Problem with comparison.
/Modules/Sensors/MAG01A/SW/PIC16F887/main.c
0,0 → 1,42
#include "main.h"
#include "HMC5883L.h"
#include <math.h>
 
void main()
{
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_CLOCK_DIV_2);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_ccp1(CCP_OFF);
setup_comparator(NC_NC_NC_NC);
 
printf("Magnetometr: \r\n",);
printf("(c)mlab.cz kaklik 2013: \r\n",);
printf("X, Y, Z \r\n",);
 
 
// Init the HMC5883L. Set Mode register for
// continuous measurements.
hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range
hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0x00); // minimal range
hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00);
 
// Continuously read and display the x,y,z results.
// Wait at least 67 ms between reads, re the HMC5883L data sheet.
 
 
while(TRUE)
{
 
hmc5883l_read_data();
printf("%6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z);
delay_ms(100);
}
 
}
 
 
 
/Modules/Sensors/MAG01A/SW/PIC16F887/main.cof
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/SW/PIC16F887/main.err
0,0 → 1,2
Memory usage: ROM=9% RAM=3% - 6%
0 Errors, 0 Warnings.
/Modules/Sensors/MAG01A/SW/PIC16F887/main.esym
0,0 → 1,601
D G "__PCM__" 0 44 ""4.106""
D G "__DEVICE__" 0 44 "887"
D G "__DATE__" 0 44 ""25-VIII-13""
D G "__TIME__" 0 44 ""18:55:43"" "Standard Header file for the PIC16F887 device ////////////////"
d G "PIN_A0" 2 20 "40"
d G "PIN_A1" 2 21 "41"
d G "PIN_A2" 2 22 "42"
d G "PIN_A3" 2 23 "43"
d G "PIN_A4" 2 24 "44"
d G "PIN_A5" 2 25 "45"
d G "PIN_A6" 2 26 "46"
d G "PIN_A7" 2 27 "47"
d G "PIN_B0" 2 29 "48"
d G "PIN_B1" 2 30 "49"
d G "PIN_B2" 2 31 "50"
d G "PIN_B3" 2 32 "51"
d G "PIN_B4" 2 33 "52"
d G "PIN_B5" 2 34 "53"
d G "PIN_B6" 2 35 "54"
d G "PIN_B7" 2 36 "55"
d G "PIN_C0" 2 38 "56"
d G "PIN_C1" 2 39 "57"
d G "PIN_C2" 2 40 "58"
d G "PIN_C3" 2 41 "59"
d G "PIN_C4" 2 42 "60"
d G "PIN_C5" 2 43 "61"
d G "PIN_C6" 2 44 "62"
d G "PIN_C7" 2 45 "63"
d G "PIN_D0" 2 47 "64"
d G "PIN_D1" 2 48 "65"
d G "PIN_D2" 2 49 "66"
d G "PIN_D3" 2 50 "67"
d G "PIN_D4" 2 51 "68"
d G "PIN_D5" 2 52 "69"
d G "PIN_D6" 2 53 "70"
d G "PIN_D7" 2 54 "71"
d G "PIN_E0" 2 56 "72"
d G "PIN_E1" 2 57 "73"
d G "PIN_E2" 2 58 "74"
d G "PIN_E3" 2 59 "75"
d G "FALSE" 2 62 "0"
d G "TRUE" 2 63 "1"
d G "BYTE" 2 65 "int8"
d G "BOOLEAN" 2 66 "int1"
d G "getc" 2 68 "getch"
d G "fgetc" 2 69 "getch"
d G "getchar" 2 70 "getch"
d G "putc" 2 71 "putchar"
d G "fputc" 2 72 "putchar"
d G "fgets" 2 73 "gets"
d G "fputs" 2 74 "puts"
d G "WDT_FROM_SLEEP" 2 79 "3"
d G "WDT_TIMEOUT" 2 80 "11"
d G "MCLR_FROM_SLEEP" 2 81 "19"
d G "MCLR_FROM_RUN" 2 82 "27"
d G "NORMAL_POWER_UP" 2 83 "25"
d G "BROWNOUT_RESTART" 2 84 "26"
d G "T0_INTERNAL" 2 91 "0"
d G "T0_EXT_L_TO_H" 2 92 "32"
d G "T0_EXT_H_TO_L" 2 93 "48"
d G "T0_DIV_1" 2 95 "8"
d G "T0_DIV_2" 2 96 "0"
d G "T0_DIV_4" 2 97 "1"
d G "T0_DIV_8" 2 98 "2"
d G "T0_DIV_16" 2 99 "3"
d G "T0_DIV_32" 2 100 "4"
d G "T0_DIV_64" 2 101 "5"
d G "T0_DIV_128" 2 102 "6"
d G "T0_DIV_256" 2 103 "7"
d G "T0_8_BIT" 2 106 "0"
d G "RTCC_INTERNAL" 2 108 "0" "The following are provided for compatibility"
d G "RTCC_EXT_L_TO_H" 2 109 "32" "with older compiler versions"
d G "RTCC_EXT_H_TO_L" 2 110 "48"
d G "RTCC_DIV_1" 2 111 "8"
d G "RTCC_DIV_2" 2 112 "0"
d G "RTCC_DIV_4" 2 113 "1"
d G "RTCC_DIV_8" 2 114 "2"
d G "RTCC_DIV_16" 2 115 "3"
d G "RTCC_DIV_32" 2 116 "4"
d G "RTCC_DIV_64" 2 117 "5"
d G "RTCC_DIV_128" 2 118 "6"
d G "RTCC_DIV_256" 2 119 "7"
d G "RTCC_8_BIT" 2 120 "0"
d G "WDT_18MS" 2 132 "8"
d G "WDT_36MS" 2 133 "9"
d G "WDT_72MS" 2 134 "10"
d G "WDT_144MS" 2 135 "11"
d G "WDT_288MS" 2 136 "12"
d G "WDT_576MS" 2 137 "13"
d G "WDT_1152MS" 2 138 "14"
d G "WDT_2304MS" 2 139 "15"
d G "WDT_ON" 2 143 "0x4100"
d G "WDT_OFF" 2 144 "0"
d G "WDT_DIV_16" 2 145 "0x100"
d G "WDT_DIV_8" 2 146 "0x300"
d G "WDT_DIV_4" 2 147 "0x500"
d G "WDT_DIV_2" 2 148 "0x700"
d G "WDT_TIMES_1" 2 149 "0x900" "Default"
d G "WDT_TIMES_2" 2 150 "0xB00"
d G "WDT_TIMES_4" 2 151 "0xD00"
d G "WDT_TIMES_8" 2 152 "0xF00"
d G "WDT_TIMES_16" 2 153 "0x1100"
d G "WDT_TIMES_32" 2 154 "0x1300"
d G "WDT_TIMES_64" 2 155 "0x1500"
d G "WDT_TIMES_128" 2 156 "0x1700"
d G "T1_DISABLED" 2 162 "0"
d G "T1_INTERNAL" 2 163 "5"
d G "T1_EXTERNAL" 2 164 "7"
d G "T1_EXTERNAL_SYNC" 2 165 "3"
d G "T1_CLK_OUT" 2 167 "8"
d G "T1_DIV_BY_1" 2 169 "0"
d G "T1_DIV_BY_2" 2 170 "0x10"
d G "T1_DIV_BY_4" 2 171 "0x20"
d G "T1_DIV_BY_8" 2 172 "0x30"
d G "T1_GATE" 2 174 "0x40"
d G "T1_GATE_INVERTED" 2 175 "0xC0"
d G "T2_DISABLED" 2 180 "0"
d G "T2_DIV_BY_1" 2 181 "4"
d G "T2_DIV_BY_4" 2 182 "5"
d G "T2_DIV_BY_16" 2 183 "6"
d G "CCP_OFF" 2 189 "0"
d G "CCP_CAPTURE_FE" 2 190 "4"
d G "CCP_CAPTURE_RE" 2 191 "5"
d G "CCP_CAPTURE_DIV_4" 2 192 "6"
d G "CCP_CAPTURE_DIV_16" 2 193 "7"
d G "CCP_COMPARE_SET_ON_MATCH" 2 194 "8"
d G "CCP_COMPARE_CLR_ON_MATCH" 2 195 "9"
d G "CCP_COMPARE_INT" 2 196 "0xA"
d G "CCP_COMPARE_RESET_TIMER" 2 197 "0xB"
d G "CCP_PWM" 2 198 "0xC"
d G "CCP_PWM_PLUS_1" 2 199 "0x1c"
d G "CCP_PWM_PLUS_2" 2 200 "0x2c"
d G "CCP_PWM_PLUS_3" 2 201 "0x3c"
d G "CCP_PWM_H_H" 2 206 "0x0c"
d G "CCP_PWM_H_L" 2 207 "0x0d"
d G "CCP_PWM_L_H" 2 208 "0x0e"
d G "CCP_PWM_L_L" 2 209 "0x0f"
d G "CCP_PWM_FULL_BRIDGE" 2 211 "0x40"
d G "CCP_PWM_FULL_BRIDGE_REV" 2 212 "0xC0"
d G "CCP_PWM_HALF_BRIDGE" 2 213 "0x80"
d G "CCP_SHUTDOWN_ON_COMP1" 2 215 "0x100000"
d G "CCP_SHUTDOWN_ON_COMP2" 2 216 "0x200000"
d G "CCP_SHUTDOWN_ON_COMP" 2 217 "0x300000"
d G "CCP_SHUTDOWN_ON_INT0" 2 218 "0x400000"
d G "CCP_SHUTDOWN_ON_COMP1_INT0" 2 219 "0x500000"
d G "CCP_SHUTDOWN_ON_COMP2_INT0" 2 220 "0x600000"
d G "CCP_SHUTDOWN_ON_COMP_INT0" 2 221 "0x700000"
d G "CCP_SHUTDOWN_AC_L" 2 223 "0x000000"
d G "CCP_SHUTDOWN_AC_H" 2 224 "0x040000"
d G "CCP_SHUTDOWN_AC_F" 2 225 "0x080000"
d G "CCP_SHUTDOWN_BD_L" 2 227 "0x000000"
d G "CCP_SHUTDOWN_BD_H" 2 228 "0x010000"
d G "CCP_SHUTDOWN_BD_F" 2 229 "0x020000"
d G "CCP_SHUTDOWN_RESTART" 2 231 "0x80000000"
d G "CCP_PULSE_STEERING_A" 2 233 "0x01000000"
d G "CCP_PULSE_STEERING_B" 2 234 "0x02000000"
d G "CCP_PULSE_STEERING_C" 2 235 "0x04000000"
d G "CCP_PULSE_STEERING_D" 2 236 "0x08000000"
d G "CCP_PULSE_STEERING_SYNC" 2 237 "0x10000000"
d G "SPI_MASTER" 2 245 "0x20"
d G "SPI_SLAVE" 2 246 "0x24"
d G "SPI_L_TO_H" 2 247 "0"
d G "SPI_H_TO_L" 2 248 "0x10"
d G "SPI_CLK_DIV_4" 2 249 "0"
d G "SPI_CLK_DIV_16" 2 250 "1"
d G "SPI_CLK_DIV_64" 2 251 "2"
d G "SPI_CLK_T2" 2 252 "3"
d G "SPI_SS_DISABLED" 2 253 "1"
d G "SPI_SAMPLE_AT_END" 2 255 "0x8000"
d G "SPI_XMIT_L_TO_H" 2 256 "0x4000"
d G "UART_ADDRESS" 2 262 "2"
d G "UART_DATA" 2 263 "4"
d G "UART_AUTODETECT" 2 264 "8"
d G "UART_AUTODETECT_NOWAIT" 2 265 "9"
d G "UART_WAKEUP_ON_RDA" 2 266 "10"
d G "UART_SEND_BREAK" 2 267 "13"
d G "NC_NC_NC_NC" 2 273 "0x00"
d G "NC_NC" 2 274 "0x00"
d G "CP1_A0_A3" 2 277 "0x00090080"
d G "CP1_A1_A3" 2 278 "0x000A0081"
d G "CP1_B3_A3" 2 279 "0x00880082"
d G "CP1_B1_A3" 2 280 "0x00280083"
d G "CP1_A0_VREF" 2 281 "0x00010084"
d G "CP1_A1_VREF" 2 282 "0x00020085"
d G "CP1_B3_VREF" 2 283 "0x00800086"
d G "CP1_B1_VREF" 2 284 "0x00200087"
d G "CP1_OUT_ON_A4" 2 286 "0x00000020"
d G "CP1_INVERT" 2 287 "0x00000010"
d G "CP1_ABSOLUTE_VREF" 2 288 "0x20000000"
d G "CP2_A0_A2" 2 291 "0x00058000"
d G "CP2_A1_A2" 2 292 "0x00068100"
d G "CP2_B3_A2" 2 293 "0x00848200"
d G "CP2_B1_A2" 2 294 "0x00248300"
d G "CP2_A0_VREF" 2 295 "0x00018400"
d G "CP2_A1_VREF" 2 296 "0x00028500"
d G "CP2_B3_VREF" 2 297 "0x00808600"
d G "CP2_B1_VREF" 2 298 "0x00208700"
d G "CP2_OUT_ON_A5" 2 300 "0x00002000"
d G "CP2_INVERT" 2 301 "0x00001000"
d G "CP2_ABSOLUTE_VREF" 2 302 "0x10000000"
d G "CP2_T1_SYNC" 2 305 "0x01000000"
d G "CP2_T1_GATE" 2 306 "0x02000000"
d G "VREF_LOW" 2 315 "0xa0"
d G "VREF_HIGH" 2 316 "0x80"
d G "OSC_31KHZ" 2 322 "1"
d G "OSC_125KHZ" 2 323 "0x11"
d G "OSC_250KHZ" 2 324 "0x21"
d G "OSC_500KHZ" 2 325 "0x31"
d G "OSC_1MHZ" 2 326 "0x41"
d G "OSC_2MHZ" 2 327 "0x51"
d G "OSC_4MHZ" 2 328 "0x61"
d G "OSC_8MHZ" 2 329 "0x71"
d G "OSC_INTRC" 2 330 "1"
d G "OSC_NORMAL" 2 331 "0"
d G "OSC_STATE_STABLE" 2 333 "4"
d G "OSC_31KHZ_STABLE" 2 334 "2"
d G "ADC_OFF" 2 342 "0" "ADC Off"
d G "ADC_CLOCK_DIV_2" 2 343 "0x100"
d G "ADC_CLOCK_DIV_8" 2 344 "0x40"
d G "ADC_CLOCK_DIV_32" 2 345 "0x80"
d G "ADC_CLOCK_INTERNAL" 2 346 "0xc0" "Internal 2-6us"
d G "sAN0" 2 350 "1" "| A0"
d G "sAN1" 2 351 "2" "| A1"
d G "sAN2" 2 352 "4" "| A2"
d G "sAN3" 2 353 "8" "| A3"
d G "sAN4" 2 354 "16" "| A5"
d G "sAN5" 2 355 "32" "| E0"
d G "sAN6" 2 356 "64" "| E1"
d G "sAN7" 2 357 "128" "| E2"
d G "sAN8" 2 358 "0x10000" "| B2"
d G "sAN9" 2 359 "0x20000" "| B3"
d G "sAN10" 2 360 "0x40000" "| B1"
d G "sAN11" 2 361 "0x80000" "| B4"
d G "sAN12" 2 362 "0x100000" "| B0"
d G "sAN13" 2 363 "0x200000" "| B5"
d G "NO_ANALOGS" 2 364 "0" "None"
d G "ALL_ANALOG" 2 365 "0x1F00FF" "A0 A1 A2 A3 A5 E0 E1 E2 B0 B1 B2 B3 B4 B5"
d G "VSS_VDD" 2 368 "0x0000" "| Range 0-Vdd"
d G "VSS_VREF" 2 369 "0x1000" "| Range 0-Vref"
d G "VREF_VREF" 2 370 "0x3000" "| Range Vref-Vref"
d G "VREF_VDD" 2 371 "0x2000" "| Range Vref-Vdd"
d G "ADC_START_AND_READ" 2 375 "7" "This is the default if nothing is specified"
d G "ADC_START_ONLY" 2 376 "1"
d G "ADC_READ_ONLY" 2 377 "6"
d G "L_TO_H" 2 389 "0x40"
d G "H_TO_L" 2 390 "0"
d G "GLOBAL" 2 392 "0x0BC0"
d G "INT_RTCC" 2 393 "0x000B20"
d G "INT_RB" 2 394 "0x01FF0B08"
d G "INT_EXT_L2H" 2 395 "0x50000B10"
d G "INT_EXT_H2L" 2 396 "0x60000B10"
d G "INT_EXT" 2 397 "0x000B10"
