0,0 → 1,3085 |
CCS PCM C Compiler, Version 4.106, 47914 11-5-13 10:50 |
|
Filename: D:\Honza\MLAB\Modules\Sensors\IMU01A\SW\PIC16F887\main.lst |
|
ROM used: 1146 words (14%) |
Largest free fragment is 2048 |
RAM used: 13 (4%) at main() level |
26 (7%) worst case |
Stack: 3 locations |
|
* |
0000: MOVLW 03 |
0001: MOVWF 0A |
0002: GOTO 397 |
0003: NOP |
.................... //Akcelerometr IMU01A |
.................... //(c) MLAB Jan Chroust 2013 |
.................... |
.................... |
.................... #include <main.h> |
.................... #include <16F887.h> |
.................... //////// Standard Header file for the PIC16F887 device //////////////// |
.................... #device PIC16F887 |
.................... #list |
.................... |
.................... #device adc=8 |
.................... |
.................... #FUSES NOWDT //No Watch Dog Timer |
.................... #FUSES INTRC //Internal RC Osc |
.................... #FUSES NOPUT //No Power Up Timer |
.................... #FUSES MCLR //Master Clear pin enabled |
.................... #FUSES NOPROTECT //Code not protected from reading |
.................... #FUSES NOCPD //No EE protection |
.................... #FUSES NOBROWNOUT //No brownout reset |
.................... #FUSES IESO //Internal External Switch Over mode enabled |
.................... #FUSES FCMEN //Fail-safe clock monitor enabled |
.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
.................... #FUSES NODEBUG //No Debug mode for ICD |
.................... #FUSES NOWRT //Program memory not write protected |
.................... #FUSES BORV40 //Brownout reset at 4.0V |
.................... |
.................... #use delay(clock=8000000) |
* |
0381: MOVLW 28 |
0382: MOVWF 04 |
0383: BCF 03.7 |
0384: MOVF 00,W |
0385: BTFSC 03.2 |
0386: GOTO 394 |
0387: MOVLW 02 |
0388: MOVWF 78 |
0389: CLRF 77 |
038A: DECFSZ 77,F |
038B: GOTO 38A |
038C: DECFSZ 78,F |
038D: GOTO 389 |
038E: MOVLW 97 |
038F: MOVWF 77 |
0390: DECFSZ 77,F |
0391: GOTO 390 |
0392: DECFSZ 00,F |
0393: GOTO 387 |
0394: BCF 0A.3 |
0395: BCF 0A.4 |
0396: GOTO 476 (RETURN) |
.................... |
.................... |
.................... |
.................... #define PIN_SDA PIN_C4 |
.................... #define PIN_SCL PIN_C3 |
.................... #use i2c(master, sda=PIN_SDA, scl=PIN_SCL) //I2C |
* |
0041: MOVLW 08 |
0042: MOVWF 78 |
0043: NOP |
0044: BCF 07.3 |
0045: BCF 20.3 |
0046: MOVF 20,W |
0047: BSF 03.5 |
0048: MOVWF 07 |
0049: NOP |
004A: BCF 03.5 |
004B: RLF 2F,F |
004C: BCF 07.4 |
004D: BTFSS 03.0 |
004E: GOTO 055 |
004F: BSF 20.4 |
0050: MOVF 20,W |
0051: BSF 03.5 |
0052: MOVWF 07 |
0053: GOTO 059 |
0054: BCF 03.5 |
0055: BCF 20.4 |
0056: MOVF 20,W |
0057: BSF 03.5 |
0058: MOVWF 07 |
0059: NOP |
005A: BCF 03.5 |
005B: BSF 20.3 |
005C: MOVF 20,W |
005D: BSF 03.5 |
005E: MOVWF 07 |
005F: BCF 03.5 |
0060: BTFSS 07.3 |
0061: GOTO 060 |
0062: DECFSZ 78,F |
0063: GOTO 043 |
0064: NOP |
0065: BCF 07.3 |
0066: BCF 20.3 |
0067: MOVF 20,W |
0068: BSF 03.5 |
0069: MOVWF 07 |
006A: NOP |
006B: BCF 03.5 |
006C: BSF 20.4 |
006D: MOVF 20,W |
006E: BSF 03.5 |
006F: MOVWF 07 |
0070: NOP |
0071: NOP |
0072: BCF 03.5 |
0073: BSF 20.3 |
0074: MOVF 20,W |
0075: BSF 03.5 |
0076: MOVWF 07 |
0077: BCF 03.5 |
0078: BTFSS 07.3 |
0079: GOTO 078 |
007A: CLRF 78 |
007B: NOP |
007C: BTFSC 07.4 |
007D: BSF 78.0 |
007E: BCF 07.3 |
007F: BCF 20.3 |
0080: MOVF 20,W |
0081: BSF 03.5 |
0082: MOVWF 07 |
0083: BCF 03.5 |
0084: BCF 07.4 |
0085: BCF 20.4 |
0086: MOVF 20,W |
0087: BSF 03.5 |
0088: MOVWF 07 |
0089: BCF 03.5 |
008A: RETURN |
* |
0130: MOVLW 08 |
0131: MOVWF 30 |
0132: MOVF 77,W |
0133: MOVWF 31 |
0134: BSF 20.4 |
0135: MOVF 20,W |
0136: BSF 03.5 |
0137: MOVWF 07 |
0138: NOP |
0139: BCF 03.5 |
013A: BSF 20.3 |
013B: MOVF 20,W |
013C: BSF 03.5 |
013D: MOVWF 07 |
013E: BCF 03.5 |
013F: BTFSS 07.3 |
0140: GOTO 13F |
0141: BTFSC 07.4 |
0142: BSF 03.0 |
0143: BTFSS 07.4 |
0144: BCF 03.0 |
0145: RLF 78,F |
0146: NOP |
0147: BCF 20.3 |
0148: MOVF 20,W |
0149: BSF 03.5 |
014A: MOVWF 07 |
014B: BCF 03.5 |
014C: BCF 07.3 |
014D: DECFSZ 30,F |
014E: GOTO 134 |
014F: BSF 20.4 |
0150: MOVF 20,W |
0151: BSF 03.5 |
0152: MOVWF 07 |
0153: NOP |
0154: BCF 03.5 |
0155: BCF 07.4 |
0156: MOVF 31,W |
0157: BTFSC 03.2 |
0158: GOTO 15E |
0159: BCF 20.4 |
015A: MOVF 20,W |
015B: BSF 03.5 |
015C: MOVWF 07 |
015D: BCF 03.5 |
015E: NOP |
015F: BSF 20.3 |
0160: MOVF 20,W |
0161: BSF 03.5 |
0162: MOVWF 07 |
0163: BCF 03.5 |
0164: BTFSS 07.3 |
0165: GOTO 164 |
0166: NOP |
0167: BCF 07.3 |
0168: BCF 20.3 |
0169: MOVF 20,W |
016A: BSF 03.5 |
016B: MOVWF 07 |
016C: NOP |
016D: BCF 03.5 |
016E: BCF 07.4 |
016F: BCF 20.4 |
0170: MOVF 20,W |
0171: BSF 03.5 |
0172: MOVWF 07 |
0173: BCF 03.5 |
0174: RETURN |
.................... #use rs232(baud=9600,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
* |
00C6: BCF 20.7 |
00C7: MOVF 20,W |
00C8: BSF 03.5 |
00C9: MOVWF 07 |
00CA: BCF 03.5 |
00CB: BCF 07.7 |
00CC: MOVLW 08 |
00CD: MOVWF 78 |
00CE: GOTO 0CF |
00CF: NOP |
00D0: BSF 78.7 |
00D1: GOTO 0E0 |
00D2: BCF 78.7 |
00D3: RRF 30,F |
00D4: BTFSC 03.0 |
00D5: BSF 07.7 |
00D6: BTFSS 03.0 |
00D7: BCF 07.7 |
00D8: BSF 78.6 |
00D9: GOTO 0E0 |
00DA: BCF 78.6 |
00DB: DECFSZ 78,F |
00DC: GOTO 0D3 |
00DD: GOTO 0DE |
00DE: NOP |
00DF: BSF 07.7 |
00E0: MOVLW 3F |
00E1: MOVWF 04 |
00E2: DECFSZ 04,F |
00E3: GOTO 0E2 |
00E4: NOP |
00E5: BTFSC 78.7 |
00E6: GOTO 0D2 |
00E7: BTFSC 78.6 |
00E8: GOTO 0DA |
00E9: RETURN |
.................... #include <math.h> |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... //// (C) Copyright 1996,2008 Custom Computer Services //// |
.................... //// This source code may only be used by licensed users of the CCS C //// |
.................... //// compiler. This source code may only be distributed to other //// |
.................... //// licensed users of the CCS C compiler. No other use, reproduction //// |
.................... //// or distribution is permitted without written permission. //// |
.................... //// Derivative programs created using this software in object code //// |
.................... //// form are not restricted in any way. //// |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... //// //// |
.................... //// History: //// |
.................... //// * 9/20/2001 : Improvments are made to sin/cos code. //// |
.................... //// The code now is small, much faster, //// |
.................... //// and more accurate. //// |
.................... //// * 2/21/2007 : Compiler handles & operator differently and does |
.................... //// not return generic (int8 *) so type cast is done //// |
.................... //// //// |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... |
.................... #ifndef MATH_H |
.................... #define MATH_H |
.................... |
.................... #ifdef PI |
.................... #undef PI |
.................... #endif |
.................... #define PI 3.1415926535897932 |
.................... |
.................... |
.................... #define SQRT2 1.4142135623730950 |
.................... |
.................... //float const ps[4] = {5.9304945, 21.125224, 8.9403076, 0.29730279}; |
.................... //float const qs[4] = {1.0000000, 15.035723, 17.764134, 2.4934718}; |
.................... |
.................... ///////////////////////////// Round Functions ////////////////////////////// |
.................... |
.................... float32 CEIL_FLOOR(float32 x, unsigned int8 n) |
.................... { |
.................... float32 y, res; |
.................... unsigned int16 l; |
.................... int1 s; |
.................... |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y <= 32768.0) |
.................... res = (float32)(unsigned int16)y; |
.................... |
.................... else if (y < 10000000.0) |
.................... { |
.................... l = (unsigned int16)(y/32768.0); |
.................... y = 32768.0*(y/32768.0 - (float32)l); |
.................... res = 32768.0*(float32)l; |
.................... res += (float32)(unsigned int16)y; |
.................... } |
.................... |
.................... else |
.................... res = y; |
.................... |
.................... y = y - (float32)(unsigned int16)y; |
.................... |
.................... if (s) |
.................... res = -res; |
.................... |
.................... if (y != 0) |
.................... { |
.................... if (s == 1 && n == 0) |
.................... res -= 1.0; |
.................... |
.................... if (s == 0 && n == 1) |
.................... res += 1.0; |
.................... } |
.................... if (x == 0) |
.................... res = 0; |
.................... |
.................... return (res); |
.................... } |
.................... |
.................... // Overloaded Functions to take care for new Data types in PCD |
.................... // Overloaded function CEIL_FLOOR() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 CEIL_FLOOR(float48 x, unsigned int8 n) |
.................... { |
.................... float48 y, res; |
.................... unsigned int16 l; |
.................... int1 s; |
.................... |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y <= 32768.0) |
.................... res = (float48)(unsigned int16)y; |
.................... |
.................... else if (y < 10000000.0) |
.................... { |
.................... l = (unsigned int16)(y/32768.0); |
.................... y = 32768.0*(y/32768.0 - (float48)l); |
.................... res = 32768.0*(float32)l; |
.................... res += (float48)(unsigned int16)y; |
.................... } |
.................... |
.................... else |
.................... res = y; |
.................... |
.................... y = y - (float48)(unsigned int16)y; |
.................... |
.................... if (s) |
.................... res = -res; |
.................... |
.................... if (y != 0) |
.................... { |
.................... if (s == 1 && n == 0) |
.................... res -= 1.0; |
.................... |
.................... if (s == 0 && n == 1) |
.................... res += 1.0; |
.................... } |
.................... if (x == 0) |
.................... res = 0; |
.................... |
.................... return (res); |
.................... } |
.................... |
.................... |
.................... // Overloaded function CEIL_FLOOR() for data type - Float64 |
.................... float64 CEIL_FLOOR(float64 x, unsigned int8 n) |
.................... { |
.................... float64 y, res; |
.................... unsigned int16 l; |
.................... int1 s; |
.................... |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y <= 32768.0) |
.................... res = (float64)(unsigned int16)y; |
.................... |
.................... else if (y < 10000000.0) |
.................... { |
.................... l = (unsigned int16)(y/32768.0); |
.................... y = 32768.0*(y/32768.0 - (float64)l); |
.................... res = 32768.0*(float64)l; |
.................... res += (float64)(unsigned int16)y; |
.................... } |
.................... |
.................... else |
.................... res = y; |
.................... |
.................... y = y - (float64)(unsigned int16)y; |
.................... |
.................... if (s) |
.................... res = -res; |
.................... |
.................... if (y != 0) |
.................... { |
.................... if (s == 1 && n == 0) |
.................... res -= 1.0; |
.................... |
.................... if (s == 0 && n == 1) |
.................... res += 1.0; |
.................... } |
.................... if (x == 0) |
.................... res = 0; |
.................... |
.................... return (res); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float floor(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : rounds down the number x. |
.................... // Date : N/A |
.................... // |
.................... float32 floor(float32 x) |
.................... { |
.................... return CEIL_FLOOR(x, 0); |
.................... } |
.................... // Following 2 functions are overloaded functions of floor() for PCD |
.................... // Overloaded function floor() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 floor(float48 x) |
.................... { |
.................... return CEIL_FLOOR(x, 0); |
.................... } |
.................... |
.................... // Overloaded function floor() for data type - Float64 |
.................... float64 floor(float64 x) |
.................... { |
.................... return CEIL_FLOOR(x, 0); |
.................... } |
.................... #endif |
.................... |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float ceil(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : rounds up the number x. |
.................... // Date : N/A |
.................... // |
.................... float32 ceil(float32 x) |
.................... { |
.................... return CEIL_FLOOR(x, 1); |
.................... } |
.................... // Following 2 functions are overloaded functions of ceil() for PCD |
.................... // Overloaded function ceil() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 ceil(float48 x) |
.................... { |
.................... return CEIL_FLOOR(x, 1); |
.................... } |
.................... |
.................... // Overloaded function ceil() for data type - Float64 |
.................... float64 ceil(float64 x) |
.................... { |
.................... return CEIL_FLOOR(x, 1); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float fabs(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : Computes the absolute value of floating point number x |
.................... // Returns : returns the absolute value of x |
.................... // Date : N/A |
.................... // |
.................... #define fabs abs |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float fmod(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : Computes the floating point remainder of x/y |
.................... // Returns : returns the value of x= i*y, for some integer i such that, if y |
.................... // is non zero, the result has the same isgn of x na dmagnitude less than the |
.................... // magnitude of y. If y is zero then a domain error occurs. |
.................... // Date : N/A |
.................... // |
.................... |
.................... float fmod(float32 x,float32 y) |
.................... { |
.................... float32 i; |
.................... if (y!=0.0) |
.................... { |
.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y); |
.................... return(x-(i*y)); |
.................... } |
.................... else |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... } |
.................... //Overloaded function for fmod() for PCD |
.................... // Overloaded function fmod() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 fmod(float48 x,float48 y) |
.................... { |
.................... float48 i; |
.................... if (y!=0.0) |
.................... { |
.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y); |
.................... return(x-(i*y)); |
.................... } |
.................... else |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... } |
.................... // Overloaded function fmod() for data type - Float64 |
.................... float64 fmod(float64 x,float64 y) |
.................... { |
.................... float64 i; |
.................... if (y!=0.0) |
.................... { |
.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y); |
.................... return(x-(i*y)); |
.................... } |
.................... else |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... } |
.................... #endif |
.................... //////////////////// Exponential and logarithmic functions //////////////////// |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float exp(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the value (e^x) |
.................... // Date : N/A |
.................... // |
.................... #define LN2 0.6931471805599453 |
.................... |
.................... float const pe[6] = {0.000207455774, 0.00127100575, 0.00965065093, |
.................... 0.0554965651, 0.240227138, 0.693147172}; |
.................... |
.................... |
.................... float32 exp(float32 x) |
.................... { |
.................... float32 y, res, r; |
.................... #if defined(__PCD__) |
.................... int8 data1; |
.................... #endif |
.................... signed int8 n; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x > 88.722838) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... n = (signed int16)(x/LN2); |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... n = -n; |
.................... y = -y; |
.................... } |
.................... |
.................... res = 0.0; |
.................... #if !defined(__PCD__) |
.................... *((unsigned int8 *)(&res)) = n + 0x7F; |
.................... #endif |
.................... |
.................... #if defined(__PCD__) // Takes care of IEEE format for PCD |
.................... data1 = n+0x7F; |
.................... if(bit_test(data1,0)) |
.................... bit_set(*(((unsigned int8 *)(&res)+2)),7); |
.................... rotate_right(&data1,1); |
.................... bit_clear(data1,7); |
.................... *(((unsigned int8 *)(&res)+3)) = data1; |
.................... #endif |
.................... |
.................... y = y/LN2 - (float32)n; |
.................... |
.................... r = pe[0]*y + pe[1]; |
.................... r = r*y + pe[2]; |
.................... r = r*y + pe[3]; |
.................... r = r*y + pe[4]; |
.................... r = r*y + pe[5]; |
.................... |
.................... res = res*(1.0 + y*r); |
.................... |
.................... if (s) |
.................... res = 1.0/res; |
.................... return(res); |
.................... } |
.................... |
.................... |
.................... //Overloaded function for exp() for PCD |
.................... // Overloaded function exp() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 exp(float48 x) |
.................... { |
.................... float48 y, res, r; |
.................... int8 data1; |
.................... signed int8 n; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x > 88.722838) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... n = (signed int16)(x/LN2); |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... n = -n; |
.................... y = -y; |
.................... } |
.................... |
.................... res = 0.0; |
.................... |
.................... data1 = n+0x7F; |
.................... if(bit_test(data1,0)) |
.................... bit_set(*(((unsigned int8 *)(&res)+4)),7); |
.................... rotate_right(&data1,1); |
.................... bit_clear(data1,7); |
.................... *(((unsigned int8 *)(&res)+5)) = data1; |
.................... |
.................... y = y/LN2 - (float48)n; |
.................... |
.................... r = pe[0]*y + pe[1]; |
.................... r = r*y + pe[2]; |
.................... r = r*y + pe[3]; |
.................... r = r*y + pe[4]; |
.................... r = r*y + pe[5]; |
.................... |
.................... res = res*(1.0 + y*r); |
.................... |
.................... if (s) |
.................... res = 1.0/res; |
.................... return(res); |
.................... } |
.................... |
.................... // Overloaded function exp() for data type - Float64 |
.................... float64 exp(float64 x) |
.................... { |
.................... float64 y, res, r; |
.................... unsigned int16 data1, data2; |
.................... unsigned int16 *p; |
.................... signed int16 n; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x > 709.7827128) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... n = (signed int16)(x/LN2); |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... n = -n; |
.................... y = -y; |
.................... } |
.................... |
.................... res = 0.0; |
.................... |
.................... #if !defined(__PCD__) |
.................... *((unsigned int16 *)(&res)) = n + 0x7F; |
.................... #endif |
.................... p= (((unsigned int16 *)(&res))+3); |
.................... data1 = *p; |
.................... data2 = *p; |
.................... data1 = n + 0x3FF; |
.................... data1 = data1 <<4; |
.................... if(bit_test(data2,15)) |
.................... bit_set(data1,15); |
.................... data2 = data2 & 0x000F; |
.................... data1 ^= data2; |
.................... |
.................... *(((unsigned int16 *)(&res)+3)) = data1; |
.................... |
.................... |
.................... y = y/LN2 - (float64)n; |
.................... |
.................... r = pe[0]*y + pe[1]; |
.................... r = r*y + pe[2]; |
.................... r = r*y + pe[3]; |
.................... r = r*y + pe[4]; |
.................... r = r*y + pe[5]; |
.................... |
.................... res = res*(1.0 + y*r); |
.................... |
.................... if (s) |
.................... res = 1.0/res; |
.................... return(res); |
.................... } |
.................... |
.................... #ENDIF |
.................... |
.................... |
.................... /************************************************************/ |
.................... |
.................... float32 const pl[4] = {0.45145214, -9.0558803, 26.940971, -19.860189}; |
.................... float32 const ql[4] = {1.0000000, -8.1354259, 16.780517, -9.9300943}; |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float log(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the the natural log of x |
.................... // Date : N/A |
.................... // |
.................... float32 log(float32 x) |
.................... { |
.................... float32 y, res, r, y2; |
.................... #if defined(__PCD__) |
.................... unsigned int8 data1,data2; |
.................... #endif |
.................... signed int8 n; |
.................... #ifdef _ERRNO |
.................... if(x <0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... if(x ==0) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... y = x; |
.................... |
.................... if (y != 1.0) |
.................... { |
.................... #if !defined(__PCD__) |
.................... *((unsigned int8 *)(&y)) = 0x7E; |
.................... #endif |
.................... |
.................... #if defined(__PCD__) // Takes care of IEEE format |
.................... data2 = *(((unsigned int8 *)(&y))+3); |
.................... *(((unsigned int8 *)(&y))+3) = 0x3F; |
.................... data1 = *(((unsigned int8 *)(&y))+2); |
.................... bit_clear(data1,7); |
.................... *(((unsigned int8 *)(&y))+2) = data1; |
.................... if(bit_test(data2,7)) |
.................... bit_set(*(((unsigned int8 *)(&y))+3),7); |
.................... #endif |
.................... |
.................... y = (y - 1.0)/(y + 1.0); |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pl[0]*y2 + pl[1]; |
.................... res = res*y2 + pl[2]; |
.................... res = res*y2 + pl[3]; |
.................... |
.................... r = ql[0]*y2 + ql[1]; |
.................... r = r*y2 + ql[2]; |
.................... r = r*y2 + ql[3]; |
.................... |
.................... res = y*res/r; |
.................... #if !defined(__PCD__) |
.................... n = *((unsigned int8 *)(&x)) - 0x7E; |
.................... #endif |
.................... #if defined(__PCD__) |
.................... data1 = *(((unsigned int8 *)(&x)+3)); |
.................... rotate_left(&data1,1); |
.................... data2 = *(((unsigned int8 *)(&x)+2)); |
.................... if(bit_test (data2,7)) |
.................... bit_set(data1,0); |
.................... n = data1 - 0x7E; |
.................... #endif |
.................... |
.................... if (n<0) |
.................... r = -(float32)-n; |
.................... else |
.................... r = (float32)n; |
.................... |
.................... res += r*LN2; |
.................... } |
.................... |
.................... else |
.................... res = 0.0; |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... //Overloaded function for log() for PCD |
.................... // Overloaded function log() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 log(float48 x) |
.................... { |
.................... float48 y, res, r, y2; |
.................... unsigned int8 data1,data2; |
.................... signed int8 n; |
.................... #ifdef _ERRNO |
.................... if(x <0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... if(x ==0) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... y = x; |
.................... |
.................... if (y != 1.0) |
.................... { |
.................... |
.................... #if !defined(__PCD__) |
.................... *((unsigned int8 *)(&y)) = 0x7E; |
.................... #endif |
.................... data2 = *(((unsigned int8 *)(&y))+5); |
.................... *(((unsigned int8 *)(&y))+5) = 0x3F; |
.................... data1 = *(((unsigned int8 *)(&y))+4); |
.................... bit_clear(data1,7); |
.................... *(((unsigned int8 *)(&y))+4) = data1; |
.................... |
.................... if(bit_test(data2,7)) |
.................... bit_set(*(((unsigned int8 *)(&y))+4),7); |
.................... y = (y - 1.0)/(y + 1.0); |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pl[0]*y2 + pl[1]; |
.................... res = res*y2 + pl[2]; |
.................... res = res*y2 + pl[3]; |
.................... |
.................... r = ql[0]*y2 + ql[1]; |
.................... r = r*y2 + ql[2]; |
.................... r = r*y2 + ql[3]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... data1 = *(((unsigned int8 *)(&x)+5)); |
.................... rotate_left(&data1,1); |
.................... data2 = *(((unsigned int8 *)(&x)+4)); |
.................... if(bit_test (data2,7)) |
.................... bit_set(data1,0); |
.................... |
.................... n = data1 - 0x7E; |
.................... |
.................... if (n<0) |
.................... r = -(float48)-n; |
.................... else |
.................... r = (float48)n; |
.................... |
.................... res += r*LN2; |
.................... } |
.................... |
.................... else |
.................... res = 0.0; |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... // Overloaded function log() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float32 const pl_64[4] = {0.45145214, -9.0558803, 26.940971, -19.860189}; |
.................... float32 const ql_64[4] = {1.0000000, -8.1354259, 16.780517, -9.9300943}; |
.................... #endif |
.................... float64 log(float64 x) |
.................... { |
.................... float64 y, res, r, y2; |
.................... unsigned int16 data1,data2; |
.................... unsigned int16 *p; |
.................... signed int16 n; |
.................... #ifdef _ERRNO |
.................... if(x <0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... if(x ==0) |
.................... { |
.................... errno=ERANGE; |
.................... return(0); |
.................... } |
.................... #endif |
.................... y = x; |
.................... |
.................... if (y != 1.0) |
.................... { |
.................... #if !defined(__PCD__) |
.................... *((unsigned int8 *)(&y)) = 0x7E; |
.................... #endif |
.................... p= (((unsigned int16 *)(&y))+3); |
.................... data1 = *p; |
.................... data2 = *p; |
.................... data1 = 0x3FE; |
.................... data1 = data1 <<4; |
.................... if(bit_test (data2,15)) |
.................... bit_set(data1,15); |
.................... data2 = data2 & 0x000F; |
.................... data1 ^=data2; |
.................... |
.................... *p = data1; |
.................... |
.................... y = (y - 1.0)/(y + 1.0); |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pl_64[0]*y2 + pl_64[1]; |
.................... res = res*y2 + pl_64[2]; |
.................... res = res*y2 + pl_64[3]; |
.................... |
.................... r = ql_64[0]*y2 + ql_64[1]; |
.................... r = r*y2 + ql_64[2]; |
.................... r = r*y2 + ql_64[3]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... p= (((unsigned int16 *)(&x))+3); |
.................... data1 = *p; |
.................... bit_clear(data1,15); |
.................... data1 = data1 >>4; |
.................... n = data1 - 0x3FE; |
.................... |
.................... |
.................... if (n<0) |
.................... r = -(float64)-n; |
.................... else |
.................... r = (float64)n; |
.................... |
.................... res += r*LN2; |
.................... } |
.................... |
.................... else |
.................... res = 0.0; |
.................... |
.................... return(res); |
.................... } |
.................... #endif |
.................... |
.................... |
.................... #define LN10 2.3025850929940456 |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float log10(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the the log base 10 of x |
.................... // Date : N/A |
.................... // |
.................... float32 log10(float32 x) |
.................... { |
.................... float32 r; |
.................... |
.................... r = log(x); |
.................... r = r/LN10; |
.................... return(r); |
.................... } |
.................... |
.................... //Overloaded functions for log10() for PCD |
.................... // Overloaded function log10() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 log10(float48 x) |
.................... { |
.................... float48 r; |
.................... |
.................... r = log(x); |
.................... r = r/LN10; |
.................... return(r); |
.................... } |
.................... |
.................... // Overloaded function log10() for data type - Float64 |
.................... float64 log10(float64 x) |
.................... { |
.................... float64 r; |
.................... |
.................... r = log(x); |
.................... r = r/LN10; |
.................... return(r); |
.................... } |
.................... #endif |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float modf(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description :breaks the argument value int integral and fractional parts, |
.................... // ach of which have the same sign as the argument. It stores the integral part |
.................... // as a float in the object pointed to by the iptr |
.................... // Returns : returns the signed fractional part of value. |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 modf(float32 value,float32 *iptr) |
.................... { |
.................... *iptr=(value < 0.0)? ceil(value): floor(value); |
.................... return(value - *iptr); |
.................... } |
.................... //Overloaded functions for modf() for PCD |
.................... // Overloaded function modf() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 modf(float48 value,float48 *iptr) |
.................... { |
.................... *iptr=(value < 0.0)? ceil(value): floor(value); |
.................... return(value - *iptr); |
.................... } |
.................... // Overloaded function modf() for data type - Float64 |
.................... float64 modf(float64 value,float64 *iptr) |
.................... { |
.................... *iptr=(value < 0.0)? ceil(value): floor(value); |
.................... return(value - *iptr); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float pwr(float x,float y) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the value (x^y) |
.................... // Date : N/A |
.................... // Note : 0 is returned when the function will generate an imaginary number |
.................... // |
.................... float32 pwr(float32 x,float32 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... //Overloaded functions for pwr() for PCD |
.................... // Overloaded function pwr() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 pwr(float48 x,float48 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... // Overloaded function pwr() for data type - Float64 |
.................... float64 pwr(float64 x,float64 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... #endif |
.................... |
.................... //////////////////// Power functions //////////////////// |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float pow(float x,float y) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the value (x^y) |
.................... // Date : N/A |
.................... // Note : 0 is returned when the function will generate an imaginary number |
.................... // |
.................... float32 pow(float32 x,float32 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... //Overloaded functions for pow() for PCD |
.................... // Overloaded function for pow() data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 pow(float48 x,float48 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... |
.................... // Overloaded function pow() for data type - Float64 |
.................... float64 pow(float64 x,float64 y) |
.................... { |
.................... if(0 > x && fmod(y, 1) == 0) { |
.................... if(fmod(y, 2) == 0) { |
.................... return (exp(log(-x) * y)); |
.................... } else { |
.................... return (-exp(log(-x) * y)); |
.................... } |
.................... } else if(0 > x && fmod(y, 1) != 0) { |
.................... return 0; |
.................... } else { |
.................... if(x != 0 || 0 >= y) { |
.................... return (exp(log(x) * y)); |
.................... } |
.................... } |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float sqrt(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the square root of x |
.................... // Date : N/A |
.................... // |
.................... float32 sqrt(float32 x) |
.................... { |
.................... float32 y, res; |
.................... #if defined(__PCD__) |
.................... unsigned int16 data1,data2; |
.................... #endif |
.................... BYTE *p; |
.................... |
.................... #ifdef _ERRNO |
.................... if(x < 0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... |
.................... if( x<=0.0) |
.................... return(0.0); |
.................... |
.................... y=x; |
.................... |
.................... #if !defined(__PCD__) |
.................... p=&y; |
.................... (*p)=(BYTE)((((unsigned int16)(*p)) + 127) >> 1); |
.................... #endif |
.................... |
.................... #if defined(__PCD__) |
.................... p = (((unsigned int8 *)(&y))+3); |
.................... data1 = *(((unsigned int8 *)(&y))+3); |
.................... data2 = *(((unsigned int8 *)(&y))+2); |
.................... rotate_left(&data1,1); |
.................... if(bit_test(data2,7)) |
.................... bit_set(data1,0); |
.................... data1 = ((data1+127) >>1); |
.................... bit_clear(data2,7); |
.................... if(bit_test(data1,0)) |
.................... bit_set(data2,7); |
.................... data1 = data1 >>1; |
.................... *(((unsigned int8 *)(&y))+3) = data1; |
.................... *(((unsigned int8 *)(&y))+2) = data2; |
.................... |
.................... #endif |
.................... |
.................... do { |
.................... res=y; |
.................... y+=(x/y); |
.................... |
.................... #if !defined(__PCD__) |
.................... (*p)--; |
.................... #endif |
.................... |
.................... #if defined(__PCD__) |
.................... data1 = *(((unsigned int8 *)(&y))+3); |
.................... data2 = *(((unsigned int8 *)(&y))+2); |
.................... rotate_left(&data1,1); |
.................... if(bit_test(data2,7)) |
.................... bit_set(data1,0); |
.................... data1--; |
.................... bit_clear(data2,7); |
.................... if(bit_test(data1,0)) |
.................... bit_set(data2,7); |
.................... data1 = data1 >>1; |
.................... *(((unsigned int8 *)(&y))+3) = data1; |
.................... *(((unsigned int8 *)(&y))+2) = data2; |
.................... |
.................... #endif |
.................... } while(res != y); |
.................... |
.................... return(res); |
.................... } |
.................... //Overloaded functions for sqrt() for PCD |
.................... // Overloaded function sqrt() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 sqrt(float48 x) |
.................... { |
.................... float48 y, res; |
.................... unsigned int16 data1,data2; |
.................... BYTE *p; |
.................... |
.................... #ifdef _ERRNO |
.................... if(x < 0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... |
.................... if( x<=0.0) |
.................... return(0.0); |
.................... |
.................... y=x; |
.................... |
.................... #if !defined(__PCD__) |
.................... p=&y; |
.................... (*p)=(BYTE)((((unsigned int16)(*p)) + 127) >> 1); |
.................... #endif |
.................... |
.................... #if defined(__PCD__) |
.................... p = (((unsigned int8 *)(&y))+5); |
.................... data1 = *(((unsigned int8 *)(&y))+5); |
.................... data2 = *(((unsigned int8 *)(&y))+4); |
.................... rotate_left(&data1,1); |
.................... if(bit_test(data2,7)) |
.................... bit_set(data1,0); |
.................... data1 = ((data1+127) >>1); |
.................... bit_clear(data2,7); |
.................... if(bit_test(data1,0)) |
.................... bit_set(data2,7); |
.................... data1 = data1 >>1; |
.................... *(((unsigned int8 *)(&y))+5) = data1; |
.................... *(((unsigned int8 *)(&y))+4) = data2; |
.................... |
.................... #endif |
.................... |
.................... do { |
.................... res=y; |
.................... y+=(x/y); |
.................... |
.................... #if !defined(__PCD__) |
.................... (*p)--; |
.................... #endif |
.................... |
.................... data1 = *(((unsigned int8 *)(&y))+5); |
.................... data2 = *(((unsigned int8 *)(&y))+4); |
.................... rotate_left(&data1,1); |
.................... if(bit_test(data2,7)) |
.................... bit_set(data1,0); |
.................... data1--; |
.................... bit_clear(data2,7); |
.................... if(bit_test(data1,0)) |
.................... bit_set(data2,7); |
.................... data1 = data1 >>1; |
.................... *(((unsigned int8 *)(&y))+5) = data1; |
.................... *(((unsigned int8 *)(&y))+4) = data2; |
.................... |
.................... } while(res != y); |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... // Overloaded function sqrt() for data type - Float64 |
.................... float64 sqrt(float64 x) |
.................... { |
.................... float64 y, res; |
.................... unsigned int16 *p; |
.................... unsigned int16 temp1,temp2; |
.................... |
.................... #ifdef _ERRNO |
.................... if(x < 0) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... |
.................... if( x<=0.0) |
.................... return(0.0); |
.................... |
.................... y=x; |
.................... p= (((unsigned int16 *)(&y))+3); |
.................... temp1 = *p; |
.................... temp2 = *p; |
.................... bit_clear(temp1,15); |
.................... temp1 = (temp1>>4)+1023; |
.................... temp1 = temp1 >> 1; |
.................... temp1 = (temp1<<4) & 0xFFF0; |
.................... if(bit_test(temp2,15)) |
.................... bit_set(temp1,15); |
.................... temp2 = temp2 & 0x000F; |
.................... temp1 ^= temp2; |
.................... |
.................... (*p) = temp1; |
.................... |
.................... do { |
.................... res=y; |
.................... y+=(x/y); |
.................... temp1 = *p; |
.................... temp2 = *p; |
.................... bit_clear(temp1,15); |
.................... temp1 = (temp1>>4); |
.................... temp1--; |
.................... temp1 = (temp1<<4) & 0xFFF0; |
.................... if(bit_test(temp2,15)) |
.................... bit_set(temp1,15); |
.................... temp2 = temp2 & 0x000F; |
.................... temp1 ^= temp2; |
.................... (*p) = temp1; |
.................... |
.................... } while(res != y); |
.................... |
.................... return(res); |
.................... } |
.................... #endif |
.................... |
.................... ////////////////////////////// Trig Functions ////////////////////////////// |
.................... #ifdef PI_DIV_BY_TWO |
.................... #undef PI_DIV_BY_TWO |
.................... #endif |
.................... #define PI_DIV_BY_TWO 1.5707963267948966 |
.................... #ifdef TWOBYPI |
.................... #undef TWOBYPI |
.................... #define TWOBYPI 0.6366197723675813 |
.................... #endif |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float cos(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the cosine value of the angle x, which is in radian |
.................... // Date : 9/20/2001 |
.................... // |
.................... float32 cos(float32 x) |
.................... { |
.................... float32 y, t, t2 = 1.0; |
.................... unsigned int8 quad, i; |
.................... float32 frac; |
.................... float32 p[6] = { //by the series definition for cosine |
.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ) |
.................... 0.04166666666667, |
.................... -0.00138888888889, |
.................... 0.00002480158730, |
.................... -0.00000027557319, |
.................... 0.00000000208767, |
.................... //-0.00000000001147, |
.................... // 0.00000000000005 |
.................... }; |
.................... |
.................... if (x < 0) x = -x; // absolute value of input |
.................... |
.................... quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant |
.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input |
.................... quad = quad % 4; // quadrant (0 to 3) |
.................... |
.................... if (quad == 0 || quad == 2) |
.................... t = frac * PI_DIV_BY_TWO; |
.................... else if (quad == 1) |
.................... t = (1-frac) * PI_DIV_BY_TWO; |
.................... else // should be 3 |
.................... t = (frac-1) * PI_DIV_BY_TWO; |
.................... |
.................... y = 1.0; |
.................... t = t * t; |
.................... for (i = 0; i <= 5; i++) |
.................... { |
.................... t2 = t2 * t; |
.................... y = y + p[i] * t2; |
.................... } |
.................... |
.................... if (quad == 2 || quad == 1) |
.................... y = -y; // correct sign |
.................... |
.................... return (y); |
.................... } |
.................... |
.................... |
.................... //Overloaded functions for cos() for PCD |
.................... // Overloaded function cos() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 cos(float48 x) |
.................... { |
.................... float48 y, t, t2 = 1.0; |
.................... unsigned int8 quad, i; |
.................... float48 frac; |
.................... float48 p[6] = { //by the series definition for cosine |
.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ) |
.................... 0.04166666666667, |
.................... -0.00138888888889, |
.................... 0.00002480158730, |
.................... -0.00000027557319, |
.................... 0.00000000208767, |
.................... //-0.00000000001147, |
.................... // 0.00000000000005 |
.................... }; |
.................... |
.................... if (x < 0) x = -x; // absolute value of input |
.................... |
.................... quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant |
.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input |
.................... quad = quad % 4; // quadrant (0 to 3) |
.................... |
.................... if (quad == 0 || quad == 2) |
.................... t = frac * PI_DIV_BY_TWO; |
.................... else if (quad == 1) |
.................... t = (1-frac) * PI_DIV_BY_TWO; |
.................... else // should be 3 |
.................... t = (frac-1) * PI_DIV_BY_TWO; |
.................... |
.................... y = 0.999999999781; |
.................... t = t * t; |
.................... for (i = 0; i <= 5; i++) |
.................... { |
.................... t2 = t2 * t; |
.................... y = y + p[i] * t2; |
.................... } |
.................... |
.................... if (quad == 2 || quad == 1) |
.................... y = -y; // correct sign |
.................... |
.................... return (y); |
.................... } |
.................... |
.................... // Overloaded function cos() for data type - Float48 |
.................... float64 cos(float64 x) |
.................... { |
.................... float64 y, t, t2 = 1.0; |
.................... unsigned int8 quad, i; |
.................... float64 frac; |
.................... float64 p[6] = { //by the series definition for cosine |
.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ) |
.................... 0.04166666666667, |
.................... -0.00138888888889, |
.................... 0.00002480158730, |
.................... -0.00000027557319, |
.................... 0.00000000208767, |
.................... //-0.00000000001147, |
.................... // 0.00000000000005 |
.................... }; |
.................... |
.................... if (x < 0) x = -x; // absolute value of input |
.................... |
.................... quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant |
.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input |
.................... quad = quad % 4; // quadrant (0 to 3) |
.................... |
.................... if (quad == 0 || quad == 2) |
.................... t = frac * PI_DIV_BY_TWO; |
.................... else if (quad == 1) |
.................... t = (1-frac) * PI_DIV_BY_TWO; |
.................... else // should be 3 |
.................... t = (frac-1) * PI_DIV_BY_TWO; |
.................... |
.................... y = 0.999999999781; |
.................... t = t * t; |
.................... for (i = 0; i <= 5; i++) |
.................... { |
.................... t2 = t2 * t; |
.................... y = y + p[i] * t2; |
.................... } |
.................... |
.................... if (quad == 2 || quad == 1) |
.................... y = -y; // correct sign |
.................... |
.................... return (y); |
.................... } |
.................... |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float sin(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the sine value of the angle x, which is in radian |
.................... // Date : 9/20/2001 |
.................... // |
.................... float32 sin(float32 x) |
.................... { |
.................... return cos(x - PI_DIV_BY_TWO); |
.................... } |
.................... |
.................... //Overloaded functions for sin() for PCD |
.................... // Overloaded function sin() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 sin(float48 x) |
.................... { |
.................... return cos(x - PI_DIV_BY_TWO); |
.................... } |
.................... |
.................... // Overloaded function sin() for data type - Float48 |
.................... float64 sin(float64 x) |
.................... { |
.................... return cos(x - PI_DIV_BY_TWO); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float tan(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the tangent value of the angle x, which is in radian |
.................... // Date : 9/20/2001 |
.................... // |
.................... float32 tan(float32 x) |
.................... { |
.................... float32 c, s; |
.................... |
.................... c = cos(x); |
.................... if (c == 0.0) |
.................... return (1.0e+36); |
.................... |
.................... s = sin(x); |
.................... return(s/c); |
.................... } |
.................... //Overloaded functions for tan() for PCD |
.................... // Overloaded function tan() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 tan(float48 x) |
.................... { |
.................... float48 c, s; |
.................... |
.................... c = cos(x); |
.................... if (c == 0.0) |
.................... return (1.0e+36); |
.................... |
.................... s = sin(x); |
.................... return(s/c); |
.................... } |
.................... |
.................... // Overloaded function tan() for data type - Float48 |
.................... float64 tan(float64 x) |
.................... { |
.................... float64 c, s; |
.................... |
.................... c = cos(x); |
.................... if (c == 0.0) |
.................... return (1.0e+36); |
.................... |
.................... s = sin(x); |
.................... return(s/c); |
.................... } |
.................... #endif |
.................... |
.................... float32 const pas[3] = {0.49559947, -4.6145309, 5.6036290}; |
.................... float32 const qas[3] = {1.0000000, -5.5484666, 5.6036290}; |
.................... |
.................... float32 ASIN_COS(float32 x, unsigned int8 n) |
.................... { |
.................... float32 y, res, r, y2; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x <-1 || x > 1) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 0.5) |
.................... { |
.................... y = sqrt((1.0 - y)/2.0); |
.................... n += 2; |
.................... } |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pas[0]*y2 + pas[1]; |
.................... res = res*y2 + pas[2]; |
.................... |
.................... r = qas[0]*y2 + qas[1]; |
.................... r = r*y2 + qas[2]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... if (n & 2) // |x| > 0.5 |
.................... res = PI_DIV_BY_TWO - 2.0*res; |
.................... if (s) |
.................... res = -res; |
.................... if (n & 1) // take arccos |
.................... res = PI_DIV_BY_TWO - res; |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... //Overloaded functions for ASIN_COS() for PCD |
.................... // Overloaded function ASIN_COS() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 ASIN_COS(float48 x, unsigned int8 n) |
.................... { |
.................... float48 y, res, r, y2; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x <-1 || x > 1) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 0.5) |
.................... { |
.................... y = sqrt((1.0 - y)/2.0); |
.................... n += 2; |
.................... } |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pas[0]*y2 + pas[1]; |
.................... res = res*y2 + pas[2]; |
.................... |
.................... r = qas[0]*y2 + qas[1]; |
.................... r = r*y2 + qas[2]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... if (n & 2) // |x| > 0.5 |
.................... res = PI_DIV_BY_TWO - 2.0*res; |
.................... if (s) |
.................... res = -res; |
.................... if (n & 1) // take arccos |
.................... res = PI_DIV_BY_TWO - res; |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... // Overloaded function ASIN_COS() for data type - Float64 |
.................... float64 ASIN_COS(float64 x, unsigned int8 n) |
.................... { |
.................... float64 y, res, r, y2; |
.................... int1 s; |
.................... #ifdef _ERRNO |
.................... if(x <-1 || x > 1) |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... s = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 0.5) |
.................... { |
.................... y = sqrt((1.0 - y)/2.0); |
.................... n += 2; |
.................... } |
.................... |
.................... y2=y*y; |
.................... |
.................... res = pas[0]*y2 + pas[1]; |
.................... res = res*y2 + pas[2]; |
.................... |
.................... r = qas[0]*y2 + qas[1]; |
.................... r = r*y2 + qas[2]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... if (n & 2) // |x| > 0.5 |
.................... res = PI_DIV_BY_TWO - 2.0*res; |
.................... if (s) |
.................... res = -res; |
.................... if (n & 1) // take arccos |
.................... res = PI_DIV_BY_TWO - res; |
.................... |
.................... return(res); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float asin(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the arcsine value of the value x. |
.................... // Date : N/A |
.................... // |
.................... float32 asin(float32 x) |
.................... { |
.................... float32 r; |
.................... |
.................... r = ASIN_COS(x, 0); |
.................... return(r); |
.................... } |
.................... //Overloaded functions for asin() for PCD |
.................... // Overloaded function asin() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 asin(float48 x) |
.................... { |
.................... float48 r; |
.................... |
.................... r = ASIN_COS(x, 0); |
.................... return(r); |
.................... } |
.................... |
.................... // Overloaded function asin() for data type - Float64 |
.................... float64 asin(float64 x) |
.................... { |
.................... float64 r; |
.................... |
.................... r = ASIN_COS(x, 0); |
.................... return(r); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float acos(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the arccosine value of the value x. |
.................... // Date : N/A |
.................... // |
.................... float32 acos(float32 x) |
.................... { |
.................... float32 r; |
.................... |
.................... r = ASIN_COS(x, 1); |
.................... return(r); |
.................... } |
.................... //Overloaded functions for acos() for PCD |
.................... // Overloaded function acos() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 acos(float48 x) |
.................... { |
.................... float48 r; |
.................... |
.................... r = ASIN_COS(x, 1); |
.................... return(r); |
.................... } |
.................... |
.................... // Overloaded function acos() for data type - Float64 |
.................... float64 acos(float64 x) |
.................... { |
.................... float64 r; |
.................... |
.................... r = ASIN_COS(x, 1); |
.................... return(r); |
.................... } |
.................... #endif |
.................... |
.................... float32 const pat[4] = {0.17630401, 5.6710795, 22.376096, 19.818457}; |
.................... float32 const qat[4] = {1.0000000, 11.368190, 28.982246, 19.818457}; |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float atan(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : returns the arctangent value of the value x. |
.................... // Date : N/A |
.................... // |
.................... float32 atan(float32 x) |
.................... { |
.................... float32 y, res, r; |
.................... int1 s, flag; |
.................... |
.................... s = 0; |
.................... flag = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 1.0) |
.................... { |
.................... y = 1.0/y; |
.................... flag = 1; |
.................... } |
.................... |
.................... res = pat[0]*y*y + pat[1]; |
.................... res = res*y*y + pat[2]; |
.................... res = res*y*y + pat[3]; |
.................... |
.................... r = qat[0]*y*y + qat[1]; |
.................... r = r*y*y + qat[2]; |
.................... r = r*y*y + qat[3]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... |
.................... if (flag) // for |x| > 1 |
.................... res = PI_DIV_BY_TWO - res; |
.................... if (s) |
.................... res = -res; |
.................... |
.................... return(res); |
.................... } |
.................... //Overloaded functions for atan() for PCD |
.................... // Overloaded function atan() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 atan(float48 x) |
.................... { |
.................... float48 y, res, r; |
.................... int1 s, flag; |
.................... |
.................... s = 0; |
.................... flag = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 1.0) |
.................... { |
.................... y = 1.0/y; |
.................... flag = 1; |
.................... } |
.................... |
.................... res = pat[0]*y*y + pat[1]; |
.................... res = res*y*y + pat[2]; |
.................... res = res*y*y + pat[3]; |
.................... |
.................... r = qat[0]*y*y + qat[1]; |
.................... r = r*y*y + qat[2]; |
.................... r = r*y*y + qat[3]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... |
.................... if (flag) // for |x| > 1 |
.................... res = PI_DIV_BY_TWO - res; |
.................... if (s) |
.................... res = -res; |
.................... |
.................... return(res); |
.................... } |
.................... |
.................... // Overloaded function atan() for data type - Float64 |
.................... float64 atan(float64 x) |
.................... { |
.................... float64 y, res, r; |
.................... int1 s, flag; |
.................... |
.................... s = 0; |
.................... flag = 0; |
.................... y = x; |
.................... |
.................... if (x < 0) |
.................... { |
.................... s = 1; |
.................... y = -y; |
.................... } |
.................... |
.................... if (y > 1.0) |
.................... { |
.................... y = 1.0/y; |
.................... flag = 1; |
.................... } |
.................... |
.................... res = pat[0]*y*y + pat[1]; |
.................... res = res*y*y + pat[2]; |
.................... res = res*y*y + pat[3]; |
.................... |
.................... r = qat[0]*y*y + qat[1]; |
.................... r = r*y*y + qat[2]; |
.................... r = r*y*y + qat[3]; |
.................... |
.................... res = y*res/r; |
.................... |
.................... |
.................... if (flag) // for |x| > 1 |
.................... res = PI_DIV_BY_TWO - res; |
.................... if (s) |
.................... res = -res; |
.................... |
.................... return(res); |
.................... } |
.................... #endif |
.................... |
.................... ///////////////////////////////////////////////////////////////////////////// |
.................... // float atan2(float y, float x) |
.................... ///////////////////////////////////////////////////////////////////////////// |
.................... // Description :computes the principal value of arc tangent of y/x, using the |
.................... // signs of both the arguments to determine the quadrant of the return value |
.................... // Returns : returns the arc tangent of y/x. |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 atan2(float32 y,float32 x) |
.................... { |
.................... float32 z; |
.................... int1 sign; |
.................... unsigned int8 quad; |
.................... sign=0; |
.................... quad=0; //quadrant |
.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1)); |
.................... if(y<0.0) |
.................... { |
.................... sign=1; |
.................... y=-y; |
.................... } |
.................... if(x<0.0) |
.................... { |
.................... x=-x; |
.................... } |
.................... if (x==0.0) |
.................... { |
.................... if(y==0.0) |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... else |
.................... { |
.................... if(sign) |
.................... { |
.................... return (-(PI_DIV_BY_TWO)); |
.................... } |
.................... else |
.................... { |
.................... return (PI_DIV_BY_TWO); |
.................... } |
.................... } |
.................... } |
.................... else |
.................... { |
.................... z=y/x; |
.................... switch(quad) |
.................... { |
.................... case 1: |
.................... { |
.................... return atan(z); |
.................... break; |
.................... } |
.................... case 2: |
.................... { |
.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122 |
.................... return (PI-atan(z)); |
.................... break; |
.................... } |
.................... case 3: |
.................... { |
.................... return (atan(z)-PI); |
.................... break; |
.................... } |
.................... case 4: |
.................... { |
.................... return (-atan(z)); |
.................... break; |
.................... } |
.................... } |
.................... } |
.................... } |
.................... |
.................... //Overloaded functions for atan2() for PCD |
.................... // Overloaded function atan2() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 atan2(float48 y,float48 x) |
.................... { |
.................... float48 z; |
.................... int1 sign; |
.................... unsigned int8 quad; |
.................... sign=0; |
.................... quad=0; //quadrant |
.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1)); |
.................... if(y<0.0) |
.................... { |
.................... sign=1; |
.................... y=-y; |
.................... } |
.................... if(x<0.0) |
.................... { |
.................... x=-x; |
.................... } |
.................... if (x==0.0) |
.................... { |
.................... if(y==0.0) |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... else |
.................... { |
.................... if(sign) |
.................... { |
.................... return (-(PI_DIV_BY_TWO)); |
.................... } |
.................... else |
.................... { |
.................... return (PI_DIV_BY_TWO); |
.................... } |
.................... } |
.................... } |
.................... else |
.................... { |
.................... z=y/x; |
.................... switch(quad) |
.................... { |
.................... case 1: |
.................... { |
.................... return atan(z); |
.................... break; |
.................... } |
.................... case 2: |
.................... { |
.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122 |
.................... return (PI-atan(z)); |
.................... break; |
.................... } |
.................... case 3: |
.................... { |
.................... return (atan(z)-PI); |
.................... break; |
.................... } |
.................... case 4: |
.................... { |
.................... return (-atan(z)); |
.................... break; |
.................... } |
.................... } |
.................... } |
.................... } |
.................... |
.................... // Overloaded function atan2() for data type - Float64 |
.................... float64 atan2(float64 y,float64 x) |
.................... { |
.................... float64 z; |
.................... int1 sign; |
.................... unsigned int8 quad; |
.................... sign=0; |
.................... quad=0; //quadrant |
.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1)); |
.................... if(y<0.0) |
.................... { |
.................... sign=1; |
.................... y=-y; |
.................... } |
.................... if(x<0.0) |
.................... { |
.................... x=-x; |
.................... } |
.................... if (x==0.0) |
.................... { |
.................... if(y==0.0) |
.................... { |
.................... #ifdef _ERRNO |
.................... { |
.................... errno=EDOM; |
.................... } |
.................... #endif |
.................... } |
.................... else |
.................... { |
.................... if(sign) |
.................... { |
.................... return (-(PI_DIV_BY_TWO)); |
.................... } |
.................... else |
.................... { |
.................... return (PI_DIV_BY_TWO); |
.................... } |
.................... } |
.................... } |
.................... else |
.................... { |
.................... z=y/x; |
.................... switch(quad) |
.................... { |
.................... case 1: |
.................... { |
.................... return atan(z); |
.................... break; |
.................... } |
.................... case 2: |
.................... { |
.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122 |
.................... return (PI-atan(z)); |
.................... break; |
.................... } |
.................... case 3: |
.................... { |
.................... return (atan(z)-PI); |
.................... break; |
.................... } |
.................... case 4: |
.................... { |
.................... return (-atan(z)); |
.................... break; |
.................... } |
.................... } |
.................... } |
.................... } |
.................... #endif |
.................... |
.................... //////////////////// Hyperbolic functions //////////////////// |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float cosh(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : Computes the hyperbolic cosine value of x |
.................... // Returns : returns the hyperbolic cosine value of x |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 cosh(float32 x) |
.................... { |
.................... return ((exp(x)+exp(-x))/2); |
.................... } |
.................... //Overloaded functions for cosh() for PCD |
.................... // Overloaded function cosh() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 cosh(float48 x) |
.................... { |
.................... return ((exp(x)+exp(-x))/2); |
.................... } |
.................... |
.................... // Overloaded function cosh() for data type - Float64 |
.................... float64 cosh(float64 x) |
.................... { |
.................... return ((exp(x)+exp(-x))/2); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float sinh(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : Computes the hyperbolic sine value of x |
.................... // Returns : returns the hyperbolic sine value of x |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 sinh(float32 x) |
.................... { |
.................... |
.................... return ((exp(x) - exp(-x))/2); |
.................... } |
.................... //Overloaded functions for sinh() for PCD |
.................... // Overloaded function sinh() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 sinh(float48 x) |
.................... { |
.................... |
.................... return ((exp(x) - exp(-x))/2); |
.................... } |
.................... |
.................... // Overloaded function sinh() for data type - Float48 |
.................... float64 sinh(float64 x) |
.................... { |
.................... |
.................... return ((exp(x) - exp(-x))/2); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float tanh(float x) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : Computes the hyperbolic tangent value of x |
.................... // Returns : returns the hyperbolic tangent value of x |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 tanh(float32 x) |
.................... { |
.................... return(sinh(x)/cosh(x)); |
.................... } |
.................... //Overloaded functions for tanh() for PCD |
.................... // Overloaded function tanh() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 tanh(float48 x) |
.................... { |
.................... return(sinh(x)/cosh(x)); |
.................... } |
.................... |
.................... // Overloaded function tanh() for data type - Float64 |
.................... float64 tanh(float64 x) |
.................... { |
.................... return(sinh(x)/cosh(x)); |
.................... } |
.................... #endif |
.................... |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // float frexp(float x, signed int *exp) |
.................... //////////////////////////////////////////////////////////////////////////// |
.................... // Description : breaks a floating point number into a normalized fraction and an integral |
.................... // power of 2. It stores the integer in the signed int object pointed to by exp. |
.................... // Returns : returns the value x, such that x is a double with magnitude in the interval |
.................... // [1/2,1) or zero, and value equals x times 2 raised to the power *exp.If value is zero, |
.................... // both parts of the result are zero. |
.................... // Date : N/A |
.................... // |
.................... |
.................... #define LOG2 .30102999566398119521 |
.................... float32 frexp(float32 x, signed int8 *exp) |
.................... { |
.................... float32 res; |
.................... int1 sign = 0; |
.................... if(x == 0.0) |
.................... { |
.................... *exp=0; |
.................... return (0.0); |
.................... } |
.................... if(x < 0.0) |
.................... { |
.................... x=-x; |
.................... sign=1; |
.................... } |
.................... if (x > 1.0) |
.................... { |
.................... *exp=(ceil(log10(x)/LOG2)); |
.................... res=x/(pow(2, *exp)); |
.................... if (res == 1) |
.................... { |
.................... *exp=*exp+1; |
.................... res=.5; |
.................... } |
.................... } |
.................... else |
.................... { |
.................... if(x < 0.5) |
.................... { |
.................... *exp=-1; |
.................... res=x*2; |
.................... } |
.................... else |
.................... { |
.................... *exp=0; |
.................... res=x; |
.................... } |
.................... } |
.................... if(sign) |
.................... { |
.................... res=-res; |
.................... } |
.................... return res; |
.................... } |
.................... |
.................... //Overloaded functions for frexp() for PCD |
.................... // Overloaded function frexp() for data type - Float48 |
.................... #if defined(__PCD__) |
.................... float48 frexp(float48 x, signed int8 *exp) |
.................... { |
.................... float48 res; |
.................... int1 sign = 0; |
.................... if(x == 0.0) |
.................... { |
.................... *exp=0; |
.................... return (0.0); |
.................... } |
.................... if(x < 0.0) |
.................... { |
.................... x=-x; |
.................... sign=1; |
.................... } |
.................... if (x > 1.0) |
.................... { |
.................... *exp=(ceil(log10(x)/LOG2)); |
.................... res=x/(pow(2, *exp)); |
.................... if (res == 1) |
.................... { |
.................... *exp=*exp+1; |
.................... res=.5; |
.................... } |
.................... } |
.................... else |
.................... { |
.................... if(x < 0.5) |
.................... { |
.................... *exp=-1; |
.................... res=x*2; |
.................... } |
.................... else |
.................... { |
.................... *exp=0; |
.................... res=x; |
.................... } |
.................... } |
.................... if(sign) |
.................... { |
.................... res=-res; |
.................... } |
.................... return res; |
.................... } |
.................... |
.................... // Overloaded function frexp() for data type - Float64 |
.................... float64 frexp(float64 x, signed int8 *exp) |
.................... { |
.................... float64 res; |
.................... int1 sign = 0; |
.................... if(x == 0.0) |
.................... { |
.................... *exp=0; |
.................... return (0.0); |
.................... } |
.................... if(x < 0.0) |
.................... { |
.................... x=-x; |
.................... sign=1; |
.................... } |
.................... if (x > 1.0) |
.................... { |
.................... *exp=(ceil(log10(x)/LOG2)); |
.................... res=x/(pow(2, *exp)); |
.................... if (res == 1) |
.................... { |
.................... *exp=*exp+1; |
.................... res=.5; |
.................... } |
.................... } |
.................... else |
.................... { |
.................... if(x < 0.5) |
.................... { |
.................... *exp=-1; |
.................... res=x*2; |
.................... } |
.................... else |
.................... { |
.................... *exp=0; |
.................... res=x; |
.................... } |
.................... } |
.................... if(sign) |
.................... { |
.................... res=-res; |
.................... } |
.................... return res; |
.................... } |
.................... #endif |
.................... |
.................... ////////////////////////////////////////////////////////////////////////////// |
.................... // float ldexp(float x, signed int *exp) |
.................... ////////////////////////////////////////////////////////////////////////////// |
.................... // Description : multiplies a floating point number by an integral power of 2. |
.................... // Returns : returns the value of x times 2 raised to the power exp. |
.................... // Date : N/A |
.................... // |
.................... |
.................... float32 ldexp(float32 value, signed int8 exp) |
.................... { |
.................... return (value * pow(2,exp)); |
.................... } |
.................... //Overloaded functions for ldexp() for PCD |
.................... // Overloaded function ldexp() for data type - Float48 |
.................... |
.................... #if defined(__PCD__) |
.................... float48 ldexp(float48 value, signed int8 exp) |
.................... { |
.................... return (value * pow(2,exp)); |
.................... } |
.................... // Overloaded function ldexp() for data type - Float64 |
.................... float64 ldexp(float64 value, signed int8 exp) |
.................... { |
.................... return (value * pow(2,exp)); |
.................... } |
.................... #endif |
.................... |
.................... #endif |
.................... |
.................... #include <MMA8451Q.h> |
.................... //Adresa obvodu |
.................... #define AK_W 0x38 //adresa akcelerometru zápis |
.................... #define AK_R 0x39 //adresa akcelerometru ètení |
.................... |
.................... |
.................... #define AK_XH 0x01 //osa X LSB |
.................... #define AK_XL 0x02 //osa X MSB |
.................... #define AK_YH 0x03 //osa Y LSB |
.................... #define AK_YL 0x04 //osa Y MSB |
.................... #define AK_ZH 0x05 //osa Z LSB |
.................... #define AK_ZL 0x06 //osa Z MSB |
.................... |
.................... |
.................... #include "MMA8451Q.c" |
.................... void setAK (void) //nastaveni akcelerometru |
.................... { |
.................... i2c_start(); |
* |
008B: BSF 20.4 |
008C: MOVF 20,W |
008D: BSF 03.5 |
008E: MOVWF 07 |
008F: NOP |
0090: BCF 03.5 |
0091: BSF 20.3 |
0092: MOVF 20,W |
0093: BSF 03.5 |
0094: MOVWF 07 |
0095: NOP |
0096: BCF 03.5 |
0097: BCF 07.4 |
0098: BCF 20.4 |
0099: MOVF 20,W |
009A: BSF 03.5 |
009B: MOVWF 07 |
009C: NOP |
009D: BCF 03.5 |
009E: BCF 07.3 |
009F: BCF 20.3 |
00A0: MOVF 20,W |
00A1: BSF 03.5 |
00A2: MOVWF 07 |
.................... I2C_Write(AK_W); |
00A3: MOVLW 38 |
00A4: BCF 03.5 |
00A5: MOVWF 2F |
00A6: CALL 041 |
.................... I2C_write(0x2A); |
00A7: MOVLW 2A |
00A8: MOVWF 2F |
00A9: CALL 041 |
.................... I2C_write(0x01); //nastavi aktivni stav |
00AA: MOVLW 01 |
00AB: MOVWF 2F |
00AC: CALL 041 |
.................... |
.................... i2c_stop(); |
00AD: BCF 20.4 |
00AE: MOVF 20,W |
00AF: BSF 03.5 |
00B0: MOVWF 07 |
00B1: NOP |
00B2: BCF 03.5 |
00B3: BSF 20.3 |
00B4: MOVF 20,W |
00B5: BSF 03.5 |
00B6: MOVWF 07 |
00B7: BCF 03.5 |
00B8: BTFSS 07.3 |
00B9: GOTO 0B8 |
00BA: NOP |
00BB: GOTO 0BC |
00BC: NOP |
00BD: BSF 20.4 |
00BE: MOVF 20,W |
00BF: BSF 03.5 |
00C0: MOVWF 07 |
00C1: NOP |
.................... } |
00C2: BCF 03.5 |
00C3: BCF 0A.3 |
00C4: BCF 0A.4 |
00C5: GOTO 3FF (RETURN) |
.................... |
.................... |
.................... int16 akR (int8 H, int8 L) //vycitani hodnot z akcelerometru |
.................... { |
* |
0175: CLRF 2B |
0176: CLRF 2C |
.................... unsigned int8 XL=0,XH=0; |
.................... signed int16 x; |
.................... |
.................... i2c_start(); |
0177: BSF 20.4 |
0178: MOVF 20,W |
0179: BSF 03.5 |
017A: MOVWF 07 |
017B: NOP |
017C: BCF 03.5 |
017D: BSF 20.3 |
017E: MOVF 20,W |
017F: BSF 03.5 |
0180: MOVWF 07 |
0181: NOP |
0182: BCF 03.5 |
0183: BCF 07.4 |
0184: BCF 20.4 |
0185: MOVF 20,W |
0186: BSF 03.5 |
0187: MOVWF 07 |
0188: NOP |
0189: BCF 03.5 |
018A: BCF 07.3 |
018B: BCF 20.3 |
018C: MOVF 20,W |
018D: BSF 03.5 |
018E: MOVWF 07 |
.................... I2C_Write(AK_W); |
018F: MOVLW 38 |
0190: BCF 03.5 |
0191: MOVWF 2F |
0192: CALL 041 |
.................... I2C_write(H); |
0193: MOVF 29,W |
0194: MOVWF 2F |
0195: CALL 041 |
.................... i2c_start(); |
0196: BSF 20.4 |
0197: MOVF 20,W |
0198: BSF 03.5 |
0199: MOVWF 07 |
019A: NOP |
019B: BCF 03.5 |
019C: BSF 20.3 |
019D: MOVF 20,W |
019E: BSF 03.5 |
019F: MOVWF 07 |
01A0: NOP |
01A1: BCF 03.5 |
01A2: BTFSS 07.3 |
01A3: GOTO 1A2 |
01A4: BCF 07.4 |
01A5: BCF 20.4 |
01A6: MOVF 20,W |
01A7: BSF 03.5 |
01A8: MOVWF 07 |
01A9: NOP |
01AA: BCF 03.5 |
01AB: BCF 07.3 |
01AC: BCF 20.3 |
01AD: MOVF 20,W |
01AE: BSF 03.5 |
01AF: MOVWF 07 |
.................... I2C_Write(AK_R); |
01B0: MOVLW 39 |
01B1: BCF 03.5 |
01B2: MOVWF 2F |
01B3: CALL 041 |
.................... XH=i2c_read(0); |
01B4: CLRF 77 |
01B5: CALL 130 |
01B6: MOVF 78,W |
01B7: MOVWF 2C |
.................... i2c_stop(); |
01B8: BCF 20.4 |
01B9: MOVF 20,W |
01BA: BSF 03.5 |
01BB: MOVWF 07 |
01BC: NOP |
01BD: BCF 03.5 |
01BE: BSF 20.3 |
01BF: MOVF 20,W |
01C0: BSF 03.5 |
01C1: MOVWF 07 |
01C2: BCF 03.5 |
01C3: BTFSS 07.3 |
01C4: GOTO 1C3 |
01C5: NOP |
01C6: GOTO 1C7 |
01C7: NOP |
01C8: BSF 20.4 |
01C9: MOVF 20,W |
01CA: BSF 03.5 |
01CB: MOVWF 07 |
01CC: NOP |
.................... |
.................... i2c_start(); |
01CD: BCF 03.5 |
01CE: BSF 20.4 |
01CF: MOVF 20,W |
01D0: BSF 03.5 |
01D1: MOVWF 07 |
01D2: NOP |
01D3: BCF 03.5 |
01D4: BSF 20.3 |
01D5: MOVF 20,W |
01D6: BSF 03.5 |
01D7: MOVWF 07 |
01D8: NOP |
01D9: BCF 03.5 |
01DA: BCF 07.4 |
01DB: BCF 20.4 |
01DC: MOVF 20,W |
01DD: BSF 03.5 |
01DE: MOVWF 07 |
01DF: NOP |
01E0: BCF 03.5 |
01E1: BCF 07.3 |
01E2: BCF 20.3 |
01E3: MOVF 20,W |
01E4: BSF 03.5 |
01E5: MOVWF 07 |
.................... I2C_Write(AK_W); |
01E6: MOVLW 38 |
01E7: BCF 03.5 |
01E8: MOVWF 2F |
01E9: CALL 041 |
.................... I2C_write(L); |
01EA: MOVF 2A,W |
01EB: MOVWF 2F |
01EC: CALL 041 |
.................... i2c_start(); |
01ED: BSF 20.4 |
01EE: MOVF 20,W |
01EF: BSF 03.5 |
01F0: MOVWF 07 |
01F1: NOP |
01F2: BCF 03.5 |
01F3: BSF 20.3 |
01F4: MOVF 20,W |
01F5: BSF 03.5 |
01F6: MOVWF 07 |
01F7: NOP |
01F8: BCF 03.5 |
01F9: BTFSS 07.3 |
01FA: GOTO 1F9 |
01FB: BCF 07.4 |
01FC: BCF 20.4 |
01FD: MOVF 20,W |
01FE: BSF 03.5 |
01FF: MOVWF 07 |
0200: NOP |
0201: BCF 03.5 |
0202: BCF 07.3 |
0203: BCF 20.3 |
0204: MOVF 20,W |
0205: BSF 03.5 |
0206: MOVWF 07 |
.................... I2C_Write(AK_R); |
0207: MOVLW 39 |
0208: BCF 03.5 |
0209: MOVWF 2F |
020A: CALL 041 |
.................... XL=i2c_read(0); |
020B: CLRF 77 |
020C: CALL 130 |
020D: MOVF 78,W |
020E: MOVWF 2B |
.................... i2c_stop(); |
020F: BCF 20.4 |
0210: MOVF 20,W |
0211: BSF 03.5 |
0212: MOVWF 07 |
0213: NOP |
0214: BCF 03.5 |
0215: BSF 20.3 |
0216: MOVF 20,W |
0217: BSF 03.5 |
0218: MOVWF 07 |
0219: BCF 03.5 |
021A: BTFSS 07.3 |
021B: GOTO 21A |
021C: NOP |
021D: GOTO 21E |
021E: NOP |
021F: BSF 20.4 |
0220: MOVF 20,W |
0221: BSF 03.5 |
0222: MOVWF 07 |
0223: NOP |
.................... |
.................... x = (((unsigned int16) XH << 8) + XL ); //prevod na 16bit hodnotu |
0224: BCF 03.5 |
0225: CLRF 30 |
0226: MOVF 2C,W |
0227: MOVWF 2F |
0228: MOVWF 30 |
0229: CLRF 2F |
022A: MOVF 2B,W |
022B: ADDWF 2F,W |
022C: MOVWF 78 |
022D: MOVF 30,W |
022E: MOVWF 7A |
022F: BTFSC 03.0 |
0230: INCF 7A,F |
0231: MOVF 78,W |
0232: MOVWF 2D |
0233: MOVF 7A,W |
0234: MOVWF 2E |
.................... x=x/4; |
0235: MOVF 2E,W |
0236: MOVWF 30 |
0237: MOVF 2D,W |
0238: MOVWF 2F |
0239: CLRF 32 |
023A: MOVLW 04 |
023B: MOVWF 31 |
* |
0279: MOVF 79,W |
027A: MOVWF 2E |
027B: MOVF 78,W |
027C: MOVWF 2D |
.................... |
.................... return x; |
027D: MOVF 2D,W |
027E: MOVWF 78 |
027F: MOVF 2E,W |
0280: MOVWF 79 |
.................... } |
0281: RETURN |
.................... |
.................... int16 akX (void) |
.................... { |
.................... int16 X; |
.................... X= akR (AK_XH, AK_XL); |
0282: MOVLW 01 |
0283: MOVWF 29 |
0284: MOVLW 02 |
0285: MOVWF 2A |
0286: CALL 175 |
0287: MOVF 79,W |
0288: MOVWF 28 |
0289: MOVF 78,W |
028A: MOVWF 27 |
.................... return X; |
028B: MOVF 27,W |
028C: MOVWF 78 |
028D: MOVF 28,W |
028E: MOVWF 79 |
.................... } |
028F: BCF 0A.3 |
0290: BCF 0A.4 |
0291: GOTO 40E (RETURN) |
.................... |
.................... int16 akY (void) |
.................... { |
.................... int16 Y; |
.................... Y= akR (AK_YH, AK_YL); |
0292: MOVLW 03 |
0293: MOVWF 29 |
0294: MOVLW 04 |
0295: MOVWF 2A |
0296: CALL 175 |
0297: MOVF 79,W |
0298: MOVWF 28 |
0299: MOVF 78,W |
029A: MOVWF 27 |
.................... return Y; |
029B: MOVF 27,W |
029C: MOVWF 78 |
029D: MOVF 28,W |
029E: MOVWF 79 |
.................... } |
029F: BCF 0A.3 |
02A0: BCF 0A.4 |
02A1: GOTO 413 (RETURN) |
.................... |
.................... int16 akZ (void) |
.................... { |
.................... int16 Z; |
.................... Z= akR (AK_ZH, AK_ZL); |
02A2: MOVLW 05 |
02A3: MOVWF 29 |
02A4: MOVLW 06 |
02A5: MOVWF 2A |
02A6: CALL 175 |
02A7: MOVF 79,W |
02A8: MOVWF 28 |
02A9: MOVF 78,W |
02AA: MOVWF 27 |
.................... return Z; |
02AB: MOVF 27,W |
02AC: MOVWF 78 |
02AD: MOVF 28,W |
02AE: MOVWF 79 |
.................... } |
02AF: BCF 0A.3 |
02B0: BCF 0A.4 |
02B1: GOTO 418 (RETURN) |
.................... |
.................... |
.................... |
.................... |
.................... |
.................... signed int16 X, Y, Z; //promenne pro akcelerometr |
.................... |
.................... void main() |
.................... { |
* |
0397: CLRF 04 |
0398: BCF 03.7 |
0399: MOVLW 1F |
039A: ANDWF 03,F |
039B: MOVLW 71 |
039C: BSF 03.5 |
039D: MOVWF 0F |
039E: MOVF 0F,W |
039F: BCF 03.5 |
03A0: BCF 20.7 |
03A1: MOVF 20,W |
03A2: BSF 03.5 |
03A3: MOVWF 07 |
03A4: BCF 03.5 |
03A5: BSF 07.7 |
03A6: BSF 03.5 |
03A7: BSF 03.6 |
03A8: MOVF 09,W |
03A9: ANDLW C0 |
03AA: MOVWF 09 |
03AB: BCF 03.6 |
03AC: BCF 1F.4 |
03AD: BCF 1F.5 |
03AE: MOVLW 00 |
03AF: BSF 03.6 |
03B0: MOVWF 08 |
03B1: BCF 03.5 |
03B2: CLRF 07 |
03B3: CLRF 08 |
03B4: CLRF 09 |
.................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
* |
03B8: BSF 03.5 |
03B9: BSF 03.6 |
03BA: MOVF 09,W |
03BB: ANDLW C0 |
03BC: MOVWF 09 |
03BD: BCF 03.6 |
03BE: BCF 1F.4 |
03BF: BCF 1F.5 |
03C0: MOVLW 00 |
03C1: BSF 03.6 |
03C2: MOVWF 08 |
.................... setup_adc(ADC_CLOCK_DIV_2); |
03C3: BCF 03.5 |
03C4: BCF 03.6 |
03C5: BCF 1F.6 |
03C6: BCF 1F.7 |
03C7: BSF 03.5 |
03C8: BCF 1F.7 |
03C9: BCF 03.5 |
03CA: BSF 1F.0 |
.................... setup_spi(SPI_SS_DISABLED); |
03CB: BCF 14.5 |
03CC: BCF 20.5 |
03CD: MOVF 20,W |
03CE: BSF 03.5 |
03CF: MOVWF 07 |
03D0: BCF 03.5 |
03D1: BSF 20.4 |
03D2: MOVF 20,W |
03D3: BSF 03.5 |
03D4: MOVWF 07 |
03D5: BCF 03.5 |
03D6: BCF 20.3 |
03D7: MOVF 20,W |
03D8: BSF 03.5 |
03D9: MOVWF 07 |
03DA: MOVLW 01 |
03DB: BCF 03.5 |
03DC: MOVWF 14 |
03DD: MOVLW 00 |
03DE: BSF 03.5 |
03DF: MOVWF 14 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
03E0: MOVF 01,W |
03E1: ANDLW C7 |
03E2: IORLW 08 |
03E3: MOVWF 01 |
.................... setup_timer_1(T1_DISABLED); |
03E4: BCF 03.5 |
03E5: CLRF 10 |
.................... setup_timer_2(T2_DISABLED,0,1); |
03E6: MOVLW 00 |
03E7: MOVWF 78 |
03E8: MOVWF 12 |
03E9: MOVLW 00 |
03EA: BSF 03.5 |
03EB: MOVWF 12 |
.................... setup_ccp1(CCP_OFF); |
03EC: BCF 03.5 |
03ED: BSF 20.2 |
03EE: MOVF 20,W |
03EF: BSF 03.5 |
03F0: MOVWF 07 |
03F1: BCF 03.5 |
03F2: CLRF 17 |
03F3: BSF 03.5 |
03F4: CLRF 1B |
03F5: CLRF 1C |
03F6: MOVLW 01 |
03F7: MOVWF 1D |
.................... setup_comparator(NC_NC_NC_NC); |
03F8: BCF 03.5 |
03F9: BSF 03.6 |
03FA: CLRF 07 |
03FB: CLRF 08 |
03FC: CLRF 09 |
.................... |
.................... setAK(); //nastaveni akcelerometru |
03FD: BCF 03.6 |
03FE: GOTO 08B |
.................... |
.................... printf("Akcelerometr IMU01A - MMA8451Q \r\n",); |
03FF: MOVLW 04 |
0400: BSF 03.6 |
0401: MOVWF 0D |
0402: MOVLW 00 |
0403: MOVWF 0F |
0404: BCF 03.6 |
0405: CALL 0EA |
.................... printf("(c) MLAB JACHO 2013 \r\n",); |
0406: MOVLW 15 |
0407: BSF 03.6 |
0408: MOVWF 0D |
0409: MOVLW 00 |
040A: MOVWF 0F |
040B: BCF 03.6 |
040C: CALL 0EA |
.................... |
.................... while(TRUE) |
.................... { |
.................... X=akX (); |
040D: GOTO 282 |
040E: MOVF 79,W |
040F: MOVWF 22 |
0410: MOVF 78,W |
0411: MOVWF 21 |
.................... Y=akY (); |
0412: GOTO 292 |
0413: MOVF 79,W |
0414: MOVWF 24 |
0415: MOVF 78,W |
0416: MOVWF 23 |
.................... Z=akZ (); |
0417: GOTO 2A2 |
0418: MOVF 79,W |
0419: MOVWF 26 |
041A: MOVF 78,W |
041B: MOVWF 25 |
.................... printf("Namerene hodnoty: \r\n",); |
041C: MOVLW 21 |
041D: BSF 03.6 |
041E: MOVWF 0D |
041F: MOVLW 00 |
0420: MOVWF 0F |
0421: BCF 03.6 |
0422: CALL 0EA |
.................... printf("Osa X: %Ld \r\n",X); |
0423: MOVLW 2C |
0424: BSF 03.6 |
0425: MOVWF 0D |
0426: MOVLW 00 |
0427: MOVWF 0F |
0428: BCF 03.0 |
0429: MOVLW 07 |
042A: BCF 03.6 |
042B: MOVWF 27 |
042C: CALL 2B2 |
042D: MOVLW 10 |
042E: MOVWF 04 |
042F: MOVF 22,W |
0430: MOVWF 28 |
0431: MOVF 21,W |
0432: MOVWF 27 |
0433: CALL 301 |
0434: MOVLW 20 |
0435: MOVWF 30 |
0436: CALL 0C6 |
0437: MOVLW 0D |
0438: MOVWF 30 |
0439: CALL 0C6 |
043A: MOVLW 0A |
043B: MOVWF 30 |
043C: CALL 0C6 |
.................... printf("Osa Y: %Ld \r\n",Y); |
043D: MOVLW 33 |
043E: BSF 03.6 |
043F: MOVWF 0D |
0440: MOVLW 00 |
0441: MOVWF 0F |
0442: BCF 03.0 |
0443: MOVLW 07 |
0444: BCF 03.6 |
0445: MOVWF 27 |
0446: CALL 2B2 |
0447: MOVLW 10 |
0448: MOVWF 04 |
0449: MOVF 24,W |
044A: MOVWF 28 |
044B: MOVF 23,W |
044C: MOVWF 27 |
044D: CALL 301 |
044E: MOVLW 20 |
044F: MOVWF 30 |
0450: CALL 0C6 |
0451: MOVLW 0D |
0452: MOVWF 30 |
0453: CALL 0C6 |
0454: MOVLW 0A |
0455: MOVWF 30 |
0456: CALL 0C6 |
.................... printf("Osa Z: %Ld \r\n",Z); |
0457: MOVLW 3A |
0458: BSF 03.6 |
0459: MOVWF 0D |
045A: MOVLW 00 |
045B: MOVWF 0F |
045C: BCF 03.0 |
045D: MOVLW 07 |
045E: BCF 03.6 |
045F: MOVWF 27 |
0460: CALL 2B2 |
0461: MOVLW 10 |
0462: MOVWF 04 |
0463: MOVF 26,W |
0464: MOVWF 28 |
0465: MOVF 25,W |
0466: MOVWF 27 |
0467: CALL 301 |
0468: MOVLW 20 |
0469: MOVWF 30 |
046A: CALL 0C6 |
046B: MOVLW 0D |
046C: MOVWF 30 |
046D: CALL 0C6 |
046E: MOVLW 0A |
046F: MOVWF 30 |
0470: CALL 0C6 |
.................... delay_ms (2000); |
0471: MOVLW 08 |
0472: MOVWF 27 |
0473: MOVLW FA |
0474: MOVWF 28 |
0475: GOTO 381 |
0476: DECFSZ 27,F |
0477: GOTO 473 |
.................... |
.................... } |
0478: GOTO 40D |
.................... } |
.................... |
0479: SLEEP |
|
Configuration Fuses: |
Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |
Word 2: 3FFF NOWRT BORV40 |