explicit 9980 ; line_number = 1060 9981 ;info 1060, 2419 9982 0973 17a4 bsf _float32_aargb3, _float32_msb 9983 ; line_number = 1061 9984 ;info 1061, 2420 9985 0974 17ae bsf _float32_bargb0, _float32_msb 9986 ; line_number = 1062 9987 ;info 1062, 2421 9988 0975 1003 bcf _float32_status, _float32_c 9989 ; # clear initial partial product 9990 ; line_number = 1064 9991 ;info 1064, 2422 9992 0976 01a7 clrf _float32_aargb0 9993 ; line_number = 1065 9994 ;info 1065, 2423 9995 0977 01a6 clrf _float32_aargb1 9996 ; line_number = 1066 9997 ;info 1066, 2424 9998 0978 01a5 clrf _float32_aargb2 9999 ; line_number = 1067 10000 ;info 1067, 2425 100010979 3018 movlw 24 10002 ; # initialize counter 10003 ; line_number = 1069 10004 ;info 1069, 2426 10005097a 00b3 movwf _float32_temp 10006 10007 ; # test next bit 10008 ; line_number = 1072 10009 097b : _float32_mloop32: 10010 ; line_number = 1073 10011 ;info 1073, 2427 10012097b 1c22 btfss _float32_aargb5, _float32_lsb 10013 ; line_number = 1074 10014 ;info 1074, 2428 10015097c 2987 goto _float32_mnoadd32 10016 10017 ; line_number = 1076 10018 097d : _float32_madd32: 10019 ; line_number = 1077 10020 ;info 1077, 2429 10021097d 082c movf _float32_bargb2,w 10022 ; line_number = 1078 10023 ;info 1078, 2430 10024097e 07a5 addwf _float32_aargb2,f 10025 ; line_number = 1079 10026 ;info 1079, 2431 10027097f 082d movf _float32_bargb1,w 10028 ; line_number = 1080 10029 ;info 1080, 2432 100300980 1803 btfsc _float32_status, _float32_c 10031 ; line_number = 1081 10032 ;info 1081, 2433 100330981 0f2d incfsz _float32_bargb1,w 10034 ; line_number = 1082 10035 ;info 1082, 2434 100360982 07a6 addwf _float32_aargb1,f 10037 10038 ; line_number = 1084 10039 ;info 1084, 2435 100400983 082e movf _float32_bargb0,w 10041 ; line_number = 1085 10042 ;info 1085, 2436 100430984 1803 btfsc _float32_status, _float32_c 10044 ; line_number = 1086 10045 ;info 1086, 2437 100460985 0f2e incfsz _float32_bargb0,w 10047 ; line_number = 1087 10048 ;info 1087, 2438 100490986 07a7 addwf _float32_aargb0,f 10050 10051 ; line_number = 1089 10052 0987 : _float32_mnoadd32: 10053 ; line_number = 1090 10054 ;info 1090, 2439 100550987 0ca7 rrf _float32_aargb0,f 10056 ; line_number = 1091 10057 ;info 1091, 2440 100580988 0ca6 rrf _float32_aargb1,f 10059 ; line_number = 1092 10060 ;info 1092, 2441 100610989 0ca5 rrf _float32_aargb2,f 10062 ; line_number = 1093 10063 ;info 1093, 2442 10064098a 0ca4 rrf _float32_aargb3,f 10065 ; line_number = 1094 10066 ;info 1094, 2443 10067098b 0ca3 rrf _float32_aargb4,f 10068 ; line_number = 1095 10069 ;info 1095, 2444 10070098c 0ca2 rrf _float32_aargb5,f 10071 ; line_number = 1096 10072 ;info 1096, 2445 10073098d 1003 bcf _float32_status, _float32_c 10074 ; line_number = 1097 10075 ;info 1097, 2446 10076098e 0bb3 decfsz _float32_temp,f 10077 ; line_number = 1098 10078 ;info 1098, 2447 10079098f 297b goto _float32_mloop32 10080 10081 ; # check for postnormalization 10082 ; line_number = 1101 10083 ;info 1101, 2448 100840990 1ba7 btfsc _float32_aargb0, _float32_msb 10085 ; line_number = 1102 10086 ;info 1102, 2449 100870991 2997 goto _float32_mround32 10088 ; line_number = 1103 10089 ;info 1103, 2450 100900992 0da4 rlf _float32_aargb3,f 10091 ; line_number = 1104 10092 ;info 1104, 2451 100930993 0da5 rlf _float32_aargb2,f 10094 ; line_number = 1105 10095 ;info 1105, 2452 100960994 0da6 rlf _float32_aargb1,f 10097 ; line_number = 1106 10098 ;info 1106, 2453 100990995 0da7 rlf _float32_aargb0,f 10100 ; line_number = 1107 10101 ;info 1107, 2454 101020996 03a8 decf _float32_exp,f 10103 10104 ; line_number = 1109 10105 0997 : _float32_mround32: 10106 ; line_number = 1110 10107 ;info 1110, 2455 101080997 1b2a btfsc _float32_fpflags, _float32_rnd 10109 ; line_number = 1111 10110 ;info 1111, 2456 101110998 1c25 btfss _float32_aargb2, _float32_lsb 10112 ; line_number = 1112 10113 ;info 1112, 2457 101140999 29a9 goto _float32_mul32ok 10115 ; line_number = 1113 10116 ;info 1113, 2458 10117099a 1fa4 btfss _float32_aargb3, _float32_msb 10118 ; line_number = 1114 10119 ;info 1114, 2459 10120099b 29a9 goto _float32_mul32ok 10121 ; line_number = 1115 10122 ;info 1115, 2460 10123099c 0aa5 incf _float32_aargb2,f 10124 ; line_number = 1116 10125 ;info 1116, 2461 10126099d 1903 btfsc _float32_status, _float32_z 10127 ; line_number = 1117 10128 ;info 1117, 2462 10129099e 0aa6 incf _float32_aargb1,f 10130 ; line_number = 1118 10131 ;info 1118, 2463 10132099f 1903 btfsc _float32_status, _float32_z 10133 ; line_number = 1119 10134 ;info 1119, 2464 1013509a0 0aa7 incf _float32_aargb0,f 10136 10137 ; # has rounding caused carryout? 10138 ; line_number = 1122 10139 ;info 1122, 2465 1014009a1 1d03 btfss _float32_status, _float32_z 10141 ; line_number = 1123 10142 ;info 1123, 2466 1014309a2 29a9 goto _float32_mul32ok 10144 ; # if so, right shift 10145 ; line_number = 1125 10146 ;info 1125, 2467 1014709a3 0ca7 rrf _float32_aargb0,f 10148 ; line_number = 1126 10149 ;info 1126, 2468 1015009a4 0ca6 rrf _float32_aargb1,f 10151 ; line_number = 1127 10152 ;info 1127, 2469 1015309a5 0ca5 rrf _float32_aargb2,f 10154 ; line_number = 1128 10155 ;info 1128, 2470 1015609a6 0aa8 incf _float32_exp,f 10157 ; # check for overflow 10158 ; line_number = 1130 10159 ;info 1130, 2471 1016009a7 1903 btfsc _float32_status, _float32_z 10161 ; line_number = 1131 10162 ;info 1131, 2472 1016309a8 29ac goto _float32_setfov32 10164 10165 ; line_number = 1133 10166 09a9 : _float32_mul32ok: 10167 ; line_number = 1134 10168 ;info 1134, 2473 1016909a9 1fa9 btfss _float32_sign, _float32_msb 10170 ; # clear explicit MSB if positive 10171 ; line_number = 1136 10172 ;info 1136, 2474 1017309aa 13a7 bcf _float32_aargb0, _float32_msb 10174 10175 ; line_number = 1138 10176 ;info 1138, 2475 1017709ab 3400 retlw 0 10178 10179 ; # set floating point underflag 10180 ; line_number = 1141 10181 09ac : _float32_setfov32: 10182 ; line_number = 1142 10183 ;info 1142, 2476 1018409ac 14aa bsf _float32_fpflags, _float32_fov 10185 ; # test for saturation 10186 ; line_number = 1144 10187 ;info 1144, 2477 1018809ad 1faa btfss _float32_fpflags, _float32_sat 10189 ; # return error code in WREG 10190 ; line_number = 1146 10191 ;info 1146, 2478 1019209ae 34ff retlw 255 10193 10194 ; line_number = 1148 10195 ;info 1148, 2479 1019609af 30ff movlw 255 10197 ; # saturate to largest floating 10198 ; line_number = 1150 10199 ;info 1150, 2480 1020009b0 00a8 movwf _float32_aexp 10201 ; # point number = 0x FF 7F FF FF 10202 ; line_number = 1152 10203 ;info 1152, 2481 1020409b1 00a7 movwf _float32_aargb0 10205 ; # modulo the appropriate sign bit 10206 ; line_number = 1154 10207 ;info 1154, 2482 1020809b2 00a6 movwf _float32_aargb1 10209 ; line_number = 1155 10210 ;info 1155, 2483 1021109b3 00a5 movwf _float32_aargb2 10212 ; line_number = 1156 10213 ;info 1156, 2484 1021409b4 0da9 rlf _float32_sign,f 10215 ; line_number = 1157 10216 ;info 1157, 2485 1021709b5 0ca7 rrf _float32_aargb0,f 10218 ; # return error code in WREG 10219 ; line_number = 1159 10220 ;info 1159, 2486 1022109b6 34ff retlw 255 10222 10223 10224 ; delay after procedure statements=non-uniform 10225 ; Return instruction suppressed by 'return_suppress' 10226 10227 10228 10229 10230 ; line_number = 1162 10231 ;info 1162, 2487 10232 ; procedure _float32_divide 10233 09b7 : _float32_divide: 10234 ; arguments_none 10235 ; line_number = 1164 10236 ; returns_nothing 10237 ; line_number = 1165 10238 ; return_suppress 10239 10240 ; # Floating Point Divide 10241 ; # Input: 32 bit floating point dividend in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10242 ; # 32 bit floating point divisor in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 10243 ; # Use: call fpd32() 10244 ; # Output: 32 bit floating point quotient in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10245 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG / _FLOAT32_BARG 10246 ; # Max Timing: 43+12+23*36+35+14 = 932 clks RND = 0 10247 ; # 43+12+23*36+35+50 = 968 clks RND = 1, SAT = 0 10248 ; # 43+12+23*36+35+53 = 971 clks RND = 1, SAT = 1 10249 ; # Min Timing: 7+6 = 13 clks 10250 ; # PM: 155 DM: 14 10251 10252 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 10253 ; line_number = 1179 10254 ; assemble 10255 ;info 1179, 2487 10256 ; # test for divide by zero 10257 ; line_number = 1181 10258 ;info 1181, 2487 1025909b7 082f movf _float32_bexp,w 10260 ; line_number = 1182 10261 ;info 1182, 2488 1026209b8 1903 btfsc _float32_status, _float32_z 10263 ; line_number = 1183 10264 ;info 1183, 2489 1026509b9 2a4a goto _float32_setfdz32 10266 10267 ; line_number = 1185 10268 ;info 1185, 2490 1026909ba 0828 movf _float32_aexp,w 10270 ; line_number = 1186 10271 ;info 1186, 2491 1027209bb 1903 btfsc _float32_status, _float32_z 10273 ; line_number = 1187 10274 ;info 1187, 2492 1027509bc 2834 goto _float32_res032 10276 10277 ; line_number = 1189 10278 09bd : _float32_d32bne0: 10279 ; line_number = 1190 10280 ;info 1190, 2493 1028109bd 0827 movf _float32_aargb0,w 10282 ; line_number = 1191 10283 ;info 1191, 2494 1028409be 062e xorwf _float32_bargb0,w 10285 ; # save sign in _float32_sign 10286 ; line_number = 1193 10287 ;info 1193, 2495 1028809bf 00a9 movwf _float32_sign 10289 ; # make argument MSB's explicit 10290 ; line_number = 1195 10291 ;info 1195, 2496 1029209c0 17a7 bsf _float32_aargb0, _float32_msb 10293 ; line_number = 1196 10294 ;info 1196, 2497 1029509c1 17ae bsf _float32_bargb0, _float32_msb 10296 10297 ; line_number = 1198 10298 09c2 : _float32_talign32: 10299 ; # clear align increment 10300 ; line_number = 1200 10301 ;info 1200, 2498 1030209c2 01b3 clrf _float32_temp 10303 ; line_number = 1201 10304 ;info 1201, 2499 1030509c3 0827 movf _float32_aargb0,w 10306 ; # test for alignment 10307 ; line_number = 1203 10308 ;info 1203, 2500 1030909c4 00a4 movwf _float32_aargb3 10310 ; line_number = 1204 10311 ;info 1204, 2501 1031209c5 0826 movf _float32_aargb1,w 10313 ; line_number = 1205 10314 ;info 1205, 2502 1031509c6 00a3 movwf _float32_aargb4 10316 ; line_number = 1206 10317 ;info 1206, 2503 1031809c7 0825 movf _float32_aargb2,w 10319 ; line_number = 1207 10320 ;info 1207, 2504 1032109c8 00a2 movwf _float32_aargb5 10322 10323 ; line_number = 1209 10324 ;info 1209, 2505 1032509c9 082c movf _float32_bargb2,w 10326 ; line_number = 1210 10327 ;info 1210, 2506 1032809ca 02a2 subwf _float32_aargb5,f 10329 ; line_number = 1211 10330 ;info 1211, 2507 1033109cb 082d movf _float32_bargb1,w 10332 ; line_number = 1212 10333 ;info 1212, 2508 1033409cc 1c03 btfss _float32_status, _float32_c 10335 ; line_number = 1213 10336 ;info 1213, 2509 1033709cd 0f2d incfsz _float32_bargb1,w 10338 10339 ; line_number = 1215 10340 09ce : _float32_ts1align32: 10341 ; line_number = 1216 10342 ;info 1216, 2510 1034309ce 02a3 subwf _float32_aargb4,f 10344 ; line_number = 1217 10345 ;info 1217, 2511 1034609cf 082e movf _float32_bargb0,w 10347 ; line_number = 1218 10348 ;info 1218, 2512 1034909d0 1c03 btfss _float32_status, _float32_c 10350 ; line_number = 1219 10351 ;info 1219, 2513 1035209d1 0f2e incfsz _float32_bargb0,w 10353 10354 ; line_number = 1221 10355 09d2 : _float32_ts2align32: 10356 ; line_number = 1222 10357 ;info 1222, 2514 1035809d2 02a4 subwf _float32_aargb3,f 10359 10360 ; line_number = 1224 10361 ;info 1224, 2515 1036209d3 01a4 clrf _float32_aargb3 10363 ; line_number = 1225 10364 ;info 1225, 2516 1036509d4 01a3 clrf _float32_aargb4 10366 ; line_number = 1226 10367 ;info 1226, 2517 1036809d5 01a2 clrf _float32_aargb5 10369 10370 ; line_number = 1228 10371 ;info 1228, 2518 1037209d6 1c03 btfss _float32_status, _float32_c 10373 ; line_number = 1229 10374 ;info 1229, 2519 1037509d7 29df goto _float32_dalign32ok 10376 10377 ; # align if necessary 10378 ; line_number = 1232 10379 ;info 1232, 2520 1038009d8 1003 bcf _float32_status, _float32_c 10381 ; line_number = 1233 10382 ;info 1233, 2521 1038309d9 0ca7 rrf _float32_aargb0,f 10384 ; line_number = 1234 10385 ;info 1234, 2522 1038609da 0ca6 rrf _float32_aargb1,f 10387 ; line_number = 1235 10388 ;info 1235, 2523 1038909db 0ca5 rrf _float32_aargb2,f 10390 ; line_number = 1236 10391 ;info 1236, 2524 1039209dc 0ca4 rrf _float32_aargb3,f 10393 ; line_number = 1237 10394 ;info 1237, 2525 1039509dd 3001 movlw 1 10396 ; # save align increment 10397 ; line_number = 1239 10398 ;info 1239, 2526 1039909de 00b3 movwf _float32_temp 10400 10401 ; line_number = 1241 10402 09df : _float32_dalign32ok: 10403 ; # compare _float32_aexp and _float32_bexp 10404 ; line_number = 1243 10405 ;info 1243, 2527 1040609df 082f movf _float32_bexp,w 10407 ; line_number = 1244 10408 ;info 1244, 2528 1040909e0 02a8 subwf _float32_exp,f 10410 ; line_number = 1245 10411 ;info 1245, 2529 1041209e1 1c03 btfss _float32_status, _float32_c 10413 ; line_number = 1246 10414 ;info 1246, 2530 1041509e2 29e9 goto _float32_altb32 10416 10417 ; line_number = 1248 10418 09e3 : _float32_ageb32: 10419 ; line_number = 1249 10420 ;info 1249, 2531 1042109e3 307e movlw _float32_expbias_1 10422 ; line_number = 1250 10423 ;info 1250, 2532 1042409e4 0733 addwf _float32_temp,w 10425 ; line_number = 1251 10426 ;info 1251, 2533 1042709e5 07a8 addwf _float32_exp,f 10428 ; line_number = 1252 10429 ;info 1252, 2534 1043009e6 1803 btfsc _float32_status, _float32_c 10431 ; line_number = 1253 10432 ;info 1253, 2535 1043309e7 29ac goto _float32_setfov32 10434 ; # set overflow flag 10435 ; line_number = 1255 10436 ;info 1255, 2536 1043709e8 29ee goto _float32_dargok32 10438 10439 ; line_number = 1257 10440 09e9 : _float32_altb32: 10441 ; line_number = 1258 10442 ;info 1258, 2537 1044309e9 307e movlw _float32_expbias_1 10444 ; line_number = 1259 10445 ;info 1259, 2538 1044609ea 0733 addwf _float32_temp,w 10447 ; line_number = 1260 10448 ;info 1260, 2539 1044909eb 07a8 addwf _float32_exp,f 10450 ; line_number = 1261 10451 ;info 1261, 2540 1045209ec 1c03 btfss _float32_status, _float32_c 10453 ; # set underflow flag 10454 ; line_number = 1263 10455 ;info 1263, 2541 1045609ed 2a3f goto _float32_setfun32 10457 10458 ; line_number = 1265 10459 09ee : _float32_dargok32: 10460 ; # initialize counter 10461 ; line_number = 1267 10462 ;info 1267, 2542 1046309ee 3018 movlw 24 10464 ; line_number = 1268 10465 ;info 1268, 2543 1046609ef 00b2 movwf _float32_tempb1 10467 10468 ; line_number = 1270 10469 09f0 : _float32_dloop32: 10470 ; # left shift 10471 ; line_number = 1272 10472 ;info 1272, 2544 1047309f0 0da2 rlf _float32_aargb5,f 10474 ; line_number = 1273 10475 ;info 1273, 2545 1047609f1 0da3 rlf _float32_aargb4,f 10477 ; line_number = 1274 10478 ;info 1274, 2546 1047909f2 0da4 rlf _float32_aargb3,f 10480 ; line_number = 1275 10481 ;info 1275, 2547 1048209f3 0da5 rlf _float32_aargb2,f 10483 ; line_number = 1276 10484 ;info 1276, 2548 1048509f4 0da6 rlf _float32_aargb1,f 10486 ; line_number = 1277 10487 ;info 1277, 2549 1048809f5 0da7 rlf _float32_aargb0,f 10489 ; line_number = 1278 10490 ;info 1278, 2550 1049109f6 0db3 rlf _float32_temp,f 10492 10493 ; # subtract 10494 ; line_number = 1281 10495 ;info 1281, 2551 1049609f7 082c movf _float32_bargb2,w 10497 ; line_number = 1282 10498 ;info 1282, 2552 1049909f8 02a5 subwf _float32_aargb2,f 10500 ; line_number = 1283 10501 ;info 1283, 2553 1050209f9 082d movf _float32_bargb1,w 10503 ; line_number = 1284 10504 ;info 1284, 2554 1050509fa 1c03 btfss _float32_status, _float32_c 10506 ; line_number = 1285 10507 ;info 1285, 2555 1050809fb 0f2d incfsz _float32_bargb1,w 10509 ; line_number = 1286 10510 09fc : _float32_ds132: 10511 ; line_number = 1287 10512 ;info 1287, 2556 1051309fc 02a6 subwf _float32_aargb1,f 10514 10515 ; line_number = 1289 10516 ;info 1289, 2557 1051709fd 082e movf _float32_bargb0,w 10518 ; line_number = 1290 10519 ;info 1290, 2558 1052009fe 1c03 btfss _float32_status, _float32_c 10521 ; line_number = 1291 10522 ;info 1291, 2559 1052309ff 0f2e incfsz _float32_bargb0,w 10524 ; line_number = 1292 10525 0a00 : _float32_DS232: 10526 ; line_number = 1293 10527 ;info 1293, 2560 105280a00 02a7 subwf _float32_aargb0,f 10529 10530 ; line_number = 1295 10531 ;info 1295, 2561 105320a01 0d2e rlf _float32_bargb0,w 10533 ; line_number = 1296 10534 ;info 1296, 2562 105350a02 04b3 iorwf _float32_temp,f 10536 10537 ; # test for restore 10538 ; line_number = 1299 10539 ;info 1299, 2563 105400a03 1c33 btfss _float32_temp, _float32_lsb 10541 ; line_number = 1300 10542 ;info 1300, 2564 105430a04 2a07 goto _float32_drest32 10544 10545 ; line_number = 1302 10546 ;info 1302, 2565 105470a05 1422 bsf _float32_aargb5, _float32_lsb 10548 ; line_number = 1303 10549 ;info 1303, 2566 105500a06 2a12 goto _float32_dok32 10551 10552 ; line_number = 1305 10553 0a07 : _float32_drest32: 10554 ; # restore if necessary 10555 ; line_number = 1307 10556 ;info 1307, 2567 105570a07 082c movf _float32_bargb2,w 10558 ; line_number = 1308 10559 ;info 1308, 2568 105600a08 07a5 addwf _float32_aargb2,f 10561 ; line_number = 1309 10562 ;info 1309, 2569 105630a09 082d movf _float32_bargb1,w 10564 ; line_number = 1310 10565 ;info 1310, 2570 105660a0a 1803 btfsc _float32_status, _float32_c 10567 ; line_number = 1311 10568 ;info 1311, 2571 105690a0b 0f2d incfsz _float32_bargb1,w 10570 ; line_number = 1312 10571 0a0c : _float32_darest32: 10572 ; line_number = 1313 10573 ;info 1313, 2572 105740a0c 07a6 addwf _float32_aargb1,f 10575 10576 ; line_number = 1315 10577 ;info 1315, 2573 105780a0d 082e movf _float32_bargb0,w 10579 ; line_number = 1316 10580 ;info 1316, 2574 105810a0e 1803 btfsc _float32_status, _float32_c 10582 ; line_number = 1317 10583 ;info 1317, 2575 105840a0f 0a2e incf _float32_bargb0,w 10585 ; line_number = 1318 10586 ;info 1318, 2576 105870a10 07a7 addwf _float32_aargb0,f 10588 10589 ; line_number = 1320 10590 ;info 1320, 2577 105910a11 1022 bcf _float32_aargb5, _float32_lsb 10592 10593 ; line_number = 1322 10594 0a12 : _float32_dok32: 10595 ; line_number = 1323 10596 ;info 1323, 2578 105970a12 0bb2 decfsz _float32_tempb1,f 10598 ; line_number = 1324 10599 ;info 1324, 2579 106000a13 29f0 goto _float32_dloop32 10601 10602 ; line_number = 1326 10603 0a14 : _float32_dround32: 10604 ; line_number = 1327 10605 ;info 1327, 2580 106060a14 1b2a btfsc _float32_fpflags, _float32_rnd 10607 ; line_number = 1328 10608 ;info 1328, 2581 106090a15 1c22 btfss _float32_aargb5, _float32_lsb 10610 ; line_number = 1329 10611 ;info 1329, 2582 106120a16 2a36 goto _float32_div32ok 10613 ; line_number = 1330 10614 ;info 1330, 2583 106150a17 1003 bcf _float32_status, _float32_c 10616 ; # compute next significant bit 10617 ; line_number = 1332 10618 ;info 1332, 2584 106190a18 0da5 rlf _float32_aargb2,f 10620 ; # for rounding 10621 ; line_number = 1334 10622 ;info 1334, 2585 106230a19 0da6 rlf _float32_aargb1,f 10624 ; line_number = 1335 10625 ;info 1335, 2586 106260a1a 0da7 rlf _float32_aargb0,f 10627 ; line_number = 1336 10628 ;info 1336, 2587 106290a1b 0db3 rlf _float32_temp,f 10630 10631 ; # subtract 10632 ; line_number = 1339 10633 ;info 1339, 2588 106340a1c 082c movf _float32_bargb2,w 10635 ; line_number = 1340 10636 ;info 1340, 2589 106370a1d 02a5 subwf _float32_aargb2,f 10638 ; line_number = 1341 10639 ;info 1341, 2590 106400a1e 082d movf _float32_bargb1,w 10641 ; line_number = 1342 10642 ;info 1342, 2591 106430a1f 1c03 btfss _float32_status, _float32_c 10644 ; line_number = 1343 10645 ;info 1343, 2592 106460a20 0f2d incfsz _float32_bargb1,w 10647 ; line_number = 1344 10648 ;info 1344, 2593 106490a21 02a6 subwf _float32_aargb1,f 10650 10651 ; line_number = 1346 10652 ;info 1346, 2594 106530a22 082e movf _float32_bargb0,w 10654 ; line_number = 1347 10655 ;info 1347, 2595 106560a23 1c03 btfss _float32_status, _float32_c 10657 ; line_number = 1348 10658 ;info 1348, 2596 106590a24 0f2e incfsz _float32_bargb0,w 10660 ; line_number = 1349 10661 ;info 1349, 2597 106620a25 02a7 subwf _float32_aargb0,f 10663 10664 ; line_number = 1351 10665 ;info 1351, 2598 106660a26 0d2e rlf _float32_bargb0,w 10667 ; line_number = 1352 10668 ;info 1352, 2599 106690a27 0433 iorwf _float32_temp,w 10670 ; line_number = 1353 10671 ;info 1353, 2600 106720a28 3901 andlw 1 10673 10674 ; line_number = 1355 10675 ;info 1355, 2601 106760a29 07a2 addwf _float32_aargb5,f 10677 ; line_number = 1356 10678 ;info 1356, 2602 106790a2a 1803 btfsc _float32_status, _float32_c 10680 ; line_number = 1357 10681 ;info 1357, 2603 106820a2b 0aa3 incf _float32_aargb4,f 10683 ; line_number = 1358 10684 ;info 1358, 2604 106850a2c 1903 btfsc _float32_status, _float32_z 10686 ; line_number = 1359 10687 ;info 1359, 2605 106880a2d 0aa4 incf _float32_aargb3,f 10689 10690 ; # test if rounding caused carryout 10691 ; line_number = 1362 10692 ;info 1362, 2606 106930a2e 1d03 btfss _float32_status, _float32_z 10694 ; line_number = 1363 10695 ;info 1363, 2607 106960a2f 2a36 goto _float32_div32ok 10697 ; line_number = 1364 10698 ;info 1364, 2608 106990a30 0ca4 rrf _float32_aargb3,f 10700 ; line_number = 1365 10701 ;info 1365, 2609 107020a31 0ca3 rrf _float32_aargb4,f 10703 ; line_number = 1366 10704 ;info 1366, 2610 107050a32 0ca2 rrf _float32_aargb5,f 10706 ; line_number = 1367 10707 ;info 1367, 2611 107080a33 0aa8 incf _float32_exp,f 10709 ; # test for overflow# 10710 ; line_number = 1369 10711 ;info 1369, 2612 107120a34 1903 btfsc _float32_status, _float32_z 10713 ; line_number = 1370 10714 ;info 1370, 2613 107150a35 29ac goto _float32_setfov32 10716 10717 ; line_number = 1372 10718 0a36 : _float32_div32ok: 10719 ; line_number = 1373 10720 ;info 1373, 2614 107210a36 1fa9 btfss _float32_sign, _float32_msb 10722 ; # clear explicit MSB if positive 10723 ; line_number = 1375 10724 ;info 1375, 2615 107250a37 13a4 bcf _float32_aargb3, _float32_msb 10726 10727 ; line_number = 1377 10728 ;info 1377, 2616 107290a38 0824 movf _float32_aargb3,w 10730 ; # move result to _FLOAT32_AARG 10731 ; line_number = 1379 10732 ;info 1379, 2617 107330a39 00a7 movwf _float32_aargb0 10734 ; line_number = 1380 10735 ;info 1380, 2618 107360a3a 0823 movf _float32_aargb4,w 10737 ; line_number = 1381 10738 ;info 1381, 2619 107390a3b 00a6 movwf _float32_aargb1 10740 ; line_number = 1382 10741 ;info 1382, 2620 107420a3c 0822 movf _float32_aargb5,w 10743 ; line_number = 1383 10744 ;info 1383, 2621 107450a3d 00a5 movwf _float32_aargb2 10746 10747 ; line_number = 1385 10748 ;info 1385, 2622 107490a3e 3400 retlw 0 10750 10751 ; line_number = 1387 10752 0a3f : _float32_setfun32: 10753 ; # set floating point underflag 10754 ; line_number = 1389 10755 ;info 1389, 2623 107560a3f 152a bsf _float32_fpflags, _float32_fun 10757 ; # test for saturation 10758 ; line_number = 1391 10759 ;info 1391, 2624 107600a40 1faa btfss _float32_fpflags, _float32_sat 10761 ; # return error code in WREG 10762 ; line_number = 1393 10763 ;info 1393, 2625 107640a41 34ff retlw 255 10765 10766 ; # saturate to smallest floating 10767 ; line_number = 1396 10768 ;info 1396, 2626 107690a42 3001 movlw 1 10770 ; # point number = 0x 01 00 00 00 10771 ; line_number = 1398 10772 ;info 1398, 2627 107730a43 00a8 movwf _float32_aexp 10774 ; # modulo the appropriate sign bit 10775 ; line_number = 1400 10776 ;info 1400, 2628 107770a44 01a7 clrf _float32_aargb0 10778 ; line_number = 1401 10779 ;info 1401, 2629 107800a45 01a6 clrf _float32_aargb1 10781 ; line_number = 1402 10782 ;info 1402, 2630 107830a46 01a5 clrf _float32_aargb2 10784 ; line_number = 1403 10785 ;info 1403, 2631 107860a47 0da9 rlf _float32_sign,f 10787 ; line_number = 1404 10788 ;info 1404, 2632 107890a48 0ca7 rrf _float32_aargb0,f 10790 ; # return error code in WREG 10791 ; line_number = 1406 10792 ;info 1406, 2633 107930a49 34ff retlw 255 10794 10795 ; # set divide by zero flag 10796 ; line_number = 1409 10797 0a4a : _float32_setfdz32: 10798 ; line_number = 1410 10799 ;info 1410, 2634 108000a4a 15aa bsf _float32_fpflags, _float32_fdz 10801 ; line_number = 1411 10802 ;info 1411, 2635 108030a4b 34ff retlw 255 10804 10805 10806 ; delay after procedure statements=non-uniform 10807 ; Return instruction suppressed by 'return_suppress' 10808 10809 10810 10811 10812 ; line_number = 1414 10813 ;info 1414, 2636 10814 ; procedure _float32_subtract 10815 0a4c : _float32_subtract: 10816 ; arguments_none 10817 ; line_number = 1416 10818 ; returns_nothing 10819 ; line_number = 1417 10820 ; return_suppress 10821 10822 ; # Floating Point Subtract 10823 ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10824 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 10825 ; # Use: call fps32() 10826 ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10827 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG 10828 ; # Max Timing: 2+251 = 253 clks RND = 0 10829 ; # 2+265 = 267 clks RND = 1, SAT = 0 10830 ; # 2+271 = 273 clks RND = 1, SAT = 1 10831 ; # Min Timing: 2+12 = 14 clks 10832 ; # PM: 2+146 = 148 DM: 14 10833 10834 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 10835 ; line_number = 1431 10836 ; assemble 10837 ;info 1431, 2636 10838 ; line_number = 1432 10839 ;info 1432, 2636 108400a4c 3080 movlw 128 10841 ; line_number = 1433 10842 ;info 1433, 2637 108430a4d 06ae xorwf _float32_bargb0,f 10844 ; # This procedure runs into FPA32 10845 ; #goto fpa32 10846 10847 10848 ; delay after procedure statements=non-uniform 10849 ; Return instruction suppressed by 'return_suppress' 10850 10851 10852 10853 10854 ; line_number = 1438 10855 ;info 1438, 2638 10856 ; procedure _float32_add 10857 0a4e : _float32_add: 10858 ; arguments_none 10859 ; line_number = 1440 10860 ; returns_nothing 10861 ; line_number = 1441 10862 ; return_suppress 10863 10864 ; # Floating Point Add 10865 ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10866 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 10867 ; # Use: call fpa32() 10868 ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 10869 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG 10870 ; # Max Timing: 31+41+6*7+6+41+90 = 251 clks RND = 0 10871 ; # 31+41+6*7+6+55+90 = 265 clks RND = 1, SAT = 0 10872 ; # 31+41+6*7+6+55+96 = 271 clks RND = 1, SAT = 1 10873 ; # Min Timing: 8+4 = 12 clks 10874 ; # PM: 146 DM: 14 10875 10876 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 10877 ; line_number = 1455 10878 ; assemble 10879 ;info 1455, 2638 10880 ; # exclusive or of signs in temp 10881 ; line_number = 1457 10882 ;info 1457, 2638 108830a4e 0827 movf _float32_aargb0,w 10884 ; line_number = 1458 10885 ;info 1458, 2639 108860a4f 062e xorwf _float32_bargb0,w 10887 ; line_number = 1459 10888 ;info 1459, 2640 108890a50 00b3 movwf _float32_temp 10890 10891 ; # clear extended byte 10892 ; line_number = 1462 10893 ;info 1462, 2641 108940a51 01a4 clrf _float32_aargb3 10895 ; line_number = 1463 10896 ;info 1463, 2642 108970a52 01ab clrf _float32_bargb3 10898 10899 ; # use _FLOAT32_AARG if _float32_aexp >= _float32_bexp 10900 ; line_number = 1466 10901 ;info 1466, 2643 109020a53 0828 movf _float32_aexp,w 10903 ; line_number = 1467 10904 ;info 1467, 2644 109050a54 022f subwf _float32_bexp,w 10906 ; line_number = 1468 10907 ;info 1468, 2645 109080a55 1c03 btfss _float32_status, _float32_c 10909 ; line_number = 1469 10910 ;info 1469, 2646 109110a56 2a6f goto _float32_usea32 10912 10913 ; # use _FLOAT32_BARG if _float32_aexp < _float32_bexp 10914 ; line_number = 1472 10915 ;info 1472, 2647 109160a57 082f movf _float32_bexp,w 10917 ; # therefore, swap _FLOAT32_AARG and _FLOAT32_BARG 10918 ; line_number = 1474 10919 ;info 1474, 2648 109200a58 00a2 movwf _float32_aargb5 10921 ; line_number = 1475 10922 ;info 1475, 2649 109230a59 0828 movf _float32_aexp,w 10924 ; line_number = 1476 10925 ;info 1476, 2650 109260a5a 00af movwf _float32_bexp 10927 ; line_number = 1477 10928 ;info 1477, 2651 109290a5b 0822 movf _float32_aargb5,w 10930 ; line_number = 1478 10931 ;info 1478, 2652 109320a5c 00a8 movwf _float32_aexp 10933 10934 ; line_number = 1480 10935 ;info 1480, 2653 109360a5d 082e movf _float32_bargb0,w 10937 ; line_number = 1481 10938 ;info 1481, 2654 109390a5e 00a2 movwf _float32_aargb5 10940 ; line_number = 1482 10941 ;info 1482, 2655 109420a5f 0827 movf _float32_aargb0,w 10943 ; line_number = 1483 10944 ;info 1483, 2656 109450a60 00ae movwf _float32_bargb0 10946 ; line_number = 1484 10947 ;info 1484, 2657 109480a61 0822 movf _float32_aargb5,w 10949 ; line_number = 1485 10950 ;info 1485, 2658 109510a62 00a7 movwf _float32_aargb0 10952 10953 ; line_number = 1487 10954 ;info 1487, 2659 109550a63 082d movf _float32_bargb1,w 10956 ; line_number = 1488 10957 ;info 1488, 2660 109580a64 00a2 movwf _float32_aargb5 10959 ; line_number = 1489 10960 ;info 1489, 2661 109610a65 0826 movf _float32_aargb1,w 10962 ; line_number = 1490 10963 ;info 1490, 2662 109640a66 00ad movwf _float32_bargb1 10965 ; line_number = 1491 10966 ;info 1491, 2663 109670a67 0822 movf _float32_aargb5,w 10968 ; line_number = 1492 10969 ;info 1492, 2664 109700a68 00a6 movwf _float32_aargb1 10971 10972 ; line_number = 1494 10973 ;info 1494, 2665 109740a69 082c movf _float32_bargb2,w 10975 ; line_number = 1495 10976 ;info 1495, 2666 109770a6a 00a2 movwf _float32_aargb5 10978 ; line_number = 1496 10979 ;info 1496, 2667 109800a6b 0825 movf _float32_aargb2,w 10981 ; line_number = 1497 10982 ;info 1497, 2668 109830a6c 00ac movwf _float32_bargb2 10984 ; line_number = 1498 10985 ;info 1498, 2669 109860a6d 0822 movf _float32_aargb5,w 10987 ; line_number = 1499 10988 ;info 1499, 2670 109890a6e 00a5 movwf _float32_aargb2 10990 10991 ; line_number = 1501 10992 0a6f : _float32_usea32: 10993 ; # return _FLOAT32_AARG if _FLOAT32_BARG = 0 10994 ; line_number = 1503 10995 ;info 1503, 2671 109960a6f 082f movf _float32_bexp,w 10997 ; line_number = 1504 10998 ;info 1504, 2672 109990a70 1903 btfsc _float32_status, _float32_z 11000 ; line_number = 1505 11001 ;info 1505, 2673 110020a71 3400 retlw 0 11003 11004 ; line_number = 1507 11005 ;info 1507, 2674 110060a72 0827 movf _float32_aargb0,w 11007 ; # save sign in _float32_sign 11008 ; line_number = 1509 11009 ;info 1509, 2675 110100a73 00a9 movwf _float32_sign 11011 ; # make MSB's explicit 11012 ; line_number = 1511 11013 ;info 1511, 2676 110140a74 17a7 bsf _float32_aargb0, _float32_msb 11015 ; line_number = 1512 11016 ;info 1512, 2677 110170a75 17ae bsf _float32_bargb0, _float32_msb 11018 11019 ; # compute shift count in _float32_bexp 11020 ; line_number = 1515 11021 ;info 1515, 2678 110220a76 082f movf _float32_bexp,w 11023 ; line_number = 1516 11024 ;info 1516, 2679 110250a77 0228 subwf _float32_aexp,w 11026 ; line_number = 1517 11027 ;info 1517, 2680 110280a78 00af movwf _float32_bexp 11029 ; line_number = 1518 11030 ;info 1518, 2681 110310a79 1903 btfsc _float32_status, _float32_z 11032 ; line_number = 1519 11033 ;info 1519, 2682 110340a7a 2aa2 goto _float32_aligned32 11035 11036 ; line_number = 1521 11037 ;info 1521, 2683 110380a7b 3008 movlw 8 11039 ; line_number = 1522 11040 ;info 1522, 2684 110410a7c 022f subwf _float32_bexp,w 11042 ; # if _float32_bexp >= 8, do byte shift 11043 ; line_number = 1524 11044 ;info 1524, 2685 110450a7d 1c03 btfss _float32_status, _float32_c 11046 ; line_number = 1525 11047 ;info 1525, 2686 110480a7e 2a98 goto _float32_alignb32 11049 ; line_number = 1526 11050 ;info 1526, 2687 110510a7f 00af movwf _float32_bexp 11052 ; # keep for postnormalization 11053 ; line_number = 1528 11054 ;info 1528, 2688 110550a80 082c movf _float32_bargb2,w 11056 ; line_number = 1529 11057 ;info 1529, 2689 110580a81 00ab movwf _float32_bargb3 11059 ; line_number = 1530 11060 ;info 1530, 2690 110610a82 082d movf _float32_bargb1,w 11062 ; line_number = 1531 11063 ;info 1531, 2691 110640a83 00ac movwf _float32_bargb2 11065 ; line_number = 1532 11066 ;info 1532, 2692 110670a84 082e movf _float32_bargb0,w 11068 ; line_number = 1533 11069 ;info 1533, 2693 110700a85 00ad movwf _float32_bargb1 11071 ; line_number = 1534 11072 ;info 1534, 2694 110730a86 01ae clrf _float32_bargb0 11074 11075 ; line_number = 1536 11076 ;info 1536, 2695 110770a87 3008 movlw 8 11078 ; line_number = 1537 11079 ;info 1537, 2696 110800a88 022f subwf _float32_bexp,w 11081 ; # if _float32_bexp >= 8, do byte shift 11082 ; line_number = 1539 11083 ;info 1539, 2697 110840a89 1c03 btfss _float32_status, _float32_c 11085 ; line_number = 1540 11086 ;info 1540, 2698 110870a8a 2a98 goto _float32_alignb32 11088 ; line_number = 1541 11089 ;info 1541, 2699 110900a8b 00af movwf _float32_bexp 11091 ; # keep for postnormalization 11092 ; line_number = 1543 11093 ;info 1543, 2700 110940a8c 082c movf _float32_bargb2,w 11095 ; line_number = 1544 11096 ;info 1544, 2701 110970a8d 00ab movwf _float32_bargb3 11098 ; line_number = 1545 11099 ;info 1545, 2702 111000a8e 082d movf _float32_bargb1,w 11101 ; line_number = 1546 11102 ;info 1546, 2703 111030a8f 00ac movwf _float32_bargb2 11104 ; line_number = 1547 11105 ;info 1547, 2704 111060a90 01ad clrf _float32_bargb1 11107 11108 ; line_number = 1549 11109 ;info 1549, 2705 111100a91 3008 movlw 8 11111 ; line_number = 1550 11112 ;info 1550, 2706 111130a92 022f subwf _float32_bexp,w 11114 ; # if _float32_bexp >= 8, _FLOAT32_BARG = 0 relative to _FLOAT32_AARG 11115 ; line_number = 1552 11116 ;info 1552, 2707 111170a93 1c03 btfss _float32_status, _float32_c 11118 ; line_number = 1553 11119 ;info 1553, 2708 111200a94 2a98 goto _float32_alignb32 11121 ; line_number = 1554 11122 ;info 1554, 2709 111230a95 0829 movf _float32_sign,w 11124 ; line_number = 1555 11125 ;info 1555, 2710 111260a96 00a7 movwf _float32_aargb0 11127 ; line_number = 1556 11128 ;info 1556, 2711 111290a97 3400 retlw 0 11130 11131 ; line_number = 1558 11132 0a98 : _float32_alignb32: 11133 ; # already aligned if _float32_bexp = 0 11134 ; line_number = 1560 11135 ;info 1560, 2712 111360a98 082f movf _float32_bexp,w 11137 ; line_number = 1561 11138 ;info 1561, 2713 111390a99 1903 btfsc _float32_status, _float32_z 11140 ; line_number = 1562 11141 ;info 1562, 2714 111420a9a 2aa2 goto _float32_aligned32 11143 11144 ; line_number = 1564 11145 0a9b : _float32_aloopb32: 11146 ; # right shift by _float32_bexp 11147 ; line_number = 1566 11148 ;info 1566, 2715 111490a9b 1003 bcf _float32_status, _float32_c 11150 ; line_number = 1567 11151 ;info 1567, 2716 111520a9c 0cae rrf _float32_bargb0,f 11153 ; line_number = 1568 11154 ;info 1568, 2717 111550a9d 0cad rrf _float32_bargb1,f 11156 ; line_number = 1569 11157 ;info 1569, 2718 111580a9e 0cac rrf _float32_bargb2,f 11159 ; line_number = 1570 11160 ;info 1570, 2719 111610a9f 0cab rrf _float32_bargb3,f 11162 ; line_number = 1571 11163 ;info 1571, 2720 111640aa0 0baf decfsz _float32_bexp,f 11165 ; line_number = 1572 11166 ;info 1572, 2721 111670aa1 2a9b goto _float32_aloopb32 11168 11169 ; line_number = 1574 11170 0aa2 : _float32_aligned32: 11171 ; # negate if signs opposite 11172 ; line_number = 1576 11173 ;info 1576, 2722 111740aa2 1fb3 btfss _float32_temp, _float32_msb 11175 ; line_number = 1577 11176 ;info 1577, 2723 111770aa3 2aaf goto _float32_aok32 11178 11179 ; line_number = 1579 11180 ;info 1579, 2724 111810aa4 09ab comf _float32_bargb3,f 11182 ; line_number = 1580 11183 ;info 1580, 2725 111840aa5 09ac comf _float32_bargb2,f 11185 ; line_number = 1581 11186 ;info 1581, 2726 111870aa6 09ad comf _float32_bargb1,f 11188 ; line_number = 1582 11189 ;info 1582, 2727 111900aa7 09ae comf _float32_bargb0,f 11191 ; line_number = 1583 11192 ;info 1583, 2728 111930aa8 0aab incf _float32_bargb3,f 11194 ; line_number = 1584 11195 ;info 1584, 2729 111960aa9 1903 btfsc _float32_status, _float32_z 11197 ; line_number = 1585 11198 ;info 1585, 2730 111990aaa 0aac incf _float32_bargb2,f 11200 ; line_number = 1586 11201 ;info 1586, 2731 112020aab 1903 btfsc _float32_status, _float32_z 11203 ; line_number = 1587 11204 ;info 1587, 2732 112050aac 0aad incf _float32_bargb1,f 11206 ; line_number = 1588 11207 ;info 1588, 2733 112080aad 1903 btfsc _float32_status, _float32_z 11209 ; line_number = 1589 11210 ;info 1589, 2734 112110aae 0aae incf _float32_bargb0,f 11212 11213 ; line_number = 1591 11214 0aaf : _float32_aok32: 11215 ; line_number = 1592 11216 ;info 1592, 2735 112170aaf 082b movf _float32_bargb3,w 11218 ; line_number = 1593 11219 ;info 1593, 2736 112200ab0 07a4 addwf _float32_aargb3,f 11221 ; line_number = 1594 11222 ;info 1594, 2737 112230ab1 082c movf _float32_bargb2,w 11224 ; line_number = 1595 11225 ;info 1595, 2738 112260ab2 1803 btfsc _float32_status, _float32_c 11227 ; line_number = 1596 11228 ;info 1596, 2739 112290ab3 0f2c incfsz _float32_bargb2,w 11230 ; line_number = 1597 11231 ;info 1597, 2740 112320ab4 07a5 addwf _float32_aargb2,f 11233 ; line_number = 1598 11234 ;info 1598, 2741 112350ab5 082d movf _float32_bargb1,w 11236 ; line_number = 1599 11237 ;info 1599, 2742 112380ab6 1803 btfsc _float32_status, _float32_c 11239 ; line_number = 1600 11240 ;info 1600, 2743 112410ab7 0f2d incfsz _float32_bargb1,w 11242 ; line_number = 1601 11243 ;info 1601, 2744 112440ab8 07a6 addwf _float32_aargb1,f 11245 ; line_number = 1602 11246 ;info 1602, 2745 112470ab9 082e movf _float32_bargb0,w 11248 ; line_number = 1603 11249 ;info 1603, 2746 112500aba 1803 btfsc _float32_status, _float32_c 11251 ; line_number = 1604 11252 ;info 1604, 2747 112530abb 0f2e incfsz _float32_bargb0,w 11254 ; line_number = 1605 11255 ;info 1605, 2748 112560abc 07a7 addwf _float32_aargb0,f 11257 11258 ; line_number = 1607 11259 ;info 1607, 2749 112600abd 1bb3 btfsc _float32_temp, _float32_msb 11261 ; line_number = 1608 11262 ;info 1608, 2750 112630abe 2ac8 goto _float32_acomp32 11264 ; line_number = 1609 11265 ;info 1609, 2751 112660abf 1c03 btfss _float32_status, _float32_c 11267 ; line_number = 1610 11268 ;info 1610, 2752 112690ac0 287a goto _float32_nrmrnd4032 11270 11271 ; # shift right and increment exp 11272 ; line_number = 1613 11273 ;info 1613, 2753 112740ac1 0ca7 rrf _float32_aargb0,f 11275 ; line_number = 1614 11276 ;info 1614, 2754 112770ac2 0ca6 rrf _float32_aargb1,f 11278 ; line_number = 1615 11279 ;info 1615, 2755 112800ac3 0ca5 rrf _float32_aargb2,f 11281 ; line_number = 1616 11282 ;info 1616, 2756 112830ac4 0ca4 rrf _float32_aargb3,f 11284 ; line_number = 1617 11285 ;info 1617, 2757 112860ac5 0fa8 incfsz _float32_aexp,f 11287 ; line_number = 1618 11288 ;info 1618, 2758 112890ac6 287a goto _float32_nrmrnd4032 11290 ; line_number = 1619 11291 ;info 1619, 2759 112920ac7 29ac goto _float32_setfov32 11293 11294 ; line_number = 1621 11295 0ac8 : _float32_acomp32: 11296 ; line_number = 1622 11297 ;info 1622, 2760 112980ac8 1803 btfsc _float32_status, _float32_c 11299 ; # normalize and fix sign 11300 ; line_number = 1624 11301 ;info 1624, 2761 113020ac9 284b goto _float32_normalize40 11303 11304 ; line_number = 1626 11305 ;info 1626, 2762 113060aca 09a4 comf _float32_aargb3,f 11307 ; # negate, toggle sign bit and 11308 ; line_number = 1628 11309 ;info 1628, 2763 113100acb 09a5 comf _float32_aargb2,f 11311 ; # then normalize 11312 ; line_number = 1630 11313 ;info 1630, 2764 113140acc 09a6 comf _float32_aargb1,f 11315 ; line_number = 1631 11316 ;info 1631, 2765 113170acd 09a7 comf _float32_aargb0,f 11318 ; line_number = 1632 11319 ;info 1632, 2766 113200ace 0aa4 incf _float32_aargb3,f 11321 ; line_number = 1633 11322 ;info 1633, 2767 113230acf 1903 btfsc _float32_status, _float32_z 11324 ; line_number = 1634 11325 ;info 1634, 2768 113260ad0 0aa5 incf _float32_aargb2,f 11327 ; line_number = 1635 11328 ;info 1635, 2769 113290ad1 1903 btfsc _float32_status, _float32_z 11330 ; line_number = 1636 11331 ;info 1636, 2770 113320ad2 0aa6 incf _float32_aargb1,f 11333 ; line_number = 1637 11334 ;info 1637, 2771 113350ad3 1903 btfsc _float32_status, _float32_z 11336 ; line_number = 1638 11337 ;info 1638, 2772 113380ad4 0aa7 incf _float32_aargb0,f 11339 11340 ; line_number = 1640 11341 ;info 1640, 2773 113420ad5 3080 movlw 128 11343 ; line_number = 1641 11344 ;info 1641, 2774 113450ad6 06a9 xorwf _float32_sign,f 11346 ; line_number = 1642 11347 ;info 1642, 2775 113480ad7 280e goto _float32_nrm32 11349 11350 11351 ; delay after procedure statements=non-uniform 11352 ; Return instruction suppressed by 'return_suppress' 11353 11354 11355 11356 11357 ; buffer = '_float32' 11358 ; line_number = 50 11359 ;info 50, 2776 11360 ; procedure _float32_pointer_load 11361 0ad8 : _float32_pointer_load: 11362 ; Last argument is sitting in W; save into argument variable 113630ad8 00c4 movwf _float32_pointer_load__pointer 11364 ; delay=4294967295 11365 ; line_number = 51 11366 ; argument pointer byte 11367000000c4 = _float32_pointer_load__pointer equ globals___1+36 11368 ; line_number = 52 11369 ; returns_nothing 11370 11371 ; # This procedure will load the float32 "A" register with {pointer}. 11372 11373 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11374 ; line_number = 56 11375 ; assemble 11376 ;info 56, 2777 11377 ; # Pointer is in W; move it to {_fsr}: 11378 ; line_number = 58 11379 ;info 58, 2777 113800ad9 0084 movwf _fsr 11381 ; # Set up {_irp} and _{fsr}: 11382 ; line_number = 60 11383 ;info 60, 2778 113840ada 1383 bcf _irp___byte, _irp___bit 11385 ; line_number = 61 11386 ;info 61, 2779 113870adb 0d84 rlf _fsr,f 11388 ; line_number = 62 11389 ;info 62, 2780 113900adc 1803 btfsc _c___byte, _c___bit 11391 ; line_number = 63 11392 ;info 63, 2781 113930add 1783 bsf _irp___byte, _irp___bit 11394 ; line_number = 64 11395 ;info 64, 2782 113960ade 1004 bcf _fsr, 0 11397 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} 11398 ; line_number = 66 11399 ;info 66, 2783 114000adf 0800 movf _indf,w 11401 ; line_number = 67 11402 ;info 67, 2784 114030ae0 00a8 movwf _float32_aexp 11404 ; line_number = 68 11405 ;info 68, 2785 114060ae1 0a84 incf _fsr,f 11407 ; line_number = 69 11408 ;info 69, 2786 114090ae2 0800 movf _indf,w 11410 ; line_number = 70 11411 ;info 70, 2787 114120ae3 00a7 movwf _float32_aargb0 11413 ; line_number = 71 11414 ;info 71, 2788 114150ae4 0a84 incf _fsr,f 11416 ; line_number = 72 11417 ;info 72, 2789 114180ae5 0800 movf _indf,w 11419 ; line_number = 73 11420 ;info 73, 2790 114210ae6 00a6 movwf _float32_aargb1 11422 ; line_number = 74 11423 ;info 74, 2791 114240ae7 0a84 incf _fsr,f 11425 ; line_number = 75 11426 ;info 75, 2792 114270ae8 0800 movf _indf,w 11428 ; line_number = 76 11429 ;info 76, 2793 114300ae9 00a5 movwf _float32_aargb2 11431 11432 11433 ; delay after procedure statements=non-uniform 11434 ; Implied return 114350aea 3400 retlw 0 11436 11437 11438 11439 11440 ; line_number = 79 11441 ;info 79, 2795 11442 ; procedure _float32_pointer_add 11443 0aeb : _float32_pointer_add: 11444 ; Last argument is sitting in W; save into argument variable 114450aeb 00c5 movwf _float32_pointer_add__pointer 11446 ; delay=4294967295 11447 ; line_number = 80 11448 ; argument pointer byte 11449000000c5 = _float32_pointer_add__pointer equ globals___1+37 11450 ; line_number = 81 11451 ; returns_nothing 11452 ; line_number = 82 11453 ; return_suppress 11454 11455 ; # This procedure will add the float32 "A" register with {pointer} 11456 ; # and store the result back into the "A" register. 11457 11458 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11459 ; line_number = 87 11460 ; assemble 11461 ;info 87, 2796 11462 ; # Pointer is in W; move it to {_fsr}: 11463 ; line_number = 89 11464 ;info 89, 2796 114650aec 0084 movwf _fsr 11466 ; # Set up {_irp} and _{fsr}: 11467 ; line_number = 91 11468 ;info 91, 2797 114690aed 1383 bcf _irp___byte, _irp___bit 11470 ; line_number = 92 11471 ;info 92, 2798 114720aee 0d84 rlf _fsr,f 11473 ; line_number = 93 11474 ;info 93, 2799 114750aef 1803 btfsc _c___byte, _c___bit 11476 ; line_number = 94 11477 ;info 94, 2800 114780af0 1783 bsf _irp___byte, _irp___bit 11479 ; line_number = 95 11480 ;info 95, 2801 114810af1 1004 bcf _fsr, 0 11482 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} 11483 ; line_number = 97 11484 ;info 97, 2802 114850af2 0800 movf _indf,w 11486 ; line_number = 98 11487 ;info 98, 2803 114880af3 00af movwf _float32_bexp 11489 ; line_number = 99 11490 ;info 99, 2804 114910af4 0a84 incf _fsr,f 11492 ; line_number = 100 11493 ;info 100, 2805 114940af5 0800 movf _indf,w 11495 ; line_number = 101 11496 ;info 101, 2806 114970af6 00ae movwf _float32_bargb0 11498 ; line_number = 102 11499 ;info 102, 2807 115000af7 0a84 incf _fsr,f 11501 ; line_number = 103 11502 ;info 103, 2808 115030af8 0800 movf _indf,w 11504 ; line_number = 104 11505 ;info 104, 2809 115060af9 00ad movwf _float32_bargb1 11507 ; line_number = 105 11508 ;info 105, 2810 115090afa 0a84 incf _fsr,f 11510 ; line_number = 106 11511 ;info 106, 2811 115120afb 0800 movf _indf,w 11513 ; line_number = 107 11514 ;info 107, 2812 115150afc 00ac movwf _float32_bargb2 11516 ; line_number = 108 11517 ;info 108, 2813 115180afd 2a4e goto _float32_add 11519 11520 11521 ; delay after procedure statements=non-uniform 11522 ; Return instruction suppressed by 'return_suppress' 11523 11524 11525 11526 11527 ; line_number = 111 11528 ;info 111, 2814 11529 ; procedure _float32_pointer_divide 11530 0afe : _float32_pointer_divide: 11531 ; Last argument is sitting in W; save into argument variable 115320afe 00c6 movwf _float32_pointer_divide__pointer 11533 ; delay=4294967295 11534 ; line_number = 112 11535 ; argument pointer byte 11536000000c6 = _float32_pointer_divide__pointer equ globals___1+38 11537 ; line_number = 113 11538 ; returns_nothing 11539 ; line_number = 114 11540 ; return_suppress 11541 11542 ; # This procedure will divide the float32 A register by {pointer} and 11543 ; # store the result back into the A "register". 