1,17 → 1,17 |
CCS PCM C Compiler, Version 4.106, 47914 15-V-13 18:53 |
CCS PCM C Compiler, Version 4.106, 47914 15-V-13 20:34 |
|
Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst |
|
ROM used: 821 words (10%) |
ROM used: 775 words (9%) |
Largest free fragment is 2048 |
RAM used: 18 (5%) at main() level |
27 (7%) worst case |
RAM used: 28 (8%) at main() level |
38 (10%) worst case |
Stack: 2 locations |
|
* |
0000: MOVLW 02 |
0001: MOVWF 0A |
0002: GOTO 250 |
0002: GOTO 24F |
0003: NOP |
.................... #include "main.h" |
.................... #include <16F887.h> |
48,7 → 48,7 |
0026: MOVWF 07 |
0027: NOP |
0028: BCF 03.5 |
0029: RLF 32,F |
0029: RLF 3D,F |
002A: BCF 07.4 |
002B: BTFSS 03.0 |
002C: GOTO 033 |
113,76 → 113,76 |
0067: BCF 03.5 |
0068: RETURN |
* |
010C: MOVLW 08 |
010D: MOVWF 33 |
010E: MOVF 77,W |
010F: MOVWF 34 |
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 33,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 34,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 |
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 |
* |
00A2: BCF 20.7 |
00A3: MOVF 20,W |
195,31 → 195,30 |
00AA: GOTO 0AB |
00AB: NOP |
00AC: BSF 78.7 |
00AD: GOTO 0BC |
00AD: GOTO 0C0 |
00AE: BCF 78.7 |
00AF: RRF 35,F |
00B0: BTFSC 03.0 |
00B1: BSF 07.7 |
00B2: BTFSS 03.0 |
00B3: BCF 07.7 |
00B4: BSF 78.6 |
00B5: GOTO 0BC |
00B6: BCF 78.6 |
00B7: DECFSZ 78,F |
00B8: GOTO 0AF |
00B9: GOTO 0BA |
00BA: NOP |
00BB: BSF 07.7 |
00BC: MOVLW 3F |
00BD: MOVWF 04 |
00BE: DECFSZ 04,F |
00BF: GOTO 0BE |
00C0: NOP |
00C1: BTFSC 78.7 |
00C2: GOTO 0AE |
00C3: BTFSC 78.6 |
00C4: GOTO 0B6 |
00C5: RETURN |
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 |
.................... |
.................... |
.................... #include "HMC5883L.h" |
284,15 → 283,15 |
.................... i2c_write(HMC5883L_WRT_ADDR); |
0081: MOVLW 3C |
0082: BCF 03.5 |
0083: MOVWF 32 |
0083: MOVWF 3D |
0084: CALL 01F |
.................... i2c_write(reg); |
0085: MOVF 2C,W |
0086: MOVWF 32 |
0085: MOVF 37,W |
0086: MOVWF 3D |
0087: CALL 01F |
.................... i2c_write(data); |
0088: MOVF 2D,W |
0089: MOVWF 32 |
0088: MOVF 38,W |
0089: MOVWF 3D |
008A: CALL 01F |
.................... i2c_stop(); |
008B: BCF 20.4 |
348,12 → 347,12 |
.................... // from the HMC5883L x,y,z registers. |
.................... hmc5883l_result compass = {0,0,0}; |
* |
0271: CLRF 21 |
0272: CLRF 22 |
0273: CLRF 23 |
0274: CLRF 24 |
0275: CLRF 25 |
0276: CLRF 26 |
0270: CLRF 21 |
0271: CLRF 22 |
0272: CLRF 23 |
0273: CLRF 24 |
0274: CLRF 25 |
0275: CLRF 26 |
.................... |
.................... //------------------------------ |
.................... void hmc5883l_read_data(void) |
369,196 → 368,2369 |
.................... |
.................... 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 |
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 |
.................... i2c_write(HMC5883L_WRT_ADDR); |
0169: MOVLW 3C |
016A: BCF 03.5 |
016B: MOVWF 32 |
016C: CALL 01F |
0168: MOVLW 3C |
0169: BCF 03.5 |
016A: MOVWF 3D |
016B: CALL 01F |
.................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
016D: MOVLW 03 |
016E: MOVWF 32 |
016F: CALL 01F |
016C: MOVLW 03 |
016D: MOVWF 3D |
016E: CALL 01F |
.................... 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 |
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 |