d G "INT_AD" 2 398 "0x008C40"
d G "INT_TBE" 2 399 "0x008C10"
d G "INT_RDA" 2 400 "0x008C20"
d G "INT_TIMER1" 2 401 "0x008C01"
d G "INT_TIMER2" 2 402 "0x008C02"
d G "INT_CCP1" 2 403 "0x008C04"
d G "INT_CCP2" 2 404 "0x008D01"
d G "INT_SSP" 2 405 "0x008C08"
d G "INT_BUSCOL" 2 406 "0x008D08"
d G "INT_EEPROM" 2 407 "0x008D10"
d G "INT_TIMER0" 2 408 "0x000B20"
d G "INT_OSC_FAIL" 2 409 "0x008D80"
d G "INT_COMP" 2 410 "0x008D20"
d G "INT_COMP2" 2 411 "0x008D40"
d G "INT_ULPWU" 2 412 "0x008D04"
d G "INT_RB0" 2 413 "0x0010B08"
d G "INT_RB1" 2 414 "0x0020B08"
d G "INT_RB2" 2 415 "0x0040B08"
d G "INT_RB3" 2 416 "0x0080B08"
d G "INT_RB4" 2 417 "0x0100B08"
d G "INT_RB5" 2 418 "0x0200B08"
d G "INT_RB6" 2 419 "0x0400B08"
d G "INT_RB7" 2 420 "0x0800B08"
D G "HMC5883L_WRT_ADDR" 3 2 "0x3C"
D G "HMC5883L_READ_ADDR" 3 3 "0x3D"
D G "HMC5883L_CFG_A_REG" 3 6 "0x00"
D G "HMC5883L_CFG_B_REG" 3 7 "0x01"
D G "HMC5883L_MODE_REG" 3 8 "0x02"
D G "HMC5883L_X_MSB_REG" 3 9 "0x03"
D G "MAG_ROZ088" 3 13 "0x00"
D G "MAG_ROZ130" 3 14 "0x20"
D G "MAG_ROZ190" 3 15 "0x40"
D G "MAG_ROZ250" 3 16 "0x60"
D G "MAG_ROZ400" 3 17 "0x80"
D G "MAG_ROZ470" 3 18 "0xA0"
D G "MAG_ROZ560" 3 19 "0xC0"
D G "MAG_ROZ810" 3 20 "0xE0"
C L "hmc5883l_write_reg" 4 2 1 "FUNCTION"
F G "hmc5883l_write_reg" 4 4 "void(int8 reg,int8 data)"
V L "reg" 4 4 "int8"
V L "data" 4 4 "int8"
F G "hmc5883l_read_reg" 4 14 "int8(int8 reg)"
V L "reg" 4 14 "int8"
V L "retval" 4 16 "int8"
T G "hmc5883l_result" 4 35 "{sint16 x,sint16 y,sint16 z}" "This global structure holds the values read"
V G "compass" 4 39 "hmc5883l_result"
F G "hmc5883l_read_data" 4 42 "void()"
V L "x_lsb" 4 44 "int8"
V L "x_msb" 4 45 "int8"
V L "y_lsb" 4 47 "int8"
V L "y_msb" 4 48 "int8"
V L "z_lsb" 4 50 "int8"
V L "z_msb" 4 51 "int8"
C L "hmc5883l_read_data" 4 2 1 "FUNCTION"
C L "hmc5883l_read_data" 4 2 1 "FUNCTION"
C L "hmc5883l_read_data" 4 2 1 "FUNCTION"
D G "MATH_H" 5 21 ""
D G "PI" 5 26 "3.1415926535897932"
D G "SQRT2" 5 29 "1.4142135623730950"
C L "CEIL_FLOOR" 5 2 3 "FUNCTION"
F G "CEIL_FLOOR" 5 36 "float(float x,int8 n)"
V L "x" 5 36 "float"
V L "n" 5 36 "int8"
V L "y" 5 38 "float"
V L "res" 5 38 "float"
V L "l" 5 39 "int16"
V L "s" 5 40 "int1"
C L "floor" 5 2 5 "FUNCTION"
F G "floor" 5 192 "float(float x)"
V L "x" 5 192 "float"
C L "ceil" 5 2 5 "FUNCTION"
F G "ceil" 5 218 "float(float x)"
V L "x" 5 218 "float"
D G "fabs" 5 244 "abs"
C L "fmod" 5 2 6 "FUNCTION"
F G "fmod" 5 256 "float(float x,float y)"
V L "x" 5 256 "float"
V L "y" 5 256 "float"
V L "i" 5 258 "float"
D G "LN2" 5 319 "0.6931471805599453"
V G "pe" 5 321 "float[6]"
F G "exp" 5 325 "float(float x)"
V L "x" 5 325 "float"
V L "y" 5 327 "float"
V L "res" 5 327 "float"
V L "r" 5 327 "float"
V L "n" 5 331 "sint8"
V L "s" 5 332 "int1"
C L "exp" 5 2 1 "FUNCTION"
V G "pl" 5 496 "float[4]"
V G "ql" 5 497 "float[4]"
C L "log" 5 2 3 "FUNCTION"
F G "log" 5 505 "float(float x)"
V L "x" 5 505 "float"
V L "y" 5 507 "float"
V L "res" 5 507 "float"
V L "r" 5 507 "float"
V L "y2" 5 507 "float"
V L "n" 5 511 "sint8"
C L "log" 5 2 1 "FUNCTION"
D G "LN10" 5 729 "2.3025850929940456"
C L "log10" 5 2 3 "FUNCTION"
F G "log10" 5 737 "float(float x)"
V L "x" 5 737 "float"
V L "r" 5 739 "float"
C L "modf" 5 2 8 "FUNCTION"
F G "modf" 5 778 "float(float value,*float iptr)"
V L "value" 5 778 "float"
V L "iptr" 5 778 "*float"
C L "pwr" 5 2 6 "FUNCTION"
F G "pwr" 5 806 "float(float x,float y)"
V L "x" 5 806 "float"
V L "y" 5 806 "float"
C L "pow" 5 2 7 "FUNCTION"
F G "pow" 5 869 "float(float x,float y)"
V L "x" 5 869 "float"
V L "y" 5 869 "float"
C L "sqrt" 5 2 5 "FUNCTION"
F G "sqrt" 5 930 "float(float x)"
V L "x" 5 930 "float"
V L "y" 5 932 "float"
V L "res" 5 932 "float"
V L "p" 5 936 "*int8"
D G "PI_DIV_BY_TWO" 5 1125 "1.5707963267948966"
C L "cos" 5 2 3 "FUNCTION"
F G "cos" 5 1136 "float(float x)"
V L "x" 5 1136 "float"
V L "y" 5 1138 "float"
V L "t" 5 1138 "float"
V L "t2" 5 1138 "float"
V L "quad" 5 1139 "int8"
V L "i" 5 1139 "int8"
V L "frac" 5 1140 "float"
V L "p" 5 1141 "float[6]" "by the series definition for cosine"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 2 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "cos" 5 2 1 "FUNCTION"
C L "sin" 5 2 5 "FUNCTION"
F G "sin" 5 1278 "float(float x)"
V L "x" 5 1278 "float"
C L "tan" 5 2 5 "FUNCTION"
F G "tan" 5 1304 "float(float x)"
V L "x" 5 1304 "float"
V L "c" 5 1306 "float"
V L "s" 5 1306 "float"
V G "pas" 5 1344 "float[3]"
V G "qas" 5 1345 "float[3]"
F G "ASIN_COS" 5 1347 "float(float x,int8 n)"
V L "x" 5 1347 "float"
V L "n" 5 1347 "int8"
V L "y" 5 1349 "float"
V L "res" 5 1349 "float"
V L "r" 5 1349 "float"
V L "y2" 5 1349 "float"
V L "s" 5 1350 "int1"
C L "ASIN_COS" 5 2 1 "FUNCTION"
C L "ASIN_COS" 5 2 1 "FUNCTION"
C L "asin" 5 2 5 "FUNCTION"
F G "asin" 5 1493 "float(float x)"
V L "x" 5 1493 "float"
V L "r" 5 1495 "float"
C L "acos" 5 2 5 "FUNCTION"
F G "acos" 5 1527 "float(float x)"
V L "x" 5 1527 "float"
V L "r" 5 1529 "float"
V G "pat" 5 1555 "float[4]"
V G "qat" 5 1556 "float[4]"
C L "atan" 5 2 3 "FUNCTION"
F G "atan" 5 1564 "float(float x)"
V L "x" 5 1564 "float"
V L "y" 5 1566 "float"
V L "res" 5 1566 "float"
V L "r" 5 1566 "float"
V L "s" 5 1567 "int1"
V L "flag" 5 1567 "int1"
C L "atan" 5 2 1 "FUNCTION"
C L "atan2" 5 2 7 "FUNCTION"
F G "atan2" 5 1697 "float(float y,float x)"
V L "y" 5 1697 "float"
V L "x" 5 1697 "float"
V L "z" 5 1699 "float"
V L "sign" 5 1700 "int1"
V L "quad" 5 1701 "int8"
C L "atan2" 5 2 1 "FUNCTION"
C L "atan2" 5 2 1 "FUNCTION"
C L "cosh" 5 2 7 "FUNCTION"
F G "cosh" 5 1919 "float(float x)"
V L "x" 5 1919 "float"
C L "sinh" 5 2 6 "FUNCTION"
F G "sinh" 5 1946 "float(float x)"
V L "x" 5 1946 "float"
C L "tanh" 5 2 6 "FUNCTION"
F G "tanh" 5 1976 "float(float x)"
V L "x" 5 1976 "float"
D G "LOG2" 5 2006 ".30102999566398119521"
F G "frexp" 5 2007 "float(float x,*sint8 exp)"
V L "x" 5 2007 "float"
V L "exp" 5 2007 "*sint8"
V L "res" 5 2009 "float"
V L "sign" 5 2010 "int1"
C L "ldexp" 5 2 6 "FUNCTION"
F G "ldexp" 5 2152 "float(float value,sint8 exp)"
V L "value" 5 2152 "float"
V L "exp" 5 2152 "sint8"
C L "MAIN" 5 2 2 "FUNCTION"
F G "MAIN" 0 5 "void()"
C L "MAIN" 0 21 2 "FUNCTION"
C L "MAIN" 0 21 1 "FUNCTION"
C L "MAIN" 0 21 1 "FUNCTION"
C L "MAIN" 0 21 2 "FUNCTION"
F B "reset_cpu" 0 0
F B "abs" 1 0
F B "sleep_ulpwu" 1 0
F B "sleep" 0 0
F B "delay_cycles" 1 0
F B "read_bank" 2 0
F B "write_bank" 3 0
F B "shift_left" 2 2
F B "shift_right" 2 2
F B "rotate_left" 2 0
F B "rotate_right" 2 0
F B "_mul" 2 0
F B "memset" 3 0
F B "isamoung" 2 0
F B "isamong" 2 0
F B "bit_set" 2 0
F B "bit_clear" 2 0
F B "bit_test" 2 0
F B "toupper" 1 0
F B "tolower" 1 0
F B "swap" 1 0
F B "printf" 1 255
F B "fprintf" 1 255
F B "sprintf" 1 255
F B "make8" 2 0
F B "make16" 2 0
F B "make32" 1 255
F B "label_address" 1 1
F B "goto_address" 1 0
F B "_va_arg" 1 0
F B "offsetofbit" 2 2
F B "enable_interrupts" 1 0
F B "disable_interrupts" 1 0
F B "interrupt_active" 1 0
F B "clear_interrupt" 1 0
F B "jump_to_isr" 1 0
F B "ext_int_edge" 1 2
F B "read_eeprom" 1 0
F B "write_eeprom" 2 0
F B "read_program_eeprom" 1 0
F B "write_program_eeprom" 2 0
F B "write_program_memory" 4 0
F B "write_program_memory8" 4 0
F B "read_program_memory" 4 0
F B "read_program_memory8" 4 0
F B "erase_program_eeprom" 1 0
F B "strcpy" 2 0
F B "memcpy" 3 0
F B "strstr100" 2 0
F B "output_high" 1 0
F B "output_low" 1 0
F B "input" 1 0
F B "input_state" 1 0
F B "output_float" 1 0
F B "output_drive" 1 0
F B "output_bit" 1 1
F B "output_toggle" 1 0
F B "output_a" 1 0
F B "output_b" 1 0
F B "output_c" 1 0
F B "output_d" 1 0
F B "output_e" 1 0
F B "input_a" 0 0
F B "input_b" 0 0
F B "input_c" 0 0
F B "input_d" 0 0
F B "input_e" 0 0
F B "set_tris_a" 1 0
F B "set_tris_b" 1 0
F B "set_tris_c" 1 0
F B "set_tris_d" 1 0
F B "set_tris_e" 1 0
F B "get_tris_a" 0 0
F B "get_tris_b" 0 0
F B "get_tris_c" 0 0
F B "get_tris_d" 0 0
F B "get_tris_e" 0 0
F B "input_change_a" 0 0
F B "input_change_b" 0 0
F B "input_change_c" 0 0
F B "input_change_d" 0 0
F B "input_change_e" 0 0
F B "port_b_pullups" 1 0
F B "setup_counters" 2 0
F B "setup_wdt" 1 0
F B "restart_cause" 0 0
F B "restart_wdt" 0 0
F B "get_rtcc" 0 0
F B "set_rtcc" 1 0
F B "get_timer0" 0 0
F B "set_timer0" 1 0
F B "setup_comparator" 1 0
F B "setup_port_a" 1 0
F B "setup_adc_ports" 1 0
F B "setup_adc" 1 0
F B "set_adc_channel" 1 0
F B "read_adc" 0 1
F B "adc_done" 0 0
F B "setup_timer_0" 1 0
F B "setup_vref" 1 0
F B "setup_timer_1" 1 0
F B "get_timer1" 0 0
F B "set_timer1" 1 0
F B "setup_timer_2" 3 0
F B "get_timer2" 0 0
F B "set_timer2" 1 0
F B "setup_ccp1" 1 2
F B "set_pwm1_duty" 1 0
F B "setup_ccp2" 1 0
F B "set_pwm2_duty" 1 0
F B "setup_oscillator" 1 2
F B "setup_spi" 1 0
F B "spi_read" 0 1
F B "spi_write" 1 0
F B "spi_data_is_in" 0 0
F B "setup_spi2" 1 0
F B "spi_read2" 0 1
F B "spi_write2" 1 0
F B "spi_data_is_in2" 0 0
F B "brownout_enable" 1 0
F B "delay_ms" 1 0
F B "delay_us" 1 0
F B "i2c_read" 0 2
F B "i2c_write" 1 2
F B "i2c_start" 0 2
F B "i2c_stop" 0 1
F B "i2c_isr_state" 0 1
F B "putchar" 1 2
F B "puts" 1 2
F B "getch" 0 1
F B "gets" 1 3
F B "kbhit" 0 1
F B "set_uart_speed" 1 3
F B "setup_uart" 1 3
/Modules/Sensors/MAG01A/SW/PIC16F887/main.h
0,0 → 1,21
#include <16F887.h>
#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)
#use i2c(Master,Slow,sda=PIN_C4,scl=PIN_C3)
#use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8) //rcv TXD xmit RXD
 
