| /Modules/Sensors/MAG01A/SW/PIC16F887/main.c |
|---|
| 4,11 → 4,6 |
| void main() |
| { |
| float last,b,anemo_speed; |
| unsigned int16 anemo_round=0; |
| unsigned int16 i; |
| //signed int16 X,Y,Z; |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_CLOCK_DIV_2); |
| setup_spi(SPI_SS_DISABLED); |
| 16,10 → 11,10 |
| 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 |
| setup_comparator(NC_NC_NC_NC); |
| printf("Magnetometr: \r\n",); |
| printf("(c)mlab JACHO 2013: \r\n",); |
| printf("(c)mlab.cz kaklik 2013: \r\n",); |
| printf("X, Y, Z \r\n",); |
| 26,7 → 21,7 |
| // 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, 0xE0); // maximal 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. |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.err |
|---|
| 1,7 → 1,2 |
| >>> Warning 202 "main.c" Line 7(7,11): Variable never used: last |
| >>> Warning 202 "main.c" Line 7(12,13): Variable never used: b |
| >>> Warning 202 "main.c" Line 7(14,25): Variable never used: anemo_speed |
| >>> Warning 202 "main.c" Line 8(16,27): Variable never used: anemo_round |
| >>> Warning 202 "main.c" Line 9(16,17): Variable never used: i |
| Memory usage: ROM=10% RAM=8% - 10% |
| 0 Errors, 5 Warnings. |
| Memory usage: ROM=9% RAM=3% - 6% |
| 0 Errors, 0 Warnings. |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.esym |
|---|
| 1,7 → 1,7 |
| D G "__PCM__" 0 0 ""4.106"" |
| D G "__DEVICE__" 0 0 "" |
| D G "__DATE__" 0 0 ""17-V-13"" |
| D G "__TIME__" 0 0 ""12:14:46"" "Standard Header file for the PIC16F887 device ////////////////" |
| 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" |
| 288,10 → 288,10 |
| 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()" |
| 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()" |
| 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" |
| 310,7 → 310,7 |
| 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()" |
| 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" |
| 318,20 → 318,20 |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| 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" |
| 342,7 → 342,7 |
| 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()" |
| 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" |
| 352,23 → 352,23 |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| 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" |
| 375,7 → 375,7 |
| 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()" |
| 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" |
| 393,16 → 393,16 |
| 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()" |
| 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()" |
| 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()" |
| 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" |
| 413,17 → 413,17 |
| 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()" |
| 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()" |
| 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()" |
| 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" |
| 432,7 → 432,7 |
| 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()" |
| 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" |
| 441,36 → 441,30 |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| 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()" |
| V L "last" 0 7 "float" |
| V L "b" 0 7 "float" |
| V L "anemo_speed" 0 7 "float" |
| V L "anemo_round" 0 8 "int16" |
| V L "i" 0 9 "int16" "signed int16 X,Y,Z;" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| C L "MAIN" 0 19 2 "FUNCTION" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| C L "MAIN" 0 19 2 "FUNCTION" |
| 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 |
| 603,3 → 597,5 |
| 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 |
|---|
| 17,5 → 17,5 |
| #use delay(clock=8000000) |
| #use i2c(Master,Slow,sda=PIN_C4,scl=PIN_C3) |
| #use rs232(baud=9600,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
| #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 |
|---|
| 1,104 → 1,100 |
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| :10037000AE172E1EAE0AA709A809A70A0319A80AD4 |
| :10038000280EF038AA00AA07E23EAB00323EAD00CC |
| :1003900028080F39AB07AB07AD07E93EAC00AC0747 |
| :1003A000AC07270E0F39AC07AD07AC0DAD0DAD098D |
| :1003B000AD0D27080F39AD07AA0D0730A9000A3087 |
| :1003C000AD07AC03031CE029AC07AB03031CE42915 |
| :1003D000AB07AA03031CE829AA07A903031CEC29FD |
| :1003E00029308400831307302E052E1384032E0535 |
| :1003F000031D012A2E1A840A2E1A012A2030F70022 |
| :100400001E2A84072D30040203192E170008F70056 |
| :10041000031D122A2E1B122A2E1A222AAE19122A64 |
| :1004200020301D2AAE1F1A2A2D30F70084032E1308 |
| :10043000AE131E2AAE152E123030F70777080C1EA9 |
| :100440001F2A9900840A2E1F022A080027308400E0 |
| :10045000831300080319392A0230F800F701F70B5B |
| :100460002F2AF80B2E2A9730F700F70B352A800B2E |
| :100470002C2A8A110A12F82A840183131F3083055B |
| :10048000713083168F000F08031787110C30031388 |
| :100490009900A230980090308312980083160317B9 |
| :1004A0000908C039890003131F129F120030031777 |
| :1004B00088008312870188018901FF300313A0009F |
| :1004C000A101A201A301A401A501A601831603179E |
| :1004D0000908C039890003131F129F120030031747 |
| :1004E0008800831203131F139F1383169F13831215 |
| :1004F0001F149412A012200883168700831220165E |
| :100500002008831687008312A01120088316870015 |
| :100510000130831294000030831694000108C7391B |
| :1005200008388100831290010030F80092000030FA |
| :1005300083169200831220152008831687008312E9 |
| :10054000970183169B019C0101309D0083120317C4 |
| :1005500087018801890104308D0000308F0003136A |
| :1005600021200D3003178D0000308F000313212050 |
| :100570001B3003178D0000308F0003132120A701CB |
| :100580001830A800B3200130A700A801B320023022 |
| :10059000A700A801B3203129003084002208A80058 |
| :1005A0002108A700B02120300C1ED42A9900003069 |
| :1005B00084002408A8002308A700B02120300C1EC6 |
| :1005C000DF2A9900003084002608A8002508A7002B |
| :1005D000B02120300C1EEA2A99000A300C1EEE2AA7 |
| :1005E00099000D300C1EF22A99006430A700262ACB |
| :0405F000CB2A6300AF |
| :04400E00F52CFF3F4F |
| :00000001FF |
| ;PIC16F887 |
| ;CRC=17FE CREATED="17-V-13 12:14" |
| ;CRC=2B66 CREATED="25-VIII-13 18:55" |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.lst |
|---|
| 1,17 → 1,17 |
| CCS PCM C Compiler, Version 4.106, 47914 17-V-13 12:14 |
| 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: 799 words (10%) |
| ROM used: 762 words (9%) |
| Largest free fragment is 2048 |
| RAM used: 28 (8%) at main() level |
| 38 (10%) worst case |
| RAM used: 12 (3%) at main() level |
| 21 (6%) worst case |
| Stack: 2 locations |
| * |
| 0000: MOVLW 02 |
| 0001: MOVWF 0A |
| 0002: GOTO 266 |
| 0002: GOTO 23C |
| 0003: NOP |
| .................... #include "main.h" |
| .................... #include <16F887.h> |
| 37,212 → 37,175 |
| .................... |
| .................... #use delay(clock=8000000) |
| * |
| 0250: MOVLW 37 |