.................... i2c_write(HMC5883L_READ_ADDR); |
018A: MOVLW 3D |
018B: BCF 03.5 |
018C: MOVWF 32 |
018D: CALL 01F |
0189: MOVLW 3D |
018A: BCF 03.5 |
018B: MOVWF 3D |
018C: CALL 01F |
.................... |
.................... x_msb = i2c_read(); |
018E: MOVLW 01 |
018F: MOVWF 77 |
0190: CALL 10C |
0191: MOVF 78,W |
0192: MOVWF 2D |
018D: MOVLW 01 |
018E: MOVWF 77 |
018F: CALL 10B |
0190: MOVF 78,W |
0191: MOVWF 38 |
.................... x_lsb = i2c_read(); |
0193: MOVLW 01 |
0194: MOVWF 77 |
0195: CALL 10C |
0196: MOVF 78,W |
0197: MOVWF 2C |
0192: MOVLW 01 |
0193: MOVWF 77 |
0194: CALL 10B |
0195: MOVF 78,W |
0196: MOVWF 37 |
.................... |
.................... z_msb = i2c_read(); |
0198: MOVLW 01 |
0199: MOVWF 77 |
019A: CALL 10C |
019B: MOVF 78,W |
019C: MOVWF 31 |
0197: MOVLW 01 |
0198: MOVWF 77 |
0199: CALL 10B |
019A: MOVF 78,W |
019B: MOVWF 3C |
.................... z_lsb = i2c_read(); |
019D: MOVLW 01 |
019E: MOVWF 77 |
019F: CALL 10C |
01A0: MOVF 78,W |
01A1: MOVWF 30 |
019C: MOVLW 01 |
019D: MOVWF 77 |
019E: CALL 10B |
019F: MOVF 78,W |
01A0: MOVWF 3B |
.................... |
.................... y_msb = i2c_read(); |
01A2: MOVLW 01 |
01A3: MOVWF 77 |
01A4: CALL 10C |
01A5: MOVF 78,W |
01A6: MOVWF 2F |
01A1: MOVLW 01 |
01A2: MOVWF 77 |
01A3: CALL 10B |
01A4: MOVF 78,W |
01A5: MOVWF 3A |
.................... y_lsb = i2c_read(0); // do a NACK on last read |
01A7: CLRF 77 |
01A8: CALL 10C |
01A9: MOVF 78,W |
01AA: MOVWF 2E |
01A6: CLRF 77 |
01A7: CALL 10B |
01A8: MOVF 78,W |
01A9: MOVWF 39 |
.................... |
.................... 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 |
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 |
.................... |
.................... // Combine high and low bytes into 16-bit values. |
.................... compass.x = make16(x_msb, x_lsb); |
01C0: BCF 03.5 |
01C1: MOVF 2D,W |
01C2: MOVWF 22 |
01C3: MOVF 2C,W |
01C4: MOVWF 21 |
01BF: BCF 03.5 |
01C0: MOVF 38,W |
01C1: MOVWF 22 |
01C2: MOVF 37,W |
01C3: MOVWF 21 |
.................... compass.y = make16(y_msb, y_lsb); |
01C5: MOVF 2F,W |
01C6: MOVWF 24 |
01C7: MOVF 2E,W |
01C8: MOVWF 23 |
01C4: MOVF 3A,W |
01C5: MOVWF 24 |
01C6: MOVF 39,W |
01C7: MOVWF 23 |
.................... compass.z = make16(z_msb, z_lsb); |
01C9: MOVF 31,W |
01CA: MOVWF 26 |
01CB: MOVF 30,W |
01CC: MOVWF 25 |
01C8: MOVF 3C,W |
01C9: MOVWF 26 |
01CA: MOVF 3B,W |
01CB: MOVWF 25 |
.................... } |
01CD: BCF 0A.3 |
01CE: BCF 0A.4 |
01CF: GOTO 2EE (RETURN) |
01CC: BCF 0A.3 |
01CD: BCF 0A.4 |
01CE: GOTO 2E1 (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() |
.................... { |
* |
0250: CLRF 04 |
0251: BCF 03.7 |
0252: MOVLW 1F |
0253: ANDWF 03,F |
0254: MOVLW 71 |
0255: BSF 03.5 |
0256: MOVWF 0F |
0257: MOVF 0F,W |
0258: BCF 03.5 |
0259: BCF 20.7 |
025A: MOVF 20,W |
025B: BSF 03.5 |
025C: MOVWF 07 |
025D: BCF 03.5 |
025E: BSF 07.7 |
025F: BSF 03.5 |
0260: BSF 03.6 |
0261: MOVF 09,W |
0262: ANDLW C0 |
0263: MOVWF 09 |
0264: BCF 03.6 |
0265: BCF 1F.4 |
0266: BCF 1F.5 |
0267: MOVLW 00 |
0268: BSF 03.6 |
0269: MOVWF 08 |
026A: BCF 03.5 |
026B: CLRF 07 |
026C: CLRF 08 |
026D: CLRF 09 |
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 |
* |
0277: CLRF 29 |
0278: CLRF 28 |
.................... int1 last; |
0276: CLRF 34 |
0277: CLRF 33 |
.................... float last,b,anemo_speed; |
.................... unsigned int16 anemo_round=0; |