/Modules/Sensors/MAG01A/SW/PIC16F887/main.hex
0,0 → 1,100
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:10001000653A721D20100D050000A831A936EC309C
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:100040000001831603178C170C14000000008312A4
:100050000C087F39031967280313A70003170D083D
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:100190002008831687003C308312AD0069202708B1
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:1001C000871DE0280000E428000020162008831680
:1001D00087000000831208000830AE007708AF00E7
:1001E000201620088316870000008312A01520081F
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:1002A000201620088316870000008312A01520085E
:1002B0008316870000008312871D5C290712201215
:1002C000200883168700000083128711A0112008E0
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:0405F000CB2A6300AF
:04400E00F52CFF3F4F
:00000001FF
;PIC16F887
;CRC=2B66 CREATED="25-VIII-13 18:55"
/Modules/Sensors/MAG01A/SW/PIC16F887/main.lst
0,0 → 1,2904
CCS PCM C Compiler, Version 4.106, 47914 25-VIII-13 18:55
 
Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst
 
ROM used: 762 words (9%)
Largest free fragment is 2048
RAM used: 12 (3%) at main() level
21 (6%) worst case
Stack: 2 locations
 
*
0000: MOVLW 02
0001: MOVWF 0A
0002: GOTO 23C
0003: NOP
.................... #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)
*
0226: MOVLW 27
0227: MOVWF 04
0228: BCF 03.7
0229: MOVF 00,W
022A: BTFSC 03.2
022B: GOTO 239
022C: MOVLW 02
022D: MOVWF 78
022E: CLRF 77
022F: DECFSZ 77,F
0230: GOTO 22F
0231: DECFSZ 78,F
0232: GOTO 22E
0233: MOVLW 97
0234: MOVWF 77
0235: DECFSZ 77,F
0236: GOTO 235
0237: DECFSZ 00,F
0238: GOTO 22C
0239: BCF 0A.3
023A: BCF 0A.4
023B: GOTO 2F8 (RETURN)
.................... #use i2c(Master,Slow,sda=PIN_C4,scl=PIN_C3)
*
0069: MOVLW 08
006A: MOVWF 78
006B: NOP
006C: BCF 07.3
006D: BCF 20.3
006E: MOVF 20,W
006F: BSF 03.5
0070: MOVWF 07
0071: NOP
0072: BCF 03.5
0073: RLF 2D,F
0074: BCF 07.4
0075: BTFSS 03.0
0076: GOTO 07D
0077: BSF 20.4
0078: MOVF 20,W
0079: BSF 03.5
007A: MOVWF 07
007B: GOTO 081
007C: BCF 03.5
007D: BCF 20.4
007E: MOVF 20,W
007F: BSF 03.5
0080: MOVWF 07
0081: NOP
0082: BCF 03.5
0083: BSF 20.3
0084: MOVF 20,W
0085: BSF 03.5
0086: MOVWF 07
0087: BCF 03.5
0088: BTFSS 07.3
0089: GOTO 088
008A: DECFSZ 78,F
008B: GOTO 06B
008C: NOP
008D: BCF 07.3
008E: BCF 20.3
008F: MOVF 20,W
0090: BSF 03.5
0091: MOVWF 07
0092: NOP
0093: BCF 03.5
0094: BSF 20.4
0095: MOVF 20,W
0096: BSF 03.5
0097: MOVWF 07
0098: NOP
0099: NOP
009A: BCF 03.5
009B: BSF 20.3
009C: MOVF 20,W
009D: BSF 03.5
009E: MOVWF 07
009F: BCF 03.5
00A0: BTFSS 07.3
00A1: GOTO 0A0
00A2: CLRF 78
00A3: NOP
00A4: BTFSC 07.4
00A5: BSF 78.0
00A6: BCF 07.3
00A7: BCF 20.3
00A8: MOVF 20,W
00A9: BSF 03.5
00AA: MOVWF 07
00AB: BCF 03.5
00AC: BCF 07.4
00AD: BCF 20.4
00AE: MOVF 20,W
00AF: BSF 03.5
00B0: MOVWF 07
00B1: BCF 03.5
00B2: RETURN
*
00EC: MOVLW 08
00ED: MOVWF 2E
00EE: MOVF 77,W
00EF: MOVWF 2F
00F0: BSF 20.4
00F1: MOVF 20,W
00F2: BSF 03.5
00F3: MOVWF 07
00F4: NOP
00F5: BCF 03.5
00F6: BSF 20.3
00F7: MOVF 20,W
00F8: BSF 03.5
00F9: MOVWF 07
00FA: BCF 03.5
00FB: BTFSS 07.3
00FC: GOTO 0FB
00FD: BTFSC 07.4
00FE: BSF 03.0
00FF: BTFSS 07.4
0100: BCF 03.0
0101: RLF 78,F
0102: NOP
0103: BCF 20.3
0104: MOVF 20,W
0105: BSF 03.5
0106: MOVWF 07
0107: BCF 03.5
0108: BCF 07.3
0109: DECFSZ 2E,F
010A: GOTO 0F0
010B: BSF 20.4
010C: MOVF 20,W
010D: BSF 03.5
010E: MOVWF 07
010F: NOP
0110: BCF 03.5
0111: BCF 07.4
0112: MOVF 2F,W
0113: BTFSC 03.2
0114: GOTO 11A
0115: BCF 20.4
0116: MOVF 20,W
0117: BSF 03.5
0118: MOVWF 07
0119: BCF 03.5
011A: NOP
011B: BSF 20.3
011C: MOVF 20,W
011D: BSF 03.5
011E: MOVWF 07
011F: BCF 03.5
0120: BTFSS 07.3
0121: GOTO 120
0122: NOP
0123: BCF 07.3
0124: BCF 20.3
0125: MOVF 20,W
0126: BSF 03.5
0127: MOVWF 07
0128: NOP
0129: BCF 03.5
012A: BCF 07.4
012B: BCF 20.4
012C: MOVF 20,W
012D: BSF 03.5
012E: MOVWF 07
012F: BCF 03.5
0130: RETURN
.................... #use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8) //rcv TXD xmit RXD
....................
....................
.................... #include "HMC5883L.h"
.................... // i2c slave addresses
.................... #define HMC5883L_WRT_ADDR 0x3C
.................... #define HMC5883L_READ_ADDR 0x3D
....................
.................... // Register addresses
.................... #define HMC5883L_CFG_A_REG 0x00
.................... #define HMC5883L_CFG_B_REG 0x01
.................... #define HMC5883L_MODE_REG 0x02
.................... #define HMC5883L_X_MSB_REG 0x03
....................
.................... //Konstanty nastavujici rozsah
.................... //pro void set_mag_roz (unsigned int8 h)
.................... #define MAG_ROZ088 0x00
.................... #define MAG_ROZ130 0x20
.................... #define MAG_ROZ190 0x40
.................... #define MAG_ROZ250 0x60
.................... #define MAG_ROZ400 0x80
.................... #define MAG_ROZ470 0xA0
.................... #define MAG_ROZ560 0xC0
.................... #define MAG_ROZ810 0xE0
....................
....................
.................... #include "HMC5883L.c"
.................... //------------------------------
.................... // Low level routines
.................... //------------------------------
.................... void hmc5883l_write_reg(int8 reg, int8 data)
.................... {
.................... i2c_start();
*
00B3: BSF 20.4
00B4: MOVF 20,W
00B5: BSF 03.5
00B6: MOVWF 07
00B7: NOP
00B8: BCF 03.5
00B9: BSF 20.3
00BA: MOVF 20,W
00BB: BSF 03.5
00BC: MOVWF 07
00BD: NOP
00BE: BCF 03.5
00BF: BCF 07.4
00C0: BCF 20.4
00C1: MOVF 20,W
00C2: BSF 03.5
00C3: MOVWF 07
00C4: NOP
00C5: BCF 03.5
00C6: BCF 07.3
00C7: BCF 20.3
00C8: MOVF 20,W
00C9: BSF 03.5
00CA: MOVWF 07
.................... i2c_write(HMC5883L_WRT_ADDR);
00CB: MOVLW 3C
00CC: BCF 03.5
00CD: MOVWF 2D
00CE: CALL 069
.................... i2c_write(reg);
00CF: MOVF 27,W
00D0: MOVWF 2D
00D1: CALL 069
.................... i2c_write(data);
00D2: MOVF 28,W
00D3: MOVWF 2D
00D4: CALL 069
.................... i2c_stop();
00D5: BCF 20.4
00D6: MOVF 20,W
00D7: BSF 03.5
00D8: MOVWF 07
00D9: NOP
00DA: BCF 03.5
00DB: BSF 20.3
00DC: MOVF 20,W
00DD: BSF 03.5
00DE: MOVWF 07
00DF: BCF 03.5
00E0: BTFSS 07.3
00E1: GOTO 0E0
00E2: NOP
00E3: GOTO 0E4
00E4: NOP
00E5: BSF 20.4
00E6: MOVF 20,W
00E7: BSF 03.5
00E8: MOVWF 07
00E9: NOP
.................... }
00EA: BCF 03.5
00EB: RETURN
....................
.................... //------------------------------
.................... int8 hmc5883l_read_reg(int8 reg)
.................... {
.................... int8 retval;
....................
.................... i2c_start();
.................... i2c_write(HMC5883L_WRT_ADDR);
.................... i2c_write(reg);
.................... i2c_start();
.................... i2c_write(HMC5883L_READ_ADDR);
.................... retval = i2c_read(0);
.................... i2c_stop();
....................
.................... return(retval);
.................... }
....................
.................... //------------------------------
.................... typedef struct
.................... {
.................... signed int16 x;
.................... signed int16 y;
.................... signed int16 z;
.................... }hmc5883l_result;
....................
.................... // This global structure holds the values read
.................... // from the HMC5883L x,y,z registers.
.................... hmc5883l_result compass = {0,0,0};
*
0260: CLRF 21
0261: CLRF 22
0262: CLRF 23
0263: CLRF 24
0264: CLRF 25
0265: CLRF 26
....................
.................... //------------------------------
.................... void hmc5883l_read_data(void)
.................... {
.................... unsigned int8 x_lsb;
.................... unsigned int8 x_msb;
....................
.................... unsigned int8 y_lsb;
.................... unsigned int8 y_msb;
....................
.................... unsigned int8 z_lsb;
.................... unsigned int8 z_msb;
....................
.................... i2c_start();
*
0131: BSF 20.4
0132: MOVF 20,W
0133: BSF 03.5
0134: MOVWF 07
0135: NOP
0136: BCF 03.5
0137: BSF 20.3
0138: MOVF 20,W
0139: BSF 03.5
013A: MOVWF 07
013B: NOP
013C: BCF 03.5
013D: BCF 07.4
013E: BCF 20.4
013F: MOVF 20,W
0140: BSF 03.5
0141: MOVWF 07
0142: NOP
0143: BCF 03.5
0144: BCF 07.3
0145: BCF 20.3
0146: MOVF 20,W
0147: BSF 03.5
0148: MOVWF 07
.................... i2c_write(HMC5883L_WRT_ADDR);
0149: MOVLW 3C
014A: BCF 03.5
014B: MOVWF 2D
014C: CALL 069
.................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register
014D: MOVLW 03
014E: MOVWF 2D
014F: CALL 069
.................... i2c_start();
0150: BSF 20.4
0151: MOVF 20,W
0152: BSF 03.5
0153: MOVWF 07
0154: NOP
0155: BCF 03.5
0156: BSF 20.3
0157: MOVF 20,W
0158: BSF 03.5
0159: MOVWF 07
015A: NOP
015B: BCF 03.5
015C: BTFSS 07.3
015D: GOTO 15C
015E: BCF 07.4
015F: BCF 20.4
0160: MOVF 20,W
0161: BSF 03.5
0162: MOVWF 07
0163: NOP
0164: BCF 03.5
0165: BCF 07.3
0166: BCF 20.3
0167: MOVF 20,W
0168: BSF 03.5
0169: MOVWF 07
.................... i2c_write(HMC5883L_READ_ADDR);
016A: MOVLW 3D
016B: BCF 03.5
016C: MOVWF 2D
016D: CALL 069
....................
.................... x_msb = i2c_read();
016E: MOVLW 01
016F: MOVWF 77
0170: CALL 0EC
0171: MOVF 78,W
0172: MOVWF 28
.................... x_lsb = i2c_read();
0173: MOVLW 01
0174: MOVWF 77
0175: CALL 0EC
0176: MOVF 78,W
0177: MOVWF 27
....................
.................... z_msb = i2c_read();
0178: MOVLW 01
0179: MOVWF 77
017A: CALL 0EC
017B: MOVF 78,W
017C: MOVWF 2C
.................... z_lsb = i2c_read();
017D: MOVLW 01
017E: MOVWF 77
017F: CALL 0EC
0180: MOVF 78,W
0181: MOVWF 2B
....................
.................... y_msb = i2c_read();
0182: MOVLW 01
0183: MOVWF 77
0184: CALL 0EC
0185: MOVF 78,W
0186: MOVWF 2A
.................... y_lsb = i2c_read(0); // do a NACK on last read
0187: CLRF 77
0188: CALL 0EC
0189: MOVF 78,W
018A: MOVWF 29
....................
.................... i2c_stop();
018B: BCF 20.4
018C: MOVF 20,W
018D: BSF 03.5
018E: MOVWF 07
018F: NOP
0190: BCF 03.5
0191: BSF 20.3
0192: MOVF 20,W
0193: BSF 03.5
0194: MOVWF 07
0195: BCF 03.5
0196: BTFSS 07.3
0197: GOTO 196
0198: NOP
0199: GOTO 19A
019A: NOP
019B: BSF 20.4
019C: MOVF 20,W
019D: BSF 03.5
019E: MOVWF 07
019F: NOP
....................
.................... // Combine high and low bytes into 16-bit values.
.................... compass.x = make16(x_msb, x_lsb);
01A0: BCF 03.5
01A1: MOVF 28,W
01A2: MOVWF 22
01A3: MOVF 27,W
01A4: MOVWF 21
.................... compass.y = make16(y_msb, y_lsb);
01A5: MOVF 2A,W
01A6: MOVWF 24
01A7: MOVF 29,W
01A8: MOVWF 23
.................... compass.z = make16(z_msb, z_lsb);
01A9: MOVF 2C,W
01AA: MOVWF 26
01AB: MOVF 2B,W
01AC: MOVWF 25
.................... }
01AD: BCF 0A.3
01AE: BCF 0A.4
01AF: GOTO 2CC (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
....................
....................
.................... void main()
.................... {
*
023C: CLRF 04
023D: BCF 03.7
023E: MOVLW 1F
023F: ANDWF 03,F
0240: MOVLW 71
0241: BSF 03.5
0242: MOVWF 0F
0243: MOVF 0F,W
0244: BSF 03.6
0245: BCF 07.3
0246: MOVLW 0C
0247: BCF 03.6
0248: MOVWF 19
0249: MOVLW A2
024A: MOVWF 18
024B: MOVLW 90
024C: BCF 03.5
024D: MOVWF 18
024E: BSF 03.5
024F: BSF 03.6
0250: MOVF 09,W
0251: ANDLW C0
0252: MOVWF 09
0253: BCF 03.6
0254: BCF 1F.4
0255: BCF 1F.5
0256: MOVLW 00
0257: BSF 03.6
0258: MOVWF 08
0259: BCF 03.5
025A: CLRF 07
025B: CLRF 08
025C: CLRF 09
.................... setup_adc_ports(NO_ANALOGS|VSS_VDD);
*
0266: BSF 03.5
0267: BSF 03.6
0268: MOVF 09,W
0269: ANDLW C0
026A: MOVWF 09
026B: BCF 03.6
026C: BCF 1F.4
026D: BCF 1F.5
026E: MOVLW 00
026F: BSF 03.6
0270: MOVWF 08
.................... setup_adc(ADC_CLOCK_DIV_2);
0271: BCF 03.5
0272: BCF 03.6
0273: BCF 1F.6
0274: BCF 1F.7
0275: BSF 03.5
0276: BCF 1F.7
0277: BCF 03.5
0278: BSF 1F.0
.................... setup_spi(SPI_SS_DISABLED);
0279: BCF 14.5
027A: BCF 20.5
027B: MOVF 20,W
027C: BSF 03.5
027D: MOVWF 07
027E: BCF 03.5
027F: BSF 20.4
0280: MOVF 20,W
0281: BSF 03.5
0282: MOVWF 07
0283: BCF 03.5
0284: BCF 20.3
0285: MOVF 20,W
0286: BSF 03.5
0287: MOVWF 07
0288: MOVLW 01
0289: BCF 03.5
028A: MOVWF 14
028B: MOVLW 00
028C: BSF 03.5
028D: MOVWF 14
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
028E: MOVF 01,W
028F: ANDLW C7
0290: IORLW 08
0291: MOVWF 01
.................... setup_timer_1(T1_DISABLED);
0292: BCF 03.5
0293: CLRF 10
.................... setup_timer_2(T2_DISABLED,0,1);
0294: MOVLW 00
0295: MOVWF 78
0296: MOVWF 12
0297: MOVLW 00
0298: BSF 03.5
0299: MOVWF 12
.................... setup_ccp1(CCP_OFF);
029A: BCF 03.5
029B: BSF 20.2
029C: MOVF 20,W
029D: BSF 03.5
029E: MOVWF 07
029F: BCF 03.5
02A0: CLRF 17
02A1: BSF 03.5
02A2: CLRF 1B
02A3: CLRF 1C
02A4: MOVLW 01
02A5: MOVWF 1D
.................... setup_comparator(NC_NC_NC_NC);
02A6: BCF 03.5
02A7: BSF 03.6
02A8: CLRF 07
02A9: CLRF 08
02AA: CLRF 09
....................
.................... printf("Magnetometr: \r\n",);
02AB: MOVLW 04
02AC: MOVWF 0D
02AD: MOVLW 00
02AE: MOVWF 0F
02AF: BCF 03.6
02B0: CALL 021
.................... printf("(c)mlab.cz kaklik 2013: \r\n",);
02B1: MOVLW 0D
02B2: BSF 03.6
02B3: MOVWF 0D
02B4: MOVLW 00
02B5: MOVWF 0F
02B6: BCF 03.6
02B7: CALL 021
.................... printf("X, Y, Z \r\n",);
02B8: MOVLW 1B
02B9: BSF 03.6
02BA: MOVWF 0D
02BB: MOVLW 00
02BC: MOVWF 0F
02BD: BCF 03.6
02BE: CALL 021
....................
....................
.................... // Init the HMC5883L. Set Mode register for
.................... // continuous measurements.
.................... hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range
02BF: CLRF 27
02C0: MOVLW 18
02C1: MOVWF 28
02C2: CALL 0B3
.................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0x00); // minimal range
02C3: MOVLW 01
02C4: MOVWF 27
02C5: CLRF 28
02C6: CALL 0B3
.................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00);
02C7: MOVLW 02
02C8: MOVWF 27
02C9: CLRF 28
02CA: CALL 0B3
....................
.................... // Continuously read and display the x,y,z results.
.................... // Wait at least 67 ms between reads, re the HMC5883L data sheet.
....................
....................
.................... while(TRUE)
.................... {
....................
.................... hmc5883l_read_data();
02CB: GOTO 131
.................... printf("%6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z);
02CC: MOVLW 00
02CD: MOVWF 04
02CE: MOVF 22,W
02CF: MOVWF 28
02D0: MOVF 21,W
02D1: MOVWF 27
02D2: CALL 1B0
02D3: MOVLW 20
02D4: BTFSS 0C.4
02D5: GOTO 2D4
02D6: MOVWF 19
02D7: MOVLW 00
02D8: MOVWF 04
02D9: MOVF 24,W
02DA: MOVWF 28
02DB: MOVF 23,W
02DC: MOVWF 27
02DD: CALL 1B0
02DE: MOVLW 20
02DF: BTFSS 0C.4
02E0: GOTO 2DF
02E1: MOVWF 19
02E2: MOVLW 00
02E3: MOVWF 04
02E4: MOVF 26,W
02E5: MOVWF 28
02E6: MOVF 25,W
02E7: MOVWF 27
02E8: CALL 1B0
02E9: MOVLW 20
02EA: BTFSS 0C.4
02EB: GOTO 2EA
02EC: MOVWF 19
02ED: MOVLW 0A
02EE: BTFSS 0C.4
02EF: GOTO 2EE
02F0: MOVWF 19
02F1: MOVLW 0D
02F2: BTFSS 0C.4
02F3: GOTO 2F2
02F4: MOVWF 19
.................... delay_ms(100);
02F5: MOVLW 64
02F6: MOVWF 27
02F7: GOTO 226
.................... }
02F8: GOTO 2CB
....................
.................... }
....................
....................
....................
02F9: SLEEP
 
Configuration Fuses:
Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG
Word 2: 3FFF NOWRT BORV40
/Modules/Sensors/MAG01A/SW/PIC16F887/main.pjt
0,0 → 1,31
[PROJECT]
Target=main.hex
Development_Mode=
Processor_Text=PIC16F887
ToolSuite=CCS
Processor=0x887F
[main]
Type=4
Path=
FileList=
BuildTool=
OptionString=
AdditionalOptionString=
[mru-list]
1=main.c
[Windows]
0=0000 %S 0 0 796 451 3 0
[Opened Files]
1=main.c
2=main.h
3=C:\Program Files (x86)\PICC\devices\16F887.h
4=HMC5883L.h
5=HMC5883L.c
6=C:\Program Files (x86)\PICC\drivers\math.h
7=
[Target Data]
OptionString=-p +FM
FileList=Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.c
[Units]
Count=1
1=main (main)
/Modules/Sensors/MAG01A/SW/PIC16F887/main.sta
0,0 → 1,59
 
ROM used: 762 (9%)
762 (9%) including unused fragments
 
0 Average locations per line
2 Average locations per statement
 
RAM used: 12 (3%) at main() level
21 (6%) worst case
 
Stack used: 2 worst case (out of 8 total available)
 
Lines Stmts % Files
----- ----- --- -----
43 19 6 main.c
22 0 0 main.h
423 0 0 C:\Program Files (x86)\PICC\devices\16F887.h
25 0 0 HMC5883L.h
76 28 9 HMC5883L.c
2172 260 85 C:\Program Files (x86)\PICC\drivers\math.h
----- -----
2761 307 Total
 
Page ROM % RAM Vol Diff Functions:
---- --- --- --- --- ---- ----------
0 22 3 1 @delay_ms1
0 69 9 3 @I2C_READ_1
0 74 10 1 @I2C_WRITE_1
0 57 7 2 102 1.8 hmc5883l_write_reg
0 127 17 6 636 3.3 hmc5883l_read_data
0 190 25 0 595 3.3 MAIN
0 9 1 0 78 2.7 @const229
0 72 9 3 722 3.9 @PSTRINGC7_9600_62_63
0 14 2 0 @const231
0 6 1 0 @const232
0 118 15 9 @PRINTF_LD_9600_62_63
 
Program metrics:
Functions 5
Statements 307
Comments 356
Volume (V) 2913
Difficilty (D) 14.9
Effort to implement (E) 43483
Time to implement (T) 40 minutes
Est Delivered Bugs (B) 0
Cyclomatic Complexity 1
Maintainability (MI) 95
 
Segment Used Free
----------- ---- ----
00000-00003 4 0
00004-007FF 758 1286
00800-00FFF 0 2048
01000-017FF 0 2048
01800-01FFF 0 2048
 
 
 
/Modules/Sensors/MAG01A/SW/PIC16F887/main.sym
0,0 → 1,95
004-005 @READ_PROGRAM_MEMORY8.P1
004 @WRITE_PROGRAM_MEMORY8.P2
015 CCP_1
015 CCP_1_LOW
016 CCP_1_HIGH
01B CCP_2_LOW
01B CCP_2
01C CCP_2_HIGH
020 @TRIS_C
021-026 compass
027 hmc5883l_write_reg.reg
027 @delay_ms1.P1
027 hmc5883l_read_data.x_lsb
027-028 @PRINTF_LD_9600_62_63.P1
027 @PSTRINGC7_9600_62_63.@SCRATCH1
028 hmc5883l_write_reg.data
028 hmc5883l_read_data.x_msb
028 @PSTRINGC7_9600_62_63.@SCRATCH2
029 hmc5883l_read_data.y_lsb
029 @PSTRINGC7_9600_62_63.@SCRATCH3
029 @PRINTF_LD_9600_62_63.@SCRATCH1
02A hmc5883l_read_data.y_msb
02A @PRINTF_LD_9600_62_63.@SCRATCH2
02B hmc5883l_read_data.z_lsb
02B @PRINTF_LD_9600_62_63.@SCRATCH3
02C hmc5883l_read_data.z_msb
02C @PRINTF_LD_9600_62_63.@SCRATCH4
02D @I2C_READ_1.P1
02D @I2C_WRITE_1.P2
02D @PRINTF_LD_9600_62_63.@SCRATCH5
02E @I2C_READ_1.@SCRATCH1
02E @PRINTF_LD_9600_62_63.@SCRATCH6
02F @I2C_READ_1.@SCRATCH2
02F @PRINTF_LD_9600_62_63.@SCRATCH7
077 @SCRATCH
078 @SCRATCH
078 _RETURN_
079 @SCRATCH
07A @SCRATCH
107.6 C1OUT
108.6 C2OUT
10D-10E @WRITE_PROGRAM_MEMORY8.P1
10D-10E @READ_PROGRAM_MEMORY8.P2
 
ROM Allocation:
0226 @delay_ms1
00EC @I2C_READ_1
0069 @I2C_WRITE_1
00B3 hmc5883l_write_reg
0131 hmc5883l_read_data
023C MAIN
0004 @const229
0021 @PSTRINGC7_9600_62_63
000D @const231
001B @const232
01B0 @PRINTF_LD_9600_62_63
023C @cinit
 
 
User Memory space:
 
User Memory space:
 
Project Directory:
Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\
 
Project Files:
main.c
main.h
C:\Program Files (x86)\PICC\devices\16F887.h
HMC5883L.h
HMC5883L.c
C:\Program Files (x86)\PICC\drivers\math.h
 
Units:
Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main (main)
 
Compiler Settings:
Processor: PIC16F887
Pointer Size: 16
ADC Range: 0-255
Opt Level: 9
Short,Int,Long: UNSIGNED: 1,8,16
Float,Double: 32,32
 
Output Files:
Errors: main.err
Ext Symbols: main.esym
INHX8: main.hex
Symbols: main.sym
List: main.lst
Debug/COFF: main.cof
Project: main.PJT
Call Tree: main.tre
Statistics: main.sta
/Modules/Sensors/MAG01A/SW/PIC16F887/main.tre
0,0 → 1,32
ÀÄmain
ÀÄMAIN 0/190 Ram=0
ÃÄ??0??
ÃÄ@PSTRINGC7_9600_62_63 0/72 Ram=3
ÃÄ@PSTRINGC7_9600_62_63 0/72 Ram=3
ÃÄ@PSTRINGC7_9600_62_63 0/72 Ram=3
ÃÄhmc5883l_write_reg 0/57 Ram=2
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÀÄ@I2C_WRITE_1 0/74 Ram=1
ÃÄhmc5883l_write_reg 0/57 Ram=2
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÀÄ@I2C_WRITE_1 0/74 Ram=1
ÃÄhmc5883l_write_reg 0/57 Ram=2
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÀÄ@I2C_WRITE_1 0/74 Ram=1
ÃÄhmc5883l_read_data 0/127 Ram=6
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_WRITE_1 0/74 Ram=1
³ ÃÄ@I2C_READ_1 0/69 Ram=3
³ ÃÄ@I2C_READ_1 0/69 Ram=3
³ ÃÄ@I2C_READ_1 0/69 Ram=3
³ ÃÄ@I2C_READ_1 0/69 Ram=3
³ ÃÄ@I2C_READ_1 0/69 Ram=3
³ ÀÄ@I2C_READ_1 0/69 Ram=3
ÃÄ@PRINTF_LD_9600_62_63 0/118 Ram=9
ÃÄ@PRINTF_LD_9600_62_63 0/118 Ram=9
ÃÄ@PRINTF_LD_9600_62_63 0/118 Ram=9
ÀÄ@delay_ms1 0/22 Ram=1
/Modules/Sensors/MAG01A/SW/PIC16F887/HMC5883L.c
0,0 → 1,75
//------------------------------
// Low level routines
//------------------------------
void hmc5883l_write_reg(int8 reg, int8 data)
{
i2c_start();
i2c_write(HMC5883L_WRT_ADDR);
i2c_write(reg);
i2c_write(data);
i2c_stop();
}
 
//------------------------------
int8 hmc5883l_read_reg(int8 reg)
{
int8 retval;
 
i2c_start();
i2c_write(HMC5883L_WRT_ADDR);
i2c_write(reg);
i2c_start();
i2c_write(HMC5883L_READ_ADDR);
retval = i2c_read(0);
i2c_stop();
 
return(retval);
}
 
//------------------------------
typedef struct
{
signed int16 x;
signed int16 y;
signed int16 z;
}hmc5883l_result;
 
// This global structure holds the values read
// from the HMC5883L x,y,z registers.
hmc5883l_result compass = {0,0,0};
 
//------------------------------
void hmc5883l_read_data(void)
{
unsigned int8 x_lsb;
unsigned int8 x_msb;
 
unsigned int8 y_lsb;
unsigned int8 y_msb;
 
unsigned int8 z_lsb;
unsigned int8 z_msb;
 
i2c_start();
i2c_write(HMC5883L_WRT_ADDR);
i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register
i2c_start();
i2c_write(HMC5883L_READ_ADDR);
 
x_msb = i2c_read();
x_lsb = i2c_read();
 
z_msb = i2c_read();
z_lsb = i2c_read();
 
y_msb = i2c_read();
y_lsb = i2c_read(0); // do a NACK on last read
 
i2c_stop();
// Combine high and low bytes into 16-bit values.
compass.x = make16(x_msb, x_lsb);
compass.y = make16(y_msb, y_lsb);
compass.z = make16(z_msb, z_lsb);
}
 
/Modules/Sensors/MAG01A/SW/PIC16F887/HMC5883L.h
0,0 → 1,23
// i2c slave addresses
#define HMC5883L_WRT_ADDR 0x3C
#define HMC5883L_READ_ADDR 0x3D
 
// Register addresses
#define HMC5883L_CFG_A_REG 0x00
#define HMC5883L_CFG_B_REG 0x01
#define HMC5883L_MODE_REG 0x02
#define HMC5883L_X_MSB_REG 0x03
 
//Konstanty nastavujici rozsah
//pro void set_mag_roz (unsigned int8 h)
#define MAG_ROZ088 0x00
#define MAG_ROZ130 0x20
#define MAG_ROZ190 0x40
#define MAG_ROZ250 0x60
#define MAG_ROZ400 0x80
#define MAG_ROZ470 0xA0
#define MAG_ROZ560 0xC0
#define MAG_ROZ810 0xE0
 
 
#include "HMC5883L.c"
/Modules/Sensors/MAG01A/SW/PIC16F887/main.bak
0,0 → 1,32
#include "main.h"
#include "HMC5883L.h"
 
void main()
{
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_CLOCK_DIV_2);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_ccp1(CCP_OFF);
setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard
 
printf("Magnetometr: \r\n",);
printf("(c)mlab JACHO 2013: \r\n",);
printf("Vysledky z jednotlivych os:\r\n",);
signed int16 X,Y,Z;
 
while(true)
{
printf("Vysledky z jednotlivych os:\r\n",);
X = mag_readX();
Y = mag_readY();
Z = mag_readZ();
printf("X: %Ld \r\n", X);
printf("Y %Ld \r\n", Y);
printf("Z: %Ld \r\n", Z);
Delay_ms(500);
}
}
/Modules/Sensors/MAG01A/TODO.txt
0,0 → 1,3
 
Neni vyvedeny DRDY pin, takze maximalni rychrlost cteni vzorku je: 75 Hz.
 
/Modules/Sensors/MAG01A/DOC/SRC/img/MAG01A_QRcode.png
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/DOC/SRC/MAG01A.doc
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/DOC/MAG01A.cs.pdf
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/DOC/HTML/Pictures/MAG01A_1.jpg
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/DOC/HTML/Pictures/MAG01A_2.jpg
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/SCH_PCB/MAG01A_PCB3.pdf
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/SCH_PCB/MAG01A_PCB4.pdf
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/SCH_PCB/MAG01A_SCH.pdf
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Modules/Sensors/MAG01A/SCH_PCB/untitled.brd
0,0 → 1,631
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="6.1">
<drawing>
<settings>
<setting alwaysvectorfont="no"/>
<setting verticaltext="up"/>
</settings>
<grid distance="0.01" unitdist="mm" unit="mm" style="lines" multiple="1" display="no" altdistance="0.025" altunitdist="inch" altunit="inch"/>
<layers>
<layer number="1" name="Top" color="4" fill="1" visible="no" active="yes"/>
<layer number="16" name="Bottom" color="1" fill="1" visible="no" active="yes"/>
<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
<layer number="18" name="Vias" color="2" fill="1" visible="no" active="yes"/>
<layer number="19" name="Unrouted" color="6" fill="1" visible="no" active="yes"/>
<layer number="20" name="Dimension" color="15" fill="1" visible="yes" active="yes"/>
<layer number="21" name="tPlace" color="7" fill="1" visible="no" active="yes"/>
<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="yes"/>
<layer number="23" name="tOrigins" color="15" fill="1" visible="no" active="yes"/>
<layer number="24" name="bOrigins" color="15" fill="1" visible="no" active="yes"/>
<layer number="25" name="tNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="26" name="bNames" color="7" fill="1" visible="yes" active="yes"/>
<layer number="27" name="tValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="28" name="bValues" color="7" fill="1" visible="no" active="yes"/>
<layer number="29" name="tStop" color="7" fill="3" visible="no" active="yes"/>
<layer number="30" name="bStop" color="7" fill="6" visible="no" active="yes"/>
<layer number="31" name="tCream" color="7" fill="4" visible="no" active="yes"/>
<layer number="32" name="bCream" color="7" fill="5" visible="no" active="yes"/>
<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
<layer number="35" name="tGlue" color="7" fill="4" visible="no" active="yes"/>
<layer number="36" name="bGlue" color="7" fill="5" visible="no" active="yes"/>
<layer number="37" name="tTest" color="7" fill="1" visible="no" active="yes"/>
<layer number="38" name="bTest" color="7" fill="1" visible="no" active="yes"/>
<layer number="39" name="tKeepout" color="4" fill="11" visible="no" active="yes"/>
<layer number="40" name="bKeepout" color="1" fill="11" visible="no" active="yes"/>
<layer number="41" name="tRestrict" color="4" fill="10" visible="no" active="yes"/>
<layer number="42" name="bRestrict" color="1" fill="10" visible="no" active="yes"/>
<layer number="43" name="vRestrict" color="2" fill="10" visible="no" active="yes"/>
<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
<layer number="45" name="Holes" color="7" fill="1" visible="no" active="yes"/>
<layer number="46" name="Milling" color="3" fill="1" visible="no" active="yes"/>
<layer number="47" name="Measures" color="7" fill="1" visible="no" active="yes"/>
<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
<layer number="49" name="Reference" color="7" fill="1" visible="no" active="yes"/>
<layer number="50" name="dxf" color="7" fill="1" visible="no" active="no"/>
<layer number="51" name="tDocu" color="7" fill="1" visible="no" active="yes"/>
<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="yes"/>
<layer number="53" name="tGND_GNDA" color="7" fill="9" visible="no" active="no"/>
<layer number="54" name="bGND_GNDA" color="1" fill="9" visible="no" active="no"/>
<layer number="56" name="wert" color="7" fill="1" visible="no" active="no"/>
<layer number="91" name="Nets" color="2" fill="1" visible="no" active="no"/>
<layer number="92" name="Busses" color="1" fill="1" visible="no" active="no"/>
<layer number="93" name="Pins" color="2" fill="1" visible="no" active="no"/>
<layer number="94" name="Symbols" color="4" fill="1" visible="no" active="no"/>
<layer number="95" name="Names" color="7" fill="1" visible="no" active="no"/>
<layer number="96" name="Values" color="7" fill="1" visible="no" active="no"/>
<layer number="97" name="Info" color="7" fill="1" visible="no" active="no"/>
<layer number="98" name="Guide" color="6" fill="1" visible="no" active="no"/>
<layer number="100" name="Muster" color="7" fill="1" visible="no" active="no"/>
<layer number="101" name="Patch_Top" color="12" fill="4" visible="no" active="yes"/>
<layer number="102" name="Vscore" color="7" fill="1" visible="no" active="yes"/>
<layer number="103" name="tMap" color="7" fill="1" visible="no" active="yes"/>
<layer number="104" name="Name" color="16" fill="1" visible="no" active="yes"/>
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<layer number="106" name="bPlate" color="7" fill="1" visible="no" active="yes"/>
<layer number="107" name="Crop" color="7" fill="1" visible="no" active="yes"/>
<layer number="116" name="Patch_BOT" color="9" fill="4" visible="no" active="yes"/>
<layer number="121" name="_tsilk" color="7" fill="1" visible="no" active="yes"/>
<layer number="122" name="_bsilk" color="7" fill="1" visible="no" active="yes"/>
<layer number="125" name="_tNames" color="7" fill="1" visible="no" active="yes"/>
<layer number="144" name="Drill_legend" color="7" fill="1" visible="no" active="yes"/>
<layer number="151" name="HeatSink" color="7" fill="1" visible="no" active="yes"/>
<layer number="200" name="200bmp" color="1" fill="10" visible="no" active="yes"/>
<layer number="201" name="201bmp" color="2" fill="10" visible="no" active="yes"/>
<layer number="202" name="202bmp" color="3" fill="10" visible="no" active="yes"/>
<layer number="203" name="203bmp" color="4" fill="10" visible="no" active="yes"/>
<layer number="204" name="204bmp" color="5" fill="10" visible="no" active="yes"/>
<layer number="205" name="205bmp" color="6" fill="10" visible="no" active="yes"/>
<layer number="206" name="206bmp" color="7" fill="10" visible="no" active="yes"/>
<layer number="207" name="207bmp" color="8" fill="10" visible="no" active="yes"/>
<layer number="208" name="208bmp" color="9" fill="10" visible="no" active="yes"/>
<layer number="209" name="209bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="210" name="210bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="211" name="211bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="212" name="212bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="213" name="213bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="214" name="214bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="215" name="215bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="216" name="216bmp" color="7" fill="1" visible="no" active="yes"/>
<layer number="231" name="Eagle3D_PG1" color="14" fill="1" visible="no" active="yes"/>
<layer number="232" name="Eagle3D_PG2" color="14" fill="2" visible="no" active="yes"/>
<layer number="233" name="Eagle3D_PG3" color="14" fill="4" visible="no" active="yes"/>
<layer number="250" name="Descript" color="3" fill="1" visible="no" active="no"/>
<layer number="251" name="SMDround" color="12" fill="11" visible="no" active="no"/>
<layer number="254" name="cooling" color="7" fill="1" visible="no" active="yes"/>
</layers>
<board>
<plain>
<wire x1="0.1" y1="0.1" x2="20.22" y2="0.1" width="0" layer="20"/>
<wire x1="20.22" y1="0.1" x2="20.22" y2="21.72" width="0" layer="20"/>
<wire x1="20.22" y1="21.72" x2="20.22" y2="30.38" width="0" layer="20"/>
<wire x1="20.22" y1="30.38" x2="0.1" y2="30.38" width="0" layer="20"/>
<wire x1="0.1" y1="30.38" x2="0.1" y2="21.72" width="0" layer="20"/>
<dimension x1="20.22" y1="0.1" x2="20.22" y2="30.38" x3="34" y3="15.24" layer="48"/>
<dimension x1="0.1" y1="0.1" x2="20.22" y2="0.1" x3="10.16" y3="-7" layer="48"/>
<wire x1="0.1" y1="21.72" x2="0.1" y2="0.1" width="0" layer="20"/>
<wire x1="0.1" y1="21.72" x2="20.22" y2="21.72" width="0" layer="20"/>
<dimension x1="0.1" y1="21.72" x2="0.1" y2="0.1" x3="-6.5" y3="10.91" layer="48"/>
<circle x="15.7" y="14.82" radius="0.01" width="0.1" layer="16"/>
<text x="1.98" y="11.04" size="1.4224" layer="21" rot="R90">MAG01A</text>
<text x="19.32" y="10.67" size="1.4224" layer="21" rot="R180">MLAB</text>
<text x="8.7" y="19.4" size="1.4224" layer="21">GND</text>
<text x="8.7" y="9.24" size="1.4224" layer="21">GND</text>
<text x="8.7" y="14.32" size="1.4224" layer="21">VDD</text>
<text x="8.7" y="16.86" size="1.4224" layer="21">SCL</text>
<text x="8.7" y="11.78" size="1.4224" layer="21">SDA</text>
<text x="7.14" y="0.87" size="1.27" layer="21">JACHO</text>
<text x="18.24" y="16.52" size="1.27" layer="16" rot="MR90">MLAB</text>
<wire x1="17.25" y1="15.75" x2="15.75" y2="15.75" width="0.1" layer="21"/>
<wire x1="15.75" y1="15.75" x2="16.25" y2="16.25" width="0.1" layer="21"/>
<wire x1="15.75" y1="15.75" x2="16.25" y2="15.25" width="0.1" layer="21"/>
<text x="13.23" y="14.98" size="1.4224" layer="21">+X</text>
<text x="16.6" y="18.88" size="1.4224" layer="21">+Y</text>
<text x="17.75" y="15" size="1.4224" layer="21">Z-</text>
<wire x1="18.4" y1="16.97" x2="18.4" y2="18.47" width="0.1" layer="21"/>
<wire x1="18.4" y1="18.47" x2="18.9" y2="17.97" width="0.1" layer="21"/>
<wire x1="18.4" y1="18.47" x2="17.9" y2="17.97" width="0.1" layer="21"/>
<circle x="14.48" y="17.4" radius="0.01" width="0.1" layer="16"/>
</plain>
<libraries>
<library name="SparkFun">
<packages>
<package name="16LPCC">
<wire x1="-1.7" y1="-1.7" x2="-1.7" y2="-1.1" width="0.2032" layer="21"/>
<wire x1="-1.7" y1="-1.7" x2="-1.1" y2="-1.7" width="0.2032" layer="21"/>
<wire x1="1.1" y1="-1.7" x2="1.7" y2="-1.7" width="0.2032" layer="21"/>
<wire x1="1.7" y1="-1.7" x2="1.7" y2="-1.1" width="0.2032" layer="21"/>
<wire x1="1.7" y1="1.1" x2="1.7" y2="1.7" width="0.2032" layer="21"/>
<wire x1="1.7" y1="1.7" x2="1.1" y2="1.7" width="0.2032" layer="21"/>
<wire x1="-1.28" y1="1.635" x2="-1.635" y2="1.26" width="0.2032" layer="21"/>
<smd name="4" x="-1.37" y="-0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="3" x="-1.37" y="-0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="2" x="-1.37" y="0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="1" x="-1.37" y="0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="5" x="-0.75" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R270"/>
<smd name="15" x="-0.25" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="14" x="0.25" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="13" x="0.75" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="12" x="1.37" y="0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="11" x="1.37" y="0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="10" x="1.37" y="-0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="9" x="1.37" y="-0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="6" x="-0.25" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="8" x="0.75" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="16" x="-0.75" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="7" x="0.25" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<text x="-1.27" y="1.905" size="0.6096" layer="25">&gt;NAME</text>
<text x="-1.905" y="-2.54" size="0.6096" layer="27">&gt;VALUE</text>
</package>
</packages>
</library>
<library name="moje_C">
<packages>
<package name="C0805">
<wire x1="-0.381" y1="0.66" x2="0.381" y2="0.66" width="0.1016" layer="51"/>
<wire x1="-0.356" y1="-0.66" x2="0.381" y2="-0.66" width="0.1016" layer="51"/>
<smd name="1" x="-0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<smd name="2" x="0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<text x="-1.27" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-1.27" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="-1.0922" y1="-0.7239" x2="-0.3421" y2="0.7262" layer="51"/>
<rectangle x1="0.3556" y1="-0.7239" x2="1.1057" y2="0.7262" layer="51"/>
</package>
</packages>
</library>
<library name="moje_R">
<packages>
<package name="0805">
<wire x1="-0.41" y1="0.635" x2="0.41" y2="0.635" width="0.1524" layer="51"/>
<wire x1="-0.41" y1="-0.635" x2="0.41" y2="-0.635" width="0.1524" layer="51"/>
<smd name="1" x="-0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<smd name="2" x="0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<text x="-0.635" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-0.635" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="0.4064" y1="-0.6985" x2="1.0564" y2="0.7015" layer="51"/>
<rectangle x1="-1.0668" y1="-0.6985" x2="-0.4168" y2="0.7015" layer="51"/>
</package>
<package name="1206">
<wire x1="0.9525" y1="-0.8128" x2="-0.9652" y2="-0.8128" width="0.1524" layer="51"/>
<wire x1="0.9525" y1="0.8128" x2="-0.9652" y2="0.8128" width="0.1524" layer="51"/>
<smd name="2" x="1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
<smd name="1" x="-1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
<text x="-1.27" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-1.27" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="-1.6891" y1="-0.8763" x2="-0.9525" y2="0.8763" layer="51"/>
<rectangle x1="0.9525" y1="-0.8763" x2="1.6891" y2="0.8763" layer="51"/>
</package>
</packages>
</library>
<library name="moje_hrebinky">
<description>&lt;b&gt;Pin Headers&lt;/b&gt;&lt;p&gt;
Naming:&lt;p&gt;
MA = male&lt;p&gt;