| 0251: MOVWF 04 |
| 0252: BCF 03.7 |
| 0253: MOVF 00,W |
| 0254: BTFSC 03.2 |
| 0255: GOTO 263 |
| 0256: MOVLW 02 |
| 0257: MOVWF 78 |
| 0258: CLRF 77 |
| 0259: DECFSZ 77,F |
| 025A: GOTO 259 |
| 025B: DECFSZ 78,F |
| 025C: GOTO 258 |
| 025D: MOVLW 97 |
| 025E: MOVWF 77 |
| 025F: DECFSZ 77,F |
| 0260: GOTO 25F |
| 0261: DECFSZ 00,F |
| 0262: GOTO 256 |
| 0263: BCF 0A.3 |
| 0264: BCF 0A.4 |
| 0265: GOTO 31D (RETURN) |
| 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) |
| * |
| 0089: MOVLW 08 |
| 008A: MOVWF 78 |
| 008B: NOP |
| 008C: BCF 07.3 |
| 008D: BCF 20.3 |
| 008E: MOVF 20,W |
| 008F: BSF 03.5 |
| 0090: MOVWF 07 |
| 0091: NOP |
| 0092: BCF 03.5 |
| 0093: RLF 3D,F |
| 0094: BCF 07.4 |
| 0095: BTFSS 03.0 |
| 0096: GOTO 09D |
| 0097: BSF 20.4 |
| 0098: MOVF 20,W |
| 0099: BSF 03.5 |
| 009A: MOVWF 07 |
| 009B: GOTO 0A1 |
| 009C: BCF 03.5 |
| 009D: BCF 20.4 |
| 009E: MOVF 20,W |
| 009F: BSF 03.5 |
| 00A0: MOVWF 07 |
| 00A1: NOP |
| 00A2: BCF 03.5 |
| 00A3: BSF 20.3 |
| 00A4: MOVF 20,W |
| 00A5: BSF 03.5 |
| 00A6: MOVWF 07 |
| 00A7: BCF 03.5 |
| 00A8: BTFSS 07.3 |
| 00A9: GOTO 0A8 |
| 00AA: DECFSZ 78,F |
| 00AB: GOTO 08B |
| 00AC: NOP |
| 00AD: BCF 07.3 |
| 00AE: BCF 20.3 |
| 00AF: MOVF 20,W |
| 00B0: BSF 03.5 |
| 00B1: MOVWF 07 |
| 00B2: NOP |
| 00B3: BCF 03.5 |
| 00B4: BSF 20.4 |
| 00B5: MOVF 20,W |
| 00B6: BSF 03.5 |
| 00B7: MOVWF 07 |
| 00B8: NOP |
| 00B9: NOP |
| 00BA: BCF 03.5 |
| 00BB: BSF 20.3 |
| 00BC: MOVF 20,W |
| 00BD: BSF 03.5 |
| 00BE: MOVWF 07 |
| 00BF: BCF 03.5 |
| 00C0: BTFSS 07.3 |
| 00C1: GOTO 0C0 |
| 00C2: CLRF 78 |
| 00C3: NOP |
| 00C4: BTFSC 07.4 |
| 00C5: BSF 78.0 |
| 00C6: BCF 07.3 |
| 00C7: BCF 20.3 |
| 00C8: MOVF 20,W |
| 00C9: BSF 03.5 |
| 00CA: MOVWF 07 |
| 00CB: BCF 03.5 |
| 00CC: BCF 07.4 |
| 00CD: BCF 20.4 |
| 00CE: MOVF 20,W |
| 00CF: BSF 03.5 |
| 00D0: MOVWF 07 |
| 00D1: BCF 03.5 |
| 00D2: RETURN |
| 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 |
| * |
| 010C: MOVLW 08 |
| 010D: MOVWF 3E |
| 010E: MOVF 77,W |
| 010F: MOVWF 3F |
| 0110: BSF 20.4 |
| 0111: MOVF 20,W |
| 0112: BSF 03.5 |
| 0113: MOVWF 07 |
| 0114: NOP |
| 0115: BCF 03.5 |
| 0116: BSF 20.3 |
| 0117: MOVF 20,W |
| 0118: BSF 03.5 |
| 0119: MOVWF 07 |
| 011A: BCF 03.5 |
| 011B: BTFSS 07.3 |
| 011C: GOTO 11B |
| 011D: BTFSC 07.4 |
| 011E: BSF 03.0 |
| 011F: BTFSS 07.4 |
| 0120: BCF 03.0 |
| 0121: RLF 78,F |
| 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 20.3 |
| 0124: MOVF 20,W |
| 0125: BSF 03.5 |
| 0126: MOVWF 07 |
| 0127: BCF 03.5 |
| 0128: BCF 07.3 |
| 0129: DECFSZ 3E,F |
| 012A: GOTO 110 |
| 012B: BSF 20.4 |
| 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: NOP |
| 0130: BCF 03.5 |
| 0131: BCF 07.4 |
| 0132: MOVF 3F,W |
| 0133: BTFSC 03.2 |
| 0134: GOTO 13A |
| 0135: BCF 20.4 |
| 0136: MOVF 20,W |
| 0137: BSF 03.5 |
| 0138: MOVWF 07 |
| 0139: BCF 03.5 |
| 013A: NOP |
| 013B: BSF 20.3 |
| 013C: MOVF 20,W |
| 013D: BSF 03.5 |
| 013E: MOVWF 07 |
| 013F: BCF 03.5 |
| 0140: BTFSS 07.3 |
| 0141: GOTO 140 |
| 0142: NOP |
| 0143: BCF 07.3 |
| 0144: BCF 20.3 |
| 0145: MOVF 20,W |
| 0146: BSF 03.5 |
| 0147: MOVWF 07 |
| 0148: NOP |
| 0149: BCF 03.5 |
| 014A: BCF 07.4 |
| 014B: BCF 20.4 |
| 014C: MOVF 20,W |
| 014D: BSF 03.5 |
| 014E: MOVWF 07 |
| 014F: BCF 03.5 |
| 0150: RETURN |
| .................... #use rs232(baud=9600,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
| * |
| 001F: BCF 20.7 |
| 0020: MOVF 20,W |
| 0021: BSF 03.5 |
| 0022: MOVWF 07 |
| 0023: BCF 03.5 |
| 0024: BCF 07.7 |
| 0025: MOVLW 08 |
| 0026: MOVWF 78 |
| 0027: GOTO 028 |
| 0028: NOP |
| 0029: BSF 78.7 |
| 002A: GOTO 039 |
| 002B: BCF 78.7 |
| 002C: RRF 40,F |
| 002D: BTFSC 03.0 |
| 002E: BSF 07.7 |
| 002F: BTFSS 03.0 |
| 0030: BCF 07.7 |
| 0031: BSF 78.6 |
| 0032: GOTO 039 |
| 0033: BCF 78.6 |
| 0034: DECFSZ 78,F |
| 0035: GOTO 02C |
| 0036: GOTO 037 |
| 0037: NOP |
| 0038: BSF 07.7 |
| 0039: MOVLW 3F |
| 003A: MOVWF 04 |
| 003B: DECFSZ 04,F |
| 003C: GOTO 03B |
| 003D: NOP |
| 003E: BTFSC 78.7 |
| 003F: GOTO 02B |
| 0040: BTFSC 78.6 |
| 0041: GOTO 033 |
| 0042: RETURN |
| 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" |
| 276,68 → 239,68 |
| .................... { |
| .................... i2c_start(); |
| * |
| 00D3: BSF 20.4 |
| 00D4: MOVF 20,W |
| 00D5: BSF 03.5 |
| 00D6: MOVWF 07 |
| 00D7: NOP |
| 00D8: BCF 03.5 |
| 00D9: BSF 20.3 |
| 00DA: MOVF 20,W |
| 00DB: BSF 03.5 |
| 00DC: MOVWF 07 |
| 00DD: NOP |
| 00DE: BCF 03.5 |
| 00DF: BCF 07.4 |
| 00E0: BCF 20.4 |
| 00E1: MOVF 20,W |
| 00E2: BSF 03.5 |
| 00E3: MOVWF 07 |
| 00E4: NOP |
| 00E5: BCF 03.5 |
| 00E6: BCF 07.3 |
| 00E7: BCF 20.3 |
| 00E8: MOVF 20,W |
| 00E9: BSF 03.5 |
| 00EA: MOVWF 07 |
| 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); |
| 00EB: MOVLW 3C |
| 00EC: BCF 03.5 |
| 00ED: MOVWF 3D |
| 00EE: CALL 089 |
| 00CB: MOVLW 3C |
| 00CC: BCF 03.5 |
| 00CD: MOVWF 2D |
| 00CE: CALL 069 |
| .................... i2c_write(reg); |
| 00EF: MOVF 37,W |
| 00F0: MOVWF 3D |
| 00F1: CALL 089 |
| 00CF: MOVF 27,W |
| 00D0: MOVWF 2D |
| 00D1: CALL 069 |
| .................... i2c_write(data); |
| 00F2: MOVF 38,W |
| 00F3: MOVWF 3D |
| 00F4: CALL 089 |
| 00D2: MOVF 28,W |
| 00D3: MOVWF 2D |
| 00D4: CALL 069 |
| .................... i2c_stop(); |
| 00F5: BCF 20.4 |
| 00F6: MOVF 20,W |
| 00F7: BSF 03.5 |
| 00F8: MOVWF 07 |
| 00F9: NOP |
| 00FA: BCF 03.5 |
| 00FB: BSF 20.3 |
| 00FC: MOVF 20,W |
| 00FD: BSF 03.5 |
| 00FE: MOVWF 07 |
| 00FF: BCF 03.5 |
| 0100: BTFSS 07.3 |
| 0101: GOTO 100 |
| 0102: NOP |
| 0103: GOTO 104 |
| 0104: NOP |
| 0105: BSF 20.4 |
| 0106: MOVF 20,W |
| 0107: BSF 03.5 |
| 0108: MOVWF 07 |
| 0109: NOP |
| 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 |
| .................... } |
| 010A: BCF 03.5 |
| 010B: RETURN |
| 00EA: BCF 03.5 |
| 00EB: RETURN |
| .................... |
| .................... //------------------------------ |
| .................... int8 hmc5883l_read_reg(int8 reg) |
| 367,12 → 330,12 |
| .................... // from the HMC5883L x,y,z registers. |
| .................... hmc5883l_result compass = {0,0,0}; |
| * |
| 0287: CLRF 21 |
| 0288: CLRF 22 |
| 0289: CLRF 23 |
| 028A: CLRF 24 |
| 028B: CLRF 25 |
| 028C: CLRF 26 |
| 0260: CLRF 21 |
| 0261: CLRF 22 |
| 0262: CLRF 23 |
| 0263: CLRF 24 |
| 0264: CLRF 25 |
| 0265: CLRF 26 |
| .................... |
| .................... //------------------------------ |
| .................... void hmc5883l_read_data(void) |
| 388,154 → 351,154 |
| .................... |
| .................... i2c_start(); |
| * |
| 0151: BSF 20.4 |
| 0152: MOVF 20,W |
| 0153: BSF 03.5 |
| 0154: MOVWF 07 |
| 0155: NOP |
| 0156: BCF 03.5 |
| 0157: BSF 20.3 |
| 0158: MOVF 20,W |
| 0159: BSF 03.5 |
| 015A: MOVWF 07 |
| 015B: NOP |
| 015C: BCF 03.5 |
| 015D: BCF 07.4 |
| 015E: BCF 20.4 |
| 015F: MOVF 20,W |
| 0160: BSF 03.5 |
| 0161: MOVWF 07 |
| 0162: NOP |
| 0163: BCF 03.5 |
| 0164: BCF 07.3 |
| 0165: BCF 20.3 |
