radix dec ; Code bank 0; Start address: 0; End address: 2047 org 0 ; Define start addresses for data regions shared___globals equ 112 globals___0 equ 32 globals___1 equ 160 globals___2 equ 272 globals___3 equ 400 __indf equ 0 __pcl equ 2 __status equ 3 __fsr equ 4 __c___byte equ 3 __c___bit equ 0 __z___byte equ 3 __z___bit equ 2 __rp0___byte equ 3 __rp0___bit equ 5 __rp1___byte equ 3 __rp1___bit equ 6 __irp___byte equ 3 __irp___bit equ 7 __pclath equ 10 __cb0___byte equ 10 __cb0___bit equ 3 __cb1___byte equ 10 __cb1___bit equ 4 ; # Copyright (c) 2006-2009 by Wayne C. Gramlich. ; # All rights reserved. ; # This firmware is for the Shaft2 RoboBricks module. It manages two ; # LS7366 shaft encoder chips. It can be used to just read the shaft ; # counter values or it can be used to perform deduced location ; # reckoning (aka "dead reckoning") for a differentially steered ; # robot. In the latter mode it can also keep track of the bearing ; # and distance to another location. It is strongly recommend that ; # you read the top level documentation *before* digging into this ; # code. ; # ; # The overall architecture is to have two processes called the ; # "location process" and the "UART process". The location process ; # is continuously reading the shaft encoder chips and recomputing ; # the current location and bearing. The UART process is strictly ; # interrupt driven and deals with I/O traffic to/from the RoboBricks2 ; # bus via the UART. There is very little synchronoziation between the ; # two processes, they run pretty much independently of one another. ; # ; # At the end of each computation cycle, the location process will ; # disable interrupts and make a copy of its results from "working" ; # memory into "stable" memory. This copy is performed quickly with ; # interrupts disabled to ensure that the interrupt driven UART process ; # will always see a consistent version of data in the "stable" memory. ; # ; # Similarly, every once and while, the client software will issue a ; # command to the UART process that causes it to make a copy from the ; # "stable" memory into "frozen" memory. Since "stable" memory is ; # always consistent (due to interrupts being diabled during the copy), ; # the "frozen" is also consistent. ; # ; # Alas, this architecture requires three copies of the interesting ; # data ("working", "stable", and "frozen"), which chews up memory ; # which is in short supply. ; # ; # Whenever the UART process needs to communicate status change ; # information down to the location process, it sets the appropriate ; # "request" bit. Every computation cycle, the location process ; # will query each request bit and perform the requested operation. ; # ; # Hopefully, this introduction in conjunction with the top level ; # documentation will help demistify the code below. ; # This module uses a PIC16f876A: ; buffer = 'shaft2' ; line_number = 47 ; library _pic16f876a entered ; # Copyright (c) 2004-2007 by Wayne C. Gramlich ; # All rights reserved. ; buffer = '_pic16f876a' ; line_number = 6 ; processor pic16f876a ; line_number = 7 ; configure_address 0x2007 ; line_number = 8 ; configure_fill 0x01030 ; line_number = 9 ; configure_option cp: off = 0x2000 ; line_number = 10 ; configure_option cp: on = 0x0000 ; line_number = 11 ; configure_option debug: on = 0x000 ; line_number = 12 ; configure_option debug: off = 0x800 ; line_number = 13 ; configure_option wrt: on = 0x000 ; line_number = 14 ; configure_option wrt: off = 0x300 ; line_number = 15 ; configure_option cpd: on = 0x000 ; line_number = 16 ; configure_option cpd: off = 0x100 ; line_number = 17 ; configure_option lvp: on = 0x80 ; line_number = 18 ; configure_option lvp: off = 0x00 ; line_number = 19 ; configure_option boren: on = 0x40 ; line_number = 20 ; configure_option boren: off = 0x00 ; line_number = 21 ; configure_option pwrte: on = 0 ; line_number = 22 ; configure_option pwrte: off = 8 ; line_number = 23 ; configure_option wdte: on = 4 ; line_number = 24 ; configure_option wdte: off = 0 ; line_number = 25 ; configure_option fosc: rc = 3 ; line_number = 26 ; configure_option fosc: hs = 2 ; line_number = 27 ; configure_option fosc: xt = 1 ; line_number = 28 ; configure_option fosc: lp = 0 ; line_number = 29 ; code_bank 0x0 : 0x7ff ; line_number = 30 ; code_bank 0x800 : 0xfff ; line_number = 31 ; code_bank 0x1000 : 0x17ff ; line_number = 32 ; code_bank 0x1800 : 0x1fff ; line_number = 33 ; data_bank 0x0 : 0x7f ; line_number = 34 ; data_bank 0x80 : 0xff ; line_number = 35 ; data_bank 0x100 : 0x17f ; line_number = 36 ; data_bank 0x180 : 0x1ff ; line_number = 37 ; global_region 0x20 : 0x6f ; line_number = 38 ; global_region 0xa0 : 0xef ; line_number = 39 ; global_region 0x110 : 0x16f ; line_number = 40 ; global_region 0x190 : 0x1ff ; line_number = 41 ; shared_region 0x70 : 0x7f ; line_number = 42 ; interrupts_possible ; line_number = 43 ; packages pdip = 28 ; line_number = 44 ; pin mclr, vpp, thv, mclr_unused ; line_number = 45 ; pin_bindings pdip = 1 ; line_number = 46 ; pin ra0_in, ra0_out, an0, ra0_unused ; line_number = 47 ; pin_bindings pdip = 2 ; line_number = 48 ; bind_to _porta@0 ; line_number = 49 ; or_if ra0_in _trisa 1 ; line_number = 50 ; or_if ra0_in _adcon1 7 ; line_number = 51 ; or_if ra0_in _adcon0 0 ; line_number = 52 ; or_if ra0_in _cmcon 7 ; line_number = 53 ; or_if ra0_out _trisa 0 ; line_number = 54 ; or_if ra0_out _adcon1 7 ; line_number = 55 ; or_if ra0_out _adcon0 0 ; line_number = 56 ; or_if ra0_out _cmcon 7 ; line_number = 57 ; or_if ra0_unused _trisa 1 ; line_number = 58 ; or_if ra0_unused _adcon1 7 ; line_number = 59 ; or_if ra0_unused _adcon0 0 ; line_number = 60 ; or_if ra0_unused _cmcon 7 ; line_number = 61 ; pin ra1_in, ra1_out, an1, ra1_unused ; line_number = 62 ; pin_bindings pdip = 3 ; line_number = 63 ; bind_to _porta@1 ; line_number = 64 ; or_if ra1_in _trisa 2 ; line_number = 65 ; or_if ra1_in _adcon1 7 ; line_number = 66 ; or_if ra1_in _adcon0 0 ; line_number = 67 ; or_if ra1_in _cmcon 7 ; line_number = 68 ; or_if ra1_out _trisa 0 ; line_number = 69 ; or_if ra1_out _adcon1 7 ; line_number = 70 ; or_if ra1_out _adcon0 0 ; line_number = 71 ; or_if ra1_out _cmcon 7 ; line_number = 72 ; or_if ra1_unused _trisa 2 ; line_number = 73 ; or_if ra1_unused _adcon1 7 ; line_number = 74 ; or_if ra1_unused _adcon0 0 ; line_number = 75 ; or_if ra1_unused _cmcon 7 ; line_number = 76 ; pin ra2_in, ra2_out, an2, vref_minus, ra2_unused ; line_number = 77 ; pin_bindings pdip = 4 ; line_number = 78 ; bind_to _porta@2 ; line_number = 79 ; or_if ra2_in _trisa 4 ; line_number = 80 ; or_if ra2_in _adcon1 7 ; line_number = 81 ; or_if ra2_in _adcon0 0 ; line_number = 82 ; or_if ra2_in _cmcon 7 ; line_number = 83 ; or_if ra2_out _trisa 0 ; line_number = 84 ; or_if ra2_out _adcon1 7 ; line_number = 85 ; or_if ra2_out _adcon0 0 ; line_number = 86 ; or_if ra2_out _cmcon 7 ; line_number = 87 ; or_if ra2_unused _trisa 4 ; line_number = 88 ; or_if ra2_unused _adcon1 7 ; line_number = 89 ; or_if ra2_unused _adcon0 0 ; line_number = 90 ; or_if ra2_unused _cmcon 7 ; line_number = 91 ; pin ra3_in, ra3_out, an3, vrev_plus, ra3_unused ; line_number = 92 ; pin_bindings pdip = 5 ; line_number = 93 ; bind_to _porta@3 ; line_number = 94 ; or_if ra3_in _trisa 8 ; line_number = 95 ; or_if ra3_in _adcon1 7 ; line_number = 96 ; or_if ra3_in _adcon0 0 ; line_number = 97 ; or_if ra3_in _cmcon 7 ; line_number = 98 ; or_if ra3_out _trisa 0 ; line_number = 99 ; or_if ra3_out _adcon1 7 ; line_number = 100 ; or_if ra3_out _adcon0 0 ; line_number = 101 ; or_if ra3_out _cmcon 7 ; line_number = 102 ; or_if ra3_unused _trisa 8 ; line_number = 103 ; or_if ra3_unused _adcon1 7 ; line_number = 104 ; or_if ra3_unused _adcon0 0 ; line_number = 105 ; or_if ra3_unused _cmcon 7 ; line_number = 106 ; pin ra4_in, ra4_out, t0cki, ra4_unused ; line_number = 107 ; pin_bindings pdip = 6 ; line_number = 108 ; bind_to _porta@4 ; line_number = 109 ; or_if ra4_in _trisa 16 ; line_number = 110 ; or_if ra4_in _adcon1 7 ; line_number = 111 ; or_if ra4_in _adcon0 0 ; line_number = 112 ; or_if ra4_out _trisa 0 ; line_number = 113 ; or_if ra4_out _adcon1 7 ; line_number = 114 ; or_if ra4_out _adcon0 0 ; line_number = 115 ; or_if ra4_unused _trisa 16 ; line_number = 116 ; or_if ra4_unused _adcon1 7 ; line_number = 117 ; or_if ra4_unused _adcon0 0 ; line_number = 118 ; pin ra5_in, ra5_out, an4, ra5_unused ; line_number = 119 ; pin_bindings pdip = 7 ; line_number = 120 ; bind_to _porta@5 ; line_number = 121 ; or_if ra5_in _trisa 32 ; line_number = 122 ; or_if ra5_in _adcon1 7 ; line_number = 123 ; or_if ra5_in _adcon1 0 ; line_number = 124 ; or_if ra5_out _trisa 0 ; line_number = 125 ; or_if ra5_out _adcon1 7 ; line_number = 126 ; or_if ra5_out _adcon0 0 ; line_number = 127 ; or_if ra5_unused _trisa 32 ; line_number = 128 ; or_if ra5_unused _adcon1 7 ; line_number = 129 ; or_if ra5_unused _adcon1 0 ; line_number = 130 ; pin vss, ground ; line_number = 131 ; pin_bindings pdip = 8 ; line_number = 132 ; pin osc1, clkin ; line_number = 133 ; pin_bindings pdip = 9 ; line_number = 134 ; pin osc2, clkout ; line_number = 135 ; pin_bindings pdip = 10 ; line_number = 136 ; pin rc0_in, rc0_out, t1oso, t1cki, rc0_unused ; line_number = 137 ; pin_bindings pdip = 11 ; line_number = 138 ; bind_to _portc@0 ; line_number = 139 ; or_if rc0_in _trisc 1 ; line_number = 140 ; or_if rc0_in _adcon1 7 ; line_number = 141 ; or_if rc0_in _adcon0 0 ; line_number = 142 ; or_if rc0_out _trisc 0 ; line_number = 143 ; or_if rc0_out _adcon1 7 ; line_number = 144 ; or_if rc0_out _adcon0 0 ; line_number = 145 ; or_if rc0_unused _trisc 1 ; line_number = 146 ; or_if rc0_unused _adcon1 7 ; line_number = 147 ; or_if rc0_unused _adcon0 0 ; line_number = 148 ; pin rc1_in, rc1_out, t1osi, ccp2, rc1_unused ; line_number = 149 ; pin_bindings pdip = 12 ; line_number = 150 ; bind_to _portc@1 ; line_number = 151 ; or_if rc1_in _trisc 2 ; line_number = 152 ; or_if rc1_in _adcon1 7 ; line_number = 153 ; or_if rc1_in _adcon0 0 ; line_number = 154 ; or_if rc1_out _trisc 0 ; line_number = 155 ; or_if rc1_out _adcon1 7 ; line_number = 156 ; or_if rc1_out _adcon0 0 ; line_number = 157 ; or_if rc1_unused _trisc 2 ; line_number = 158 ; or_if rc1_unused _adcon1 7 ; line_number = 159 ; or_if rc1_unused _adcon0 0 ; line_number = 160 ; pin rc2_in, rc2_out, ccp1, rc2_unused ; line_number = 161 ; pin_bindings pdip = 13 ; line_number = 162 ; bind_to _portc@2 ; line_number = 163 ; or_if rc2_in _trisc 4 ; line_number = 164 ; or_if rc2_in _adcon1 7 ; line_number = 165 ; or_if rc2_in _adcon0 0 ; line_number = 166 ; or_if rc2_out _trisc 0 ; line_number = 167 ; or_if rc2_out _adcon1 7 ; line_number = 168 ; or_if rc2_out _adcon0 0 ; line_number = 169 ; or_if rc2_unused _trisc 4 ; line_number = 170 ; or_if rc2_unused _adcon1 7 ; line_number = 171 ; or_if rc2_unused _adcon0 0 ; line_number = 172 ; pin rc3_in, rc3_out, sck_master, sck_slave, scl, rc3_unused ; line_number = 173 ; pin_bindings pdip = 14 ; line_number = 174 ; bind_to _portc@3 ; line_number = 175 ; or_if rc3_in _trisc 8 ; line_number = 176 ; or_if rc3_in _adcon1 7 ; line_number = 177 ; or_if rc3_in _adcon0 0 ; line_number = 178 ; or_if rc3_out _trisc 0 ; line_number = 179 ; or_if rc3_out _adcon1 7 ; line_number = 180 ; or_if rc3_out _adcon0 0 ; line_number = 181 ; or_if sck_slave _trisc 8 ; line_number = 182 ; or_if sck_slave _adcon1 7 ; line_number = 183 ; or_if sck_slave _adcon0 0 ; line_number = 184 ; or_if sck_master _trisc 0 ; line_number = 185 ; or_if sck_master _adcon1 7 ; line_number = 186 ; or_if sck_master _adcon0 0 ; line_number = 187 ; or_if rc3_unused _trisc 8 ; line_number = 188 ; or_if rc3_unused _adcon1 7 ; line_number = 189 ; or_if rc3_unused _adcon0 0 ; line_number = 190 ; pin rc4_in, rc4_out, sdi, sda, rc4_unused ; line_number = 191 ; pin_bindings pdip = 15 ; line_number = 192 ; bind_to _portc@4 ; line_number = 193 ; or_if rc4_in _trisc 16 ; line_number = 194 ; or_if rc4_in _adcon1 7 ; line_number = 195 ; or_if rc4_in _adcon0 0 ; line_number = 196 ; or_if rc4_out _trisc 0 ; line_number = 197 ; or_if rc4_out _adcon1 7 ; line_number = 198 ; or_if rc4_out _adcon0 0 ; line_number = 199 ; or_if sdi _trisc 16 ; line_number = 200 ; or_if sdi _adcon1 7 ; line_number = 201 ; or_if sdi _adcon0 0 ; line_number = 202 ; or_if rc4_unused _trisc 16 ; line_number = 203 ; or_if rc4_unused _adcon1 7 ; line_number = 204 ; or_if rc4_unused _adcon0 0 ; line_number = 205 ; pin rc5_in, rc5_out, sdo, rc5_unused ; line_number = 206 ; pin_bindings pdip = 16 ; line_number = 207 ; bind_to _portc@5 ; line_number = 208 ; or_if rc5_in _trisc 32 ; line_number = 209 ; or_if rc5_in _adcon1 7 ; line_number = 210 ; or_if rc5_in _adcon0 0 ; line_number = 211 ; or_if rc5_out _trisc 0 ; line_number = 212 ; or_if rc5_out _adcon1 7 ; line_number = 213 ; or_if rc5_out _adcon0 0 ; line_number = 214 ; or_if sdo _trisc 0 ; line_number = 215 ; or_if sdo _adcon1 7 ; line_number = 216 ; or_if sdo _adcon0 0 ; line_number = 217 ; or_if rc5_unused _trisc 32 ; line_number = 218 ; or_if rc5_unused _adcon1 7 ; line_number = 219 ; or_if rc5_unused _adcon0 0 ; line_number = 220 ; pin rc6_in, rc6_out, tx, ck, rc6_unused ; line_number = 221 ; pin_bindings pdip = 17 ; line_number = 222 ; bind_to _portc@6 ; line_number = 223 ; or_if rc6_in _trisc 64 ; line_number = 224 ; or_if rc6_in _adcon1 7 ; line_number = 225 ; or_if rc6_in _adcon0 0 ; line_number = 226 ; or_if rc6_out _trisc 0 ; line_number = 227 ; or_if rc6_out _adcon1 7 ; line_number = 228 ; or_if rc6_out _adcon0 0 ; line_number = 229 ; or_if tx _trisc 0 ; line_number = 230 ; or_if tx _adcon1 7 ; line_number = 231 ; or_if tx _adcon0 0 ; line_number = 232 ; or_if rc6_unused _trisc 64 ; line_number = 233 ; or_if rc6_unused _adcon1 7 ; line_number = 234 ; or_if rc6_unused _adcon0 0 ; line_number = 235 ; pin rc7_in, rc7_out, rx, dt, rc7_unused ; line_number = 236 ; pin_bindings pdip = 18 ; line_number = 237 ; bind_to _portc@7 ; line_number = 238 ; or_if rc7_in _trisc 128 ; line_number = 239 ; or_if rc7_in _adcon1 7 ; line_number = 240 ; or_if rc7_in _adcon0 0 ; line_number = 241 ; or_if rx _trisc 128 ; line_number = 242 ; or_if rx _adcon1 7 ; line_number = 243 ; or_if rx _adcon0 0 ; line_number = 244 ; or_if rc7_out _trisc 0 ; line_number = 245 ; or_if rc7_out _adcon1 7 ; line_number = 246 ; or_if rc7_out _adcon0 0 ; line_number = 247 ; or_if rc7_unused _trisc 128 ; line_number = 248 ; or_if rc7_unused _adcon1 7 ; line_number = 249 ; or_if rc7_unused _adcon0 0 ; line_number = 250 ; pin vss2, ground2 ; line_number = 251 ; pin_bindings pdip = 19 ; line_number = 252 ; pin vdd, power_supply ; line_number = 253 ; pin_bindings pdip = 20 ; line_number = 254 ; pin rb0_in, rb0_out, int, rb0_unused ; line_number = 255 ; pin_bindings pdip = 21 ; line_number = 256 ; bind_to _portb@0 ; line_number = 257 ; or_if rb0_in _trisb 1 ; line_number = 258 ; or_if rb0_in _adcon1 7 ; line_number = 259 ; or_if rb0_in _adcon0 0 ; line_number = 260 ; or_if rb0_out _trisb 0 ; line_number = 261 ; or_if rb0_out _adcon1 7 ; line_number = 262 ; or_if rb0_out _adcon0 0 ; line_number = 263 ; or_if rb0_unused _trisb 1 ; line_number = 264 ; or_if rb0_unused _adcon1 7 ; line_number = 265 ; or_if rb0_unused _adcon0 0 ; line_number = 266 ; pin rb1_in, rb1_out, rb1_unused ; line_number = 267 ; pin_bindings pdip = 22 ; line_number = 268 ; bind_to _portb@1 ; line_number = 269 ; or_if rb1_in _trisb 2 ; line_number = 270 ; or_if rb1_in _adcon1 7 ; line_number = 271 ; or_if rb1_in _adcon0 0 ; line_number = 272 ; or_if rb1_out _trisb 0 ; line_number = 273 ; or_if rb1_out _adcon1 7 ; line_number = 274 ; or_if rb1_out _adcon0 0 ; line_number = 275 ; or_if rb1_unused _trisb 2 ; line_number = 276 ; or_if rb1_unused _adcon1 7 ; line_number = 277 ; or_if rb1_unused _adcon0 0 ; line_number = 278 ; pin rb2_in, rb2_out, rb2_unused ; line_number = 279 ; pin_bindings pdip = 23 ; line_number = 280 ; bind_to _portb@2 ; line_number = 281 ; or_if rb2_in _trisb 4 ; line_number = 282 ; or_if rb2_in _adcon1 7 ; line_number = 283 ; or_if rb2_in _adcon0 0 ; line_number = 284 ; or_if rb2_out _trisb 0 ; line_number = 285 ; or_if rb2_out _adcon1 7 ; line_number = 286 ; or_if rb2_out _adcon0 0 ; line_number = 287 ; or_if rb2_unused _trisb 4 ; line_number = 288 ; or_if rb2_unused _adcon1 7 ; line_number = 289 ; or_if rb2_unused _adcon0 0 ; line_number = 290 ; pin rb3_in, rb3_out, pgm, rb3_unused ; line_number = 291 ; pin_bindings pdip = 24 ; line_number = 292 ; bind_to _portb@3 ; line_number = 293 ; or_if rb3_in _trisb 8 ; line_number = 294 ; or_if rb3_in _adcon1 7 ; line_number = 295 ; or_if rb3_in _adcon0 0 ; line_number = 296 ; or_if rb3_out _trisb 0 ; line_number = 297 ; or_if rb3_out _adcon1 7 ; line_number = 298 ; or_if rb3_out _adcon0 0 ; line_number = 299 ; or_if rb3_unused _trisb 8 ; line_number = 300 ; or_if rb3_unused _adcon1 7 ; line_number = 301 ; or_if rb3_unused _adcon0 0 ; line_number = 302 ; pin rb4_in, rb4_out, rb4_unused ; line_number = 303 ; pin_bindings pdip = 25 ; line_number = 304 ; bind_to _portb@4 ; line_number = 305 ; or_if rb4_in _trisb 16 ; line_number = 306 ; or_if rb4_in _adcon1 7 ; line_number = 307 ; or_if rb4_in _adcon0 0 ; line_number = 308 ; or_if rb4_out _trisb 0 ; line_number = 309 ; or_if rb4_out _adcon1 7 ; line_number = 310 ; or_if rb4_out _adcon0 0 ; line_number = 311 ; or_if rb4_unused _trisb 16 ; line_number = 312 ; or_if rb4_unused _adcon1 7 ; line_number = 313 ; or_if rb4_unused _adcon0 0 ; line_number = 314 ; pin rb5_in, rb5_out, rb5_unused ; line_number = 315 ; pin_bindings pdip = 26 ; line_number = 316 ; bind_to _portb@5 ; line_number = 317 ; or_if rb5_in _trisb 32 ; line_number = 318 ; or_if rb5_in _adcon1 7 ; line_number = 319 ; or_if rb5_in _adcon0 0 ; line_number = 320 ; or_if rb5_out _trisb 0 ; line_number = 321 ; or_if rb5_out _adcon1 7 ; line_number = 322 ; or_if rb5_out _adcon0 0 ; line_number = 323 ; or_if rb5_unused _trisb 32 ; line_number = 324 ; or_if rb5_unused _adcon1 7 ; line_number = 325 ; or_if rb5_unused _adcon0 0 ; line_number = 326 ; pin rb6_in, rb6_out, pgc, rb6_unused ; line_number = 327 ; pin_bindings pdip = 27 ; line_number = 328 ; bind_to _portb@6 ; line_number = 329 ; or_if rb6_in _trisb 64 ; line_number = 330 ; or_if rb6_in _adcon1 7 ; line_number = 331 ; or_if rb6_in _adcon0 0 ; line_number = 332 ; or_if rb6_out _trisb 0 ; line_number = 333 ; or_if rb6_out _adcon1 7 ; line_number = 334 ; or_if rb6_out _adcon0 0 ; line_number = 335 ; or_if rb6_unused _trisb 64 ; line_number = 336 ; or_if rb6_unused _adcon1 7 ; line_number = 337 ; or_if rb6_unused _adcon0 0 ; line_number = 338 ; pin rb7_in, rb7_out, pgd, rb7_unused ; line_number = 339 ; pin_bindings pdip = 28 ; line_number = 340 ; bind_to _portb@7 ; line_number = 341 ; or_if rb7_in _trisb 128 ; line_number = 342 ; or_if rb7_in _adcon1 7 ; line_number = 343 ; or_if rb7_in _adcon0 0 ; line_number = 344 ; or_if rb7_out _trisb 0 ; line_number = 345 ; or_if rb7_out _adcon1 7 ; line_number = 346 ; or_if rb7_out _adcon0 0 ; line_number = 347 ; or_if rb7_unused _trisb 128 ; line_number = 348 ; or_if rb7_unused _adcon1 7 ; line_number = 349 ; or_if rb7_unused _adcon0 0 ; # Register and pin definitions: ; line_number = 356 ; library _pic16f87x entered ; # Copyright (c) 2004-2006 by Wayne C. Gramlich ; # All rights reserved. ; # Common declarations for PIC16F87x series microcontrollers: ; buffer = '_pic16f87x' ; line_number = 8 ; library _standard entered ; # Copyright (c) 2006 by Wayne C. Gramlich ; # All rights reserved. ; # Standard definition for uCL: ; buffer = '_standard' ; line_number = 8 ; constant _true = (1 = 1) _true equ 1 ; line_number = 9 ; constant _false = (0 != 0) _false equ 0 ; buffer = '_pic16f87x' ; line_number = 8 ; library _standard exited ; # Register and pin definitions: ; # Bank 0: ; line_number = 14 ; register _indf = _indf equ 0 ; line_number = 16 ; register _tmr0 = _tmr0 equ 1 ; line_number = 18 ; register _pcl = _pcl equ 2 ; line_number = 20 ; register _status = _status equ 3 ; line_number = 21 ; bind _irp = _status@7 _irp___byte equ _status _irp___bit equ 7 ; line_number = 22 ; bind _rp1 = _status@6 _rp1___byte equ _status _rp1___bit equ 6 ; line_number = 23 ; bind _rp0 = _status@5 _rp0___byte equ _status _rp0___bit equ 5 ; line_number = 24 ; bind _to = _status@4 _to___byte equ _status _to___bit equ 4 ; line_number = 25 ; bind _pd = _status@3 _pd___byte equ _status _pd___bit equ 3 ; line_number = 26 ; bind _z = _status@2 _z___byte equ _status _z___bit equ 2 ; line_number = 27 ; bind _dc = _status@1 _dc___byte equ _status _dc___bit equ 1 ; line_number = 28 ; bind _c = _status@0 _c___byte equ _status _c___bit equ 0 ; line_number = 30 ; register _fsr = _fsr equ 4 ; line_number = 32 ; register _porta = _porta equ 5 ; line_number = 34 ; register _portb = _portb equ 6 ; line_number = 36 ; register _portc = _portc equ 7 ; line_number = 38 ; register _pclath = _pclath equ 10 ; line_number = 40 ; register _intcon = _intcon equ 11 ; line_number = 41 ; bind _gie = _intcon@7 _gie___byte equ _intcon _gie___bit equ 7 ; line_number = 42 ; bind _peie = _intcon@6 _peie___byte equ _intcon _peie___bit equ 6 ; line_number = 43 ; bind _t0ie = _intcon@5 _t0ie___byte equ _intcon _t0ie___bit equ 5 ; line_number = 44 ; bind _inte = _intcon@4 _inte___byte equ _intcon _inte___bit equ 4 ; line_number = 45 ; bind _rbie = _intcon@3 _rbie___byte equ _intcon _rbie___bit equ 3 ; line_number = 46 ; bind _t0if = _intcon@2 _t0if___byte equ _intcon _t0if___bit equ 2 ; line_number = 47 ; bind _intf = _intcon@1 _intf___byte equ _intcon _intf___bit equ 1 ; line_number = 48 ; bind _rbf = _intcon@0 _rbf___byte equ _intcon _rbf___bit equ 0 ; line_number = 50 ; register _pir1 = _pir1 equ 12 ; line_number = 51 ; bind _pspif = _pir1@7 _pspif___byte equ _pir1 _pspif___bit equ 7 ; line_number = 52 ; bind _adif = _pir1@6 _adif___byte equ _pir1 _adif___bit equ 6 ; line_number = 53 ; bind _rcif = _pir1@5 _rcif___byte equ _pir1 _rcif___bit equ 5 ; line_number = 54 ; bind _txif = _pir1@4 _txif___byte equ _pir1 _txif___bit equ 4 ; line_number = 55 ; bind _sspif = _pir1@3 _sspif___byte equ _pir1 _sspif___bit equ 3 ; line_number = 56 ; bind _ccpif = _pir1@2 _ccpif___byte equ _pir1 _ccpif___bit equ 2 ; line_number = 57 ; bind _tmr2if = _pir1@1 _tmr2if___byte equ _pir1 _tmr2if___bit equ 1 ; line_number = 58 ; bind _tmr1if = _pir1@0 _tmr1if___byte equ _pir1 _tmr1if___bit equ 0 ; line_number = 60 ; register _pir2 = _pir2 equ 13 ; line_number = 61 ; bind _eeif = _pir2@4 _eeif___byte equ _pir2 _eeif___bit equ 4 ; line_number = 62 ; bind _bclif = _pir2@3 _bclif___byte equ _pir2 _bclif___bit equ 3 ; line_number = 63 ; bind _ccp2if = _pir2@0 _ccp2if___byte equ _pir2 _ccp2if___bit equ 0 ; line_number = 65 ; register _tmr1l = _tmr1l equ 14 ; line_number = 67 ; register _tmr1h = _tmr1h equ 15 ; line_number = 69 ; register _t1con = _t1con equ 16 ; line_number = 70 ; bind _t1ckps1 = _t1con@5 _t1ckps1___byte equ _t1con _t1ckps1___bit equ 5 ; line_number = 71 ; bind _t1ckps0 = _t1con@4 _t1ckps0___byte equ _t1con _t1ckps0___bit equ 4 ; line_number = 72 ; bind _t1oscen = _t1con@3 _t1oscen___byte equ _t1con _t1oscen___bit equ 3 ; line_number = 73 ; bind _t1sync = _t1con@2 _t1sync___byte equ _t1con _t1sync___bit equ 2 ; line_number = 74 ; bind _tmr1cs = _t1con@1 _tmr1cs___byte equ _t1con _tmr1cs___bit equ 1 ; line_number = 75 ; bind _tmr1on = _t1con@0 _tmr1on___byte equ _t1con _tmr1on___bit equ 0 ; line_number = 77 ; register _tmr2 = _tmr2 equ 17 ; line_number = 79 ; register _t2con = _t2con equ 18 ; line_number = 80 ; bind _toutps3 = _t2con@6 _toutps3___byte equ _t2con _toutps3___bit equ 6 ; line_number = 81 ; bind _toutps2 = _t2con@5 _toutps2___byte equ _t2con _toutps2___bit equ 5 ; line_number = 82 ; bind _toutps1 = _t2con@4 _toutps1___byte equ _t2con _toutps1___bit equ 4 ; line_number = 83 ; bind _toutps0 = _t2con@3 _toutps0___byte equ _t2con _toutps0___bit equ 3 ; line_number = 84 ; bind _tmr2on = _t2con@2 _tmr2on___byte equ _t2con _tmr2on___bit equ 2 ; line_number = 85 ; bind _t2ckps1 = _t2con@1 _t2ckps1___byte equ _t2con _t2ckps1___bit equ 1 ; line_number = 86 ; bind _t2ckps0 = _t2con@0 _t2ckps0___byte equ _t2con _t2ckps0___bit equ 0 ; line_number = 88 ; register _sspbuf = _sspbuf equ 19 ; line_number = 90 ; register _sspcon = _sspcon equ 20 ; line_number = 91 ; bind _wcol = _sspcon@7 _wcol___byte equ _sspcon _wcol___bit equ 7 ; line_number = 92 ; bind _sspov = _sspcon@6 _sspov___byte equ _sspcon _sspov___bit equ 6 ; line_number = 93 ; bind _sspen = _sspcon@5 _sspen___byte equ _sspcon _sspen___bit equ 5 ; line_number = 94 ; bind _ckp = _sspcon@4 _ckp___byte equ _sspcon _ckp___bit equ 4 ; line_number = 95 ; bind _sspm3 = _sspcon@3 _sspm3___byte equ _sspcon _sspm3___bit equ 3 ; line_number = 96 ; bind _sspm2 = _sspcon@2 _sspm2___byte equ _sspcon _sspm2___bit equ 2 ; line_number = 97 ; bind _sspm1 = _sspcon@1 _sspm1___byte equ _sspcon _sspm1___bit equ 1 ; line_number = 98 ; bind _sspm0 = _sspcon@0 _sspm0___byte equ _sspcon _sspm0___bit equ 0 ; line_number = 100 ; register _ccpr1l = _ccpr1l equ 21 ; line_number = 102 ; register _ccpr1h = _ccpr1h equ 22 ; line_number = 104 ; register _ccp1con = _ccp1con equ 23 ; line_number = 105 ; bind _ccp1x = _ccp1con@5 _ccp1x___byte equ _ccp1con _ccp1x___bit equ 5 ; line_number = 106 ; bind _ccp1y = _ccp1con@4 _ccp1y___byte equ _ccp1con _ccp1y___bit equ 4 ; line_number = 107 ; bind _ccp1m3 = _ccp1con@3 _ccp1m3___byte equ _ccp1con _ccp1m3___bit equ 3 ; line_number = 108 ; bind _ccp1m2 = _ccp1con@2 _ccp1m2___byte equ _ccp1con _ccp1m2___bit equ 2 ; line_number = 109 ; bind _ccp1m1 = _ccp1con@1 _ccp1m1___byte equ _ccp1con _ccp1m1___bit equ 1 ; line_number = 110 ; bind _ccp1m0 = _ccp1con@0 _ccp1m0___byte equ _ccp1con _ccp1m0___bit equ 0 ; line_number = 112 ; register _rcsta = _rcsta equ 24 ; line_number = 113 ; bind _spen = _rcsta@7 _spen___byte equ _rcsta _spen___bit equ 7 ; line_number = 114 ; bind _rx9 = _rcsta@6 _rx9___byte equ _rcsta _rx9___bit equ 6 ; line_number = 115 ; bind _sren = _rcsta@5 _sren___byte equ _rcsta _sren___bit equ 5 ; line_number = 116 ; bind _cren = _rcsta@4 _cren___byte equ _rcsta _cren___bit equ 4 ; line_number = 117 ; bind _adden = _rcsta@3 _adden___byte equ _rcsta _adden___bit equ 3 ; line_number = 118 ; bind _ferr = _rcsta@2 _ferr___byte equ _rcsta _ferr___bit equ 2 ; line_number = 119 ; bind _oerr = _rcsta@1 _oerr___byte equ _rcsta _oerr___bit equ 1 ; line_number = 120 ; bind _rx9d = _rcsta@0 _rx9d___byte equ _rcsta _rx9d___bit equ 0 ; line_number = 122 ; register _txreg = _txreg equ 25 ; line_number = 124 ; register _rcreg = _rcreg equ 26 ; line_number = 126 ; register _ccpr2l = _ccpr2l equ 27 ; line_number = 128 ; register _ccpr2h = _ccpr2h equ 28 ; line_number = 130 ; register _ccp2con = _ccp2con equ 29 ; line_number = 131 ; bind _ccp2x = _ccp2con@5 _ccp2x___byte equ _ccp2con _ccp2x___bit equ 5 ; line_number = 132 ; bind _ccp2y = _ccp2con@4 _ccp2y___byte equ _ccp2con _ccp2y___bit equ 4 ; line_number = 133 ; bind _ccp2m3 = _ccp2con@3 _ccp2m3___byte equ _ccp2con _ccp2m3___bit equ 3 ; line_number = 134 ; bind _ccp2m2 = _ccp2con@2 _ccp2m2___byte equ _ccp2con _ccp2m2___bit equ 2 ; line_number = 135 ; bind _ccp2m1 = _ccp2con@1 _ccp2m1___byte equ _ccp2con _ccp2m1___bit equ 1 ; line_number = 136 ; bind _ccp2m0 = _ccp2con@0 _ccp2m0___byte equ _ccp2con _ccp2m0___bit equ 0 ; line_number = 138 ; register _adresh = _adresh equ 30 ; line_number = 140 ; register _adcon0 = _adcon0 equ 31 ; line_number = 141 ; bind _adcs1 = _adcon0@7 _adcs1___byte equ _adcon0 _adcs1___bit equ 7 ; line_number = 142 ; bind _adcs0 = _adcon0@6 _adcs0___byte equ _adcon0 _adcs0___bit equ 6 ; line_number = 143 ; bind _chs2 = _adcon0@5 _chs2___byte equ _adcon0 _chs2___bit equ 5 ; line_number = 144 ; bind _chs1 = _adcon0@4 _chs1___byte equ _adcon0 _chs1___bit equ 4 ; line_number = 145 ; bind _chs0 = _adcon0@3 _chs0___byte equ _adcon0 _chs0___bit equ 3 ; line_number = 146 ; bind _go_done = _adcon0@2 _go_done___byte equ _adcon0 _go_done___bit equ 2 ; line_number = 147 ; bind _adon = _adcon0@0 _adon___byte equ _adcon0 _adon___bit equ 0 ; # Bank 1: ; line_number = 151 ; register _option_reg = _option_reg equ 129 ; line_number = 152 ; bind _rbpu = _option_reg@7 _rbpu___byte equ _option_reg _rbpu___bit equ 7 ; line_number = 153 ; bind _intedg = _option_reg@6 _intedg___byte equ _option_reg _intedg___bit equ 6 ; line_number = 154 ; bind _t0cs = _option_reg@5 _t0cs___byte equ _option_reg _t0cs___bit equ 5 ; line_number = 155 ; bind _t0se = _option_reg@4 _t0se___byte equ _option_reg _t0se___bit equ 4 ; line_number = 156 ; bind _psa = _option_reg@3 _psa___byte equ _option_reg _psa___bit equ 3 ; line_number = 157 ; bind _ps2 = _option_reg@2 _ps2___byte equ _option_reg _ps2___bit equ 2 ; line_number = 158 ; bind _ps1 = _option_reg@1 _ps1___byte equ _option_reg _ps1___bit equ 1 ; line_number = 159 ; bind _ps0 = _option_reg@0 _ps0___byte equ _option_reg _ps0___bit equ 0 ; line_number = 161 ; register _trisa = _trisa equ 133 ; line_number = 163 ; register _trisb = _trisb equ 134 ; line_number = 165 ; register _trisc = _trisc equ 135 ; line_number = 167 ; register _pie1 = _pie1 equ 140 ; line_number = 168 ; bind _pspie = _pie1@7 _pspie___byte equ _pie1 _pspie___bit equ 7 ; line_number = 169 ; bind _adie = _pie1@6 _adie___byte equ _pie1 _adie___bit equ 6 ; line_number = 170 ; bind _rcie = _pie1@5 _rcie___byte equ _pie1 _rcie___bit equ 5 ; line_number = 171 ; bind _txie = _pie1@4 _txie___byte equ _pie1 _txie___bit equ 4 ; line_number = 172 ; bind _sspie = _pie1@3 _sspie___byte equ _pie1 _sspie___bit equ 3 ; line_number = 173 ; bind _ccp1ie = _pie1@2 _ccp1ie___byte equ _pie1 _ccp1ie___bit equ 2 ; line_number = 174 ; bind _tmr2ie = _pie1@1 _tmr2ie___byte equ _pie1 _tmr2ie___bit equ 1 ; line_number = 175 ; bind _tmr1ie = _pie1@0 _tmr1ie___byte equ _pie1 _tmr1ie___bit equ 0 ; line_number = 177 ; register _pie2 = _pie2 equ 141 ; line_number = 178 ; bind _eeie = _pie2@4 _eeie___byte equ _pie2 _eeie___bit equ 4 ; line_number = 179 ; bind _bcie = _pie2@3 _bcie___byte equ _pie2 _bcie___bit equ 3 ; line_number = 180 ; bind _ccp2ie = _pie2@0 _ccp2ie___byte equ _pie2 _ccp2ie___bit equ 0 ; line_number = 182 ; register _pcon = _pcon equ 142 ; line_number = 183 ; bind _por = _pcon@1 _por___byte equ _pcon _por___bit equ 1 ; line_number = 184 ; bind _bor = _pcon@0 _bor___byte equ _pcon _bor___bit equ 0 ; line_number = 186 ; register _sspcon2 = _sspcon2 equ 145 ; line_number = 187 ; bind _gcen = _sspcon2@7 _gcen___byte equ _sspcon2 _gcen___bit equ 7 ; line_number = 188 ; bind _ackstat = _sspcon2@6 _ackstat___byte equ _sspcon2 _ackstat___bit equ 6 ; line_number = 189 ; bind _ackdt = _sspcon2@5 _ackdt___byte equ _sspcon2 _ackdt___bit equ 5 ; line_number = 190 ; bind _acken = _sspcon2@4 _acken___byte equ _sspcon2 _acken___bit equ 4 ; line_number = 191 ; bind _rcen = _sspcon2@3 _rcen___byte equ _sspcon2 _rcen___bit equ 3 ; line_number = 192 ; bind _pen = _sspcon2@2 _pen___byte equ _sspcon2 _pen___bit equ 2 ; line_number = 193 ; bind _rsen = _sspcon2@1 _rsen___byte equ _sspcon2 _rsen___bit equ 1 ; line_number = 194 ; bind _sen = _sspcon2@0 _sen___byte equ _sspcon2 _sen___bit equ 0 ; line_number = 196 ; register _pr2 = _pr2 equ 146 ; line_number = 198 ; register _sspadd = _sspadd equ 147 ; line_number = 200 ; register _sspstat = _sspstat equ 148 ; line_number = 201 ; bind _smp = _sspstat@7 _smp___byte equ _sspstat _smp___bit equ 7 ; line_number = 202 ; bind _cke = _sspstat@6 _cke___byte equ _sspstat _cke___bit equ 6 ; line_number = 203 ; bind _da = _sspstat@5 _da___byte equ _sspstat _da___bit equ 5 ; line_number = 204 ; bind _p = _sspstat@4 _p___byte equ _sspstat _p___bit equ 4 ; line_number = 205 ; bind _s = _sspstat@3 _s___byte equ _sspstat _s___bit equ 3 ; line_number = 206 ; bind _rw = _sspstat@2 _rw___byte equ _sspstat _rw___bit equ 2 ; line_number = 207 ; bind _ua = _sspstat@1 _ua___byte equ _sspstat _ua___bit equ 1 ; line_number = 208 ; bind _bf = _sspstat@0 _bf___byte equ _sspstat _bf___bit equ 0 ; line_number = 210 ; register _txsta = _txsta equ 152 ; line_number = 211 ; bind _csrc = _txsta@7 _csrc___byte equ _txsta _csrc___bit equ 7 ; line_number = 212 ; bind _tx9 = _txsta@6 _tx9___byte equ _txsta _tx9___bit equ 6 ; line_number = 213 ; bind _txen = _txsta@5 _txen___byte equ _txsta _txen___bit equ 5 ; line_number = 214 ; bind _sync = _txsta@4 _sync___byte equ _txsta _sync___bit equ 4 ; line_number = 215 ; bind _brgh = _txsta@2 _brgh___byte equ _txsta _brgh___bit equ 2 ; line_number = 216 ; bind _trmt = _txsta@1 _trmt___byte equ _txsta _trmt___bit equ 1 ; line_number = 217 ; bind _tx9d = _txsta@0 _tx9d___byte equ _txsta _tx9d___bit equ 0 ; line_number = 219 ; register _spbrg = _spbrg equ 153 ; line_number = 221 ; register _cmcon = _cmcon equ 156 ; line_number = 222 ; bind _c2out = _cmcon@7 _c2out___byte equ _cmcon _c2out___bit equ 7 ; line_number = 223 ; bind _c1out = _cmcon@6 _c1out___byte equ _cmcon _c1out___bit equ 6 ; line_number = 224 ; bind _c2inv = _cmcon@5 _c2inv___byte equ _cmcon _c2inv___bit equ 5 ; line_number = 225 ; bind _c1inv = _cmcon@4 _c1inv___byte equ _cmcon _c1inv___bit equ 4 ; line_number = 226 ; bind _cis = _cmcon@3 _cis___byte equ _cmcon _cis___bit equ 3 ; line_number = 227 ; bind _cm2 = _cmcon@2 _cm2___byte equ _cmcon _cm2___bit equ 2 ; line_number = 228 ; bind _cm1 = _cmcon@1 _cm1___byte equ _cmcon _cm1___bit equ 1 ; line_number = 229 ; bind _cm0 = _cmcon@0 _cm0___byte equ _cmcon _cm0___bit equ 0 ; line_number = 231 ; register _cvrcon = _cvrcon equ 157 ; line_number = 232 ; bind _cvren = _cvrcon@7 _cvren___byte equ _cvrcon _cvren___bit equ 7 ; line_number = 233 ; bind _cvroe = _cvrcon@6 _cvroe___byte equ _cvrcon _cvroe___bit equ 6 ; line_number = 234 ; bind _cvrr = _cvrcon@5 _cvrr___byte equ _cvrcon _cvrr___bit equ 5 ; line_number = 235 ; bind _cvr3 = _cvrcon@3 _cvr3___byte equ _cvrcon _cvr3___bit equ 3 ; line_number = 236 ; bind _cvr2 = _cvrcon@2 _cvr2___byte equ _cvrcon _cvr2___bit equ 2 ; line_number = 237 ; bind _cvr1 = _cvrcon@1 _cvr1___byte equ _cvrcon _cvr1___bit equ 1 ; line_number = 238 ; bind _cvr0 = _cvrcon@0 _cvr0___byte equ _cvrcon _cvr0___bit equ 0 ; line_number = 240 ; register _adresl = _adresl equ 158 ; line_number = 242 ; register _adcon1 = _adcon1 equ 159 ; line_number = 243 ; bind _adfm = _adcon1@7 _adfm___byte equ _adcon1 _adfm___bit equ 7 ; line_number = 244 ; bind _pcfg3 = _adcon1@3 _pcfg3___byte equ _adcon1 _pcfg3___bit equ 3 ; line_number = 245 ; bind _pcfg2 = _adcon1@2 _pcfg2___byte equ _adcon1 _pcfg2___bit equ 2 ; line_number = 246 ; bind _pcfg1 = _adcon1@1 _pcfg1___byte equ _adcon1 _pcfg1___bit equ 1 ; line_number = 247 ; bind _pcfg0 = _adcon1@0 _pcfg0___byte equ _adcon1 _pcfg0___bit equ 0 ; # Bank 2: ; line_number = 251 ; register _eedata = _eedata equ 268 ; line_number = 253 ; register _eeadr = _eeadr equ 269 ; line_number = 255 ; register _eedath = _eedath equ 270 ; line_number = 257 ; register _eeadrh = _eeadrh equ 271 ; # Bank 3: ; line_number = 261 ; register _eecon1 = _eecon1 equ 396 ; line_number = 262 ; bind _eepgd = _eecon1@7 _eepgd___byte equ _eecon1 _eepgd___bit equ 7 ; line_number = 263 ; bind _wrerr = _eecon1@3 _wrerr___byte equ _eecon1 _wrerr___bit equ 3 ; line_number = 264 ; bind _wren = _eecon1@2 _wren___byte equ _eecon1 _wren___bit equ 2 ; line_number = 265 ; bind _wr = _eecon1@1 _wr___byte equ _eecon1 _wr___bit equ 1 ; line_number = 266 ; bind _rd = _eecon1@0 _rd___byte equ _eecon1 _rd___bit equ 0 ; line_number = 268 ; register _eecon2 = _eecon2 equ 397 ; buffer = '_pic16f876a' ; line_number = 356 ; library _pic16f87x exited ; buffer = 'shaft2' ; line_number = 47 ; library _pic16f876a exited ; #library _pic16f876 # We use a PIC16F876 ; line_number = 49 ; library clock16mhz entered ; # Copyright (c) 2006 by Wayne C. Gramlich ; # All rights reserved. ; # This library defines the contstants {clock_rate}, {instruction_rate}, ; # and {clocks_per_instruction}. ; # Define processor constants: ; buffer = 'clock16mhz' ; line_number = 9 ; constant clock_rate = 16000000 clock_rate equ 16000000 ; line_number = 10 ; constant clocks_per_instruction = 4 clocks_per_instruction equ 4 ; line_number = 11 ; constant instruction_rate = clock_rate / clocks_per_instruction instruction_rate equ 4000000 ; buffer = 'shaft2' ; line_number = 49 ; library clock16mhz exited ; line_number = 50 ; library rb2_constants entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich. ; # All rights reserved. ; buffer = 'rb2_constants' ; line_number = 6 ; constant rb2_ok = 0xa5 rb2_ok equ 165 ; line_number = 8 ; constant rb2_common_address_set = 0xfc rb2_common_address_set equ 252 ; line_number = 9 ; constant rb2_common_id_next = 0xfd rb2_common_id_next equ 253 ; line_number = 10 ; constant rb2_common_id_start = 0xfe rb2_common_id_start equ 254 ; line_number = 11 ; constant rb2_common_deselect = 0xff rb2_common_deselect equ 255 ; line_number = 13 ; constant rb2_laser1_address = 1 rb2_laser1_address equ 1 ; line_number = 14 ; constant rb2_laser1_sense_read = 0 rb2_laser1_sense_read equ 0 ; line_number = 15 ; constant rb2_laser1_enable_read = 1 rb2_laser1_enable_read equ 1 ; line_number = 16 ; constant rb2_laser1_enable_clear = 2 rb2_laser1_enable_clear equ 2 ; line_number = 17 ; constant rb2_laser1_enable_set = 3 rb2_laser1_enable_set equ 3 ; line_number = 19 ; constant rb2_minimotor2_address = 2 rb2_minimotor2_address equ 2 ; line_number = 20 ; constant rb2_midimotor2_address = 3 rb2_midimotor2_address equ 3 ; line_number = 21 ; constant rb2_motor0_speed_get = 0 rb2_motor0_speed_get equ 0 ; line_number = 22 ; constant rb2_motor0_speed_set = 1 rb2_motor0_speed_set equ 1 ; line_number = 23 ; constant rb2_motor1_speed_get = 2 rb2_motor1_speed_get equ 2 ; line_number = 24 ; constant rb2_motor1_speed_set = 3 rb2_motor1_speed_set equ 3 ; line_number = 25 ; constant rb2_duty_cycle_get = 4 rb2_duty_cycle_get equ 4 ; line_number = 26 ; constant rb2_duty_cycle_set = 8 rb2_duty_cycle_set equ 8 ; line_number = 28 ; constant rb2_irdistance2_address = 4 rb2_irdistance2_address equ 4 ; line_number = 29 ; constant rb2_irdistance2_raw0_get = 0 rb2_irdistance2_raw0_get equ 0 ; line_number = 30 ; constant rb2_irdistance2_raw1_get = 1 rb2_irdistance2_raw1_get equ 1 ; line_number = 31 ; constant rb2_irdistance2_smooth0_get = 2 rb2_irdistance2_smooth0_get equ 2 ; line_number = 32 ; constant rb2_irdistance2_smooth1_get = 3 rb2_irdistance2_smooth1_get equ 3 ; line_number = 33 ; constant rb2_irdistance2_linear0_get = 4 rb2_irdistance2_linear0_get equ 4 ; line_number = 34 ; constant rb2_irdistance2_linear1_get = 6 rb2_irdistance2_linear1_get equ 6 ; line_number = 36 ; constant rb2_shaft2_address = 5 rb2_shaft2_address equ 5 ; line_number = 37 ; constant rb2_shaft2_count_latch = 0 rb2_shaft2_count_latch equ 0 ; line_number = 38 ; constant rb2_shaft2_count_clear = 1 rb2_shaft2_count_clear equ 1 ; line_number = 39 ; constant rb2_shaft2_shaft0_high_get = 2 rb2_shaft2_shaft0_high_get equ 2 ; line_number = 40 ; constant rb2_shaft2_shaft1_high_get = 3 rb2_shaft2_shaft1_high_get equ 3 ; line_number = 41 ; constant rb2_shaft2_continue_get = 4 rb2_shaft2_continue_get equ 4 ; line_number = 42 ; constant rb2_shaft2_shaft0_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft0_low_get equ 4 ; line_number = 43 ; constant rb2_shaft2_shaft1_low_get = rb2_shaft2_continue_get rb2_shaft2_shaft1_low_get equ 4 ; line_number = 44 ; constant rb2_shaft2_x_get = 0x10 rb2_shaft2_x_get equ 16 ; line_number = 45 ; constant rb2_shaft2_y_get = 0x11 rb2_shaft2_y_get equ 17 ; line_number = 46 ; constant rb2_shaft2_bearing16_get = 0x12 rb2_shaft2_bearing16_get equ 18 ; line_number = 47 ; constant rb2_shaft2_bearing8_get = 0x13 rb2_shaft2_bearing8_get equ 19 ; line_number = 48 ; constant rb2_shaft2_target_x_get = 0x14 rb2_shaft2_target_x_get equ 20 ; line_number = 49 ; constant rb2_shaft2_target_y_get = 0x15 rb2_shaft2_target_y_get equ 21 ; line_number = 50 ; constant rb2_shaft2_target_bearing16_get = 0x16 rb2_shaft2_target_bearing16_get equ 22 ; line_number = 51 ; constant rb2_shaft2_target_bearing8_get = 0x17 rb2_shaft2_target_bearing8_get equ 23 ; line_number = 52 ; constant rb2_shaft2_target_distance_get = 0x18 rb2_shaft2_target_distance_get equ 24 ; line_number = 53 ; constant rb2_shaft2_wheel_spacing_get = 0x19 rb2_shaft2_wheel_spacing_get equ 25 ; line_number = 54 ; constant rb2_shaft2_wheel_ticks_get = 0x1a rb2_shaft2_wheel_ticks_get equ 26 ; line_number = 55 ; constant rb2_shaft2_wheel_diameter_get = 0x1b rb2_shaft2_wheel_diameter_get equ 27 ; line_number = 56 ; constant rb2_shaft2_count_iteration_get = 0x1c rb2_shaft2_count_iteration_get equ 28 ; line_number = 57 ; constant rb2_shaft2_counter_signs_get = 0x1d rb2_shaft2_counter_signs_get equ 29 ; line_number = 58 ; constant rb2_shaft2_x_set = 0x20 rb2_shaft2_x_set equ 32 ; line_number = 59 ; constant rb2_shaft2_y_set = 0x21 rb2_shaft2_y_set equ 33 ; line_number = 60 ; constant rb2_shaft2_bearing16_set = 0x22 rb2_shaft2_bearing16_set equ 34 ; line_number = 61 ; constant rb2_shaft2_navigation_latch = 0x23 rb2_shaft2_navigation_latch equ 35 ; line_number = 62 ; constant rb2_shaft2_target_x_set = 0x24 rb2_shaft2_target_x_set equ 36 ; line_number = 63 ; constant rb2_shaft2_target_y_set = 0x25 rb2_shaft2_target_y_set equ 37 ; line_number = 64 ; constant rb2_shaft2_wheel_spacing_set = 0x29 rb2_shaft2_wheel_spacing_set equ 41 ; line_number = 65 ; constant rb2_shaft2_wheel_ticks_set = 0x2a rb2_shaft2_wheel_ticks_set equ 42 ; line_number = 66 ; constant rb2_shaft2_wheel_diameter_set = 0x2b rb2_shaft2_wheel_diameter_set equ 43 ; line_number = 67 ; constant rb2_shaft2_counter_signs_set = 0x2c rb2_shaft2_counter_signs_set equ 44 ; line_number = 69 ; constant rb2_orient5_address = 6 rb2_orient5_address equ 6 ; line_number = 71 ; constant rb2_compass8_address = 7 rb2_compass8_address equ 7 ; line_number = 73 ; constant rb2_io8_address = 8 rb2_io8_address equ 8 ; line_number = 74 ; constant rb2_io8_digital8_get = 0 rb2_io8_digital8_get equ 0 ; line_number = 75 ; constant rb2_io8_digital8_set = 1 rb2_io8_digital8_set equ 1 ; line_number = 76 ; constant rb2_io8_direction_get = 2 rb2_io8_direction_get equ 2 ; line_number = 77 ; constant rb2_io8_direction_set = 3 rb2_io8_direction_set equ 3 ; line_number = 78 ; constant rb2_io8_analog_mask_get = 4 rb2_io8_analog_mask_get equ 4 ; line_number = 79 ; constant rb2_io8_analog_mask_set = 5 rb2_io8_analog_mask_set equ 5 ; line_number = 80 ; constant rb2_io8_analog8_get = 0x10 rb2_io8_analog8_get equ 16 ; line_number = 81 ; constant rb2_io8_analog10_get = 0x18 rb2_io8_analog10_get equ 24 ; line_number = 82 ; constant rb2_low_set = 0x20 rb2_low_set equ 32 ; line_number = 83 ; constant rb2_high_set = 0x30 rb2_high_set equ 48 ; line_number = 85 ; constant rb2_sonar2_address = 9 rb2_sonar2_address equ 9 ; line_number = 87 ; constant rb2_voice1_address = 10 rb2_voice1_address equ 10 ; line_number = 89 ; constant rb2_servo4_address = 11 rb2_servo4_address equ 11 ; line_number = 90 ; constant rb2_servo4_servo0 = 0 rb2_servo4_servo0 equ 0 ; line_number = 91 ; constant rb2_servo4_servo1 = 1 rb2_servo4_servo1 equ 1 ; line_number = 92 ; constant rb2_servo4_servo2 = 2 rb2_servo4_servo2 equ 2 ; line_number = 93 ; constant rb2_servo4_servo3 = 3 rb2_servo4_servo3 equ 3 ; line_number = 94 ; constant rb2_servo4_quick_set = 0 rb2_servo4_quick_set equ 0 ; line_number = 95 ; constant rb2_servo4_quick_low = 0 rb2_servo4_quick_low equ 0 ; line_number = 96 ; constant rb2_servo4_quick_center = 40 rb2_servo4_quick_center equ 40 ; line_number = 97 ; constant rb2_servo4_quick_high = 0x7c rb2_servo4_quick_high equ 124 ; line_number = 98 ; constant rb2_servo4_high_low_set = 0x80 rb2_servo4_high_low_set equ 128 ; line_number = 99 ; constant rb2_servo4_short_high_low_set = 0x84 rb2_servo4_short_high_low_set equ 132 ; line_number = 100 ; constant rb2_servo4_high_set = 0x88 rb2_servo4_high_set equ 136 ; line_number = 101 ; constant rb2_servo4_low_set = 0x8c rb2_servo4_low_set equ 140 ; line_number = 102 ; constant rb2_servo4_enables_set = 0x90 rb2_servo4_enables_set equ 144 ; line_number = 103 ; constant rb2_servo4_enable0 = 1 rb2_servo4_enable0 equ 1 ; line_number = 104 ; constant rb2_servo4_enable1 = 2 rb2_servo4_enable1 equ 2 ; line_number = 105 ; constant rb2_servo4_enable2 = 4 rb2_servo4_enable2 equ 4 ; line_number = 106 ; constant rb2_servo4_enable3 = 8 rb2_servo4_enable3 equ 8 ; line_number = 107 ; constant rb2_servo4_enable_all = 0xf rb2_servo4_enable_all equ 15 ; line_number = 108 ; constant rb2_servo4_enable_none = 0 rb2_servo4_enable_none equ 0 ; line_number = 109 ; constant rb2_servo4_high_get = 0xa0 rb2_servo4_high_get equ 160 ; line_number = 110 ; constant rb2_servo4_low_get = 0xa4 rb2_servo4_low_get equ 164 ; line_number = 111 ; constant rb2_servo4_enables_get = 0xa8 rb2_servo4_enables_get equ 168 ; line_number = 113 ; constant rb2_controller28_address = 28 rb2_controller28_address equ 28 ; line_number = 115 ; constant rb2_lcd32_address = 32 rb2_lcd32_address equ 32 ; line_number = 116 ; constant rb2_lcd32_row_set = 4 rb2_lcd32_row_set equ 4 ; line_number = 117 ; constant rb2_lcd32_row0_set = rb2_lcd32_row_set | 0 rb2_lcd32_row0_set equ 4 ; line_number = 118 ; constant rb2_lcd32_row1_set = rb2_lcd32_row_set | 1 rb2_lcd32_row1_set equ 5 ; line_number = 119 ; constant rb2_lcd32_row2_set = rb2_lcd32_row_set | 2 rb2_lcd32_row2_set equ 6 ; line_number = 120 ; constant rb2_lcd32_row3_set = rb2_lcd32_row_set | 3 rb2_lcd32_row3_set equ 7 ; line_number = 121 ; constant rb2_lcd32_new_line = 0xa rb2_lcd32_new_line equ 10 ; line_number = 122 ; constant rb2_lcd32_form_feed = 0xc rb2_lcd32_form_feed equ 12 ; line_number = 123 ; constant rb2_lcd32_carriage_return = 0xd rb2_lcd32_carriage_return equ 13 ; line_number = 124 ; constant rb2_lcd32_column_set = 0x10 rb2_lcd32_column_set equ 16 ; buffer = 'shaft2' ; line_number = 50 ; library rb2_constants exited ; line_number = 52 ; library_bank 0 ; line_number = 54 ; library rb2bus_pic16f876 entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # This module provides some procedures for accessing a RoboBricks2 ; # bus via a UART. It is speicialized for the PIC16F876: ; # ; # It defines the following procedure: ; # ; # {rb2bus_initialize}({address}) The procedure that initializes the UART ; # for bus access. ; # Global variables used by {rb2bus} library and {rb2bus_picXXXX} libraries: ; buffer = 'rb2bus_pic16f876' ; line_number = 15 ; library rb2bus_globals entered ; # Copyright (c) 2006-2007 by Wayne C. Gramlich ; # All rights reserved. ; # These are the global variables used by both the {rb2bus} and ; # the various {rb2bus_picXXXX} libraries. Poll based firmware ; # uses both libraries, whereas interrupt driven software only ; # uses the {rb2bus_picXXX} libraries. ; buffer = 'rb2bus_globals' ; line_number = 11 ; global rb2bus_selected bit # rb2bus_selected___byte equ globals___3+111 rb2bus_selected___bit equ 0 ; line_number = 12 ; global rb2bus_error bit # Global error bit rb2bus_error___byte equ globals___3+111 rb2bus_error___bit equ 1 ; line_number = 13 ; global rb2bus_address byte # Bus address to respond to rb2bus_address equ globals___3 ; line_number = 14 ; global rb2bus_index byte # Index into id information rb2bus_index equ globals___3+1 ; buffer = 'rb2bus_pic16f876' ; line_number = 15 ; library rb2bus_globals exited ; # All other bus access procedures are defined in the {rb2bus} library ; # which is accessed below: ; # Baud_Rate = Fosc / (16(X+1)) ; # 16 * (X+1) = Fosc/Baud_Rate ; # X+1 = Fosc/(16*Baud_Rate) ; # X = Fosc/(16*Baud_rate) - 1 ; line_number = 25 ; constant baud_rate_500k = 500000 baud_rate_500k equ 500000 ; line_number = 26 ; constant spbrg_500k = clock_rate / (16 * baud_rate_500k) - 1 spbrg_500k equ 1 ; Delaying code generation for procedure rb2bus_initialize ; line_number = 64 ; constant rb2bus_eedata_address = 0xfe rb2bus_eedata_address equ 254 ; Delaying code generation for procedure rb2bus_eedata_read ; Delaying code generation for procedure rb2bus_eedata_write ; buffer = 'shaft2' ; line_number = 54 ; library rb2bus_pic16f876 exited ; # Load up the floating point library: ; line_number = 57 ; library_bank 1 ; line_number = 59 ; library _float32 entered ; # Copyright (c) 2005-2006 Wayne C. Gramlich ; # All rights reserved. ; # This library implements the following procedures for general use ; # by users: ; # ; # _float32_from_byte return float(x) where x is a byte ; # _float32_to_byte return byte(x) whre x is a float ; # ; # The following additional procedures are implemented for use by the ; # compiler. ; # ; # _float32_pointer_load() A := M[W] ; # _float32_pointer_add() A := M[W] ; # _float32_pointer_divide() A := A / M[W] ; # _float32_pointer_multiply() A := A * M[W] ; # _float32_pointer_subtract() A := A - M[W] ; # _float32_pointer_store M[W] := A ; # _float32_pointer_negate A := -A ; # _float32_pointer_reciprocal A := 1/A ; # _float32_pointer_swap A <=> M[W] ; # _float32_equals _z := A = 0.0 ; # _float32_not_equal _z := A != 0.0 ; # _float32_less_than _z := if A < 0.0 ; # _float32_less_than_or_equal _z := A <= 0.0 ; # _float32_greater_than _z := A > 0.0 ; # _float32_greater_than_or_equal _z := A >= 0.0 ; # ; # All of the procedures constants and labels in this library are ; # prefixed by "_float32_". ; # ; # The _float32 library is seriously intertwingled (technical term) ; # with the _float32_base library. What this means is both libraries ; # need to be loaded into the same code bank and data bank. There ; # is no real nead to worry since there is a "library _float32_base" ; # immediately below. These two libraries pretty much fill up ; # all of the code bank they are loaded into. ; # ; # For the uCL compiler, floats are required to be aligned on even ; # memory addresses. Since the PIC16F* processor can not access more ; # 512 bytes of RAM, this means that a pointer a float can be represented ; # in 8-bits as (float_address>>1). (Pretty, slick!) ; buffer = '_float32' ; line_number = 46 ; library _float32_base entered ; # Copyright (c) 2005-2006 by Wayne C. Gramlich ; # All rights reserved. ; # Copyright (c) 1997 by Microchip, Inc. ; # All rights reserved. ; # ; # This code is based on a floating point library provided by Microchip ; # in AN575. Note, only the translation aspect is copyright Wayne C. ; # Gramlich; the original code is copyright by Microchip. ; # ; # ; # This library implements the following procedures: ; # ; # _float32_from_integer24() Convert 24-bit integer into float ; # _float32_normalize() Normalize a float ; # _float32_from integer32() Convert 32-bit integer into float ; # _float32_normalize40() Normalize a 40-bit float ; # _float32_integer24_convert() Convert float into 24 bit integer ; # _float32_integer32_convert() Convert float into 32 bit integer ; # _float32_multiply() Multiply two floats ; # _float32_divide() Divide two floats ; # _float32_subtract() Subtract two floats ; # _float32_add() Add two floats ; # ; # All procedures, constants, and labels in this procedure are ; # prefixed with "_float32_". ; # ; # Every attempt has been made to ensure that it compiles *exactly* as ; # the .hex file that ships with AN575. The remaining procedures ; # needed by the uCL compiler are in library _float32. ; # ; # Note that this procedure defines memory needed for both the ; # main arithmetic procedures and some of the square root and trigametric ; # procedures in the _float32_trig library. ; buffer = '_float32_base' ; line_number = 37 ; constant _float32_status = 3 _float32_status equ 3 ; line_number = 38 ; constant _float32_c = 0 _float32_c equ 0 ; line_number = 39 ; constant _float32_z = 2 _float32_z equ 2 ; # The floating point variables: ; line_number = 42 ; constant _float32_msb = 7 _float32_msb equ 7 ; line_number = 43 ; constant _float32_lsb = 0 _float32_lsb equ 0 ; line_number = 45 ; global _float32_loc20 byte _float32_loc20 equ globals___1 ; line_number = 46 ; global _float32_loc21 byte _float32_loc21 equ globals___1+1 ; line_number = 47 ; global _float32_loc22 byte _float32_loc22 equ globals___1+2 ; line_number = 48 ; global _float32_loc23 byte _float32_loc23 equ globals___1+3 ; line_number = 49 ; global _float32_loc24 byte _float32_loc24 equ globals___1+4 ; line_number = 50 ; global _float32_loc25 byte _float32_loc25 equ globals___1+5 ; line_number = 51 ; global _float32_loc26 byte _float32_loc26 equ globals___1+6 ; line_number = 52 ; global _float32_loc27 byte _float32_loc27 equ globals___1+7 ; line_number = 53 ; global _float32_loc28 byte _float32_loc28 equ globals___1+8 ; line_number = 54 ; global _float32_loc29 byte _float32_loc29 equ globals___1+9 ; line_number = 55 ; global _float32_loc2a byte _float32_loc2a equ globals___1+10 ; line_number = 56 ; global _float32_loc2b byte _float32_loc2b equ globals___1+11 ; line_number = 57 ; global _float32_loc2c byte _float32_loc2c equ globals___1+12 ; line_number = 58 ; global _float32_loc2d byte _float32_loc2d equ globals___1+13 ; line_number = 59 ; global _float32_loc2e byte _float32_loc2e equ globals___1+14 ; line_number = 60 ; global _float32_loc2f byte _float32_loc2f equ globals___1+15 ; line_number = 61 ; global _float32_loc30 byte _float32_loc30 equ globals___1+16 ; line_number = 62 ; global _float32_loc31 byte _float32_loc31 equ globals___1+17 ; line_number = 63 ; global _float32_loc32 byte _float32_loc32 equ globals___1+18 ; line_number = 64 ; global _float32_loc33 byte _float32_loc33 equ globals___1+19 ; line_number = 65 ; global _float32_loc34 byte _float32_loc34 equ globals___1+20 ; line_number = 66 ; global _float32_loc35 byte _float32_loc35 equ globals___1+21 ; line_number = 67 ; global _float32_loc36 byte _float32_loc36 equ globals___1+22 ; line_number = 68 ; global _float32_loc37 byte _float32_loc37 equ globals___1+23 ; line_number = 69 ; global _float32_loc38 byte _float32_loc38 equ globals___1+24 ; line_number = 70 ; global _float32_loc39 byte _float32_loc39 equ globals___1+25 ; line_number = 71 ; global _float32_loc3a byte _float32_loc3a equ globals___1+26 ; line_number = 72 ; global _float32_loc3b byte _float32_loc3b equ globals___1+27 ; line_number = 73 ; global _float32_loc3c byte _float32_loc3c equ globals___1+28 ; line_number = 74 ; global _float32_loc3d byte _float32_loc3d equ globals___1+29 ; line_number = 75 ; global _float32_loc3e byte _float32_loc3e equ globals___1+30 ; line_number = 76 ; global _float32_loc3f byte _float32_loc3f equ globals___1+31 ; line_number = 77 ; global _float32_loc40 byte _float32_loc40 equ globals___1+32 ; line_number = 78 ; global _float32_loc41 byte _float32_loc41 equ globals___1+33 ; line_number = 79 ; global _float32_loc42 byte _float32_loc42 equ globals___1+34 ; line_number = 80 ; global _float32_loc43 byte _float32_loc43 equ globals___1+35 ; #global _float32_loc44 byte ; #global _float32_loc45 byte ; #global _float32_loc46 byte ; #global _float32_loc47 byte ; #global _float32_loc48 byte ; #global _float32_loc49 byte ; #global _float32_loc4a byte ; #global _float32_loc4b byte ; # general register variables ; # These are not used currently!!! ; #bind _float32_accb7 = _float32_loc20 ; #bind _float32_accb6 = _float32_loc21 ; #bind _float32_accb5 = _float32_loc22 ; #bind _float32_accb4 = _float32_loc23 ; #bind _float32_accb3 = _float32_loc24 ; #bind _float32_accb2 = _float32_loc25 ; #bind _float32_accb1 = _float32_loc26 ; #bind _float32_accb0 = _float32_loc27 ; # most significant byte of contiguous 8 byte accumulator ; #bind _float32_acc = _float32_loc27 ; # save location for sign in MSB ; line_number = 105 ; bind _float32_sign = _float32_loc29 _float32_sign equ globals___1+9 ; line_number = 107 ; bind _float32_tempb3 = _float32_loc30 _float32_tempb3 equ globals___1+16 ; line_number = 108 ; bind _float32_tempb2 = _float32_loc31 _float32_tempb2 equ globals___1+17 ; line_number = 109 ; bind _float32_tempb1 = _float32_loc32 _float32_tempb1 equ globals___1+18 ; line_number = 110 ; bind _float32_tempb0 = _float32_loc33 _float32_tempb0 equ globals___1+19 ; # temporary storage ; line_number = 112 ; bind _float32_temp = _float32_loc33 _float32_temp equ globals___1+19 ; # binary operation arguments ; line_number = 116 ; bind _float32_aargb7 = _float32_loc20 _float32_aargb7 equ globals___1 ; line_number = 117 ; bind _float32_aargb6 = _float32_loc21 _float32_aargb6 equ globals___1+1 ; line_number = 118 ; bind _float32_aargb5 = _float32_loc22 _float32_aargb5 equ globals___1+2 ; line_number = 119 ; bind _float32_aargb4 = _float32_loc23 _float32_aargb4 equ globals___1+3 ; line_number = 120 ; bind _float32_aargb3 = _float32_loc24 _float32_aargb3 equ globals___1+4 ; line_number = 121 ; bind _float32_aargb2 = _float32_loc25 _float32_aargb2 equ globals___1+5 ; line_number = 122 ; bind _float32_aargb1 = _float32_loc26 _float32_aargb1 equ globals___1+6 ; line_number = 123 ; bind _float32_aargb0 = _float32_loc27 _float32_aargb0 equ globals___1+7 ; # most significant byte of argument A ; line_number = 125 ; bind _float32_aarg = _float32_loc27 _float32_aarg equ globals___1+7 ; line_number = 127 ; bind _float32_bargb3 = _float32_loc2b _float32_bargb3 equ globals___1+11 ; line_number = 128 ; bind _float32_bargb2 = _float32_loc2c _float32_bargb2 equ globals___1+12 ; line_number = 129 ; bind _float32_bargb1 = _float32_loc2d _float32_bargb1 equ globals___1+13 ; line_number = 130 ; bind _float32_bargb0 = _float32_loc2e _float32_bargb0 equ globals___1+14 ; # most significant byte of argument B ; line_number = 132 ; bind _float32_barg = _float32_loc2e _float32_barg equ globals___1+14 ; # Note that AARG and ACC reference the same storage locations ; # FIXED POINT SPECIFIC DEFINITIONS ; # remainder storage ; # These are not currently being used!!! ; #bind _float32_remb3 = _float32_loc20 ; #bind _float32_remb2 = _float32_loc21 ; #bind _float32_remb1 = _float32_loc22 ; ## most significant byte of remainder ; #bind _float32_remb0 = _float32_loc23 ; line_number = 146 ; bind _float32_loopcount = _float32_loc34 _float32_loopcount equ globals___1+20 ; # FLOATING POINT SPECIFIC DEFINITIONS ; # literal constants ; line_number = 150 ; constant _float32_expbias = 127 _float32_expbias equ 127 ; line_number = 151 ; constant _float32_expbias_1 = _float32_expbias - 1 _float32_expbias_1 equ 126 ; line_number = 152 ; constant _float32_expbias_23 = _float32_expbias + 23 _float32_expbias_23 equ 150 ; line_number = 153 ; constant _float32_expbias_31 = _float32_expbias + 31 _float32_expbias_31 equ 158 ; # biased exponents: ; # 8 bit biased exponent ; line_number = 158 ; bind _float32_exp = _float32_loc28 _float32_exp equ globals___1+8 ; # 8 bit biased exponent for argument A ; line_number = 161 ; bind _float32_aexp = _float32_loc28 _float32_aexp equ globals___1+8 ; # 8 bit biased exponent for argument B ; line_number = 164 ; bind _float32_bexp = _float32_loc2f _float32_bexp equ globals___1+15 ; # floating point library exception flags ; # floating point library exception flags ; line_number = 169 ; bind _float32_fpflags = _float32_loc2a _float32_fpflags equ globals___1+10 ; # bit0 = integer overflow flag ; line_number = 172 ; constant _float32_iov = 0 _float32_iov equ 0 ; # bit1 = floating point overflow flag ; line_number = 175 ; constant _float32_fov = 1 _float32_fov equ 1 ; # bit2 = floating point underflow flag ; line_number = 178 ; constant _float32_fun = 2 _float32_fun equ 2 ; # bit3 = floating point divide by zero flag ; line_number = 181 ; constant _float32_fdz = 3 _float32_fdz equ 3 ; # bit4 = not-a-number exception flag ; line_number = 184 ; constant _float32_nan = 4 _float32_nan equ 4 ; # bit5 = domain error exception flag ; line_number = 187 ; constant _float32_dom = 5 _float32_dom equ 5 ; # bit6 = floating point rounding flag, 0 = truncation; 1 = unbiased rounding ; # to nearest LSB ; line_number = 191 ; constant _float32_rnd = 6 _float32_rnd equ 6 ; # bit7 = floating point saturate flag, 0 = terminate on ; # exception without saturation, 1 = terminate on ; # exception with saturation to appropriate value ; line_number = 196 ; constant _float32_sat = 7 _float32_sat equ 7 ; # ELEMENTARY FUNCTION MEMORY ; line_number = 200 ; bind _float32_cexp = _float32_loc35 _float32_cexp equ globals___1+21 ; line_number = 201 ; bind _float32_cargb0 = _float32_loc36 _float32_cargb0 equ globals___1+22 ; line_number = 202 ; bind _float32_cargb1 = _float32_loc37 _float32_cargb1 equ globals___1+23 ; line_number = 203 ; bind _float32_cargb2 = _float32_loc38 _float32_cargb2 equ globals___1+24 ; line_number = 204 ; bind _float32_cargb3 = _float32_loc39 _float32_cargb3 equ globals___1+25 ; line_number = 206 ; bind _float32_dexp = _float32_loc3a _float32_dexp equ globals___1+26 ; line_number = 207 ; bind _float32_dargb0 = _float32_loc3b _float32_dargb0 equ globals___1+27 ; line_number = 208 ; bind _float32_dargb1 = _float32_loc3c _float32_dargb1 equ globals___1+28 ; line_number = 209 ; bind _float32_dargb2 = _float32_loc3d _float32_dargb2 equ globals___1+29 ; line_number = 210 ; bind _float32_dargb3 = _float32_loc3e _float32_dargb3 equ globals___1+30 ; line_number = 212 ; bind _float32_eexp = _float32_loc3f _float32_eexp equ globals___1+31 ; line_number = 213 ; bind _float32_eargb0 = _float32_loc40 _float32_eargb0 equ globals___1+32 ; line_number = 214 ; bind _float32_eargb1 = _float32_loc41 _float32_eargb1 equ globals___1+33 ; line_number = 215 ; bind _float32_eargb2 = _float32_loc42 _float32_eargb2 equ globals___1+34 ; line_number = 216 ; bind _float32_eargb3 = _float32_loc43 _float32_eargb3 equ globals___1+35 ; #bind _float32_zargb0 = _float32_loc44 ; #bind _float32_zargb1 = _float32_loc45 ; #bind _float32_zargb2 = _float32_loc46 ; #bind _float32_zargb3 = _float32_loc47 ; #bind _float32_randb0 = _float32_loc48 ; #bind _float32_randb1 = _float32_loc49 ; #bind _float32_randb2 = _float32_loc4a ; #bind _float32_randb3 = _float32_loc4b ; # 32 BIT FLOATING POINT CONSTANTS ; # Machine precision ; # 5.96046447754E-8 = 2**-24 ; line_number = 232 ; constant _float32_machep32exp = 0x67 _float32_machep32exp equ 103 ; line_number = 233 ; constant _float32_machep32b0 = 0 _float32_machep32b0 equ 0 ; line_number = 234 ; constant _float32_machep32b1 = 0 _float32_machep32b1 equ 0 ; line_number = 235 ; constant _float32_machep32b2 = 0 _float32_machep32b2 equ 0 ; # Maximum argument to EXP32 ; # 88.7228391117 = log(2**128) ; line_number = 239 ; constant _float32_maxlog32exp = 0x85 _float32_maxlog32exp equ 133 ; line_number = 240 ; constant _float32_maxlog32b0 = 0x31 _float32_maxlog32b0 equ 49 ; line_number = 241 ; constant _float32_maxlog32b1 = 0x72 _float32_maxlog32b1 equ 114 ; line_number = 242 ; constant _float32_maxlog32b2 = 0x18 _float32_maxlog32b2 equ 24 ; # Minimum argument to EXP32 ; # -87.3365447506 = log(2**-126) ; line_number = 246 ; constant _float32_minlog32exp = 0x85 _float32_minlog32exp equ 133 ; line_number = 247 ; constant _float32_minlog32b0 = 0xae _float32_minlog32b0 equ 174 ; line_number = 248 ; constant _float32_minlog32b1 = 0xac _float32_minlog32b1 equ 172 ; line_number = 249 ; constant _float32_minlog32b2 = 0x50 _float32_minlog32b2 equ 80 ; # Maximum argument to EXP1032 ; # 38.531839445 = log10(2**128) ; line_number = 253 ; constant _float32_maxlog1032exp = 0x84 _float32_maxlog1032exp equ 132 ; line_number = 254 ; constant _float32_maxlog1032b0 = 0x1a _float32_maxlog1032b0 equ 26 ; line_number = 255 ; constant _float32_maxlog1032b1 = 0x20 _float32_maxlog1032b1 equ 32 ; line_number = 256 ; constant _float32_maxlog1032b2 = 0x9b _float32_maxlog1032b2 equ 155 ; # Minimum argument to EXP1032 ; # -37.9297794537 = log10(2**-126) ; line_number = 260 ; constant _float32_minlog1032exp = 0x84 _float32_minlog1032exp equ 132 ; line_number = 261 ; constant _float32_minlog1032b0 = 0x97 _float32_minlog1032b0 equ 151 ; line_number = 262 ; constant _float32_minlog1032b1 = 0xb8 _float32_minlog1032b1 equ 184 ; line_number = 263 ; constant _float32_minlog1032b2 = 0x18 _float32_minlog1032b2 equ 24 ; # Maximum representable number before overflow ; # 6.80564774407E38 = (2**128) * (2 - 2**-23) ; line_number = 267 ; constant _float32_maxnum32exp = 0xff _float32_maxnum32exp equ 255 ; line_number = 268 ; constant _float32_maxnum32b0 = 0x7f _float32_maxnum32b0 equ 127 ; line_number = 269 ; constant _float32_maxnum32b1 = 0xff _float32_maxnum32b1 equ 255 ; line_number = 270 ; constant _float32_maxnum32b2 = 0xff _float32_maxnum32b2 equ 255 ; # Minimum representable number before underflow ; # 1.17549435082E-38 = (2**-126) * 1 ; line_number = 274 ; constant _float32_minnum32exp = 1 _float32_minnum32exp equ 1 ; line_number = 275 ; constant _float32_minnum32b0 = 0 _float32_minnum32b0 equ 0 ; line_number = 276 ; constant _float32_minnum32b1 = 0 _float32_minnum32b1 equ 0 ; line_number = 277 ; constant _float32_minnum32b2 = 0 _float32_minnum32b2 equ 0 ; # Loss threshhold for argument to SIN32 and COS32 ; # 4096 = sqrt(2**24) ; line_number = 281 ; constant _float32_lossthr32exp = 0x8b _float32_lossthr32exp equ 139 ; line_number = 282 ; constant _float32_lossthr32b0 = 0 _float32_lossthr32b0 equ 0 ; line_number = 283 ; constant _float32_lossthr32b1 = 0 _float32_lossthr32b1 equ 0 ; line_number = 284 ; constant _float32_lossthr32b2 = 0 _float32_lossthr32b2 equ 0 ; # PIC16 32 BIT FLOATING POINT LIBRARY ; # ; # Unary operations: both input and output are in _float32_aexp,_FLOAT32_AARG ; # Binary operations: input in _float32_aexp,_FLOAT32_AARG and _float32_bexp,_FLOAT32_BARG with output in _float32_aexp,_FLOAT32_AARG ; # ; # All routines return WREG = 0x00 for successful completion, and WREG = 0xFF ; # for an error condition specified in _FLOAT32_FPFLAGS. ; # All timings are worst case cycle counts ; # Routine Function ; # FLO2432 24 bit integer to 32 bit floating point conversion ; # FLO32 ; # Timing: RND0 RND1 ; # SAT0 104 104 ; # SAT1 110 110 ; # NRM3232 32 bit normalization of unnormalized 32 bit ; # NRM32 floating point numbers ; # Timing: RND0 RND1 ; # SAT0 90 90 ; # SAT1 96 96 ; # INT3224 32 bit floating point to 24 bit integer conversion ; # INT32 ; # Timing: RND0 RND1 ; # SAT0 104 112 ; # SAT1 104 114 ; # FLO3232 32 bit integer to 32 bit floating point conversion ; # Timing: RND0 RND1 ; # SAT0 129 145 ; # SAT1 129 152 ; # NRM4032 32 bit normalization of unnormalized 40 bit floating ; # point numbers ; # Timing: RND0 RND1 ; # SAT0 112 128 ; # SAT1 112 135 ; # INT3232 32 bit floating point to 32 bit integer conversion ; # Timing: RND0 RND1 ; # SAT0 130 137 ; # SAT1 130 137 ; # FPA32 32 bit floating point add ; # Timing: RND0 RND1 ; # SAT0 251 265 ; # SAT1 251 271 ; # FPS32 32 bit floating point subtract ; # Timing: RND0 RND1 ; # SAT0 253 267 ; # SAT1 253 273 ; # FPM32 32 bit floating point multiply ; # Timing: RND0 RND1 ; # SAT0 574 588 ; # SAT1 574 591 ; # FPD32 32 bit floating point divide ; # Timing: RND0 RND1 ; # SAT0 932 968 ; # SAT1 932 971 ; # 32 bit floating point representation ; # ; # EXPONENT 8 bit biased exponent ; # It is important to note that the use of biased ; # exponents produces a unique representation of a ; # floating point 0, given by ; # EXP = HIGHBYTE = MIDBYTE = LOWBYTE = 0x00, ; # with 0 being the only number with EXP = 0. ; # ; # HIGHBYTE 8 bit most significant byte of fraction in ; # sign-magnitude representation, with SIGN = MSB, ; # implicit MSB = 1 and radix point to the right of MSB ; # ; # MIDBYTE 8 bit middle significant byte of sign-magnitude fraction ; # ; # LOWBYTE 8 bit least significant byte of sign-magnitude fraction ; # ; # EXPONENT HIGHBYTE MIDBYTE LOWBYTE ; # xxxxxxxx S.xxxxxxx xxxxxxxx xxxxxxxx ; # | ; # RADIX ; # POINT ; Delaying code generation for procedure _float32_from_integer24 ; Delaying code generation for procedure _float32_normalize ; Delaying code generation for procedure _float32_from_integer32 ; Delaying code generation for procedure _float32_normalize40 ; Delaying code generation for procedure _float32_integer24_convert ; Delaying code generation for procedure float32_integer32_convert ; Delaying code generation for procedure _float32_multiply ; Delaying code generation for procedure _float32_divide ; Delaying code generation for procedure _float32_subtract ; Delaying code generation for procedure _float32_add ; buffer = '_float32' ; line_number = 46 ; library _float32_base exited ; # FIXME: Make sure that none of the procedure allocate any argument storage!!! ; Delaying code generation for procedure _float32_pointer_load ; Delaying code generation for procedure _float32_pointer_add ; Delaying code generation for procedure _float32_pointer_divide ; Delaying code generation for procedure _float32_pointer_multiply ; Delaying code generation for procedure _float32_pointer_subtract ; Delaying code generation for procedure _float32_pointer_store ; Delaying code generation for procedure _float32_negate ; Delaying code generation for procedure _float32_reciprocal ; Delaying code generation for procedure _float32_pointer_swap ; Delaying code generation for procedure _float32_from_byte ; Delaying code generation for procedure _float32_to_byte ; Delaying code generation for procedure _float32_equals ; Delaying code generation for procedure _float32_not_equal ; Delaying code generation for procedure _float32_less_than ; Delaying code generation for procedure _float32_less_than_or_equal ; Delaying code generation for procedure _float32_greater_than ; Delaying code generation for procedure _float32_greater_than_or_equal ; buffer = 'shaft2' ; line_number = 59 ; library _float32 exited ; # Load up the trigonometry library (must use same data_bank as {_float32}: ; line_number = 62 ; library_bank 3 ; line_number = 63 ; library _float32_trig entered ; # Copyright (c) 2005-2006 Wayne C. Gramlich ; # All rights reserved. ; # This library implements the following functions: ; # ; # _float32_sqrt(x): square root of x ; # _float32_sin(x): sine of x ; # _float32_cos(x): cosine of x ; # _float32_tan(x): tangent of x ; # _float32_arcsin(x): inverse sine of x ; # _float32_arctan2(x,y): inverse tanget of x/y ; # ; # All symbols defined by this library are prefixed by "_float32_". ; # ; # This library is pretty intertwingled (technical term) with ; # the rest of the _float32.ucl and _float32_base.ucl libraries. ; # While the _float32_trig library is too big to fit in the same code ; # bank as _float32.ucl and _float32_base.ucl, it *must* share the ; # same data bank. Thus, the preferred organziation is something ; # like: ; # ; # data_bank 1 ; # library_bank 1 ; # library _float32_base ; # library _float32 ; # ; # library_bank 3 ; # library _float32_trig ; # ; # In the example above, all three libraries share data_bank 1. ; # Library _float32_base and library _float32 live in code bank 1 ; # and library _float32_trig lives in code bank 3. No that it is ; # possible to flip between code bank 1 and code bank 3 with a ; # single BCF or BSF instruction. ; # ; # Attributions: ; # ; # The algorithms for the _float32_trig library come from a variety ; # of locations as attributed below: ; # ; # The square root fuction came from the Microchip Application Note ; # 660 _Floating_Point_Math_Functions_ by Frank J. Testa. I do not ; # have the foggiest notion of how it works. ; # ; # The coefficients for the polynomials used in the inverse sine ; # function came from from the e_asinf.c routine found in the glibc ; # verion 2.4. The copyright says it came from Sun Microsystems ; # and Stephen L. Moshier at Oak Ridge National Laboratory. Being ; # and ex-employee of Sun, I suspect that David Hough at Sun was ; # the person that picked the polynomial Moshier's polynomial for ; # Sun. ; # ; # The cosine and sine functions were developed by Wayne C. Gramlich ; # (i.e. me) using polynomial coefficients obtained from the book ; # Computer_Approximations_ by Hart, et. al. published by ; # John Wily & Sons, Inc in 1968. The Library of Congress Card ; # number is 67-23326 and ASIN is 0471356301. It is long out of ; # print. I have a 25+ year photocopy of the book. Your best bet ; # for finding this book is in a college or university library. ; # If you do not have access to a college or university library ; # go to your local public library and ask about getting an ; # inter-library loan of the book. Good luck! ; # ; # The inverse tangent2 function was developed from first ; # principles by Wayne C. Gramlich. I kind of like the ; # alogrithm, but I have never seen anybody use that particular ; # derivation though. ; # Here are some commonly used constants: ; buffer = '_float32_trig' ; line_number = 72 ; constant _float32_pi = 3.14152926535 ; _float32_pi = 3.14153 ; line_number = 73 ; constant _float32_minus_pi = -_float32_pi ; _float32_minus_pi = -3.14153 ; line_number = 74 ; constant _float32_two_pi = _float32_pi * 2.0 ; _float32_two_pi = 6.28306 ; line_number = 75 ; constant _float32_minus_two_pi = -_float32_two_pi ; _float32_minus_two_pi = -6.28306 ; line_number = 76 ; constant _float32_half_pi = _float32_pi / 2.0 ; _float32_half_pi = 1.57076 ; line_number = 77 ; constant _float32_minus_half_pi = -_float32_half_pi ; _float32_minus_half_pi = -1.57076 ; # This next blob of software is the square root code from Microchip ; # application note 660: ; Delaying code generation for procedure _float32_fxm3232u ; Delaying code generation for procedure _float32_rnd4032 ; # minimax rational coefficients for (sqrt(1+z)-1)/z on [0,1] ; # SQRT32P0 = 6.054736157E1 ; line_number = 370 ; constant _float32_sqrt32p0 = 0x84 _float32_sqrt32p0 equ 132 ; line_number = 371 ; constant _float32_sqrt32p00 = 0x72 _float32_sqrt32p00 equ 114 ; line_number = 372 ; constant _float32_sqrt32p01 = 0x30 _float32_sqrt32p01 equ 48 ; line_number = 373 ; constant _float32_sqrt32p02 = 0x80 _float32_sqrt32p02 equ 128 ; # SQRT32P1 = 5.154073142E1 ; line_number = 376 ; constant _float32_sqrt32p1 = 0x84 _float32_sqrt32p1 equ 132 ; line_number = 377 ; constant _float32_sqrt32p10 = 0x4E _float32_sqrt32p10 equ 78 ; line_number = 378 ; constant _float32_sqrt32p11 = 0x29 _float32_sqrt32p11 equ 41 ; line_number = 379 ; constant _float32_sqrt32p12 = 0xB5 _float32_sqrt32p12 equ 181 ; # SQRT32P2 = 7.370062896E0 ; line_number = 382 ; constant _float32_sqrt32p2 = 0x81 _float32_sqrt32p2 equ 129 ; line_number = 383 ; constant _float32_sqrt32p20 = 0x6B _float32_sqrt32p20 equ 107 ; line_number = 384 ; constant _float32_sqrt32p21 = 0xD7 _float32_sqrt32p21 equ 215 ; line_number = 385 ; constant _float32_sqrt32p22 = 0x8E _float32_sqrt32p22 equ 142 ; # SQRT32Q0 = 1.210947497E2 ; line_number = 388 ; constant _float32_sqrt32q0 = 0x85 _float32_sqrt32q0 equ 133 ; line_number = 389 ; constant _float32_sqrt32q00 = 0x72 _float32_sqrt32q00 equ 114 ; line_number = 390 ; constant _float32_sqrt32q01 = 0x30 _float32_sqrt32q01 equ 48 ; line_number = 391 ; constant _float32_sqrt32q02 = 0x83 _float32_sqrt32q02 equ 131 ; # SQRT32Q1 = 1.333554439E2 ; line_number = 394 ; constant _float32_sqrt32q1 = 0x86 _float32_sqrt32q1 equ 134 ; line_number = 395 ; constant _float32_sqrt32q10 = 0x05 _float32_sqrt32q10 equ 5 ; line_number = 396 ; constant _float32_sqrt32q11 = 0x5A _float32_sqrt32q11 equ 90 ; line_number = 397 ; constant _float32_sqrt32q12 = 0xBC _float32_sqrt32q12 equ 188 ; # SQRT32Q2 = 3.294831307E1 ; line_number = 400 ; constant _float32_sqrt32q2 = 0x84 _float32_sqrt32q2 equ 132 ; line_number = 401 ; constant _float32_sqrt32q20 = 0x03 _float32_sqrt32q20 equ 3 ; line_number = 402 ; constant _float32_sqrt32q21 = 0xCB _float32_sqrt32q21 equ 203 ; line_number = 403 ; constant _float32_sqrt32q22 = 0x13 _float32_sqrt32q22 equ 19 ; # SQRT32Q3 = 1.0 ; line_number = 406 ; constant _float32_sqrt32q3 = 0x7F _float32_sqrt32q3 equ 127 ; line_number = 407 ; constant _float32_sqrt32q30 = 0x00 _float32_sqrt32q30 equ 0 ; line_number = 408 ; constant _float32_sqrt32q31 = 0x00 _float32_sqrt32q31 equ 0 ; line_number = 409 ; constant _float32_sqrt32q32 = 0x00 _float32_sqrt32q32 equ 0 ; # sqrt2 = 1.41421356237 ; line_number = 412 ; constant _float32_sqrt2b0 = 0xb5 _float32_sqrt2b0 equ 181 ; line_number = 413 ; constant _float32_sqrt2b1 = 0x04 _float32_sqrt2b1 equ 4 ; line_number = 414 ; constant _float32_sqrt2b2 = 0xf3 _float32_sqrt2b2 equ 243 ; line_number = 415 ; constant _float32_sqrt2b3 = 0x33 _float32_sqrt2b3 equ 51 ; Delaying code generation for procedure _float32_sqrt ; Delaying code generation for procedure _float32_sqrt_base ; # There is lots of variable sharing in the trig functions: ; line_number = 745 ; global _float32_trig1 float32 _float32_trig1 equ globals___1+60 ; line_number = 746 ; global _float32_trig2 float32 _float32_trig2 equ globals___1+64 ; line_number = 747 ; global _float32_trig3 float32 _float32_trig3 equ globals___1+68 ; # Now come the sine/cosine/tangent routines: ; Delaying code generation for procedure _float32_tan ; Delaying code generation for procedure _float32_sin ; #3502 ; line_number = 778 ; constant _float32_cosine_p00 = .999999953464 ; _float32_cosine_p00 = 1 ; line_number = 779 ; constant _float32_cosine_p01 = -.499999053455 ; _float32_cosine_p01 = -0.499999 ; line_number = 780 ; constant _float32_cosine_p02 = .416635846769e-1 ; _float32_cosine_p02 = 0.0416636 ; line_number = 781 ; constant _float32_cosine_p03 = -.13853704264e-2 ; _float32_cosine_p03 = -0.00138537 ; line_number = 782 ; constant _float32_cosine_p04 = .2315393167e-4 ; _float32_cosine_p04 = 2.31539e-05 ; #3503 ; #constant _float32_cosine_p00 = .99999999978064 ; #constant _float32_cosine_p01 = -.499999993584651 ; #constant _float32_cosine_p02 = .4166663625936e-1 ; #constant _float32_cosine_p03 = -.13888361399412e-2 ; #constant _float32_cosine_p04 = .247601613352e-4 ; #constant _float32_cosine_p05 = -.2605149522e-6 ; Delaying code generation for procedure _float32_cos ; line_number = 855 ; constant _float32_arcsine_p0 = 1.666675248e-1 ; _float32_arcsine_p0 = 0.166668 ; line_number = 856 ; constant _float32_arcsine_p1 = 7.495297643e-2 ; _float32_arcsine_p1 = 0.074953 ; line_number = 857 ; constant _float32_arcsine_p2 = 4.547037598e-2 ; _float32_arcsine_p2 = 0.0454704 ; line_number = 858 ; constant _float32_arcsine_p3 = 2.417951451e-2 ; _float32_arcsine_p3 = 0.0241795 ; line_number = 859 ; constant _float32_arcsine_p4 = 4.216630880e-2 ; _float32_arcsine_p4 = 0.0421663 ; Delaying code generation for procedure _float32_arcsin ; Delaying code generation for procedure _float32_arctan2 ; buffer = 'shaft2' ; line_number = 63 ; library _float32_trig exited ; # Load up the 16 bit library and conversion library: ; line_number = 66 ; library_bank 2 ; line_number = 68 ; library _signed16 entered ; # Copyright (c) 2007 by Wayne C. Gramlich. ; # All rights reserved. ; # This library implements the following procedures for general use ; # by users: ; # ; # _signed16_from_byte(x) return signed16(x) where x is a byte ; # _signed16_from_byte2(x,y) return signed16((x<<8)|y) ; # where x,y are bytes ; # _signed16_to_byte(x) return x as an 8-bit byte ; # _signed16_byte_high(x) return bigh byte of x ; # _signed16_byte_low(x)) return low byte of x ; # ; # The following additional procedures are implemented for use by the ; # compiler. ; # ; # _signed16_pointer_load() A := M[W] ; # _signed16_pointer_add() A := M[W] ; # _signed16_pointer_divide() A := A / M[W] ; # _signed16_pointer_multiply() A := A * M[W] ; # _signed16_pointer_subtract() A := A - M[W] ; # _signed16_pointer_store() M[W] := A ; # _signed16_pointer_negate() A := -A ; # _signed16_pointer_swap() A <=> M[W] ; # _signed16_equals() _z := A = 0.0 ; # _signed16_not_equal() _z := A != 0.0 ; # _signed16_less_than() _z := if A < 0.0 ; # _signed16_less_than_or_equal() _z := A <= 0.0 ; # _signed16_greater_than() _z := A > 0.0 ; # _signed16_greater_than_or_equal() _z := A >= 0.0 ; # ; # All of the procedures constants and labels in this library are ; # prefixed by "_signed16_". ; # ; # For the uCL compiler, signed16's are required to be aligned on even ; # memory addresses. Since the PIC16F* processor can not access more ; # 512 bytes of RAM, this means that a pointer to signed16 can be represented ; # in 8-bits as (address>>1). (Pretty, slick!) ; # FIXME: Make sure that none of the procedures allocate any argument storage!!! ; buffer = '_signed16' ; line_number = 44 ; global _signed16_a0 byte # A Register MSB _signed16_a0 equ globals___2 ; line_number = 45 ; global _signed16_a1 byte # A Register LSB _signed16_a1 equ globals___2+1 ; line_number = 46 ; global _signed16_b0 byte # B Register MSB _signed16_b0 equ globals___2+2 ; line_number = 47 ; global _signed16_b1 byte # B Register LSB _signed16_b1 equ globals___2+3 ; line_number = 48 ; global _signed16_result3 byte # Mulitply result MSB _signed16_result3 equ globals___2+4 ; line_number = 49 ; global _signed16_result2 byte _signed16_result2 equ globals___2+5 ; line_number = 50 ; global _signed16_result1 byte _signed16_result1 equ globals___2+6 ; line_number = 51 ; global _signed16_result0 byte # Mulitply resultLSB _signed16_result0 equ globals___2+7 ; line_number = 52 ; global _signed16_neg_flag byte # Negative flag _signed16_neg_flag equ globals___2+8 ; line_number = 53 ; global _signed16_count byte # Loop counter for divide _signed16_count equ globals___2+9 ; # Bindings for ; line_number = 56 ; bind _signed16_rem0 = _signed16_result2 _signed16_rem0 equ globals___2+5 ; line_number = 57 ; bind _signed16_rem1 = _signed16_result3 _signed16_rem1 equ globals___2+4 ; line_number = 58 ; bind _signed16_temp0 = _signed16_result0 _signed16_temp0 equ globals___2+7 ; line_number = 59 ; bind _signed16_temp1 = _signed16_result1 _signed16_temp1 equ globals___2+6 ; line_number = 60 ; bind _signed16_sign = _signed16_neg_flag _signed16_sign equ globals___2+8 ; Delaying code generation for procedure _signed16_pointer_load ; Delaying code generation for procedure _signed16_pointer_add ; Delaying code generation for procedure _signed16_pointer_divide ; Delaying code generation for procedure _signed16_pointer_multiply ; Delaying code generation for procedure _signed16_pointer_subtract ; Delaying code generation for procedure _signed16_pointer_store ; Delaying code generation for procedure _signed16_negate ; Delaying code generation for procedure _signed16_pointer_swap ; Delaying code generation for procedure _signed16_from_byte ; Delaying code generation for procedure _signed16_from_byte2 ; Delaying code generation for procedure _signed16_to_byte ; Delaying code generation for procedure _signed16_byte_high ; Delaying code generation for procedure _signed16_byte_low ; Delaying code generation for procedure _signed16_equals ; Delaying code generation for procedure _signed16_not_equal ; Delaying code generation for procedure _signed16_less_than ; Delaying code generation for procedure _signed16_less_than_or_equal ; Delaying code generation for procedure _signed16_greater_than ; Delaying code generation for procedure _signed16_greater_than_or_equal ; #******************************************************************* ; # Double Precision Division ; # ; # ( Optimized for Code Size : Looped Code ) ; # ; #*******************************************************************# ; # Division: ; # Input: ; # Numeratator=_signed16_a<0:1> ; # Denominator = _signed16_b<0:1> ; # Outputs: ; # Quotiant = _signed16_a<0:1> ; # Remainder in _signed16_rem<0:1> ; # ; # Sequence: ; # (a) Load the Numerator in location _signed16_a<0:1> ( 16 bits ) ; # (b) Load the Denominator in location _signed16_b<0:1> ( 16 bits ) ; # (c) call _signed16_divide_raw ; # (d) The 16 bit quotiant is in location _signed16_a<0:1> ; # (e) The 16 bit remainder is in locations _signed16_rem<0:1> ; Delaying code generation for procedure _signed16_divide_raw ; buffer = 'shaft2' ; line_number = 68 ; library _signed16 exited ; line_number = 69 ; library _float32_signed16 entered ; # Copyright (c) 2007 by Wayne C. Gramlich ; # All rights reserved. ; Delaying code generation for procedure _signed16_float32_convert ; Delaying code generation for procedure _float32_signed16_convert ; line_number = 69 ; library _float32_signed16 exited ; # Most stuff occurs in data bank 0: ; # Pin definitions: ; line_number = 76 ; package pdip ; line_number = 77 ; pin 1 = mclr ; line_number = 78 ; pin 2 = ra0_unused ; line_number = 79 ; pin 3 = ra1_unused ; line_number = 80 ; pin 4 = ra2_unused ; line_number = 81 ; pin 5 = ra3_unused ; line_number = 82 ; pin 6 = ra4_unused ; line_number = 83 ; pin 7 = ra5_unused ; line_number = 84 ; pin 8 = ground ; line_number = 85 ; pin 9 = osc1 ; line_number = 86 ; pin 10 = osc2 ; line_number = 87 ; pin 11 = rc0_unused ; line_number = 88 ; pin 12 = rc1_out, name=shaft1 shaft1___byte equ _portc shaft1___bit equ 1 ; line_number = 89 ; pin 13 = rc2_in, name=dflag1 dflag1___byte equ _portc dflag1___bit equ 2 ; line_number = 90 ; pin 14 = sck_master ; line_number = 91 ; pin 15 = sdi ; line_number = 92 ; pin 16 = sdo ; line_number = 93 ; pin 17 = tx ; line_number = 94 ; pin 18 = rx ; line_number = 95 ; pin 19 = ground2 ; line_number = 96 ; pin 20 = power_supply ; line_number = 97 ; pin 21 = rb0_in, name=lflag lflag___byte equ _portb lflag___bit equ 0 ; line_number = 98 ; pin 22 = rb1_unused ; line_number = 99 ; pin 23 = rb2_unused ; line_number = 100 ; pin 24 = rb3_in, name=dflag0 dflag0___byte equ _portb dflag0___bit equ 3 ; line_number = 101 ; pin 25 = rb4_unused ; line_number = 102 ; pin 26 = rb5_out, name=shaft0 shaft0___byte equ _portb shaft0___bit equ 5 ; line_number = 103 ; pin 27 = rb6_unused ; line_number = 104 ; pin 28 = rb7_unused ; # This are the constants for the LS7366 commands: ; # The Instruction Register bits: ; # For IR<7:6>: ; line_number = 110 ; constant ls_clear = 0 << 6 ls_clear equ 0 ; line_number = 111 ; constant ls_read = 1 << 6 ls_read equ 64 ; line_number = 112 ; constant ls_write = 2 << 6 ls_write equ 128 ; line_number = 113 ; constant ls_load = 3 << 6 ls_load equ 192 ; # For IR<5:3>: ; line_number = 115 ; constant ls_none = 0 << 3 ls_none equ 0 ; line_number = 116 ; constant ls_mdr0 = 1 << 3 ls_mdr0 equ 8 ; line_number = 117 ; constant ls_mdr1 = 2 << 3 ls_mdr1 equ 16 ; line_number = 118 ; constant ls_dtr = 3 << 3 ls_dtr equ 24 ; line_number = 119 ; constant ls_cntr = 4 << 3 ls_cntr equ 32 ; line_number = 120 ; constant ls_otr = 5 << 3 ls_otr equ 40 ; line_number = 121 ; constant ls_str = 6 << 3 ls_str equ 48 ; line_number = 122 ; constant ls_none2 = 7 << 3 ls_none2 equ 56 ; # For IR<2:0> are unused. We use them for chip selection: ; line_number = 124 ; constant ls_shaft0_bit = 0 ls_shaft0_bit equ 0 ; line_number = 125 ; constant ls_shaft1_bit = 1 ls_shaft1_bit equ 1 ; line_number = 126 ; constant ls_select_shaft0 = 1 << ls_shaft0_bit ls_select_shaft0 equ 1 ; line_number = 127 ; constant ls_select_shaft1 = 1 << ls_shaft1_bit ls_select_shaft1 equ 2 ; line_number = 128 ; constant ls_select_both = ls_select_shaft0 | ls_select_shaft1 ls_select_both equ 3 ; # For the MDR0 (mode register 0): ; # MDR0<1:0>: ; line_number = 132 ; constant ls_non_quad = 0 << 0 ls_non_quad equ 0 ; line_number = 133 ; constant ls_quad_x1 = 1 << 0 ls_quad_x1 equ 1 ; line_number = 134 ; constant ls_quad_x2 = 2 << 0 ls_quad_x2 equ 2 ; line_number = 135 ; constant ls_quad_x4 = 3 << 0 ls_quad_x4 equ 3 ; # MDR0<3:2>: ; line_number = 137 ; constant ls_count_free = 0 << 2 ls_count_free equ 0 ; line_number = 138 ; constant ls_count_single = 1 << 2 ls_count_single equ 4 ; line_number = 139 ; constant ls_count_range = 2 << 2 ls_count_range equ 8 ; line_number = 140 ; constant ls_count_module = 3 << 2 ls_count_module equ 12 ; # MDR0<5:4>: ; line_number = 142 ; constant ls_index_disable = 0 << 4 ls_index_disable equ 0 ; line_number = 143 ; constant ls_index_cntr_load = 1 << 4 ls_index_cntr_load equ 16 ; line_number = 144 ; constant ls_index_cntr_reset = 2 << 4 ls_index_cntr_reset equ 32 ; line_number = 145 ; constant ls_index_otr_load = 3 << 4 ls_index_otr_load equ 48 ; # MDR0<6>: ; line_number = 147 ; constant ls_index_negative = 0 << 6 ls_index_negative equ 0 ; line_number = 148 ; constant ls_index_positive = 1 << 6 ls_index_positive equ 64 ; # MDR0<7>: ; line_number = 150 ; constant ls_index_filter1 = 0 << 7 ls_index_filter1 equ 0 ; line_number = 151 ; constant ls_index_filter2 = 1 << 7 ls_index_filter2 equ 128 ; # The value for our MDR0 is: ; line_number = 153 ; constant ls_mdr0_value = ls_non_quad | ls_count_free | ls_index_disable | ls_index_negative | ls_index_filter1 ls_mdr0_value equ 0 ; # For the MDR1 (mode_register 1): ; # MDR1<1:0>: ; line_number = 158 ; constant ls_size_4 = 0 << 0 ls_size_4 equ 0 ; line_number = 159 ; constant ls_size_3 = 1 << 0 ls_size_3 equ 1 ; line_number = 160 ; constant ls_size_2 = 2 << 0 ls_size_2 equ 2 ; line_number = 161 ; constant ls_size_1 = 3 << 0 ls_size_1 equ 3 ; # MDR1<2>: ; line_number = 163 ; constant ls_count_enable = 0 << 2 ls_count_enable equ 0 ; line_number = 164 ; constant ls_count_disable = 1 << 2 ls_count_disable equ 4 ; # MDR1<3> unused: ; # MDR1<4>: ; line_number = 167 ; constant ls_flag_on_idx = 1 << 4 ls_flag_on_idx equ 16 ; # MDR1<5>: ; line_number = 169 ; constant ls_flag_on_cmp = 1 << 5 ls_flag_on_cmp equ 32 ; # MDR1<6>: ; line_number = 171 ; constant ls_flag_on_bw = 1 << 6 ls_flag_on_bw equ 64 ; # MDR1<7>: ; line_number = 173 ; constant ls_flag_on_cy = 1 << 7 ls_flag_on_cy equ 128 ; # The value for our MDR1 is: ; line_number = 175 ; constant ls_mdr1_value = ls_size_2 | ls_count_enable ls_mdr1_value equ 2 ; # Index constants for data passed from {working} to {stable} to {frozen}: ; line_number = 178 ; constant index_shaft0_high = 0 # Shaft0 High index_shaft0_high equ 0 ; line_number = 179 ; constant index_shaft0_low = 1 # Shaft0 Low index_shaft0_low equ 1 ; line_number = 180 ; constant index_shaft1_high = 2 # Shaft1 High index_shaft1_high equ 2 ; line_number = 181 ; constant index_shaft1_low = 3 # Shaft1 Low index_shaft1_low equ 3 ; line_number = 182 ; constant index_x_high = 4 # X Coordinate High index_x_high equ 4 ; line_number = 183 ; constant index_x_low = 5 # X Coordinate Low index_x_low equ 5 ; line_number = 184 ; constant index_y_high = 6 # Y Coordinate High index_y_high equ 6 ; line_number = 185 ; constant index_y_low = 7 # Y Coordinate Low index_y_low equ 7 ; line_number = 186 ; constant index_bearing_high = 8 # Bearing Coordinate High index_bearing_high equ 8 ; line_number = 187 ; constant index_bearing_low = 9 # Bearing Coordinate Low index_bearing_low equ 9 ; line_number = 188 ; constant index_target_bearing_high = 10 # Target Bearing Coordinate High index_target_bearing_high equ 10 ; line_number = 189 ; constant index_target_bearing_low = 11 # Target Bearing Coordinate Low index_target_bearing_low equ 11 ; line_number = 190 ; constant index_target_distance_high = 12 # Target Bearing Coordinate High index_target_distance_high equ 12 ; line_number = 191 ; constant index_target_distance_low = 13 # Target Bearing Coordinate Low index_target_distance_low equ 13 ; line_number = 192 ; constant index_count = 14 # Iteration count index_count equ 14 ; line_number = 193 ; constant up_data_size = 15 # Bytes of "up" only data up_data_size equ 15 ; # Index of constant for data that lives only in {frozen}: ; line_number = 196 ; constant index_target_x_high = 15 # Target X Coordinate High index_target_x_high equ 15 ; line_number = 197 ; constant index_target_x_low = 16 # Target X Coordinate Low index_target_x_low equ 16 ; line_number = 198 ; constant index_target_y_high = 17 # Target Y Coordinate High index_target_y_high equ 17 ; line_number = 199 ; constant index_target_y_low = 18 # Target Y Coordinate Low index_target_y_low equ 18 ; line_number = 200 ; constant index_wheel_spacing_high = 19 # Wheel Spacing High index_wheel_spacing_high equ 19 ; line_number = 201 ; constant index_wheel_spacing_low = 20 # Wheel Spacing Low index_wheel_spacing_low equ 20 ; line_number = 202 ; constant index_wheel_ticks_high = 21 # Wheel Ticks High index_wheel_ticks_high equ 21 ; line_number = 203 ; constant index_wheel_ticks_low = 22 # Wheel Ticks Low index_wheel_ticks_low equ 22 ; line_number = 204 ; constant index_wheel_diameter_high = 23 # Wheel Diameter High index_wheel_diameter_high equ 23 ; line_number = 205 ; constant index_wheel_diameter_low = 24 # Wheel Diameter Low index_wheel_diameter_low equ 24 ; line_number = 206 ; constant up_down_data_size = 25 # Bytes of "up" and "down" data up_down_data_size equ 25 ; # Some flags used to comicate between processes: ; line_number = 209 ; global clear_request bit # Request to clear counters clear_request___byte equ globals___0+79 clear_request___bit equ 0 ; line_number = 210 ; global location_on bit # Location computation is on location_on___byte equ globals___0+79 location_on___bit equ 1 ; line_number = 211 ; global target_changed bit # Target X or Y Changed target_changed___byte equ globals___0+79 target_changed___bit equ 2 ; line_number = 212 ; global target_change_request bit # Target X or Y are about to change target_change_request___byte equ globals___0+79 target_change_request___bit equ 3 ; line_number = 213 ; global location_changed bit # Location X, Y, Bearing changed location_changed___byte equ globals___0+79 location_changed___bit equ 4 ; line_number = 214 ; global location_change_request bit # Location X, Y, Bearing are to change location_change_request___byte equ globals___0+79 location_change_request___bit equ 5 ; line_number = 215 ; global wheel_change_request bit # Wheel constant are about to change wheel_change_request___byte equ globals___0+79 wheel_change_request___bit equ 6 ; line_number = 216 ; global wheel_changed bit # Wheel constants changed wheel_changed___byte equ globals___0+79 wheel_changed___bit equ 7 ; line_number = 217 ; global shaft0_invert bit # Invert shaft0 shaft0_invert___byte equ globals___0+78 shaft0_invert___bit equ 0 ; line_number = 218 ; global shaft1_invert bit # Invert shaft1 shaft1_invert___byte equ globals___0+78 shaft1_invert___bit equ 1 ; line_number = 219 ; global shafts_swap bit # Swap shaft0 and shaft1 shafts_swap___byte equ globals___0+78 shafts_swap___bit equ 2 ; line_number = 221 ; global test0 bit test0___byte equ globals___0+78 test0___bit equ 3 ; line_number = 222 ; global test1 bit test1___byte equ globals___0+78 test1___bit equ 4 ; line_number = 223 ; global test2 bit test2___byte equ globals___0+78 test2___bit equ 5 ; line_number = 224 ; global test3 bit test3___byte equ globals___0+78 test3___bit equ 6 ; # Working copies: ; line_number = 227 ; global working[up_data_size] array[byte] # Array of working data working equ globals___0 ; line_number = 228 ; bind shaft0_high = working[index_shaft0_high] shaft0_high equ globals___0 ; line_number = 229 ; bind shaft0_low = working[index_shaft0_low] shaft0_low equ globals___0+1 ; line_number = 230 ; bind shaft1_high = working[index_shaft1_high] shaft1_high equ globals___0+2 ; line_number = 231 ; bind shaft1_low = working[index_shaft1_low] shaft1_low equ globals___0+3 ; # Stable copies (only changed when interrupts are disabled): ; line_number = 234 ; global stable[up_data_size] array[byte] # Array of stable data stable equ globals___0+15 ; line_number = 235 ; bind stable_shaft0_high = stable[index_shaft0_high] stable_shaft0_high equ globals___0+15 ; line_number = 236 ; bind stable_shaft0_low = stable[index_shaft0_low] stable_shaft0_low equ globals___0+16 ; line_number = 237 ; bind stable_shaft1_high = stable[index_shaft1_high] stable_shaft1_high equ globals___0+17 ; line_number = 238 ; bind stable_shaft1_low = stable[index_shaft1_low] stable_shaft1_low equ globals___0+18 ; # Frozen copies (only changed when the user requests a change): ; line_number = 241 ; global frozen[up_down_data_size] array[byte] # Array of frozen data frozen equ globals___0+30 ; line_number = 243 ; origin 0 org 0 ; # The start procedure jumps around the interrupt routine to the main routine. ; line_number = 246 ;info 246, 0 ; procedure start start: ; arguments_none ; line_number = 248 ; returns_nothing ; line_number = 249 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 251 ; assemble ;info 251, 0 ; line_number = 252 ;info 252, 0 ; codebank start, main ; line_number = 253 ;info 253, 0 goto main ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; # Used by the interrupt routine only. Must be global since the state ; # must remain in place after the interrupt routine exits: ; line_number = 257 ; share fsr_save byte # {_fsr} register save (for interrupts) fsr_save equ shared___globals ; line_number = 258 ; share pclath_save byte # {_pclath} register save (for interrupts) pclath_save equ shared___globals+1 ; line_number = 259 ; global state byte # Overall state machine state equ globals___0+55 ; line_number = 260 ; global id_index byte # The id index id_index equ globals___0+56 ; line_number = 261 ; global frozen_shaft_low byte # The low byte of the latest frozen shaft frozen_shaft_low equ globals___0+57 ; line_number = 262 ; global next_byte byte # Next byte to be sent next_byte equ globals___0+58 ; line_number = 263 ; global store_index byte # Index where to store byte store_index equ globals___0+59 ; line_number = 264 ; global store_high byte # High byte to store store_high equ globals___0+60 ; # The {state} variable is used to control the state of interaction ; # with the client. ; line_number = 268 ; constant state_begin_echo = 0 # Eat "echoed" byte, return to {begin} state_begin_echo equ 0 ; line_number = 269 ; constant state_begin = 1 # Top level command processing state_begin equ 1 ; line_number = 270 ; constant state_deselected = 2 # Deselected byte eater state_deselected equ 2 ; line_number = 271 ; constant state_next_send = 3 # Send the next byte state_next_send equ 3 ; line_number = 272 ; constant state_store_high = 4 # Next byte is a high byte to store state_store_high equ 4 ; line_number = 273 ; constant state_store_low = 5 # Next byte is a high byte to store state_store_low equ 5 ; line_number = 274 ; constant state_signs_store = 6 # Next byte received is signs byte state_signs_store equ 6 ; line_number = 276 ; origin 4 org 4 ; line_number = 278 ;info 278, 4 ; procedure interrupt interrupt: interrupt___w_save equ shared___globals+3 interrupt___status_save equ shared___globals+2 ; Carefully save __w and __tatus into RAM ; Save W first (easy) movwf interrupt___w_save ; Save Status without smashing it (tricky) ; Move swapped version of status into W swapf __status,w ; Store swapped version of status into RAM movwf interrupt___status_save ; arguments_none ; line_number = 280 ; returns_nothing ; # Main interrupt procedure that implements the "interrupt" process. ; line_number = 284 ; local command byte interrupt__command equ globals___0+61 ; line_number = 285 ; local rx9d bit interrupt__rx9d___byte equ globals___0+78 interrupt__rx9d___bit equ 7 ; # Save the {_fsr}: ; before procedure statements delay=non-uniform, bit states=(data:??=uu=>?? code:00=uu=>00) ; line_number = 288 ; fsr_save := _fsr ;info 288, 7 movf _fsr,w movwf fsr_save ; line_number = 289 ; pclath_save := _pclath ;info 289, 9 movf _pclath,w movwf pclath_save ; line_number = 290 ; _pclath := 0 ;info 290, 11 clrf _pclath ; # Now we are really in page 0: ; # The only interrupt should be for receive byt, but test {_rcif} just ; # to be sure: ; line_number = 295 ; if _rcif start ;info 295, 12 ; =>bit_code_emit@symbol(): sym=_rcif ; No 1TEST: true.size=456 false.size=0 ; No 2TEST: true.size=456 false.size=0 ; 1GOTO: Single test with GOTO bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit btfss _rcif___byte, _rcif___bit goto interrupt__93 ; # Clear the interrupt flag until the next byte arrives: ; line_number = 297 ; _rcif := _false ;info 297, 16 bcf _rcif___byte, _rcif___bit ; # Deal with UART errors: ; line_number = 300 ; if _oerr start ;info 300, 17 ; =>bit_code_emit@symbol(): sym=_oerr ; 1TEST: Single test with code in skip slot btfsc _oerr___byte, _oerr___bit ; line_number = 301 ; _cren := _false ;info 301, 18 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 300 ; if _oerr done ; line_number = 302 ; if _ferr start ;info 302, 19 ; =>bit_code_emit@symbol(): sym=_ferr ; 1TEST: Single test with code in skip slot btfsc _ferr___byte, _ferr___bit ; line_number = 303 ; _cren := _false ;info 303, 20 bcf _cren___byte, _cren___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 302 ; if _ferr done ; line_number = 304 ; _cren := _true ;info 304, 21 bsf _cren___byte, _cren___bit ; # Now read all 9 bits of data: ; line_number = 307 ; rx9d := _false ;info 307, 22 bcf interrupt__rx9d___byte, interrupt__rx9d___bit ; line_number = 308 ; if _rx9d start ;info 308, 23 ; =>bit_code_emit@symbol(): sym=_rx9d ; 1TEST: Single test with code in skip slot btfsc _rx9d___byte, _rx9d___bit ; line_number = 309 ; rx9d := _true ;info 309, 24 bsf interrupt__rx9d___byte, interrupt__rx9d___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 308 ; if _rx9d done ; line_number = 310 ; command := _rcreg ;info 310, 25 movf _rcreg,w movwf interrupt__command ; line_number = 311 ; _tx9d := _false ;info 311, 27 bsf __rp0___byte, __rp0___bit bcf _tx9d___byte, _tx9d___bit ; # Dispatch on the command byte: ; line_number = 314 ; if rx9d start ;info 314, 29 ; =>bit_code_emit@symbol(): sym=interrupt__rx9d ; No 1TEST: true.size=14 false.size=423 ; No 2TEST: true.size=14 false.size=423 ; 2GOTO: Single test with two GOTO's bcf __rp0___byte, __rp0___bit btfss interrupt__rx9d___byte, interrupt__rx9d___bit goto interrupt__91 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; # We have an address byte: ; line_number = 316 ; if command = rb2bus_address start ;info 316, 34 ; Left minus Right movf rb2bus_address,w bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit subwf interrupt__command,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=4 false.size=3 ; No 2TEST: true.size=4 false.size=3 ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto interrupt__89 ; # We have an address match: ; line_number = 318 ; _txreg := rb2_ok ;info 318, 40 movlw 165 movwf _txreg ; line_number = 319 ; state := state_begin_echo ;info 319, 42 clrf state ; line_number = 320 ; _adden := _false ;info 320, 43 bcf _adden___byte, _adden___bit goto interrupt__90 ; 2GOTO: Starting code 2 interrupt__89: ; # Somebody else is selected; only listen for address bytes: ; line_number = 323 ; _adden := _true ;info 323, 45 bsf _adden___byte, _adden___bit ; line_number = 324 ; state := state_deselected ;info 324, 46 movlw 2 movwf state interrupt__90: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:11=uu=>00 code:00=uu=>00) ; line_number = 316 ; if command = rb2bus_address done ; Recombine code1_bit_states != code2_bit_states goto interrupt__92 ; 2GOTO: Starting code 2 interrupt__91: ; # Process the received byte based on our current {state}. ; line_number = 327 ; switch state start ;info 327, 49 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw interrupt__87>>8 movwf __pclath movf state,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__87 movwf __pcl ; page_group 7 interrupt__87: goto interrupt__82 goto interrupt__81 goto interrupt__80 goto interrupt__83 goto interrupt__84 goto interrupt__85 goto interrupt__86 ; line_number = 328 ; case 2 interrupt__80: ; # We should never received data bytes in the deselected ; # state, but we have this case "just in case": ; line_number = 331 ; do_nothing ;info 331, 61 goto interrupt__88 ; line_number = 332 ; case 1 interrupt__81: ; # This is the first byte of a client command that has ; # been received. Figure out what to do with three levels ; # of nested switch statements. The first level dispatches ; # on DDxx xxxx., the second on xxDD Dxxx, and the third ; # level on xxxx xDDD: ; # (DDxx xxxx): ; line_number = 339 ; switch command >> 6 start ;info 339, 62 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 340 ; case_maximum 3 movlw interrupt__71>>8 movwf __pclath interrupt__72 equ globals___0+65 swapf interrupt__command,w movwf interrupt__72 rrf interrupt__72,f rrf interrupt__72,w andlw 3 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__71 movwf __pcl ; page_group 4 interrupt__71: goto interrupt__68 goto interrupt__69 goto interrupt__69 goto interrupt__70 ; line_number = 341 ; case 0 interrupt__68: ; # (00DD Dxxx): ; line_number = 343 ; switch (command >> 3) & 7 start ;info 343, 75 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 344 ; case_maximum 7 movlw interrupt__55>>8 movwf __pclath interrupt__56 equ globals___0+65 rrf interrupt__command,w movwf interrupt__56 rrf interrupt__56,f rrf interrupt__56,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__55 movwf __pcl ; page_group 8 interrupt__55: goto interrupt__50 goto interrupt__57 goto interrupt__51 goto interrupt__52 goto interrupt__53 goto interrupt__54 goto interrupt__57 goto interrupt__57 ; line_number = 345 ; case 0 interrupt__50: ; # (0000 0DDD): ; line_number = 347 ; switch command & 7 start ;info 347, 92 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 348 ; case_maximum 7 movlw interrupt__8>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__8 movwf __pcl ; page_group 8 interrupt__8: goto interrupt__4 goto interrupt__5 goto interrupt__6 goto interrupt__6 goto interrupt__7 goto interrupt__9 goto interrupt__9 goto interrupt__9 ; line_number = 349 ; case 0 interrupt__4: ; # Count Latch (0000 0000): ; line_number = 351 ; frozen[index_shaft0_high] := stable[index_shaft0_high] ;info 351, 106 movf stable,w movwf frozen ; line_number = 353 ; frozen[index_shaft0_low] := stable[index_shaft0_low] ;info 353, 108 movf stable+1,w movwf frozen+1 ; line_number = 355 ; frozen[index_shaft1_high] := stable[index_shaft1_high] ;info 355, 110 movf stable+2,w movwf frozen+2 ; line_number = 357 ; frozen[index_shaft1_low] := stable[index_shaft1_low] ;info 357, 112 movf stable+3,w movwf frozen+3 goto interrupt__9 ; line_number = 359 ; case 1 interrupt__5: ; # Count Clear (0000 0001): ; line_number = 361 ; clear_request := _true ;info 361, 115 bsf clear_request___byte, clear_request___bit goto interrupt__9 ; line_number = 362 ; case 2, 3 interrupt__6: ; # Shaft High Get (0000 001s): ; line_number = 365 ; if command@0 start ;info 365, 117 interrupt__select__1___byte equ interrupt__command interrupt__select__1___bit equ 0 ; =>bit_code_emit@symbol(): sym=interrupt__select__1 ; No 1TEST: true.size=3 false.size=3 ; No 2TEST: true.size=3 false.size=3 ; 2GOTO: Single test with two GOTO's btfss interrupt__select__1___byte, interrupt__select__1___bit goto interrupt__2 ; line_number = 366 ; _txreg := frozen[index_shaft1_high] ;info 366, 119 movf frozen+2,w movwf _txreg ; line_number = 367 ; frozen_shaft_low := frozen[index_shaft1_low] ;info 367, 121 movf frozen+3,w goto interrupt__3 ; 2GOTO: Starting code 2 interrupt__2: ; line_number = 369 ; _txreg := frozen[index_shaft0_high] ;info 369, 123 movf frozen,w movwf _txreg ; line_number = 370 ; frozen_shaft_low := frozen[index_shaft0_low] ;info 370, 125 movf frozen+1,w interrupt__3: ; 2GOTO: code1 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:00=uu=>00) movwf frozen_shaft_low ; line_number = 365 ; if command@0 done ; line_number = 371 ; state := state_begin_echo ;info 371, 127 clrf state goto interrupt__9 ; line_number = 372 ; case 4 interrupt__7: ; # Shaft Low Get (0000 0100): ; line_number = 374 ; _txreg := frozen_shaft_low ;info 374, 129 movf frozen_shaft_low,w movwf _txreg ; line_number = 375 ; state := state_begin_echo ;info 375, 131 clrf state interrupt__9: ; line_number = 347 ; switch command & 7 done goto interrupt__57 ; line_number = 376 ; case 2 interrupt__51: ; # (0001 0DDD): ; line_number = 378 ; switch command & 7 start ;info 378, 133 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 379 ; case_maximum 7 movlw interrupt__18>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__18 movwf __pcl ; page_group 8 interrupt__18: goto interrupt__10 goto interrupt__11 goto interrupt__12 goto interrupt__13 goto interrupt__14 goto interrupt__15 goto interrupt__16 goto interrupt__17 ; line_number = 380 ; case 0 interrupt__10: ; # X Get (0001 0000): ; line_number = 382 ; _txreg := frozen[index_x_high] ;info 382, 147 movf frozen+4,w movwf _txreg ; line_number = 383 ; next_byte := frozen[index_x_low] ;info 383, 149 movf frozen+5,w movwf next_byte ; line_number = 384 ; state := state_next_send ;info 384, 151 movlw 3 movwf state goto interrupt__19 ; line_number = 385 ; case 1 interrupt__11: ; # Y Get (0001 0001): ; line_number = 387 ; _txreg := frozen[index_y_high] ;info 387, 154 movf frozen+6,w movwf _txreg ; line_number = 388 ; next_byte := frozen[index_y_low] ;info 388, 156 movf frozen+7,w movwf next_byte ; line_number = 389 ; state := state_next_send ;info 389, 158 movlw 3 movwf state goto interrupt__19 ; line_number = 390 ; case 2 interrupt__12: ; # Bearing 16 Get(0001 0010): ; line_number = 392 ; _txreg := frozen[index_bearing_high] ;info 392, 161 movf frozen+8,w movwf _txreg ; line_number = 393 ; next_byte := frozen[index_bearing_low] ;info 393, 163 movf frozen+9,w movwf next_byte ; line_number = 394 ; state := state_next_send ;info 394, 165 movlw 3 movwf state goto interrupt__19 ; line_number = 395 ; case 3 interrupt__13: ; # Bearing 8 Get(0001 0011): ; line_number = 397 ; _txreg := frozen[index_bearing_high] ;info 397, 168 movf frozen+8,w movwf _txreg ; line_number = 398 ; state := state_begin_echo ;info 398, 170 clrf state goto interrupt__19 ; line_number = 399 ; case 4 interrupt__14: ; # Target X Get (0001 0100): ; line_number = 401 ; _txreg := frozen[index_target_x_high] ;info 401, 172 movf frozen+15,w movwf _txreg ; line_number = 402 ; next_byte := frozen[index_target_x_low] ;info 402, 174 movf frozen+16,w movwf next_byte ; line_number = 403 ; state := state_next_send ;info 403, 176 movlw 3 movwf state goto interrupt__19 ; line_number = 404 ; case 5 interrupt__15: ; # Target Y Get (0001 0101): ; line_number = 406 ; _txreg := frozen[index_target_y_high] ;info 406, 179 movf frozen+17,w movwf _txreg ; line_number = 407 ; next_byte := frozen[index_target_y_low] ;info 407, 181 movf frozen+18,w movwf next_byte ; line_number = 408 ; state := state_next_send ;info 408, 183 movlw 3 movwf state goto interrupt__19 ; line_number = 409 ; case 6 interrupt__16: ; # Target Bearing 16 Get(0001 0110): ; line_number = 411 ; _txreg := frozen[index_target_bearing_high] ;info 411, 186 movf frozen+10,w movwf _txreg ; line_number = 412 ; next_byte := frozen[index_target_bearing_low] ;info 412, 188 movf frozen+11,w movwf next_byte ; line_number = 413 ; state := state_next_send ;info 413, 190 movlw 3 movwf state goto interrupt__19 ; line_number = 414 ; case 7 interrupt__17: ; # Target Bearing 8 Get (0001 0111): ; line_number = 416 ; _txreg := frozen[index_target_bearing_high] ;info 416, 193 movf frozen+10,w movwf _txreg ; line_number = 417 ; state := state_begin_echo ;info 417, 195 clrf state interrupt__19: ; line_number = 378 ; switch command & 7 done goto interrupt__57 ; line_number = 418 ; case 3 interrupt__52: ; # (0001 0DDD): ; line_number = 420 ; switch command & 7 start ;info 420, 197 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 421 ; case_maximum 7 movlw interrupt__34>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__34 movwf __pcl ; page_group 8 interrupt__34: goto interrupt__28 goto interrupt__29 goto interrupt__30 goto interrupt__31 goto interrupt__32 goto interrupt__33 goto interrupt__35 goto interrupt__35 ; line_number = 422 ; case 0 interrupt__28: ; # Target Distance Get (0001 1000): ; line_number = 424 ; _txreg := frozen[index_target_distance_high] ;info 424, 211 movf frozen+12,w movwf _txreg ; line_number = 425 ; next_byte := frozen[index_target_distance_low] ;info 425, 213 movf frozen+13,w movwf next_byte ; line_number = 426 ; state := state_next_send ;info 426, 215 movlw 3 movwf state goto interrupt__35 ; line_number = 427 ; case 1 interrupt__29: ; # Wheel Spacing Get (0001 1001): ; line_number = 429 ; _txreg := frozen[index_wheel_spacing_high] ;info 429, 218 movf frozen+19,w movwf _txreg ; line_number = 430 ; next_byte := frozen[index_wheel_spacing_low] ;info 430, 220 movf frozen+20,w movwf next_byte ; line_number = 431 ; state := state_next_send ;info 431, 222 movlw 3 movwf state goto interrupt__35 ; line_number = 432 ; case 2 interrupt__30: ; # Wheel Ticks Get (0001 1010): ; line_number = 434 ; _txreg := frozen[index_wheel_ticks_high] ;info 434, 225 movf frozen+21,w movwf _txreg ; line_number = 435 ; next_byte := frozen[index_wheel_ticks_low] ;info 435, 227 movf frozen+22,w movwf next_byte ; line_number = 436 ; state := state_next_send ;info 436, 229 movlw 3 movwf state goto interrupt__35 ; line_number = 437 ; case 3 interrupt__31: ; # Wheel Diameter Get (0001 1011): ; line_number = 439 ; _txreg := frozen[index_wheel_diameter_high] ;info 439, 232 movf frozen+23,w movwf _txreg ; line_number = 440 ; next_byte := frozen[index_wheel_diameter_low] ;info 440, 234 movf frozen+24,w movwf next_byte ; line_number = 441 ; state := state_next_send ;info 441, 236 movlw 3 movwf state goto interrupt__35 ; line_number = 442 ; case 4 interrupt__32: ; # Iteration Count Get (0001 1100): ; line_number = 444 ; _txreg := frozen[index_count] ;info 444, 239 movf frozen+14,w movwf _txreg ; line_number = 445 ; state := state_begin_echo ;info 445, 241 clrf state goto interrupt__35 ; line_number = 446 ; case 5 interrupt__33: ; # Counter Signs Get(0001 1101): ; line_number = 448 ; next_byte := 0 ;info 448, 243 clrf next_byte ; line_number = 449 ; if shaft0_invert start ;info 449, 244 ; =>bit_code_emit@symbol(): sym=shaft0_invert ; 1TEST: Single test with code in skip slot btfsc shaft0_invert___byte, shaft0_invert___bit ; line_number = 450 ; next_byte@0 := _true ;info 450, 245 interrupt__select__20___byte equ next_byte interrupt__select__20___bit equ 0 bsf interrupt__select__20___byte, interrupt__select__20___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 449 ; if shaft0_invert done ; line_number = 451 ; if shaft1_invert start ;info 451, 246 ; =>bit_code_emit@symbol(): sym=shaft1_invert ; 1TEST: Single test with code in skip slot btfsc shaft1_invert___byte, shaft1_invert___bit ; line_number = 452 ; next_byte@1 := _true ;info 452, 247 interrupt__select__21___byte equ next_byte interrupt__select__21___bit equ 1 bsf interrupt__select__21___byte, interrupt__select__21___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 451 ; if shaft1_invert done ; line_number = 453 ; if shafts_swap start ;info 453, 248 ; =>bit_code_emit@symbol(): sym=shafts_swap ; 1TEST: Single test with code in skip slot btfsc shafts_swap___byte, shafts_swap___bit ; line_number = 454 ; next_byte@2 := _true ;info 454, 249 interrupt__select__22___byte equ next_byte interrupt__select__22___bit equ 2 bsf interrupt__select__22___byte, interrupt__select__22___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 453 ; if shafts_swap done ; line_number = 455 ; if location_on start ;info 455, 250 ; =>bit_code_emit@symbol(): sym=location_on ; 1TEST: Single test with code in skip slot btfsc location_on___byte, location_on___bit ; line_number = 456 ; next_byte@3 := _true ;info 456, 251 interrupt__select__23___byte equ next_byte interrupt__select__23___bit equ 3 bsf interrupt__select__23___byte, interrupt__select__23___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 455 ; if location_on done ; line_number = 457 ; if test0 start ;info 457, 252 ; =>bit_code_emit@symbol(): sym=test0 ; 1TEST: Single test with code in skip slot btfsc test0___byte, test0___bit ; line_number = 458 ; next_byte@4 := _true ;info 458, 253 interrupt__select__24___byte equ next_byte interrupt__select__24___bit equ 4 bsf interrupt__select__24___byte, interrupt__select__24___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 457 ; if test0 done ; line_number = 459 ; if test1 start ;info 459, 254 ; =>bit_code_emit@symbol(): sym=test1 ; 1TEST: Single test with code in skip slot btfsc test1___byte, test1___bit ; line_number = 460 ; next_byte@5 := _true ;info 460, 255 interrupt__select__25___byte equ next_byte interrupt__select__25___bit equ 5 bsf interrupt__select__25___byte, interrupt__select__25___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 459 ; if test1 done ; line_number = 461 ; if test2 start ;info 461, 256 ; =>bit_code_emit@symbol(): sym=test2 ; 1TEST: Single test with code in skip slot btfsc test2___byte, test2___bit ; line_number = 462 ; next_byte@6 := _true ;info 462, 257 interrupt__select__26___byte equ next_byte interrupt__select__26___bit equ 6 bsf interrupt__select__26___byte, interrupt__select__26___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 461 ; if test2 done ; line_number = 463 ; if test3 start ;info 463, 258 ; =>bit_code_emit@symbol(): sym=test3 ; 1TEST: Single test with code in skip slot btfsc test3___byte, test3___bit ; line_number = 464 ; next_byte@7 := _true ;info 464, 259 interrupt__select__27___byte equ next_byte interrupt__select__27___bit equ 7 bsf interrupt__select__27___byte, interrupt__select__27___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 463 ; if test3 done ; line_number = 465 ; _txreg := next_byte ;info 465, 260 movf next_byte,w movwf _txreg ; line_number = 466 ; state := state_begin_echo ;info 466, 262 clrf state interrupt__35: ; line_number = 420 ; switch command & 7 done goto interrupt__57 ; line_number = 467 ; case 4 interrupt__53: ; # (0010 0DDD): ; line_number = 469 ; switch command & 7 start ;info 469, 264 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 470 ; case_maximum 7 movlw interrupt__42>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__42 movwf __pcl ; page_group 8 interrupt__42: goto interrupt__36 goto interrupt__37 goto interrupt__38 goto interrupt__39 goto interrupt__40 goto interrupt__41 goto interrupt__43 goto interrupt__43 ; line_number = 471 ; case 0 interrupt__36: ; # X Set (0010 0000): ; line_number = 473 ; store_index := index_x_high ;info 473, 278 movlw 4 movwf store_index ; line_number = 474 ; location_change_request := _true ;info 474, 280 bsf location_change_request___byte, location_change_request___bit ; line_number = 475 ; state := state_store_high ;info 475, 281 movlw 4 movwf state goto interrupt__43 ; line_number = 476 ; case 1 interrupt__37: ; # Y Set (0010 0001): ; line_number = 478 ; store_index := index_y_high ;info 478, 284 movlw 6 movwf store_index ; line_number = 479 ; location_change_request := _true ;info 479, 286 bsf location_change_request___byte, location_change_request___bit ; line_number = 480 ; state := state_store_high ;info 480, 287 movlw 4 movwf state goto interrupt__43 ; line_number = 481 ; case 2 interrupt__38: ; # Bearing 16 Set (0010 0010): ; line_number = 483 ; store_index := index_bearing_high ;info 483, 290 movlw 8 movwf store_index ; line_number = 484 ; location_change_request := _true ;info 484, 292 bsf location_change_request___byte, location_change_request___bit ; line_number = 485 ; state := state_store_high ;info 485, 293 movlw 4 movwf state goto interrupt__43 ; line_number = 486 ; case 3 interrupt__39: ; # Navigation Latch (0010 0011): ; line_number = 488 ; frozen[index_x_high] := stable[index_x_high] ;info 488, 296 movf stable+4,w movwf frozen+4 ; line_number = 489 ; frozen[index_x_low] := stable[index_x_low] ;info 489, 298 movf stable+5,w movwf frozen+5 ; line_number = 491 ; frozen[index_y_high] := stable[index_y_high] ;info 491, 300 movf stable+6,w movwf frozen+6 ; line_number = 492 ; frozen[index_y_low] := stable[index_y_low] ;info 492, 302 movf stable+7,w movwf frozen+7 ; line_number = 494 ; frozen[index_bearing_high] := stable[index_bearing_high] ;info 494, 304 movf stable+8,w movwf frozen+8 ; line_number = 496 ; frozen[index_bearing_low] := stable[index_bearing_low] ;info 496, 306 movf stable+9,w movwf frozen+9 ; line_number = 499 ; frozen[index_target_bearing_high] := stable[index_target_bearing_high] ;info 499, 308 movf stable+10,w movwf frozen+10 ; line_number = 501 ; frozen[index_target_bearing_low] := stable[index_target_bearing_low] ;info 501, 310 movf stable+11,w movwf frozen+11 ; line_number = 504 ; frozen[index_target_distance_high] := stable[index_target_distance_high] ;info 504, 312 movf stable+12,w movwf frozen+12 ; line_number = 506 ; frozen[index_target_distance_low] := stable[index_target_distance_low] ;info 506, 314 movf stable+13,w movwf frozen+13 ; line_number = 509 ; frozen[index_count] := stable[index_count] ;info 509, 316 movf stable+14,w movwf frozen+14 ; line_number = 510 ; location_on := _true ;info 510, 318 bsf location_on___byte, location_on___bit goto interrupt__43 ; line_number = 511 ; case 4 interrupt__40: ; # Target X Set (0010 0100): ; line_number = 513 ; store_index := index_target_x_high ;info 513, 320 movlw 15 movwf store_index ; line_number = 514 ; target_change_request := _true ;info 514, 322 bsf target_change_request___byte, target_change_request___bit ; line_number = 515 ; state := state_store_high ;info 515, 323 movlw 4 movwf state goto interrupt__43 ; line_number = 516 ; case 5 interrupt__41: ; # Target Y Set (0010 0101): ; line_number = 518 ; store_index := index_target_y_high ;info 518, 326 movlw 17 movwf store_index ; line_number = 519 ; target_change_request := _true ;info 519, 328 bsf target_change_request___byte, target_change_request___bit ; line_number = 520 ; state := state_store_high ;info 520, 329 movlw 4 movwf state interrupt__43: ; line_number = 469 ; switch command & 7 done goto interrupt__57 ; line_number = 521 ; case 5 interrupt__54: ; # (0010 1DDD): ; line_number = 523 ; switch command & 7 start ;info 523, 332 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 524 ; case_maximum 7 movlw interrupt__48>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__48 movwf __pcl ; page_group 8 interrupt__48: goto interrupt__49 goto interrupt__44 goto interrupt__45 goto interrupt__46 goto interrupt__47 goto interrupt__49 goto interrupt__49 goto interrupt__49 ; line_number = 525 ; case 1 interrupt__44: ; # Wheel Spacing Get (0010 1001): ; line_number = 527 ; store_index := index_wheel_spacing_high ;info 527, 346 movlw 19 movwf store_index ; line_number = 528 ; wheel_change_request := _true ;info 528, 348 bsf wheel_change_request___byte, wheel_change_request___bit ; line_number = 529 ; state := state_store_high ;info 529, 349 movlw 4 movwf state goto interrupt__49 ; line_number = 530 ; case 2 interrupt__45: ; # Wheel Ticks Set (0010 1010): ; line_number = 532 ; store_index := index_wheel_ticks_high ;info 532, 352 movlw 21 movwf store_index ; line_number = 533 ; wheel_change_request := _true ;info 533, 354 bsf wheel_change_request___byte, wheel_change_request___bit ; line_number = 534 ; state := state_store_high ;info 534, 355 movlw 4 movwf state goto interrupt__49 ; line_number = 535 ; case 3 interrupt__46: ; # Wheel Diameter Set (0010 1011): ; line_number = 537 ; store_index := index_wheel_diameter_high ;info 537, 358 movlw 23 movwf store_index ; line_number = 538 ; wheel_change_request := _true ;info 538, 360 bsf wheel_change_request___byte, wheel_change_request___bit ; line_number = 539 ; state := state_store_high ;info 539, 361 movlw 4 movwf state ; # Counter Signs Set (0010 1100): goto interrupt__49 ; line_number = 541 ; case 4 interrupt__47: ; line_number = 542 ; state := state_signs_store ;info 542, 364 movlw 6 movwf state interrupt__49: ; line_number = 523 ; switch command & 7 done interrupt__57: ; line_number = 343 ; switch (command >> 3) & 7 done goto interrupt__73 ; line_number = 543 ; case 1, 2 interrupt__69: ; # (01xx xxx:) or (10xx xxxx): ; line_number = 545 ; _txreg := _rcreg + 1 ;info 545, 367 incf _rcreg,w movwf _txreg ; line_number = 546 ; state := state_begin_echo ;info 546, 369 clrf state goto interrupt__73 ; line_number = 547 ; case 3 interrupt__70: ; # (11DD Dxxx): ; line_number = 549 ; switch (command >> 3) & 7 start ;info 549, 371 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 ; line_number = 550 ; case_maximum 7 movlw interrupt__65>>8 movwf __pclath interrupt__66 equ globals___0+65 rrf interrupt__command,w movwf interrupt__66 rrf interrupt__66,f rrf interrupt__66,w andlw 7 ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__65 movwf __pcl ; page_group 8 interrupt__65: goto interrupt__67 goto interrupt__67 goto interrupt__67 goto interrupt__67 goto interrupt__67 goto interrupt__67 goto interrupt__67 goto interrupt__64 ; line_number = 551 ; case 7 interrupt__64: ; # (1111 1DDD): ; line_number = 553 ; switch command & 7 start ;info 553, 388 ; switch_before:(data:XX=cc=>XX code:XX=cc=>XX) size=0 movlw interrupt__62>>8 movwf __pclath movlw 7 andwf interrupt__command,w ; switch after expression:(data:00=uu=>00 code:XX=cc=>XX) addlw interrupt__62 movwf __pcl ; page_group 8 interrupt__62: goto interrupt__63 goto interrupt__63 goto interrupt__63 goto interrupt__63 goto interrupt__58 goto interrupt__59 goto interrupt__60 goto interrupt__61 ; line_number = 554 ; case 4 interrupt__58: ; # 1111 1100 (Address Set) ; #FIXME: need to add!!! ; line_number = 557 ; do_nothing ;info 557, 402 goto interrupt__63 ; line_number = 558 ; case 5 interrupt__59: ; # 1111 1101 (Id_Next): ; line_number = 560 ; _txreg := id[id_index] ;info 560, 403 movf id_index,w call id movwf _txreg ; line_number = 561 ; id_index := id_index + 1 ;info 561, 406 incf id_index,f ; line_number = 562 ; if id_index >= id.size start ;info 562, 407 movlw 24 subwf id_index,w ; =>bit_code_emit@symbol(): sym=__c ; 1TEST: Single test with code in skip slot btfsc __c___byte, __c___bit ; line_number = 563 ; id_index := id_index - 1 ;info 563, 410 decf id_index,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 562 ; if id_index >= id.size done ; line_number = 564 ; state := state_begin_echo ;info 564, 411 clrf state goto interrupt__63 ; line_number = 565 ; case 6 interrupt__60: ; # 1111 1110 (Id_Start): ; line_number = 567 ; id_index := 0 ;info 567, 413 clrf id_index ; line_number = 568 ; _txreg := id.size ;info 568, 414 movlw 24 movwf _txreg ; line_number = 569 ; state := state_begin_echo ;info 569, 416 clrf state goto interrupt__63 ; line_number = 570 ; case 7 interrupt__61: ; # 1111 1111 (Deselect): ; line_number = 572 ; _adden := _true ;info 572, 418 bsf _adden___byte, _adden___bit ; line_number = 573 ; state := state_deselected ;info 573, 419 movlw 2 movwf state interrupt__63: ; line_number = 553 ; switch command & 7 done interrupt__67: ; line_number = 549 ; switch (command >> 3) & 7 done interrupt__73: ; line_number = 339 ; switch command >> 6 done goto interrupt__88 ; line_number = 574 ; case 0 interrupt__82: ; # Ignore echoed byte and enter "begin" state for the next ; # received byte: ; line_number = 577 ; state := state_begin ;info 577, 422 movlw 1 movwf state goto interrupt__88 ; line_number = 578 ; case 3 interrupt__83: ; # Send {next byte} and then then go into {state_begin_echo} ; # to force the next byte to be "eaten" before waiting ; # for the next command: ; line_number = 582 ; _txreg := next_byte ;info 582, 425 movf next_byte,w movwf _txreg ; line_number = 583 ; state := state_begin_echo ;info 583, 427 clrf state goto interrupt__88 ; line_number = 584 ; case 4 interrupt__84: ; # This is the first byte of a two byte store command into ; # {frozen}. We remember the byte, and enter the ; # {state_store_low} state: ; line_number = 588 ; store_high := command ;info 588, 429 movf interrupt__command,w movwf store_high ; line_number = 589 ; state := state_store_low ;info 589, 431 movlw 5 movwf state goto interrupt__88 ; line_number = 590 ; case 5 interrupt__85: ; # We have just received the second byte a a two byte store ; # into {frozon}. Store the two bytes and listen for the ; # next client command byte: ; # Atomically update the word since we are in the intterupt ; # routine and nobody can interrupt us (at least not on a ; # PIC.) ; line_number = 597 ; frozen[store_index] := store_high ;info 597, 434 ; index_fsr_first movf store_index,w addlw frozen movwf __fsr bcf __irp___byte, __irp___bit movf store_high,w movwf __indf ; line_number = 598 ; frozen[store_index + 1] := command ;info 598, 440 ; index_fsr_first incf store_index,w addlw frozen movwf __fsr bcf __irp___byte, __irp___bit movf interrupt__command,w movwf __indf ; line_number = 599 ; if target_change_request start ;info 599, 446 ; =>bit_code_emit@symbol(): sym=target_change_request ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss target_change_request___byte, target_change_request___bit goto interrupt__74 ; line_number = 600 ; target_change_request := _false ;info 600, 448 bcf target_change_request___byte, target_change_request___bit ; line_number = 601 ; target_changed := _true ;info 601, 449 bsf target_changed___byte, target_changed___bit ; Recombine size1 = 0 || size2 = 0 interrupt__74: ; line_number = 599 ; if target_change_request done ; line_number = 602 ; if wheel_change_request start ;info 602, 450 ; =>bit_code_emit@symbol(): sym=wheel_change_request ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss wheel_change_request___byte, wheel_change_request___bit goto interrupt__75 ; line_number = 603 ; wheel_change_request := _false ;info 603, 452 bcf wheel_change_request___byte, wheel_change_request___bit ; line_number = 604 ; wheel_changed := _true ;info 604, 453 bsf wheel_changed___byte, wheel_changed___bit ; Recombine size1 = 0 || size2 = 0 interrupt__75: ; line_number = 602 ; if wheel_change_request done ; line_number = 605 ; if location_change_request start ;info 605, 454 ; =>bit_code_emit@symbol(): sym=location_change_request ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss location_change_request___byte, location_change_request___bit goto interrupt__76 ; line_number = 606 ; location_change_request := _false ;info 606, 456 bcf location_change_request___byte, location_change_request___bit ; line_number = 607 ; location_changed := _true ;info 607, 457 bsf location_changed___byte, location_changed___bit ; Recombine size1 = 0 || size2 = 0 interrupt__76: ; line_number = 605 ; if location_change_request done ; line_number = 608 ; state := state_begin ;info 608, 458 movlw 1 movwf state goto interrupt__88 ; line_number = 609 ; case 6 interrupt__86: ; # The next byte is a signs byte: ; line_number = 611 ; shaft0_invert := _false ;info 611, 461 bcf shaft0_invert___byte, shaft0_invert___bit ; line_number = 612 ; shaft1_invert := _false ;info 612, 462 bcf shaft1_invert___byte, shaft1_invert___bit ; line_number = 613 ; shafts_swap := _false ;info 613, 463 bcf shafts_swap___byte, shafts_swap___bit ; line_number = 614 ; if command@0 start ;info 614, 464 interrupt__select__77___byte equ interrupt__command interrupt__select__77___bit equ 0 ; =>bit_code_emit@symbol(): sym=interrupt__select__77 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__77___byte, interrupt__select__77___bit ; line_number = 615 ; shaft0_invert := _true ;info 615, 465 bsf shaft0_invert___byte, shaft0_invert___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 614 ; if command@0 done ; line_number = 616 ; if command@1 start ;info 616, 466 interrupt__select__78___byte equ interrupt__command interrupt__select__78___bit equ 1 ; =>bit_code_emit@symbol(): sym=interrupt__select__78 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__78___byte, interrupt__select__78___bit ; line_number = 617 ; shaft1_invert := _true ;info 617, 467 bsf shaft1_invert___byte, shaft1_invert___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 616 ; if command@1 done ; line_number = 618 ; if command@2 start ;info 618, 468 interrupt__select__79___byte equ interrupt__command interrupt__select__79___bit equ 2 ; =>bit_code_emit@symbol(): sym=interrupt__select__79 ; 1TEST: Single test with code in skip slot btfsc interrupt__select__79___byte, interrupt__select__79___bit ; line_number = 619 ; shafts_swap := _true ;info 619, 469 bsf shafts_swap___byte, shafts_swap___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 618 ; if command@2 done ; line_number = 620 ; state := state_begin ;info 620, 470 movlw 1 movwf state interrupt__88: ; line_number = 327 ; switch state done interrupt__92: ; 2GOTO: code1 final bitstates:(data:11=uu=>00 code:00=uu=>00) ; 2GOTO: code2 final bitstates:(data:00=uu=>00 code:00=uu=>00) ; 2GOTO: code final bitstates:(data:00=uu=>00 code:00=uu=>00) ; line_number = 314 ; if rx9d done ; Recombine size1 = 0 || size2 = 0 interrupt__93: ; line_number = 295 ; if _rcif done ; # Save the {_fsr}: ; line_number = 623 ; _pclath := pclath_save ;info 623, 472 movf pclath_save,w movwf _pclath ; line_number = 624 ; _fsr := fsr_save ;info 624, 474 movf fsr_save,w movwf _fsr ; delay after procedure statements=non-uniform ; Interrupt return ; Carefully restore __w and __tatus from RAM ; Restore swapped status into W swapf interrupt___status_save,w ; W now contains (unswapped) status ; Restore W to __status movwf __status ; From here on out, do not modify __status ; Swap saved W register in RAM swapf interrupt___w_save,f ; Unswap the saved W reg and restore to W swapf interrupt___w_save,w ; __w and __status are now restored ; Return from interrupt retfie ; line_number = 629 ; constant wheel_diameter = 34 wheel_diameter equ 34 ; line_number = 630 ; constant wheel_diameter_high = wheel_diameter >> 8 wheel_diameter_high equ 0 ; line_number = 631 ; constant wheel_diameter_low = wheel_diameter & 0xff wheel_diameter_low equ 34 ; line_number = 632 ; constant wheel_ticks = 6000 wheel_ticks equ 6000 ; line_number = 633 ; constant wheel_ticks_high = wheel_ticks >> 8 wheel_ticks_high equ 23 ; line_number = 634 ; constant wheel_ticks_low = wheel_ticks & 0xff wheel_ticks_low equ 112 ; line_number = 635 ; constant wheel_spacing = 85 wheel_spacing equ 85 ; line_number = 636 ; constant wheel_spacing_high = wheel_spacing >> 8 wheel_spacing_high equ 0 ; line_number = 637 ; constant wheel_spacing_low = wheel_spacing & 0xff wheel_spacing_low equ 85 ; line_number = 639 ;info 639, 481 ; procedure reset reset: ; arguments_none ; line_number = 641 ; returns_nothing ; # This procedure will reset the module. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 645 ; call rb2bus_initialize(5) ;info 645, 481 movlw 5 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call rb2bus_initialize ; # The synchronous serial port can be run in master mode at three ; # different clock rates: ; # ; # Fosc/4 - SSPM<3:0> = 0000 = 5MHz @ Fosc=20MHz ; # Fosc/16 - SSPM<3:0> = 0001 = 1.25MHz @ Fosc=20MHz ; # Fosc/64 - SSPM<3:0> = 0010 = .3125MHz @ Fosc=20Mhz ; # ; # Technically, the specifications for the LS7366 dual quadrature ; # counter specify the following: ; # ; # SCK High Pulse width = 100ns and ; # SCK Low Pulse width = 100ns, ; # thus SCK maximum fequency = 5 MHz (suggesting Fosc/4) ; # Initialize {_sspstat} (only {_cke} and {_smp} are writable): ; # Transmit from active to idle: ; line_number = 663 ; _cke := _true ;info 663, 485 bcf __rp1___byte, __rp1___bit bsf _cke___byte, _cke___bit ; # Sample data in the middle: ; line_number = 665 ; _smp := _false ;info 665, 487 bcf _smp___byte, _smp___bit ; # Initialize {_sspcon}: ; # SSPM<3:0> := 0 (= SPI Master mode Fosc/4): ; line_number = 669 ; _sspcon := 0 ;info 669, 488 bcf __rp0___byte, __rp0___bit clrf _sspcon ; # Clock idle is at low ; line_number = 671 ; _ckp := _false ;info 671, 490 bcf _ckp___byte, _ckp___bit ; # Note {_ckp}=0 and {_cke}=1 is the one that matches the LS7366 ; # spec. sheet for clocking. {_smp}=0 is the correct sample location. ; # Make sure the two shaft encoder chips are deselected ; # Enable Synchronous Serial Port: ; line_number = 679 ; _sspen := _true ;info 679, 491 bsf _sspen___byte, _sspen___bit ; ## None of this is needed!!! ; ## The _bf (buffer full) bit is read-only and it initializes to 0. ; ## We need to get it set. This is done by causing the synchronous ; ## serial port to write (and read) 8 bits: ; #_sspbuf := 0 ; ## In about 8 cycles {_bf} should be 1: ; # Now intialize our favorite shaft encoder chips: ; line_number = 689 ; call ls_initialize() ;info 689, 492 call ls_initialize ; line_number = 691 ; clear_request := _false ;info 691, 493 bcf clear_request___byte, clear_request___bit ; line_number = 692 ; location_on := _false ;info 692, 494 bcf location_on___byte, location_on___bit ; line_number = 693 ; location_changed := _true ;info 693, 495 bsf location_changed___byte, location_changed___bit ; line_number = 694 ; location_change_request := _false ;info 694, 496 bcf location_change_request___byte, location_change_request___bit ; line_number = 695 ; target_changed := _true ;info 695, 497 bsf target_changed___byte, target_changed___bit ; line_number = 696 ; target_change_request := _false ;info 696, 498 bcf target_change_request___byte, target_change_request___bit ; line_number = 697 ; wheel_changed := _true ;info 697, 499 bsf wheel_changed___byte, wheel_changed___bit ; line_number = 698 ; wheel_change_request := _false ;info 698, 500 bcf wheel_change_request___byte, wheel_change_request___bit ; line_number = 700 ; state := state_deselected ;info 700, 501 movlw 2 movwf state ; line_number = 701 ; id_index := 0 ;info 701, 503 clrf id_index ; line_number = 702 ; loop_exactly up_down_data_size start ;info 702, 504 reset__1 equ globals___0+66 movlw 25 movwf reset__1 reset__2: ; line_number = 703 ; frozen[id_index] := id_index + 0x40 ;info 703, 506 ; index_fsr_first movf id_index,w addlw frozen movwf __fsr bcf __irp___byte, __irp___bit movlw 64 addwf id_index,w movwf __indf ; line_number = 704 ; id_index := id_index + 1 ;info 704, 513 incf id_index,f ; line_number = 702 ; loop_exactly up_down_data_size wrap-up decfsz reset__1,f goto reset__2 ; line_number = 702 ; loop_exactly up_down_data_size done ; line_number = 705 ; id_index := 0 ;info 705, 516 clrf id_index ; line_number = 706 ; loop_exactly up_data_size start ;info 706, 517 reset__3 equ globals___0+66 movlw 15 movwf reset__3 reset__4: ; line_number = 707 ; working[id_index] := id_index + 0x20 ;info 707, 519 ; index_fsr_first movf id_index,w addlw working movwf __fsr bcf __irp___byte, __irp___bit movlw 32 addwf id_index,w movwf __indf ; line_number = 708 ; stable[id_index] := id_index + 0x60 ;info 708, 526 ; index_fsr_first movf id_index,w addlw stable movwf __fsr bcf __irp___byte, __irp___bit movlw 96 addwf id_index,w movwf __indf ; line_number = 709 ; id_index := id_index + 1 ;info 709, 533 incf id_index,f ; line_number = 706 ; loop_exactly up_data_size wrap-up decfsz reset__3,f goto reset__4 ; line_number = 706 ; loop_exactly up_data_size done ; line_number = 710 ; id_index := 0 ;info 710, 536 clrf id_index ; line_number = 712 ; frozen[index_wheel_spacing_high] := wheel_spacing_high ;info 712, 537 movlw 0 movwf frozen+19 ; line_number = 713 ; frozen[index_wheel_spacing_low] := wheel_spacing_low ;info 713, 539 movlw 85 movwf frozen+20 ; line_number = 714 ; frozen[index_wheel_diameter_high] := wheel_diameter_high ;info 714, 541 movlw 0 movwf frozen+23 ; line_number = 715 ; frozen[index_wheel_diameter_low] := wheel_diameter_low ;info 715, 543 movlw 34 movwf frozen+24 ; line_number = 716 ; frozen[index_wheel_ticks_high] := wheel_ticks_high ;info 716, 545 movlw 23 movwf frozen+21 ; line_number = 717 ; frozen[index_wheel_ticks_low] := wheel_ticks_low ;info 717, 547 movlw 112 movwf frozen+22 ; line_number = 719 ; frozen[index_target_x_high] := 0 ;info 719, 549 movlw 0 movwf frozen+15 ; line_number = 720 ; frozen[index_target_x_low] := 100 ;info 720, 551 movlw 100 movwf frozen+16 ; line_number = 721 ; frozen[index_target_y_high] := 0 ;info 721, 553 movlw 0 movwf frozen+17 ; line_number = 722 ; frozen[index_target_y_low] := 100 ;info 722, 555 movlw 100 movwf frozen+18 ; line_number = 724 ; shaft0_invert := _false ;info 724, 557 bcf shaft0_invert___byte, shaft0_invert___bit ; line_number = 725 ; shaft1_invert := _true ;info 725, 558 bsf shaft1_invert___byte, shaft1_invert___bit ; line_number = 726 ; shafts_swap := _false ;info 726, 559 bcf shafts_swap___byte, shafts_swap___bit ; line_number = 728 ; test0 := _false ;info 728, 560 bcf test0___byte, test0___bit ; line_number = 729 ; test1 := _false ;info 729, 561 bcf test1___byte, test1___bit ; line_number = 730 ; test2 := _false ;info 730, 562 bcf test2___byte, test2___bit ; line_number = 731 ; test3 := _false ;info 731, 563 bcf test3___byte, test3___bit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 734 ;info 734, 565 ; procedure ls_initialize ls_initialize: ; arguments_none ; line_number = 736 ; returns_nothing ; # Initialize both of the shaft encoder chips: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 740 ; call ls_command_put(ls_clear | ls_mdr0) ;info 740, 565 movlw 8 call ls_command_put ; line_number = 741 ; call ls_command_put(ls_clear | ls_mdr1) ;info 741, 567 movlw 16 call ls_command_put ; line_number = 742 ; call ls_command_put(ls_clear | ls_str) ;info 742, 569 movlw 48 call ls_command_put ; line_number = 743 ; call ls_command_put(ls_clear | ls_cntr) ;info 743, 571 movlw 32 call ls_command_put ; line_number = 745 ; call ls_command_put(ls_write | ls_mdr0 | ls_select_both) ;info 745, 573 movlw 139 call ls_command_put ; line_number = 746 ; call ls_byte_put(ls_mdr0_value) ;info 746, 575 movlw 0 call ls_byte_put ; # This last command enables counting: ; line_number = 749 ; call ls_command_put(ls_write | ls_mdr1 | ls_select_both) ;info 749, 577 movlw 147 call ls_command_put ; line_number = 750 ; call ls_byte_put(ls_mdr1_value) ;info 750, 579 movlw 2 call ls_byte_put ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 753 ;info 753, 582 ; procedure ls_shaft_select ls_shaft_select: ; Last argument is sitting in W; save into argument variable movwf ls_shaft_select__command ; delay=4294967295 ; line_number = 754 ; argument command byte ls_shaft_select__command equ globals___0+62 ; line_number = 755 ; returns byte ; # This procedure will return {ls_select_shaft0} or {ls_select_shaft1} ; # depending upon whether {command}@0 is set or not. ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 760 ; if command@0 start ;info 760, 583 ls_shaft_select__select__1___byte equ ls_shaft_select__command ls_shaft_select__select__1___bit equ 0 ; =>bit_code_emit@symbol(): sym=ls_shaft_select__select__1 ; 1TEST: Single test with code in skip slot btfsc ls_shaft_select__select__1___byte, ls_shaft_select__select__1___bit ; line_number = 761 ; return ls_select_shaft1 start ; line_number = 761 ;info 761, 584 retlw 2 ; line_number = 761 ; return ls_select_shaft1 done ; Recombine size1 = 0 || size2 = 0 ; line_number = 760 ; if command@0 done ; line_number = 762 ; return ls_select_shaft0 start ; line_number = 762 ;info 762, 585 retlw 1 ; line_number = 762 ; return ls_select_shaft0 done ; delay after procedure statements=non-uniform ; line_number = 765 ;info 765, 586 ; procedure ls_command_put ls_command_put: ; Last argument is sitting in W; save into argument variable movwf ls_command_put__ir ; delay=4294967295 ; line_number = 766 ; argument ir byte ls_command_put__ir equ globals___0+63 ; line_number = 767 ; returns_nothing ; # This procedure will cause {ir} to be sent to the appropriate ; # shaft encoder. Construct a command by OR'ing together an ; # operation ({ls_clear}, {ls_read}, {ls_write}, or {ls_load}, ; # with a register ({ls_mdr0}, {ls_mdr1}, {ls_dtr}, {ls_cntr}, ; # {ls_otr}, {ls_str}), and either {ls_shaft0} and/or {ls_shaft1}. ; # If both {ls_shaft0} and {ls_shaft1} are set at the same time, ; # the operation should be one of {ls_clear}, {ls_write}, or ; # {ls_load}; only one shaft encoder chip at a time can be read. ; # Force both shaft chips to be deselected: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 779 ; shaft0 := _true ;info 779, 587 bsf shaft0___byte, shaft0___bit ; line_number = 780 ; shaft1 := _true ;info 780, 588 bsf shaft1___byte, shaft1___bit ; # Select the appropriate ; line_number = 783 ; if ir@ls_shaft0_bit start ;info 783, 589 ls_command_put__select__1___byte equ ls_command_put__ir ls_command_put__select__1___bit equ 0 ; =>bit_code_emit@symbol(): sym=ls_command_put__select__1 ; 1TEST: Single test with code in skip slot btfsc ls_command_put__select__1___byte, ls_command_put__select__1___bit ; line_number = 784 ; shaft0 := _false ;info 784, 590 bcf shaft0___byte, shaft0___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 783 ; if ir@ls_shaft0_bit done ; line_number = 785 ; if ir@ls_shaft1_bit start ;info 785, 591 ls_command_put__select__2___byte equ ls_command_put__ir ls_command_put__select__2___bit equ 1 ; =>bit_code_emit@symbol(): sym=ls_command_put__select__2 ; 1TEST: Single test with code in skip slot btfsc ls_command_put__select__2___byte, ls_command_put__select__2___bit ; line_number = 786 ; shaft1 := _false ;info 786, 592 bcf shaft1___byte, shaft1___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 785 ; if ir@ls_shaft1_bit done ; line_number = 787 ; call ls_byte_put(ir) ;info 787, 593 movf ls_command_put__ir,w call ls_byte_put ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 790 ;info 790, 596 ; procedure ls_byte_put ls_byte_put: ; Last argument is sitting in W; save into argument variable movwf ls_byte_put__data ; delay=4294967295 ; line_number = 791 ; argument data byte ls_byte_put__data equ globals___0+64 ; line_number = 792 ; returns_nothing ; # This procedure will output {data} to the currently ; # select chip. ; # Ship the byte on its way: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 798 ; _sspbuf := data ;info 798, 597 movf ls_byte_put__data,w movwf _sspbuf ; # Wait for the transmission to finish: ; line_number = 801 ; while !_bf start ls_byte_put__1: ;info 801, 599 ; =>bit_code_emit@symbol(): sym=_bf ; 1TEST: Single test with code in skip slot bsf __rp0___byte, __rp0___bit btfss _bf___byte, _bf___bit ; line_number = 802 ; do_nothing ;info 802, 601 goto ls_byte_put__1 ; Recombine size1 = 0 || size2 = 0 ; line_number = 801 ; while !_bf done ; # We don't need the data that was clocked in, so just clear {_bf}: ; line_number = 805 ; _bf := _false ;info 805, 602 bcf _bf___byte, _bf___bit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit ; Implied return retlw 0 ; line_number = 808 ;info 808, 605 ; procedure ls_byte_get ls_byte_get: ; arguments_none ; line_number = 810 ; returns byte ; # This procedure will read a byte of data from the ; # currently selected chip. ; # Write out a 0, and shift in the data: ; before procedure statements delay=non-uniform, bit states=(data:00=uu=>00 code:00=uu=>00) ; line_number = 816 ; _sspbuf := 0 ;info 816, 605 clrf _sspbuf ; #call rb2bus_byte_put(0xf1) ; # Now wait for the data to show up: ; line_number = 821 ; while !_bf start ls_byte_get__1: ;info 821, 606 ; =>bit_code_emit@symbol(): sym=_bf ; 1TEST: Single test with code in skip slot bsf __rp0___byte, __rp0___bit btfss _bf___byte, _bf___bit ; line_number = 822 ; do_nothing ;info 822, 608 goto ls_byte_get__1 ; Recombine size1 = 0 || size2 = 0 ; line_number = 821 ; while !_bf done ; #call rb2bus_byte_put(0xf2) ; # Now return the data (clears {_bf} as a side effect): ; line_number = 827 ; return _sspbuf start ; line_number = 827 ;info 827, 609 bcf __rp0___byte, __rp0___bit movf _sspbuf,w return ; line_number = 827 ; return _sspbuf done ; delay after procedure statements=non-uniform ; line_number = 830 ; string id = "\16,0,5,5,3,10\Shaft2-E12\7\Gramson" start ; id = '\16,0,5,5,3,10\Shaft2-E12\7\Gramson' id: ; Temporarily save index into FSR movwf __fsr ; Initialize PCLATH to point to this code page movlw id___base>>8 movwf __pclath ; Restore index from FSR movf __fsr,w addlw id___base ; Index to the correct return value movwf __pcl ; page_group 24 id___base: retlw 16 retlw 0 retlw 5 retlw 5 retlw 3 retlw 10 retlw 83 retlw 104 retlw 97 retlw 102 retlw 116 retlw 50 retlw 45 retlw 69 retlw 49 retlw 50 retlw 7 retlw 71 retlw 114 retlw 97 retlw 109 retlw 115 retlw 111 retlw 110 ; line_number = 830 ; string id = "\16,0,5,5,3,10\Shaft2-E12\7\Gramson" start ; line_number = 834 ; global half_distance_per_tick float32 half_distance_per_tick equ globals___2+42 ; line_number = 835 ; global radians_per_tick float32 radians_per_tick equ globals___2+46 ; line_number = 836 ; global temporary signed16 temporary equ globals___2+50 ; #constant bearing_convert = 65536.0 / _float32_two_pi ; line_number = 839 ; constant bearing_convert = 360.0 / _float32_two_pi ; bearing_convert = 57.2969 ; line_number = 841 ;info 841, 642 ; procedure wheel_recompute wheel_recompute: ; arguments_none ; line_number = 843 ; returns_nothing ; # This procedure computes the magic constants needed to perform ; # location: ; line_number = 848 ; local wheel_diameter float32 wheel_recompute__wheel_diameter equ globals___2+52 ; line_number = 849 ; local wheel_spacing float32 wheel_recompute__wheel_spacing equ globals___2+56 ; line_number = 850 ; local wheel_ticks float32 wheel_recompute__wheel_ticks equ globals___2+60 ; # We always want to read a pair of bytes out of {frozen} ; # indivisibly, hence, we disable interrupts for the read duration: ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:00=uu=>00) ; line_number = 854 ; _gie := _false ;info 854, 642 bcf _gie___byte, _gie___bit ; line_number = 855 ; temporary := _signed16_from_byte2(frozen[index_wheel_spacing_high], frozen[index_wheel_spacing_low]) ;info 855, 643 bcf __rp1___byte, __rp1___bit movf frozen+19,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf frozen+20,w bsf __cb1___byte, __cb1___bit bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 857 ; _gie := _true ;info 857, 656 bsf _gie___byte, _gie___bit ; line_number = 858 ; wheel_spacing := _signed16_float32_convert(temporary) ;info 858, 657 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw wheel_recompute__wheel_spacing>>1 call _float32_pointer_store ; line_number = 860 ; _gie := _false ;info 860, 670 bcf _gie___byte, _gie___bit ; line_number = 861 ; temporary := _signed16_from_byte2(frozen[index_wheel_diameter_high], frozen[index_wheel_diameter_low]) ;info 861, 671 bcf __rp0___byte, __rp0___bit movf frozen+23,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf frozen+24,w bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 863 ; _gie := _true ;info 863, 685 bsf _gie___byte, _gie___bit ; line_number = 864 ; wheel_diameter := _signed16_float32_convert(temporary) ;info 864, 686 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw wheel_recompute__wheel_diameter>>1 call _float32_pointer_store ; line_number = 866 ; _gie := _false ;info 866, 699 bcf _gie___byte, _gie___bit ; line_number = 867 ; temporary := _signed16_from_byte2(frozen[index_wheel_ticks_high], frozen[index_wheel_ticks_low]) ;info 867, 700 bcf __rp0___byte, __rp0___bit movf frozen+21,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf frozen+22,w bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 869 ; _gie := _true ;info 869, 714 bsf _gie___byte, _gie___bit ; line_number = 870 ; wheel_ticks := _signed16_float32_convert(temporary) ;info 870, 715 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw wheel_recompute__wheel_ticks>>1 call _float32_pointer_store ; # Do the remaining computations: ; line_number = 873 ; half_distance_per_tick := wheel_diameter * _float32_half_pi / wheel_ticks ;info 873, 728 ; 1.57076 = 7f 49 0e d1 movlw 127 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw wheel_recompute__wheel_diameter>>1 call _float32_pointer_multiply movlw wheel_recompute__wheel_ticks>>1 call _float32_pointer_divide movlw half_distance_per_tick>>1 call _float32_pointer_store ; line_number = 874 ; radians_per_tick := wheel_diameter * _float32_pi / (wheel_spacing * wheel_ticks) ;info 874, 742 movlw wheel_recompute__wheel_spacing>>1 call _float32_pointer_load movlw wheel_recompute__wheel_ticks>>1 call _float32_pointer_multiply call _float32_reciprocal ; 3.14153 = 80 49 0e d1 movlw 128 movwf _float32_bexp movlw 73 movwf _float32_bargb0 movlw 14 movwf _float32_bargb1 movlw 209 movwf _float32_bargb2 call _float32_multiply movlw wheel_recompute__wheel_diameter>>1 call _float32_pointer_multiply movlw radians_per_tick>>1 call _float32_pointer_store ; #half_ticks_limit := 2.0 * wheel_spacing * wheel_ticks / wheel_diameter ; #ticks_limit := 2.0 * half_ticks_limit ; #minus_half_ticks_limit := -half_ticks_limit ; delay after procedure statements=non-uniform bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; Implied return bcf __cb0___byte, __cb0___bit retlw 0 ; # The main process lives in data bank 3 since the other data ; # banks are pretty full. ; line_number = 887 ;info 887, 764 ; procedure main main: ; Initialize some registers bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit clrf _adcon0 movlw 7 bsf __rp0___byte, __rp0___bit movwf _adcon1 movlw 7 movwf _cmcon movlw 63 movwf _trisa movlw 223 movwf _trisb movlw 149 movwf _trisc ; arguments_none ; line_number = 889 ; returns_nothing ; # This is the main procedure that initializes everything and then ; # goes into an infinite loop reading the shaft encoder counters ; # and computing our current location and bearing. ; line_number = 895 ; local bearing float32 main__bearing equ globals___3+6 ; line_number = 896 ; local delta signed16 main__delta equ globals___3+10 ; line_number = 897 ; local distance float32 main__distance equ globals___3+12 ; line_number = 898 ; local dx float32 main__dx equ globals___3+16 ; line_number = 899 ; local dy float32 main__dy equ globals___3+20 ; line_number = 900 ; local high byte main__high equ globals___3+24 ; line_number = 901 ; local low byte main__low equ globals___3+25 ; line_number = 902 ; local shaft0_current signed16 main__shaft0_current equ globals___3+26 ; line_number = 903 ; local shaft0_delta signed16 main__shaft0_delta equ globals___3+28 ; line_number = 904 ; local shaft0_previous signed16 main__shaft0_previous equ globals___3+30 ; line_number = 905 ; local shaft1_current signed16 main__shaft1_current equ globals___3+32 ; line_number = 906 ; local shaft1_delta signed16 main__shaft1_delta equ globals___3+34 ; line_number = 907 ; local shaft1_previous signed16 main__shaft1_previous equ globals___3+36 ; line_number = 908 ; local target_bearing float32 main__target_bearing equ globals___3+38 ; line_number = 909 ; local target_distance float32 main__target_distance equ globals___3+42 ; line_number = 910 ; local target_x float32 main__target_x equ globals___3+46 ; line_number = 911 ; local target_y float32 main__target_y equ globals___3+50 ; line_number = 912 ; local temp byte main__temp equ globals___3+54 ; line_number = 913 ; local x float32 main__x equ globals___3+56 ; line_number = 914 ; local y float32 main__y equ globals___3+60 ; line_number = 915 ; local zero signed16 main__zero equ globals___3+64 ; before procedure statements delay=non-uniform, bit states=(data:11=uu=>01 code:00=uu=>00) ; line_number = 917 ; call reset() ;info 917, 778 bcf __rp0___byte, __rp0___bit call reset ; line_number = 919 ; _rcif := _false ;info 919, 780 bcf _rcif___byte, _rcif___bit ; line_number = 920 ; _rcie := _true ;info 920, 781 bsf __rp0___byte, __rp0___bit bsf _rcie___byte, _rcie___bit ; line_number = 921 ; _peie := _true ;info 921, 783 bsf _peie___byte, _peie___bit ; line_number = 922 ; _gie := _true ;info 922, 784 bsf _gie___byte, _gie___bit ; line_number = 924 ; shaft0_previous := _signed16_from_byte2(0, 0) ;info 924, 785 bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit clrf _signed16_from_byte2__byte1 movlw 0 bsf __cb1___byte, __cb1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw main__shaft0_previous>>1 call _signed16_pointer_store ; line_number = 925 ; shaft1_previous := shaft0_previous ;info 925, 795 movlw main__shaft0_previous>>1 call _signed16_pointer_load movlw main__shaft1_previous>>1 call _signed16_pointer_store ; #bearing_ticks := 0.0 ; line_number = 927 ; bearing := 0.0 ;info 927, 799 ; bearing := 0 (00 00 00 00) bsf __rp0___byte, __rp0___bit clrf main__bearing clrf main__bearing+1 clrf main__bearing+2 clrf main__bearing+3 ; line_number = 928 ; x := 0.0 ;info 928, 804 ; x := 0 (00 00 00 00) clrf main__x clrf main__x+1 clrf main__x+2 clrf main__x+3 ; line_number = 929 ; y := 0.0 ;info 929, 808 ; y := 0 (00 00 00 00) clrf main__y clrf main__y+1 clrf main__y+2 clrf main__y+3 ; line_number = 930 ; zero := _signed16_from_byte(0) ;info 930, 812 movlw 0 bcf __rp0___byte, __rp0___bit call _signed16_from_byte movlw _signed16_from_byte__0return>>1 call _signed16_pointer_load movlw main__zero>>1 call _signed16_pointer_store ; line_number = 932 ; loop_forever start bcf __cb1___byte, __cb1___bit main__1: bcf __rp1___byte, __rp1___bit ; # Clear both counters (if requested): ; line_number = 934 ; if clear_request start ;info 934, 821 ; =>bit_code_emit@symbol(): sym=clear_request ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss clear_request___byte, clear_request___bit goto main__2 ; line_number = 935 ; clear_request := _false ;info 935, 823 bcf clear_request___byte, clear_request___bit ; line_number = 936 ; call ls_command_put(ls_clear | ls_cntr | ls_select_both) ;info 936, 824 movlw 35 call ls_command_put ; Recombine size1 = 0 || size2 = 0 main__2: ; line_number = 934 ; if clear_request done ; # Latch both counters at the same time: ; line_number = 939 ; call ls_command_put(ls_load | ls_otr | ls_select_both) ;info 939, 826 movlw 235 call ls_command_put ; # Read shaft 0: ; line_number = 942 ; call ls_command_put(ls_read | ls_otr | ls_select_shaft0) ;info 942, 828 movlw 105 call ls_command_put ; line_number = 943 ; shaft0_high := ls_byte_get() ;info 943, 830 call ls_byte_get movwf shaft0_high ; line_number = 944 ; shaft0_low := ls_byte_get() ;info 944, 832 call ls_byte_get movwf shaft0_low ; # Read shaft 1: ; line_number = 947 ; call ls_command_put(ls_read | ls_otr | ls_select_shaft1) ;info 947, 834 movlw 106 call ls_command_put ; line_number = 948 ; shaft1_high := ls_byte_get() ;info 948, 836 call ls_byte_get movwf shaft1_high ; line_number = 949 ; shaft1_low := ls_byte_get() ;info 949, 838 call ls_byte_get movwf shaft1_low ; # Deal with shaft inverting and swapping: ; line_number = 952 ; if shaft0_invert start ;info 952, 840 ; =>bit_code_emit@symbol(): sym=shaft0_invert ; No 1TEST: true.size=6 false.size=0 ; No 2TEST: true.size=6 false.size=0 ; 1GOTO: Single test with GOTO btfss shaft0_invert___byte, shaft0_invert___bit goto main__3 ; line_number = 953 ; shaft0_high := shaft0_high ^ 0xff ;info 953, 842 comf shaft0_high,f ; line_number = 954 ; shaft0_low := shaft0_low ^ 0xff ;info 954, 843 comf shaft0_low,f ; line_number = 955 ; shaft0_low := shaft0_low + 1 ;info 955, 844 incf shaft0_low,f ; line_number = 956 ; if shaft0_low = 0 start ;info 956, 845 ; Left minus Right movf shaft0_low,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; line_number = 957 ; shaft0_high := shaft0_high + 1 ;info 957, 847 incf shaft0_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 956 ; if shaft0_low = 0 done ; Recombine size1 = 0 || size2 = 0 main__3: ; line_number = 952 ; if shaft0_invert done ; line_number = 959 ; if shaft1_invert start ;info 959, 848 ; =>bit_code_emit@symbol(): sym=shaft1_invert ; No 1TEST: true.size=6 false.size=0 ; No 2TEST: true.size=6 false.size=0 ; 1GOTO: Single test with GOTO btfss shaft1_invert___byte, shaft1_invert___bit goto main__4 ; line_number = 960 ; shaft1_high := shaft1_high ^ 0xff ;info 960, 850 comf shaft1_high,f ; line_number = 961 ; shaft1_low := shaft1_low ^ 0xff ;info 961, 851 comf shaft1_low,f ; line_number = 962 ; shaft1_low := shaft1_low + 1 ;info 962, 852 incf shaft1_low,f ; line_number = 963 ; if shaft1_low = 0 start ;info 963, 853 ; Left minus Right movf shaft1_low,w ; =>bit_code_emit@symbol(): sym=__z ; 1TEST: Single test with code in skip slot btfsc __z___byte, __z___bit ; line_number = 964 ; shaft1_high := shaft1_high + 1 ;info 964, 855 incf shaft1_high,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 963 ; if shaft1_low = 0 done ; Recombine size1 = 0 || size2 = 0 main__4: ; line_number = 959 ; if shaft1_invert done ; line_number = 966 ; if shafts_swap start ;info 966, 856 ; =>bit_code_emit@symbol(): sym=shafts_swap ; No 1TEST: true.size=28 false.size=0 ; No 2TEST: true.size=28 false.size=0 ; 1GOTO: Single test with GOTO btfss shafts_swap___byte, shafts_swap___bit goto main__5 ; line_number = 967 ; temp := shaft0_low ;info 967, 858 movf shaft0_low,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__temp ; line_number = 968 ; shaft0_low := shaft1_low ;info 968, 862 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movf shaft1_low,w movwf shaft0_low ; line_number = 969 ; shaft1_low := temp ;info 969, 866 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movf main__temp,w bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movwf shaft1_low ; line_number = 970 ; temp := shaft0_high ;info 970, 872 movf shaft0_high,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__temp ; line_number = 971 ; shaft0_high := shaft1_high ;info 971, 876 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movf shaft1_high,w movwf shaft0_high ; line_number = 972 ; shaft1_high := temp ;info 972, 880 bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movf main__temp,w bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movwf shaft1_high ; Recombine size1 = 0 || size2 = 0 main__5: ; line_number = 966 ; if shafts_swap done ; # Now copy shaft data from "working" to "stable" atomically ; # by turning off interrupts: ; line_number = 977 ; _gie := _false ;info 977, 886 bcf _gie___byte, _gie___bit ; line_number = 978 ; stable_shaft0_high := shaft0_high ;info 978, 887 movf shaft0_high,w movwf stable_shaft0_high ; line_number = 979 ; stable_shaft0_low := shaft0_low ;info 979, 889 movf shaft0_low,w movwf stable_shaft0_low ; line_number = 980 ; stable_shaft1_high := shaft1_high ;info 980, 891 movf shaft1_high,w movwf stable_shaft1_high ; line_number = 981 ; stable_shaft1_low := shaft1_low ;info 981, 893 movf shaft1_low,w movwf stable_shaft1_low ; line_number = 982 ; _gie := _true ;info 982, 895 bsf _gie___byte, _gie___bit ; # Only do location computations if enabled: ; line_number = 985 ; if location_on start ;info 985, 896 ; =>bit_code_emit@symbol(): sym=location_on ; No 1TEST: true.size=711 false.size=0 ; No 2TEST: true.size=711 false.size=0 ; 1GOTO: Single test with GOTO btfss location_on___byte, location_on___bit goto main__19 ; line_number = 986 ; if wheel_changed start ;info 986, 898 ; =>bit_code_emit@symbol(): sym=wheel_changed ; No 1TEST: true.size=3 false.size=0 ; No 2TEST: true.size=3 false.size=0 ; 1GOTO: Single test with GOTO btfss wheel_changed___byte, wheel_changed___bit goto main__6 ; line_number = 987 ; wheel_changed := _false ;info 987, 900 bcf wheel_changed___byte, wheel_changed___bit ; line_number = 988 ; call wheel_recompute() ;info 988, 901 bsf __rp1___byte, __rp1___bit call wheel_recompute ; Recombine size1 = 0 || size2 = 0 main__6: ; line_number = 986 ; if wheel_changed done ; ## Compute the distance traversed by the robot center: ; line_number = 991 ; shaft0_current := _signed16_from_byte2(shaft0_high, shaft0_low) ;info 991, 903 bcf __rp1___byte, __rp1___bit movf shaft0_high,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf shaft0_low,w bsf __cb1___byte, __cb1___bit bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw main__shaft0_current>>1 call _signed16_pointer_store ; line_number = 992 ; shaft1_current := _signed16_from_byte2(shaft1_high, shaft1_low) ;info 992, 916 bcf __rp1___byte, __rp1___bit movf shaft1_high,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf shaft1_low,w bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw main__shaft1_current>>1 call _signed16_pointer_store ; line_number = 993 ; shaft0_delta := shaft0_current - shaft0_previous ;info 993, 928 movlw main__shaft0_current>>1 call _signed16_pointer_load movlw main__shaft0_previous>>1 call _signed16_pointer_subtract movlw main__shaft0_delta>>1 call _signed16_pointer_store ; line_number = 994 ; shaft1_delta := shaft1_current - shaft1_previous ;info 994, 934 movlw main__shaft1_current>>1 call _signed16_pointer_load movlw main__shaft1_previous>>1 call _signed16_pointer_subtract movlw main__shaft1_delta>>1 call _signed16_pointer_store ; line_number = 995 ; shaft0_previous := shaft0_current ;info 995, 940 movlw main__shaft0_current>>1 call _signed16_pointer_load movlw main__shaft0_previous>>1 call _signed16_pointer_store ; line_number = 996 ; shaft1_previous := shaft1_current ;info 996, 944 movlw main__shaft1_current>>1 call _signed16_pointer_load movlw main__shaft1_previous>>1 call _signed16_pointer_store ; # The factor of .5 (i.e. {half_distance_per_tick}) is because ; # we want the average of {shaft0_delta} and {shaft1_delta}. ; # distance = (shaft0_delta + shaft1_delta)/2 * distance_per_tick ; # = (shaft0_delta + shaft1_delta) * (distance_per_tick)/2: ; line_number = 1002 ; distance := half_distance_per_tick * _signed16_float32_convert(shaft0_delta + shaft1_delta) ;info 1002, 948 main__7 equ globals___3+66 movlw half_distance_per_tick>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__7>>1 call _float32_pointer_store movlw main__shaft0_delta>>1 bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw main__shaft1_delta>>1 call _signed16_pointer_add movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__7>>1 call _float32_pointer_multiply movlw main__distance>>1 call _float32_pointer_store ; # Keep {bearing} between -pi and +pi: ; line_number = 1006 ; delta := shaft1_delta - shaft0_delta ;info 1006, 977 movlw main__shaft1_delta>>1 bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw main__shaft0_delta>>1 call _signed16_pointer_subtract movlw main__delta>>1 call _signed16_pointer_store ; line_number = 1007 ; if delta != zero start ;info 1007, 987 movlw main__delta>>1 call _signed16_pointer_load movlw main__zero>>1 call _signed16_pointer_subtract call _signed16_not_equal ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=82 false.size=0 ; No 2TEST: true.size=82 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto main__12 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; line_number = 1008 ; bearing := bearing + radians_per_tick * _signed16_float32_convert(delta) ;info 1008, 998 main__8 equ globals___3+66 movlw radians_per_tick>>1 call _float32_pointer_load movlw main__8>>1 call _float32_pointer_store movlw main__delta>>1 bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__8>>1 call _float32_pointer_multiply movlw main__bearing>>1 call _float32_pointer_add movlw main__bearing>>1 call _float32_pointer_store ; line_number = 1010 ; if bearing > _float32_pi start ;info 1010, 1023 ; -3.14153 = 80 c9 0e d1 movlw 128 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__bearing>>1 call _float32_pointer_add call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=12 false.size=27 ; No 2TEST: true.size=12 false.size=27 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__10 bsf __cb0___byte, __cb0___bit ; line_number = 1011 ; bearing := bearing - _float32_two_pi ;info 1011, 1038 ; -6.28306 = 81 c9 0e d1 movlw 129 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__bearing>>1 call _float32_pointer_add movlw main__bearing>>1 call _float32_pointer_store ; Recombine code1_bit_states != code2_bit_states bcf __cb0___byte, __cb0___bit goto main__11 ; 2GOTO: Starting code 2 main__10: bsf __cb0___byte, __cb0___bit ; line_number = 1012 ;info 1012, 1053 ; -3.14153 = 80 c9 0e d1 movlw 128 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__bearing>>1 call _float32_pointer_add call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=12 false.size=0 ; No 2TEST: true.size=12 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb0___byte, __cb0___bit btfss __z___byte, __z___bit goto main__9 bsf __cb0___byte, __cb0___bit ; line_number = 1013 ; bearing := bearing + _float32_two_pi ;info 1013, 1068 ; 6.28306 = 81 49 0e d1 movlw 129 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__bearing>>1 call _float32_pointer_add movlw main__bearing>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 main__9: main__11: ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:01=uu=>01) ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:01=uu=>0?) ; 2GOTO: code final bitstates:(data:01=uu=>01 code:01=uu=>0?) ; line_number = 1010 ; if bearing > _float32_pi done ; Recombine size1 = 0 || size2 = 0 main__12: ; line_number = 1007 ; if delta != zero done ; # Compute the updated {x} and {y} locations: ; line_number = 1016 ; x := x + distance * _float32_cos(bearing) ;info 1016, 1080 movlw main__bearing>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_cos movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw main__distance>>1 call _float32_pointer_multiply movlw main__x>>1 call _float32_pointer_add movlw main__x>>1 call _float32_pointer_store ; line_number = 1017 ; y := y + distance * _float32_sin(bearing) ;info 1017, 1098 movlw main__bearing>>1 call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_sin movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw main__distance>>1 call _float32_pointer_multiply movlw main__y>>1 call _float32_pointer_add movlw main__y>>1 call _float32_pointer_store ; line_number = 1019 ; if location_changed start ;info 1019, 1113 ; =>bit_code_emit@symbol(): sym=location_changed ; No 1TEST: true.size=125 false.size=0 ; No 2TEST: true.size=125 false.size=0 ; 1GOTO: Single test with GOTO bcf __rp0___byte, __rp0___bit bcf __cb0___byte, __cb0___bit btfss location_changed___byte, location_changed___bit goto main__13 bsf __cb1___byte, __cb1___bit ; line_number = 1020 ; _gie := _false ;info 1020, 1118 bcf _gie___byte, _gie___bit ; line_number = 1021 ; high := frozen[index_x_high] ;info 1021, 1119 movf frozen+4,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__high ; line_number = 1022 ; low := frozen[index_x_low] ;info 1022, 1123 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movf frozen+5,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__low ; line_number = 1023 ; _gie := _true ;info 1023, 1129 bsf _gie___byte, _gie___bit ; line_number = 1024 ; temporary := _signed16_from_byte2(high, low) ;info 1024, 1130 movf main__high,w bcf __rp0___byte, __rp0___bit movwf _signed16_from_byte2__byte1 bsf __rp0___byte, __rp0___bit movf main__low,w bcf __rp0___byte, __rp0___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1025 ; x := _signed16_float32_convert(temporary) ;info 1025, 1141 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__x>>1 call _float32_pointer_store ; line_number = 1027 ; _gie := _false ;info 1027, 1154 bcf _gie___byte, _gie___bit ; line_number = 1028 ; high := frozen[index_y_high] ;info 1028, 1155 bcf __rp0___byte, __rp0___bit movf frozen+6,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__high ; line_number = 1029 ; low := frozen[index_y_low] ;info 1029, 1160 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movf frozen+7,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__low ; line_number = 1030 ; _gie := _true ;info 1030, 1166 bsf _gie___byte, _gie___bit ; line_number = 1031 ; temporary := _signed16_from_byte2(high, low) ;info 1031, 1167 movf main__high,w bcf __rp0___byte, __rp0___bit movwf _signed16_from_byte2__byte1 bsf __rp0___byte, __rp0___bit movf main__low,w bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1032 ; y := _signed16_float32_convert(temporary) ;info 1032, 1180 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__y>>1 call _float32_pointer_store ; line_number = 1034 ; _gie := _false ;info 1034, 1193 bcf _gie___byte, _gie___bit ; line_number = 1035 ; high := frozen[index_bearing_high] ;info 1035, 1194 bcf __rp0___byte, __rp0___bit movf frozen+8,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__high ; line_number = 1036 ; low := frozen[index_bearing_low] ;info 1036, 1199 bcf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit movf frozen+9,w bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit movwf main__low ; line_number = 1037 ; _gie := _true ;info 1037, 1205 bsf _gie___byte, _gie___bit ; line_number = 1038 ; temporary := _signed16_from_byte2(high, low) ;info 1038, 1206 movf main__high,w bcf __rp0___byte, __rp0___bit movwf _signed16_from_byte2__byte1 bsf __rp0___byte, __rp0___bit movf main__low,w bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1039 ; bearing := _signed16_float32_convert(temporary) / bearing_convert ;info 1039, 1219 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load ; 0.0174529 = 79 0e f9 78 movlw 121 movwf _float32_bexp movlw 14 movwf _float32_bargb0 movlw 249 movwf _float32_bargb1 movlw 120 movwf _float32_bargb2 call _float32_multiply movlw main__bearing>>1 call _float32_pointer_store ; line_number = 1042 ; location_changed := _false ;info 1042, 1241 bcf __rp0___byte, __rp0___bit bcf location_changed___byte, location_changed___bit ; Recombine size1 = 0 || size2 = 0 main__13: ; line_number = 1019 ; if location_changed done ; line_number = 1044 ; if target_changed start ;info 1044, 1243 ; =>bit_code_emit@symbol(): sym=target_changed ; No 1TEST: true.size=57 false.size=0 ; No 2TEST: true.size=57 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb0___byte, __cb0___bit btfss target_changed___byte, target_changed___bit goto main__14 bsf __cb1___byte, __cb1___bit ; # We always want to read a pair of bytes out of {frozen} ; # indivisibly, hence, we disable interrupts for the read: ; line_number = 1047 ; _gie := _false ;info 1047, 1247 bcf _gie___byte, _gie___bit ; line_number = 1048 ; temporary := _signed16_from_byte2(frozen[index_target_x_high], frozen[index_target_x_low]) ;info 1048, 1248 movf frozen+15,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf frozen+16,w bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1050 ; _gie := _true ;info 1050, 1259 bsf _gie___byte, _gie___bit ; line_number = 1051 ; target_x := _signed16_float32_convert(temporary) ;info 1051, 1260 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__target_x>>1 call _float32_pointer_store ; line_number = 1053 ; _gie := _false ;info 1053, 1273 bcf _gie___byte, _gie___bit ; line_number = 1054 ; temporary := _signed16_from_byte2(frozen[index_target_y_high], frozen[index_target_y_low]) ;info 1054, 1274 bcf __rp0___byte, __rp0___bit movf frozen+17,w bsf __rp1___byte, __rp1___bit movwf _signed16_from_byte2__byte1 bcf __rp1___byte, __rp1___bit movf frozen+18,w bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bsf __rp1___byte, __rp1___bit call _signed16_from_byte2 movlw _signed16_from_byte2__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1056 ; _gie := _true ;info 1056, 1288 bsf _gie___byte, _gie___bit ; line_number = 1057 ; target_y := _signed16_float32_convert(temporary) ;info 1057, 1289 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_float32_convert__from>>1 call _signed16_pointer_store call _signed16_float32_convert movlw _signed16_float32_convert__0return>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit call _float32_pointer_load movlw main__target_y>>1 call _float32_pointer_store ; line_number = 1059 ; target_changed := _false ;info 1059, 1302 bcf __rp0___byte, __rp0___bit bcf target_changed___byte, target_changed___bit ; Recombine size1 = 0 || size2 = 0 main__14: ; line_number = 1044 ; if target_changed done ; # Compute {target_bearing} and {target_distance}: ; line_number = 1062 ; dx := target_x - x ;info 1062, 1304 movlw main__target_x>>1 bsf __cb0___byte, __cb0___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw main__x>>1 call _float32_pointer_subtract movlw main__dx>>1 call _float32_pointer_store ; line_number = 1063 ; dy := target_y - y ;info 1063, 1312 movlw main__target_y>>1 call _float32_pointer_load movlw main__y>>1 call _float32_pointer_subtract movlw main__dy>>1 call _float32_pointer_store ; line_number = 1064 ; target_distance := _float32_sqrt(dx * dx + dy * dy) ;info 1064, 1318 main__15 equ globals___3+66 movlw main__dx>>1 call _float32_pointer_load movlw main__dx>>1 call _float32_pointer_multiply movlw main__15>>1 call _float32_pointer_store movlw main__dy>>1 call _float32_pointer_load movlw main__dy>>1 call _float32_pointer_multiply movlw main__15>>1 call _float32_pointer_add movlw _float32_sqrt__preroot>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_sqrt movlw _float32_sqrt__0return>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw main__target_distance>>1 call _float32_pointer_store ; line_number = 1065 ; target_bearing := _float32_arctan2(dx, dy) - bearing ;info 1065, 1339 movlw main__dx>>1 call _float32_pointer_load movlw _float32_trig2>>1 call _float32_pointer_store movlw main__dy>>1 call _float32_pointer_load movlw _float32_trig3>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_arctan2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw main__bearing>>1 call _float32_pointer_subtract movlw main__target_bearing>>1 call _float32_pointer_store ; # Fix up the {target_bearing} to between -pi and +pi: ; line_number = 1068 ; if target_bearing > _float32_pi start ;info 1068, 1356 ; -3.14153 = 80 c9 0e d1 movlw 128 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__target_bearing>>1 call _float32_pointer_add call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=12 false.size=27 ; No 2TEST: true.size=12 false.size=27 bcf __cb0___byte, __cb0___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto main__17 bsf __cb0___byte, __cb0___bit ; line_number = 1069 ; target_bearing := target_bearing - _float32_two_pi ;info 1069, 1371 ; -6.28306 = 81 c9 0e d1 movlw 129 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__target_bearing>>1 call _float32_pointer_add movlw main__target_bearing>>1 call _float32_pointer_store ; Recombine code1_bit_states != code2_bit_states bcf __cb0___byte, __cb0___bit goto main__18 ; 2GOTO: Starting code 2 main__17: bsf __cb0___byte, __cb0___bit ; line_number = 1070 ;info 1070, 1386 ; 3.14153 = 80 49 0e d1 movlw 128 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__target_bearing>>1 call _float32_pointer_add call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=12 false.size=0 ; No 2TEST: true.size=12 false.size=0 ; 1GOTO: Single test with GOTO bcf __cb0___byte, __cb0___bit btfss __z___byte, __z___bit goto main__16 bsf __cb0___byte, __cb0___bit ; line_number = 1071 ; target_bearing := target_bearing + _float32_two_pi ;info 1071, 1401 ; 6.28306 = 81 49 0e d1 movlw 129 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw main__target_bearing>>1 call _float32_pointer_add movlw main__target_bearing>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 main__16: main__18: ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:01=uu=>01) ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:01=uu=>0?) ; 2GOTO: code final bitstates:(data:00=uu=>01 code:00=uu=>0?) ; line_number = 1068 ; if target_bearing > _float32_pi done ; # Convert {x} back into something useful: ; line_number = 1074 ; temporary := _float32_signed16_convert(x) ;info 1074, 1413 movlw main__x>>1 bsf __cb0___byte, __cb0___bit call _float32_pointer_load movlw _float32_signed16_convert__from>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _float32_signed16_convert movlw _float32_signed16_convert__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1075 ; working[index_x_high] := _signed16_byte_high(temporary) ;info 1075, 1427 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_byte_high__number>>1 call _signed16_pointer_store call _signed16_byte_high bcf __rp1___byte, __rp1___bit movwf working+4 ; line_number = 1076 ; working[index_x_low] := _signed16_byte_low(temporary) ;info 1076, 1434 movlw temporary>>1 bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_byte_low__number>>1 call _signed16_pointer_store call _signed16_byte_low bcf __rp1___byte, __rp1___bit movwf working+5 ; # Convert {y} back into something useful: ; line_number = 1079 ; temporary := _float32_signed16_convert(y) ;info 1079, 1442 movlw main__y>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw _float32_signed16_convert__from>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _float32_signed16_convert movlw _float32_signed16_convert__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1080 ; working[index_y_high] := _signed16_byte_high(temporary) ;info 1080, 1458 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_byte_high__number>>1 call _signed16_pointer_store call _signed16_byte_high bcf __rp1___byte, __rp1___bit movwf working+6 ; line_number = 1081 ; working[index_y_low] := _signed16_byte_low(temporary) ;info 1081, 1465 movlw temporary>>1 bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_byte_low__number>>1 call _signed16_pointer_store call _signed16_byte_low bcf __rp1___byte, __rp1___bit movwf working+7 ; # Convert {bearing} back into something useful: ; line_number = 1084 ; temporary := _float32_signed16_convert(bearing * bearing_convert) ;info 1084, 1473 ; 57.2969 = 84 65 30 10 movlw 132 bsf __rp0___byte, __rp0___bit movwf _float32_aexp movlw 101 movwf _float32_aargb0 movlw 48 movwf _float32_aargb1 movlw 16 movwf _float32_aargb2 movlw main__bearing>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit call _float32_pointer_multiply movlw _float32_signed16_convert__from>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _float32_signed16_convert movlw _float32_signed16_convert__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1085 ; working[index_bearing_high] := _signed16_byte_high(temporary) ;info 1085, 1497 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_byte_high__number>>1 call _signed16_pointer_store call _signed16_byte_high bcf __rp1___byte, __rp1___bit movwf working+8 ; line_number = 1086 ; working[index_bearing_low] := _signed16_byte_low(temporary) ;info 1086, 1504 movlw temporary>>1 bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_byte_low__number>>1 call _signed16_pointer_store call _signed16_byte_low bcf __rp1___byte, __rp1___bit movwf working+9 ; # Convert {target_bearing} back into something useful: ; line_number = 1089 ; temporary := _float32_signed16_convert(target_bearing * bearing_convert) ;info 1089, 1512 ; 57.2969 = 84 65 30 10 movlw 132 bsf __rp0___byte, __rp0___bit movwf _float32_aexp movlw 101 movwf _float32_aargb0 movlw 48 movwf _float32_aargb1 movlw 16 movwf _float32_aargb2 movlw main__target_bearing>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit call _float32_pointer_multiply movlw _float32_signed16_convert__from>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _float32_signed16_convert movlw _float32_signed16_convert__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1091 ; working[index_target_bearing_high] := _signed16_byte_high(temporary) ;info 1091, 1536 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_byte_high__number>>1 call _signed16_pointer_store call _signed16_byte_high bcf __rp1___byte, __rp1___bit movwf working+10 ; line_number = 1093 ; working[index_target_bearing_low] := _signed16_byte_low(temporary) ;info 1093, 1543 movlw temporary>>1 bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_byte_low__number>>1 call _signed16_pointer_store call _signed16_byte_low bcf __rp1___byte, __rp1___bit movwf working+11 ; # Convert {target_distance} back into something useful: ; line_number = 1096 ; temporary := _float32_signed16_convert(target_distance) ;info 1096, 1551 movlw main__target_distance>>1 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit bsf __rp0___byte, __rp0___bit call _float32_pointer_load movlw _float32_signed16_convert__from>>1 call _float32_pointer_store bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit call _float32_signed16_convert movlw _float32_signed16_convert__0return>>1 call _signed16_pointer_load movlw temporary>>1 call _signed16_pointer_store ; line_number = 1097 ; working[index_target_distance_high] := _signed16_byte_high(temporary) ;info 1097, 1567 movlw temporary>>1 call _signed16_pointer_load movlw _signed16_byte_high__number>>1 call _signed16_pointer_store call _signed16_byte_high bcf __rp1___byte, __rp1___bit movwf working+12 ; line_number = 1099 ; working[index_target_distance_low] := _signed16_byte_low(temporary) ;info 1099, 1574 movlw temporary>>1 bsf __rp1___byte, __rp1___bit call _signed16_pointer_load movlw _signed16_byte_low__number>>1 call _signed16_pointer_store call _signed16_byte_low bcf __rp1___byte, __rp1___bit movwf working+13 ; # Update the count: ; line_number = 1102 ; working[index_count] := working[index_count] + 1 ;info 1102, 1582 movf working+14,w addlw 1 movwf working+14 ; # Now copy {working} up into {stable} with interrupts disabled: ; line_number = 1105 ; _gie := _false ;info 1105, 1585 bcf _gie___byte, _gie___bit ; line_number = 1106 ; stable[index_x_high] := working[index_x_high] ;info 1106, 1586 movf working+4,w movwf stable+4 ; line_number = 1107 ; stable[index_x_low] := working[index_x_low] ;info 1107, 1588 movf working+5,w movwf stable+5 ; line_number = 1109 ; stable[index_y_high] := working[index_y_high] ;info 1109, 1590 movf working+6,w movwf stable+6 ; line_number = 1110 ; stable[index_y_low] := working[index_y_low] ;info 1110, 1592 movf working+7,w movwf stable+7 ; line_number = 1112 ; stable[index_bearing_high] := working[index_bearing_high] ;info 1112, 1594 movf working+8,w movwf stable+8 ; line_number = 1113 ; stable[index_bearing_low] := working[index_bearing_low] ;info 1113, 1596 movf working+9,w movwf stable+9 ; line_number = 1115 ; stable[index_target_bearing_high] := working[index_target_bearing_high] ;info 1115, 1598 movf working+10,w movwf stable+10 ; line_number = 1117 ; stable[index_target_bearing_low] := working[index_target_bearing_low] ;info 1117, 1600 movf working+11,w movwf stable+11 ; line_number = 1120 ; stable[index_target_distance_high] := working[index_target_distance_high] ;info 1120, 1602 movf working+12,w movwf stable+12 ; line_number = 1122 ; stable[index_target_distance_low] := working[index_target_distance_low] ;info 1122, 1604 movf working+13,w movwf stable+13 ; line_number = 1125 ; stable[index_count] := working[index_count] ;info 1125, 1606 movf working+14,w movwf stable+14 ; line_number = 1126 ; _gie := _true ;info 1126, 1608 bsf _gie___byte, _gie___bit ; Recombine size1 = 0 || size2 = 0 main__19: ; line_number = 985 ; if location_on done ; # Keep on looping: ; line_number = 932 ; loop_forever wrap-up bcf __cb1___byte, __cb1___bit goto main__1 ; line_number = 932 ; loop_forever done ; delay after procedure statements=non-uniform bsf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; Appending 3 delayed procedures to code bank 0 ; buffer = 'rb2bus_pic16f876' ; line_number = 28 ;info 28, 1613 ; procedure rb2bus_initialize rb2bus_initialize: ; Last argument is sitting in W; save into argument variable movwf rb2bus_initialize__address ; delay=4294967295 ; line_number = 29 ; argument address byte rb2bus_initialize__address equ globals___3+2 ; line_number = 30 ; returns_nothing ; # This procedure is responsibile for initializing the UART ; # connected to the bus. {address} is the address of this ; # slave module. This code is specific to the PIC16F688. ; before procedure statements delay=non-uniform, bit states=(data:11=uu=>11 code:00=uu=>00) ; line_number = 36 ; rb2bus_address := address ;info 36, 1614 movf rb2bus_initialize__address,w movwf rb2bus_address ; # Warm up the UART: ; line_number = 39 ; _trisc@7 := _true ;info 39, 1616 rb2bus_initialize__select__1___byte equ _trisc rb2bus_initialize__select__1___bit equ 7 bcf __rp1___byte, __rp1___bit bsf rb2bus_initialize__select__1___byte, rb2bus_initialize__select__1___bit ; line_number = 40 ; _trisc@6 := _true ;info 40, 1618 rb2bus_initialize__select__2___byte equ _trisc rb2bus_initialize__select__2___bit equ 6 bsf rb2bus_initialize__select__2___byte, rb2bus_initialize__select__2___bit ; # Initialize the {_txsta} register: ; line_number = 43 ; _txsta := 0 ;info 43, 1619 clrf _txsta ; line_number = 44 ; _tx9 := _true ;info 44, 1620 bsf _tx9___byte, _tx9___bit ; line_number = 45 ; _txen := _true ;info 45, 1621 bsf _txen___byte, _txen___bit ; line_number = 46 ; _brgh := _true ;info 46, 1622 bsf _brgh___byte, _brgh___bit ; # Initialize the {_rcsta} register: ; line_number = 49 ; _rcsta := 0 ;info 49, 1623 bcf __rp0___byte, __rp0___bit clrf _rcsta ; line_number = 50 ; _spen := _true ;info 50, 1625 bsf _spen___byte, _spen___bit ; line_number = 51 ; _rx9 := _true ;info 51, 1626 bsf _rx9___byte, _rx9___bit ; line_number = 52 ; _cren := _true ;info 52, 1627 bsf _cren___byte, _cren___bit ; #_adden := _true ; line_number = 54 ; _adden := _false ;info 54, 1628 bcf _adden___byte, _adden___bit ; # Set up the baud rate generator: ; line_number = 57 ; _spbrg := spbrg_500k ;info 57, 1629 movlw 1 bsf __rp0___byte, __rp0___bit movwf _spbrg ; line_number = 59 ; rb2bus_selected := _false ;info 59, 1632 bsf __rp1___byte, __rp1___bit bcf rb2bus_selected___byte, rb2bus_selected___bit ; line_number = 60 ; rb2bus_error := _true ;info 60, 1634 bsf rb2bus_error___byte, rb2bus_error___bit ; line_number = 61 ; rb2bus_index := 0 ;info 61, 1635 clrf rb2bus_index ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 66 ;info 66, 1637 ; procedure rb2bus_eedata_read rb2bus_eedata_read: ; arguments_none ; line_number = 68 ; returns byte ; # This procedure will return the address stored in EEData. If ; # there is no data, 0 is returned. ; line_number = 73 ; local temp1 byte rb2bus_eedata_read__temp1 equ globals___3+3 ; line_number = 74 ; local temp2 byte rb2bus_eedata_read__temp2 equ globals___3+4 ; # Read the first byte (the address): ; before procedure statements delay=non-uniform, bit states=(data:11=uu=>11 code:00=uu=>00) ; line_number = 77 ; _eecon1 := 0 ;info 77, 1637 clrf _eecon1 ; line_number = 78 ; _eeadr := rb2bus_eedata_address ;info 78, 1638 movlw 254 bcf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 79 ; _rd := _true ;info 79, 1641 bsf __rp0___byte, __rp0___bit bsf _rd___byte, _rd___bit ; line_number = 80 ; temp1 := _eedata ;info 80, 1643 bcf __rp0___byte, __rp0___bit movf _eedata,w bsf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp1 ; # Read the second byte (the 1'z complement) ; line_number = 83 ; _eeadr := _eeadr + 1 ;info 83, 1647 bcf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 84 ; _rd := _true ;info 84, 1649 bsf __rp0___byte, __rp0___bit bsf _rd___byte, _rd___bit ; line_number = 85 ; temp2 := _eedata ;info 85, 1651 bcf __rp0___byte, __rp0___bit movf _eedata,w bsf __rp0___byte, __rp0___bit movwf rb2bus_eedata_read__temp2 ; # If they are 1's complement of one another, they are valid: ; line_number = 88 ; if temp1 = (0xff ^ temp2) start ;info 88, 1655 ; Left minus Right comf rb2bus_eedata_read__temp2,w subwf rb2bus_eedata_read__temp1,w ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss __z___byte, __z___bit goto rb2bus_eedata_read__1 ; # Return the valid address: ; line_number = 90 ; return temp1 start ; line_number = 90 ;info 90, 1659 movf rb2bus_eedata_read__temp1,w return ; line_number = 90 ; return temp1 done ; Recombine size1 = 0 || size2 = 0 rb2bus_eedata_read__1: ; line_number = 88 ; if temp1 = (0xff ^ temp2) done ; # They are not 1's complement, so return 0 as an error: ; line_number = 93 ; return 0 start ; line_number = 93 ;info 93, 1661 retlw 0 ; line_number = 93 ; return 0 done ; delay after procedure statements=non-uniform ; line_number = 96 ;info 96, 1662 ; procedure rb2bus_eedata_write rb2bus_eedata_write: ; Last argument is sitting in W; save into argument variable movwf rb2bus_eedata_write__address ; delay=4294967295 ; line_number = 97 ; argument address byte rb2bus_eedata_write__address equ globals___3+5 ; line_number = 98 ; returns_nothing ; # This procedure will write {address} into the EEData. The ; # microcontroll pauses while the EEData is written. ; # Clear out the {_eecon1} register ; before procedure statements delay=non-uniform, bit states=(data:11=uu=>11 code:00=uu=>00) ; line_number = 104 ; _eecon1 := 0 ;info 104, 1663 clrf _eecon1 ; line_number = 105 ; _eeadr := rb2bus_eedata_address ;info 105, 1664 movlw 254 bcf __rp0___byte, __rp0___bit movwf _eeadr ; line_number = 106 ; _eedata := address ;info 106, 1667 bsf __rp0___byte, __rp0___bit movf rb2bus_eedata_write__address,w bcf __rp0___byte, __rp0___bit movwf _eedata ; # Write 2 bytes ({address} followed by {address}^0xff): ; line_number = 109 ; loop_exactly 2 start ;info 109, 1671 rb2bus_eedata_write__1 equ globals___3+67 movlw 2 bsf __rp0___byte, __rp0___bit movwf rb2bus_eedata_write__1 rb2bus_eedata_write__2: ; # Set the data to write: ; # Set up the for the write: ; line_number = 113 ; _wren := _true ;info 113, 1674 bsf _wren___byte, _wren___bit ; line_number = 114 ; _gie := _false ;info 114, 1675 bcf _gie___byte, _gie___bit ; line_number = 115 ; _eecon2 := 0x55 ;info 115, 1676 movlw 85 movwf _eecon2 ; line_number = 116 ; _eecon2 := 0xaa ;info 116, 1678 movlw 170 movwf _eecon2 ; # Start the write: ; line_number = 118 ; _wr := _true ;info 118, 1680 bsf _wr___byte, _wr___bit ; # Wait for write to complete: ; line_number = 121 ; while _wr start rb2bus_eedata_write__3: ;info 121, 1681 ; =>bit_code_emit@symbol(): sym=_wr ; 1TEST: Single test with code in skip slot btfsc _wr___byte, _wr___bit ; line_number = 122 ; do_nothing ;info 122, 1682 goto rb2bus_eedata_write__3 ; Recombine size1 = 0 || size2 = 0 ; line_number = 121 ; while _wr done ; # Disable writing: ; line_number = 125 ; _wren := _false ;info 125, 1683 bcf _wren___byte, _wren___bit ; # Prepare the second byte of data: ; line_number = 128 ; _eeadr := _eeadr + 1 ;info 128, 1684 bcf __rp0___byte, __rp0___bit incf _eeadr,f ; line_number = 129 ; _eedata := address ^ 0xff ;info 129, 1686 bsf __rp0___byte, __rp0___bit comf rb2bus_eedata_write__address,w bcf __rp0___byte, __rp0___bit movwf _eedata bsf __rp0___byte, __rp0___bit ; line_number = 109 ; loop_exactly 2 wrap-up decfsz rb2bus_eedata_write__1,f goto rb2bus_eedata_write__2 ; line_number = 109 ; loop_exactly 2 done ; # Disable everything: ; line_number = 133 ; _eecon1 := 0 ;info 133, 1693 clrf _eecon1 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Code bank 1; Start address: 2048; End address: 4095 org 2048 ; Appending 27 delayed procedures to code bank 1 ; buffer = '_float32_base' ; line_number = 374 ;info 374, 2048 ; procedure _float32_from_integer24 _float32_from_integer24: ; arguments_none ; line_number = 376 ; returns_nothing ; line_number = 377 ; return_suppress ; # Integer to float conversion ; # Input: 24 bit 2's complement integer right justified in ; # _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Use: call flo2432() ; # Output: 32 bit floating point number in _float32_aexp, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) ; # Max Timing: 14+90 = 104 clks SAT = 0 ; # 14+96 = 110 clks SAT = 1 ; # Min Timing: 6+28 = 34 clks _FLOAT32_AARG = 0 ; # 6+18 = 24 clks ; # PM: 14+38 = 52 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 391 ; assemble ;info 391, 2048 ; line_number = 392 _float32_flo32: ; # initialize exponent and add bias ; line_number = 394 ;info 394, 2048 movlw _float32_expbias_23 ; line_number = 395 ;info 395, 2049 movwf _float32_exp ; line_number = 396 ;info 396, 2050 clrf _float32_sign ; # test sign ; line_number = 398 ;info 398, 2051 btfss _float32_aargb0, _float32_msb ; line_number = 399 ;info 399, 2052 goto _float32_normalize ; # if < 0, negate and set MSB in _float32_sign ; line_number = 401 ;info 401, 2053 comf _float32_aargb2,f ; line_number = 402 ;info 402, 2054 comf _float32_aargb1,f ; line_number = 403 ;info 403, 2055 comf _float32_aargb0,f ; line_number = 404 ;info 404, 2056 incf _float32_aargb2,f ; line_number = 405 ;info 405, 2057 btfsc _float32_status, _float32_z ; line_number = 406 ;info 406, 2058 incf _float32_aargb1,f ; line_number = 407 ;info 407, 2059 btfsc _float32_status, _float32_z ; line_number = 408 ;info 408, 2060 incf _float32_aargb0,f ; line_number = 409 ;info 409, 2061 bsf _float32_sign, _float32_msb ; # Note that this procedure runs into _float_normalize ; #goto _float_normalize ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 414 ;info 414, 2062 ; procedure _float32_normalize _float32_normalize: ; arguments_none ; line_number = 416 ; returns_nothing ; line_number = 417 ; return_suppress ; # Normalization routine ; # Input: 32 bit unnormalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, with sign in _float32_sign msb ; # Use: call _float32_normalize() ; # Output: 32 bit normalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) ; # Max Timing: 21+6+7*8+7 = 90 clks SAT = 0 ; # 21+6+7*8+1+12 = 96 clks SAT = 1 ; # Min Timing: 22+6 = 28 clks _FLOAT32_AARG = 0 ; # 5+9+4 = 18 clks ; # PM: 38 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 432 ; assemble ;info 432, 2062 ; #:nrm3232 ; line_number = 434 _float32_nrm32: ; # lear exponent decrement ; line_number = 436 ;info 436, 2062 clrf _float32_temp ; # test if highbyte=0 ; line_number = 438 ;info 438, 2063 movf _float32_aargb0,w ; line_number = 439 ;info 439, 2064 btfss _float32_status, _float32_z ; line_number = 440 ;info 440, 2065 goto _float32_norm3232 ; # if so, shift 8 bits by move ; line_number = 442 ;info 442, 2066 movf _float32_aargb1,w ; line_number = 443 ;info 443, 2067 movwf _float32_aargb0 ; line_number = 444 ;info 444, 2068 movf _float32_aargb2,w ; line_number = 445 ;info 445, 2069 movwf _float32_aargb1 ; line_number = 446 ;info 446, 2070 clrf _float32_aargb2 ; # increase decrement by 8 ; line_number = 448 ;info 448, 2071 bsf _float32_temp, 3 ; # test if highbyte=0 ; line_number = 451 ;info 451, 2072 movf _float32_aargb0,w ; line_number = 452 ;info 452, 2073 btfss _float32_status, _float32_z ; line_number = 453 ;info 453, 2074 goto _float32_norm3232 ; # if so, shift 8 bits by move ; line_number = 455 ;info 455, 2075 movf _float32_aargb1,w ; line_number = 456 ;info 456, 2076 movwf _float32_aargb0 ; line_number = 457 ;info 457, 2077 clrf _float32_aargb1 ; # increase decrement by 8 ; line_number = 459 ;info 459, 2078 bcf _float32_temp, 3 ; line_number = 460 ;info 460, 2079 bsf _float32_temp, 4 ; # if highbyte=0, result=0 ; line_number = 463 ;info 463, 2080 movf _float32_aargb0,w ; line_number = 464 ;info 464, 2081 btfsc _float32_status, _float32_z ; line_number = 465 ;info 465, 2082 goto _float32_res032 ; line_number = 467 _float32_norm3232: ; line_number = 468 ;info 468, 2083 movf _float32_temp,w ; line_number = 469 ;info 469, 2084 subwf _float32_exp,f ; line_number = 470 ;info 470, 2085 btfss _float32_status, _float32_z ; line_number = 471 ;info 471, 2086 btfss _float32_status, _float32_c ; line_number = 472 ;info 472, 2087 goto _float32_setfun32 ; # clear carry bit ; line_number = 475 ;info 475, 2088 bcf _float32_status, _float32_c ; line_number = 477 _float32_norm3232a: ; # if MSB=1, normalization done ; line_number = 479 ;info 479, 2089 btfsc _float32_aargb0, _float32_msb ; line_number = 480 ;info 480, 2090 goto _float32_fixsign32 ; # otherwise, shift left and ; line_number = 482 ;info 482, 2091 rlf _float32_aargb2,f ; # decrement exp ; line_number = 484 ;info 484, 2092 rlf _float32_aargb1,f ; line_number = 485 ;info 485, 2093 rlf _float32_aargb0,f ; line_number = 486 ;info 486, 2094 decfsz _float32_exp,f ; line_number = 487 ;info 487, 2095 goto _float32_norm3232a ; # underflow if exp=0 ; line_number = 490 ;info 490, 2096 goto _float32_setfun32 ; line_number = 492 _float32_fixsign32: ; line_number = 493 ;info 493, 2097 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 495 ;info 495, 2098 bcf _float32_aargb0, _float32_msb ; line_number = 496 ;info 496, 2099 retlw 0 ; # result equals zero ; line_number = 499 _float32_res032: ; line_number = 500 ;info 500, 2100 clrf _float32_aargb0 ; line_number = 501 ;info 501, 2101 clrf _float32_aargb1 ; line_number = 502 ;info 502, 2102 clrf _float32_aargb2 ; line_number = 503 ;info 503, 2103 clrf _float32_aargb3 ; line_number = 504 ;info 504, 2104 clrf _float32_exp ; line_number = 505 ;info 505, 2105 retlw 0 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 508 ;info 508, 2106 ; procedure _float32_from_integer32 _float32_from_integer32: ; arguments_none ; line_number = 510 ; returns_nothing ; line_number = 511 ; return_suppress ; # Integer to float conversion ; # Input: 32 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Use: call flo3232() ; # Output: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- FLOAT( _FLOAT32_AARG ) ; # Max Timing: 17+112 = 129 clks RND = 0 ; # 17+128 = 145 clks RND = 1, SAT = 0 ; # 17+135 = 152 clks RND = 1, SAT = 1 ; # Min Timing: 6+39 = 45 clks _FLOAT32_AARG = 0 ; # 6+22 = 28 clks ; # PM: 17+66 = 83 DM: 8 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 526 ; assemble ;info 526, 2106 ; # initialize exponent and add bias ; line_number = 528 ;info 528, 2106 movlw _float32_expbias_31 ; line_number = 529 ;info 529, 2107 movwf _float32_exp ; line_number = 530 ;info 530, 2108 clrf _float32_sign ; # test sign ; line_number = 532 ;info 532, 2109 btfss _float32_aargb0, _float32_msb ; line_number = 533 ;info 533, 2110 goto _float32_normalize40 ; # if < 0, negate and set MSB in _float32_sign ; line_number = 535 ;info 535, 2111 comf _float32_aargb3,f ; line_number = 536 ;info 536, 2112 comf _float32_aargb2,f ; line_number = 537 ;info 537, 2113 comf _float32_aargb1,f ; line_number = 538 ;info 538, 2114 comf _float32_aargb0,f ; line_number = 539 ;info 539, 2115 incf _float32_aargb3,f ; line_number = 540 ;info 540, 2116 btfsc _float32_status, _float32_z ; line_number = 541 ;info 541, 2117 incf _float32_aargb2,f ; line_number = 542 ;info 542, 2118 btfsc _float32_status, _float32_z ; line_number = 543 ;info 543, 2119 incf _float32_aargb1,f ; line_number = 544 ;info 544, 2120 btfsc _float32_status, _float32_z ; line_number = 545 ;info 545, 2121 incf _float32_aargb0,f ; line_number = 546 ;info 546, 2122 bsf _float32_sign, _float32_msb ; # This procedure falls through to nrm4032 ; #goto nrm4032 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 551 ;info 551, 2123 ; procedure _float32_normalize40 _float32_normalize40: ; arguments_none ; line_number = 553 ; returns_nothing ; line_number = 554 ; return_suppress ; # Normalization routine ; # Input: 40 bit unnormalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 with sign in _float32_sign, MSB ; # Use: call nrm4032() ; # Output: 32 bit normalized floating point number in ; # _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Result: _FLOAT32_AARG <-- NORMALIZE( _FLOAT32_AARG ) ; # Max Timing: 38+6*9+12+8 = 112 clks RND = 0 ; # 38+6*9+12+24 = 128 clks RND = 1, SAT = 0 ; # 38+6*9+12+31 = 135 clks RND = 1, SAT = 1 ; # Min Timing: 33+6 = 39 clks _FLOAT32_AARG = 0 ; # 5+9+8 = 22 clks ; # PM: 66 DM: 8 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 570 ; assemble ;info 570, 2123 ; #:nrm4032 ; # clear exponent decrement ; line_number = 573 ;info 573, 2123 clrf _float32_temp ; # test if highbyte=0 ; line_number = 575 ;info 575, 2124 movf _float32_aargb0,w ; line_number = 576 ;info 576, 2125 btfss _float32_status, _float32_z ; line_number = 577 ;info 577, 2126 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 579 ;info 579, 2127 movf _float32_aargb1,w ; line_number = 580 ;info 580, 2128 movwf _float32_aargb0 ; line_number = 581 ;info 581, 2129 movf _float32_aargb2,w ; line_number = 582 ;info 582, 2130 movwf _float32_aargb1 ; line_number = 583 ;info 583, 2131 movf _float32_aargb3,w ; line_number = 584 ;info 584, 2132 movwf _float32_aargb2 ; line_number = 585 ;info 585, 2133 clrf _float32_aargb3 ; # increase decrement by 8 ; line_number = 587 ;info 587, 2134 bsf _float32_temp, 3 ; # test if highbyte=0 ; line_number = 590 ;info 590, 2135 movf _float32_aargb0,w ; line_number = 591 ;info 591, 2136 btfss _float32_status, _float32_z ; line_number = 592 ;info 592, 2137 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 594 ;info 594, 2138 movf _float32_aargb1,w ; line_number = 595 ;info 595, 2139 movwf _float32_aargb0 ; line_number = 596 ;info 596, 2140 movf _float32_aargb2,w ; line_number = 597 ;info 597, 2141 movwf _float32_aargb1 ; line_number = 598 ;info 598, 2142 clrf _float32_aargb2 ; # increase decrement by 8 ; line_number = 600 ;info 600, 2143 bcf _float32_temp, 3 ; line_number = 601 ;info 601, 2144 bsf _float32_temp, 4 ; # test if highbyte=0 ; line_number = 604 ;info 604, 2145 movf _float32_aargb0,w ; line_number = 605 ;info 605, 2146 btfss _float32_status, _float32_z ; line_number = 606 ;info 606, 2147 goto _float32_norm4032 ; # if so, shift 8 bits by move ; line_number = 608 ;info 608, 2148 movf _float32_aargb1,w ; line_number = 609 ;info 609, 2149 movwf _float32_aargb0 ; line_number = 610 ;info 610, 2150 clrf _float32_aargb1 ; # increase decrement by 8 ; line_number = 612 ;info 612, 2151 bsf _float32_temp, 3 ; # if highbyte=0, result=0 ; line_number = 615 ;info 615, 2152 movf _float32_aargb0,w ; line_number = 616 ;info 616, 2153 btfsc _float32_status, _float32_z ; line_number = 617 ;info 617, 2154 goto _float32_res032 ; line_number = 619 _float32_norm4032: ; line_number = 620 ;info 620, 2155 movf _float32_temp,w ; line_number = 621 ;info 621, 2156 subwf _float32_exp,f ; line_number = 622 ;info 622, 2157 btfss _float32_status, _float32_z ; line_number = 623 ;info 623, 2158 btfss _float32_status, _float32_c ; line_number = 624 ;info 624, 2159 goto _float32_setfun32 ; # clear carry bit ; line_number = 627 ;info 627, 2160 bcf _float32_status, _float32_c ; line_number = 629 _float32_norm4032a: ; # if MSB=1, normalization done ; line_number = 631 ;info 631, 2161 btfsc _float32_aargb0, _float32_msb ; line_number = 632 ;info 632, 2162 goto _float32_nrmrnd4032 ; # otherwise, shift left and ; line_number = 634 ;info 634, 2163 rlf _float32_aargb3,f ; # decrement exp ; line_number = 636 ;info 636, 2164 rlf _float32_aargb2,f ; line_number = 637 ;info 637, 2165 rlf _float32_aargb1,f ; line_number = 638 ;info 638, 2166 rlf _float32_aargb0,f ; line_number = 639 ;info 639, 2167 decfsz _float32_exp,f ; line_number = 640 ;info 640, 2168 goto _float32_norm4032a ; # underflow if exp=0 ; line_number = 643 ;info 643, 2169 goto _float32_setfun32 ; line_number = 645 _float32_nrmrnd4032: ; line_number = 646 ;info 646, 2170 btfsc _float32_fpflags, _float32_rnd ; line_number = 647 ;info 647, 2171 btfss _float32_aargb2, _float32_lsb ; line_number = 648 ;info 648, 2172 goto _float32_fixsign32 ; # round if next bit is set ; line_number = 650 ;info 650, 2173 btfss _float32_aargb3, _float32_msb ; line_number = 651 ;info 651, 2174 goto _float32_fixsign32 ; line_number = 652 ;info 652, 2175 incf _float32_aargb2,f ; line_number = 653 ;info 653, 2176 btfsc _float32_status, _float32_z ; line_number = 654 ;info 654, 2177 incf _float32_aargb1,f ; line_number = 655 ;info 655, 2178 btfsc _float32_status, _float32_z ; line_number = 656 ;info 656, 2179 incf _float32_aargb0,f ; # has rounding caused carryout ; line_number = 659 ;info 659, 2180 btfss _float32_status, _float32_z ; line_number = 660 ;info 660, 2181 goto _float32_fixsign32 ; # if so, right shift ; line_number = 662 ;info 662, 2182 rrf _float32_aargb0,f ; line_number = 663 ;info 663, 2183 rrf _float32_aargb1,f ; line_number = 664 ;info 664, 2184 rrf _float32_aargb2,f ; line_number = 665 ;info 665, 2185 incf _float32_exp,f ; # check for overflow ; line_number = 667 ;info 667, 2186 btfsc _float32_status, _float32_z ; line_number = 668 ;info 668, 2187 goto _float32_setfov32 ; line_number = 669 ;info 669, 2188 goto _float32_fixsign32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 672 ;info 672, 2189 ; procedure _float32_integer24_convert _float32_integer24_convert: ; arguments_none ; line_number = 674 ; returns_nothing ; line_number = 675 ; return_suppress ; # Float to integer conversion ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Use: call int3224() ; # Output: 24 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) ; # Max Timing: 40+6*7+6+16 = 104 clks RND = 0 ; # 40+6*7+6+24 = 112 clks RND = 1, SAT = 0 ; # 40+6*7+6+26 = 114 clks RND = 1, SAT = 1 ; # Min Timing: 4 clks ; # PM: 82 DM: 6 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 689 ; assemble ;info 689, 2189 ; line_number = 690 _float32_int32: ; # test for zero argument ; line_number = 692 ;info 692, 2189 movf _float32_exp,w ; line_number = 693 ;info 693, 2190 btfsc _float32_status, _float32_z ; line_number = 694 ;info 694, 2191 retlw 0 ; # save sign in _float32_sign ; line_number = 697 ;info 697, 2192 movf _float32_aargb0,w ; line_number = 698 ;info 698, 2193 movwf _float32_sign ; # make MSB explicit ; line_number = 700 ;info 700, 2194 bsf _float32_aargb0, _float32_msb ; # remove bias from exp ; line_number = 703 ;info 703, 2195 movlw _float32_expbias_23 ; line_number = 704 ;info 704, 2196 subwf _float32_exp,f ; line_number = 705 ;info 705, 2197 btfss _float32_exp, _float32_msb ; line_number = 706 ;info 706, 2198 goto _float32_setiov3224 ; line_number = 707 ;info 707, 2199 comf _float32_exp,f ; line_number = 708 ;info 708, 2200 incf _float32_exp,f ; # do byte shift if exp >= 8 ; line_number = 711 ;info 711, 2201 movlw 8 ; line_number = 712 ;info 712, 2202 subwf _float32_exp,w ; line_number = 713 ;info 713, 2203 btfss _float32_status, _float32_c ; line_number = 714 ;info 714, 2204 goto _float32_tshift3224 ; line_number = 715 ;info 715, 2205 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 717 ;info 717, 2206 rlf _float32_aargb2,f ; line_number = 718 ;info 718, 2207 movf _float32_aargb1,w ; line_number = 719 ;info 719, 2208 movwf _float32_aargb2 ; line_number = 720 ;info 720, 2209 movf _float32_aargb0,w ; line_number = 721 ;info 721, 2210 movwf _float32_aargb1 ; line_number = 722 ;info 722, 2211 clrf _float32_aargb0 ; # do another byte shift if exp >= 8 ; line_number = 725 ;info 725, 2212 movlw 8 ; line_number = 726 ;info 726, 2213 subwf _float32_exp,w ; line_number = 727 ;info 727, 2214 btfss _float32_status, _float32_c ; line_number = 728 ;info 728, 2215 goto _float32_tshift3224 ; line_number = 729 ;info 729, 2216 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 731 ;info 731, 2217 rlf _float32_aargb2,f ; line_number = 732 ;info 732, 2218 movf _float32_aargb1,w ; line_number = 733 ;info 733, 2219 movwf _float32_aargb2 ; line_number = 734 ;info 734, 2220 clrf _float32_aargb1 ; # do another byte shift if exp >= 8 ; line_number = 737 ;info 737, 2221 movlw 8 ; line_number = 738 ;info 738, 2222 subwf _float32_exp,w ; line_number = 739 ;info 739, 2223 btfss _float32_status, _float32_c ; line_number = 740 ;info 740, 2224 goto _float32_tshift3224 ; line_number = 741 ;info 741, 2225 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 743 ;info 743, 2226 rlf _float32_aargb2,f ; line_number = 744 ;info 744, 2227 clrf _float32_aargb2 ; line_number = 745 ;info 745, 2228 movf _float32_exp,w ; line_number = 746 ;info 746, 2229 btfss _float32_status, _float32_z ; line_number = 747 ;info 747, 2230 bcf _float32_status, _float32_c ; line_number = 748 ;info 748, 2231 goto _float32_shift3224ok ; line_number = 750 _float32_tshift3224: ; # shift completed if exp = 0 ; line_number = 752 ;info 752, 2232 movf _float32_exp,w ; line_number = 753 ;info 753, 2233 btfsc _float32_status, _float32_z ; line_number = 754 ;info 754, 2234 goto _float32_shift3224ok ; line_number = 756 _float32_shift3224: ; line_number = 757 ;info 757, 2235 bcf _float32_status, _float32_c ; # right shift by exp ; line_number = 759 ;info 759, 2236 rrf _float32_aargb0,f ; line_number = 760 ;info 760, 2237 rrf _float32_aargb1,f ; line_number = 761 ;info 761, 2238 rrf _float32_aargb2,f ; line_number = 762 ;info 762, 2239 decfsz _float32_exp,f ; line_number = 763 ;info 763, 2240 goto _float32_shift3224 ; line_number = 765 _float32_shift3224ok: ; line_number = 766 ;info 766, 2241 btfsc _float32_fpflags, _float32_rnd ; line_number = 767 ;info 767, 2242 btfss _float32_aargb2, _float32_lsb ; line_number = 768 ;info 768, 2243 goto _float32_int3224ok ; line_number = 769 ;info 769, 2244 btfss _float32_status, _float32_c ; line_number = 770 ;info 770, 2245 goto _float32_int3224ok ; line_number = 771 ;info 771, 2246 incf _float32_aargb2,f ; line_number = 772 ;info 772, 2247 btfsc _float32_status, _float32_z ; line_number = 773 ;info 773, 2248 incf _float32_aargb1,f ; line_number = 774 ;info 774, 2249 btfsc _float32_status, _float32_z ; line_number = 775 ;info 775, 2250 incf _float32_aargb0,f ; # test for overflow ; line_number = 777 ;info 777, 2251 btfsc _float32_aargb0, _float32_msb ; line_number = 778 ;info 778, 2252 goto _float32_setiov3224 ; line_number = 780 _float32_int3224ok: ; # if sign bit set, negate ; line_number = 782 ;info 782, 2253 btfss _float32_sign, _float32_msb ; line_number = 783 ;info 783, 2254 retlw 0 ; line_number = 784 ;info 784, 2255 comf _float32_aargb0,f ; line_number = 785 ;info 785, 2256 comf _float32_aargb1,f ; line_number = 786 ;info 786, 2257 comf _float32_aargb2,f ; line_number = 787 ;info 787, 2258 incf _float32_aargb2,f ; line_number = 788 ;info 788, 2259 btfsc _float32_status, _float32_z ; line_number = 789 ;info 789, 2260 incf _float32_aargb1,f ; line_number = 790 ;info 790, 2261 btfsc _float32_status, _float32_z ; line_number = 791 ;info 791, 2262 incf _float32_aargb0,f ; line_number = 792 ;info 792, 2263 retlw 0 ; line_number = 794 _float32_ires03224: ; # integer result equals zero ; line_number = 796 ;info 796, 2264 clrf _float32_aargb0 ; line_number = 797 ;info 797, 2265 clrf _float32_aargb1 ; line_number = 798 ;info 798, 2266 clrf _float32_aargb2 ; line_number = 799 ;info 799, 2267 retlw 0 ; # set integer overflow flag ; line_number = 802 _float32_setiov3224: ; line_number = 803 ;info 803, 2268 bsf _float32_fpflags, _float32_iov ; # test for saturation ; line_number = 805 ;info 805, 2269 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 807 ;info 807, 2270 retlw 255 ; # saturate to largest two's ; line_number = 810 ;info 810, 2271 clrf _float32_aargb0 ; # complement 24 bit integer ; line_number = 812 ;info 812, 2272 btfss _float32_sign, _float32_msb ; line_number = 813 ;info 813, 2273 movlw 255 ; # sign = 0, 0x 7F FF FF ; line_number = 815 ;info 815, 2274 movwf _float32_aargb0 ; # sign = 1, 0x 80 00 00 ; line_number = 817 ;info 817, 2275 movwf _float32_aargb1 ; line_number = 818 ;info 818, 2276 movwf _float32_aargb2 ; line_number = 819 ;info 819, 2277 rlf _float32_sign,f ; line_number = 820 ;info 820, 2278 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 822 ;info 822, 2279 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 825 ;info 825, 2280 ; procedure float32_integer32_convert float32_integer32_convert: ; arguments_none ; line_number = 827 ; returns_nothing ; line_number = 828 ; return_suppress ; # Float to integer conversion ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Use: call int3232() ; # Output: 32 bit 2's complement integer right justified in ; # _float32_aargb0, _float32_aargb1, _float32_aargb2, _float32_aargb3 ; # Result: _FLOAT32_AARG <-- INT( _FLOAT32_AARG ) ; # Max Timing: 54+6*8+7+21 = 130 clks RND = 0 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 0 ; # 54+6*8+7+29 = 137 clks RND = 1, SAT = 1 ; # Min Timing: 5 clks ; # PM: 102 DM: 7 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 842 ; assemble ;info 842, 2280 ; #:int3232 ; line_number = 844 ;info 844, 2280 clrf _float32_aargb3 ; # test for zero argument ; line_number = 846 ;info 846, 2281 movf _float32_exp,w ; line_number = 847 ;info 847, 2282 btfsc _float32_status, _float32_z ; line_number = 848 ;info 848, 2283 retlw 0 ; # save sign in _float32_sign ; line_number = 851 ;info 851, 2284 movf _float32_aargb0,w ; line_number = 852 ;info 852, 2285 movwf _float32_sign ; # make MSB explicit ; line_number = 854 ;info 854, 2286 bsf _float32_aargb0, _float32_msb ; # remove bias from exp ; line_number = 857 ;info 857, 2287 movlw _float32_expbias_31 ; line_number = 858 ;info 858, 2288 subwf _float32_exp,f ; line_number = 859 ;info 859, 2289 btfss _float32_exp, _float32_msb ; line_number = 860 ;info 860, 2290 goto _float32_setiov32 ; line_number = 861 ;info 861, 2291 comf _float32_exp,f ; line_number = 862 ;info 862, 2292 incf _float32_exp,f ; # do byte shift if exp >= 8 ; line_number = 865 ;info 865, 2293 movlw 8 ; line_number = 866 ;info 866, 2294 subwf _float32_exp,w ; line_number = 867 ;info 867, 2295 btfss _float32_status, _float32_c ; line_number = 868 ;info 868, 2296 goto _float32_tshift3232 ; line_number = 869 ;info 869, 2297 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 871 ;info 871, 2298 rlf _float32_aargb3,f ; line_number = 872 ;info 872, 2299 movf _float32_aargb2,w ; line_number = 873 ;info 873, 2300 movwf _float32_aargb3 ; line_number = 874 ;info 874, 2301 movf _float32_aargb1,w ; line_number = 875 ;info 875, 2302 movwf _float32_aargb2 ; line_number = 876 ;info 876, 2303 movf _float32_aargb0,w ; line_number = 877 ;info 877, 2304 movwf _float32_aargb1 ; line_number = 878 ;info 878, 2305 clrf _float32_aargb0 ; # do another byte shift if exp >= 8 ; line_number = 881 ;info 881, 2306 movlw 8 ; line_number = 882 ;info 882, 2307 subwf _float32_exp,w ; line_number = 883 ;info 883, 2308 btfss _float32_status, _float32_c ; line_number = 884 ;info 884, 2309 goto _float32_tshift3232 ; line_number = 885 ;info 885, 2310 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 887 ;info 887, 2311 rlf _float32_aargb3,f ; line_number = 888 ;info 888, 2312 movf _float32_aargb2,w ; line_number = 889 ;info 889, 2313 movwf _float32_aargb3 ; line_number = 890 ;info 890, 2314 movf _float32_aargb1,w ; line_number = 891 ;info 891, 2315 movwf _float32_aargb2 ; line_number = 892 ;info 892, 2316 clrf _float32_aargb1 ; # do another byte shift if exp >= 8 ; line_number = 895 ;info 895, 2317 movlw 8 ; line_number = 896 ;info 896, 2318 subwf _float32_exp,w ; line_number = 897 ;info 897, 2319 btfss _float32_status, _float32_c ; line_number = 898 ;info 898, 2320 goto _float32_tshift3232 ; line_number = 899 ;info 899, 2321 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 901 ;info 901, 2322 rlf _float32_aargb3,f ; line_number = 902 ;info 902, 2323 movf _float32_aargb2,w ; line_number = 903 ;info 903, 2324 movwf _float32_aargb3 ; line_number = 904 ;info 904, 2325 clrf _float32_aargb2 ; # do another byte shift if exp >= 8 ; line_number = 907 ;info 907, 2326 movlw 8 ; line_number = 908 ;info 908, 2327 subwf _float32_exp,w ; line_number = 909 ;info 909, 2328 btfss _float32_status, _float32_c ; line_number = 910 ;info 910, 2329 goto _float32_tshift3232 ; line_number = 911 ;info 911, 2330 movwf _float32_exp ; # rotate next bit for rounding ; line_number = 913 ;info 913, 2331 rlf _float32_aargb3,f ; line_number = 914 ;info 914, 2332 clrf _float32_aargb3 ; line_number = 915 ;info 915, 2333 movf _float32_exp,w ; line_number = 916 ;info 916, 2334 btfss _float32_status, _float32_z ; line_number = 917 ;info 917, 2335 bcf _float32_status, _float32_c ; line_number = 918 ;info 918, 2336 goto _float32_shift3232ok ; line_number = 920 _float32_tshift3232: ; # shift completed if exp = 0 ; line_number = 922 ;info 922, 2337 movf _float32_exp,w ; line_number = 923 ;info 923, 2338 btfsc _float32_status, _float32_z ; line_number = 924 ;info 924, 2339 goto _float32_shift3232ok ; line_number = 926 _float32_shift3232: ; line_number = 927 ;info 927, 2340 bcf _float32_status, _float32_c ; # right shift by exp ; line_number = 929 ;info 929, 2341 rrf _float32_aargb0,f ; line_number = 930 ;info 930, 2342 rrf _float32_aargb1,f ; line_number = 931 ;info 931, 2343 rrf _float32_aargb2,f ; line_number = 932 ;info 932, 2344 rrf _float32_aargb3,f ; line_number = 933 ;info 933, 2345 decfsz _float32_exp,f ; line_number = 934 ;info 934, 2346 goto _float32_shift3232 ; line_number = 936 _float32_shift3232ok: ; line_number = 937 ;info 937, 2347 btfsc _float32_fpflags, _float32_rnd ; line_number = 938 ;info 938, 2348 btfss _float32_aargb3, _float32_lsb ; line_number = 939 ;info 939, 2349 goto _float32_int3232ok ; line_number = 940 ;info 940, 2350 btfss _float32_status, _float32_c ; line_number = 941 ;info 941, 2351 goto _float32_int3232ok ; line_number = 942 ;info 942, 2352 incf _float32_aargb3,f ; line_number = 943 ;info 943, 2353 btfsc _float32_status, _float32_z ; line_number = 944 ;info 944, 2354 incf _float32_aargb2,f ; line_number = 945 ;info 945, 2355 btfsc _float32_status, _float32_z ; line_number = 946 ;info 946, 2356 incf _float32_aargb1,f ; line_number = 947 ;info 947, 2357 btfsc _float32_status, _float32_z ; line_number = 948 ;info 948, 2358 incf _float32_aargb0,f ; # test for overflow ; line_number = 950 ;info 950, 2359 btfsc _float32_aargb0, _float32_msb ; line_number = 951 ;info 951, 2360 goto _float32_setiov3224 ; line_number = 953 _float32_int3232ok: ; # if sign bit set, negate ; line_number = 955 ;info 955, 2361 btfss _float32_sign, _float32_msb ; line_number = 956 ;info 956, 2362 retlw 0 ; line_number = 957 ;info 957, 2363 comf _float32_aargb0,f ; line_number = 958 ;info 958, 2364 comf _float32_aargb1,f ; line_number = 959 ;info 959, 2365 comf _float32_aargb2,f ; line_number = 960 ;info 960, 2366 comf _float32_aargb3,f ; line_number = 961 ;info 961, 2367 incf _float32_aargb3,f ; line_number = 962 ;info 962, 2368 btfsc _float32_status, _float32_z ; line_number = 963 ;info 963, 2369 incf _float32_aargb2,f ; line_number = 964 ;info 964, 2370 btfsc _float32_status, _float32_z ; line_number = 965 ;info 965, 2371 incf _float32_aargb1,f ; line_number = 966 ;info 966, 2372 btfsc _float32_status, _float32_z ; line_number = 967 ;info 967, 2373 incf _float32_aargb0,f ; line_number = 968 ;info 968, 2374 retlw 0 ; line_number = 970 _float32_ires032: ; # integer result equals zero ; line_number = 972 ;info 972, 2375 clrf _float32_aargb0 ; line_number = 973 ;info 973, 2376 clrf _float32_aargb1 ; line_number = 974 ;info 974, 2377 clrf _float32_aargb2 ; line_number = 975 ;info 975, 2378 clrf _float32_aargb3 ; line_number = 976 ;info 976, 2379 retlw 0 ; line_number = 978 _float32_setiov32: ; # set integer overflow flag ; line_number = 980 ;info 980, 2380 bsf _float32_fpflags, _float32_iov ; # test for saturation ; line_number = 982 ;info 982, 2381 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 984 ;info 984, 2382 retlw 255 ; #saturate to largest two's ; line_number = 987 ;info 987, 2383 clrf _float32_aargb0 ; # complement 32 bit integer ; line_number = 989 ;info 989, 2384 btfss _float32_sign, _float32_msb ; line_number = 990 ;info 990, 2385 movlw 255 ; # sign = 0, 0x 7F FF FF FF ; line_number = 992 ;info 992, 2386 movwf _float32_aargb0 ; # sign = 1, 0x 80 00 00 00 ; line_number = 994 ;info 994, 2387 movwf _float32_aargb1 ; line_number = 995 ;info 995, 2388 movwf _float32_aargb2 ; line_number = 996 ;info 996, 2389 movwf _float32_aargb3 ; line_number = 997 ;info 997, 2390 rlf _float32_sign,f ; line_number = 998 ;info 998, 2391 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1000 ;info 1000, 2392 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1003 ;info 1003, 2393 ; procedure _float32_multiply _float32_multiply: ; arguments_none ; line_number = 1005 ; returns_nothing ; line_number = 1006 ; return_suppress ; # Floating Point Multiply ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _FLOAT32_BARGB0, _FLOAT32_BARGB1, _FLOAT32_BARGB2 ; # Use: call fpm32() ; # Output: 32 bit floating point product in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG * _FLOAT32_BARG ; # Max Timing: 26+23*22+21+21 = 574 clks RND = 0 ; # 26+23*22+21+35 = 588 clks RND = 1, SAT = 0 ; # 26+23*22+21+38 = 591 clks RND = 1, SAT = 1 ; # Min Timing: 6+6 = 12 clks _FLOAT32_AARG * _FLOAT32_BARG = 0 ; # 24+23*11+21+17 = 315 clks ; # PM: 94 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 1021 ; assemble ;info 1021, 2393 ; # test for zero arguments ; line_number = 1023 ;info 1023, 2393 movf _float32_aexp,w ; line_number = 1024 ;info 1024, 2394 btfss _float32_status, _float32_z ; line_number = 1025 ;info 1025, 2395 movf _float32_bexp,w ; line_number = 1026 ;info 1026, 2396 btfsc _float32_status, _float32_z ; line_number = 1027 ;info 1027, 2397 goto _float32_res032 ; line_number = 1029 _float32_m32bne0: ; line_number = 1030 ;info 1030, 2398 movf _float32_aargb0,w ; line_number = 1031 ;info 1031, 2399 xorwf _float32_bargb0,w ; # save sign in _float32_sign ; line_number = 1033 ;info 1033, 2400 movwf _float32_sign ; line_number = 1035 ;info 1035, 2401 movf _float32_bexp,w ; line_number = 1036 ;info 1036, 2402 addwf _float32_exp,f ; line_number = 1037 ;info 1037, 2403 movlw _float32_expbias_1 ; line_number = 1038 ;info 1038, 2404 btfss _float32_status, _float32_c ; line_number = 1039 ;info 1039, 2405 goto _float32_mtun32 ; line_number = 1041 ;info 1041, 2406 subwf _float32_exp,f ; line_number = 1042 ;info 1042, 2407 btfsc _float32_status, _float32_c ; # set multiply overflow flag ; line_number = 1044 ;info 1044, 2408 goto _float32_setfov32 ; line_number = 1045 ;info 1045, 2409 goto _float32_mok32 ; line_number = 1047 _float32_mtun32: ; line_number = 1048 ;info 1048, 2410 subwf _float32_exp,f ; line_number = 1049 ;info 1049, 2411 btfss _float32_status, _float32_c ; line_number = 1050 ;info 1050, 2412 goto _float32_setfun32 ; line_number = 1052 _float32_mok32: ; line_number = 1053 ;info 1053, 2413 movf _float32_aargb0,w ; line_number = 1054 ;info 1054, 2414 movwf _float32_aargb3 ; line_number = 1055 ;info 1055, 2415 movf _float32_aargb1,w ; line_number = 1056 ;info 1056, 2416 movwf _float32_aargb4 ; line_number = 1057 ;info 1057, 2417 movf _float32_aargb2,w ; line_number = 1058 ;info 1058, 2418 movwf _float32_aargb5 ; # make argument MSB's explicit ; line_number = 1060 ;info 1060, 2419 bsf _float32_aargb3, _float32_msb ; line_number = 1061 ;info 1061, 2420 bsf _float32_bargb0, _float32_msb ; line_number = 1062 ;info 1062, 2421 bcf _float32_status, _float32_c ; # clear initial partial product ; line_number = 1064 ;info 1064, 2422 clrf _float32_aargb0 ; line_number = 1065 ;info 1065, 2423 clrf _float32_aargb1 ; line_number = 1066 ;info 1066, 2424 clrf _float32_aargb2 ; line_number = 1067 ;info 1067, 2425 movlw 24 ; # initialize counter ; line_number = 1069 ;info 1069, 2426 movwf _float32_temp ; # test next bit ; line_number = 1072 _float32_mloop32: ; line_number = 1073 ;info 1073, 2427 btfss _float32_aargb5, _float32_lsb ; line_number = 1074 ;info 1074, 2428 goto _float32_mnoadd32 ; line_number = 1076 _float32_madd32: ; line_number = 1077 ;info 1077, 2429 movf _float32_bargb2,w ; line_number = 1078 ;info 1078, 2430 addwf _float32_aargb2,f ; line_number = 1079 ;info 1079, 2431 movf _float32_bargb1,w ; line_number = 1080 ;info 1080, 2432 btfsc _float32_status, _float32_c ; line_number = 1081 ;info 1081, 2433 incfsz _float32_bargb1,w ; line_number = 1082 ;info 1082, 2434 addwf _float32_aargb1,f ; line_number = 1084 ;info 1084, 2435 movf _float32_bargb0,w ; line_number = 1085 ;info 1085, 2436 btfsc _float32_status, _float32_c ; line_number = 1086 ;info 1086, 2437 incfsz _float32_bargb0,w ; line_number = 1087 ;info 1087, 2438 addwf _float32_aargb0,f ; line_number = 1089 _float32_mnoadd32: ; line_number = 1090 ;info 1090, 2439 rrf _float32_aargb0,f ; line_number = 1091 ;info 1091, 2440 rrf _float32_aargb1,f ; line_number = 1092 ;info 1092, 2441 rrf _float32_aargb2,f ; line_number = 1093 ;info 1093, 2442 rrf _float32_aargb3,f ; line_number = 1094 ;info 1094, 2443 rrf _float32_aargb4,f ; line_number = 1095 ;info 1095, 2444 rrf _float32_aargb5,f ; line_number = 1096 ;info 1096, 2445 bcf _float32_status, _float32_c ; line_number = 1097 ;info 1097, 2446 decfsz _float32_temp,f ; line_number = 1098 ;info 1098, 2447 goto _float32_mloop32 ; # check for postnormalization ; line_number = 1101 ;info 1101, 2448 btfsc _float32_aargb0, _float32_msb ; line_number = 1102 ;info 1102, 2449 goto _float32_mround32 ; line_number = 1103 ;info 1103, 2450 rlf _float32_aargb3,f ; line_number = 1104 ;info 1104, 2451 rlf _float32_aargb2,f ; line_number = 1105 ;info 1105, 2452 rlf _float32_aargb1,f ; line_number = 1106 ;info 1106, 2453 rlf _float32_aargb0,f ; line_number = 1107 ;info 1107, 2454 decf _float32_exp,f ; line_number = 1109 _float32_mround32: ; line_number = 1110 ;info 1110, 2455 btfsc _float32_fpflags, _float32_rnd ; line_number = 1111 ;info 1111, 2456 btfss _float32_aargb2, _float32_lsb ; line_number = 1112 ;info 1112, 2457 goto _float32_mul32ok ; line_number = 1113 ;info 1113, 2458 btfss _float32_aargb3, _float32_msb ; line_number = 1114 ;info 1114, 2459 goto _float32_mul32ok ; line_number = 1115 ;info 1115, 2460 incf _float32_aargb2,f ; line_number = 1116 ;info 1116, 2461 btfsc _float32_status, _float32_z ; line_number = 1117 ;info 1117, 2462 incf _float32_aargb1,f ; line_number = 1118 ;info 1118, 2463 btfsc _float32_status, _float32_z ; line_number = 1119 ;info 1119, 2464 incf _float32_aargb0,f ; # has rounding caused carryout? ; line_number = 1122 ;info 1122, 2465 btfss _float32_status, _float32_z ; line_number = 1123 ;info 1123, 2466 goto _float32_mul32ok ; # if so, right shift ; line_number = 1125 ;info 1125, 2467 rrf _float32_aargb0,f ; line_number = 1126 ;info 1126, 2468 rrf _float32_aargb1,f ; line_number = 1127 ;info 1127, 2469 rrf _float32_aargb2,f ; line_number = 1128 ;info 1128, 2470 incf _float32_exp,f ; # check for overflow ; line_number = 1130 ;info 1130, 2471 btfsc _float32_status, _float32_z ; line_number = 1131 ;info 1131, 2472 goto _float32_setfov32 ; line_number = 1133 _float32_mul32ok: ; line_number = 1134 ;info 1134, 2473 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 1136 ;info 1136, 2474 bcf _float32_aargb0, _float32_msb ; line_number = 1138 ;info 1138, 2475 retlw 0 ; # set floating point underflag ; line_number = 1141 _float32_setfov32: ; line_number = 1142 ;info 1142, 2476 bsf _float32_fpflags, _float32_fov ; # test for saturation ; line_number = 1144 ;info 1144, 2477 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 1146 ;info 1146, 2478 retlw 255 ; line_number = 1148 ;info 1148, 2479 movlw 255 ; # saturate to largest floating ; line_number = 1150 ;info 1150, 2480 movwf _float32_aexp ; # point number = 0x FF 7F FF FF ; line_number = 1152 ;info 1152, 2481 movwf _float32_aargb0 ; # modulo the appropriate sign bit ; line_number = 1154 ;info 1154, 2482 movwf _float32_aargb1 ; line_number = 1155 ;info 1155, 2483 movwf _float32_aargb2 ; line_number = 1156 ;info 1156, 2484 rlf _float32_sign,f ; line_number = 1157 ;info 1157, 2485 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1159 ;info 1159, 2486 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1162 ;info 1162, 2487 ; procedure _float32_divide _float32_divide: ; arguments_none ; line_number = 1164 ; returns_nothing ; line_number = 1165 ; return_suppress ; # Floating Point Divide ; # Input: 32 bit floating point dividend in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point divisor in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fpd32() ; # Output: 32 bit floating point quotient in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG / _FLOAT32_BARG ; # Max Timing: 43+12+23*36+35+14 = 932 clks RND = 0 ; # 43+12+23*36+35+50 = 968 clks RND = 1, SAT = 0 ; # 43+12+23*36+35+53 = 971 clks RND = 1, SAT = 1 ; # Min Timing: 7+6 = 13 clks ; # PM: 155 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 1179 ; assemble ;info 1179, 2487 ; # test for divide by zero ; line_number = 1181 ;info 1181, 2487 movf _float32_bexp,w ; line_number = 1182 ;info 1182, 2488 btfsc _float32_status, _float32_z ; line_number = 1183 ;info 1183, 2489 goto _float32_setfdz32 ; line_number = 1185 ;info 1185, 2490 movf _float32_aexp,w ; line_number = 1186 ;info 1186, 2491 btfsc _float32_status, _float32_z ; line_number = 1187 ;info 1187, 2492 goto _float32_res032 ; line_number = 1189 _float32_d32bne0: ; line_number = 1190 ;info 1190, 2493 movf _float32_aargb0,w ; line_number = 1191 ;info 1191, 2494 xorwf _float32_bargb0,w ; # save sign in _float32_sign ; line_number = 1193 ;info 1193, 2495 movwf _float32_sign ; # make argument MSB's explicit ; line_number = 1195 ;info 1195, 2496 bsf _float32_aargb0, _float32_msb ; line_number = 1196 ;info 1196, 2497 bsf _float32_bargb0, _float32_msb ; line_number = 1198 _float32_talign32: ; # clear align increment ; line_number = 1200 ;info 1200, 2498 clrf _float32_temp ; line_number = 1201 ;info 1201, 2499 movf _float32_aargb0,w ; # test for alignment ; line_number = 1203 ;info 1203, 2500 movwf _float32_aargb3 ; line_number = 1204 ;info 1204, 2501 movf _float32_aargb1,w ; line_number = 1205 ;info 1205, 2502 movwf _float32_aargb4 ; line_number = 1206 ;info 1206, 2503 movf _float32_aargb2,w ; line_number = 1207 ;info 1207, 2504 movwf _float32_aargb5 ; line_number = 1209 ;info 1209, 2505 movf _float32_bargb2,w ; line_number = 1210 ;info 1210, 2506 subwf _float32_aargb5,f ; line_number = 1211 ;info 1211, 2507 movf _float32_bargb1,w ; line_number = 1212 ;info 1212, 2508 btfss _float32_status, _float32_c ; line_number = 1213 ;info 1213, 2509 incfsz _float32_bargb1,w ; line_number = 1215 _float32_ts1align32: ; line_number = 1216 ;info 1216, 2510 subwf _float32_aargb4,f ; line_number = 1217 ;info 1217, 2511 movf _float32_bargb0,w ; line_number = 1218 ;info 1218, 2512 btfss _float32_status, _float32_c ; line_number = 1219 ;info 1219, 2513 incfsz _float32_bargb0,w ; line_number = 1221 _float32_ts2align32: ; line_number = 1222 ;info 1222, 2514 subwf _float32_aargb3,f ; line_number = 1224 ;info 1224, 2515 clrf _float32_aargb3 ; line_number = 1225 ;info 1225, 2516 clrf _float32_aargb4 ; line_number = 1226 ;info 1226, 2517 clrf _float32_aargb5 ; line_number = 1228 ;info 1228, 2518 btfss _float32_status, _float32_c ; line_number = 1229 ;info 1229, 2519 goto _float32_dalign32ok ; # align if necessary ; line_number = 1232 ;info 1232, 2520 bcf _float32_status, _float32_c ; line_number = 1233 ;info 1233, 2521 rrf _float32_aargb0,f ; line_number = 1234 ;info 1234, 2522 rrf _float32_aargb1,f ; line_number = 1235 ;info 1235, 2523 rrf _float32_aargb2,f ; line_number = 1236 ;info 1236, 2524 rrf _float32_aargb3,f ; line_number = 1237 ;info 1237, 2525 movlw 1 ; # save align increment ; line_number = 1239 ;info 1239, 2526 movwf _float32_temp ; line_number = 1241 _float32_dalign32ok: ; # compare _float32_aexp and _float32_bexp ; line_number = 1243 ;info 1243, 2527 movf _float32_bexp,w ; line_number = 1244 ;info 1244, 2528 subwf _float32_exp,f ; line_number = 1245 ;info 1245, 2529 btfss _float32_status, _float32_c ; line_number = 1246 ;info 1246, 2530 goto _float32_altb32 ; line_number = 1248 _float32_ageb32: ; line_number = 1249 ;info 1249, 2531 movlw _float32_expbias_1 ; line_number = 1250 ;info 1250, 2532 addwf _float32_temp,w ; line_number = 1251 ;info 1251, 2533 addwf _float32_exp,f ; line_number = 1252 ;info 1252, 2534 btfsc _float32_status, _float32_c ; line_number = 1253 ;info 1253, 2535 goto _float32_setfov32 ; # set overflow flag ; line_number = 1255 ;info 1255, 2536 goto _float32_dargok32 ; line_number = 1257 _float32_altb32: ; line_number = 1258 ;info 1258, 2537 movlw _float32_expbias_1 ; line_number = 1259 ;info 1259, 2538 addwf _float32_temp,w ; line_number = 1260 ;info 1260, 2539 addwf _float32_exp,f ; line_number = 1261 ;info 1261, 2540 btfss _float32_status, _float32_c ; # set underflow flag ; line_number = 1263 ;info 1263, 2541 goto _float32_setfun32 ; line_number = 1265 _float32_dargok32: ; # initialize counter ; line_number = 1267 ;info 1267, 2542 movlw 24 ; line_number = 1268 ;info 1268, 2543 movwf _float32_tempb1 ; line_number = 1270 _float32_dloop32: ; # left shift ; line_number = 1272 ;info 1272, 2544 rlf _float32_aargb5,f ; line_number = 1273 ;info 1273, 2545 rlf _float32_aargb4,f ; line_number = 1274 ;info 1274, 2546 rlf _float32_aargb3,f ; line_number = 1275 ;info 1275, 2547 rlf _float32_aargb2,f ; line_number = 1276 ;info 1276, 2548 rlf _float32_aargb1,f ; line_number = 1277 ;info 1277, 2549 rlf _float32_aargb0,f ; line_number = 1278 ;info 1278, 2550 rlf _float32_temp,f ; # subtract ; line_number = 1281 ;info 1281, 2551 movf _float32_bargb2,w ; line_number = 1282 ;info 1282, 2552 subwf _float32_aargb2,f ; line_number = 1283 ;info 1283, 2553 movf _float32_bargb1,w ; line_number = 1284 ;info 1284, 2554 btfss _float32_status, _float32_c ; line_number = 1285 ;info 1285, 2555 incfsz _float32_bargb1,w ; line_number = 1286 _float32_ds132: ; line_number = 1287 ;info 1287, 2556 subwf _float32_aargb1,f ; line_number = 1289 ;info 1289, 2557 movf _float32_bargb0,w ; line_number = 1290 ;info 1290, 2558 btfss _float32_status, _float32_c ; line_number = 1291 ;info 1291, 2559 incfsz _float32_bargb0,w ; line_number = 1292 _float32_DS232: ; line_number = 1293 ;info 1293, 2560 subwf _float32_aargb0,f ; line_number = 1295 ;info 1295, 2561 rlf _float32_bargb0,w ; line_number = 1296 ;info 1296, 2562 iorwf _float32_temp,f ; # test for restore ; line_number = 1299 ;info 1299, 2563 btfss _float32_temp, _float32_lsb ; line_number = 1300 ;info 1300, 2564 goto _float32_drest32 ; line_number = 1302 ;info 1302, 2565 bsf _float32_aargb5, _float32_lsb ; line_number = 1303 ;info 1303, 2566 goto _float32_dok32 ; line_number = 1305 _float32_drest32: ; # restore if necessary ; line_number = 1307 ;info 1307, 2567 movf _float32_bargb2,w ; line_number = 1308 ;info 1308, 2568 addwf _float32_aargb2,f ; line_number = 1309 ;info 1309, 2569 movf _float32_bargb1,w ; line_number = 1310 ;info 1310, 2570 btfsc _float32_status, _float32_c ; line_number = 1311 ;info 1311, 2571 incfsz _float32_bargb1,w ; line_number = 1312 _float32_darest32: ; line_number = 1313 ;info 1313, 2572 addwf _float32_aargb1,f ; line_number = 1315 ;info 1315, 2573 movf _float32_bargb0,w ; line_number = 1316 ;info 1316, 2574 btfsc _float32_status, _float32_c ; line_number = 1317 ;info 1317, 2575 incf _float32_bargb0,w ; line_number = 1318 ;info 1318, 2576 addwf _float32_aargb0,f ; line_number = 1320 ;info 1320, 2577 bcf _float32_aargb5, _float32_lsb ; line_number = 1322 _float32_dok32: ; line_number = 1323 ;info 1323, 2578 decfsz _float32_tempb1,f ; line_number = 1324 ;info 1324, 2579 goto _float32_dloop32 ; line_number = 1326 _float32_dround32: ; line_number = 1327 ;info 1327, 2580 btfsc _float32_fpflags, _float32_rnd ; line_number = 1328 ;info 1328, 2581 btfss _float32_aargb5, _float32_lsb ; line_number = 1329 ;info 1329, 2582 goto _float32_div32ok ; line_number = 1330 ;info 1330, 2583 bcf _float32_status, _float32_c ; # compute next significant bit ; line_number = 1332 ;info 1332, 2584 rlf _float32_aargb2,f ; # for rounding ; line_number = 1334 ;info 1334, 2585 rlf _float32_aargb1,f ; line_number = 1335 ;info 1335, 2586 rlf _float32_aargb0,f ; line_number = 1336 ;info 1336, 2587 rlf _float32_temp,f ; # subtract ; line_number = 1339 ;info 1339, 2588 movf _float32_bargb2,w ; line_number = 1340 ;info 1340, 2589 subwf _float32_aargb2,f ; line_number = 1341 ;info 1341, 2590 movf _float32_bargb1,w ; line_number = 1342 ;info 1342, 2591 btfss _float32_status, _float32_c ; line_number = 1343 ;info 1343, 2592 incfsz _float32_bargb1,w ; line_number = 1344 ;info 1344, 2593 subwf _float32_aargb1,f ; line_number = 1346 ;info 1346, 2594 movf _float32_bargb0,w ; line_number = 1347 ;info 1347, 2595 btfss _float32_status, _float32_c ; line_number = 1348 ;info 1348, 2596 incfsz _float32_bargb0,w ; line_number = 1349 ;info 1349, 2597 subwf _float32_aargb0,f ; line_number = 1351 ;info 1351, 2598 rlf _float32_bargb0,w ; line_number = 1352 ;info 1352, 2599 iorwf _float32_temp,w ; line_number = 1353 ;info 1353, 2600 andlw 1 ; line_number = 1355 ;info 1355, 2601 addwf _float32_aargb5,f ; line_number = 1356 ;info 1356, 2602 btfsc _float32_status, _float32_c ; line_number = 1357 ;info 1357, 2603 incf _float32_aargb4,f ; line_number = 1358 ;info 1358, 2604 btfsc _float32_status, _float32_z ; line_number = 1359 ;info 1359, 2605 incf _float32_aargb3,f ; # test if rounding caused carryout ; line_number = 1362 ;info 1362, 2606 btfss _float32_status, _float32_z ; line_number = 1363 ;info 1363, 2607 goto _float32_div32ok ; line_number = 1364 ;info 1364, 2608 rrf _float32_aargb3,f ; line_number = 1365 ;info 1365, 2609 rrf _float32_aargb4,f ; line_number = 1366 ;info 1366, 2610 rrf _float32_aargb5,f ; line_number = 1367 ;info 1367, 2611 incf _float32_exp,f ; # test for overflow# ; line_number = 1369 ;info 1369, 2612 btfsc _float32_status, _float32_z ; line_number = 1370 ;info 1370, 2613 goto _float32_setfov32 ; line_number = 1372 _float32_div32ok: ; line_number = 1373 ;info 1373, 2614 btfss _float32_sign, _float32_msb ; # clear explicit MSB if positive ; line_number = 1375 ;info 1375, 2615 bcf _float32_aargb3, _float32_msb ; line_number = 1377 ;info 1377, 2616 movf _float32_aargb3,w ; # move result to _FLOAT32_AARG ; line_number = 1379 ;info 1379, 2617 movwf _float32_aargb0 ; line_number = 1380 ;info 1380, 2618 movf _float32_aargb4,w ; line_number = 1381 ;info 1381, 2619 movwf _float32_aargb1 ; line_number = 1382 ;info 1382, 2620 movf _float32_aargb5,w ; line_number = 1383 ;info 1383, 2621 movwf _float32_aargb2 ; line_number = 1385 ;info 1385, 2622 retlw 0 ; line_number = 1387 _float32_setfun32: ; # set floating point underflag ; line_number = 1389 ;info 1389, 2623 bsf _float32_fpflags, _float32_fun ; # test for saturation ; line_number = 1391 ;info 1391, 2624 btfss _float32_fpflags, _float32_sat ; # return error code in WREG ; line_number = 1393 ;info 1393, 2625 retlw 255 ; # saturate to smallest floating ; line_number = 1396 ;info 1396, 2626 movlw 1 ; # point number = 0x 01 00 00 00 ; line_number = 1398 ;info 1398, 2627 movwf _float32_aexp ; # modulo the appropriate sign bit ; line_number = 1400 ;info 1400, 2628 clrf _float32_aargb0 ; line_number = 1401 ;info 1401, 2629 clrf _float32_aargb1 ; line_number = 1402 ;info 1402, 2630 clrf _float32_aargb2 ; line_number = 1403 ;info 1403, 2631 rlf _float32_sign,f ; line_number = 1404 ;info 1404, 2632 rrf _float32_aargb0,f ; # return error code in WREG ; line_number = 1406 ;info 1406, 2633 retlw 255 ; # set divide by zero flag ; line_number = 1409 _float32_setfdz32: ; line_number = 1410 ;info 1410, 2634 bsf _float32_fpflags, _float32_fdz ; line_number = 1411 ;info 1411, 2635 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1414 ;info 1414, 2636 ; procedure _float32_subtract _float32_subtract: ; arguments_none ; line_number = 1416 ; returns_nothing ; line_number = 1417 ; return_suppress ; # Floating Point Subtract ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fps32() ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG ; # Max Timing: 2+251 = 253 clks RND = 0 ; # 2+265 = 267 clks RND = 1, SAT = 0 ; # 2+271 = 273 clks RND = 1, SAT = 1 ; # Min Timing: 2+12 = 14 clks ; # PM: 2+146 = 148 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 1431 ; assemble ;info 1431, 2636 ; line_number = 1432 ;info 1432, 2636 movlw 128 ; line_number = 1433 ;info 1433, 2637 xorwf _float32_bargb0,f ; # This procedure runs into FPA32 ; #goto fpa32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 1438 ;info 1438, 2638 ; procedure _float32_add _float32_add: ; arguments_none ; line_number = 1440 ; returns_nothing ; line_number = 1441 ; return_suppress ; # Floating Point Add ; # Input: 32 bit floating point number in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # 32 bit floating point number in _float32_bexp, _float32_bargb0, _float32_bargb1, _float32_bargb2 ; # Use: call fpa32() ; # Output: 32 bit floating point sum in _float32_aexp, _float32_aargb0, _float32_aargb1, _float32_aargb2 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG - _FLOAT32_BARG ; # Max Timing: 31+41+6*7+6+41+90 = 251 clks RND = 0 ; # 31+41+6*7+6+55+90 = 265 clks RND = 1, SAT = 0 ; # 31+41+6*7+6+55+96 = 271 clks RND = 1, SAT = 1 ; # Min Timing: 8+4 = 12 clks ; # PM: 146 DM: 14 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 1455 ; assemble ;info 1455, 2638 ; # exclusive or of signs in temp ; line_number = 1457 ;info 1457, 2638 movf _float32_aargb0,w ; line_number = 1458 ;info 1458, 2639 xorwf _float32_bargb0,w ; line_number = 1459 ;info 1459, 2640 movwf _float32_temp ; # clear extended byte ; line_number = 1462 ;info 1462, 2641 clrf _float32_aargb3 ; line_number = 1463 ;info 1463, 2642 clrf _float32_bargb3 ; # use _FLOAT32_AARG if _float32_aexp >= _float32_bexp ; line_number = 1466 ;info 1466, 2643 movf _float32_aexp,w ; line_number = 1467 ;info 1467, 2644 subwf _float32_bexp,w ; line_number = 1468 ;info 1468, 2645 btfss _float32_status, _float32_c ; line_number = 1469 ;info 1469, 2646 goto _float32_usea32 ; # use _FLOAT32_BARG if _float32_aexp < _float32_bexp ; line_number = 1472 ;info 1472, 2647 movf _float32_bexp,w ; # therefore, swap _FLOAT32_AARG and _FLOAT32_BARG ; line_number = 1474 ;info 1474, 2648 movwf _float32_aargb5 ; line_number = 1475 ;info 1475, 2649 movf _float32_aexp,w ; line_number = 1476 ;info 1476, 2650 movwf _float32_bexp ; line_number = 1477 ;info 1477, 2651 movf _float32_aargb5,w ; line_number = 1478 ;info 1478, 2652 movwf _float32_aexp ; line_number = 1480 ;info 1480, 2653 movf _float32_bargb0,w ; line_number = 1481 ;info 1481, 2654 movwf _float32_aargb5 ; line_number = 1482 ;info 1482, 2655 movf _float32_aargb0,w ; line_number = 1483 ;info 1483, 2656 movwf _float32_bargb0 ; line_number = 1484 ;info 1484, 2657 movf _float32_aargb5,w ; line_number = 1485 ;info 1485, 2658 movwf _float32_aargb0 ; line_number = 1487 ;info 1487, 2659 movf _float32_bargb1,w ; line_number = 1488 ;info 1488, 2660 movwf _float32_aargb5 ; line_number = 1489 ;info 1489, 2661 movf _float32_aargb1,w ; line_number = 1490 ;info 1490, 2662 movwf _float32_bargb1 ; line_number = 1491 ;info 1491, 2663 movf _float32_aargb5,w ; line_number = 1492 ;info 1492, 2664 movwf _float32_aargb1 ; line_number = 1494 ;info 1494, 2665 movf _float32_bargb2,w ; line_number = 1495 ;info 1495, 2666 movwf _float32_aargb5 ; line_number = 1496 ;info 1496, 2667 movf _float32_aargb2,w ; line_number = 1497 ;info 1497, 2668 movwf _float32_bargb2 ; line_number = 1498 ;info 1498, 2669 movf _float32_aargb5,w ; line_number = 1499 ;info 1499, 2670 movwf _float32_aargb2 ; line_number = 1501 _float32_usea32: ; # return _FLOAT32_AARG if _FLOAT32_BARG = 0 ; line_number = 1503 ;info 1503, 2671 movf _float32_bexp,w ; line_number = 1504 ;info 1504, 2672 btfsc _float32_status, _float32_z ; line_number = 1505 ;info 1505, 2673 retlw 0 ; line_number = 1507 ;info 1507, 2674 movf _float32_aargb0,w ; # save sign in _float32_sign ; line_number = 1509 ;info 1509, 2675 movwf _float32_sign ; # make MSB's explicit ; line_number = 1511 ;info 1511, 2676 bsf _float32_aargb0, _float32_msb ; line_number = 1512 ;info 1512, 2677 bsf _float32_bargb0, _float32_msb ; # compute shift count in _float32_bexp ; line_number = 1515 ;info 1515, 2678 movf _float32_bexp,w ; line_number = 1516 ;info 1516, 2679 subwf _float32_aexp,w ; line_number = 1517 ;info 1517, 2680 movwf _float32_bexp ; line_number = 1518 ;info 1518, 2681 btfsc _float32_status, _float32_z ; line_number = 1519 ;info 1519, 2682 goto _float32_aligned32 ; line_number = 1521 ;info 1521, 2683 movlw 8 ; line_number = 1522 ;info 1522, 2684 subwf _float32_bexp,w ; # if _float32_bexp >= 8, do byte shift ; line_number = 1524 ;info 1524, 2685 btfss _float32_status, _float32_c ; line_number = 1525 ;info 1525, 2686 goto _float32_alignb32 ; line_number = 1526 ;info 1526, 2687 movwf _float32_bexp ; # keep for postnormalization ; line_number = 1528 ;info 1528, 2688 movf _float32_bargb2,w ; line_number = 1529 ;info 1529, 2689 movwf _float32_bargb3 ; line_number = 1530 ;info 1530, 2690 movf _float32_bargb1,w ; line_number = 1531 ;info 1531, 2691 movwf _float32_bargb2 ; line_number = 1532 ;info 1532, 2692 movf _float32_bargb0,w ; line_number = 1533 ;info 1533, 2693 movwf _float32_bargb1 ; line_number = 1534 ;info 1534, 2694 clrf _float32_bargb0 ; line_number = 1536 ;info 1536, 2695 movlw 8 ; line_number = 1537 ;info 1537, 2696 subwf _float32_bexp,w ; # if _float32_bexp >= 8, do byte shift ; line_number = 1539 ;info 1539, 2697 btfss _float32_status, _float32_c ; line_number = 1540 ;info 1540, 2698 goto _float32_alignb32 ; line_number = 1541 ;info 1541, 2699 movwf _float32_bexp ; # keep for postnormalization ; line_number = 1543 ;info 1543, 2700 movf _float32_bargb2,w ; line_number = 1544 ;info 1544, 2701 movwf _float32_bargb3 ; line_number = 1545 ;info 1545, 2702 movf _float32_bargb1,w ; line_number = 1546 ;info 1546, 2703 movwf _float32_bargb2 ; line_number = 1547 ;info 1547, 2704 clrf _float32_bargb1 ; line_number = 1549 ;info 1549, 2705 movlw 8 ; line_number = 1550 ;info 1550, 2706 subwf _float32_bexp,w ; # if _float32_bexp >= 8, _FLOAT32_BARG = 0 relative to _FLOAT32_AARG ; line_number = 1552 ;info 1552, 2707 btfss _float32_status, _float32_c ; line_number = 1553 ;info 1553, 2708 goto _float32_alignb32 ; line_number = 1554 ;info 1554, 2709 movf _float32_sign,w ; line_number = 1555 ;info 1555, 2710 movwf _float32_aargb0 ; line_number = 1556 ;info 1556, 2711 retlw 0 ; line_number = 1558 _float32_alignb32: ; # already aligned if _float32_bexp = 0 ; line_number = 1560 ;info 1560, 2712 movf _float32_bexp,w ; line_number = 1561 ;info 1561, 2713 btfsc _float32_status, _float32_z ; line_number = 1562 ;info 1562, 2714 goto _float32_aligned32 ; line_number = 1564 _float32_aloopb32: ; # right shift by _float32_bexp ; line_number = 1566 ;info 1566, 2715 bcf _float32_status, _float32_c ; line_number = 1567 ;info 1567, 2716 rrf _float32_bargb0,f ; line_number = 1568 ;info 1568, 2717 rrf _float32_bargb1,f ; line_number = 1569 ;info 1569, 2718 rrf _float32_bargb2,f ; line_number = 1570 ;info 1570, 2719 rrf _float32_bargb3,f ; line_number = 1571 ;info 1571, 2720 decfsz _float32_bexp,f ; line_number = 1572 ;info 1572, 2721 goto _float32_aloopb32 ; line_number = 1574 _float32_aligned32: ; # negate if signs opposite ; line_number = 1576 ;info 1576, 2722 btfss _float32_temp, _float32_msb ; line_number = 1577 ;info 1577, 2723 goto _float32_aok32 ; line_number = 1579 ;info 1579, 2724 comf _float32_bargb3,f ; line_number = 1580 ;info 1580, 2725 comf _float32_bargb2,f ; line_number = 1581 ;info 1581, 2726 comf _float32_bargb1,f ; line_number = 1582 ;info 1582, 2727 comf _float32_bargb0,f ; line_number = 1583 ;info 1583, 2728 incf _float32_bargb3,f ; line_number = 1584 ;info 1584, 2729 btfsc _float32_status, _float32_z ; line_number = 1585 ;info 1585, 2730 incf _float32_bargb2,f ; line_number = 1586 ;info 1586, 2731 btfsc _float32_status, _float32_z ; line_number = 1587 ;info 1587, 2732 incf _float32_bargb1,f ; line_number = 1588 ;info 1588, 2733 btfsc _float32_status, _float32_z ; line_number = 1589 ;info 1589, 2734 incf _float32_bargb0,f ; line_number = 1591 _float32_aok32: ; line_number = 1592 ;info 1592, 2735 movf _float32_bargb3,w ; line_number = 1593 ;info 1593, 2736 addwf _float32_aargb3,f ; line_number = 1594 ;info 1594, 2737 movf _float32_bargb2,w ; line_number = 1595 ;info 1595, 2738 btfsc _float32_status, _float32_c ; line_number = 1596 ;info 1596, 2739 incfsz _float32_bargb2,w ; line_number = 1597 ;info 1597, 2740 addwf _float32_aargb2,f ; line_number = 1598 ;info 1598, 2741 movf _float32_bargb1,w ; line_number = 1599 ;info 1599, 2742 btfsc _float32_status, _float32_c ; line_number = 1600 ;info 1600, 2743 incfsz _float32_bargb1,w ; line_number = 1601 ;info 1601, 2744 addwf _float32_aargb1,f ; line_number = 1602 ;info 1602, 2745 movf _float32_bargb0,w ; line_number = 1603 ;info 1603, 2746 btfsc _float32_status, _float32_c ; line_number = 1604 ;info 1604, 2747 incfsz _float32_bargb0,w ; line_number = 1605 ;info 1605, 2748 addwf _float32_aargb0,f ; line_number = 1607 ;info 1607, 2749 btfsc _float32_temp, _float32_msb ; line_number = 1608 ;info 1608, 2750 goto _float32_acomp32 ; line_number = 1609 ;info 1609, 2751 btfss _float32_status, _float32_c ; line_number = 1610 ;info 1610, 2752 goto _float32_nrmrnd4032 ; # shift right and increment exp ; line_number = 1613 ;info 1613, 2753 rrf _float32_aargb0,f ; line_number = 1614 ;info 1614, 2754 rrf _float32_aargb1,f ; line_number = 1615 ;info 1615, 2755 rrf _float32_aargb2,f ; line_number = 1616 ;info 1616, 2756 rrf _float32_aargb3,f ; line_number = 1617 ;info 1617, 2757 incfsz _float32_aexp,f ; line_number = 1618 ;info 1618, 2758 goto _float32_nrmrnd4032 ; line_number = 1619 ;info 1619, 2759 goto _float32_setfov32 ; line_number = 1621 _float32_acomp32: ; line_number = 1622 ;info 1622, 2760 btfsc _float32_status, _float32_c ; # normalize and fix sign ; line_number = 1624 ;info 1624, 2761 goto _float32_normalize40 ; line_number = 1626 ;info 1626, 2762 comf _float32_aargb3,f ; # negate, toggle sign bit and ; line_number = 1628 ;info 1628, 2763 comf _float32_aargb2,f ; # then normalize ; line_number = 1630 ;info 1630, 2764 comf _float32_aargb1,f ; line_number = 1631 ;info 1631, 2765 comf _float32_aargb0,f ; line_number = 1632 ;info 1632, 2766 incf _float32_aargb3,f ; line_number = 1633 ;info 1633, 2767 btfsc _float32_status, _float32_z ; line_number = 1634 ;info 1634, 2768 incf _float32_aargb2,f ; line_number = 1635 ;info 1635, 2769 btfsc _float32_status, _float32_z ; line_number = 1636 ;info 1636, 2770 incf _float32_aargb1,f ; line_number = 1637 ;info 1637, 2771 btfsc _float32_status, _float32_z ; line_number = 1638 ;info 1638, 2772 incf _float32_aargb0,f ; line_number = 1640 ;info 1640, 2773 movlw 128 ; line_number = 1641 ;info 1641, 2774 xorwf _float32_sign,f ; line_number = 1642 ;info 1642, 2775 goto _float32_nrm32 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; buffer = '_float32' ; line_number = 50 ;info 50, 2776 ; procedure _float32_pointer_load _float32_pointer_load: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_load__pointer ; delay=4294967295 ; line_number = 51 ; argument pointer byte _float32_pointer_load__pointer equ globals___1+36 ; line_number = 52 ; returns_nothing ; # This procedure will load the float32 "A" register with {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 56 ; assemble ;info 56, 2777 ; # Pointer is in W; move it to {_fsr}: ; line_number = 58 ;info 58, 2777 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 60 ;info 60, 2778 bcf _irp___byte, _irp___bit ; line_number = 61 ;info 61, 2779 rlf _fsr,f ; line_number = 62 ;info 62, 2780 btfsc _c___byte, _c___bit ; line_number = 63 ;info 63, 2781 bsf _irp___byte, _irp___bit ; line_number = 64 ;info 64, 2782 bcf _fsr, 0 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} ; line_number = 66 ;info 66, 2783 movf _indf,w ; line_number = 67 ;info 67, 2784 movwf _float32_aexp ; line_number = 68 ;info 68, 2785 incf _fsr,f ; line_number = 69 ;info 69, 2786 movf _indf,w ; line_number = 70 ;info 70, 2787 movwf _float32_aargb0 ; line_number = 71 ;info 71, 2788 incf _fsr,f ; line_number = 72 ;info 72, 2789 movf _indf,w ; line_number = 73 ;info 73, 2790 movwf _float32_aargb1 ; line_number = 74 ;info 74, 2791 incf _fsr,f ; line_number = 75 ;info 75, 2792 movf _indf,w ; line_number = 76 ;info 76, 2793 movwf _float32_aargb2 ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 79 ;info 79, 2795 ; procedure _float32_pointer_add _float32_pointer_add: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_add__pointer ; delay=4294967295 ; line_number = 80 ; argument pointer byte _float32_pointer_add__pointer equ globals___1+37 ; line_number = 81 ; returns_nothing ; line_number = 82 ; return_suppress ; # This procedure will add the float32 "A" register with {pointer} ; # and store the result back into the "A" register. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 87 ; assemble ;info 87, 2796 ; # Pointer is in W; move it to {_fsr}: ; line_number = 89 ;info 89, 2796 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 91 ;info 91, 2797 bcf _irp___byte, _irp___bit ; line_number = 92 ;info 92, 2798 rlf _fsr,f ; line_number = 93 ;info 93, 2799 btfsc _c___byte, _c___bit ; line_number = 94 ;info 94, 2800 bsf _irp___byte, _irp___bit ; line_number = 95 ;info 95, 2801 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 97 ;info 97, 2802 movf _indf,w ; line_number = 98 ;info 98, 2803 movwf _float32_bexp ; line_number = 99 ;info 99, 2804 incf _fsr,f ; line_number = 100 ;info 100, 2805 movf _indf,w ; line_number = 101 ;info 101, 2806 movwf _float32_bargb0 ; line_number = 102 ;info 102, 2807 incf _fsr,f ; line_number = 103 ;info 103, 2808 movf _indf,w ; line_number = 104 ;info 104, 2809 movwf _float32_bargb1 ; line_number = 105 ;info 105, 2810 incf _fsr,f ; line_number = 106 ;info 106, 2811 movf _indf,w ; line_number = 107 ;info 107, 2812 movwf _float32_bargb2 ; line_number = 108 ;info 108, 2813 goto _float32_add ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 111 ;info 111, 2814 ; procedure _float32_pointer_divide _float32_pointer_divide: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_divide__pointer ; delay=4294967295 ; line_number = 112 ; argument pointer byte _float32_pointer_divide__pointer equ globals___1+38 ; line_number = 113 ; returns_nothing ; line_number = 114 ; return_suppress ; # This procedure will divide the float32 A register by {pointer} and ; # store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 119 ; assemble ;info 119, 2815 ; # Pointer is in W; move it to {_fsr}: ; line_number = 121 ;info 121, 2815 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 123 ;info 123, 2816 bcf _irp___byte, _irp___bit ; line_number = 124 ;info 124, 2817 rlf _fsr,f ; line_number = 125 ;info 125, 2818 btfsc _c___byte, _c___bit ; line_number = 126 ;info 126, 2819 bsf _irp___byte, _irp___bit ; line_number = 127 ;info 127, 2820 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 129 ;info 129, 2821 movf _indf,w ; line_number = 130 ;info 130, 2822 movwf _float32_bexp ; line_number = 131 ;info 131, 2823 incf _fsr,f ; line_number = 132 ;info 132, 2824 movf _indf,w ; line_number = 133 ;info 133, 2825 movwf _float32_bargb0 ; line_number = 134 ;info 134, 2826 incf _fsr,f ; line_number = 135 ;info 135, 2827 movf _indf,w ; line_number = 136 ;info 136, 2828 movwf _float32_bargb1 ; line_number = 137 ;info 137, 2829 incf _fsr,f ; line_number = 138 ;info 138, 2830 movf _indf,w ; line_number = 139 ;info 139, 2831 movwf _float32_bargb2 ; line_number = 140 ;info 140, 2832 goto _float32_divide ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 143 ;info 143, 2833 ; procedure _float32_pointer_multiply _float32_pointer_multiply: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_multiply__pointer ; delay=4294967295 ; line_number = 144 ; argument pointer byte _float32_pointer_multiply__pointer equ globals___1+39 ; line_number = 145 ; returns_nothing ; line_number = 146 ; return_suppress ; # This procedure will multiply {pointer} with the float32 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 151 ; assemble ;info 151, 2834 ; # Pointer is in W; move it to {_fsr}: ; line_number = 153 ;info 153, 2834 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 155 ;info 155, 2835 bcf _irp___byte, _irp___bit ; line_number = 156 ;info 156, 2836 rlf _fsr,f ; line_number = 157 ;info 157, 2837 btfsc _c___byte, _c___bit ; line_number = 158 ;info 158, 2838 bsf _irp___byte, _irp___bit ; line_number = 159 ;info 159, 2839 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 161 ;info 161, 2840 movf _indf,w ; line_number = 162 ;info 162, 2841 movwf _float32_bexp ; line_number = 163 ;info 163, 2842 incf _fsr,f ; line_number = 164 ;info 164, 2843 movf _indf,w ; line_number = 165 ;info 165, 2844 movwf _float32_bargb0 ; line_number = 166 ;info 166, 2845 incf _fsr,f ; line_number = 167 ;info 167, 2846 movf _indf,w ; line_number = 168 ;info 168, 2847 movwf _float32_bargb1 ; line_number = 169 ;info 169, 2848 incf _fsr,f ; line_number = 170 ;info 170, 2849 movf _indf,w ; line_number = 171 ;info 171, 2850 movwf _float32_bargb2 ; line_number = 172 ;info 172, 2851 goto _float32_multiply ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 175 ;info 175, 2852 ; procedure _float32_pointer_subtract _float32_pointer_subtract: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_subtract__pointer ; delay=4294967295 ; line_number = 176 ; argument pointer byte _float32_pointer_subtract__pointer equ globals___1+40 ; line_number = 177 ; returns_nothing ; line_number = 178 ; return_suppress ; # This procedure will subtract {pointer} from the float32 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 183 ; assemble ;info 183, 2853 ; # Pointer is in W; move it to {_fsr}: ; line_number = 185 ;info 185, 2853 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 187 ;info 187, 2854 bcf _irp___byte, _irp___bit ; line_number = 188 ;info 188, 2855 rlf _fsr,f ; line_number = 189 ;info 189, 2856 btfsc _c___byte, _c___bit ; line_number = 190 ;info 190, 2857 bsf _irp___byte, _irp___bit ; line_number = 191 ;info 191, 2858 bcf _fsr, 0 ; # Grab the value and store into {_float32_bexp},...,{_float32_bargb2} ; line_number = 193 ;info 193, 2859 movf _indf,w ; line_number = 194 ;info 194, 2860 movwf _float32_bexp ; line_number = 195 ;info 195, 2861 incf _fsr,f ; line_number = 196 ;info 196, 2862 movf _indf,w ; line_number = 197 ;info 197, 2863 movwf _float32_bargb0 ; line_number = 198 ;info 198, 2864 incf _fsr,f ; line_number = 199 ;info 199, 2865 movf _indf,w ; line_number = 200 ;info 200, 2866 movwf _float32_bargb1 ; line_number = 201 ;info 201, 2867 incf _fsr,f ; line_number = 202 ;info 202, 2868 movf _indf,w ; line_number = 203 ;info 203, 2869 movwf _float32_bargb2 ; line_number = 204 ;info 204, 2870 goto _float32_subtract ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 207 ;info 207, 2871 ; procedure _float32_pointer_store _float32_pointer_store: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_store__pointer ; delay=4294967295 ; line_number = 208 ; argument pointer byte _float32_pointer_store__pointer equ globals___1+41 ; line_number = 209 ; returns_nothing ; # This procedure will store the float32 A "register" into {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 213 ; assemble ;info 213, 2872 ; # Pointer is in W; move it to {_fsr}: ; line_number = 215 ;info 215, 2872 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 217 ;info 217, 2873 bcf _irp___byte, _irp___bit ; line_number = 218 ;info 218, 2874 rlf _fsr,f ; line_number = 219 ;info 219, 2875 btfsc _c___byte, _c___bit ; line_number = 220 ;info 220, 2876 bsf _irp___byte, _irp___bit ; line_number = 221 ;info 221, 2877 bcf _fsr, 0 ; # Grab the value and store into {_float32_aexp},...,{_float32_aargb2} ; line_number = 223 ;info 223, 2878 movf _float32_aexp,w ; line_number = 224 ;info 224, 2879 movwf _indf ; line_number = 225 ;info 225, 2880 incf _fsr,f ; line_number = 226 ;info 226, 2881 movf _float32_aargb0,w ; line_number = 227 ;info 227, 2882 movwf _indf ; line_number = 228 ;info 228, 2883 incf _fsr,f ; line_number = 229 ;info 229, 2884 movf _float32_aargb1,w ; line_number = 230 ;info 230, 2885 movwf _indf ; line_number = 231 ;info 231, 2886 incf _fsr,f ; line_number = 232 ;info 232, 2887 movf _float32_aargb2,w ; line_number = 233 ;info 233, 2888 movwf _indf ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 236 ;info 236, 2890 ; procedure _float32_negate _float32_negate: ; arguments_none ; line_number = 238 ; returns_nothing ; # This procedure will negate the float32 A registers. ; # Flip the sign bit: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 243 ; assemble ;info 243, 2890 ; line_number = 244 ;info 244, 2890 movlw 128 ; line_number = 245 ;info 245, 2891 xorwf _float32_aargb0,f ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 248 ;info 248, 2893 ; procedure _float32_reciprocal _float32_reciprocal: ; arguments_none ; line_number = 250 ; returns_nothing ; # This procedure will compute the reciprocal of the float32 A "register" ; # an store the result back into the float32 A "register". ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 255 ; assemble ;info 255, 2893 ; # Move A register to B register: ; line_number = 257 ;info 257, 2893 movf _float32_aexp,w ; line_number = 258 ;info 258, 2894 movwf _float32_bexp ; line_number = 259 ;info 259, 2895 movf _float32_aargb0,w ; line_number = 260 ;info 260, 2896 movwf _float32_bargb0 ; line_number = 261 ;info 261, 2897 movf _float32_aargb1,w ; line_number = 262 ;info 262, 2898 movwf _float32_bargb1 ; line_number = 263 ;info 263, 2899 movf _float32_aargb2,w ; line_number = 264 ;info 264, 2900 movwf _float32_bargb2 ; # Now store 1 into A: ; line_number = 267 ;info 267, 2901 movlw 127 ; line_number = 268 ;info 268, 2902 movwf _float32_aexp ; line_number = 269 ;info 269, 2903 clrf _float32_aargb0 ; line_number = 270 ;info 270, 2904 clrf _float32_aargb1 ; line_number = 271 ;info 271, 2905 clrf _float32_aargb2 ; # Now perform the division: ; line_number = 274 ;info 274, 2906 goto _float32_divide ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 277 ;info 277, 2908 ; procedure _float32_pointer_swap _float32_pointer_swap: ; Last argument is sitting in W; save into argument variable movwf _float32_pointer_swap__pointer ; delay=4294967295 ; line_number = 278 ; argument pointer byte _float32_pointer_swap__pointer equ globals___1+42 ; line_number = 279 ; returns_nothing ; # This procedure will swap the float32 A "register" with {pointer}: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 283 ; assemble ;info 283, 2909 ; # Pointer is in W; move it to {_fsr}: ; line_number = 285 ;info 285, 2909 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 287 ;info 287, 2910 bcf _irp___byte, _irp___bit ; line_number = 288 ;info 288, 2911 rlf _fsr,f ; line_number = 289 ;info 289, 2912 btfsc _c___byte, _c___bit ; line_number = 290 ;info 290, 2913 bsf _irp___byte, _irp___bit ; line_number = 291 ;info 291, 2914 bcf _fsr, 0 ; # Swap {pointer} with {_float32_aexp}: ; line_number = 294 ;info 294, 2915 movf _indf,w ; line_number = 295 ;info 295, 2916 xorwf _float32_aexp,f ; line_number = 296 ;info 296, 2917 xorwf _float32_aexp,w ; line_number = 297 ;info 297, 2918 xorwf _float32_aexp,f ; line_number = 298 ;info 298, 2919 movwf _indf ; # Swap {pointer}+1 with {_float32_aargb0}: ; line_number = 301 ;info 301, 2920 incf _fsr,f ; line_number = 302 ;info 302, 2921 movf _indf,w ; line_number = 303 ;info 303, 2922 xorwf _float32_aargb0,f ; line_number = 304 ;info 304, 2923 xorwf _float32_aargb0,w ; line_number = 305 ;info 305, 2924 xorwf _float32_aargb0,f ; line_number = 306 ;info 306, 2925 movwf _indf ; # Swap {pointer}+2 with {_float32_aargb1}: ; line_number = 309 ;info 309, 2926 incf _fsr,f ; line_number = 310 ;info 310, 2927 movf _indf,w ; line_number = 311 ;info 311, 2928 xorwf _float32_aargb1,f ; line_number = 312 ;info 312, 2929 xorwf _float32_aargb1,w ; line_number = 313 ;info 313, 2930 xorwf _float32_aargb1,f ; line_number = 314 ;info 314, 2931 movwf _indf ; # Swap {pointer}+3 with {_float32_aargb2}: ; line_number = 317 ;info 317, 2932 incf _fsr,f ; line_number = 318 ;info 318, 2933 movf _indf,w ; line_number = 319 ;info 319, 2934 xorwf _float32_aargb2,f ; line_number = 320 ;info 320, 2935 xorwf _float32_aargb2,w ; line_number = 321 ;info 321, 2936 xorwf _float32_aargb2,f ; line_number = 322 ;info 322, 2937 movwf _indf ; delay after procedure statements=non-uniform ; Implied return retlw 0 _float32_from_byte__0return equ globals___1+44 ; line_number = 325 ;info 325, 2939 ; procedure _float32_from_byte _float32_from_byte: ; Last argument is sitting in W; save into argument variable movwf _float32_from_byte__number ; delay=4294967295 ; line_number = 326 ; argument number byte _float32_from_byte__number equ globals___1+43 ; line_number = 327 ; returns float32 ; # This procedure will convert {number} into a float32 and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 331 ; _float32_aargb0 := 0 ;info 331, 2940 clrf _float32_aargb0 ; line_number = 332 ; _float32_aargb1 := 0 ;info 332, 2941 clrf _float32_aargb1 ; line_number = 333 ; _float32_aargb2 := number ;info 333, 2942 movf _float32_from_byte__number,w movwf _float32_aargb2 ; line_number = 334 ; assemble ;info 334, 2944 ; line_number = 335 ;info 335, 2944 call _float32_from_integer24 ; line_number = 336 ;info 336, 2945 movlw _float32_from_byte__0return>>1 ; line_number = 337 ;info 337, 2946 call _float32_pointer_store ; line_number = 338 ;info 338, 2947 retlw 0 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _float32_from_byte__1: goto _float32_from_byte__1 ; line_number = 341 ;info 341, 2949 ; procedure _float32_to_byte _float32_to_byte: ; line_number = 342 ; argument number float32 _float32_to_byte__number equ globals___1+48 ; line_number = 343 ; returns byte ; # This procedure will convert {number} into a 8-bit integer and return it. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 347 ; assemble ;info 347, 2949 ; # Get the argument stored into the float32 "A" register: ; line_number = 349 ;info 349, 2949 movlw _float32_to_byte__number>>1 ; line_number = 350 ;info 350, 2950 call _float32_pointer_store ; line_number = 351 ;info 351, 2951 call _float32_integer24_convert ; line_number = 352 ; return _float32_aargb2 start ; line_number = 352 ;info 352, 2952 movf _float32_aargb2,w return ; line_number = 352 ; return _float32_aargb2 done ; delay after procedure statements=non-uniform ; line_number = 355 ;info 355, 2954 ; procedure _float32_equals _float32_equals: ; arguments_none ; line_number = 357 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 361 ; assemble ;info 361, 2954 ; line_number = 362 ;info 362, 2954 movf _float32_aexp,w ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 366 ;info 366, 2956 ; procedure _float32_not_equal _float32_not_equal: ; arguments_none ; line_number = 368 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 372 ; assemble ;info 372, 2956 ; line_number = 373 ;info 373, 2956 movf _float32_aexp,w ; line_number = 374 ;info 374, 2957 btfss _float32_status, _float32_z ; line_number = 375 ;info 375, 2958 goto _float32_not_equal1 ; # AEXP is zero; thus not_equal is false: ; line_number = 377 ;info 377, 2959 bcf _float32_status, _float32_z ; line_number = 378 ;info 378, 2960 retlw 0 ; line_number = 379 _float32_not_equal1: ; # AEXP is non-zero, the not_equal is true: ; line_number = 381 ;info 381, 2961 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 385 ;info 385, 2963 ; procedure _float32_less_than _float32_less_than: ; arguments_none ; line_number = 387 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 392 ; assemble ;info 392, 2963 ; # Test AEXP for 0: ; line_number = 394 ;info 394, 2963 movf _float32_aargb0,w ; line_number = 395 ;info 395, 2964 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; clear Z: ; line_number = 397 ;info 397, 2965 goto _float32_less_than1 ; # AEXP!=0; Z=0; Test sign ; line_number = 399 ;info 399, 2966 btfsc _float32_aargb0, 7 ; # Sign=1; Set Z ; line_number = 401 ;info 401, 2967 bsf _float32_status, _float32_z ; line_number = 402 ;info 402, 2968 retlw 0 ; line_number = 403 _float32_less_than1: ; # AXP=0; Z=1; clear Z: ; line_number = 405 ;info 405, 2969 bcf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 409 ;info 409, 2971 ; procedure _float32_less_than_or_equal _float32_less_than_or_equal: ; arguments_none ; line_number = 411 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 415 ; assemble ;info 415, 2971 ; # Test AEXP for 0: ; line_number = 417 ;info 417, 2971 movf _float32_aexp,w ; line_number = 418 ;info 418, 2972 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; Return ; line_number = 420 ;info 420, 2973 retlw 0 ; # AEXP!=0; Z=0; Test sign: ; line_number = 422 ;info 422, 2974 btfsc _float32_aargb0, 7 ; # Sign=1; Set Z ; line_number = 424 ;info 424, 2975 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 428 ;info 428, 2977 ; procedure _float32_greater_than _float32_greater_than: ; arguments_none ; line_number = 430 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 435 ; assemble ;info 435, 2977 ; # Test AEXP for 0: ; line_number = 437 ;info 437, 2977 movf _float32_aexp,w ; line_number = 438 ;info 438, 2978 btfsc _float32_status, _float32_z ; # AEXP=0 Z=1; Clear Z and return: ; line_number = 440 ;info 440, 2979 goto _float32_greater_than1 ; # AEXP!=0 Z=0; Test sign bit ; line_number = 442 ;info 442, 2980 btfss _float32_aargb0, 7 ; # Sign bit=0; Set Z ; line_number = 444 ;info 444, 2981 bsf _float32_status, _float32_z ; line_number = 445 ;info 445, 2982 retlw 0 ; line_number = 446 _float32_greater_than1: ; # AEXP=0 Z=1; Clear Z and return: ; line_number = 448 ;info 448, 2983 bcf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 452 ;info 452, 2985 ; procedure _float32_greater_than_or_equal _float32_greater_than_or_equal: ; arguments_none ; line_number = 454 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:01=uu=>01) ; line_number = 458 ; assemble ;info 458, 2985 ; # Test AEXP for 0: ; line_number = 460 ;info 460, 2985 movf _float32_aexp,w ; line_number = 461 ;info 461, 2986 btfsc _float32_status, _float32_z ; # AEXP=0; Z=1; We can return ; line_number = 463 ;info 463, 2987 retlw 0 ; # AEXP!=0; Z=0; now check sign ; line_number = 465 ;info 465, 2988 btfss _float32_aargb0, 7 ; # Sign=0; Set Z ; line_number = 467 ;info 467, 2989 bsf _float32_status, _float32_z ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; Code bank 2; Start address: 4096; End address: 6143 org 4096 ; Appending 22 delayed procedures to code bank 2 ; buffer = '_signed16' ; line_number = 62 ;info 62, 4096 ; procedure _signed16_pointer_load _signed16_pointer_load: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_load__pointer ; delay=4294967295 ; line_number = 63 ; argument pointer byte _signed16_pointer_load__pointer equ globals___2+10 ; line_number = 64 ; returns_nothing ; line_number = 65 ; return_suppress ; # This procedure will load the signed16 "A" register with {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 69 ; assemble ;info 69, 4097 ; # Pointer is in W; move it to {_fsr}: ; line_number = 71 ;info 71, 4097 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 73 ;info 73, 4098 bcf _irp___byte, _irp___bit ; line_number = 74 ;info 74, 4099 rlf _fsr,f ; line_number = 75 ;info 75, 4100 btfsc _c___byte, _c___bit ; line_number = 76 ;info 76, 4101 bsf _irp___byte, _irp___bit ; line_number = 77 ;info 77, 4102 bcf _fsr, 0 ; # Grab the value and store into {_signed16_a0}:{_signed16_a1} ; line_number = 79 ;info 79, 4103 movf _indf,w ; line_number = 80 ;info 80, 4104 movwf _signed16_a0 ; line_number = 81 ;info 81, 4105 incf _fsr,f ; line_number = 82 ;info 82, 4106 movf _indf,w ; line_number = 83 ;info 83, 4107 movwf _signed16_a1 ; line_number = 84 ;info 84, 4108 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 87 ;info 87, 4109 ; procedure _signed16_pointer_add _signed16_pointer_add: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_add__pointer ; delay=4294967295 ; line_number = 88 ; argument pointer byte _signed16_pointer_add__pointer equ globals___2+11 ; line_number = 89 ; returns_nothing ; line_number = 90 ; return_suppress ; # This procedure will add the signed16 "A" register with {pointer} ; # and store the result back into the "A" register. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 95 ; assemble ;info 95, 4110 ; # Pointer is in W; move it to {_fsr}: ; line_number = 97 ;info 97, 4110 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 99 ;info 99, 4111 bcf _irp___byte, _irp___bit ; line_number = 100 ;info 100, 4112 rlf _fsr,f ; line_number = 101 ;info 101, 4113 btfsc _c___byte, _c___bit ; line_number = 102 ;info 102, 4114 bsf _irp___byte, _irp___bit ; line_number = 103 ;info 103, 4115 bcf _fsr, 0 ; # Grab MSB and add it into {_signed16_a0} (MSB): ; line_number = 105 ;info 105, 4116 movf _indf,w ; line_number = 106 ;info 106, 4117 addwf _signed16_a0,f ; line_number = 107 ;info 107, 4118 incf _fsr,f ; # Grab LSB and add it into {_signed16_a1} (LSB): ; line_number = 110 ;info 110, 4119 movf _indf,w ; line_number = 111 ;info 111, 4120 addwf _signed16_a1,f ; # If C is 1, increment {_signed16_a0} (MSB): ; line_number = 114 ;info 114, 4121 btfsc _c___byte, _c___bit ; line_number = 115 ;info 115, 4122 incf _signed16_a0,f ; line_number = 116 ;info 116, 4123 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 119 ;info 119, 4124 ; procedure _signed16_pointer_divide _signed16_pointer_divide: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_divide__pointer ; delay=4294967295 ; line_number = 120 ; argument pointer byte _signed16_pointer_divide__pointer equ globals___2+12 ; line_number = 121 ; returns_nothing ; line_number = 122 ; return_suppress ; # This procedure will divide the signed16 A register by {pointer} and ; # store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 127 ; assemble ;info 127, 4125 ; # Pointer is in W; move it to {_fsr}: ; line_number = 129 ;info 129, 4125 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 131 ;info 131, 4126 bcf _irp___byte, _irp___bit ; line_number = 132 ;info 132, 4127 rlf _fsr,f ; line_number = 133 ;info 133, 4128 btfsc _c___byte, _c___bit ; line_number = 134 ;info 134, 4129 bsf _irp___byte, _irp___bit ; line_number = 135 ;info 135, 4130 bcf _fsr, 0 ; # Grab the value and store into {_signed16_b0}:{_signed16_b1}: ; line_number = 137 ;info 137, 4131 movf _indf,w ; line_number = 138 ;info 138, 4132 movwf _signed16_b0 ; line_number = 139 ;info 139, 4133 incf _fsr,f ; line_number = 140 ;info 140, 4134 movf _indf,w ; line_number = 141 ;info 141, 4135 movwf _signed16_b1 ; # Perform the divide: ; line_number = 144 ;info 144, 4136 call _signed16_divide_raw ; line_number = 146 ;info 146, 4137 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 149 ;info 149, 4138 ; procedure _signed16_pointer_multiply _signed16_pointer_multiply: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_multiply__pointer ; delay=4294967295 ; line_number = 150 ; argument pointer byte _signed16_pointer_multiply__pointer equ globals___2+13 ; line_number = 151 ; returns_nothing ; line_number = 152 ; return_suppress ; # This procedure will multiply {pointer} with the signed16 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 157 ; assemble ;info 157, 4139 ; # Pointer is in W; move it to {_fsr}: ; line_number = 159 ;info 159, 4139 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 161 ;info 161, 4140 bcf _irp___byte, _irp___bit ; line_number = 162 ;info 162, 4141 rlf _fsr,f ; line_number = 163 ;info 163, 4142 btfsc _c___byte, _c___bit ; line_number = 164 ;info 164, 4143 bsf _irp___byte, _irp___bit ; line_number = 165 ;info 165, 4144 bcf _fsr, 0 ; # Grab the value and store into {_signed16_b0}:{_signed16_b1}: ; line_number = 167 ;info 167, 4145 movf _indf,w ; line_number = 168 ;info 168, 4146 movwf _signed16_b0 ; line_number = 169 ;info 169, 4147 incf _fsr,f ; line_number = 170 ;info 170, 4148 movf _indf,w ; line_number = 171 ;info 171, 4149 movwf _signed16_b1 ; # The code below came from . ; # It is not totally clear who wrote the code. The names ; # Bob Fehrenbac & Scott Dattalo are present, but there is ; # no explicit authorship. The Multiple byte addition routine ; # is from Microchip AN617. As is typical, nobody bothered ; # to comment the code. ; # ; # This multiplies <_signed16_a0:_signed16_a1> by ; # <_signed16_b0:_signed16_b1> and store the signed result into ; # <_signed16_result0:_signed16_result1:_signed16_result2:_signed16_result3> ; # Then we trim the result down and store it back into ; # <_signed16_a0:_signed16_a1>. ; # ; # This multiply routine takes between 134 to 248 cycles. ; # ; # This program looks at the lsb of _signed16_a1 to decide whether ; # to add _signed16_b1 to _signed16_result2. ; # and b2 to _signed16_result1, with appropriate carrys ; # It then looks at the lsb of _signed16_a0 to decide whether ; # to add _signed16_b1 to _signed16_result1 and ; # signed16_b0 to _signed16_result0, again with appropriate carrys. ; # The rotates then only have to be done 8 times ; # ; # This is uses slightly more program but takes a little less time than ; # a routine that performs one 16 bit addition per rotate and 16 rotates ; line_number = 199 ; assemble ;info 199, 4150 ; line_number = 200 ;info 200, 4150 clrf _signed16_result0 ; line_number = 201 ;info 201, 4151 clrf _signed16_result1 ; line_number = 202 ;info 202, 4152 clrf _signed16_result2 ; line_number = 203 ;info 203, 4153 movlw 128 ; line_number = 204 ;info 204, 4154 movwf _signed16_result3 ; line_number = 206 ;info 206, 4155 clrf _signed16_neg_flag ; line_number = 208 ;info 208, 4156 btfss _signed16_a0, 7 ; line_number = 209 ;info 209, 4157 goto _signed16_multiply_a_pos ; line_number = 210 ;info 210, 4158 comf _signed16_a0,f ; line_number = 211 ;info 211, 4159 comf _signed16_a1,f ; line_number = 212 ;info 212, 4160 incf _signed16_a1,f ; line_number = 213 ;info 213, 4161 btfsc _z___byte, _z___bit ; line_number = 214 ;info 214, 4162 incf _signed16_a0,f ; line_number = 215 ;info 215, 4163 incf _signed16_neg_flag,f ; line_number = 217 _signed16_multiply_a_pos: ; line_number = 218 ;info 218, 4164 btfss _signed16_b0, 7 ; line_number = 219 ;info 219, 4165 goto _signed16_multiply_nextbit ; line_number = 220 ;info 220, 4166 comf _signed16_b0,f ; line_number = 221 ;info 221, 4167 comf _signed16_b1,f ; line_number = 222 ;info 222, 4168 incf _signed16_b1,f ; line_number = 223 ;info 223, 4169 btfsc _z___byte, _z___bit ; line_number = 224 ;info 224, 4170 incf _signed16_b0,f ; line_number = 225 ;info 225, 4171 incf _signed16_neg_flag,f ; line_number = 227 _signed16_multiply_nextbit: ; line_number = 228 ;info 228, 4172 rrf _signed16_a0,f ; line_number = 229 ;info 229, 4173 rrf _signed16_a1,f ; line_number = 231 ;info 231, 4174 btfss _c___byte, _c___bit ; line_number = 232 ;info 232, 4175 goto _signed16_multiply_nobit_l ; line_number = 233 ;info 233, 4176 movf _signed16_b1,w ; line_number = 234 ;info 234, 4177 addwf _signed16_result2,f ; line_number = 236 ;info 236, 4178 movf _signed16_b0,w ; line_number = 237 ;info 237, 4179 btfsc _c___byte, _c___bit ; line_number = 238 ;info 238, 4180 incfsz _signed16_b0,w ; line_number = 239 ;info 239, 4181 addwf _signed16_result1,f ; line_number = 240 ;info 240, 4182 btfsc _c___byte, _c___bit ; line_number = 241 ;info 241, 4183 incf _signed16_result0,f ; line_number = 242 ;info 242, 4184 bcf _c___byte, _c___bit ; line_number = 244 _signed16_multiply_nobit_l: ; line_number = 245 ;info 245, 4185 btfss _signed16_a1, 7 ; line_number = 246 ;info 246, 4186 goto _signed16_multiply_nobit_h ; line_number = 247 ;info 247, 4187 movf _signed16_b1,w ; line_number = 248 ;info 248, 4188 addwf _signed16_result1,f ; line_number = 249 ;info 249, 4189 btfsc _c___byte, _c___bit ; line_number = 250 ;info 250, 4190 incf _signed16_result0,f ; line_number = 251 ;info 251, 4191 movf _signed16_b0,w ; line_number = 252 ;info 252, 4192 addwf _signed16_result0,f ; line_number = 254 _signed16_multiply_nobit_h: ; line_number = 255 ;info 255, 4193 rrf _signed16_result0,f ; line_number = 256 ;info 256, 4194 rrf _signed16_result1,f ; line_number = 257 ;info 257, 4195 rrf _signed16_result2,f ; line_number = 258 ;info 258, 4196 rrf _signed16_result3,f ; line_number = 260 ;info 260, 4197 btfss _c___byte, _c___bit ; line_number = 261 ;info 261, 4198 goto _signed16_multiply_nextbit ; line_number = 262 ;info 262, 4199 btfss _signed16_neg_flag, 0 ; line_number = 263 ;info 263, 4200 goto _signed16_mulitply_no_invert ; line_number = 265 ;info 265, 4201 comf _signed16_result0,f ; line_number = 266 ;info 266, 4202 comf _signed16_result1,f ; line_number = 267 ;info 267, 4203 comf _signed16_result2,f ; line_number = 268 ;info 268, 4204 comf _signed16_result3,f ; line_number = 270 ;info 270, 4205 incf _signed16_result3,f ; line_number = 271 ;info 271, 4206 btfsc _z___byte, _z___bit ; line_number = 272 ;info 272, 4207 incf _signed16_result2,f ; line_number = 273 ;info 273, 4208 btfsc _z___byte, _z___bit ; line_number = 274 ;info 274, 4209 incf _signed16_result1,f ; line_number = 275 ;info 275, 4210 btfsc _z___byte, _z___bit ; line_number = 276 ;info 276, 4211 incf _signed16_result0,f ; line_number = 277 _signed16_mulitply_no_invert: ; # Store the final result into _signed16_a<0:1>: ; line_number = 280 ;info 280, 4212 movf _signed16_result2,w ; line_number = 281 ;info 281, 4213 movwf _signed16_a0 ; line_number = 282 ;info 282, 4214 movf _signed16_result3,w ; line_number = 283 ;info 283, 4215 movwf _signed16_a1 ; line_number = 284 ;info 284, 4216 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 287 ;info 287, 4217 ; procedure _signed16_pointer_subtract _signed16_pointer_subtract: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_subtract__pointer ; delay=4294967295 ; line_number = 288 ; argument pointer byte _signed16_pointer_subtract__pointer equ globals___2+14 ; line_number = 289 ; returns_nothing ; line_number = 290 ; return_suppress ; # This procedure will subtract {pointer} from the signed16 A "register" ; # and store the result back into the A "register". ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 295 ; assemble ;info 295, 4218 ; # Pointer is in W; move it to {_fsr}: ; line_number = 297 ;info 297, 4218 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 299 ;info 299, 4219 bcf _irp___byte, _irp___bit ; line_number = 300 ;info 300, 4220 rlf _fsr,f ; line_number = 301 ;info 301, 4221 btfsc _c___byte, _c___bit ; line_number = 302 ;info 302, 4222 bsf _irp___byte, _irp___bit ; line_number = 303 ;info 303, 4223 bcf _fsr, 0 ; # Subtract MSB from {_signed16_a0} (MSB): ; line_number = 306 ;info 306, 4224 comf _indf,w ; line_number = 307 ;info 307, 4225 addwf _signed16_a0,f ; line_number = 308 ;info 308, 4226 incf _fsr,f ; # Subtract LSB from {_signed16_a1} (LSB): ; line_number = 311 ;info 311, 4227 comf _indf,w ; line_number = 312 ;info 312, 4228 addlw 1 ; # If the C bit is set, increment {_signed16_a0} (MSB): ; line_number = 315 ;info 315, 4229 btfsc _c___byte, _c___bit ; line_number = 316 ;info 316, 4230 incf _signed16_a0,f ; # Finish the subtraction: ; line_number = 319 ;info 319, 4231 addwf _signed16_a1,f ; # If the C bit is set, increment {_signed16_a0} (MSB): ; line_number = 322 ;info 322, 4232 btfsc _c___byte, _c___bit ; line_number = 323 ;info 323, 4233 incf _signed16_a0,f ; line_number = 324 ;info 324, 4234 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 327 ;info 327, 4235 ; procedure _signed16_pointer_store _signed16_pointer_store: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_store__pointer ; delay=4294967295 ; line_number = 328 ; argument pointer byte _signed16_pointer_store__pointer equ globals___2+15 ; line_number = 329 ; returns_nothing ; line_number = 330 ; return_suppress ; # This procedure will store the signed16 A "register" into {pointer}. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 334 ; assemble ;info 334, 4236 ; # Pointer is in W; move it to {_fsr}: ; line_number = 336 ;info 336, 4236 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 338 ;info 338, 4237 bcf _irp___byte, _irp___bit ; line_number = 339 ;info 339, 4238 rlf _fsr,f ; line_number = 340 ;info 340, 4239 btfsc _c___byte, _c___bit ; line_number = 341 ;info 341, 4240 bsf _irp___byte, _irp___bit ; line_number = 342 ;info 342, 4241 bcf _fsr, 0 ; # Grab the value and store into {_signed16_a0}:{_signed16_a1}: ; line_number = 344 ;info 344, 4242 movf _signed16_a0,w ; line_number = 345 ;info 345, 4243 movwf _indf ; line_number = 346 ;info 346, 4244 incf _fsr,f ; line_number = 347 ;info 347, 4245 movf _signed16_a1,w ; line_number = 348 ;info 348, 4246 movwf _indf ; line_number = 349 ;info 349, 4247 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 352 ;info 352, 4248 ; procedure _signed16_negate _signed16_negate: ; arguments_none ; line_number = 354 ; returns_nothing ; # This procedure will negate the signed16 A registers. ; # Flip the sign bit: ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 359 ; _signed16_a0 := 0xff ^ _signed16_a0 ;info 359, 4248 comf _signed16_a0,f ; line_number = 360 ; _signed16_a1 := 0 - _signed16_a1 ;info 360, 4249 movf _signed16_a1,w sublw 0 movwf _signed16_a1 ; line_number = 361 ; if _c start ;info 361, 4252 ; =>bit_code_emit@symbol(): sym=_c ; 1TEST: Single test with code in skip slot btfsc _c___byte, _c___bit ; line_number = 362 ; _signed16_a0 := _signed16_a0 + 1 ;info 362, 4253 incf _signed16_a0,f ; Recombine size1 = 0 || size2 = 0 ; line_number = 361 ; if _c done ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 365 ;info 365, 4255 ; procedure _signed16_pointer_swap _signed16_pointer_swap: ; Last argument is sitting in W; save into argument variable movwf _signed16_pointer_swap__pointer ; delay=4294967295 ; line_number = 366 ; argument pointer byte _signed16_pointer_swap__pointer equ globals___2+16 ; line_number = 367 ; returns_nothing ; line_number = 368 ; return_suppress ; # This procedure will swap the signed16 A "register" with {pointer}: ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 372 ; assemble ;info 372, 4256 ; # Pointer is in W; move it to {_fsr}: ; line_number = 374 ;info 374, 4256 movwf _fsr ; # Set up {_irp} and _{fsr}: ; line_number = 376 ;info 376, 4257 bcf _irp___byte, _irp___bit ; line_number = 377 ;info 377, 4258 rlf _fsr,f ; line_number = 378 ;info 378, 4259 btfsc _c___byte, _c___bit ; line_number = 379 ;info 379, 4260 bsf _irp___byte, _irp___bit ; line_number = 380 ;info 380, 4261 bcf _fsr, 0 ; # Swap {pointer} with {_signed16_a0}: ; line_number = 383 ;info 383, 4262 movf _indf,w ; line_number = 384 ;info 384, 4263 xorwf _signed16_a0,f ; line_number = 385 ;info 385, 4264 xorwf _signed16_a0,w ; line_number = 386 ;info 386, 4265 xorwf _signed16_a0,f ; line_number = 387 ;info 387, 4266 movwf _indf ; # Swap {pointer}+1 with {_signed16_a1}: ; line_number = 390 ;info 390, 4267 incf _fsr,f ; line_number = 391 ;info 391, 4268 movf _indf,w ; line_number = 392 ;info 392, 4269 xorwf _signed16_a1,f ; line_number = 393 ;info 393, 4270 xorwf _signed16_a1,w ; line_number = 394 ;info 394, 4271 xorwf _signed16_a1,f ; line_number = 395 ;info 395, 4272 movwf _indf ; line_number = 396 ;info 396, 4273 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' _signed16_from_byte__0return equ globals___2+18 ; line_number = 399 ;info 399, 4274 ; procedure _signed16_from_byte _signed16_from_byte: ; Last argument is sitting in W; save into argument variable movwf _signed16_from_byte__number ; delay=4294967295 ; line_number = 400 ; argument number byte _signed16_from_byte__number equ globals___2+17 ; line_number = 401 ; returns signed16 ; # This procedure will convert {number} into a signed16 and return it. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 405 ; _signed16_a0 := 0 ;info 405, 4275 clrf _signed16_a0 ; line_number = 406 ; _signed16_a1 := number ;info 406, 4276 movf _signed16_from_byte__number,w movwf _signed16_a1 ; line_number = 407 ; assemble ;info 407, 4278 ; line_number = 408 ;info 408, 4278 movlw _signed16_from_byte__0return>>1 ; line_number = 409 ;info 409, 4279 call _signed16_pointer_store ; line_number = 410 ;info 410, 4280 retlw _signed16_from_byte__0return>>1 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _signed16_from_byte__1: goto _signed16_from_byte__1 _signed16_from_byte2__0return equ globals___2+22 ; line_number = 413 ;info 413, 4282 ; procedure _signed16_from_byte2 _signed16_from_byte2: ; Last argument is sitting in W; save into argument variable movwf _signed16_from_byte2__byte2 ; delay=4294967295 ; line_number = 414 ; argument byte1 byte _signed16_from_byte2__byte1 equ globals___2+20 ; line_number = 415 ; argument byte2 byte _signed16_from_byte2__byte2 equ globals___2+21 ; line_number = 416 ; returns signed16 ; # This procedure will convert {byte1} and {byte2} into a signed16 ; # and return it. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 421 ; _signed16_a0 := byte1 ;info 421, 4283 movf _signed16_from_byte2__byte1,w movwf _signed16_a0 ; line_number = 422 ; _signed16_a1 := byte2 ;info 422, 4285 movf _signed16_from_byte2__byte2,w movwf _signed16_a1 ; line_number = 423 ; assemble ;info 423, 4287 ; line_number = 424 ;info 424, 4287 movlw _signed16_from_byte2__0return>>1 ; line_number = 425 ;info 425, 4288 call _signed16_pointer_store ; line_number = 426 ;info 426, 4289 retlw _signed16_from_byte2__0return>>1 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _signed16_from_byte2__1: goto _signed16_from_byte2__1 ; line_number = 429 ;info 429, 4291 ; procedure _signed16_to_byte _signed16_to_byte: ; line_number = 430 ; argument number signed16 _signed16_to_byte__number equ globals___2+24 ; line_number = 431 ; returns byte ; # This procedure will convert {number} into a 8-bit integer and return it. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 435 ; assemble ;info 435, 4291 ; # Get the argument stored into the signed16 "A" register: ; line_number = 437 ;info 437, 4291 movlw _signed16_to_byte__number>>1 ; line_number = 438 ;info 438, 4292 call _signed16_pointer_load ; line_number = 439 ; return _signed16_a1 start ; line_number = 439 ;info 439, 4293 movf _signed16_a1,w return ; line_number = 439 ; return _signed16_a1 done ; delay after procedure statements=non-uniform ; line_number = 442 ;info 442, 4295 ; procedure _signed16_byte_high _signed16_byte_high: ; line_number = 443 ; argument number signed16 _signed16_byte_high__number equ globals___2+26 ; line_number = 444 ; returns byte ; # This procedure will return the high 8 bits of {number}. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 448 ; assemble ;info 448, 4295 ; # Get the argument stored into the signed16 "A" register: ; line_number = 450 ;info 450, 4295 movlw _signed16_byte_high__number>>1 ; line_number = 451 ;info 451, 4296 call _signed16_pointer_load ; line_number = 452 ; return _signed16_a0 start ; line_number = 452 ;info 452, 4297 movf _signed16_a0,w return ; line_number = 452 ; return _signed16_a0 done ; delay after procedure statements=non-uniform ; line_number = 455 ;info 455, 4299 ; procedure _signed16_byte_low _signed16_byte_low: ; line_number = 456 ; argument number signed16 _signed16_byte_low__number equ globals___2+28 ; line_number = 457 ; returns byte ; # This procedure will return the low 8 bits of {number}. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 461 ; assemble ;info 461, 4299 ; # Get the argument stored into the signed16 "A" register: ; line_number = 463 ;info 463, 4299 movlw _signed16_byte_low__number>>1 ; line_number = 464 ;info 464, 4300 call _signed16_pointer_load ; line_number = 465 ; return _signed16_a1 start ; line_number = 465 ;info 465, 4301 movf _signed16_a1,w return ; line_number = 465 ; return _signed16_a1 done ; delay after procedure statements=non-uniform ; line_number = 468 ;info 468, 4303 ; procedure _signed16_equals _signed16_equals: ; arguments_none ; line_number = 470 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 474 ; assemble ;info 474, 4303 ; line_number = 475 ;info 475, 4303 movf _signed16_a0,w ; line_number = 476 ;info 476, 4304 iorwf _signed16_a1,w ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 480 ;info 480, 4306 ; procedure _signed16_not_equal _signed16_not_equal: ; arguments_none ; line_number = 482 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 486 ; assemble ;info 486, 4306 ; line_number = 487 ;info 487, 4306 movf _signed16_a0,w ; line_number = 488 ;info 488, 4307 iorwf _signed16_a1,w ; line_number = 489 ; if _z start ;info 489, 4308 ; =>bit_code_emit@symbol(): sym=_z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss _z___byte, _z___bit goto _signed16_not_equal__1 ; line_number = 490 ; _z := _false ;info 490, 4310 bcf _z___byte, _z___bit ; line_number = 491 ; return start ; line_number = 491 ;info 491, 4311 retlw 0 ; line_number = 491 ; return done ; Recombine size1 = 0 || size2 = 0 _signed16_not_equal__1: ; line_number = 489 ; if _z done ; line_number = 492 ; _z := _true ;info 492, 4312 bsf _z___byte, _z___bit ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 496 ;info 496, 4314 ; procedure _signed16_less_than _signed16_less_than: ; arguments_none ; line_number = 498 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 503 ; _z := _false ;info 503, 4314 bcf _z___byte, _z___bit ; line_number = 504 ; if _signed16_a0@7 start ;info 504, 4315 _signed16_less_than__select__1___byte equ _signed16_a0 _signed16_less_than__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_less_than__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_less_than__select__1___byte, _signed16_less_than__select__1___bit ; line_number = 505 ; _z := _true ;info 505, 4316 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 504 ; if _signed16_a0@7 done ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 509 ;info 509, 4318 ; procedure _signed16_less_than_or_equal _signed16_less_than_or_equal: ; arguments_none ; line_number = 511 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 515 ; assemble ;info 515, 4318 ; line_number = 516 ;info 516, 4318 movf _signed16_a1,w ; line_number = 517 ;info 517, 4319 iorwf _signed16_a0,w ; line_number = 518 ; if _z start ;info 518, 4320 ; =>bit_code_emit@symbol(): sym=_z ; 1TEST: Single test with code in skip slot btfsc _z___byte, _z___bit ; line_number = 519 ; return start ; line_number = 519 ;info 519, 4321 retlw 0 ; line_number = 519 ; return done ; Recombine size1 = 0 || size2 = 0 ; line_number = 518 ; if _z done ; # _z == _false ; line_number = 521 ; if _signed16_a0@7 start ;info 521, 4322 _signed16_less_than_or_equal__select__1___byte equ _signed16_a0 _signed16_less_than_or_equal__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_less_than_or_equal__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_less_than_or_equal__select__1___byte, _signed16_less_than_or_equal__select__1___bit ; line_number = 522 ; _z := _true ;info 522, 4323 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 521 ; if _signed16_a0@7 done ; # Return is implicit ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 526 ;info 526, 4325 ; procedure _signed16_greater_than _signed16_greater_than: ; arguments_none ; line_number = 528 ; returns_nothing ; # This procedure will set the Z bit if register "A" is non-zero and ; # positive. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 533 ; assemble ;info 533, 4325 ; line_number = 534 ;info 534, 4325 movf _signed16_a0,w ; line_number = 535 ;info 535, 4326 iorwf _signed16_a1,w ; line_number = 536 ; if _z start ;info 536, 4327 ; =>bit_code_emit@symbol(): sym=_z ; No 1TEST: true.size=2 false.size=0 ; No 2TEST: true.size=2 false.size=0 ; 1GOTO: Single test with GOTO btfss _z___byte, _z___bit goto _signed16_greater_than__1 ; line_number = 537 ; _z := _false ;info 537, 4329 bcf _z___byte, _z___bit ; line_number = 538 ; return start ; line_number = 538 ;info 538, 4330 retlw 0 ; line_number = 538 ; return done ; Recombine size1 = 0 || size2 = 0 _signed16_greater_than__1: ; line_number = 536 ; if _z done ; # _z == _false ; line_number = 540 ; if !(_signed16_a0@7) start ;info 540, 4331 _signed16_greater_than__select__2___byte equ _signed16_a0 _signed16_greater_than__select__2___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_greater_than__select__2 ; 1TEST: Single test with code in skip slot btfss _signed16_greater_than__select__2___byte, _signed16_greater_than__select__2___bit ; line_number = 541 ; _z := _true ;info 541, 4332 bsf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 540 ; if !(_signed16_a0@7) done ; # Return is implicit: ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 545 ;info 545, 4334 ; procedure _signed16_greater_than_or_equal _signed16_greater_than_or_equal: ; arguments_none ; line_number = 547 ; returns_nothing ; # This procedure will set the Z bit if register "A" is zero or positive. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 551 ; _z := _true ;info 551, 4334 bsf _z___byte, _z___bit ; line_number = 552 ; if _signed16_a0@7 start ;info 552, 4335 _signed16_greater_than_or_equal__select__1___byte equ _signed16_a0 _signed16_greater_than_or_equal__select__1___bit equ 7 ; =>bit_code_emit@symbol(): sym=_signed16_greater_than_or_equal__select__1 ; 1TEST: Single test with code in skip slot btfsc _signed16_greater_than_or_equal__select__1___byte, _signed16_greater_than_or_equal__select__1___bit ; line_number = 553 ; _z := _false ;info 553, 4336 bcf _z___byte, _z___bit ; Recombine size1 = 0 || size2 = 0 ; line_number = 552 ; if _signed16_a0@7 done ; # Return is implicit: ; delay after procedure statements=non-uniform ; Implied return retlw 0 ; line_number = 578 ;info 578, 4338 ; procedure _signed16_divide_raw _signed16_divide_raw: ; arguments_none ; line_number = 580 ; returns_nothing ; line_number = 581 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 583 ; assemble ;info 583, 4338 ; line_number = 584 ;info 584, 4338 call _signed16_divide_s_sign ; #Initialize: ; line_number = 587 ;info 587, 4339 movlw 16 ; line_number = 588 ;info 588, 4340 movwf _signed16_count ; line_number = 589 ;info 589, 4341 movf _signed16_a0,w ; line_number = 590 ;info 590, 4342 movwf _signed16_temp0 ; line_number = 591 ;info 591, 4343 movf _signed16_a1,w ; line_number = 592 ;info 592, 4344 movwf _signed16_temp1 ; line_number = 593 ;info 593, 4345 clrf _signed16_a0 ; line_number = 594 ;info 594, 4346 clrf _signed16_a1 ; line_number = 595 ;info 595, 4347 clrf _signed16_rem0 ; line_number = 596 ;info 596, 4348 clrf _signed16_rem1 ; # Loop 16 times usinge {_signed16_count}: ; line_number = 598 _signed16_divide_dloop: ; line_number = 599 ;info 599, 4349 bcf _c___byte, _c___bit ; line_number = 600 ;info 600, 4350 rlf _signed16_temp1,f ; line_number = 601 ;info 601, 4351 rlf _signed16_temp0,f ; line_number = 602 ;info 602, 4352 rlf _signed16_rem1,f ; line_number = 603 ;info 603, 4353 rlf _signed16_rem0,f ; line_number = 604 ;info 604, 4354 movf _signed16_b0,w ; line_number = 605 ;info 605, 4355 subwf _signed16_rem0,w ; line_number = 606 ;info 606, 4356 btfss _z___byte, _z___bit ; line_number = 607 ;info 607, 4357 goto _signed16_divide_no_check ; line_number = 608 ;info 608, 4358 movf _signed16_b1,w ; line_number = 609 ;info 609, 4359 subwf _signed16_rem1,w ; line_number = 610 _signed16_divide_no_check: ; line_number = 611 ;info 611, 4360 btfss _c___byte, _c___bit ; line_number = 612 ;info 612, 4361 goto _signed16_divide_no_go ; line_number = 613 ;info 613, 4362 movf _signed16_b1,w ; line_number = 614 ;info 614, 4363 subwf _signed16_rem1,f ; line_number = 615 ;info 615, 4364 btfss _c___byte, _c___bit ; line_number = 616 ;info 616, 4365 decf _signed16_rem0,f ; line_number = 617 ;info 617, 4366 movf _signed16_b0,w ; line_number = 618 ;info 618, 4367 subwf _signed16_rem0,f ; line_number = 619 ;info 619, 4368 bsf _c___byte, _c___bit ; line_number = 620 _signed16_divide_no_go: ; line_number = 621 ;info 621, 4369 rlf _signed16_a1,f ; line_number = 622 ;info 622, 4370 rlf _signed16_a0,f ; line_number = 623 ;info 623, 4371 decfsz _signed16_count,f ; line_number = 624 ;info 624, 4372 goto _signed16_divide_dloop ; line_number = 626 ;info 626, 4373 btfss _signed16_sign, 7 ; line_number = 627 ;info 627, 4374 retlw 0 ; line_number = 628 ;info 628, 4375 goto _signed16_divide_neg_b ; line_number = 630 _signed16_divide_neg_b: ; line_number = 631 ;info 631, 4376 comf _signed16_b1,f ; line_number = 632 ;info 632, 4377 incf _signed16_b1,f ; line_number = 633 ;info 633, 4378 btfsc _z___byte, _z___bit ; line_number = 634 ;info 634, 4379 decf _signed16_b0,f ; line_number = 635 ;info 635, 4380 comf _signed16_b0,f ; line_number = 636 ;info 636, 4381 retlw 0 ; line_number = 638 _signed16_divide_s_sign: ; line_number = 639 ;info 639, 4382 movf _signed16_b0,w ; line_number = 640 ;info 640, 4383 xorwf _signed16_a0,w ; line_number = 641 ;info 641, 4384 movwf _signed16_sign ; line_number = 642 ;info 642, 4385 btfss _signed16_a0, 7 ; line_number = 643 ;info 643, 4386 goto _signed16_divide_check_a ; line_number = 645 ;info 645, 4387 comf _signed16_a1,f ; line_number = 646 ;info 646, 4388 incf _signed16_a1,f ; line_number = 647 ;info 647, 4389 btfsc _z___byte, _z___bit ; line_number = 648 ;info 648, 4390 decf _signed16_a0,f ; line_number = 649 ;info 649, 4391 comf _signed16_a0,f ; line_number = 651 _signed16_divide_check_a: ; line_number = 652 ;info 652, 4392 btfss _signed16_b0, 7 ; line_number = 653 ;info 653, 4393 retlw 0 ; line_number = 654 ;info 654, 4394 goto _signed16_divide_neg_b ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' _signed16_float32_convert__0return equ globals___2+32 ; buffer = '_float32_signed16' ; line_number = 6 ;info 6, 4395 ; procedure _signed16_float32_convert _signed16_float32_convert: ; line_number = 7 ; argument from signed16 _signed16_float32_convert__from equ globals___2+30 ; line_number = 8 ; returns float32 ; line_number = 9 ; return_suppress ; # This procedure will convert {from} to a float32 and return it. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 13 ; assemble ;info 13, 4395 ; line_number = 14 ;info 14, 4395 movf _signed16_float32_convert__from,w ; line_number = 15 ;info 15, 4396 ; databank _signed16_float32_convert, _float32_aargb1 bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; line_number = 16 ;info 16, 4398 movwf _float32_aargb1 ; line_number = 18 ;info 18, 4399 ; databank _float32_aargb1, _signed16_float32_convert bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; line_number = 19 ;info 19, 4401 movf _signed16_float32_convert__from+1,w ; line_number = 20 ;info 20, 4402 ; databank _signed16_float32_convert, _float32_aargb2 bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; line_number = 21 ;info 21, 4404 movwf _float32_aargb2 ; # Perform the sign extend for {_float32_aargb0}: ; line_number = 24 ;info 24, 4405 clrf _float32_aargb0 ; line_number = 25 ;info 25, 4406 btfsc _float32_aargb1, 7 ; line_number = 26 ;info 26, 4407 decf _float32_aargb0,f ; # Do the conversion to float32: ; line_number = 29 ;info 29, 4408 ; databank _float32_aargb2, _float32_from_integer24 ; line_number = 30 ;info 30, 4408 ; codebank _signed16_float32_convert, _float32_from_integer24 bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit ; line_number = 31 ;info 31, 4410 call _float32_from_integer24 ; # Result is in the float32 A "register"; now move into 0return: ; line_number = 34 ;info 34, 4411 movlw _signed16_float32_convert__0return>>1 ; line_number = 35 ;info 35, 4412 ; databank _float32_from_integer24, _float32_pointer_store ; line_number = 36 ;info 36, 4412 ; codebank _float32_from_integer24, _float32_pointer_store ; line_number = 37 ;info 37, 4412 call _float32_pointer_store ; line_number = 39 ;info 39, 4413 ; databank _float32_pointer_store, _signed16_float32_convert bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; line_number = 40 ;info 40, 4415 ; codebank _float32_pointer_store, _signed16_float32_convert bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit ; line_number = 41 ;info 41, 4417 return ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' _float32_signed16_convert__0return equ globals___2+40 ; line_number = 44 ;info 44, 4418 ; procedure _float32_signed16_convert _float32_signed16_convert: ; line_number = 45 ; argument from float32 _float32_signed16_convert__from equ globals___2+36 ; line_number = 46 ; returns signed16 ; # This procedure will convert {from} to a {float32} and return it ; # as a {signed16}. ; before procedure statements delay=non-uniform, bit states=(data:10=uu=>10 code:10=uu=>10) ; line_number = 51 ; assemble ;info 51, 4418 ; # Load the correct float32 pointer: ; line_number = 53 ;info 53, 4418 movlw _float32_signed16_convert__from>>1 ; line_number = 54 ;info 54, 4419 ; codebank _float32_signed16_convert, _float32_pointer_load bsf __cb0___byte, __cb0___bit bcf __cb1___byte, __cb1___bit ; line_number = 55 ;info 55, 4421 ; databank _signed16_float32_convert, _float32_pointer_load bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; line_number = 56 ;info 56, 4423 call _float32_pointer_load ; # Perform the conversion: ; line_number = 59 ;info 59, 4424 ; codebank _float32_pointer_load, _float32_integer24_convert ; line_number = 60 ;info 60, 4424 ; databank _float32_pointer_load, _float32_integer24_convert ; line_number = 61 ;info 61, 4424 call _float32_integer24_convert ; line_number = 62 ;info 62, 4425 ; codebank _float32_integer24_convert, _float32_signed16_convert bcf __cb0___byte, __cb0___bit bsf __cb1___byte, __cb1___bit ; # The result is sitting in _float32_aargb0,...,_float32_aargb2: ; line_number = 65 ;info 65, 4427 ; databank _float32_integer24_convert, _float32_aargb2 ; line_number = 66 ;info 66, 4427 movf _float32_aargb2,w ; line_number = 67 ;info 67, 4428 ; databank _float32_aargb2, _float32_signed16_convert bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; line_number = 68 ;info 68, 4430 movwf _float32_signed16_convert__0return+1 ; line_number = 70 ;info 70, 4431 ; databank _float32_signed16_convert, _float32_aargb1 bsf __rp0___byte, __rp0___bit bcf __rp1___byte, __rp1___bit ; line_number = 71 ;info 71, 4433 movf _float32_aargb1,w ; line_number = 72 ;info 72, 4434 ; databank _float32_aargb1, _float32_signed16_convert bcf __rp0___byte, __rp0___bit bsf __rp1___byte, __rp1___bit ; line_number = 73 ;info 73, 4436 movwf _float32_signed16_convert__0return ; line_number = 74 ;info 74, 4437 retlw _float32_signed16_convert__0return>>1 ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _float32_signed16_convert__1: goto _float32_signed16_convert__1 ; Code bank 3; Start address: 6144; End address: 8191 org 6144 ; Appending 9 delayed procedures to code bank 3 ; buffer = '_float32_trig' ; line_number = 82 ;info 82, 6144 ; procedure _float32_fxm3232u _float32_fxm3232u: ; arguments_none ; line_number = 84 ; returns_nothing ; line_number = 85 ; return_suppress ; #32x32 Bit Unsigned Fixed Point Multiply 32x32 -> 64 ; # Input: 32 bit unsigned fixed point multiplicand in _float32_aargb0 ; # 32 bit unsigned fixed point multiplier in _float32_bargb0 ; # Use: CALL FXM3232U ; # Output: 64 bit unsigned fixed point product in _float32_aargb0 ; # Result: _FLOAT32_AARG <-- _FLOAT32_AARG x _FLOAT32_BARG ; # Max Timing: 12+842+2 = 856 clks ; # Min Timing: 12+197 = 209 clks ; # PM: 12+155+1 = 168 DM: 17 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 97 ; assemble ;info 97, 6144 ; # clear partial product ; line_number = 99 ;info 99, 6144 clrf _float32_aargb4 ; line_number = 100 ;info 100, 6145 clrf _float32_aargb5 ; line_number = 101 ;info 101, 6146 clrf _float32_aargb7 ; line_number = 102 ;info 102, 6147 clrf _float32_aargb6 ; line_number = 103 ;info 103, 6148 movf _float32_aargb0,w ; line_number = 104 ;info 104, 6149 movwf _float32_tempb0 ; line_number = 105 ;info 105, 6150 movf _float32_aargb1,w ; line_number = 106 ;info 106, 6151 movwf _float32_tempb1 ; line_number = 107 ;info 107, 6152 movf _float32_aargb2,w ; line_number = 108 ;info 108, 6153 movwf _float32_tempb2 ; line_number = 109 ;info 109, 6154 movf _float32_aargb3,w ; line_number = 110 ;info 110, 6155 movwf _float32_tempb3 ; line_number = 112 ;info 112, 6156 movlw 8 ; line_number = 113 ;info 113, 6157 movwf _float32_loopcount ; line_number = 115 _float32_loopum3232a: ; line_number = 116 ;info 116, 6158 rrf _float32_bargb3,f ; line_number = 117 ;info 117, 6159 btfsc _float32_status, _float32_c ; line_number = 118 ;info 118, 6160 goto _float32_alum3232nap ; line_number = 119 ;info 119, 6161 decfsz _float32_loopcount,f ; line_number = 120 ;info 120, 6162 goto _float32_loopum3232a ; line_number = 122 ;info 122, 6163 movwf _float32_loopcount ; line_number = 124 _float32_loopum3232b: ; line_number = 125 ;info 125, 6164 rrf _float32_bargb2,f ; line_number = 126 ;info 126, 6165 btfsc _float32_status, _float32_c ; line_number = 127 ;info 127, 6166 goto _float32_blum3232nap ; line_number = 128 ;info 128, 6167 decfsz _float32_loopcount,f ; line_number = 129 ;info 129, 6168 goto _float32_loopum3232b ; line_number = 131 ;info 131, 6169 movwf _float32_loopcount ; line_number = 133 _float32_loopum3232c: ; line_number = 134 ;info 134, 6170 rrf _float32_bargb1,f ; line_number = 135 ;info 135, 6171 btfsc _float32_status, _float32_c ; line_number = 136 ;info 136, 6172 goto _float32_clum3232nap ; line_number = 137 ;info 137, 6173 decfsz _float32_loopcount,f ; line_number = 138 ;info 138, 6174 goto _float32_loopum3232c ; line_number = 140 ;info 140, 6175 movwf _float32_loopcount ; line_number = 142 _float32_loopum3232d: ; line_number = 143 ;info 143, 6176 rrf _float32_bargb0,f ; line_number = 144 ;info 144, 6177 btfsc _float32_status, _float32_c ; line_number = 145 ;info 145, 6178 goto _float32_dlum3232nap ; line_number = 146 ;info 146, 6179 decfsz _float32_loopcount,f ; line_number = 147 ;info 147, 6180 goto _float32_loopum3232d ; line_number = 149 ;info 149, 6181 clrf _float32_aargb0 ; line_number = 150 ;info 150, 6182 clrf _float32_aargb1 ; line_number = 151 ;info 151, 6183 clrf _float32_aargb2 ; line_number = 152 ;info 152, 6184 clrf _float32_aargb3 ; line_number = 153 ;info 153, 6185 retlw 0 ; line_number = 155 _float32_alum3232nap: ; line_number = 156 ;info 156, 6186 bcf _float32_status, _float32_c ; line_number = 157 ;info 157, 6187 goto _float32_alum3232na ; line_number = 159 _float32_blum3232nap: ; line_number = 160 ;info 160, 6188 bcf _float32_status, _float32_c ; line_number = 161 ;info 161, 6189 goto _float32_blum3232na ; line_number = 163 _float32_clum3232nap: ; line_number = 164 ;info 164, 6190 bcf _float32_status, _float32_c ; line_number = 165 ;info 165, 6191 goto _float32_clum3232na ; line_number = 167 _float32_dlum3232nap: ; line_number = 168 ;info 168, 6192 bcf _float32_status, _float32_c ; line_number = 169 ;info 169, 6193 goto _float32_dlum3232na ; line_number = 171 _float32_aloopum3232: ; line_number = 172 ;info 172, 6194 rrf _float32_bargb3,f ; line_number = 173 ;info 173, 6195 btfss _float32_status, _float32_c ; line_number = 174 ;info 174, 6196 goto _float32_alum3232na ; line_number = 175 ;info 175, 6197 movf _float32_tempb3,w ; line_number = 176 ;info 176, 6198 addwf _float32_aargb3,f ; line_number = 177 ;info 177, 6199 movf _float32_tempb2,w ; line_number = 178 ;info 178, 6200 btfsc _float32_status, _float32_c ; line_number = 179 ;info 179, 6201 incfsz _float32_tempb2,w ; line_number = 180 ;info 180, 6202 addwf _float32_aargb2,f ; line_number = 181 ;info 181, 6203 movf _float32_tempb1,w ; line_number = 182 ;info 182, 6204 btfsc _float32_status, _float32_c ; line_number = 183 ;info 183, 6205 incfsz _float32_tempb1,w ; line_number = 184 ;info 184, 6206 addwf _float32_aargb1,f ; line_number = 185 ;info 185, 6207 movf _float32_tempb0,w ; line_number = 186 ;info 186, 6208 btfsc _float32_status, _float32_c ; line_number = 187 ;info 187, 6209 incfsz _float32_tempb0,w ; line_number = 188 ;info 188, 6210 addwf _float32_aargb0,f ; line_number = 190 _float32_alum3232na: ; line_number = 191 ;info 191, 6211 rrf _float32_aargb0,f ; line_number = 192 ;info 192, 6212 rrf _float32_aargb1,f ; line_number = 193 ;info 193, 6213 rrf _float32_aargb2,f ; line_number = 194 ;info 194, 6214 rrf _float32_aargb3,f ; line_number = 195 ;info 195, 6215 rrf _float32_aargb4,f ; line_number = 196 ;info 196, 6216 decfsz _float32_loopcount,f ; line_number = 197 ;info 197, 6217 goto _float32_aloopum3232 ; line_number = 199 ;info 199, 6218 movlw 8 ; line_number = 200 ;info 200, 6219 movwf _float32_loopcount ; line_number = 202 _float32_bloopum3232: ; line_number = 203 ;info 203, 6220 rrf _float32_bargb2,f ; line_number = 204 ;info 204, 6221 btfss _float32_status, _float32_c ; line_number = 205 ;info 205, 6222 goto _float32_blum3232na ; line_number = 206 ;info 206, 6223 movf _float32_tempb3,w ; line_number = 207 ;info 207, 6224 addwf _float32_aargb3,f ; line_number = 208 ;info 208, 6225 movf _float32_tempb2,w ; line_number = 209 ;info 209, 6226 btfsc _float32_status, _float32_c ; line_number = 210 ;info 210, 6227 incfsz _float32_tempb2,w ; line_number = 211 ;info 211, 6228 addwf _float32_aargb2,f ; line_number = 212 ;info 212, 6229 movf _float32_tempb1,w ; line_number = 213 ;info 213, 6230 btfsc _float32_status, _float32_c ; line_number = 214 ;info 214, 6231 incfsz _float32_tempb1,w ; line_number = 215 ;info 215, 6232 addwf _float32_aargb1,f ; line_number = 216 ;info 216, 6233 movf _float32_tempb0,w ; line_number = 217 ;info 217, 6234 btfsc _float32_status, _float32_c ; line_number = 218 ;info 218, 6235 incfsz _float32_tempb0,w ; line_number = 219 ;info 219, 6236 addwf _float32_aargb0,f ; line_number = 221 _float32_blum3232na: ; line_number = 222 ;info 222, 6237 rrf _float32_aargb0,f ; line_number = 223 ;info 223, 6238 rrf _float32_aargb1,f ; line_number = 224 ;info 224, 6239 rrf _float32_aargb2,f ; line_number = 225 ;info 225, 6240 rrf _float32_aargb3,f ; line_number = 226 ;info 226, 6241 rrf _float32_aargb4,f ; line_number = 227 ;info 227, 6242 rrf _float32_aargb5,f ; line_number = 228 ;info 228, 6243 decfsz _float32_loopcount,f ; line_number = 229 ;info 229, 6244 goto _float32_bloopum3232 ; line_number = 231 ;info 231, 6245 movlw 8 ; line_number = 232 ;info 232, 6246 movwf _float32_loopcount ; line_number = 234 _float32_cloopum3232: ; line_number = 235 ;info 235, 6247 rrf _float32_bargb1,f ; line_number = 236 ;info 236, 6248 btfss _float32_status, _float32_c ; line_number = 237 ;info 237, 6249 goto _float32_clum3232na ; line_number = 238 ;info 238, 6250 movf _float32_tempb3,w ; line_number = 239 ;info 239, 6251 addwf _float32_aargb3,f ; line_number = 240 ;info 240, 6252 movf _float32_tempb2,w ; line_number = 241 ;info 241, 6253 btfsc _float32_status, _float32_c ; line_number = 242 ;info 242, 6254 incfsz _float32_tempb2,w ; line_number = 243 ;info 243, 6255 addwf _float32_aargb2,f ; line_number = 244 ;info 244, 6256 movf _float32_tempb1,w ; line_number = 245 ;info 245, 6257 btfsc _float32_status, _float32_c ; line_number = 246 ;info 246, 6258 incfsz _float32_tempb1,w ; line_number = 247 ;info 247, 6259 addwf _float32_aargb1,f ; line_number = 248 ;info 248, 6260 movf _float32_tempb0,w ; line_number = 249 ;info 249, 6261 btfsc _float32_status, _float32_c ; line_number = 250 ;info 250, 6262 incfsz _float32_tempb0,w ; line_number = 251 ;info 251, 6263 addwf _float32_aargb0,f ; line_number = 253 _float32_clum3232na: ; line_number = 254 ;info 254, 6264 rrf _float32_aargb0,f ; line_number = 255 ;info 255, 6265 rrf _float32_aargb1,f ; line_number = 256 ;info 256, 6266 rrf _float32_aargb2,f ; line_number = 257 ;info 257, 6267 rrf _float32_aargb3,f ; line_number = 258 ;info 258, 6268 rrf _float32_aargb4,f ; line_number = 259 ;info 259, 6269 rrf _float32_aargb5,f ; line_number = 260 ;info 260, 6270 rrf _float32_aargb6,f ; line_number = 261 ;info 261, 6271 decfsz _float32_loopcount,f ; line_number = 262 ;info 262, 6272 goto _float32_cloopum3232 ; line_number = 264 ;info 264, 6273 movlw 8 ; line_number = 265 ;info 265, 6274 movwf _float32_loopcount ; line_number = 267 _float32_dloopum3232: ; line_number = 268 ;info 268, 6275 rrf _float32_bargb0,f ; line_number = 269 ;info 269, 6276 btfss _float32_status, _float32_c ; line_number = 270 ;info 270, 6277 goto _float32_dlum3232na ; line_number = 271 ;info 271, 6278 movf _float32_tempb3,w ; line_number = 272 ;info 272, 6279 addwf _float32_aargb3,f ; line_number = 273 ;info 273, 6280 movf _float32_tempb2,w ; line_number = 274 ;info 274, 6281 btfsc _float32_status, _float32_c ; line_number = 275 ;info 275, 6282 incfsz _float32_tempb2,w ; line_number = 276 ;info 276, 6283 addwf _float32_aargb2,f ; line_number = 277 ;info 277, 6284 movf _float32_tempb1,w ; line_number = 278 ;info 278, 6285 btfsc _float32_status, _float32_c ; line_number = 279 ;info 279, 6286 incfsz _float32_tempb1,w ; line_number = 280 ;info 280, 6287 addwf _float32_aargb1,f ; line_number = 281 ;info 281, 6288 movf _float32_tempb0,w ; line_number = 282 ;info 282, 6289 btfsc _float32_status, _float32_c ; line_number = 283 ;info 283, 6290 incfsz _float32_tempb0,w ; line_number = 284 ;info 284, 6291 addwf _float32_aargb0,f ; line_number = 286 _float32_dlum3232na: ; line_number = 287 ;info 287, 6292 rrf _float32_aargb0,f ; line_number = 288 ;info 288, 6293 rrf _float32_aargb1,f ; line_number = 289 ;info 289, 6294 rrf _float32_aargb2,f ; line_number = 290 ;info 290, 6295 rrf _float32_aargb3,f ; line_number = 291 ;info 291, 6296 rrf _float32_aargb4,f ; line_number = 292 ;info 292, 6297 rrf _float32_aargb5,f ; line_number = 293 ;info 293, 6298 rrf _float32_aargb6,f ; line_number = 294 ;info 294, 6299 rrf _float32_aargb7,f ; line_number = 295 ;info 295, 6300 decfsz _float32_loopcount,f ; line_number = 296 ;info 296, 6301 goto _float32_dloopum3232 ; line_number = 298 ;info 298, 6302 retlw 0 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 301 ;info 301, 6303 ; procedure _float32_rnd4032 _float32_rnd4032: ; arguments_none ; line_number = 303 ; returns_nothing ; line_number = 304 ; return_suppress ; # RCS Header _Id: rnd4032.a16 1.1 1997/02/27 01:05:39 F.J.Testa Exp _ ; # _Revision: 1.1 _ ; # Nearest neighbor rounding ; # Input: 40 bit floating point number in _FLOAT32_AEXP, ; # _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2, _FLOAT32_AARGB3 ; # Use: call _float32_rnd4032() ; # Output: 32 bit floating point number in _FLOAT32_AEXP, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Result: _FLOAT32_AARG <-- RND( _FLOAT32_AARG ) ; # Testing on [MINNUM,MAXNUM] from 10000 trials: ; # min max mean ; # Timing: 3 17 clks ; # Error: 0 0 0 nsb ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 320 ; assemble ;info 320, 6303 ; #:_float32_rnd4032 ; # is MSB < 0x80? ; line_number = 323 ;info 323, 6303 btfss _float32_aargb3, _float32_msb ; line_number = 324 ;info 324, 6304 retlw 0 ; # set carry for rounding ; line_number = 327 ;info 327, 6305 bsf _float32_status, _float32_c ; line_number = 328 ;info 328, 6306 movlw 127 ; line_number = 329 ;info 329, 6307 andwf _float32_aargb3,w ; line_number = 330 ;info 330, 6308 btfsc _float32_status, _float32_z ; # select even if NSB = 0x80 ; line_number = 332 ;info 332, 6309 rrf _float32_aargb2,w ; line_number = 334 ;info 334, 6310 movf _float32_aargb0,w ; # save sign ; line_number = 336 ;info 336, 6311 movwf _float32_sign ; # make MSB explicit ; line_number = 338 ;info 338, 6312 bsf _float32_aargb0, _float32_msb ; line_number = 340 ;info 340, 6313 bcf _float32_status, _float32_z ; # round ; line_number = 342 ;info 342, 6314 btfsc _float32_status, _float32_c ; line_number = 343 ;info 343, 6315 incf _float32_aargb2,f ; line_number = 344 ;info 344, 6316 btfsc _float32_status, _float32_z ; line_number = 345 ;info 345, 6317 incf _float32_aargb1,f ; line_number = 346 ;info 346, 6318 btfsc _float32_status, _float32_z ; line_number = 347 ;info 347, 6319 incf _float32_aargb0,f ; # has rounding caused carryout? ; line_number = 350 ;info 350, 6320 btfss _float32_status, _float32_z ; line_number = 351 ;info 351, 6321 goto _float32_rnd4032ok ; # if so, right shift ; line_number = 353 ;info 353, 6322 rrf _float32_aargb0,f ; line_number = 354 ;info 354, 6323 rrf _float32_aargb1,f ; line_number = 355 ;info 355, 6324 rrf _float32_aargb2,f ; # test for floating point overflow ; line_number = 357 ;info 357, 6325 incf _float32_exp,f ; line_number = 358 ;info 358, 6326 btfsc _float32_status, _float32_z ; line_number = 359 ;info 359, 6327 goto _float32_setfov32 ; line_number = 361 _float32_rnd4032ok: ; line_number = 362 ;info 362, 6328 btfss _float32_sign, _float32_msb ; # clear sign bit if positive ; line_number = 364 ;info 364, 6329 bcf _float32_aargb0, _float32_msb ; line_number = 365 ;info 365, 6330 retlw 0 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' _float32_sqrt__0return equ globals___1+56 ; line_number = 417 ;info 417, 6331 ; procedure _float32_sqrt _float32_sqrt: ; line_number = 418 ; argument preroot float32 _float32_sqrt__preroot equ globals___1+52 ; line_number = 419 ; returns float32 ; # This procedure will return the square root of {preroot}. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 423 ; assemble ;info 423, 6331 ; line_number = 424 ;info 424, 6331 movlw _float32_sqrt__preroot>>1 ; line_number = 425 ;info 425, 6332 ; codebank _float32_sqrt, _float32_pointer_load bcf __cb1___byte, __cb1___bit ; line_number = 426 ;info 426, 6333 call _float32_pointer_load ; # Perform the square root operation; result is in float A register: ; line_number = 428 ;info 428, 6334 ; codebank _float32_pointer_load, _float32_sqrt_base bsf __cb1___byte, __cb1___bit ; line_number = 429 ;info 429, 6335 call _float32_sqrt_base ; # Now get the result stored into the correct return location: ; line_number = 431 ;info 431, 6336 movlw _float32_sqrt__0return>>1 ; line_number = 432 ;info 432, 6337 ; codebank _float32_sqrt_base, _float32_pointer_store bcf __cb1___byte, __cb1___bit ; line_number = 433 ;info 433, 6338 call _float32_pointer_store ; # Return the pointer to the return value: ; line_number = 435 ;info 435, 6339 movlw _float32_sqrt__0return>>1 ; line_number = 436 ;info 436, 6340 ; codebank _float32_pointer_store, _float32_sqrt bsf __cb1___byte, __cb1___bit ; line_number = 437 ;info 437, 6341 return ; delay after procedure statements=non-uniform ; Exiting procedure with no return(s); infinite loop fail _float32_sqrt__1: goto _float32_sqrt__1 ; line_number = 440 ;info 440, 6343 ; procedure _float32_sqrt_base _float32_sqrt_base: ; arguments_none ; line_number = 442 ; returns_nothing ; line_number = 443 ; return_suppress ; # RCS Header _Id: sqrt32.a16 1.3 1996/10/09 13:22:05 F.J.Testa Exp _ ; # _Revision: 1.3 _ ; # Evaluate sqrt(x) ; # Input: 32 bit floating point number in _FLOAT32_AEXP, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Use: CALL SQRT32 ; # Output: 32 bit floating point number in _FLOAT32_AEXP, _FLOAT32_AARGB0, _FLOAT32_AARGB1, _FLOAT32_AARGB2 ; # Result: AARG <-- SQRT( AARG ) ; # Testing on [0,MAXNUM] from 100000 trials: ; # min max mean ; # Timing: 7 4966 4290.2 clks ; # min max mean rms ; # Error: -0xC7 0xDF -15.18 37.95 nsb ; # Range reduction for the square root function is naturally produced by ; # the floating point representation, ; # ; # x = f * 2**e, where 1 <= f < 2, ; # ; # leading to the expression ; # ; # | sqrt(f) * 2**(e/2), e even ; # sqrt(x) = | ; # | sqrt(f) * sqrt(2) * 2**(e/2), e odd ; # ; # With f=1+z, the function sqrt(1+z) is then approximated by a ; # minimax rational function on the interval [0,1]. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 472 ; assemble ;info 472, 6343 ; # test for negative argument ; line_number = 474 ;info 474, 6343 btfsc _float32_aargb0, _float32_msb ; line_number = 475 ;info 475, 6344 goto _float32_domerr32 ; # return if argument zero ; line_number = 478 ;info 478, 6345 clrf _float32_aargb3 ; line_number = 479 ;info 479, 6346 movf _float32_aexp,w ; line_number = 480 ;info 480, 6347 btfsc _float32_status, _float32_z ; line_number = 481 ;info 481, 6348 retlw 0 ; # save exponent in _FLOAT32_CEXP ; line_number = 484 ;info 484, 6349 movf _float32_aexp,w ; line_number = 485 ;info 485, 6350 movwf _float32_cexp ; # save _FLOAT32_RND flag in _FLOAT32_DARGB3 ; line_number = 488 ;info 488, 6351 movf _float32_fpflags,w ; line_number = 489 ;info 489, 6352 movwf _float32_dargb3 ; # disable rounding ; line_number = 492 ;info 492, 6353 bcf _float32_fpflags, _float32_rnd ; # compute z ; line_number = 495 ;info 495, 6354 movlw _float32_expbias ; line_number = 496 ;info 496, 6355 movwf _float32_aexp ; line_number = 498 ;info 498, 6356 movwf _float32_bexp ; line_number = 499 ;info 499, 6357 clrf _float32_bargb0 ; line_number = 500 ;info 500, 6358 clrf _float32_bargb1 ; line_number = 501 ;info 501, 6359 clrf _float32_bargb2 ; line_number = 502 ;info 502, 6360 ; codebank _float32_sqrt_base, _float32_subtract bcf __cb1___byte, __cb1___bit ; line_number = 503 ;info 503, 6361 call _float32_subtract ; # save z in DARG ; line_number = 506 ;info 506, 6362 movf _float32_aexp,w ; line_number = 507 ;info 507, 6363 movwf _float32_dexp ; line_number = 508 ;info 508, 6364 movf _float32_aargb0,w ; line_number = 509 ;info 509, 6365 movwf _float32_dargb0 ; line_number = 510 ;info 510, 6366 movf _float32_aargb1,w ; line_number = 511 ;info 511, 6367 movwf _float32_dargb1 ; line_number = 512 ;info 512, 6368 movf _float32_aargb2,w ; line_number = 513 ;info 513, 6369 movwf _float32_dargb2 ; # Q(z) ; line_number = 516 ;info 516, 6370 movlw _float32_sqrt32q2 ; line_number = 517 ;info 517, 6371 movwf _float32_bexp ; line_number = 518 ;info 518, 6372 movlw _float32_sqrt32q20 ; line_number = 519 ;info 519, 6373 movwf _float32_bargb0 ; line_number = 520 ;info 520, 6374 movlw _float32_sqrt32q21 ; line_number = 521 ;info 521, 6375 movwf _float32_bargb1 ; line_number = 522 ;info 522, 6376 movlw _float32_sqrt32q22 ; line_number = 523 ;info 523, 6377 movwf _float32_bargb2 ; line_number = 525 ;info 525, 6378 ; codebank _float32_subtract, _float32_add ; line_number = 526 ;info 526, 6378 call _float32_add ; line_number = 528 ;info 528, 6379 movf _float32_dexp,w ; line_number = 529 ;info 529, 6380 movwf _float32_bexp ; line_number = 530 ;info 530, 6381 movf _float32_dargb0,w ; line_number = 531 ;info 531, 6382 movwf _float32_bargb0 ; line_number = 532 ;info 532, 6383 movf _float32_dargb1,w ; line_number = 533 ;info 533, 6384 movwf _float32_bargb1 ; line_number = 534 ;info 534, 6385 movf _float32_dargb2,w ; line_number = 535 ;info 535, 6386 movwf _float32_bargb2 ; line_number = 537 ;info 537, 6387 ; codebank _float32_add, _float32_multiply ; line_number = 538 ;info 538, 6387 call _float32_multiply ; line_number = 540 ;info 540, 6388 movlw _float32_sqrt32q1 ; line_number = 541 ;info 541, 6389 movwf _float32_bexp ; line_number = 542 ;info 542, 6390 movlw _float32_sqrt32q10 ; line_number = 543 ;info 543, 6391 movwf _float32_bargb0 ; line_number = 544 ;info 544, 6392 movlw _float32_sqrt32q11 ; line_number = 545 ;info 545, 6393 movwf _float32_bargb1 ; line_number = 546 ;info 546, 6394 movlw _float32_sqrt32q12 ; line_number = 547 ;info 547, 6395 movwf _float32_bargb2 ; line_number = 549 ;info 549, 6396 ; codebank _float32_multiply, _float32_add ; line_number = 550 ;info 550, 6396 call _float32_add ; line_number = 552 ;info 552, 6397 movf _float32_dexp,w ; line_number = 553 ;info 553, 6398 movwf _float32_bexp ; line_number = 554 ;info 554, 6399 movf _float32_dargb0,w ; line_number = 555 ;info 555, 6400 movwf _float32_bargb0 ; line_number = 556 ;info 556, 6401 movf _float32_dargb1,w ; line_number = 557 ;info 557, 6402 movwf _float32_bargb1 ; line_number = 558 ;info 558, 6403 movf _float32_dargb2,w ; line_number = 559 ;info 559, 6404 movwf _float32_bargb2 ; line_number = 561 ;info 561, 6405 ; codebank _float32_add, _float32_multiply ; line_number = 562 ;info 562, 6405 call _float32_multiply ; line_number = 564 ;info 564, 6406 movlw _float32_sqrt32q0 ; line_number = 565 ;info 565, 6407 movwf _float32_bexp ; line_number = 566 ;info 566, 6408 movlw _float32_sqrt32q00 ; line_number = 567 ;info 567, 6409 movwf _float32_bargb0 ; line_number = 568 ;info 568, 6410 movlw _float32_sqrt32q01 ; line_number = 569 ;info 569, 6411 movwf _float32_bargb1 ; line_number = 570 ;info 570, 6412 movlw _float32_sqrt32q02 ; line_number = 571 ;info 571, 6413 movwf _float32_bargb2 ; line_number = 573 ;info 573, 6414 ; codebank _float32_multiply, _float32_add ; line_number = 574 ;info 574, 6414 call _float32_add ; # save Q(z) in EARG ; line_number = 577 ;info 577, 6415 movf _float32_aexp,w ; line_number = 578 ;info 578, 6416 movwf _float32_eexp ; line_number = 579 ;info 579, 6417 movf _float32_aargb0,w ; line_number = 580 ;info 580, 6418 movwf _float32_eargb0 ; line_number = 581 ;info 581, 6419 movf _float32_aargb1,w ; line_number = 582 ;info 582, 6420 movwf _float32_eargb1 ; line_number = 583 ;info 583, 6421 movf _float32_aargb2,w ; line_number = 584 ;info 584, 6422 movwf _float32_eargb2 ; # restore z ; line_number = 587 ;info 587, 6423 movf _float32_dexp,w ; line_number = 588 ;info 588, 6424 movwf _float32_aexp ; line_number = 589 ;info 589, 6425 movf _float32_dargb0,w ; line_number = 590 ;info 590, 6426 movwf _float32_aargb0 ; line_number = 591 ;info 591, 6427 movf _float32_dargb1,w ; line_number = 592 ;info 592, 6428 movwf _float32_aargb1 ; line_number = 593 ;info 593, 6429 movf _float32_dargb2,w ; line_number = 594 ;info 594, 6430 movwf _float32_aargb2 ; # P(z) ; line_number = 598 ;info 598, 6431 movlw _float32_sqrt32p2 ; line_number = 599 ;info 599, 6432 movwf _float32_bexp ; line_number = 600 ;info 600, 6433 movlw _float32_sqrt32p20 ; line_number = 601 ;info 601, 6434 movwf _float32_bargb0 ; line_number = 602 ;info 602, 6435 movlw _float32_sqrt32p21 ; line_number = 603 ;info 603, 6436 movwf _float32_bargb1 ; line_number = 604 ;info 604, 6437 movlw _float32_sqrt32p22 ; line_number = 605 ;info 605, 6438 movwf _float32_bargb2 ; line_number = 607 ;info 607, 6439 ; codebank _float32_add, _float32_multiply ; line_number = 608 ;info 608, 6439 call _float32_multiply ; line_number = 610 ;info 610, 6440 movlw _float32_sqrt32p1 ; line_number = 611 ;info 611, 6441 movwf _float32_bexp ; line_number = 612 ;info 612, 6442 movlw _float32_sqrt32p10 ; line_number = 613 ;info 613, 6443 movwf _float32_bargb0 ; line_number = 614 ;info 614, 6444 movlw _float32_sqrt32p11 ; line_number = 615 ;info 615, 6445 movwf _float32_bargb1 ; line_number = 616 ;info 616, 6446 movlw _float32_sqrt32p12 ; line_number = 617 ;info 617, 6447 movwf _float32_bargb2 ; line_number = 619 ;info 619, 6448 ; codebank _float32_multiply, _float32_add ; line_number = 620 ;info 620, 6448 call _float32_add ; line_number = 622 ;info 622, 6449 movf _float32_dexp,w ; line_number = 623 ;info 623, 6450 movwf _float32_bexp ; line_number = 624 ;info 624, 6451 movf _float32_dargb0,w ; line_number = 625 ;info 625, 6452 movwf _float32_bargb0 ; line_number = 626 ;info 626, 6453 movf _float32_dargb1,w ; line_number = 627 ;info 627, 6454 movwf _float32_bargb1 ; line_number = 628 ;info 628, 6455 movf _float32_dargb2,w ; line_number = 629 ;info 629, 6456 movwf _float32_bargb2 ; line_number = 631 ;info 631, 6457 ; codebank _float32_add, _float32_multiply ; line_number = 632 ;info 632, 6457 call _float32_multiply ; line_number = 634 ;info 634, 6458 movlw _float32_sqrt32p0 ; line_number = 635 ;info 635, 6459 movwf _float32_bexp ; line_number = 636 ;info 636, 6460 movlw _float32_sqrt32p00 ; line_number = 637 ;info 637, 6461 movwf _float32_bargb0 ; line_number = 638 ;info 638, 6462 movlw _float32_sqrt32p01 ; line_number = 639 ;info 639, 6463 movwf _float32_bargb1 ; line_number = 640 ;info 640, 6464 movlw _float32_sqrt32p02 ; line_number = 641 ;info 641, 6465 movwf _float32_bargb2 ; line_number = 643 ;info 643, 6466 ; codebank _float32_multiply, _float32_add ; line_number = 644 ;info 644, 6466 call _float32_add ; line_number = 646 ;info 646, 6467 movf _float32_eexp,w ; line_number = 647 ;info 647, 6468 movwf _float32_bexp ; line_number = 648 ;info 648, 6469 movf _float32_eargb0,w ; line_number = 649 ;info 649, 6470 movwf _float32_bargb0 ; line_number = 650 ;info 650, 6471 movf _float32_eargb1,w ; line_number = 651 ;info 651, 6472 movwf _float32_bargb1 ; line_number = 652 ;info 652, 6473 movf _float32_eargb2,w ; line_number = 653 ;info 653, 6474 movwf _float32_bargb2 ; # P(z)/Q(z) ; line_number = 656 ;info 656, 6475 ; codebank _float32_add, _float32_divide ; line_number = 657 ;info 657, 6475 call _float32_divide ; # restore z ; line_number = 660 ;info 660, 6476 movf _float32_dexp,w ; line_number = 661 ;info 661, 6477 movwf _float32_bexp ; line_number = 662 ;info 662, 6478 movf _float32_dargb0,w ; line_number = 663 ;info 663, 6479 movwf _float32_bargb0 ; line_number = 664 ;info 664, 6480 movf _float32_dargb1,w ; line_number = 665 ;info 665, 6481 movwf _float32_bargb1 ; line_number = 666 ;info 666, 6482 movf _float32_dargb2,w ; line_number = 667 ;info 667, 6483 movwf _float32_bargb2 ; # z*P(z)/Q(z) ; line_number = 671 ;info 671, 6484 ; codebank _float32_divide, _float32_multiply ; line_number = 672 ;info 672, 6484 call _float32_multiply ; line_number = 674 ;info 674, 6485 movlw _float32_expbias ; line_number = 675 ;info 675, 6486 movwf _float32_bexp ; line_number = 676 ;info 676, 6487 clrf _float32_bargb0 ; line_number = 677 ;info 677, 6488 clrf _float32_bargb1 ; line_number = 678 ;info 678, 6489 clrf _float32_bargb2 ; # sqrt(1+z)=1+z*P(z)/Q(z) ; line_number = 682 ;info 682, 6490 ; codebank _float32_multiply, _float32_add ; line_number = 683 ;info 683, 6490 call _float32_add ; line_number = 685 ;info 685, 6491 ; codebank _float32_add, _float32_sqrt_base bsf __cb1___byte, __cb1___bit ; line_number = 686 _float32_squrt32ok: ; # is CEXP even or odd? ; line_number = 688 ;info 688, 6492 btfsc _float32_cexp, _float32_lsb ; line_number = 689 ;info 689, 6493 goto _float32_rrsqrtok32 ; # fixed point multiplication by sqrt(2) ; line_number = 692 ;info 692, 6494 bsf _float32_aargb0, _float32_msb ; # sqrt(2) = 1.41421356237 ; line_number = 695 ;info 695, 6495 movlw _float32_sqrt2b0 ; line_number = 696 ;info 696, 6496 movwf _float32_bargb0 ; line_number = 697 ;info 697, 6497 movlw _float32_sqrt2b1 ; line_number = 698 ;info 698, 6498 movwf _float32_bargb1 ; line_number = 699 ;info 699, 6499 movlw _float32_sqrt2b2 ; line_number = 700 ;info 700, 6500 movwf _float32_bargb2 ; line_number = 701 ;info 701, 6501 movlw _float32_sqrt2b3 ; line_number = 702 ;info 702, 6502 movwf _float32_bargb3 ; line_number = 704 ;info 704, 6503 ; codebank _float32_sqrt_base, _float32_fxm3232u ; line_number = 705 ;info 705, 6503 call _float32_fxm3232u ; line_number = 706 ;info 706, 6504 ; codebank _float32_fxm3232u, _float32_sqrt_base ; line_number = 708 ;info 708, 6504 incf _float32_aexp,f ; line_number = 710 ;info 710, 6505 btfsc _float32_aargb0, _float32_msb ; line_number = 711 ;info 711, 6506 goto _float32_rrsqrtok32 ; line_number = 712 ;info 712, 6507 rlf _float32_aargb4,f ; line_number = 713 ;info 713, 6508 rlf _float32_aargb3,f ; line_number = 714 ;info 714, 6509 rlf _float32_aargb2,f ; line_number = 715 ;info 715, 6510 rlf _float32_aargb1,f ; line_number = 716 ;info 716, 6511 rlf _float32_aargb0,f ; line_number = 717 ;info 717, 6512 decf _float32_aexp,f ; line_number = 719 _float32_rrsqrtok32: ; # make MSB implicit ; line_number = 721 ;info 721, 6513 bcf _float32_aargb0, _float32_msb ; # divide exponent by two ; line_number = 724 ;info 724, 6514 movlw _float32_expbias ; line_number = 725 ;info 725, 6515 addwf _float32_cexp,f ; line_number = 726 ;info 726, 6516 rrf _float32_cexp,w ; line_number = 727 ;info 727, 6517 movwf _float32_aexp ; line_number = 729 ;info 729, 6518 btfss _float32_dargb3, _float32_rnd ; line_number = 730 ;info 730, 6519 retlw 0 ; line_number = 731 ;info 731, 6520 bsf _float32_fpflags, _float32_rnd ; line_number = 733 ;info 733, 6521 ; codebank _float32_sqrt_base, _float32_rnd4032 ; line_number = 734 ;info 734, 6521 call _float32_rnd4032 ; line_number = 735 ;info 735, 6522 ; codebank _float32_rnd4032, _float32_sqrt_base ; line_number = 737 ;info 737, 6522 retlw 0 ; line_number = 739 _float32_domerr32: ; # domain error ; line_number = 741 ;info 741, 6523 bsf _float32_fpflags, _float32_dom ; line_number = 742 ;info 742, 6524 retlw 255 ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 751 ;info 751, 6525 ; procedure _float32_tan _float32_tan: ; line_number = 752 ; argument x float32 ; line_number = 753 ; returns float32 ; argument_bind ; line_number = 755 ; return_bind 0 = _float32_trig1 ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 757 ; _float32_trig2 := _float32_cos(x) ;info 757, 6525 movlw _float32_trig3>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_cos movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig2>>1 call _float32_pointer_store ; line_number = 758 ; if _float32_trig2 = 0.0 start ;info 758, 6537 movlw _float32_trig2>>1 call _float32_pointer_load call _float32_equals ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=9 false.size=0 ; No 2TEST: true.size=9 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_tan__1 ; # Return a big number ; line_number = 760 ; return 1.0e20 start ; line_number = 760 ;info 760, 6543 ; _float32_trig1 := 1e+20 (C1 2D 78 EC) movlw 193 movwf _float32_trig1 movlw 45 movwf _float32_trig1+1 movlw 120 movwf _float32_trig1+2 movlw 236 movwf _float32_trig1+3 return ; line_number = 760 ; return 1.0e20 done ; Recombine size1 = 0 || size2 = 0 _float32_tan__1: ; line_number = 758 ; if _float32_trig2 = 0.0 done ; line_number = 762 ; return _float32_sin(x) / _float32_trig2 start ; line_number = 762 ;info 762, 6552 movlw _float32_trig3>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_sin movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig2>>1 call _float32_pointer_divide movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit return ; line_number = 762 ; return _float32_sin(x) / _float32_trig2 done ; delay after procedure statements=non-uniform ; line_number = 765 ;info 765, 6568 ; procedure _float32_sin _float32_sin: ; line_number = 766 ; argument x float32 ; line_number = 767 ; returns float32 ; argument_bind ; line_number = 769 ; return_bind 0 = _float32_trig1 ; line_number = 770 ; return_suppress ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 772 ; x := x - _float32_half_pi ;info 772, 6568 ; -1.57076 = 7f c9 0e d1 movlw 127 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_add movlw _float32_trig1>>1 call _float32_pointer_store ; # Run into cos() procedure: ; #return _float32_cos(x) ; delay after procedure statements=non-uniform ; Return instruction suppressed by 'return_suppress' ; line_number = 792 ;info 792, 6581 ; procedure _float32_cos _float32_cos: ; line_number = 793 ; argument x float32 ; line_number = 794 ; returns float32 ; argument_bind ; line_number = 796 ; return_bind 0 = _float32_trig1 ; # This procedure will return the cosine of {angle}. It is assumed that ; # the domain of {angle} is [-10*pi, 10*pi]. ; # ; # This algorithm first converts {angle} into [-pi, pi]. Next, ; # it further reduces {angle} to [0, pi/2], remembering it it needs ; # to negate the result. Next it uses a 4th order polynomial to ; # compute the cosine. The polynomial coefficients come from the book ; # _Computer_Approximations_ by Hart, et. al. published by Wiley&Sons ; # in 1968. I have a 25+ year photocopy of the book. Your best bet ; # for finding this book is in a college or university library. Good ; # luck! ; # ; # The polynomial is computed as cos(x) = P(x^2) on page ; # 118 using the coefficents for 3502 (4th order polynomial.) ; line_number = 813 ; local negative bit _float32_cos__negative___byte equ globals___1+79 _float32_cos__negative___bit equ 0 ; # First reduce {x} to [-pi, pi] using successive addition or ; # subtraction until it is done: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 817 ; while x > _float32_pi start _float32_cos__1: ;info 817, 6581 ; -3.14153 = 80 c9 0e d1 movlw 128 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_add call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=14 false.size=0 ; No 2TEST: true.size=14 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_cos__2 bcf __cb1___byte, __cb1___bit ; line_number = 818 ; x := x - _float32_two_pi ;info 818, 6597 ; -6.28306 = 81 c9 0e d1 movlw 129 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_add movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit goto _float32_cos__1 ; Recombine size1 = 0 || size2 = 0 _float32_cos__2: ; line_number = 817 ; while x > _float32_pi done ; line_number = 819 ; while x < _float32_minus_pi start _float32_cos__3: ;info 819, 6611 ; 3.14153 = 80 49 0e d1 movlw 128 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_add call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=14 false.size=0 ; No 2TEST: true.size=14 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_cos__4 bcf __cb1___byte, __cb1___bit ; line_number = 820 ; x := x + _float32_two_pi ;info 820, 6627 ; 6.28306 = 81 49 0e d1 movlw 129 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_add movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit goto _float32_cos__3 ; Recombine size1 = 0 || size2 = 0 _float32_cos__4: ; line_number = 819 ; while x < _float32_minus_pi done ; # Now reduce the {x} to [0, pi/2]: ; line_number = 823 ; if x < 0.0 start ;info 823, 6641 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=5 false.size=0 ; No 2TEST: true.size=5 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_cos__5 bcf __cb1___byte, __cb1___bit ; # {x} is less than zero; Use cosine(x) = cosine(-x) to make it ; # positive: ; line_number = 826 ; x := -x ;info 826, 6649 movlw _float32_trig1>>1 call _float32_pointer_load call _float32_negate movlw _float32_trig1>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 _float32_cos__5: ; line_number = 823 ; if x < 0.0 done ; line_number = 827 ; if x > _float32_half_pi start ;info 827, 6654 ; -1.57076 = 7f c9 0e d1 movlw 127 movwf _float32_aexp movlw 201 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_add call _float32_greater_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=13 false.size=1 ; No 2TEST: true.size=13 false.size=1 bsf __cb1___byte, __cb1___bit ; 2GOTO: Single test with two GOTO's btfss __z___byte, __z___bit goto _float32_cos__6 bcf __cb1___byte, __cb1___bit ; # {x} > pi/2. Make {x} < pi/2 by: cos(x) = -cos(pi - x): ; line_number = 829 ; x := _float32_pi - x ;info 829, 6670 ; 3.14153 = 80 49 0e d1 movlw 128 movwf _float32_aexp movlw 73 movwf _float32_aargb0 movlw 14 movwf _float32_aargb1 movlw 209 movwf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_subtract movlw _float32_trig1>>1 call _float32_pointer_store ; line_number = 830 ; negative := _true ;info 830, 6682 bsf _float32_cos__negative___byte, _float32_cos__negative___bit ; Recombine code1_bit_states != code2_bit_states bsf __cb1___byte, __cb1___bit goto _float32_cos__7 ; 2GOTO: Starting code 2 _float32_cos__6: ; # {x} <= pi/2: ; line_number = 833 ; negative := _false ;info 833, 6685 bcf _float32_cos__negative___byte, _float32_cos__negative___bit _float32_cos__7: ; 2GOTO: code1 final bitstates:(data:01=uu=>01 code:01=uu=>01) ; 2GOTO: code2 final bitstates:(data:01=uu=>01 code:XX=cc=>XX) ; 2GOTO: code final bitstates:(data:01=uu=>01 code:11=uu=>11) ; line_number = 827 ; if x > _float32_half_pi done ; # Compute cos(x) = P(x^2): ; line_number = 836 ; x := x * x ;info 836, 6686 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_multiply movlw _float32_trig1>>1 call _float32_pointer_store ; #3502 = 4th order polynomial: ; line_number = 839 ; x := _float32_cosine_p00 + x * (_float32_cosine_p01 + x * (_float32_cosine_p02 + x * (_float32_cosine_p03 + x * _float32_cosine_p04))) ;info 839, 6693 ; 2.31539e-05 = 6f 42 3a b1 movlw 111 movwf _float32_aexp movlw 66 movwf _float32_aargb0 movlw 58 movwf _float32_aargb1 movlw 177 movwf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_multiply ; -0.00138537 = 75 b5 95 51 movlw 117 movwf _float32_bexp movlw 181 movwf _float32_bargb0 movlw 149 movwf _float32_bargb1 movlw 81 movwf _float32_bargb2 call _float32_add movlw _float32_trig1>>1 call _float32_pointer_multiply ; 0.0416636 = 7a 2a a7 6f movlw 122 movwf _float32_bexp movlw 42 movwf _float32_bargb0 movlw 167 movwf _float32_bargb1 movlw 111 movwf _float32_bargb2 call _float32_add movlw _float32_trig1>>1 call _float32_pointer_multiply ; -0.499999 = 7d ff ff e0 movlw 125 movwf _float32_bexp movlw 255 movwf _float32_bargb0 movlw 255 movwf _float32_bargb1 movlw 224 movwf _float32_bargb2 call _float32_add movlw _float32_trig1>>1 call _float32_pointer_multiply ; 1 = 7e 7f ff ff movlw 126 movwf _float32_bexp movlw 127 movwf _float32_bargb0 movlw 255 movwf _float32_bargb1 movlw 255 movwf _float32_bargb2 call _float32_add movlw _float32_trig1>>1 call _float32_pointer_store ; #3503 = 5th order polynomial: ; #x := _float32_cosine_p00 + x * (_float32_cosine_p01 + x * ; # (_float32_cosine_p02 + x * (_float32_cosine_p03 + x * ; # (_float32_cosine_p04 + x * _float32_cosine_p05)))) ; # Restore negative sign if needed: ; line_number = 849 ; if negative start ;info 849, 6747 ; =>bit_code_emit@symbol(): sym=_float32_cos__negative ; No 1TEST: true.size=5 false.size=0 ; No 2TEST: true.size=5 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss _float32_cos__negative___byte, _float32_cos__negative___bit goto _float32_cos__8 bcf __cb1___byte, __cb1___bit ; line_number = 850 ; x := -x ;info 850, 6751 movlw _float32_trig1>>1 call _float32_pointer_load call _float32_negate movlw _float32_trig1>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 _float32_cos__8: ; line_number = 849 ; if negative done ; line_number = 852 ; return x start ; line_number = 852 ;info 852, 6756 ; Assignment of variable to self (no code needed) bsf __cb1___byte, __cb1___bit return ; line_number = 852 ; return x done ; delay after procedure statements=non-uniform ; line_number = 861 ;info 861, 6758 ; procedure _float32_arcsin _float32_arcsin: ; line_number = 862 ; argument x float32 ; line_number = 863 ; returns float32 ; argument_bind ; line_number = 865 ; return_bind 0 = _float32_trig1 ; # This algorithm is loosely derived from the e_asinf.c ; # routine found in the glibc verion 2.4. The copyrights ; # below are copied verbatim, even though none of the ; # original code is left, and hence the copyright no longer ; # technically holds. I do not have the slightest clue ; # how the polynomial coefficients were computed; I just ; # copied them from the code verbatim. ; # ; # ==================================================== ; # Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. ; # ; # Developed at SunPro, a Sun Microsystems, Inc. business. ; # Permission to use, copy, modify, and distribute this ; # software is freely granted, provided that this notice ; # is preserved. ; # ==================================================== ; # ; # Single precision expansion contributed by ; # Stephen L. Moshier ; # ; # For -.5 <= x <= .5: ; # ; # arcsin(x) = x + x^3 * P(x^2) ; # ; # where, ; # ; # P(t) = P0 + t * (P1 + t * (P2 + t * (P3 + t * P4))) ; # ; # and ; # ; # P0 = 1.666675248e-1 ; # P1 = 7.495297643e-2 ; # P2 = 4.547037598e-2 ; # P3 = 2.417951451e-2 ; # P4 = 4.216630880e-2 ; # ; # For .5 <= |x| <= 1.0, the following identity is used: ; # ; # arcsin(x) = pi/2 - 2 * arcsin(sqrt( (1-x)/2 )), -1 <= x <= 1 ; # ; # ; # This comes from equation 6.5.25 in section 6.5, The Inverse ; # Trigonometric Functions, pages 120-130, in the book Computer ; # Approximations by Hart, et. al., 1968, published by John ; # Wily & Sons, Inc. The Library of Congress Card number is ; # 67-23326. ASIN 0471356301. ; # ; # Actually, I think this equation is slightly wrong and should be: ; # ; # arcsin(x) = sgn(x)(pi/2 - 2 * arcsin(sqrt( (1-|x|)/2 ))), -1 <= x <= 1 ; # ; # I only use it for .5 <= x <= 1.0, and correct for the sign ; # using the equation arcsin(x) = -arcsin(-x), so it does not ; # really matter. ; line_number = 922 ; local adjust bit _float32_arcsin__adjust___byte equ globals___1+79 _float32_arcsin__adjust___bit equ 1 ; line_number = 923 ; local negative bit _float32_arcsin__negative___byte equ globals___1+79 _float32_arcsin__negative___bit equ 2 ; # Keep track of sign: ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 926 ; negative := _false ;info 926, 6758 bcf _float32_arcsin__negative___byte, _float32_arcsin__negative___bit ; line_number = 927 ; if x < 0.0 start ;info 927, 6759 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=6 false.size=0 ; No 2TEST: true.size=6 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_arcsin__1 bcf __cb1___byte, __cb1___bit ; line_number = 928 ; x := -x ;info 928, 6767 movlw _float32_trig1>>1 call _float32_pointer_load call _float32_negate movlw _float32_trig1>>1 call _float32_pointer_store ; line_number = 929 ; negative := _true ;info 929, 6772 bsf _float32_arcsin__negative___byte, _float32_arcsin__negative___bit ; Recombine size1 = 0 || size2 = 0 _float32_arcsin__1: ; line_number = 927 ; if x < 0.0 done ; # Look at exponent to determine whether |x| <= .5 or |x| >= .5: ; line_number = 932 ; adjust := _false ;info 932, 6773 bcf _float32_arcsin__adjust___byte, _float32_arcsin__adjust___bit ; line_number = 933 ; if x >= .5 start ;info 933, 6774 ; -0.5 = 7e 80 00 00 movlw 126 movwf _float32_aexp movlw 128 movwf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_add call _float32_greater_than_or_equal ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=23 false.size=0 ; No 2TEST: true.size=23 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_arcsin__2 bcf __cb1___byte, __cb1___bit ; # |x| >= .5; Compute x' := sqrt((1-x)/2): ; line_number = 935 ; adjust := _true ;info 935, 6788 bsf _float32_arcsin__adjust___byte, _float32_arcsin__adjust___bit ; line_number = 936 ; x := _float32_sqrt((1.0 - x) / 2.0) ;info 936, 6789 ; 1 = 7f 00 00 00 movlw 127 movwf _float32_aexp clrf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_subtract ; 0.5 = 7e 00 00 00 movlw 126 movwf _float32_bexp clrf _float32_bargb0 clrf _float32_bargb1 clrf _float32_bargb2 call _float32_multiply movlw _float32_sqrt__preroot>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_sqrt movlw _float32_sqrt__0return>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store ; # Now |x'| <= .5 ; Recombine size1 = 0 || size2 = 0 _float32_arcsin__2: ; line_number = 933 ; if x >= .5 done ; # Now we compute arcsin(x) = x + x^3 * P(x^2): ; line_number = 940 ; _float32_trig2 := x * x ;info 940, 6811 movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_multiply movlw _float32_trig2>>1 call _float32_pointer_store ; line_number = 941 ; x := (_float32_arcsine_p0 + _float32_trig2 * (_float32_arcsine_p1 + _float32_trig2 * (_float32_arcsine_p2 + _float32_trig2 * (_float32_arcsine_p3 + _float32_trig2 * _float32_arcsine_p4)))) * _float32_trig2 * x + x ;info 941, 6818 ; 0.0421663 = 7a 2c b6 94 movlw 122 movwf _float32_aexp movlw 44 movwf _float32_aargb0 movlw 182 movwf _float32_aargb1 movlw 148 movwf _float32_aargb2 movlw _float32_trig2>>1 call _float32_pointer_multiply ; 0.0241795 = 79 46 14 1e movlw 121 movwf _float32_bexp movlw 70 movwf _float32_bargb0 movlw 20 movwf _float32_bargb1 movlw 30 movwf _float32_bargb2 call _float32_add movlw _float32_trig2>>1 call _float32_pointer_multiply ; 0.0454704 = 7a 3a 3f 25 movlw 122 movwf _float32_bexp movlw 58 movwf _float32_bargb0 movlw 63 movwf _float32_bargb1 movlw 37 movwf _float32_bargb2 call _float32_add movlw _float32_trig2>>1 call _float32_pointer_multiply ; 0.074953 = 7b 19 80 f2 movlw 123 movwf _float32_bexp movlw 25 movwf _float32_bargb0 movlw 128 movwf _float32_bargb1 movlw 242 movwf _float32_bargb2 call _float32_add movlw _float32_trig2>>1 call _float32_pointer_multiply ; 0.166668 = 7c 2a aa e4 movlw 124 movwf _float32_bexp movlw 42 movwf _float32_bargb0 movlw 170 movwf _float32_bargb1 movlw 228 movwf _float32_bargb2 call _float32_add movlw _float32_trig2>>1 call _float32_pointer_multiply movlw _float32_trig1>>1 call _float32_pointer_multiply movlw _float32_trig1>>1 call _float32_pointer_add movlw _float32_trig1>>1 call _float32_pointer_store ; line_number = 946 ; if adjust start ;info 946, 6878 ; =>bit_code_emit@symbol(): sym=_float32_arcsin__adjust ; No 1TEST: true.size=19 false.size=0 ; No 2TEST: true.size=19 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss _float32_arcsin__adjust___byte, _float32_arcsin__adjust___bit goto _float32_arcsin__3 bcf __cb1___byte, __cb1___bit ; # arcsin(x) = pi/2 - 2 * arcsin(sqrt( (1-x)/2 )), -1 <= x <= 1 ; # arcsin(x) = pi/2 - 2 * arcsin(x') ; line_number = 950 ; x := _float32_half_pi - 2.0 * x ;info 950, 6882 ; 2 = 80 00 00 00 movlw 128 movwf _float32_aexp clrf _float32_aargb0 clrf _float32_aargb1 clrf _float32_aargb2 movlw _float32_trig1>>1 call _float32_pointer_multiply call _float32_negate ; 1.57076 = 7f 49 0e d1 movlw 127 movwf _float32_bexp movlw 73 movwf _float32_bargb0 movlw 14 movwf _float32_bargb1 movlw 209 movwf _float32_bargb2 call _float32_add movlw _float32_trig1>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 _float32_arcsin__3: ; line_number = 946 ; if adjust done ; # If necessary, fix the sign: ; line_number = 953 ; if negative start ;info 953, 6901 ; =>bit_code_emit@symbol(): sym=_float32_arcsin__negative ; No 1TEST: true.size=5 false.size=0 ; No 2TEST: true.size=5 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss _float32_arcsin__negative___byte, _float32_arcsin__negative___bit goto _float32_arcsin__4 bcf __cb1___byte, __cb1___bit ; line_number = 954 ; x := -x ;info 954, 6905 movlw _float32_trig1>>1 call _float32_pointer_load call _float32_negate movlw _float32_trig1>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 _float32_arcsin__4: ; line_number = 953 ; if negative done ; line_number = 956 ; return x start ; line_number = 956 ;info 956, 6910 ; Assignment of variable to self (no code needed) bsf __cb1___byte, __cb1___bit return ; line_number = 956 ; return x done ; delay after procedure statements=non-uniform ; line_number = 959 ;info 959, 6912 ; procedure _float32_arctan2 _float32_arctan2: ; line_number = 960 ; argument x float32 ; line_number = 961 ; argument y float32 ; line_number = 962 ; returns float32 ; argument_bind ; argument_bind ; line_number = 965 ; return_bind 0 = _float32_trig1 ; # This procedure returns the result of arctan(y/x) using the ; # the signs of x and y to get the proper angle sign. The returned ; # angle is in [-pi, pi]. ; # ; # The code for thisprocedure is derived from the vector dot ; # product formula: ; # ; # Y ; # ^ ; # | ; # | * (x,y)=V ; # | /| ; # | / | ; # | / | ; # | / | ; # |/a | ; # O-----*--*----> X ; # (1, 0)=U ; # ; # U.V = |U| |V| cos(a) (1) ; # ; # (1,0).(x,y) = |(1,0)| |(x,y)| cos(a) (2) ; # ; # 1*x + 0*y = sqrt(1^2 + 0^2) * sqrt(x^2 + y^2) * cos(a) (3) ; # ; # x = sqrt(1 + 0) * sqrt(x*x + y*y) * cos(a) (4) ; # ; # x = sqrt(x*x + y*y) * cos(a) (5) ; # ; # cos(a) = x/sqrt(x*x + y*y) (6) ; # ; # a = arccos(x/sqrt(x*x + y*y)) (7) ; # ; # In addition, via standard trigonometry: ; # ; # tan(a) = y/x (8) ; # ; # a = arctan(y/x) (9) ; # ; # Combining (7) and (9): ; # ; # arctan(y/x) = a = arccos(x/sqrt(x*x + y*y)) (10) ; # ; # If y<0, the returned angle is negative. ; # ; # What is nice about this derivation is that it still ; # yields an answer when x=0. It only fails when both ; # x=0 and y=0. Thus, there are no areas of reduced ; # accuracy around angle of pi/2 or -pi/2. ; before procedure statements delay=non-uniform, bit states=(data:01=uu=>01 code:11=uu=>11) ; line_number = 1017 ; _float32_trig1 := _float32_sqrt(x * x + y * y) ;info 1017, 6912 _float32_arctan2__1 equ globals___1+72 movlw _float32_trig2>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig2>>1 call _float32_pointer_multiply movlw _float32_arctan2__1>>1 call _float32_pointer_store movlw _float32_trig3>>1 call _float32_pointer_load movlw _float32_trig3>>1 call _float32_pointer_multiply movlw _float32_arctan2__1>>1 call _float32_pointer_add movlw _float32_sqrt__preroot>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit call _float32_sqrt movlw _float32_sqrt__0return>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store ; line_number = 1018 ; _float32_trig1 := x / _float32_trig1 ;info 1018, 6934 movlw _float32_trig2>>1 call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_divide movlw _float32_trig1>>1 call _float32_pointer_store ; # arccos(a) = pi/2 - arcsin(a): ; line_number = 1021 ; _float32_trig2 := _float32_half_pi - _float32_arcsin(_float32_trig1) ;info 1021, 6940 ; Assignment of variable to self (no code needed) bsf __cb1___byte, __cb1___bit call _float32_arcsin movlw _float32_trig1>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load call _float32_negate ; 1.57076 = 7f 49 0e d1 movlw 127 movwf _float32_bexp movlw 73 movwf _float32_bargb0 movlw 14 movwf _float32_bargb1 movlw 209 movwf _float32_bargb2 call _float32_add movlw _float32_trig2>>1 call _float32_pointer_store ; line_number = 1023 ; if y < 0.0 start ;info 1023, 6957 movlw _float32_trig3>>1 call _float32_pointer_load call _float32_less_than ; =>bit_code_emit@symbol(): sym=__z ; No 1TEST: true.size=5 false.size=0 ; No 2TEST: true.size=5 false.size=0 ; 1GOTO: Single test with GOTO bsf __cb1___byte, __cb1___bit btfss __z___byte, __z___bit goto _float32_arctan2__2 bcf __cb1___byte, __cb1___bit ; line_number = 1024 ; _float32_trig2 := -_float32_trig2 ;info 1024, 6964 movlw _float32_trig2>>1 call _float32_pointer_load call _float32_negate movlw _float32_trig2>>1 call _float32_pointer_store ; Recombine size1 = 0 || size2 = 0 _float32_arctan2__2: ; line_number = 1023 ; if y < 0.0 done ; line_number = 1025 ; return _float32_trig2 start ; line_number = 1025 ;info 1025, 6969 movlw _float32_trig2>>1 bcf __cb1___byte, __cb1___bit call _float32_pointer_load movlw _float32_trig1>>1 call _float32_pointer_store bsf __cb1___byte, __cb1___bit return ; line_number = 1025 ; return _float32_trig2 done ; delay after procedure statements=non-uniform ; Configuration bits ; address = 0x2007, fill = 0x1030 ; cp = off (0x2000) ; debug = off (0x800) ; wrt = off (0x300) ; cpd = off (0x100) ; lvp = off (0x0) ; boren = off (0x0) ; pwrte = off (0x8) ; wdte = off (0x0) ; fosc = hs (0x2) ; 15162 = 0x3b3a __config 15162 ; Define start addresses for data regions ; Region="shared___globals" Address=112" Size=16 Bytes=4 Bits=0 Available=12 ; Region="globals___0" Address=32" Size=80 Bytes=67 Bits=16 Available=11 ; Region="globals___1" Address=160" Size=80 Bytes=73 Bits=3 Available=6 ; Region="globals___2" Address=272" Size=96 Bytes=64 Bits=0 Available=32 ; Region="globals___3" Address=400" Size=112 Bytes=68 Bits=2 Available=43 end