# contacts - # rows&lt;p&gt;
W = angled&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="MA05-2">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
<wire x1="-5.715" y1="2.54" x2="-4.445" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-4.445" y1="2.54" x2="-3.81" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-3.81" y1="1.905" x2="-3.175" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-3.175" y1="2.54" x2="-1.905" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-1.905" y1="2.54" x2="-1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-5.715" y1="2.54" x2="-6.35" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-1.27" y1="1.905" x2="-0.635" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-0.635" y1="2.54" x2="0.635" y2="2.54" width="0.1524" layer="21"/>
<wire x1="0.635" y1="2.54" x2="1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="1.905" y1="2.54" x2="3.175" y2="2.54" width="0.1524" layer="21"/>
<wire x1="3.175" y1="2.54" x2="3.81" y2="1.905" width="0.1524" layer="21"/>
<wire x1="3.81" y1="1.905" x2="4.445" y2="2.54" width="0.1524" layer="21"/>
<wire x1="4.445" y1="2.54" x2="5.715" y2="2.54" width="0.1524" layer="21"/>
<wire x1="1.905" y1="2.54" x2="1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-3.81" y1="-1.905" x2="-4.445" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-1.27" y1="-1.905" x2="-1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-1.905" y1="-2.54" x2="-3.175" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-3.175" y1="-2.54" x2="-3.81" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="-6.35" y1="1.905" x2="-6.35" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="-6.35" y1="-1.905" x2="-5.715" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-4.445" y1="-2.54" x2="-5.715" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="1.27" y1="-1.905" x2="0.635" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="0.635" y1="-2.54" x2="-0.635" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-0.635" y1="-2.54" x2="-1.27" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="3.81" y1="-1.905" x2="3.175" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="5.715" y1="-2.54" x2="4.445" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="4.445" y1="-2.54" x2="3.81" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="1.27" y1="-1.905" x2="1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="3.175" y1="-2.54" x2="1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="6.35" y1="1.905" x2="6.35" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="5.715" y1="2.54" x2="6.35" y2="1.905" width="0.1524" layer="21"/>
<wire x1="6.35" y1="-1.905" x2="5.715" y2="-2.54" width="0.1524" layer="21"/>
<pad name="1" x="-5.08" y="-1.27" drill="0.9144" diameter="1.651" shape="square"/>
<pad name="3" x="-2.54" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="5" x="0" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="7" x="2.54" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="9" x="5.08" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="2" x="-5.08" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="4" x="-2.54" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="6" x="0" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="8" x="2.54" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="10" x="5.08" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<text x="-6.35" y="2.921" size="1.27" layer="25" ratio="10">&gt;NAME</text>
<text x="0" y="-4.191" size="1.27" layer="27" ratio="10">&gt;VALUE</text>
<rectangle x1="-2.794" y1="-1.524" x2="-2.286" y2="-1.016" layer="51"/>
<rectangle x1="-5.334" y1="-1.524" x2="-4.826" y2="-1.016" layer="51"/>
<rectangle x1="-0.254" y1="-1.524" x2="0.254" y2="-1.016" layer="51"/>
<rectangle x1="4.826" y1="-1.524" x2="5.334" y2="-1.016" layer="51"/>
<rectangle x1="2.286" y1="-1.524" x2="2.794" y2="-1.016" layer="51"/>
<rectangle x1="-5.334" y1="1.016" x2="-4.826" y2="1.524" layer="51"/>
<rectangle x1="-2.794" y1="1.016" x2="-2.286" y2="1.524" layer="51"/>
<rectangle x1="-0.254" y1="1.016" x2="0.254" y2="1.524" layer="51"/>
<rectangle x1="2.286" y1="1.016" x2="2.794" y2="1.524" layer="51"/>
<rectangle x1="4.826" y1="1.016" x2="5.334" y2="1.524" layer="51"/>
<circle x="-6.35" y="-2.54" radius="0.127" width="0.127" layer="21"/>
</package>
</packages>
</library>
<library name="moje">
<packages>
<package name="SROUB3M">
<pad name="P$1" x="0" y="0" drill="3.2" diameter="6.4516"/>
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<classes>
<class number="0" name="default" width="0" drill="0">
</class>
</classes>
<designrules>
<description language="de">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
&lt;p&gt;
Die Standard-Design-Rules sind so gewählt, dass sie für
die meisten Anwendungen passen. Sollte ihre Platine
besondere Anforderungen haben, treffen Sie die erforderlichen
Einstellungen hier und speichern die Design Rules unter
einem neuen Namen ab.</description>
<description language="en">&lt;b&gt;EAGLE Design Rules&lt;/b&gt;
&lt;p&gt;
The default Design Rules have been set to cover
a wide range of applications. Your particular design
may have different requirements, so please make the
necessary adjustments and save your customized
design rules under a new name.</description>
<param name="layerSetup" value="(1*16)"/>
<param name="mtCopper" value="0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm"/>
<param name="mtIsolate" value="1.5mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm"/>
<param name="mdWireWire" value="8mil"/>
<param name="mdWirePad" value="8mil"/>
<param name="mdWireVia" value="8mil"/>
<param name="mdPadPad" value="8mil"/>
<param name="mdPadVia" value="8mil"/>
<param name="mdViaVia" value="8mil"/>
<param name="mdSmdPad" value="8mil"/>
<param name="mdSmdVia" value="8mil"/>
<param name="mdSmdSmd" value="8mil"/>
<param name="mdViaViaSameLayer" value="8mil"/>
<param name="mnLayersViaInSmd" value="2"/>
<param name="mdCopperDimension" value="40mil"/>
<param name="mdDrill" value="8mil"/>
<param name="mdSmdStop" value="0mil"/>
<param name="msWidth" value="10mil"/>
<param name="msDrill" value="24mil"/>
<param name="msMicroVia" value="9.99mm"/>
<param name="msBlindViaRatio" value="0.5"/>
<param name="rvPadTop" value="0.25"/>
<param name="rvPadInner" value="0.25"/>
<param name="rvPadBottom" value="0.25"/>
<param name="rvViaOuter" value="0.25"/>
<param name="rvViaInner" value="0.25"/>
<param name="rvMicroViaOuter" value="0.25"/>
<param name="rvMicroViaInner" value="0.25"/>
<param name="rlMinPadTop" value="10mil"/>
<param name="rlMaxPadTop" value="20mil"/>
<param name="rlMinPadInner" value="10mil"/>
<param name="rlMaxPadInner" value="20mil"/>
<param name="rlMinPadBottom" value="10mil"/>
<param name="rlMaxPadBottom" value="20mil"/>
<param name="rlMinViaOuter" value="8mil"/>
<param name="rlMaxViaOuter" value="20mil"/>
<param name="rlMinViaInner" value="8mil"/>
<param name="rlMaxViaInner" value="20mil"/>
<param name="rlMinMicroViaOuter" value="4mil"/>
<param name="rlMaxMicroViaOuter" value="20mil"/>
<param name="rlMinMicroViaInner" value="4mil"/>
<param name="rlMaxMicroViaInner" value="20mil"/>
<param name="psTop" value="-1"/>
<param name="psBottom" value="-1"/>
<param name="psFirst" value="-1"/>
<param name="psElongationLong" value="100"/>
<param name="psElongationOffset" value="100"/>
<param name="mvStopFrame" value="1"/>
<param name="mvCreamFrame" value="0"/>
<param name="mlMinStopFrame" value="4mil"/>
<param name="mlMaxStopFrame" value="4mil"/>
<param name="mlMinCreamFrame" value="0mil"/>
<param name="mlMaxCreamFrame" value="0mil"/>
<param name="mlViaStopLimit" value="0mil"/>
<param name="srRoundness" value="0"/>
<param name="srMinRoundness" value="0mil"/>
<param name="srMaxRoundness" value="0mil"/>
<param name="slThermalIsolate" value="10mil"/>
<param name="slThermalsForVias" value="0"/>
<param name="dpMaxLengthDifference" value="10mm"/>
<param name="dpGapFactor" value="2.5"/>
<param name="checkGrid" value="0"/>
<param name="checkAngle" value="0"/>
<param name="checkFont" value="1"/>
<param name="checkRestrict" value="1"/>
<param name="useDiameter" value="13"/>
<param name="maxErrors" value="50"/>
</designrules>
<autorouter>
<pass name="Default">
<param name="RoutingGrid" value="50mil"/>
<param name="tpViaShape" value="round"/>
<param name="PrefDir.1" value="|"/>
<param name="PrefDir.2" value="0"/>
<param name="PrefDir.3" value="0"/>
<param name="PrefDir.4" value="0"/>
<param name="PrefDir.5" value="0"/>
<param name="PrefDir.6" value="0"/>
<param name="PrefDir.7" value="0"/>
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<param name="cfVia" value="8"/>
<param name="cfNonPref" value="5"/>
<param name="cfChangeDir" value="2"/>
<param name="cfOrthStep" value="2"/>
<param name="cfDiagStep" value="3"/>
<param name="cfExtdStep" value="0"/>
<param name="cfBonusStep" value="1"/>
<param name="cfMalusStep" value="1"/>
<param name="cfPadImpact" value="4"/>
<param name="cfSmdImpact" value="4"/>
<param name="cfBusImpact" value="0"/>
<param name="cfHugging" value="3"/>
<param name="cfAvoid" value="4"/>
<param name="cfPolygon" value="10"/>
<param name="cfBase.1" value="0"/>
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<param name="mnSegments" value="9999"/>
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<pass name="Follow-me" refer="Default" active="yes">
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<pass name="Busses" refer="Default" active="yes">
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<pass name="Route" refer="Default" active="yes">
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<pass name="Optimize1" refer="Default" active="yes">
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<pass name="Optimize2" refer="Optimize1" active="yes">
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<contactref element="U1" pad="1"/>
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<signal name="SDA">
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<contactref element="SV1" pad="8"/>
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<signal name="GND">
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<signal name="VDD">
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<contactref element="U1" pad="4"/>
<contactref element="U1" pad="2"/>
<contactref element="C3" pad="1"/>
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<signal name="N$2">
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</board>
</drawing>
</eagle>
/Modules/Sensors/MAG01A/SCH_PCB/untitled.sch
0,0 → 1,655
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="6.1">
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<setting verticaltext="up"/>
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<layer number="200" name="200bmp" color="1" fill="10" visible="yes" active="yes"/>
<layer number="201" name="201bmp" color="2" fill="10" visible="yes" active="yes"/>
<layer number="202" name="202bmp" color="3" fill="10" visible="yes" active="yes"/>
<layer number="203" name="203bmp" color="4" fill="10" visible="yes" active="yes"/>
<layer number="204" name="204bmp" color="5" fill="10" visible="yes" active="yes"/>
<layer number="205" name="205bmp" color="6" fill="10" visible="yes" active="yes"/>
<layer number="206" name="206bmp" color="7" fill="10" visible="yes" active="yes"/>
<layer number="207" name="207bmp" color="8" fill="10" visible="yes" active="yes"/>
<layer number="208" name="208bmp" color="9" fill="10" visible="yes" active="yes"/>
<layer number="209" name="209bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="210" name="210bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="211" name="211bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="212" name="212bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="213" name="213bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="214" name="214bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="215" name="215bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="216" name="216bmp" color="7" fill="1" visible="yes" active="yes"/>
<layer number="231" name="Eagle3D_PG1" color="14" fill="1" visible="yes" active="yes"/>
<layer number="232" name="Eagle3D_PG2" color="14" fill="2" visible="yes" active="yes"/>
<layer number="233" name="Eagle3D_PG3" color="14" fill="4" visible="yes" active="yes"/>
<layer number="250" name="Descript" color="3" fill="1" visible="no" active="no"/>
<layer number="251" name="SMDround" color="12" fill="11" visible="no" active="no"/>
<layer number="254" name="cooling" color="7" fill="1" visible="yes" active="yes"/>
</layers>
<schematic xreflabel="%F%N/%S.%C%R" xrefpart="/%S.%C%R">
<libraries>
<library name="SparkFun">
<packages>
<package name="16LPCC">
<wire x1="-1.7" y1="-1.7" x2="-1.7" y2="-1.1" width="0.2032" layer="21"/>
<wire x1="-1.7" y1="-1.7" x2="-1.1" y2="-1.7" width="0.2032" layer="21"/>
<wire x1="1.1" y1="-1.7" x2="1.7" y2="-1.7" width="0.2032" layer="21"/>
<wire x1="1.7" y1="-1.7" x2="1.7" y2="-1.1" width="0.2032" layer="21"/>
<wire x1="1.7" y1="1.1" x2="1.7" y2="1.7" width="0.2032" layer="21"/>
<wire x1="1.7" y1="1.7" x2="1.1" y2="1.7" width="0.2032" layer="21"/>
<wire x1="-1.28" y1="1.635" x2="-1.635" y2="1.26" width="0.2032" layer="21"/>
<smd name="4" x="-1.37" y="-0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="3" x="-1.37" y="-0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="2" x="-1.37" y="0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="1" x="-1.37" y="0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="5" x="-0.75" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R270"/>
<smd name="15" x="-0.25" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="14" x="0.25" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="13" x="0.75" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="12" x="1.37" y="0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="11" x="1.37" y="0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="10" x="1.37" y="-0.25" dx="0.65" dy="0.28" layer="1"/>
<smd name="9" x="1.37" y="-0.75" dx="0.65" dy="0.28" layer="1"/>
<smd name="6" x="-0.25" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="8" x="0.75" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="16" x="-0.75" y="1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<smd name="7" x="0.25" y="-1.37" dx="0.65" dy="0.28" layer="1" rot="R90"/>
<text x="-1.27" y="1.905" size="0.6096" layer="25">&gt;NAME</text>
<text x="-1.905" y="-2.54" size="0.6096" layer="27">&gt;VALUE</text>
</package>
</packages>
<symbols>
<symbol name="HMC5883L">
<wire x1="10.16" y1="15.24" x2="10.16" y2="-15.24" width="0.254" layer="94"/>
<wire x1="10.16" y1="-15.24" x2="-10.16" y2="-15.24" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-15.24" x2="-10.16" y2="15.24" width="0.254" layer="94"/>
<wire x1="-10.16" y1="15.24" x2="10.16" y2="15.24" width="0.254" layer="94"/>
<text x="-10.16" y="15.24" size="1.778" layer="95">&gt;NAME</text>
<text x="-10.16" y="-17.78" size="1.778" layer="96">&gt;VALUE</text>
<pin name="SCL" x="15.24" y="2.54" length="middle" rot="R180"/>
<pin name="VDD" x="15.24" y="12.7" length="middle" rot="R180"/>
<pin name="NC@1" x="-15.24" y="12.7" length="middle"/>
<pin name="S1" x="15.24" y="7.62" length="middle" rot="R180"/>
<pin name="NC@2" x="-15.24" y="10.16" length="middle"/>
<pin name="NC@3" x="-15.24" y="7.62" length="middle"/>
<pin name="NC@4" x="-15.24" y="5.08" length="middle"/>
<pin name="SETP" x="15.24" y="-5.08" length="middle" rot="R180"/>
<pin name="GND@1" x="-15.24" y="-7.62" length="middle"/>
<pin name="C1" x="-15.24" y="-2.54" length="middle"/>
<pin name="GND@2" x="-15.24" y="-10.16" length="middle"/>
<pin name="SETC" x="15.24" y="-7.62" length="middle" rot="R180"/>
<pin name="VDDIO" x="15.24" y="10.16" length="middle" rot="R180"/>
<pin name="NC@5" x="-15.24" y="2.54" length="middle"/>
<pin name="DRDY" x="15.24" y="-12.7" length="middle" rot="R180"/>
<pin name="SDA" x="15.24" y="0" length="middle" rot="R180"/>
</symbol>
<symbol name="GND">
<wire x1="-1.905" y1="0" x2="1.905" y2="0" width="0.254" layer="94"/>
<text x="-2.54" y="-2.54" size="1.778" layer="96">&gt;VALUE</text>
<pin name="GND" x="0" y="2.54" visible="off" length="short" direction="sup" rot="R270"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="HMC5883L">
<description>3 Axis Digital Compass IC</description>
<gates>
<gate name="G$1" symbol="HMC5883L" x="0" y="0"/>
</gates>
<devices>
<device name="SMD" package="16LPCC">
<connects>
<connect gate="G$1" pin="C1" pad="10"/>
<connect gate="G$1" pin="DRDY" pad="15"/>
<connect gate="G$1" pin="GND@1" pad="9"/>
<connect gate="G$1" pin="GND@2" pad="11"/>
<connect gate="G$1" pin="NC@1" pad="3"/>
<connect gate="G$1" pin="NC@2" pad="5"/>
<connect gate="G$1" pin="NC@3" pad="6"/>
<connect gate="G$1" pin="NC@4" pad="7"/>
<connect gate="G$1" pin="NC@5" pad="14"/>
<connect gate="G$1" pin="S1" pad="4"/>
<connect gate="G$1" pin="SCL" pad="1"/>
<connect gate="G$1" pin="SDA" pad="16"/>
<connect gate="G$1" pin="SETC" pad="12"/>
<connect gate="G$1" pin="SETP" pad="8"/>
<connect gate="G$1" pin="VDD" pad="2"/>
<connect gate="G$1" pin="VDDIO" pad="13"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="GND" prefix="GND">
<description>&lt;b&gt;SUPPLY SYMBOL&lt;/b&gt;</description>
<gates>
<gate name="1" symbol="GND" x="0" y="0"/>
</gates>
<devices>
<device name="">
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="moje_C">
<packages>
<package name="C0805">
<wire x1="-0.381" y1="0.66" x2="0.381" y2="0.66" width="0.1016" layer="51"/>
<wire x1="-0.356" y1="-0.66" x2="0.381" y2="-0.66" width="0.1016" layer="51"/>
<smd name="1" x="-0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<smd name="2" x="0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<text x="-1.27" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-1.27" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="-1.0922" y1="-0.7239" x2="-0.3421" y2="0.7262" layer="51"/>
<rectangle x1="0.3556" y1="-0.7239" x2="1.1057" y2="0.7262" layer="51"/>
</package>
</packages>
<symbols>
<symbol name="C">
<wire x1="0" y1="2.54" x2="0" y2="2.032" width="0.1524" layer="94"/>
<wire x1="0" y1="0" x2="0" y2="0.508" width="0.1524" layer="94"/>
<text x="1.524" y="2.921" size="1.778" layer="95">&gt;NAME</text>
<text x="1.524" y="-2.159" size="1.778" layer="96">&gt;VALUE</text>
<rectangle x1="-2.032" y1="0.508" x2="2.032" y2="1.016" layer="94"/>
<rectangle x1="-2.032" y1="1.524" x2="2.032" y2="2.032" layer="94"/>
<pin name="1" x="0" y="5.08" visible="off" length="short" direction="pas" swaplevel="1" rot="R270"/>
<pin name="2" x="0" y="-2.54" visible="off" length="short" direction="pas" swaplevel="1" rot="R90"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="C0805" prefix="C" uservalue="yes">
<gates>
<gate name="G$1" symbol="C" x="0" y="0"/>
</gates>
<devices>
<device name="" package="C0805">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="moje_R">
<packages>
<package name="0805">
<wire x1="-0.41" y1="0.635" x2="0.41" y2="0.635" width="0.1524" layer="51"/>
<wire x1="-0.41" y1="-0.635" x2="0.41" y2="-0.635" width="0.1524" layer="51"/>
<smd name="1" x="-0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<smd name="2" x="0.95" y="0" dx="1.3" dy="1.5" layer="1"/>
<text x="-0.635" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-0.635" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="0.4064" y1="-0.6985" x2="1.0564" y2="0.7015" layer="51"/>
<rectangle x1="-1.0668" y1="-0.6985" x2="-0.4168" y2="0.7015" layer="51"/>
</package>
<package name="1206">
<wire x1="0.9525" y1="-0.8128" x2="-0.9652" y2="-0.8128" width="0.1524" layer="51"/>
<wire x1="0.9525" y1="0.8128" x2="-0.9652" y2="0.8128" width="0.1524" layer="51"/>
<smd name="2" x="1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
<smd name="1" x="-1.422" y="0" dx="1.6" dy="1.803" layer="1"/>
<text x="-1.27" y="1.27" size="1.27" layer="25">&gt;NAME</text>
<text x="-1.27" y="-2.54" size="1.27" layer="27">&gt;VALUE</text>
<rectangle x1="-1.6891" y1="-0.8763" x2="-0.9525" y2="0.8763" layer="51"/>
<rectangle x1="0.9525" y1="-0.8763" x2="1.6891" y2="0.8763" layer="51"/>
</package>
</packages>
<symbols>
<symbol name="1206">
<wire x1="-2.54" y1="-0.889" x2="2.54" y2="-0.889" width="0.254" layer="94"/>
<wire x1="2.54" y1="0.889" x2="-2.54" y2="0.889" width="0.254" layer="94"/>
<wire x1="2.54" y1="-0.889" x2="2.54" y2="0.889" width="0.254" layer="94"/>
<wire x1="-2.54" y1="-0.889" x2="-2.54" y2="0.889" width="0.254" layer="94"/>
<text x="-3.81" y="1.4986" size="1.778" layer="95">&gt;NAME</text>
<text x="-3.81" y="-3.302" size="1.778" layer="96">&gt;VALUE</text>
<pin name="2" x="5.08" y="0" visible="off" length="short" direction="pas" swaplevel="1" rot="R180"/>
<pin name="1" x="-5.08" y="0" visible="off" length="short" direction="pas" swaplevel="1"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="R0805" prefix="R" uservalue="yes">
<gates>
<gate name="G$1" symbol="1206" x="0" y="0"/>
</gates>
<devices>
<device name="" package="0805">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
<deviceset name="R1206" prefix="R" uservalue="yes">
<gates>
<gate name="G$1" symbol="1206" x="0" y="0"/>
</gates>
<devices>
<device name="" package="1206">
<connects>
<connect gate="G$1" pin="1" pad="1"/>
<connect gate="G$1" pin="2" pad="2"/>
</connects>
<technologies>
<technology name=""/>
</technologies>
</device>
</devices>
</deviceset>
</devicesets>
</library>
<library name="moje_hrebinky">
<description>&lt;b&gt;Pin Headers&lt;/b&gt;&lt;p&gt;
Naming:&lt;p&gt;
MA = male&lt;p&gt;
# contacts - # rows&lt;p&gt;
W = angled&lt;p&gt;
&lt;author&gt;Created by librarian@cadsoft.de&lt;/author&gt;</description>
<packages>
<package name="MA05-2">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
<wire x1="-5.715" y1="2.54" x2="-4.445" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-4.445" y1="2.54" x2="-3.81" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-3.81" y1="1.905" x2="-3.175" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-3.175" y1="2.54" x2="-1.905" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-1.905" y1="2.54" x2="-1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-5.715" y1="2.54" x2="-6.35" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-1.27" y1="1.905" x2="-0.635" y2="2.54" width="0.1524" layer="21"/>
<wire x1="-0.635" y1="2.54" x2="0.635" y2="2.54" width="0.1524" layer="21"/>
<wire x1="0.635" y1="2.54" x2="1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="1.905" y1="2.54" x2="3.175" y2="2.54" width="0.1524" layer="21"/>
<wire x1="3.175" y1="2.54" x2="3.81" y2="1.905" width="0.1524" layer="21"/>
<wire x1="3.81" y1="1.905" x2="4.445" y2="2.54" width="0.1524" layer="21"/>
<wire x1="4.445" y1="2.54" x2="5.715" y2="2.54" width="0.1524" layer="21"/>
<wire x1="1.905" y1="2.54" x2="1.27" y2="1.905" width="0.1524" layer="21"/>
<wire x1="-3.81" y1="-1.905" x2="-4.445" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-1.27" y1="-1.905" x2="-1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-1.905" y1="-2.54" x2="-3.175" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-3.175" y1="-2.54" x2="-3.81" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="-6.35" y1="1.905" x2="-6.35" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="-6.35" y1="-1.905" x2="-5.715" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-4.445" y1="-2.54" x2="-5.715" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="1.27" y1="-1.905" x2="0.635" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="0.635" y1="-2.54" x2="-0.635" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="-0.635" y1="-2.54" x2="-1.27" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="3.81" y1="-1.905" x2="3.175" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="5.715" y1="-2.54" x2="4.445" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="4.445" y1="-2.54" x2="3.81" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="1.27" y1="-1.905" x2="1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="3.175" y1="-2.54" x2="1.905" y2="-2.54" width="0.1524" layer="21"/>
<wire x1="6.35" y1="1.905" x2="6.35" y2="-1.905" width="0.1524" layer="21"/>
<wire x1="5.715" y1="2.54" x2="6.35" y2="1.905" width="0.1524" layer="21"/>
<wire x1="6.35" y1="-1.905" x2="5.715" y2="-2.54" width="0.1524" layer="21"/>
<pad name="1" x="-5.08" y="-1.27" drill="0.9144" diameter="1.651" shape="square"/>
<pad name="3" x="-2.54" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="5" x="0" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="7" x="2.54" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="9" x="5.08" y="-1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="2" x="-5.08" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="4" x="-2.54" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="6" x="0" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="8" x="2.54" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<pad name="10" x="5.08" y="1.27" drill="0.889" diameter="1.651" shape="square"/>
<text x="-6.35" y="2.921" size="1.27" layer="25" ratio="10">&gt;NAME</text>
<text x="0" y="-4.191" size="1.27" layer="27" ratio="10">&gt;VALUE</text>
<rectangle x1="-2.794" y1="-1.524" x2="-2.286" y2="-1.016" layer="51"/>
<rectangle x1="-5.334" y1="-1.524" x2="-4.826" y2="-1.016" layer="51"/>
<rectangle x1="-0.254" y1="-1.524" x2="0.254" y2="-1.016" layer="51"/>
<rectangle x1="4.826" y1="-1.524" x2="5.334" y2="-1.016" layer="51"/>
<rectangle x1="2.286" y1="-1.524" x2="2.794" y2="-1.016" layer="51"/>
<rectangle x1="-5.334" y1="1.016" x2="-4.826" y2="1.524" layer="51"/>
<rectangle x1="-2.794" y1="1.016" x2="-2.286" y2="1.524" layer="51"/>
<rectangle x1="-0.254" y1="1.016" x2="0.254" y2="1.524" layer="51"/>
<rectangle x1="2.286" y1="1.016" x2="2.794" y2="1.524" layer="51"/>
<rectangle x1="4.826" y1="1.016" x2="5.334" y2="1.524" layer="51"/>
<circle x="-6.35" y="-2.54" radius="0.127" width="0.127" layer="21"/>
</package>
</packages>
<symbols>
<symbol name="MA04-2">
<wire x1="1.27" y1="0" x2="2.54" y2="0" width="0.6096" layer="94"/>
<wire x1="-2.54" y1="0" x2="-1.27" y2="0" width="0.6096" layer="94"/>
<text x="-3.81" y="-5.08" size="1.778" layer="96">&gt;VALUE</text>
<text x="-3.81" y="3.302" size="1.778" layer="95">&gt;NAME</text>
<wire x1="-2.54" y1="0" x2="2.54" y2="0" width="0.254" layer="94"/>
<pin name="K" x="-5.08" y="0" visible="off" length="middle" direction="pas"/>
</symbol>
</symbols>
<devicesets>
<deviceset name="MA05-2" prefix="SV" uservalue="yes">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
<gates>
<gate name="-1" symbol="MA04-2" x="0" y="7.62"/>
<gate name="-2" symbol="MA04-2" x="0" y="2.54"/>
<gate name="-3" symbol="MA04-2" x="0" y="-2.54"/>
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<technology name="">
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<attribute name="OC_NEWARK" value="unknown" constant="no"/>
</technology>
</technologies>
</device>
</devices>
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<library name="moje">
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<technology name=""/>
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/Modules/Sensors/MAG01A/SCH_PCB/eagle.epf
0,0 → 1,376
[Eagle]
Version="06 01 00"
Platform="Windows"
Serial="62191E841E-LSR-WLM-1EL"
Globals="Globals"
Desktop="Desktop"
 
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[Win_1]
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State=1
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/Modules/Sensors/MAG01A/PrjInfo.txt
0,0 → 1,15
[InfoShortDescription.cs]
Tříosý digitální magnetometr
 
[InfoShortDescription.en]
Tri axis digital magnetometer
 
[InfoLongDescription.en]
Precision I2C magnetometer for compass and navigation applications in robotics.
 
[InfoLongDescription.cs]
Modul magnetometru s integrovaným obvodem čidla HMC5883L a I2C rozhraním. Je v hodný pro navigaci robotů.
 
[InfoBuyUST]
http://www.ust.cz/shop/product_info.php?cPath=22_28&products_id=186
[End]
/Modules/Sensors/MAG01A/CAM_PROFI/BOARD.gpi
0,0 → 1,39
Generated by EAGLE CAM Processor 6.1.0
 
Photoplotter Info File: D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/BOARD.gpi
 
Date : 3.10.2012 12:59:57
Plotfile : D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/BOARD.PHO
Apertures : generated:
Device : Gerber RS-274-X photoplotter, coordinate format 2.4 inch
 
Parameter settings:
 
Emulate Apertures : no
Tolerance Draw + : 0.00 %
Tolerance Draw - : 0.00 %
Tolerance Flash + : 0.00 %
Tolerance Flash - : 0.00 %
Rotate : no
Mirror : no
Optimize : no
Auto fit : yes
OffsetX : 0inch
OffsetY : 0inch
 
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Coordinate Units : Inch
Data Mode : Absolute
Zero Suppression : None
End Of Block : *
 
Apertures used:
 
Code Shape Size used
 
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D11 draw 0.0051inch 51
D12 draw 0.0110inch 101
 
/Modules/Sensors/MAG01A/CAM_PROFI/DRILL.dri
0,0 → 1,38
Generated by EAGLE CAM Processor 6.1.0
 
Drill Station Info File: D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/DRILL.dri
 
Date : 3.10.2012 12:59:57
Drills : generated
Device : Excellon drill station
 
Parameter settings:
 
Tolerance Drill + : 0.00 %
Tolerance Drill - : 0.00 %
Rotate : no
Mirror : no
Optimize : yes
Auto fit : yes
OffsetX : 0inch
OffsetY : 0inch
Layers : Drills Holes
 
Drill File Info:
 
Data Mode : Absolute
Units : 1/10000 Inch
 
Drills used:
 
Code Size used
 
T01 0.0350inch 9
T02 0.0360inch 1
T03 0.1260inch 4
 
Total number of drills: 14
 
Plotfiles:
 
D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/DRILL
/Modules/Sensors/MAG01A/CAM_PROFI/M2.gpi
0,0 → 1,43
Generated by EAGLE CAM Processor 6.1.0
 
Photoplotter Info File: D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/M2.gpi
 
Date : 3.10.2012 12:59:57
Plotfile : D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/M2.PHO
Apertures : generated:
Device : Gerber RS-274-X photoplotter, coordinate format 2.4 inch
 
Parameter settings:
 
Emulate Apertures : no
Tolerance Draw + : 0.00 %
Tolerance Draw - : 0.00 %
Tolerance Flash + : 0.00 %
Tolerance Flash - : 0.00 %
Rotate : no
Mirror : no
Optimize : yes
Auto fit : yes
OffsetX : 0inch
OffsetY : 0inch
 
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Coordinate Units : Inch
Data Mode : Absolute
Zero Suppression : None
End Of Block : *
 
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Code Shape Size used
 
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D11 rectangle 0.0336inch x 0.0190inch 8
D12 rectangle 0.0592inch x 0.0671inch 8
D13 rectangle 0.0671inch x 0.0592inch 2
D14 square 0.0730inch 10
D15 round 0.2620inch 4
D16 rectangle 0.0790inch x 0.0710inch 2
 
/Modules/Sensors/MAG01A/CAM_PROFI/T1.PHO
0,0 → 1,565
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/Modules/Sensors/MAG01A/CAM_PROFI/T1.gpi
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Photoplotter Info File: D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/T1.gpi
 
Date : 3.10.2012 12:59:57
Plotfile : D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/T1.PHO
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/Modules/Sensors/MAG01A/CAM_PROFI/V2.gpi
0,0 → 1,48
Generated by EAGLE CAM Processor 6.1.0
 
Photoplotter Info File: D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/V2.gpi
 
Date : 3.10.2012 12:59:57
Plotfile : D:/Honza/MLAB/Modules/Sensors/MAG01A/CAM_PROFI/V2.PHO
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0,0 → 1,1191
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X007353Y007609D01*
X007353Y007510D02*
X007428Y007510D01*
X007428Y007412D02*
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X005490Y005836D01*
X005490Y005737D02*
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X005379Y005245D02*
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X005379Y011253D02*
X005915Y011253D01*
X005915Y011352D02*
X005379Y011352D01*
X005379Y011450D02*
X005915Y011450D01*
D20*
X008532Y009476D02*
X008532Y009378D01*
X008925Y009771D01*
X008925Y010657D01*
X008827Y010756D01*
X008827Y011248D01*
X008839Y011236D01*
X009319Y011236D01*
D21*
X007646Y009574D02*
X007351Y009574D01*
X007390Y009570D02*
X006390Y009570D01*
X007646Y009574D02*
X008236Y008984D01*
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X008630Y008665D01*
X008587Y008665D01*
X008630Y008984D02*
X009122Y008984D01*
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X009516Y008984D01*
X009516Y008166D01*
X010201Y008641D02*
X010201Y008988D01*
X010205Y008984D02*
X009516Y008984D01*
X009296Y009007D02*
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