| 0166: MOVF 20,W |
| 0167: BSF 03.5 |
| 0168: MOVWF 07 |
| 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); |
| 0169: MOVLW 3C |
| 016A: BCF 03.5 |
| 016B: MOVWF 3D |
| 016C: CALL 089 |
| 0149: MOVLW 3C |
| 014A: BCF 03.5 |
| 014B: MOVWF 2D |
| 014C: CALL 069 |
| .................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
| 016D: MOVLW 03 |
| 016E: MOVWF 3D |
| 016F: CALL 089 |
| 014D: MOVLW 03 |
| 014E: MOVWF 2D |
| 014F: CALL 069 |
| .................... i2c_start(); |
| 0170: BSF 20.4 |
| 0171: MOVF 20,W |
| 0172: BSF 03.5 |
| 0173: MOVWF 07 |
| 0174: NOP |
| 0175: BCF 03.5 |
| 0176: BSF 20.3 |
| 0177: MOVF 20,W |
| 0178: BSF 03.5 |
| 0179: MOVWF 07 |
| 017A: NOP |
| 017B: BCF 03.5 |
| 017C: BTFSS 07.3 |
| 017D: GOTO 17C |
| 017E: BCF 07.4 |
| 017F: BCF 20.4 |
| 0180: MOVF 20,W |
| 0181: BSF 03.5 |
| 0182: MOVWF 07 |
| 0183: NOP |
| 0184: BCF 03.5 |
| 0185: BCF 07.3 |
| 0186: BCF 20.3 |
| 0187: MOVF 20,W |
| 0188: BSF 03.5 |
| 0189: MOVWF 07 |
| 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); |
| 018A: MOVLW 3D |
| 018B: BCF 03.5 |
| 018C: MOVWF 3D |
| 018D: CALL 089 |
| 016A: MOVLW 3D |
| 016B: BCF 03.5 |
| 016C: MOVWF 2D |
| 016D: CALL 069 |
| .................... |
| .................... x_msb = i2c_read(); |
| 018E: MOVLW 01 |
| 018F: MOVWF 77 |
| 0190: CALL 10C |
| 0191: MOVF 78,W |
| 0192: MOVWF 38 |
| 016E: MOVLW 01 |
| 016F: MOVWF 77 |
| 0170: CALL 0EC |
| 0171: MOVF 78,W |
| 0172: MOVWF 28 |
| .................... x_lsb = i2c_read(); |
| 0193: MOVLW 01 |
| 0194: MOVWF 77 |
| 0195: CALL 10C |
| 0196: MOVF 78,W |
| 0197: MOVWF 37 |
| 0173: MOVLW 01 |
| 0174: MOVWF 77 |
| 0175: CALL 0EC |
| 0176: MOVF 78,W |
| 0177: MOVWF 27 |
| .................... |
| .................... z_msb = i2c_read(); |
| 0198: MOVLW 01 |
| 0199: MOVWF 77 |
| 019A: CALL 10C |
| 019B: MOVF 78,W |
| 019C: MOVWF 3C |
| 0178: MOVLW 01 |
| 0179: MOVWF 77 |
| 017A: CALL 0EC |
| 017B: MOVF 78,W |
| 017C: MOVWF 2C |
| .................... z_lsb = i2c_read(); |
| 019D: MOVLW 01 |
| 019E: MOVWF 77 |
| 019F: CALL 10C |
| 01A0: MOVF 78,W |
| 01A1: MOVWF 3B |
| 017D: MOVLW 01 |
| 017E: MOVWF 77 |
| 017F: CALL 0EC |
| 0180: MOVF 78,W |
| 0181: MOVWF 2B |
| .................... |
| .................... y_msb = i2c_read(); |
| 01A2: MOVLW 01 |
| 01A3: MOVWF 77 |
| 01A4: CALL 10C |
| 01A5: MOVF 78,W |
| 01A6: MOVWF 3A |
| 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 |
| 01A7: CLRF 77 |
| 01A8: CALL 10C |
| 01A9: MOVF 78,W |
| 01AA: MOVWF 39 |
| 0187: CLRF 77 |
| 0188: CALL 0EC |
| 0189: MOVF 78,W |
| 018A: MOVWF 29 |
| .................... |
| .................... i2c_stop(); |
| 01AB: BCF 20.4 |
| 01AC: MOVF 20,W |
| 01AD: BSF 03.5 |
| 01AE: MOVWF 07 |
| 01AF: NOP |
| 01B0: BCF 03.5 |
| 01B1: BSF 20.3 |
| 01B2: MOVF 20,W |
| 01B3: BSF 03.5 |
| 01B4: MOVWF 07 |
| 01B5: BCF 03.5 |
| 01B6: BTFSS 07.3 |
| 01B7: GOTO 1B6 |
| 01B8: NOP |
| 01B9: GOTO 1BA |
| 01BA: NOP |
| 01BB: BSF 20.4 |
| 01BC: MOVF 20,W |
| 01BD: BSF 03.5 |
| 01BE: MOVWF 07 |
| 01BF: NOP |
| 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); |
| 01C0: BCF 03.5 |
| 01C1: MOVF 38,W |
| 01C2: MOVWF 22 |
| 01C3: MOVF 37,W |
| 01C4: MOVWF 21 |
| 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); |
| 01C5: MOVF 3A,W |
| 01C6: MOVWF 24 |
| 01C7: MOVF 39,W |
| 01C8: MOVWF 23 |
| 01A5: MOVF 2A,W |
| 01A6: MOVWF 24 |
| 01A7: MOVF 29,W |
| 01A8: MOVWF 23 |
| .................... compass.z = make16(z_msb, z_lsb); |
| 01C9: MOVF 3C,W |
| 01CA: MOVWF 26 |
| 01CB: MOVF 3B,W |
| 01CC: MOVWF 25 |
| 01A9: MOVF 2C,W |
| 01AA: MOVWF 26 |
| 01AB: MOVF 2B,W |
| 01AC: MOVWF 25 |
| .................... } |
| 01CD: BCF 0A.3 |
| 01CE: BCF 0A.4 |
| 01CF: GOTO 2F6 (RETURN) |
| 01AD: BCF 0A.3 |
| 01AE: BCF 0A.4 |
| 01AF: GOTO 2CC (RETURN) |
| .................... |
| .................... |
| .................... |
| 2717,165 → 2680,160 |
| .................... void main() |
| .................... { |
| * |
| 0266: CLRF 04 |
| 0267: BCF 03.7 |
| 0268: MOVLW 1F |
| 0269: ANDWF 03,F |
| 026A: MOVLW 71 |
| 026B: BSF 03.5 |
| 026C: MOVWF 0F |
| 026D: MOVF 0F,W |
| 026E: BCF 03.5 |
| 026F: BCF 20.7 |
| 0270: MOVF 20,W |
| 0271: BSF 03.5 |
| 0272: MOVWF 07 |
| 0273: BCF 03.5 |
| 0274: BSF 07.7 |
| 0275: BSF 03.5 |
| 0276: BSF 03.6 |
| 0277: MOVF 09,W |
| 0278: ANDLW C0 |
| 0279: MOVWF 09 |
| 027A: BCF 03.6 |
| 027B: BCF 1F.4 |
| 027C: BCF 1F.5 |
| 027D: MOVLW 00 |
| 027E: BSF 03.6 |
| 027F: MOVWF 08 |
| 0280: BCF 03.5 |
| 0281: CLRF 07 |
| 0282: CLRF 08 |
| 0283: CLRF 09 |
| 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); |
| * |
| 028D: CLRF 34 |
| 028E: CLRF 33 |
| .................... float last,b,anemo_speed; |
| .................... unsigned int16 anemo_round=0; |
| .................... unsigned int16 i; |
| .................... |
| .................... //signed int16 X,Y,Z; |
| .................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| 028F: BSF 03.5 |
| 0290: BSF 03.6 |
| 0291: MOVF 09,W |
| 0292: ANDLW C0 |
| 0293: MOVWF 09 |
| 0294: BCF 03.6 |
| 0295: BCF 1F.4 |
| 0296: BCF 1F.5 |
| 0297: MOVLW 00 |
| 0298: BSF 03.6 |
| 0299: MOVWF 08 |
| 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); |
| 029A: BCF 03.5 |
| 029B: BCF 03.6 |
| 029C: BCF 1F.6 |
| 029D: BCF 1F.7 |
| 029E: BSF 03.5 |
| 029F: BCF 1F.7 |
| 02A0: BCF 03.5 |
| 02A1: BSF 1F.0 |
| 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); |
| 02A2: BCF 14.5 |
| 02A3: BCF 20.5 |
| 02A4: MOVF 20,W |
| 02A5: BSF 03.5 |
| 02A6: MOVWF 07 |
| 02A7: BCF 03.5 |
| 02A8: BSF 20.4 |
| 02A9: MOVF 20,W |
| 02AA: BSF 03.5 |
| 02AB: MOVWF 07 |
| 02AC: BCF 03.5 |
| 02AD: BCF 20.3 |
| 02AE: MOVF 20,W |
| 02AF: BSF 03.5 |
| 02B0: MOVWF 07 |
| 02B1: MOVLW 01 |
| 02B2: BCF 03.5 |
| 02B3: MOVWF 14 |
| 02B4: MOVLW 00 |
| 02B5: BSF 03.5 |
| 02B6: MOVWF 14 |
| 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); |
| 02B7: MOVF 01,W |
| 02B8: ANDLW C7 |
| 02B9: IORLW 08 |
| 02BA: MOVWF 01 |
| 028E: MOVF 01,W |
| 028F: ANDLW C7 |
| 0290: IORLW 08 |
| 0291: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 02BB: BCF 03.5 |
| 02BC: CLRF 10 |
| 0292: BCF 03.5 |
| 0293: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 02BD: MOVLW 00 |
| 02BE: MOVWF 78 |
| 02BF: MOVWF 12 |
| 02C0: MOVLW 00 |
| 02C1: BSF 03.5 |
| 02C2: MOVWF 12 |
| 0294: MOVLW 00 |
| 0295: MOVWF 78 |
| 0296: MOVWF 12 |
| 0297: MOVLW 00 |
| 0298: BSF 03.5 |
| 0299: MOVWF 12 |
| .................... setup_ccp1(CCP_OFF); |
| 02C3: BCF 03.5 |
| 02C4: BSF 20.2 |
| 02C5: MOVF 20,W |
| 02C6: BSF 03.5 |
| 02C7: MOVWF 07 |
| 02C8: BCF 03.5 |
| 02C9: CLRF 17 |
| 02CA: BSF 03.5 |
| 02CB: CLRF 1B |
| 02CC: CLRF 1C |
| 02CD: MOVLW 01 |
| 02CE: MOVWF 1D |
| .................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
| 02CF: BCF 03.5 |
| 02D0: BSF 03.6 |
| 02D1: CLRF 07 |
| 02D2: CLRF 08 |
| 02D3: CLRF 09 |
| 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",); |