.................... unsigned int16 i; |
.................... |
565,102 → 2737,102 |
.................... |
.................... //signed int16 X,Y,Z; |
.................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
0279: BSF 03.5 |
027A: BSF 03.6 |
027B: MOVF 09,W |
027C: ANDLW C0 |
027D: MOVWF 09 |
027E: BCF 03.6 |
027F: BCF 1F.4 |
0280: BCF 1F.5 |
0281: MOVLW 00 |
0282: BSF 03.6 |
0283: MOVWF 08 |
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 |
.................... setup_adc(ADC_CLOCK_DIV_2); |
0284: BCF 03.5 |
0285: BCF 03.6 |
0286: BCF 1F.6 |
0287: BCF 1F.7 |
0288: BSF 03.5 |
0289: BCF 1F.7 |
028A: BCF 03.5 |
028B: BSF 1F.0 |
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 |
.................... setup_spi(SPI_SS_DISABLED); |
028C: BCF 14.5 |
028D: BCF 20.5 |
028E: MOVF 20,W |
028F: BSF 03.5 |
0290: MOVWF 07 |
0291: BCF 03.5 |
0292: BSF 20.4 |
0293: MOVF 20,W |
0294: BSF 03.5 |
0295: MOVWF 07 |
0296: BCF 03.5 |
0297: BCF 20.3 |
0298: MOVF 20,W |
0299: BSF 03.5 |
029A: MOVWF 07 |
029B: MOVLW 01 |
029C: BCF 03.5 |
029D: MOVWF 14 |
029E: MOVLW 00 |
029F: BSF 03.5 |
02A0: MOVWF 14 |
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); |
02A1: MOVF 01,W |
02A2: ANDLW C7 |
02A3: IORLW 08 |
02A4: MOVWF 01 |
02A0: MOVF 01,W |
02A1: ANDLW C7 |
02A2: IORLW 08 |
02A3: MOVWF 01 |
.................... setup_timer_1(T1_DISABLED); |
02A5: BCF 03.5 |
02A6: CLRF 10 |
02A4: BCF 03.5 |
02A5: CLRF 10 |
.................... setup_timer_2(T2_DISABLED,0,1); |
02A7: MOVLW 00 |
02A8: MOVWF 78 |
02A9: MOVWF 12 |
02AA: MOVLW 00 |
02AB: BSF 03.5 |
02AC: MOVWF 12 |
02A6: MOVLW 00 |
02A7: MOVWF 78 |
02A8: MOVWF 12 |
02A9: MOVLW 00 |
02AA: BSF 03.5 |
02AB: MOVWF 12 |
.................... setup_ccp1(CCP_OFF); |
02AD: BCF 03.5 |
02AE: BSF 20.2 |
02AF: MOVF 20,W |
02B0: BSF 03.5 |
02B1: MOVWF 07 |
02B2: BCF 03.5 |
02B3: CLRF 17 |
02B4: BSF 03.5 |
02B5: CLRF 1B |
02B6: CLRF 1C |
02B7: MOVLW 01 |
02B8: MOVWF 1D |
02AC: BCF 03.5 |
02AD: BSF 20.2 |
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 |
.................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
02B9: BCF 03.5 |
02BA: BSF 03.6 |
02BB: CLRF 07 |
02BC: CLRF 08 |
02BD: CLRF 09 |
02B8: BCF 03.5 |
02B9: BSF 03.6 |
02BA: CLRF 07 |
02BB: CLRF 08 |
02BC: CLRF 09 |
.................... |
.................... // Init the HMC5883L. Set Mode register for |
.................... // continuous measurements. |
.................... hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range |
02BE: BCF 03.6 |
02BF: CLRF 2C |
02C0: MOVLW 18 |
02C1: MOVWF 2D |
02C2: CALL 069 |
02BD: BCF 03.6 |
02BE: CLRF 37 |
02BF: MOVLW 18 |
02C0: MOVWF 38 |
02C1: CALL 069 |
.................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range |
02C3: MOVLW 01 |
02C4: MOVWF 2C |
02C5: MOVLW E0 |
02C6: MOVWF 2D |
02C7: CALL 069 |
02C2: MOVLW 01 |
02C3: MOVWF 37 |
02C4: MOVLW E0 |
02C5: MOVWF 38 |
02C6: CALL 069 |
.................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00); |
02C8: MOVLW 02 |
02C9: MOVWF 2C |
02CA: CLRF 2D |
02CB: CALL 069 |
02C7: MOVLW 02 |
02C8: MOVWF 37 |
02C9: CLRF 38 |
02CA: CALL 069 |
.................... |
.................... // Continuously read and display the x,y,z results. |
.................... // Wait at least 67 ms between reads, re the HMC5883L data sheet. |
667,29 → 2839,29 |
.................... |
.................... |