11544 11545 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11546 ; line_number = 119 11547 ; assemble 11548 ;info 119, 2815 11549 ; # Pointer is in W; move it to {_fsr}: 11550 ; line_number = 121 11551 ;info 121, 2815 115520aff 0084 movwf _fsr 11553 ; # Set up {_irp} and _{fsr}: 11554 ; line_number = 123 11555 ;info 123, 2816 115560b00 1383 bcf _irp___byte, _irp___bit 11557 ; line_number = 124 11558 ;info 124, 2817 115590b01 0d84 rlf _fsr,f 11560 ; line_number = 125 11561 ;info 125, 2818 115620b02 1803 btfsc _c___byte, _c___bit 11563 ; line_number = 126 11564 ;info 126, 2819 115650b03 1783 bsf _irp___byte, _irp___bit 11566 ; line_number = 127 11567 ;info 127, 2820 115680b04 1004 bcf _fsr, 0 11569 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} 11570 ; line_number = 129 11571 ;info 129, 2821 115720b05 0800 movf _indf,w 11573 ; line_number = 130 11574 ;info 130, 2822 115750b06 00af movwf _float32_bexp 11576 ; line_number = 131 11577 ;info 131, 2823 115780b07 0a84 incf _fsr,f 11579 ; line_number = 132 11580 ;info 132, 2824 115810b08 0800 movf _indf,w 11582 ; line_number = 133 11583 ;info 133, 2825 115840b09 00ae movwf _float32_bargb0 11585 ; line_number = 134 11586 ;info 134, 2826 115870b0a 0a84 incf _fsr,f 11588 ; line_number = 135 11589 ;info 135, 2827 115900b0b 0800 movf _indf,w 11591 ; line_number = 136 11592 ;info 136, 2828 115930b0c 00ad movwf _float32_bargb1 11594 ; line_number = 137 11595 ;info 137, 2829 115960b0d 0a84 incf _fsr,f 11597 ; line_number = 138 11598 ;info 138, 2830 115990b0e 0800 movf _indf,w 11600 ; line_number = 139 11601 ;info 139, 2831 116020b0f 00ac movwf _float32_bargb2 11603 ; line_number = 140 11604 ;info 140, 2832 116050b10 29b7 goto _float32_divide 11606 11607 11608 ; delay after procedure statements=non-uniform 11609 ; Return instruction suppressed by 'return_suppress' 11610 11611 11612 11613 11614 ; line_number = 143 11615 ;info 143, 2833 11616 ; procedure _float32_pointer_multiply 11617 0b11 : _float32_pointer_multiply: 11618 ; Last argument is sitting in W; save into argument variable 116190b11 00c7 movwf _float32_pointer_multiply__pointer 11620 ; delay=4294967295 11621 ; line_number = 144 11622 ; argument pointer byte 11623000000c7 = _float32_pointer_multiply__pointer equ globals___1+39 11624 ; line_number = 145 11625 ; returns_nothing 11626 ; line_number = 146 11627 ; return_suppress 11628 11629 ; # This procedure will multiply {pointer} with the float32 A "register" 11630 ; # and store the result back into the A "register". 11631 11632 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11633 ; line_number = 151 11634 ; assemble 11635 ;info 151, 2834 11636 ; # Pointer is in W; move it to {_fsr}: 11637 ; line_number = 153 11638 ;info 153, 2834 116390b12 0084 movwf _fsr 11640 ; # Set up {_irp} and _{fsr}: 11641 ; line_number = 155 11642 ;info 155, 2835 116430b13 1383 bcf _irp___byte, _irp___bit 11644 ; line_number = 156 11645 ;info 156, 2836 116460b14 0d84 rlf _fsr,f 11647 ; line_number = 157 11648 ;info 157, 2837 116490b15 1803 btfsc _c___byte, _c___bit 11650 ; line_number = 158 11651 ;info 158, 2838 116520b16 1783 bsf _irp___byte, _irp___bit 11653 ; line_number = 159 11654 ;info 159, 2839 116550b17 1004 bcf _fsr, 0 11656 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} 11657 ; line_number = 161 11658 ;info 161, 2840 116590b18 0800 movf _indf,w 11660 ; line_number = 162 11661 ;info 162, 2841 116620b19 00af movwf _float32_bexp 11663 ; line_number = 163 11664 ;info 163, 2842 116650b1a 0a84 incf _fsr,f 11666 ; line_number = 164 11667 ;info 164, 2843 116680b1b 0800 movf _indf,w 11669 ; line_number = 165 11670 ;info 165, 2844 116710b1c 00ae movwf _float32_bargb0 11672 ; line_number = 166 11673 ;info 166, 2845 116740b1d 0a84 incf _fsr,f 11675 ; line_number = 167 11676 ;info 167, 2846 116770b1e 0800 movf _indf,w 11678 ; line_number = 168 11679 ;info 168, 2847 116800b1f 00ad movwf _float32_bargb1 11681 ; line_number = 169 11682 ;info 169, 2848 116830b20 0a84 incf _fsr,f 11684 ; line_number = 170 11685 ;info 170, 2849 116860b21 0800 movf _indf,w 11687 ; line_number = 171 11688 ;info 171, 2850 116890b22 00ac movwf _float32_bargb2 11690 ; line_number = 172 11691 ;info 172, 2851 116920b23 2959 goto _float32_multiply 11693 11694 11695 ; delay after procedure statements=non-uniform 11696 ; Return instruction suppressed by 'return_suppress' 11697 11698 11699 11700 11701 ; line_number = 175 11702 ;info 175, 2852 11703 ; procedure _float32_pointer_subtract 11704 0b24 : _float32_pointer_subtract: 11705 ; Last argument is sitting in W; save into argument variable 117060b24 00c8 movwf _float32_pointer_subtract__pointer 11707 ; delay=4294967295 11708 ; line_number = 176 11709 ; argument pointer byte 11710000000c8 = _float32_pointer_subtract__pointer equ globals___1+40 11711 ; line_number = 177 11712 ; returns_nothing 11713 ; line_number = 178 11714 ; return_suppress 11715 11716 ; # This procedure will subtract {pointer} from the float32 A "register" 11717 ; # and store the result back into the A "register". 11718 11719 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11720 ; line_number = 183 11721 ; assemble 11722 ;info 183, 2853 11723 ; # Pointer is in W; move it to {_fsr}: 11724 ; line_number = 185 11725 ;info 185, 2853 117260b25 0084 movwf _fsr 11727 ; # Set up {_irp} and _{fsr}: 11728 ; line_number = 187 11729 ;info 187, 2854 117300b26 1383 bcf _irp___byte, _irp___bit 11731 ; line_number = 188 11732 ;info 188, 2855 117330b27 0d84 rlf _fsr,f 11734 ; line_number = 189 11735 ;info 189, 2856 117360b28 1803 btfsc _c___byte, _c___bit 11737 ; line_number = 190 11738 ;info 190, 2857 117390b29 1783 bsf _irp___byte, _irp___bit 11740 ; line_number = 191 11741 ;info 191, 2858 117420b2a 1004 bcf _fsr, 0 11743 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} 11744 ; line_number = 193 11745 ;info 193, 2859 117460b2b 0800 movf _indf,w 11747 ; line_number = 194 11748 ;info 194, 2860 117490b2c 00af movwf _float32_bexp 11750 ; line_number = 195 11751 ;info 195, 2861 117520b2d 0a84 incf _fsr,f 11753 ; line_number = 196 11754 ;info 196, 2862 117550b2e 0800 movf _indf,w 11756 ; line_number = 197 11757 ;info 197, 2863 117580b2f 00ae movwf _float32_bargb0 11759 ; line_number = 198 11760 ;info 198, 2864 117610b30 0a84 incf _fsr,f 11762 ; line_number = 199 11763 ;info 199, 2865 117640b31 0800 movf _indf,w 11765 ; line_number = 200 11766 ;info 200, 2866 117670b32 00ad movwf _float32_bargb1 11768 ; line_number = 201 11769 ;info 201, 2867 117700b33 0a84 incf _fsr,f 11771 ; line_number = 202 11772 ;info 202, 2868 117730b34 0800 movf _indf,w 11774 ; line_number = 203 11775 ;info 203, 2869 117760b35 00ac movwf _float32_bargb2 11777 ; line_number = 204 11778 ;info 204, 2870 117790b36 2a4c goto _float32_subtract 11780 11781 11782 ; delay after procedure statements=non-uniform 11783 ; Return instruction suppressed by 'return_suppress' 11784 11785 11786 11787 11788 ; line_number = 207 11789 ;info 207, 2871 11790 ; procedure _float32_pointer_store 11791 0b37 : _float32_pointer_store: 11792 ; Last argument is sitting in W; save into argument variable 117930b37 00c9 movwf _float32_pointer_store__pointer 11794 ; delay=4294967295 11795 ; line_number = 208 11796 ; argument pointer byte 11797000000c9 = _float32_pointer_store__pointer equ globals___1+41 11798 ; line_number = 209 11799 ; returns_nothing 11800 11801 ; # This procedure will store the float32 A "register" into {pointer}. 11802 11803 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11804 ; line_number = 213 11805 ; assemble 11806 ;info 213, 2872 11807 ; # Pointer is in W; move it to {_fsr}: 11808 ; line_number = 215 11809 ;info 215, 2872 118100b38 0084 movwf _fsr 11811 ; # Set up {_irp} and _{fsr}: 11812 ; line_number = 217 11813 ;info 217, 2873 118140b39 1383 bcf _irp___byte, _irp___bit 11815 ; line_number = 218 11816 ;info 218, 2874 118170b3a 0d84 rlf _fsr,f 11818 ; line_number = 219 11819 ;info 219, 2875 118200b3b 1803 btfsc _c___byte, _c___bit 11821 ; line_number = 220 11822 ;info 220, 2876 118230b3c 1783 bsf _irp___byte, _irp___bit 11824 ; line_number = 221 11825 ;info 221, 2877 118260b3d 1004 bcf _fsr, 0 11827 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} 11828 ; line_number = 223 11829 ;info 223, 2878 118300b3e 0828 movf _float32_aexp,w 11831 ; line_number = 224 11832 ;info 224, 2879 118330b3f 0080 movwf _indf 11834 ; line_number = 225 11835 ;info 225, 2880 118360b40 0a84 incf _fsr,f 11837 ; line_number = 226 11838 ;info 226, 2881 118390b41 0827 movf _float32_aargb0,w 11840 ; line_number = 227 11841 ;info 227, 2882 118420b42 0080 movwf _indf 11843 ; line_number = 228 11844 ;info 228, 2883 118450b43 0a84 incf _fsr,f 11846 ; line_number = 229 11847 ;info 229, 2884 118480b44 0826 movf _float32_aargb1,w 11849 ; line_number = 230 11850 ;info 230, 2885 118510b45 0080 movwf _indf 11852 ; line_number = 231 11853 ;info 231, 2886 118540b46 0a84 incf _fsr,f 11855 ; line_number = 232 11856 ;info 232, 2887 118570b47 0825 movf _float32_aargb2,w 11858 ; line_number = 233 11859 ;info 233, 2888 118600b48 0080 movwf _indf 11861 11862 11863 ; delay after procedure statements=non-uniform 11864 ; Implied return 118650b49 3400 retlw 0 11866 11867 11868 11869 11870 ; line_number = 236 11871 ;info 236, 2890 11872 ; procedure _float32_negate 11873 0b4a : _float32_negate: 11874 ; arguments_none 11875 ; line_number = 238 11876 ; returns_nothing 11877 11878 ; # This procedure will negate the float32 A registers. 11879 11880 ; # Flip the sign bit: 11881 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11882 ; line_number = 243 11883 ; assemble 11884 ;info 243, 2890 11885 ; line_number = 244 11886 ;info 244, 2890 118870b4a 3080 movlw 128 11888 ; line_number = 245 11889 ;info 245, 2891 118900b4b 06a7 xorwf _float32_aargb0,f 11891 11892 11893 ; delay after procedure statements=non-uniform 11894 ; Implied return 118950b4c 3400 retlw 0 11896 11897 11898 11899 11900 ; line_number = 248 11901 ;info 248, 2893 11902 ; procedure _float32_reciprocal 11903 0b4d : _float32_reciprocal: 11904 ; arguments_none 11905 ; line_number = 250 11906 ; returns_nothing 11907 11908 ; # This procedure will compute the reciprocal of the float32 A "register" 11909 ; # an store the result back into the float32 A "register". 11910 11911 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11912 ; line_number = 255 11913 ; assemble 11914 ;info 255, 2893 11915 ; # Move A register to B register: 11916 ; line_number = 257 11917 ;info 257, 2893 119180b4d 0828 movf _float32_aexp,w 11919 ; line_number = 258 11920 ;info 258, 2894 119210b4e 00af movwf _float32_bexp 11922 ; line_number = 259 11923 ;info 259, 2895 119240b4f 0827 movf _float32_aargb0,w 11925 ; line_number = 260 11926 ;info 260, 2896 119270b50 00ae movwf _float32_bargb0 11928 ; line_number = 261 11929 ;info 261, 2897 119300b51 0826 movf _float32_aargb1,w 11931 ; line_number = 262 11932 ;info 262, 2898 119330b52 00ad movwf _float32_bargb1 11934 ; line_number = 263 11935 ;info 263, 2899 119360b53 0825 movf _float32_aargb2,w 11937 ; line_number = 264 11938 ;info 264, 2900 119390b54 00ac movwf _float32_bargb2 11940 11941 ; # Now store 1 into A: 11942 ; line_number = 267 11943 ;info 267, 2901 119440b55 307f movlw 127 11945 ; line_number = 268 11946 ;info 268, 2902 119470b56 00a8 movwf _float32_aexp 11948 ; line_number = 269 11949 ;info 269, 2903 119500b57 01a7 clrf _float32_aargb0 11951 ; line_number = 270 11952 ;info 270, 2904 119530b58 01a6 clrf _float32_aargb1 11954 ; line_number = 271 11955 ;info 271, 2905 119560b59 01a5 clrf _float32_aargb2 11957 11958 ; # Now perform the division: 11959 ; line_number = 274 11960 ;info 274, 2906 119610b5a 29b7 goto _float32_divide 11962 11963 11964 ; delay after procedure statements=non-uniform 11965 ; Implied return 119660b5b 3400 retlw 0 11967 11968 11969 11970 11971 ; line_number = 277 11972 ;info 277, 2908 11973 ; procedure _float32_pointer_swap 11974 0b5c : _float32_pointer_swap: 11975 ; Last argument is sitting in W; save into argument variable 119760b5c 00ca movwf _float32_pointer_swap__pointer 11977 ; delay=4294967295 11978 ; line_number = 278 11979 ; argument pointer byte 11980000000ca = _float32_pointer_swap__pointer equ globals___1+42 11981 ; line_number = 279 11982 ; returns_nothing 11983 11984 ; # This procedure will swap the float32 A "register" with {pointer}: 11985 11986 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 11987 ; line_number = 283 11988 ; assemble 11989 ;info 283, 2909 11990 ; # Pointer is in W; move it to {_fsr}: 11991 ; line_number = 285 11992 ;info 285, 2909 119930b5d 0084 movwf _fsr 11994 ; # Set up {_irp} and _{fsr}: 11995 ; line_number = 287 11996 ;info 287, 2910 119970b5e 1383 bcf _irp___byte, _irp___bit 11998 ; line_number = 288 11999 ;info 288, 2911 120000b5f 0d84 rlf _fsr,f 12001 ; line_number = 289 12002 ;info 289, 2912 120030b60 1803 btfsc _c___byte, _c___bit 12004 ; line_number = 290 12005 ;info 290, 2913 120060b61 1783 bsf _irp___byte, _irp___bit 12007 ; line_number = 291 12008 ;info 291, 2914 120090b62 1004 bcf _fsr, 0 12010 12011 ; # Swap {pointer} with {_float32_aexp}: 12012 ; line_number = 294 12013 ;info 294, 2915 120140b63 0800 movf _indf,w 12015 ; line_number = 295 12016 ;info 295, 2916 120170b64 06a8 xorwf _float32_aexp,f 12018 ; line_number = 296 12019 ;info 296, 2917 120200b65 0628 xorwf _float32_aexp,w 12021 ; line_number = 297 12022 ;info 297, 2918 120230b66 06a8 xorwf _float32_aexp,f 12024 ; line_number = 298 12025 ;info 298, 2919 120260b67 0080 movwf _indf 12027 12028 ; # Swap {pointer}+1 with {_float32_aargb0}: 12029 ; line_number = 301 12030 ;info 301, 2920 120310b68 0a84 incf _fsr,f 12032 ; line_number = 302 12033 ;info 302, 2921 120340b69 0800 movf _indf,w 12035 ; line_number = 303 12036 ;info 303, 2922 120370b6a 06a7 xorwf _float32_aargb0,f 12038 ; line_number = 304 12039 ;info 304, 2923 120400b6b 0627 xorwf _float32_aargb0,w 12041 ; line_number = 305 12042 ;info 305, 2924 120430b6c 06a7 xorwf _float32_aargb0,f 12044 ; line_number = 306 12045 ;info 306, 2925 120460b6d 0080 movwf _indf 12047 12048 ; # Swap {pointer}+2 with {_float32_aargb1}: 12049 ; line_number = 309 12050 ;info 309, 2926 120510b6e 0a84 incf _fsr,f 12052 ; line_number = 310 12053 ;info 310, 2927 120540b6f 0800 movf _indf,w 12055 ; line_number = 311 12056 ;info 311, 2928 120570b70 06a6 xorwf _float32_aargb1,f 12058 ; line_number = 312 12059 ;info 312, 2929 120600b71 0626 xorwf _float32_aargb1,w 12061 ; line_number = 313 12062 ;info 313, 2930 120630b72 06a6 xorwf _float32_aargb1,f 12064 ; line_number = 314 12065 ;info 314, 2931 120660b73 0080 movwf _indf 12067 12068 ; # Swap {pointer}+3 with {_float32_aargb2}: 12069 ; line_number = 317 12070 ;info 317, 2932 120710b74 0a84 incf _fsr,f 12072 ; line_number = 318 12073 ;info 318, 2933 120740b75 0800 movf _indf,w 12075 ; line_number = 319 12076 ;info 319, 2934 120770b76 06a5 xorwf _float32_aargb2,f 12078 ; line_number = 320 12079 ;info 320, 2935 120800b77 0625 xorwf _float32_aargb2,w 12081 ; line_number = 321 12082 ;info 321, 2936 120830b78 06a5 xorwf _float32_aargb2,f 12084 ; line_number = 322 12085 ;info 322, 2937 120860b79 0080 movwf _indf 12087 12088 12089 ; delay after procedure statements=non-uniform 12090 ; Implied return 120910b7a 3400 retlw 0 12092 12093 12094 12095 12096000000cc = _float32_from_byte__0return equ globals___1+44 12097 ; line_number = 325 12098 ;info 325, 2939 12099 ; procedure _float32_from_byte 12100 0b7b : _float32_from_byte: 12101 ; Last argument is sitting in W; save into argument variable 121020b7b 00cb movwf _float32_from_byte__number 12103 ; delay=4294967295 12104 ; line_number = 326 12105 ; argument number byte 12106000000cb = _float32_from_byte__number equ globals___1+43 12107 ; line_number = 327 12108 ; returns float32 12109 12110 ; # This procedure will convert {number} into a float32 and return it. 12111 12112 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12113 ; line_number = 331 12114 ; _float32_aargb0 := 0 12115 ;info 331, 2940 121160b7c 01a7 clrf _float32_aargb0 12117 ; line_number = 332 12118 ; _float32_aargb1 := 0 12119 ;info 332, 2941 121200b7d 01a6 clrf _float32_aargb1 12121 ; line_number = 333 12122 ; _float32_aargb2 := number 12123 ;info 333, 2942 121240b7e 084b movf _float32_from_byte__number,w 121250b7f 00a5 movwf _float32_aargb2 12126 ; line_number = 334 12127 ; assemble 12128 ;info 334, 2944 12129 ; line_number = 335 12130 ;info 335, 2944 121310b80 2000 call _float32_from_integer24 12132 ; line_number = 336 12133 ;info 336, 2945 121340b81 3066 movlw _float32_from_byte__0return>>1 12135 ; line_number = 337 12136 ;info 337, 2946 121370b82 2337 call _float32_pointer_store 12138 ; line_number = 338 12139 ;info 338, 2947 121400b83 3400 retlw 0 12141 12142 12143 ; delay after procedure statements=non-uniform 12144 ; Exiting procedure with no return(s); infinite loop fail 12145 0b84 : _float32_from_byte__1: 121460b84 2b84 goto _float32_from_byte__1 12147 12148 12149 12150 12151 ; line_number = 341 12152 ;info 341, 2949 12153 ; procedure _float32_to_byte 12154 0b85 : _float32_to_byte: 12155 ; line_number = 342 12156 ; argument number float32 12157000000d0 = _float32_to_byte__number equ globals___1+48 12158 ; line_number = 343 12159 ; returns byte 12160 12161 ; # This procedure will convert {number} into a 8-bit integer and return it. 12162 12163 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12164 ; line_number = 347 12165 ; assemble 12166 ;info 347, 2949 12167 ; # Get the argument stored into the float32 "A" register: 12168 ; line_number = 349 12169 ;info 349, 2949 121700b85 3068 movlw _float32_to_byte__number>>1 12171 ; line_number = 350 12172 ;info 350, 2950 121730b86 2337 call _float32_pointer_store 12174 ; line_number = 351 12175 ;info 351, 2951 121760b87 208d call _float32_integer24_convert 12177 ; line_number = 352 12178 ; return _float32_aargb2 start 12179 ; line_number = 352 12180 ;info 352, 2952 121810b88 0825 movf _float32_aargb2,w 121820b89 0008 return 12183 ; line_number = 352 12184 ; return _float32_aargb2 done 12185 12186 12187 ; delay after procedure statements=non-uniform 12188 12189 12190 12191 12192 ; line_number = 355 12193 ;info 355, 2954 12194 ; procedure _float32_equals 12195 0b8a : _float32_equals: 12196 ; arguments_none 12197 ; line_number = 357 12198 ; returns_nothing 12199 12200 ; # This procedure will set the Z bit if register "A" is zero. 12201 12202 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12203 ; line_number = 361 12204 ; assemble 12205 ;info 361, 2954 12206 ; line_number = 362 12207 ;info 362, 2954 122080b8a 0828 movf _float32_aexp,w 12209 ; # Return is implicit 12210 12211 12212 ; delay after procedure statements=non-uniform 12213 ; Implied return 122140b8b 3400 retlw 0 12215 12216 12217 12218 12219 ; line_number = 366 12220 ;info 366, 2956 12221 ; procedure _float32_not_equal 12222 0b8c : _float32_not_equal: 12223 ; arguments_none 12224 ; line_number = 368 12225 ; returns_nothing 12226 12227 ; # This procedure will set the Z bit if register "A" is non-zero. 12228 12229 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12230 ; line_number = 372 12231 ; assemble 12232 ;info 372, 2956 12233 ; line_number = 373 12234 ;info 373, 2956 122350b8c 0828 movf _float32_aexp,w 12236 ; line_number = 374 12237 ;info 374, 2957 122380b8d 1d03 btfss _float32_status, _float32_z 12239 ; line_number = 375 12240 ;info 375, 2958 122410b8e 2b91 goto _float32_not_equal1 12242 ; # AEXP is zero; thus not_equal is false: 12243 ; line_number = 377 12244 ;info 377, 2959 122450b8f 1103 bcf _float32_status, _float32_z 12246 ; line_number = 378 12247 ;info 378, 2960 122480b90 3400 retlw 0 12249 ; line_number = 379 12250 0b91 : _float32_not_equal1: 12251 ; # AEXP is non-zero, the not_equal is true: 12252 ; line_number = 381 12253 ;info 381, 2961 122540b91 1503 bsf _float32_status, _float32_z 12255 ; # Return is implicit 12256 12257 12258 ; delay after procedure statements=non-uniform 12259 ; Implied return 122600b92 3400 retlw 0 12261 12262 12263 12264 12265 ; line_number = 385 12266 ;info 385, 2963 12267 ; procedure _float32_less_than 12268 0b93 : _float32_less_than: 12269 ; arguments_none 12270 ; line_number = 387 12271 ; returns_nothing 12272 12273 ; # This procedure will set the Z bit if register "A" is non-zero and 12274 ; # positive. 12275 12276 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12277 ; line_number = 392 12278 ; assemble 12279 ;info 392, 2963 12280 ; # Test AEXP for 0: 12281 ; line_number = 394 12282 ;info 394, 2963 122830b93 0827 movf _float32_aargb0,w 12284 ; line_number = 395 12285 ;info 395, 2964 122860b94 1903 btfsc _float32_status, _float32_z 12287 ; # AEXP=0; Z=1; clear Z: 12288 ; line_number = 397 12289 ;info 397, 2965 122900b95 2b99 goto _float32_less_than1 12291 ; # AEXP!=0; Z=0; Test sign 12292 ; line_number = 399 12293 ;info 399, 2966 122940b96 1ba7 btfsc _float32_aargb0, 7 12295 ; # Sign=1; Set Z 12296 ; line_number = 401 12297 ;info 401, 2967 122980b97 1503 bsf _float32_status, _float32_z 12299 ; line_number = 402 12300 ;info 402, 2968 123010b98 3400 retlw 0 12302 ; line_number = 403 12303 0b99 : _float32_less_than1: 12304 ; # AXP=0; Z=1; clear Z: 12305 ; line_number = 405 12306 ;info 405, 2969 123070b99 1103 bcf _float32_status, _float32_z 12308 ; # Return is implicit 12309 12310 12311 ; delay after procedure statements=non-uniform 12312 ; Implied return 123130b9a 3400 retlw 0 12314 12315 12316 12317 12318 ; line_number = 409 12319 ;info 409, 2971 12320 ; procedure _float32_less_than_or_equal 12321 0b9b : _float32_less_than_or_equal: 12322 ; arguments_none 12323 ; line_number = 411 12324 ; returns_nothing 12325 12326 ; # This procedure will set the Z bit if register "A" is zero or positive. 12327 12328 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12329 ; line_number = 415 12330 ; assemble 12331 ;info 415, 2971 12332 ; # Test AEXP for 0: 12333 ; line_number = 417 12334 ;info 417, 2971 123350b9b 0828 movf _float32_aexp,w 12336 ; line_number = 418 12337 ;info 418, 2972 123380b9c 1903 btfsc _float32_status, _float32_z 12339 ; # AEXP=0; Z=1; Return 12340 ; line_number = 420 12341 ;info 420, 2973 123420b9d 3400 retlw 0 12343 ; # AEXP!=0; Z=0; Test sign: 12344 ; line_number = 422 12345 ;info 422, 2974 123460b9e 1ba7 btfsc _float32_aargb0, 7 12347 ; # Sign=1; Set Z 12348 ; line_number = 424 12349 ;info 424, 2975 123500b9f 1503 bsf _float32_status, _float32_z 12351 ; # Return is implicit 12352 12353 12354 ; delay after procedure statements=non-uniform 12355 ; Implied return 123560ba0 3400 retlw 0 12357 12358 12359 12360 12361 ; line_number = 428 12362 ;info 428, 2977 12363 ; procedure _float32_greater_than 12364 0ba1 : _float32_greater_than: 12365 ; arguments_none 12366 ; line_number = 430 12367 ; returns_nothing 12368 12369 ; # This procedure will set the Z bit if register "A" is non-zero and 12370 ; # positive. 12371 12372 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12373 ; line_number = 435 12374 ; assemble 12375 ;info 435, 2977 12376 ; # Test AEXP for 0: 12377 ; line_number = 437 12378 ;info 437, 2977 123790ba1 0828 movf _float32_aexp,w 12380 ; line_number = 438 12381 ;info 438, 2978 123820ba2 1903 btfsc _float32_status, _float32_z 12383 ; # AEXP=0 Z=1; Clear Z and return: 12384 ; line_number = 440 12385 ;info 440, 2979 123860ba3 2ba7 goto _float32_greater_than1 12387 ; # AEXP!=0 Z=0; Test sign bit 12388 ; line_number = 442 12389 ;info 442, 2980 123900ba4 1fa7 btfss _float32_aargb0, 7 12391 ; # Sign bit=0; Set Z 12392 ; line_number = 444 12393 ;info 444, 2981 123940ba5 1503 bsf _float32_status, _float32_z 12395 ; line_number = 445 12396 ;info 445, 2982 123970ba6 3400 retlw 0 12398 ; line_number = 446 12399 0ba7 : _float32_greater_than1: 12400 ; # AEXP=0 Z=1; Clear Z and return: 12401 ; line_number = 448 12402 ;info 448, 2983 124030ba7 1103 bcf _float32_status, _float32_z 12404 ; # Return is implicit 12405 12406 12407 ; delay after procedure statements=non-uniform 12408 ; Implied return 124090ba8 3400 retlw 0 12410 12411 12412 12413 12414 ; line_number = 452 12415 ;info 452, 2985 12416 ; procedure _float32_greater_than_or_equal 12417 0ba9 : _float32_greater_than_or_equal: 12418 ; arguments_none 12419 ; line_number = 454 12420 ; returns_nothing 12421 12422 ; # This procedure will set the Z bit if register "A" is zero or positive. 12423 12424 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:X1=cu=>X1) 12425 ; line_number = 458 12426 ; assemble 12427 ;info 458, 2985 12428 ; # Test AEXP for 0: 12429 ; line_number = 460 12430 ;info 460, 2985 124310ba9 0828 movf _float32_aexp,w 12432 ; line_number = 461 12433 ;info 461, 2986 124340baa 1903 btfsc _float32_status, _float32_z 12435 ; # AEXP=0; Z=1; We can return 12436 ; line_number = 463 12437 ;info 463, 2987 124380bab 3400 retlw 0 12439 ; # AEXP!=0; Z=0; now check sign 12440 ; line_number = 465 12441 ;info 465, 2988 124420bac 1fa7 btfss _float32_aargb0, 7 12443 ; # Sign=0; Set Z 12444 ; line_number = 467 12445 ;info 467, 2989 124460bad 1503 bsf _float32_status, _float32_z 12447 ; # Return is implicit 12448 12449 12450 ; delay after procedure statements=non-uniform 12451 ; Implied return 124520bae 3400 retlw 0 12453 12454 12455 12456 12457 ; Configuration bits 12458 ; address = 0x2007, fill = 0x3000 12459 ; fcmen = off (0x0) 12460 ; ieso = off (0x0) 12461 ; boden = off (0x0) 12462 ; cpd = off (0x80) 12463 ; cp = off (0x40) 12464 ; mclre = off (0x0) 12465 ; pwrte = off (0x10) 12466 ; wdte = off (0x0) 12467 ; fosc = hs (0x2) 12468 ; 12498 = 0x30d2 12469 30d2 = __config 12498 12470 ; Define start addresses for data regions 12471 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 12472 ; Region="globals___0" Address=32" Size=80 Bytes=76 Bits=6 Available=3 12473 ; Region="globals___1" Address=160" Size=80 Bytes=76 Bits=0 Available=4 12474 ; Region="globals___2" Address=288" Size=80 Bytes=52 Bits=0 Available=28 12475 ; Region="shared___globals" Address=112" Size=16 Bytes=2 Bits=0 Available=14 12476 end