| 02D4: MOVLW 04 |
| 02D5: MOVWF 0D |
| 02D6: MOVLW 00 |
| 02D7: MOVWF 0F |
| 02D8: BCF 03.6 |
| 02D9: CALL 043 |
| .................... printf("(c)mlab JACHO 2013: \r\n",); |
| 02DA: MOVLW 0D |
| 02DB: BSF 03.6 |
| 02DC: MOVWF 0D |
| 02DD: MOVLW 00 |
| 02DE: MOVWF 0F |
| 02DF: BCF 03.6 |
| 02E0: CALL 043 |
| 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",); |
| 02E1: MOVLW 19 |
| 02E2: BSF 03.6 |
| 02E3: MOVWF 0D |
| 02E4: MOVLW 00 |
| 02E5: MOVWF 0F |
| 02E6: BCF 03.6 |
| 02E7: CALL 043 |
| 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 |
| 02E8: CLRF 37 |
| 02E9: MOVLW 18 |
| 02EA: MOVWF 38 |
| 02EB: CALL 0D3 |
| .................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range |
| 02EC: MOVLW 01 |
| 02ED: MOVWF 37 |
| 02EE: MOVLW E0 |
| 02EF: MOVWF 38 |
| 02F0: CALL 0D3 |
| 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); |
| 02F1: MOVLW 02 |
| 02F2: MOVWF 37 |
| 02F3: CLRF 38 |
| 02F4: CALL 0D3 |
| 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. |
| 2885,56 → 2843,61 |
| .................... { |
| .................... |
| .................... hmc5883l_read_data(); |
| 02F5: GOTO 151 |
| 02CB: GOTO 131 |
| .................... printf("%6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z); |
| 02F6: MOVLW 00 |
| 02F7: MOVWF 04 |
| 02F8: MOVF 22,W |
| 02F9: MOVWF 38 |
| 02FA: MOVF 21,W |
| 02FB: MOVWF 37 |
| 02FC: CALL 1D0 |
| 02FD: MOVLW 20 |
| 02FE: MOVWF 40 |
| 02FF: CALL 01F |
| 0300: MOVLW 00 |
| 0301: MOVWF 04 |
| 0302: MOVF 24,W |
| 0303: MOVWF 38 |
| 0304: MOVF 23,W |
| 0305: MOVWF 37 |
| 0306: CALL 1D0 |
| 0307: MOVLW 20 |
| 0308: MOVWF 40 |
| 0309: CALL 01F |
| 030A: MOVLW 00 |
| 030B: MOVWF 04 |
| 030C: MOVF 26,W |
| 030D: MOVWF 38 |
| 030E: MOVF 25,W |
| 030F: MOVWF 37 |
| 0310: CALL 1D0 |
| 0311: MOVLW 20 |
| 0312: MOVWF 40 |
| 0313: CALL 01F |
| 0314: MOVLW 0A |
| 0315: MOVWF 40 |
| 0316: CALL 01F |
| 0317: MOVLW 0D |
| 0318: MOVWF 40 |
| 0319: CALL 01F |
| 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); |
| 031A: MOVLW 64 |
| 031B: MOVWF 37 |
| 031C: GOTO 250 |
| 02F5: MOVLW 64 |
| 02F6: MOVWF 27 |
| 02F7: GOTO 226 |
| .................... } |
| 031D: GOTO 2F5 |
| 02F8: GOTO 2CB |
| .................... |
| .................... } |
| .................... |
| .................... |
| .................... |
| 031E: SLEEP |
| 02F9: SLEEP |
| Configuration Fuses: |
| Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.pjt |
|---|
| 17,7 → 17,7 |
| 0=0000 %S 0 0 796 451 3 0 |
| [Opened Files] |
| 1=main.c |
| 2= |
| 2=main.h |
| 3=C:\Program Files (x86)\PICC\devices\16F887.h |
| 4=HMC5883L.h |
| 5=HMC5883L.c |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.sta |
|---|
| 1,18 → 1,18 |
| ROM used: 799 (10%) |
| 799 (10%) including unused fragments |
| ROM used: 762 (9%) |
| 762 (9%) including unused fragments |
| 0 Average locations per line |
| 3 Average locations per statement |
| 2 Average locations per statement |
| RAM used: 28 (8%) at main() level |
| 38 (10%) worst case |
| RAM used: 12 (3%) at main() level |
| 21 (6%) worst case |
| Stack used: 2 worst case (out of 8 total available) |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 48 19 6 main.c |
| 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 |
| 19,39 → 19,38 |
| 76 28 9 HMC5883L.c |
| 2172 260 85 C:\Program Files (x86)\PICC\drivers\math.h |
| ----- ----- |
| 2766 307 Total |
| 2761 307 Total |
| Page ROM % RAM Vol Diff Functions: |
| ---- --- --- --- --- ---- ---------- |
| 0 22 3 1 @delay_ms1 |
| 0 69 9 3 @I2C_READ_1 |
| 0 74 9 1 @I2C_WRITE_1 |
| 0 36 5 1 @PUTCHAR_1_ |
| 0 74 10 1 @I2C_WRITE_1 |
| 0 57 7 2 102 1.8 hmc5883l_write_reg |
| 0 127 16 6 636 3.3 hmc5883l_read_data |
| 0 185 23 16 722 3.9 MAIN |
| 0 9 1 0 @const237 |
| 0 70 9 3 @PSTRINGC7_69 |
| 0 12 2 0 @const239 |
| 0 6 1 0 @const240 |
| 0 128 16 9 @PRINTF_LD_69 |
| 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 3 |
| Functions 5 |
| Statements 307 |
| Comments 358 |
| Volume (V) 1829 |
| Difficilty (D) 8.6 |
| Effort to implement (E) 15712 |
| Time to implement (T) 15 minutes |
| 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) 16 |
| Maintainability (MI) 95 |
| Segment Used Free |
| ----------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 795 1249 |
| 00004-007FF 758 1286 |
| 00800-00FFF 0 2048 |
| 01000-017FF 0 2048 |
| 01800-01FFF 0 2048 |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.sym |
|---|
| 1,7 → 1,7 |
| 004-005 @READ_PROGRAM_MEMORY8.P1 |
| 004 @WRITE_PROGRAM_MEMORY8.P2 |
| 015 CCP_1 |
| 015 CCP_1_LOW |
| 015 CCP_1 |
| 016 CCP_1_HIGH |
| 01B CCP_2_LOW |
| 01B CCP_2 |
| 8,36 → 8,30 |
| 01C CCP_2_HIGH |
| 020 @TRIS_C |
| 021-026 compass |
| 027-02A MAIN.last |
| 02B-02E MAIN.b |
| 02F-032 MAIN.anemo_speed |
| 033-034 MAIN.anemo_round |
| 035-036 MAIN.i |
| 037-038 @PRINTF_LD_69.P1 |
| 037 hmc5883l_write_reg.reg |
| 037 @delay_ms1.P1 |
| 037 hmc5883l_read_data.x_lsb |
| 037 @PSTRINGC7_69.@SCRATCH1 |
| 038 hmc5883l_read_data.x_msb |
| 038 hmc5883l_write_reg.data |
| 038 @PSTRINGC7_69.@SCRATCH2 |
| 039 hmc5883l_read_data.y_lsb |
| 039 @PSTRINGC7_69.@SCRATCH3 |
| 039 @PRINTF_LD_69.@SCRATCH1 |
| 03A hmc5883l_read_data.y_msb |
| 03A @PRINTF_LD_69.@SCRATCH2 |
| 03B hmc5883l_read_data.z_lsb |
| 03B @PRINTF_LD_69.@SCRATCH3 |
| 03C hmc5883l_read_data.z_msb |
| 03C @PRINTF_LD_69.@SCRATCH4 |
| 03D @I2C_READ_1.P1 |
| 03D @I2C_WRITE_1.P2 |
| 03D @PRINTF_LD_69.@SCRATCH5 |
| 03E @I2C_READ_1.@SCRATCH1 |
| 03E @PRINTF_LD_69.@SCRATCH6 |
| 03F @I2C_READ_1.@SCRATCH2 |
| 03F @PRINTF_LD_69.@SCRATCH7 |
| 040 @PUTCHAR_1_.P1 |
| 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_ |
| 49,19 → 43,18 |
| 10D-10E @READ_PROGRAM_MEMORY8.P2 |
| ROM Allocation: |
| 0250 @delay_ms1 |
| 010C @I2C_READ_1 |
| 0089 @I2C_WRITE_1 |
| 001F @PUTCHAR_1_ |
| 00D3 hmc5883l_write_reg |
| 0151 hmc5883l_read_data |
| 0266 MAIN |
| 0004 @const237 |
| 0043 @PSTRINGC7_69 |
| 000D @const239 |
| 0019 @const240 |
| 01D0 @PRINTF_LD_69 |
| 0266 @cinit |
| 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: |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.tre |
|---|
| 1,15 → 1,9 |
| ÀÄmain |
| ÀÄMAIN 0/185 Ram=16 |
| ÀÄMAIN 0/190 Ram=0 |
| ÃÄ??0?? |
| ÃÄ@PSTRINGC7_69 0/70 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PSTRINGC7_69 0/70 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PSTRINGC7_69 0/70 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| 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 |
| 32,15 → 26,7 |
| 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_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PRINTF_LD_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PRINTF_LD_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| 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/TODO.txt |
|---|
| 1,3 → 1,3 |
| Neni vyvedeny DRDY pin, takze maximalni rychrlost cteni vzorku je: 75 Hz. |