.................... printf("Magnetometr: \r\n",); |
02CC: MOVLW 04 |
02CD: BSF 03.6 |
02CE: MOVWF 0D |
02CF: MOVLW 00 |
02D0: MOVWF 0F |
02D1: BCF 03.6 |
02D2: CALL 0C6 |
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",); |
02D3: MOVLW 0D |
02D4: BSF 03.6 |
02D5: MOVWF 0D |
02D6: MOVLW 00 |
02D7: MOVWF 0F |
02D8: BCF 03.6 |
02D9: CALL 0C6 |
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",); |
02DA: MOVLW 19 |
02DB: BSF 03.6 |
02DC: MOVWF 0D |
02DD: MOVLW 00 |
02DE: MOVWF 0F |
02DF: BCF 03.6 |
02E0: CALL 0C6 |
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) |
.................... { |
705,111 → 2877,67 |
.................... while(TRUE) |
.................... { |
.................... |
.................... for( i=0;i<=1000;i++) |
02E1: CLRF 2B |
02E2: CLRF 2A |
02E3: MOVF 2B,W |
02E4: SUBLW 03 |
02E5: BTFSS 03.0 |
02E6: GOTO 303 |
02E7: BTFSS 03.2 |
02E8: GOTO 2ED |
02E9: MOVF 2A,W |
02EA: SUBLW E8 |
02EB: BTFSS 03.0 |
02EC: GOTO 303 |
.................... { |
.................... // delay_ms(); |
.................... // for(i=0;i<=10;i++) |
.................... // { |
.................... hmc5883l_read_data(); |
02ED: GOTO 151 |
02E0: GOTO 150 |
.................... |
.................... if(compass.x < 0) |
02EE: BTFSS 22.7 |
02EF: GOTO 2F6 |
.................... { |
.................... if(last == 1) anemo_round++; |
02F0: BTFSS 27.0 |
02F1: GOTO 2F5 |
02F2: INCF 28,F |
02F3: BTFSC 03.2 |
02F4: INCF 29,F |
.................... last=0; |
02F5: BCF 27.0 |
.................... } |
.................... if(compass.x > 0) last=1; |
02F6: BTFSC 22.7 |
02F7: GOTO 2FF |
02F8: MOVF 22,F |
02F9: BTFSS 03.2 |
02FA: GOTO 2FE |
02FB: MOVF 21,W |
02FC: SUBLW 00 |
02FD: BTFSS 03.0 |
02FE: BSF 27.0 |
.................... } |
02FF: INCF 2A,F |
0300: BTFSC 03.2 |
0301: INCF 2B,F |
0302: GOTO 2E3 |
.................... // b = atan2((float)compass.y,(float)compass.x); // vypocet azimutu z kartezskych souradnic |
.................... // b = (b/3.141596)*180; // prevod na stupne |
.................... // b += 180; |
.................... |
.................... printf("%6Ld %6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z, anemo_round); |
0303: MOVLW 00 |
0304: MOVWF 04 |
0305: MOVF 22,W |
0306: MOVWF 2D |
0307: MOVF 21,W |
0308: MOVWF 2C |
0309: CALL 1D0 |
030A: MOVLW 20 |
030B: MOVWF 35 |
030C: CALL 0A2 |
030D: MOVLW 00 |
030E: MOVWF 04 |
030F: MOVF 24,W |
0310: MOVWF 2D |
0311: MOVF 23,W |
0312: MOVWF 2C |
0313: CALL 1D0 |
0314: MOVLW 20 |
0315: MOVWF 35 |
0316: CALL 0A2 |
0317: MOVLW 00 |
0318: MOVWF 04 |
0319: MOVF 26,W |
031A: MOVWF 2D |
031B: MOVF 25,W |
031C: MOVWF 2C |
031D: CALL 1D0 |
031E: MOVLW 20 |
031F: MOVWF 35 |
0320: CALL 0A2 |
0321: MOVLW 00 |
0322: MOVWF 04 |
0323: MOVF 29,W |
0324: MOVWF 2D |
0325: MOVF 28,W |
0326: MOVWF 2C |
0327: CALL 1D0 |
0328: MOVLW 20 |
0329: MOVWF 35 |
032A: CALL 0A2 |
032B: MOVLW 0A |
032C: MOVWF 35 |
032D: CALL 0A2 |
032E: MOVLW 0D |
032F: MOVWF 35 |
0330: CALL 0A2 |
.................... anemo_round=0; |
0331: CLRF 29 |
0332: CLRF 28 |
.................... // 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); |
.................... } |
0333: GOTO 2E1 |
0305: GOTO 2E0 |
.................... |
.................... } |
.................... |
.................... |
.................... |
0334: SLEEP |
0306: SLEEP |
|
Configuration Fuses: |
Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |