| 1,8 → 1,8 |
|---|
| CCS PCM C Compiler, Version 4.106, 47914 15-V-13 20:34 |
| CCS PCM C Compiler, Version 4.106, 47914 17-V-13 12:14 |
| |
| Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst |
| |
| ROM used: 775 words (9%) |
| ROM used: 799 words (10%) |
| Largest free fragment is 2048 |
| RAM used: 28 (8%) at main() level |
| 38 (10%) worst case |
| 11,7 → 11,7 |
|---|
| * |
| 0000: MOVLW 02 |
| 0001: MOVWF 0A |
| 0002: GOTO 24F |
| 0002: GOTO 266 |
| 0003: NOP |
| .................... #include "main.h" |
| .................... #include <16F887.h> |
| 36,195 → 36,225 |
|---|
| .................... #FUSES BORV40 //Brownout reset at 4.0V |
| .................... |
| .................... #use delay(clock=8000000) |
| .................... #use i2c(master, sda=PIN_C4, scl=PIN_C3) |
| * |
| 001F: MOVLW 08 |
| 0020: MOVWF 78 |
| 0021: NOP |
| 0022: BCF 07.3 |
| 0023: BCF 20.3 |
| 0024: MOVF 20,W |
| 0025: BSF 03.5 |
| 0026: MOVWF 07 |
| 0027: NOP |
| 0028: BCF 03.5 |
| 0029: RLF 3D,F |
| 002A: BCF 07.4 |
| 002B: BTFSS 03.0 |
| 002C: GOTO 033 |
| 002D: BSF 20.4 |
| 002E: MOVF 20,W |
| 002F: BSF 03.5 |
| 0030: MOVWF 07 |
| 0031: GOTO 037 |
| 0032: BCF 03.5 |
| 0033: BCF 20.4 |
| 0034: MOVF 20,W |
| 0035: BSF 03.5 |
| 0036: MOVWF 07 |
| 0037: NOP |
| 0038: BCF 03.5 |
| 0039: BSF 20.3 |
| 003A: MOVF 20,W |
| 003B: BSF 03.5 |
| 003C: MOVWF 07 |
| 003D: BCF 03.5 |
| 003E: BTFSS 07.3 |
| 003F: GOTO 03E |
| 0040: DECFSZ 78,F |
| 0041: GOTO 021 |
| 0042: NOP |
| 0043: BCF 07.3 |
| 0044: BCF 20.3 |
| 0045: MOVF 20,W |
| 0046: BSF 03.5 |
| 0047: MOVWF 07 |
| 0048: NOP |
| 0049: BCF 03.5 |
| 004A: BSF 20.4 |
| 004B: MOVF 20,W |
| 004C: BSF 03.5 |
| 004D: MOVWF 07 |
| 004E: NOP |
| 004F: NOP |
| 0050: BCF 03.5 |
| 0051: BSF 20.3 |
| 0052: MOVF 20,W |
| 0053: BSF 03.5 |
| 0054: MOVWF 07 |
| 0055: BCF 03.5 |
| 0056: BTFSS 07.3 |
| 0057: GOTO 056 |
| 0058: CLRF 78 |
| 0059: NOP |
| 005A: BTFSC 07.4 |
| 005B: BSF 78.0 |
| 005C: BCF 07.3 |
| 005D: BCF 20.3 |
| 005E: MOVF 20,W |
| 005F: BSF 03.5 |
| 0060: MOVWF 07 |
| 0061: BCF 03.5 |
| 0062: BCF 07.4 |
| 0063: BCF 20.4 |
| 0064: MOVF 20,W |
| 0065: BSF 03.5 |
| 0066: MOVWF 07 |
| 0067: BCF 03.5 |
| 0068: RETURN |
| 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) |
| .................... #use i2c(Master,Slow,sda=PIN_C4,scl=PIN_C3) |
| * |
| 010B: MOVLW 08 |
| 010C: MOVWF 3E |
| 010D: MOVF 77,W |
| 010E: MOVWF 3F |
| 010F: BSF 20.4 |
| 0110: MOVF 20,W |
| 0111: BSF 03.5 |
| 0112: MOVWF 07 |
| 0113: NOP |
| 0114: BCF 03.5 |
| 0115: BSF 20.3 |
| 0116: MOVF 20,W |
| 0117: BSF 03.5 |
| 0118: MOVWF 07 |
| 0119: BCF 03.5 |
| 011A: BTFSS 07.3 |
| 011B: GOTO 11A |
| 011C: BTFSC 07.4 |
| 011D: BSF 03.0 |
| 011E: BTFSS 07.4 |
| 011F: BCF 03.0 |
| 0120: RLF 78,F |
| 0121: NOP |
| 0122: BCF 20.3 |
| 0123: MOVF 20,W |
| 0124: BSF 03.5 |
| 0125: MOVWF 07 |
| 0126: BCF 03.5 |
| 0127: BCF 07.3 |
| 0128: DECFSZ 3E,F |
| 0129: GOTO 10F |
| 012A: BSF 20.4 |
| 012B: MOVF 20,W |
| 012C: BSF 03.5 |
| 012D: MOVWF 07 |
| 012E: NOP |
| 012F: BCF 03.5 |
| 0130: BCF 07.4 |
| 0131: MOVF 3F,W |
| 0132: BTFSC 03.2 |
| 0133: GOTO 139 |
| 0134: BCF 20.4 |
| 0135: MOVF 20,W |
| 0136: BSF 03.5 |
| 0137: MOVWF 07 |
| 0138: BCF 03.5 |
| 0139: NOP |
| 013A: BSF 20.3 |
| 013B: MOVF 20,W |
| 013C: BSF 03.5 |
| 013D: MOVWF 07 |
| 013E: BCF 03.5 |
| 013F: BTFSS 07.3 |
| 0140: GOTO 13F |
| 0141: NOP |
| 0142: BCF 07.3 |
| 0143: BCF 20.3 |
| 0144: MOVF 20,W |
| 0145: BSF 03.5 |
| 0146: MOVWF 07 |
| 0147: NOP |
| 0148: BCF 03.5 |
| 0149: BCF 07.4 |
| 014A: BCF 20.4 |
| 014B: MOVF 20,W |
| 014C: BSF 03.5 |
| 014D: MOVWF 07 |
| 014E: BCF 03.5 |
| 014F: RETURN |
| .................... #use rs232(baud=115200,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
| 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 |
| * |
| 00A2: BCF 20.7 |
| 00A3: MOVF 20,W |
| 00A4: BSF 03.5 |
| 00A5: MOVWF 07 |
| 00A6: BCF 03.5 |
| 00A7: BCF 07.7 |
| 00A8: MOVLW 08 |
| 00A9: MOVWF 78 |
| 00AA: GOTO 0AB |
| 00AB: NOP |
| 00AC: BSF 78.7 |
| 00AD: GOTO 0C0 |
| 00AE: BCF 78.7 |
| 00AF: MOVF 40,W |
| 00B0: MOVWF 79 |
| 00B1: RRF 79,F |
| 00B2: BTFSC 03.0 |
| 00B3: BSF 07.7 |
| 00B4: BTFSS 03.0 |
| 00B5: BCF 07.7 |
| 00B6: BSF 78.6 |
| 00B7: GOTO 0C0 |
| 00B8: BCF 78.6 |
| 00B9: DECFSZ 78,F |
| 00BA: GOTO 0B1 |
| 00BB: MOVF 79,W |
| 00BC: MOVWF 40 |
| 00BD: GOTO 0BE |
| 00BE: NOP |
| 00BF: BSF 07.7 |
| 00C0: BTFSC 78.7 |
| 00C1: GOTO 0AE |
| 00C2: BTFSC 78.6 |
| 00C3: GOTO 0B8 |
| 00C4: 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 |
| 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 |
| 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 |
| .................... |
| .................... |
| .................... #include "HMC5883L.h" |
| .................... #define MAG_ADDR_R 0x3D //addresa pro cteni |
| .................... #define MAG_ADDR_W 0x3C |
| .................... // 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) |
| 239,16 → 269,6 |
|---|
| .................... |
| .................... |
| .................... #include "HMC5883L.c" |
| .................... // 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 |
| .................... |
| .................... //------------------------------ |
| .................... // Low level routines |
| .................... //------------------------------ |
| 256,68 → 276,68 |
|---|
| .................... { |
| .................... i2c_start(); |
| * |
| 0069: BSF 20.4 |
| 006A: MOVF 20,W |
| 006B: BSF 03.5 |
| 006C: MOVWF 07 |
| 006D: NOP |
| 006E: BCF 03.5 |
| 006F: BSF 20.3 |
| 0070: MOVF 20,W |
| 0071: BSF 03.5 |
| 0072: MOVWF 07 |
| 0073: NOP |
| 0074: BCF 03.5 |
| 0075: BCF 07.4 |
| 0076: BCF 20.4 |
| 0077: MOVF 20,W |
| 0078: BSF 03.5 |
| 0079: MOVWF 07 |
| 007A: NOP |
| 007B: BCF 03.5 |
| 007C: BCF 07.3 |
| 007D: BCF 20.3 |
| 007E: MOVF 20,W |
| 007F: BSF 03.5 |
| 0080: MOVWF 07 |
| 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 |
| .................... i2c_write(HMC5883L_WRT_ADDR); |
| 0081: MOVLW 3C |
| 0082: BCF 03.5 |
| 0083: MOVWF 3D |
| 0084: CALL 01F |
| 00EB: MOVLW 3C |
| 00EC: BCF 03.5 |
| 00ED: MOVWF 3D |
| 00EE: CALL 089 |
| .................... i2c_write(reg); |
| 0085: MOVF 37,W |
| 0086: MOVWF 3D |
| 0087: CALL 01F |
| 00EF: MOVF 37,W |
| 00F0: MOVWF 3D |
| 00F1: CALL 089 |
| .................... i2c_write(data); |
| 0088: MOVF 38,W |
| 0089: MOVWF 3D |
| 008A: CALL 01F |
| 00F2: MOVF 38,W |
| 00F3: MOVWF 3D |
| 00F4: CALL 089 |
| .................... i2c_stop(); |
| 008B: BCF 20.4 |
| 008C: MOVF 20,W |
| 008D: BSF 03.5 |
| 008E: MOVWF 07 |
| 008F: NOP |
| 0090: BCF 03.5 |
| 0091: BSF 20.3 |
| 0092: MOVF 20,W |
| 0093: BSF 03.5 |
| 0094: MOVWF 07 |
| 0095: BCF 03.5 |
| 0096: BTFSS 07.3 |
| 0097: GOTO 096 |
| 0098: NOP |
| 0099: GOTO 09A |
| 009A: NOP |
| 009B: BSF 20.4 |
| 009C: MOVF 20,W |
| 009D: BSF 03.5 |
| 009E: MOVWF 07 |
| 009F: NOP |
| 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 |
| .................... } |
| 00A0: BCF 03.5 |
| 00A1: RETURN |
| 010A: BCF 03.5 |
| 010B: RETURN |
| .................... |
| .................... //------------------------------ |
| .................... int8 hmc5883l_read_reg(int8 reg) |
| 347,12 → 367,12 |
|---|
| .................... // from the HMC5883L x,y,z registers. |
| .................... hmc5883l_result compass = {0,0,0}; |
| * |
| 0270: CLRF 21 |
| 0271: CLRF 22 |
| 0272: CLRF 23 |
| 0273: CLRF 24 |
| 0274: CLRF 25 |
| 0275: CLRF 26 |
| 0287: CLRF 21 |
| 0288: CLRF 22 |
| 0289: CLRF 23 |
| 028A: CLRF 24 |
| 028B: CLRF 25 |
| 028C: CLRF 26 |
| .................... |
| .................... //------------------------------ |
| .................... void hmc5883l_read_data(void) |
| 368,154 → 388,154 |
|---|
| .................... |
| .................... 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: BCF 07.4 |
| 015D: BCF 20.4 |
| 015E: MOVF 20,W |
| 015F: BSF 03.5 |
| 0160: MOVWF 07 |
| 0161: NOP |
| 0162: BCF 03.5 |
| 0163: BCF 07.3 |
| 0164: BCF 20.3 |
| 0165: MOVF 20,W |
| 0166: BSF 03.5 |
| 0167: MOVWF 07 |
| 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 |
| .................... i2c_write(HMC5883L_WRT_ADDR); |
| 0168: MOVLW 3C |
| 0169: BCF 03.5 |
| 016A: MOVWF 3D |
| 016B: CALL 01F |
| 0169: MOVLW 3C |
| 016A: BCF 03.5 |
| 016B: MOVWF 3D |
| 016C: CALL 089 |
| .................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
| 016C: MOVLW 03 |
| 016D: MOVWF 3D |
| 016E: CALL 01F |
| 016D: MOVLW 03 |
| 016E: MOVWF 3D |
| 016F: CALL 089 |
| .................... i2c_start(); |
| 016F: BSF 20.4 |
| 0170: MOVF 20,W |
| 0171: BSF 03.5 |
| 0172: MOVWF 07 |
| 0173: NOP |
| 0174: BCF 03.5 |
| 0175: BSF 20.3 |
| 0176: MOVF 20,W |
| 0177: BSF 03.5 |
| 0178: MOVWF 07 |
| 0179: NOP |
| 017A: BCF 03.5 |
| 017B: BTFSS 07.3 |
| 017C: GOTO 17B |
| 017D: BCF 07.4 |
| 017E: BCF 20.4 |
| 017F: MOVF 20,W |
| 0180: BSF 03.5 |
| 0181: MOVWF 07 |
| 0182: NOP |
| 0183: BCF 03.5 |
| 0184: BCF 07.3 |
| 0185: BCF 20.3 |
| 0186: MOVF 20,W |
| 0187: BSF 03.5 |
| 0188: MOVWF 07 |
| 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 |
| .................... i2c_write(HMC5883L_READ_ADDR); |
| 0189: MOVLW 3D |
| 018A: BCF 03.5 |
| 018B: MOVWF 3D |
| 018C: CALL 01F |
| 018A: MOVLW 3D |
| 018B: BCF 03.5 |
| 018C: MOVWF 3D |
| 018D: CALL 089 |
| .................... |
| .................... x_msb = i2c_read(); |
| 018D: MOVLW 01 |
| 018E: MOVWF 77 |
| 018F: CALL 10B |
| 0190: MOVF 78,W |
| 0191: MOVWF 38 |
| 018E: MOVLW 01 |
| 018F: MOVWF 77 |
| 0190: CALL 10C |
| 0191: MOVF 78,W |
| 0192: MOVWF 38 |
| .................... x_lsb = i2c_read(); |
| 0192: MOVLW 01 |
| 0193: MOVWF 77 |
| 0194: CALL 10B |
| 0195: MOVF 78,W |
| 0196: MOVWF 37 |
| 0193: MOVLW 01 |
| 0194: MOVWF 77 |
| 0195: CALL 10C |
| 0196: MOVF 78,W |
| 0197: MOVWF 37 |
| .................... |
| .................... z_msb = i2c_read(); |
| 0197: MOVLW 01 |
| 0198: MOVWF 77 |
| 0199: CALL 10B |
| 019A: MOVF 78,W |
| 019B: MOVWF 3C |
| 0198: MOVLW 01 |
| 0199: MOVWF 77 |
| 019A: CALL 10C |
| 019B: MOVF 78,W |
| 019C: MOVWF 3C |
| .................... z_lsb = i2c_read(); |
| 019C: MOVLW 01 |
| 019D: MOVWF 77 |
| 019E: CALL 10B |
| 019F: MOVF 78,W |
| 01A0: MOVWF 3B |
| 019D: MOVLW 01 |
| 019E: MOVWF 77 |
| 019F: CALL 10C |
| 01A0: MOVF 78,W |
| 01A1: MOVWF 3B |
| .................... |
| .................... y_msb = i2c_read(); |
| 01A1: MOVLW 01 |
| 01A2: MOVWF 77 |
| 01A3: CALL 10B |
| 01A4: MOVF 78,W |
| 01A5: MOVWF 3A |
| 01A2: MOVLW 01 |
| 01A3: MOVWF 77 |
| 01A4: CALL 10C |
| 01A5: MOVF 78,W |
| 01A6: MOVWF 3A |
| .................... y_lsb = i2c_read(0); // do a NACK on last read |
| 01A6: CLRF 77 |
| 01A7: CALL 10B |
| 01A8: MOVF 78,W |
| 01A9: MOVWF 39 |
| 01A7: CLRF 77 |
| 01A8: CALL 10C |
| 01A9: MOVF 78,W |
| 01AA: MOVWF 39 |
| .................... |
| .................... i2c_stop(); |
| 01AA: BCF 20.4 |
| 01AB: MOVF 20,W |
| 01AC: BSF 03.5 |
| 01AD: MOVWF 07 |
| 01AE: NOP |
| 01AF: BCF 03.5 |
| 01B0: BSF 20.3 |
| 01B1: MOVF 20,W |
| 01B2: BSF 03.5 |
| 01B3: MOVWF 07 |
| 01B4: BCF 03.5 |
| 01B5: BTFSS 07.3 |
| 01B6: GOTO 1B5 |
| 01B7: NOP |
| 01B8: GOTO 1B9 |
| 01B9: NOP |
| 01BA: BSF 20.4 |
| 01BB: MOVF 20,W |
| 01BC: BSF 03.5 |
| 01BD: MOVWF 07 |
| 01BE: NOP |
| 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 |
| .................... |
| .................... // Combine high and low bytes into 16-bit values. |
| .................... compass.x = make16(x_msb, x_lsb); |
| 01BF: BCF 03.5 |
| 01C0: MOVF 38,W |
| 01C1: MOVWF 22 |
| 01C2: MOVF 37,W |
| 01C3: MOVWF 21 |
| 01C0: BCF 03.5 |
| 01C1: MOVF 38,W |
| 01C2: MOVWF 22 |
| 01C3: MOVF 37,W |
| 01C4: MOVWF 21 |
| .................... compass.y = make16(y_msb, y_lsb); |
| 01C4: MOVF 3A,W |
| 01C5: MOVWF 24 |
| 01C6: MOVF 39,W |
| 01C7: MOVWF 23 |
| 01C5: MOVF 3A,W |
| 01C6: MOVWF 24 |
| 01C7: MOVF 39,W |
| 01C8: MOVWF 23 |
| .................... compass.z = make16(z_msb, z_lsb); |
| 01C8: MOVF 3C,W |
| 01C9: MOVWF 26 |
| 01CA: MOVF 3B,W |
| 01CB: MOVWF 25 |
| 01C9: MOVF 3C,W |
| 01CA: MOVWF 26 |
| 01CB: MOVF 3B,W |
| 01CC: MOVWF 25 |
| .................... } |
| 01CC: BCF 0A.3 |
| 01CD: BCF 0A.4 |
| 01CE: GOTO 2E1 (RETURN) |
| 01CD: BCF 0A.3 |
| 01CE: BCF 0A.4 |
| 01CF: GOTO 2F6 (RETURN) |
| .................... |
| .................... |
| .................... |
| 2697,247 → 2717,224 |
|---|
| .................... void main() |
| .................... { |
| * |
| 024F: CLRF 04 |
| 0250: BCF 03.7 |
| 0251: MOVLW 1F |
| 0252: ANDWF 03,F |
| 0253: MOVLW 71 |
| 0254: BSF 03.5 |
| 0255: MOVWF 0F |
| 0256: MOVF 0F,W |
| 0257: BCF 03.5 |
| 0258: BCF 20.7 |
| 0259: MOVF 20,W |
| 025A: BSF 03.5 |
| 025B: MOVWF 07 |
| 025C: BCF 03.5 |
| 025D: BSF 07.7 |
| 025E: BSF 03.5 |
| 025F: BSF 03.6 |
| 0260: MOVF 09,W |
| 0261: ANDLW C0 |
| 0262: MOVWF 09 |
| 0263: BCF 03.6 |
| 0264: BCF 1F.4 |
| 0265: BCF 1F.5 |
| 0266: MOVLW 00 |
| 0267: BSF 03.6 |
| 0268: MOVWF 08 |
| 0269: BCF 03.5 |
| 026A: CLRF 07 |
| 026B: CLRF 08 |
| 026C: CLRF 09 |
| 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 |
| * |
| 0276: CLRF 34 |
| 0277: CLRF 33 |
| 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); |
| 0278: BSF 03.5 |
| 0279: BSF 03.6 |
| 027A: MOVF 09,W |
| 027B: ANDLW C0 |
| 027C: MOVWF 09 |
| 027D: BCF 03.6 |
| 027E: BCF 1F.4 |
| 027F: BCF 1F.5 |
| 0280: MOVLW 00 |
| 0281: BSF 03.6 |
| 0282: MOVWF 08 |
| 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 |
| .................... setup_adc(ADC_CLOCK_DIV_2); |
| 0283: BCF 03.5 |
| 0284: BCF 03.6 |
| 0285: BCF 1F.6 |
| 0286: BCF 1F.7 |
| 0287: BSF 03.5 |
| 0288: BCF 1F.7 |
| 0289: BCF 03.5 |
| 028A: BSF 1F.0 |
| 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 |
| .................... setup_spi(SPI_SS_DISABLED); |
| 028B: BCF 14.5 |
| 028C: BCF 20.5 |
| 028D: MOVF 20,W |
| 028E: BSF 03.5 |
| 028F: MOVWF 07 |
| 0290: BCF 03.5 |
| 0291: BSF 20.4 |
| 0292: MOVF 20,W |
| 0293: BSF 03.5 |
| 0294: MOVWF 07 |
| 0295: BCF 03.5 |
| 0296: BCF 20.3 |
| 0297: MOVF 20,W |
| 0298: BSF 03.5 |
| 0299: MOVWF 07 |
| 029A: MOVLW 01 |
| 029B: BCF 03.5 |
| 029C: MOVWF 14 |
| 029D: MOVLW 00 |
| 029E: BSF 03.5 |
| 029F: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 02A0: MOVF 01,W |
| 02A1: ANDLW C7 |
| 02A2: IORLW 08 |
| 02A3: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 02A4: BCF 03.5 |
| 02A5: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 02A6: MOVLW 00 |
| 02A7: MOVWF 78 |
| 02A8: MOVWF 12 |
| 02A9: MOVLW 00 |
| 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 12 |
| .................... setup_ccp1(CCP_OFF); |
| 02AB: MOVWF 07 |
| 02AC: BCF 03.5 |
| 02AD: BSF 20.2 |
| 02AD: BCF 20.3 |
| 02AE: MOVF 20,W |
| 02AF: BSF 03.5 |
| 02B0: MOVWF 07 |
| 02B1: BCF 03.5 |
| 02B2: CLRF 17 |
| 02B3: BSF 03.5 |
| 02B4: CLRF 1B |
| 02B5: CLRF 1C |
| 02B6: MOVLW 01 |
| 02B7: MOVWF 1D |
| 02B1: MOVLW 01 |
| 02B2: BCF 03.5 |
| 02B3: MOVWF 14 |
| 02B4: MOVLW 00 |
| 02B5: BSF 03.5 |
| 02B6: MOVWF 14 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 02B7: MOVF 01,W |
| 02B8: ANDLW C7 |
| 02B9: IORLW 08 |
| 02BA: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 02BB: BCF 03.5 |
| 02BC: 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 |
| .................... 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 |
| 02B8: BCF 03.5 |
| 02B9: BSF 03.6 |
| 02BA: CLRF 07 |
| 02BB: CLRF 08 |
| 02BC: CLRF 09 |
| 02CF: BCF 03.5 |
| 02D0: BSF 03.6 |
| 02D1: CLRF 07 |
| 02D2: CLRF 08 |
| 02D3: 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 |
| .................... 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 |
| .................... |
| .................... |
| .................... // Init the HMC5883L. Set Mode register for |
| .................... // continuous measurements. |
| .................... hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range |
| 02BD: BCF 03.6 |
| 02BE: CLRF 37 |
| 02BF: MOVLW 18 |
| 02C0: MOVWF 38 |
| 02C1: CALL 069 |
| 02E8: CLRF 37 |
| 02E9: MOVLW 18 |
| 02EA: MOVWF 38 |
| 02EB: CALL 0D3 |
| .................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range |
| 02C2: MOVLW 01 |
| 02C3: MOVWF 37 |
| 02C4: MOVLW E0 |
| 02C5: MOVWF 38 |
| 02C6: CALL 069 |
| 02EC: MOVLW 01 |
| 02ED: MOVWF 37 |
| 02EE: MOVLW E0 |
| 02EF: MOVWF 38 |
| 02F0: CALL 0D3 |
| .................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00); |
| 02C7: MOVLW 02 |
| 02C8: MOVWF 37 |
| 02C9: CLRF 38 |
| 02CA: CALL 069 |
| 02F1: MOVLW 02 |
| 02F2: MOVWF 37 |
| 02F3: CLRF 38 |
| 02F4: CALL 0D3 |
| .................... |
| .................... // Continuously read and display the x,y,z results. |
| .................... // Wait at least 67 ms between reads, re the HMC5883L data sheet. |
| .................... |
| .................... |
| .................... printf("Magnetometr: \r\n",); |
| 02CB: MOVLW 04 |
| 02CC: BSF 03.6 |
| 02CD: MOVWF 0D |
| 02CE: MOVLW 00 |
| 02CF: MOVWF 0F |
| 02D0: BCF 03.6 |
| 02D1: CALL 0C5 |
| .................... printf("(c)mlab JACHO 2013: \r\n",); |
| 02D2: MOVLW 0D |
| 02D3: BSF 03.6 |
| 02D4: MOVWF 0D |
| 02D5: MOVLW 00 |
| 02D6: MOVWF 0F |
| 02D7: BCF 03.6 |
| 02D8: CALL 0C5 |
| .................... printf("X, Y, Z \r\n",); |
| 02D9: MOVLW 19 |
| 02DA: BSF 03.6 |
| 02DB: MOVWF 0D |
| 02DC: MOVLW 00 |
| 02DD: MOVWF 0F |
| 02DE: BCF 03.6 |
| 02DF: CALL 0C5 |
| .................... |
| .................... /* while(true) |
| .................... { |
| .................... X = mag_readX(); |
| .................... Y = mag_readY(); |
| .................... Z = mag_readZ(); |
| .................... printf("%4Ld %4Ld %4Ld \r\n", X, Y, Z); |
| .................... Delay_ms(50); |
| .................... |
| .................... } |
| .................... */ |
| .................... |
| .................... while(TRUE) |
| .................... { |
| .................... |
| .................... // for(i=0;i<=10;i++) |
| .................... // { |
| .................... hmc5883l_read_data(); |
| 02E0: GOTO 150 |
| .................... |
| .................... // b = atan2((float)compass.y,(float)compass.x); // vypocet azimutu z kartezskych souradnic |
| .................... // b = (b/3.141596)*180; // prevod na stupne |
| .................... // b += 180; |
| .................... |
| .................... // anemo_speed += (b-last); |
| .................... // last=b; |
| .................... // delay_ms(10); |
| .................... // } |
| .................... // anemo_speed=anemo_speed/10; |
| .................... |
| .................... printf("%6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z); |
| 02E1: MOVLW 00 |
| 02E2: MOVWF 04 |
| 02E3: MOVF 22,W |
| 02E4: MOVWF 38 |
| 02E5: MOVF 21,W |
| 02E6: MOVWF 37 |
| 02E7: CALL 1CF |
| 02E8: MOVLW 20 |
| 02E9: MOVWF 40 |
| 02EA: CALL 0A2 |
| 02EB: MOVLW 00 |
| 02EC: MOVWF 04 |
| 02ED: MOVF 24,W |
| 02EE: MOVWF 38 |
| 02EF: MOVF 23,W |
| 02F0: MOVWF 37 |
| 02F1: CALL 1CF |
| 02F2: MOVLW 20 |
| 02F3: MOVWF 40 |
| 02F4: CALL 0A2 |
| 02F5: MOVLW 00 |
| 02F6: MOVWF 04 |
| 02F7: MOVF 26,W |
| 02F8: MOVWF 38 |
| 02F9: MOVF 25,W |
| 02FA: MOVWF 37 |
| 02FB: CALL 1CF |
| 02FC: MOVLW 20 |
| 02FD: MOVWF 40 |
| 02FE: CALL 0A2 |
| 02FF: MOVLW 0A |
| 0300: MOVWF 40 |
| 0301: CALL 0A2 |
| 0302: MOVLW 0D |
| 0303: MOVWF 40 |
| 0304: CALL 0A2 |
| .................... // delay_ms(100); |
| .................... hmc5883l_read_data(); |
| 02F5: GOTO 151 |
| .................... 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 |
| .................... delay_ms(100); |
| 031A: MOVLW 64 |
| 031B: MOVWF 37 |
| 031C: GOTO 250 |
| .................... } |
| 0305: GOTO 2E0 |
| 031D: GOTO 2F5 |
| .................... |
| .................... } |
| .................... |
| .................... |
| .................... |
| 0306: SLEEP |
| 031E: SLEEP |
| |
| Configuration Fuses: |
| Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |