| /Modules/Sensors/MAG01A/SW/PIC16F887/HMC5883L.c |
|---|
| 1,101 → 1,85 |
| void set_mag (void) //uvodni nastaveni na kontinualni mereni, rozsah ± 8.1 Ga, frekvence mereni 15HZ |
| { |
| i2c_start(); //nastavení Configuration Register A |
| I2C_Write(MAG_ADDR_W); |
| I2C_Write(0x00); |
| I2C_Write(0x70); |
| i2c_stop(); |
| Delay_ms(6); |
| i2c_start(); //nastavení Configuration Register B |
| I2C_Write(MAG_ADDR_W); |
| I2C_Write(0x01); |
| I2C_Write(MAG_ROZ810); |
| i2c_stop(); |
| // i2c slave addresses |
| #define HMC5883L_WRT_ADDR 0x3C |
| #define HMC5883L_READ_ADDR 0x3D |
| Delay_ms(6); |
| // Register addresses |
| #define HMC5883L_CFG_A_REG 0x00 |
| #define HMC5883L_CFG_B_REG 0x01 |
| #define HMC5883L_MODE_REG 0x02 |
| #define HMC5883L_X_MSB_REG 0x03 |
| i2c_start(); //nastveni Mode Register |
| I2C_Write(MAG_ADDR_W); |
| I2C_Write(0x02); |
| I2C_Write(0x00); |
| i2c_stop(); |
| Delay_ms(6); |
| //------------------------------ |
| // Low level routines |
| //------------------------------ |
| void hmc5883l_write_reg(int8 reg, int8 data) |
| { |
| i2c_start(); |
| i2c_write(HMC5883L_WRT_ADDR); |
| i2c_write(reg); |
| i2c_write(data); |
| i2c_stop(); |
| } |
| void set_mag_roz (unsigned int8 h) //nastavy rozsah |
| //------------------------------ |
| int8 hmc5883l_read_reg(int8 reg) |
| { |
| int8 retval; |
| // |
| i2c_start(); |
| I2C_Write(MAG_ADDR_W); |
| I2C_Write(0x01); |
| I2C_Write(h); |
| i2c_stop(); |
| i2c_start(); |
| i2c_write(HMC5883L_WRT_ADDR); |
| i2c_write(reg); |
| i2c_start(); |
| i2c_write(HMC5883L_READ_ADDR); |
| retval = i2c_read(0); |
| i2c_stop(); |
| Delay_ms(6); |
| return(retval); |
| } |
| byte mag_read(byte reg) //pro cteni reg |
| //------------------------------ |
| typedef struct |
| { |
| i2c_start(); |
| I2C_Write(MAG_ADDR_W); |
| I2C_write(reg); |
| i2c_stop(); |
| i2c_start(); |
| I2C_Write(MAG_ADDR_R); |
| reg=i2c_read(0); |
| return reg; |
| } |
| signed int16 x; |
| signed int16 y; |
| signed int16 z; |
| }hmc5883l_result; |
| // This global structure holds the values read |
| // from the HMC5883L x,y,z registers. |
| hmc5883l_result compass = {0,0,0}; |
| signed int16 mag_vypocet(unsigned int8 h, unsigned int8 l) //prepocet na 16bit cislo |
| //------------------------------ |
| void hmc5883l_read_data(void) |
| { |
| signed int16 x; |
| x = (((unsigned int16) h << 8) + l ); |
| return x; |
| } |
| unsigned int8 x_lsb; |
| unsigned int8 x_msb; |
| unsigned int8 y_lsb; |
| unsigned int8 y_msb; |
| signed int16 mag_readX(void) //nacteni osy x |
| { |
| unsigned int8 h,l; |
| signed int16 x; |
| h=mag_read(0x03); |
| l=mag_read(0x04); |
| x=mag_vypocet(h,l); |
| return x; |
| } |
| unsigned int8 z_lsb; |
| unsigned int8 z_msb; |
| i2c_start(); |
| i2c_write(HMC5883L_WRT_ADDR); |
| i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
| i2c_start(); |
| i2c_write(HMC5883L_READ_ADDR); |
| signed int16 mag_readY(void) //nacteni osy x |
| { |
| unsigned int8 h,l; |
| signed int16 x; |
| h=mag_read(0x07); |
| l=mag_read(0x08); |
| x=mag_vypocet(h,l); |
| return x; |
| } |
| x_msb = i2c_read(); |
| x_lsb = i2c_read(); |
| z_msb = i2c_read(); |
| z_lsb = i2c_read(); |
| signed int16 mag_readZ(void) //nacteni osy x |
| { |
| unsigned int8 h,l; |
| signed int16 x; |
| h=mag_read(0x05); |
| l=mag_read(0x06); |
| x=mag_vypocet(h,l); |
| return x; |
| y_msb = i2c_read(); |
| y_lsb = i2c_read(0); // do a NACK on last read |
| i2c_stop(); |
| // Combine high and low bytes into 16-bit values. |
| compass.x = make16(x_msb, x_lsb); |
| compass.y = make16(y_msb, y_lsb); |
| compass.z = make16(z_msb, z_lsb); |
| } |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.c |
|---|
| 3,7 → 3,12 |
| void main() |
| { |
| signed int16 X,Y,Z; |
| int1 last; |
| unsigned int16 anemo_round=0; |
| unsigned int16 i; |
| //signed int16 X,Y,Z; |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_CLOCK_DIV_2); |
| setup_spi(SPI_SS_DISABLED); |
| 13,13 → 18,21 |
| setup_ccp1(CCP_OFF); |
| setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
| set_mag(); |
| // Init the HMC5883L. Set Mode register for |
| // continuous measurements. |
| hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range |
| hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range |
| hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00); |
| // Continuously read and display the x,y,z results. |
| // Wait at least 67 ms between reads, re the HMC5883L data sheet. |
| printf("Magnetometr: \r\n",); |
| printf("(c)mlab JACHO 2013: \r\n",); |
| printf("X, Y, Z \r\n",); |
| while(true) |
| /* while(true) |
| { |
| X = mag_readX(); |
| Y = mag_readY(); |
| 28,4 → 41,29 |
| Delay_ms(50); |
| } |
| */ |
| while(TRUE) |
| { |
| for( i=0;i<=1000;i++) |
| { |
| // delay_ms(); |
| hmc5883l_read_data(); |
| if(compass.x < 0) |
| { |
| if(last == 1) anemo_round++; |
| last=0; |
| } |
| if(compass.x > 0) last=1; |
| } |
| printf("%6Ld %6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z, anemo_round); |
| anemo_round=0; |
| } |
| } |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.cof |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.err |
|---|
| 1,2 → 1,2 |
| Memory usage: ROM=12% RAM=3% - 6% |
| Memory usage: ROM=10% RAM=5% - 7% |
| 0 Errors, 0 Warnings. |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.esym |
|---|
| 1,7 → 1,7 |
| D G "__PCM__" 0 33 ""4.106"" |
| D G "__DEVICE__" 0 33 "887" |
| D G "__DATE__" 0 33 ""15-V-13"" |
| D G "__TIME__" 0 33 ""16:26:21"" "Standard Header file for the PIC16F887 device ////////////////" |
| D G "__PCM__" 0 71 ""4.106"" |
| D G "__DEVICE__" 0 71 "887" |
| D G "__DATE__" 0 71 ""15-V-13"" |
| D G "__TIME__" 0 71 ""18:53:30"" "Standard Header file for the PIC16F887 device ////////////////" |
| d G "PIN_A0" 2 20 "40" |
| d G "PIN_A1" 2 21 "41" |
| d G "PIN_A2" 2 22 "42" |
| 283,35 → 283,41 |
| D G "MAG_ROZ470" 3 12 "0xA0" |
| D G "MAG_ROZ560" 3 13 "0xC0" |
| D G "MAG_ROZ810" 3 14 "0xE0" |
| F G "set_mag" 4 1 "void()" "uvodni nastaveni na kontinualni mereni, rozsah ± 8.1 Ga, frekvence mereni 15HZ" |
| C L "set_mag" 4 3 1 "FUNCTION" |
| C L "set_mag" 4 3 1 "FUNCTION" |
| C L "set_mag" 4 3 1 "FUNCTION" |
| F G "set_mag_roz" 4 26 "void(int8 h)" |
| V L "h" 4 26 "int8" "nastavy rozsah" |
| F G "mag_read" 4 44 "int8(int8 reg)" |
| V L "reg" 4 44 "int8" "pro cteni reg" |
| F G "mag_vypocet" 4 58 "sint16(int8 h,int8 l)" |
| V L "h" 4 58 "int8" |
| V L "l" 4 58 "int8" "prepocet na 16bit cislo" |
| V L "x" 4 60 "sint16" |
| F G "mag_readX" 4 66 "sint16()" "nacteni osy x" |
| V L "h" 4 68 "int8" |
| V L "l" 4 68 "int8" |
| V L "x" 4 69 "sint16" |
| F G "mag_readY" 4 78 "sint16()" "nacteni osy x" |
| V L "h" 4 80 "int8" |
| V L "l" 4 80 "int8" |
| V L "x" 4 81 "sint16" |
| F G "mag_readZ" 4 90 "sint16()" "nacteni osy x" |
| V L "h" 4 92 "int8" |
| V L "l" 4 92 "int8" |
| V L "x" 4 93 "sint16" |
| D G "HMC5883L_WRT_ADDR" 4 2 "0x3C" |
| D G "HMC5883L_READ_ADDR" 4 3 "0x3D" |
| D G "HMC5883L_CFG_A_REG" 4 6 "0x00" |
| D G "HMC5883L_CFG_B_REG" 4 7 "0x01" |
| D G "HMC5883L_MODE_REG" 4 8 "0x02" |
| D G "HMC5883L_X_MSB_REG" 4 9 "0x03" |
| C L "hmc5883l_write_reg" 4 1 1 "FUNCTION" |
| F G "hmc5883l_write_reg" 4 14 "void(int8 reg,int8 data)" |
| V L "reg" 4 14 "int8" |
| V L "data" 4 14 "int8" |
| F G "hmc5883l_read_reg" 4 24 "int8(int8 reg)" |
| V L "reg" 4 24 "int8" |
| V L "retval" 4 26 "int8" |
| T G "hmc5883l_result" 4 45 "{sint16 x,sint16 y,sint16 z}" "This global structure holds the values read" |
| V G "compass" 4 49 "hmc5883l_result" |
| F G "hmc5883l_read_data" 4 52 "void()" |
| V L "x_lsb" 4 54 "int8" |
| V L "x_msb" 4 55 "int8" |
| V L "y_lsb" 4 57 "int8" |
| V L "y_msb" 4 58 "int8" |
| V L "z_lsb" 4 60 "int8" |
| V L "z_msb" 4 61 "int8" |
| C L "hmc5883l_read_data" 4 1 1 "FUNCTION" |
| C L "hmc5883l_read_data" 4 1 1 "FUNCTION" |
| C L "hmc5883l_read_data" 4 1 1 "FUNCTION" |
| F G "MAIN" 0 4 "void()" |
| V L "x" 0 6 "sint16" |
| V L "Y" 0 6 "sint16" |
| V L "Z" 0 6 "sint16" |
| C L "MAIN" 0 14 1 "FUNCTION" |
| V L "last" 0 6 "int1" |
| V L "anemo_round" 0 7 "int16" |
| V L "i" 0 8 "int16" "signed int16 X,Y,Z;" |
| C L "MAIN" 0 19 3 "FUNCTION" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| C L "MAIN" 0 19 2 "FUNCTION" |
| C L "MAIN" 0 19 6 "FUNCTION" |
| C L "MAIN" 0 19 1 "FUNCTION" |
| F B "reset_cpu" 0 0 |
| F B "abs" 1 0 |
| F B "sleep_ulpwu" 1 0 |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.hex |
|---|
| 1,9 → 1,9 |
| :1000000003308A00172B0000CD306737653AEF3692 |
| :1000000002308A00502A0000CD306737653AEF365B |
| :10001000653A721D20100D050000A831A936EC309C |
| :100020006210CA2043244F103218B1193A10A006AA |
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| :100050008312B20D0712031C3328201620088316C2 |
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| :100070008312A0152008831687008312871D3E284F |
| :10008000F80B212800008711A01120088316870093 |
| 11,116 → 11,97 |
| :1000A0008312A0152008831687008312871D562807 |
| :1000B000F8010000071A78148711A0112008831690 |
| :1000C00087008312071220122008831687008312EC |
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| :10010000870000008312A0152008831687000000D6 |
| :100110008312071220122008831687000000831222 |
| :100120008711A0112008831687003C308312AC0091 |
| :100130001F20AC011F207030AC001F2020122008AF |
| :100140008316870000008312A015200883168700FD |
| :100150008312871DA9280000AD2800002016200862 |
| :1001600083168700000006308312A700692020163E |
| :1001700020088316870000008312A015200883162C |
| :1001800087000000831207122012200883168700C0 |
| :10019000000083128711A0112008831687003C30CD |
| :1001A0008312AC001F200130AC001F20E030AC00F7 |
| :1001B0001F20201220088316870000008312A0153C |
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| :10030000200883168700000083128711A01120089F |
| :10031000831687003D308312B2001F200130F700A2 |
| :100320000C217808AD000130F7000C217808AC00F2 |
| :100330000130F7000C217808B1000130F7000C21E2 |
| :100340007808B0000130F7000C217808AF00F70101 |
| :100350000C217808AE0020122008831687000000C8 |
| :100360008312A0152008831687008312871DB629E3 |
| :100370000000BA290000201620088316870000001C |
| :1003800083122D08A2002C08A1002F08A4002E081B |
| :10039000A3003108A6003008A5008A110A12EE2A2F |
| :1003A000B4010408B3003410831B3414AD1FE029DA |
| :1003B000B317331EB30AAC09AD09AC0A0319AD0A71 |
| :1003C0002D0EF038AF00AF07E23EB000323EB20073 |
| :1003D0002D080F39B007B007B207E93EB100B107E9 |
| :1003E000B1072C0E0F39B107B207B10DB20DB2092A |
| :1003F000B20D2C080F39B207AF0D0730AE000A302E |
| :10040000B207B103031C002AB107B003031C042A7E |
| :10041000B007AF03031C082AAF07AE03031C0C2A66 |
| :100420002E308400831307303305331384033305E0 |
| :10043000031D212A331A840A331A212A2030F70097 |
| :100440003E2A840732300402031933170008F700EC |
| :10045000031D322A331B322A331A4C2AB319322A8B |
| :1004600020303D2AB31F3A2A2D30F700840333137E |
| :10047000B3133E2AB31533123030F707AD01040829 |
| :10048000AC002D10831B2D147708B500A2202C087A |
| :10049000840083132D188317840A331F222A08002F |
| :1004A000840183131F308305713083168F000F087A |
| :1004B0008312A013200883168700831287178316E0 |
| :1004C00003170908C039890003131F129F12003057 |
| :1004D000031788008312870188018901FF30031305 |
| :1004E000A000A101A201A301A401A501A601A901E7 |
| :1004F000A801831603170908C039890003131F12C6 |
| :100500009F12003003178800831203131F139F13D9 |
| :1005100083169F1383121F149412A01220088316AF |
| :100520008700831220162008831687008312A011EB |
| :100530002008831687000130831294000030831650 |
| :1005400094000108C73908388100831290010030F7 |
| :10055000F8009200003083169200831220152008C4 |
| :10056000831687008312970183169B019C0101303B |
| :100570009D00831203178701880189010313AC01D1 |
| :100580001830AD0069200130AC00E030AD006920CA |
| :100590000230AC00AD016920043003178D0000303B |
| :1005A0008F000313C6200D3003178D0000308F001D |
| :1005B0000313C620193003178D0000308F0003137A |
| :1005C000C620AB01AA012B08033C031C032B031D0F |
| :1005D000ED2A2A08E83C031C032B5129A21FF62A06 |
| :1005E000271CF52AA80A0319A90A2710A21BFF2A0B |
| :1005F000A208031DFE2A2108003C031C2714AA0A96 |
| :100600000319AB0AE32A003084002208AD00210858 |
| :10061000AC00D0212030B500A22000308400240896 |
| :10062000AD002308AC00D0212030B500A22000305E |
| :1006300084002608AD002508AC00D0212030B5008C |
| :10064000A220003084002908AD002808AC00D02189 |
| :100650002030B500A2200A30B500A2200D30B50030 |
| :0A066000A220A901A801E12A63000D |
| :04400E00F52CFF3F4F |
| :00000001FF |
| ;PIC16F887 |
| ;CRC=F162 CREATED="15-V-13 16:26" |
| ;CRC=E057 CREATED="15-V-13 18:53" |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.lst |
|---|
| 1,17 → 1,17 |
| CCS PCM C Compiler, Version 4.106, 47914 15-V-13 16:26 |
| CCS PCM C Compiler, Version 4.106, 47914 15-V-13 18:53 |
| Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst |
| ROM used: 972 words (12%) |
| ROM used: 821 words (10%) |
| Largest free fragment is 2048 |
| RAM used: 12 (3%) at main() level |
| 22 (6%) worst case |
| Stack: 3 locations |
| RAM used: 18 (5%) at main() level |
| 27 (7%) worst case |
| Stack: 2 locations |
| * |
| 0000: MOVLW 03 |
| 0000: MOVLW 02 |
| 0001: MOVWF 0A |
| 0002: GOTO 317 |
| 0002: GOTO 250 |
| 0003: NOP |
| .................... #include "main.h" |
| .................... #include <16F887.h> |
| 36,27 → 36,6 |
| .................... #FUSES BORV40 //Brownout reset at 4.0V |
| .................... |
| .................... #use delay(clock=8000000) |
| * |
| 0069: MOVLW 27 |
| 006A: MOVWF 04 |
| 006B: BCF 03.7 |
| 006C: MOVF 00,W |
| 006D: BTFSC 03.2 |
| 006E: GOTO 07C |
| 006F: MOVLW 02 |
| 0070: MOVWF 78 |
| 0071: CLRF 77 |
| 0072: DECFSZ 77,F |
| 0073: GOTO 072 |
| 0074: DECFSZ 78,F |
| 0075: GOTO 071 |
| 0076: MOVLW 97 |
| 0077: MOVWF 77 |
| 0078: DECFSZ 77,F |
| 0079: GOTO 078 |
| 007A: DECFSZ 00,F |
| 007B: GOTO 06F |
| 007C: RETURN |
| .................... #use i2c(master, sda=PIN_C4, scl=PIN_C3) |
| * |
| 001F: MOVLW 08 |
| 69,7 → 48,7 |
| 0026: MOVWF 07 |
| 0027: NOP |
| 0028: BCF 03.5 |
| 0029: RLF 2C,F |
| 0029: RLF 32,F |
| 002A: BCF 07.4 |
| 002B: BTFSS 03.0 |
| 002C: GOTO 033 |
| 134,111 → 113,113 |
| 0067: BCF 03.5 |
| 0068: RETURN |
| * |
| 01EB: MOVLW 08 |
| 01EC: MOVWF 2D |
| 01ED: MOVF 77,W |
| 01EE: MOVWF 2E |
| 01EF: BSF 20.4 |
| 01F0: MOVF 20,W |
| 01F1: BSF 03.5 |
| 01F2: MOVWF 07 |
| 01F3: NOP |
| 01F4: BCF 03.5 |
| 01F5: BSF 20.3 |
| 01F6: MOVF 20,W |
| 01F7: BSF 03.5 |
| 01F8: MOVWF 07 |
| 01F9: BCF 03.5 |
| 01FA: BTFSS 07.3 |
| 01FB: GOTO 1FA |
| 01FC: BTFSC 07.4 |
| 01FD: BSF 03.0 |
| 01FE: BTFSS 07.4 |
| 01FF: BCF 03.0 |
| 0200: RLF 78,F |
| 0201: NOP |
| 0202: BCF 20.3 |
| 0203: MOVF 20,W |
| 0204: BSF 03.5 |
| 0205: MOVWF 07 |
| 0206: BCF 03.5 |
| 0207: BCF 07.3 |
| 0208: DECFSZ 2D,F |
| 0209: GOTO 1EF |
| 020A: BSF 20.4 |
| 020B: MOVF 20,W |
| 020C: BSF 03.5 |
| 020D: MOVWF 07 |
| 020E: NOP |
| 020F: BCF 03.5 |
| 0210: BCF 07.4 |
| 0211: MOVF 2E,W |
| 0212: BTFSC 03.2 |
| 0213: GOTO 219 |
| 0214: BCF 20.4 |
| 0215: MOVF 20,W |
| 0216: BSF 03.5 |
| 0217: MOVWF 07 |
| 0218: BCF 03.5 |
| 0219: NOP |
| 021A: BSF 20.3 |
| 021B: MOVF 20,W |
| 021C: BSF 03.5 |
| 021D: MOVWF 07 |
| 021E: BCF 03.5 |
| 021F: BTFSS 07.3 |
| 0220: GOTO 21F |
| 0221: NOP |
| 0222: BCF 07.3 |
| 0223: BCF 20.3 |
| 0224: MOVF 20,W |
| 0225: BSF 03.5 |
| 0226: MOVWF 07 |
| 0227: NOP |
| 0228: BCF 03.5 |
| 0229: BCF 07.4 |
| 022A: BCF 20.4 |
| 022B: MOVF 20,W |
| 022C: BSF 03.5 |
| 022D: MOVWF 07 |
| 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 |
| * |
| 012F: BCF 20.7 |
| 0130: MOVF 20,W |
| 0131: BSF 03.5 |
| 0132: MOVWF 07 |
| 0133: BCF 03.5 |
| 0134: BCF 07.7 |
| 0135: MOVLW 08 |
| 0136: MOVWF 78 |
| 0137: GOTO 138 |
| 0138: NOP |
| 0139: BSF 78.7 |
| 013A: GOTO 149 |
| 013B: BCF 78.7 |
| 013C: RRF 30,F |
| 013D: BTFSC 03.0 |
| 013E: BSF 07.7 |
| 013F: BTFSS 03.0 |
| 0140: BCF 07.7 |
| 0141: BSF 78.6 |
| 0142: GOTO 149 |
| 0143: BCF 78.6 |
| 0144: DECFSZ 78,F |
| 0145: GOTO 13C |
| 0146: GOTO 147 |
| 0147: NOP |
| 0148: BSF 07.7 |
| 0149: MOVLW 3F |
| 014A: MOVWF 04 |
| 014B: DECFSZ 04,F |
| 014C: GOTO 14B |
| 014D: NOP |
| 014E: BTFSC 78.7 |
| 014F: GOTO 13B |
| 0150: BTFSC 78.6 |
| 0151: GOTO 143 |
| 0152: RETURN |
| 00A2: BCF 20.7 |
| 00A3: MOVF 20,W |
| 00A4: BSF 03.5 |
| 00A5: MOVWF 07 |
| 00A6: BCF 03.5 |
| 00A7: BCF 07.7 |
| 00A8: MOVLW 08 |
| 00A9: MOVWF 78 |
| 00AA: GOTO 0AB |
| 00AB: NOP |
| 00AC: BSF 78.7 |
| 00AD: GOTO 0BC |
| 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 |
| .................... |
| .................... |
| .................... #include "HMC5883L.h" |
| 259,687 → 240,576 |
| .................... |
| .................... |
| .................... #include "HMC5883L.c" |
| .................... void set_mag (void) //uvodni nastaveni na kontinualni mereni, rozsah ± 8.1 Ga, frekvence mereni 15HZ |
| .................... // i2c slave addresses |
| .................... #define HMC5883L_WRT_ADDR 0x3C |
| .................... #define HMC5883L_READ_ADDR 0x3D |
| .................... |
| .................... // Register addresses |
| .................... #define HMC5883L_CFG_A_REG 0x00 |
| .................... #define HMC5883L_CFG_B_REG 0x01 |
| .................... #define HMC5883L_MODE_REG 0x02 |
| .................... #define HMC5883L_X_MSB_REG 0x03 |
| .................... |
| .................... //------------------------------ |
| .................... // Low level routines |
| .................... //------------------------------ |
| .................... void hmc5883l_write_reg(int8 reg, int8 data) |
| .................... { |
| .................... i2c_start(); //nastavení Configuration Register A |
| .................... i2c_start(); |
| * |
| 007D: BSF 20.4 |
| 0069: BSF 20.4 |
| 006A: MOVF 20,W |
| 006B: BSF 03.5 |
| 006C: MOVWF 07 |
| 006D: NOP |
| 006E: BCF 03.5 |
| 006F: BSF 20.3 |
| 0070: MOVF 20,W |
| 0071: BSF 03.5 |
| 0072: MOVWF 07 |
| 0073: NOP |
| 0074: BCF 03.5 |
| 0075: BCF 07.4 |
| 0076: BCF 20.4 |
| 0077: MOVF 20,W |
| 0078: BSF 03.5 |
| 0079: MOVWF 07 |
| 007A: NOP |
| 007B: BCF 03.5 |
| 007C: BCF 07.3 |
| 007D: BCF 20.3 |
| 007E: MOVF 20,W |
| 007F: BSF 03.5 |
| 0080: MOVWF 07 |
| 0081: NOP |
| .................... i2c_write(HMC5883L_WRT_ADDR); |
| 0081: MOVLW 3C |
| 0082: BCF 03.5 |
| 0083: BSF 20.3 |
| 0084: MOVF 20,W |
| 0085: BSF 03.5 |
| 0086: MOVWF 07 |
| 0087: NOP |
| 0088: BCF 03.5 |
| 0089: BCF 07.4 |
| 008A: BCF 20.4 |
| 008B: MOVF 20,W |
| 008C: BSF 03.5 |
| 008D: MOVWF 07 |
| 008E: NOP |
| 008F: BCF 03.5 |
| 0090: BCF 07.3 |
| 0091: BCF 20.3 |
| 0083: MOVWF 32 |
| 0084: CALL 01F |
| .................... i2c_write(reg); |
| 0085: MOVF 2C,W |
| 0086: MOVWF 32 |
| 0087: CALL 01F |
| .................... i2c_write(data); |
| 0088: MOVF 2D,W |
| 0089: MOVWF 32 |
| 008A: CALL 01F |
| .................... i2c_stop(); |
| 008B: BCF 20.4 |
| 008C: MOVF 20,W |
| 008D: BSF 03.5 |
| 008E: MOVWF 07 |
| 008F: NOP |
| 0090: BCF 03.5 |
| 0091: BSF 20.3 |
| 0092: MOVF 20,W |
| 0093: BSF 03.5 |
| 0094: MOVWF 07 |
| .................... I2C_Write(MAG_ADDR_W); |
| 0095: MOVLW 3C |
| 0096: BCF 03.5 |
| 0097: MOVWF 2C |
| 0098: CALL 01F |
| .................... I2C_Write(0x00); |
| 0099: CLRF 2C |
| 009A: CALL 01F |
| .................... I2C_Write(0x70); |
| 009B: MOVLW 70 |
| 009C: MOVWF 2C |
| 009D: CALL 01F |
| .................... i2c_stop(); |
| 009E: BCF 20.4 |
| 009F: MOVF 20,W |
| 00A0: BSF 03.5 |
| 00A1: MOVWF 07 |
| 00A2: NOP |
| 00A3: BCF 03.5 |
| 00A4: BSF 20.3 |
| 00A5: MOVF 20,W |
| 00A6: BSF 03.5 |
| 00A7: MOVWF 07 |
| 00A8: BCF 03.5 |
| 00A9: BTFSS 07.3 |
| 00AA: GOTO 0A9 |
| 00AB: NOP |
| 00AC: GOTO 0AD |
| 00AD: NOP |
| 00AE: BSF 20.4 |
| 00AF: MOVF 20,W |
| 00B0: BSF 03.5 |
| 00B1: MOVWF 07 |
| 00B2: NOP |
| .................... Delay_ms(6); |
| 00B3: MOVLW 06 |
| 00B4: BCF 03.5 |
| 00B5: MOVWF 27 |
| 00B6: CALL 069 |
| .................... |
| .................... i2c_start(); //nastavení Configuration Register B |
| 00B7: BSF 20.4 |
| 00B8: MOVF 20,W |
| 00B9: BSF 03.5 |
| 00BA: MOVWF 07 |
| 00BB: NOP |
| 00BC: BCF 03.5 |
| 00BD: BSF 20.3 |
| 00BE: MOVF 20,W |
| 00BF: BSF 03.5 |
| 00C0: MOVWF 07 |
| 00C1: NOP |
| 00C2: BCF 03.5 |
| 00C3: BCF 07.4 |
| 00C4: BCF 20.4 |
| 00C5: MOVF 20,W |
| 00C6: BSF 03.5 |
| 00C7: MOVWF 07 |
| 00C8: NOP |
| 00C9: BCF 03.5 |
| 00CA: BCF 07.3 |
| 00CB: BCF 20.3 |
| 00CC: MOVF 20,W |
| 00CD: BSF 03.5 |
| 00CE: MOVWF 07 |
| .................... I2C_Write(MAG_ADDR_W); |
| 00CF: MOVLW 3C |
| 00D0: BCF 03.5 |
| 00D1: MOVWF 2C |
| 00D2: CALL 01F |
| .................... I2C_Write(0x01); |
| 00D3: MOVLW 01 |
| 00D4: MOVWF 2C |
| 00D5: CALL 01F |
| .................... I2C_Write(MAG_ROZ810); |
| 00D6: MOVLW E0 |
| 00D7: MOVWF 2C |
| 00D8: CALL 01F |
| .................... i2c_stop(); |
| 00D9: BCF 20.4 |
| 00DA: MOVF 20,W |
| 00DB: BSF 03.5 |
| 00DC: MOVWF 07 |
| 00DD: NOP |
| 00DE: BCF 03.5 |
| 00DF: BSF 20.3 |
| 00E0: MOVF 20,W |
| 00E1: BSF 03.5 |
| 00E2: MOVWF 07 |
| 00E3: BCF 03.5 |
| 00E4: BTFSS 07.3 |
| 00E5: GOTO 0E4 |
| 00E6: NOP |
| 00E7: GOTO 0E8 |
| 00E8: NOP |
| 00E9: BSF 20.4 |
| 00EA: MOVF 20,W |
| 00EB: BSF 03.5 |
| 00EC: MOVWF 07 |
| 00ED: NOP |
| .................... |
| .................... Delay_ms(6); |
| 00EE: MOVLW 06 |
| 00EF: BCF 03.5 |
| 00F0: MOVWF 27 |
| 00F1: CALL 069 |
| .................... |
| .................... i2c_start(); //nastveni Mode Register |
| 00F2: BSF 20.4 |
| 00F3: MOVF 20,W |
| 00F4: BSF 03.5 |
| 00F5: MOVWF 07 |
| 00F6: NOP |
| 00F7: BCF 03.5 |
| 00F8: BSF 20.3 |
| 00F9: MOVF 20,W |
| 00FA: BSF 03.5 |
| 00FB: MOVWF 07 |
| 00FC: NOP |
| 00FD: BCF 03.5 |
| 00FE: BCF 07.4 |
| 00FF: BCF 20.4 |
| 0100: MOVF 20,W |
| 0101: BSF 03.5 |
| 0102: MOVWF 07 |
| 0103: NOP |
| 0104: BCF 03.5 |
| 0105: BCF 07.3 |
| 0106: BCF 20.3 |
| 0107: MOVF 20,W |
| 0108: BSF 03.5 |
| 0109: MOVWF 07 |
| .................... I2C_Write(MAG_ADDR_W); |
| 010A: MOVLW 3C |
| 010B: BCF 03.5 |
| 010C: MOVWF 2C |
| 010D: CALL 01F |
| .................... I2C_Write(0x02); |
| 010E: MOVLW 02 |
| 010F: MOVWF 2C |
| 0110: CALL 01F |
| .................... I2C_Write(0x00); |
| 0111: CLRF 2C |
| 0112: CALL 01F |
| .................... i2c_stop(); |
| 0113: BCF 20.4 |
| 0114: MOVF 20,W |
| 0115: BSF 03.5 |
| 0116: MOVWF 07 |
| 0117: NOP |
| 0118: BCF 03.5 |
| 0119: BSF 20.3 |
| 011A: MOVF 20,W |
| 011B: BSF 03.5 |
| 011C: MOVWF 07 |
| 011D: BCF 03.5 |
| 011E: BTFSS 07.3 |
| 011F: GOTO 11E |
| 0120: NOP |
| 0121: GOTO 122 |
| 0122: NOP |
| 0123: BSF 20.4 |
| 0124: MOVF 20,W |
| 0125: BSF 03.5 |
| 0126: MOVWF 07 |
| 0127: NOP |
| .................... Delay_ms(6); |
| 0128: MOVLW 06 |
| 0129: BCF 03.5 |
| 012A: MOVWF 27 |
| 012B: CALL 069 |
| 0095: BCF 03.5 |
| 0096: BTFSS 07.3 |
| 0097: GOTO 096 |
| 0098: NOP |
| 0099: GOTO 09A |
| 009A: NOP |
| 009B: BSF 20.4 |
| 009C: MOVF 20,W |
| 009D: BSF 03.5 |
| 009E: MOVWF 07 |
| 009F: NOP |
| .................... } |
| 012C: BCF 0A.3 |
| 012D: BCF 0A.4 |
| 012E: GOTO 37F (RETURN) |
| 00A0: BCF 03.5 |
| 00A1: RETURN |
| .................... |
| .................... void set_mag_roz (unsigned int8 h) //nastavy rozsah |
| .................... //------------------------------ |
| .................... int8 hmc5883l_read_reg(int8 reg) |
| .................... { |
| .................... int8 retval; |
| .................... |
| .................... // |
| .................... |
| .................... |
| .................... i2c_start(); |
| .................... I2C_Write(MAG_ADDR_W); |
| .................... I2C_Write(0x01); |
| .................... I2C_Write(h); |
| .................... i2c_stop(); |
| .................... i2c_start(); |
| .................... i2c_write(HMC5883L_WRT_ADDR); |
| .................... i2c_write(reg); |
| .................... i2c_start(); |
| .................... i2c_write(HMC5883L_READ_ADDR); |
| .................... retval = i2c_read(0); |
| .................... i2c_stop(); |
| .................... |
| .................... Delay_ms(6); |
| .................... |
| .................... |
| .................... return(retval); |
| .................... } |
| .................... |
| .................... //------------------------------ |
| .................... typedef struct |
| .................... { |
| .................... signed int16 x; |
| .................... signed int16 y; |
| .................... signed int16 z; |
| .................... }hmc5883l_result; |
| .................... |
| .................... byte mag_read(byte reg) //pro cteni reg |
| .................... { |
| .................... |
| .................... i2c_start(); |
| .................... // This global structure holds the values read |
| .................... // from the HMC5883L x,y,z registers. |
| .................... hmc5883l_result compass = {0,0,0}; |
| * |
| 0199: BSF 20.4 |
| 019A: MOVF 20,W |
| 019B: BSF 03.5 |
| 019C: MOVWF 07 |
| 019D: NOP |
| 019E: BCF 03.5 |
| 019F: BSF 20.3 |
| 01A0: MOVF 20,W |
| 01A1: BSF 03.5 |
| 01A2: MOVWF 07 |
| 01A3: NOP |
| 01A4: BCF 03.5 |
| 01A5: BCF 07.4 |
| 01A6: BCF 20.4 |
| 01A7: MOVF 20,W |
| 01A8: BSF 03.5 |
| 01A9: MOVWF 07 |
| 01AA: NOP |
| 01AB: BCF 03.5 |
| 01AC: BCF 07.3 |
| 01AD: BCF 20.3 |
| 01AE: MOVF 20,W |
| 01AF: BSF 03.5 |
| 01B0: MOVWF 07 |
| .................... I2C_Write(MAG_ADDR_W); |
| 01B1: MOVLW 3C |
| 01B2: BCF 03.5 |
| 01B3: MOVWF 2C |
| 01B4: CALL 01F |
| .................... I2C_write(reg); |
| 01B5: MOVF 2B,W |
| 01B6: MOVWF 2C |
| 01B7: CALL 01F |
| .................... i2c_stop(); |
| 01B8: BCF 20.4 |
| 01B9: MOVF 20,W |
| 01BA: BSF 03.5 |
| 01BB: MOVWF 07 |
| 01BC: NOP |
| 01BD: BCF 03.5 |
| 01BE: BSF 20.3 |
| 01BF: MOVF 20,W |
| 01C0: BSF 03.5 |
| 01C1: MOVWF 07 |
| 01C2: BCF 03.5 |
| 01C3: BTFSS 07.3 |
| 01C4: GOTO 1C3 |
| 01C5: NOP |
| 01C6: GOTO 1C7 |
| 01C7: NOP |
| 01C8: BSF 20.4 |
| 01C9: MOVF 20,W |
| 01CA: BSF 03.5 |
| 01CB: MOVWF 07 |
| 01CC: NOP |
| .................... i2c_start(); |
| 01CD: BCF 03.5 |
| 01CE: BSF 20.4 |
| 01CF: MOVF 20,W |
| 01D0: BSF 03.5 |
| 01D1: MOVWF 07 |
| 01D2: NOP |
| 01D3: BCF 03.5 |
| 01D4: BSF 20.3 |
| 01D5: MOVF 20,W |
| 01D6: BSF 03.5 |
| 01D7: MOVWF 07 |
| 01D8: NOP |
| 01D9: BCF 03.5 |
| 01DA: BCF 07.4 |
| 01DB: BCF 20.4 |
| 01DC: MOVF 20,W |
| 01DD: BSF 03.5 |
| 01DE: MOVWF 07 |
| 01DF: NOP |
| 01E0: BCF 03.5 |
| 01E1: BCF 07.3 |
| 01E2: BCF 20.3 |
| 01E3: MOVF 20,W |
| 01E4: BSF 03.5 |
| 01E5: MOVWF 07 |
| .................... I2C_Write(MAG_ADDR_R); |
| 01E6: MOVLW 3D |
| 01E7: BCF 03.5 |
| 01E8: MOVWF 2C |
| 01E9: CALL 01F |
| .................... reg=i2c_read(0); |
| 01EA: CLRF 77 |
| * |
| 022E: MOVF 78,W |
| 022F: BCF 03.5 |
| 0230: MOVWF 2B |
| .................... return reg; |
| 0231: MOVF 2B,W |
| 0232: MOVWF 78 |
| .................... } |
| 0233: RETURN |
| 0271: CLRF 21 |
| 0272: CLRF 22 |
| 0273: CLRF 23 |
| 0274: CLRF 24 |
| 0275: CLRF 25 |
| 0276: CLRF 26 |
| .................... |
| .................... |
| .................... signed int16 mag_vypocet(unsigned int8 h, unsigned int8 l) //prepocet na 16bit cislo |
| .................... //------------------------------ |
| .................... void hmc5883l_read_data(void) |
| .................... { |
| .................... signed int16 x; |
| .................... x = (((unsigned int16) h << 8) + l ); |
| 0234: CLRF 30 |
| 0235: MOVF 2B,W |
| 0236: MOVWF 2F |
| 0237: MOVWF 30 |
| 0238: CLRF 2F |
| 0239: MOVF 2C,W |
| 023A: ADDWF 2F,W |
| 023B: MOVWF 78 |
| 023C: MOVF 30,W |
| 023D: MOVWF 7A |
| 023E: BTFSC 03.0 |
| 023F: INCF 7A,F |
| 0240: MOVF 78,W |
| 0241: MOVWF 2D |
| 0242: MOVF 7A,W |
| 0243: MOVWF 2E |
| .................... return x; |
| 0244: MOVF 2D,W |
| 0245: MOVWF 78 |
| 0246: MOVF 2E,W |
| 0247: MOVWF 79 |
| .................... } |
| 0248: RETURN |
| .................... unsigned int8 x_lsb; |
| .................... unsigned int8 x_msb; |
| .................... |
| .................... unsigned int8 y_lsb; |
| .................... unsigned int8 y_msb; |
| .................... |
| .................... signed int16 mag_readX(void) //nacteni osy x |
| .................... { |
| .................... unsigned int8 h,l; |
| .................... signed int16 x; |
| .................... h=mag_read(0x03); |
| 0249: MOVLW 03 |
| 024A: MOVWF 2B |
| 024B: CALL 199 |
| 024C: MOVF 78,W |
| 024D: MOVWF 27 |
| .................... l=mag_read(0x04); |
| 024E: MOVLW 04 |
| 024F: MOVWF 2B |
| 0250: CALL 199 |
| 0251: MOVF 78,W |
| 0252: MOVWF 28 |
| .................... x=mag_vypocet(h,l); |
| 0253: MOVF 27,W |
| 0254: MOVWF 2B |
| 0255: MOVF 28,W |
| 0256: MOVWF 2C |
| 0257: CALL 234 |
| 0258: MOVF 79,W |
| 0259: MOVWF 2A |
| 025A: MOVF 78,W |
| 025B: MOVWF 29 |
| .................... return x; |
| 025C: MOVF 29,W |
| 025D: MOVWF 78 |
| 025E: MOVF 2A,W |
| 025F: MOVWF 79 |
| .................... |
| .................... } |
| 0260: BCF 0A.3 |
| 0261: BCF 0A.4 |
| 0262: GOTO 395 (RETURN) |
| .................... unsigned int8 z_lsb; |
| .................... unsigned int8 z_msb; |
| .................... |
| .................... 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 |
| .................... i2c_write(HMC5883L_WRT_ADDR); |
| 0169: MOVLW 3C |
| 016A: BCF 03.5 |
| 016B: MOVWF 32 |
| 016C: CALL 01F |
| .................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
| 016D: MOVLW 03 |
| 016E: MOVWF 32 |
| 016F: 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 |
| .................... i2c_write(HMC5883L_READ_ADDR); |
| 018A: MOVLW 3D |
| 018B: BCF 03.5 |
| 018C: MOVWF 32 |
| 018D: CALL 01F |
| .................... |
| .................... signed int16 mag_readY(void) //nacteni osy x |
| .................... { |
| .................... unsigned int8 h,l; |
| .................... signed int16 x; |
| .................... h=mag_read(0x07); |
| 0263: MOVLW 07 |
| 0264: MOVWF 2B |
| 0265: CALL 199 |
| 0266: MOVF 78,W |
| 0267: MOVWF 27 |
| .................... l=mag_read(0x08); |
| 0268: MOVLW 08 |
| 0269: MOVWF 2B |
| 026A: CALL 199 |
| 026B: MOVF 78,W |
| 026C: MOVWF 28 |
| .................... x=mag_vypocet(h,l); |
| 026D: MOVF 27,W |
| 026E: MOVWF 2B |
| 026F: MOVF 28,W |
| 0270: MOVWF 2C |
| 0271: CALL 234 |
| 0272: MOVF 79,W |
| 0273: MOVWF 2A |
| 0274: MOVF 78,W |
| 0275: MOVWF 29 |
| .................... return x; |
| 0276: MOVF 29,W |
| 0277: MOVWF 78 |
| 0278: MOVF 2A,W |
| 0279: MOVWF 79 |
| .................... |
| .................... } |
| 027A: BCF 0A.3 |
| 027B: BCF 0A.4 |
| 027C: GOTO 39A (RETURN) |
| .................... x_msb = i2c_read(); |
| 018E: MOVLW 01 |
| 018F: MOVWF 77 |
| 0190: CALL 10C |
| 0191: MOVF 78,W |
| 0192: MOVWF 2D |
| .................... x_lsb = i2c_read(); |
| 0193: MOVLW 01 |
| 0194: MOVWF 77 |
| 0195: CALL 10C |
| 0196: MOVF 78,W |
| 0197: MOVWF 2C |
| .................... |
| .................... z_msb = i2c_read(); |
| 0198: MOVLW 01 |
| 0199: MOVWF 77 |
| 019A: CALL 10C |
| 019B: MOVF 78,W |
| 019C: MOVWF 31 |
| .................... z_lsb = i2c_read(); |
| 019D: MOVLW 01 |
| 019E: MOVWF 77 |
| 019F: CALL 10C |
| 01A0: MOVF 78,W |
| 01A1: MOVWF 30 |
| .................... |
| .................... signed int16 mag_readZ(void) //nacteni osy x |
| .................... { |
| .................... unsigned int8 h,l; |
| .................... signed int16 x; |
| .................... h=mag_read(0x05); |
| 027D: MOVLW 05 |
| 027E: MOVWF 2B |
| 027F: CALL 199 |
| 0280: MOVF 78,W |
| 0281: MOVWF 27 |
| .................... l=mag_read(0x06); |
| 0282: MOVLW 06 |
| 0283: MOVWF 2B |
| 0284: CALL 199 |
| 0285: MOVF 78,W |
| 0286: MOVWF 28 |
| .................... x=mag_vypocet(h,l); |
| 0287: MOVF 27,W |
| 0288: MOVWF 2B |
| 0289: MOVF 28,W |
| 028A: MOVWF 2C |
| 028B: CALL 234 |
| 028C: MOVF 79,W |
| 028D: MOVWF 2A |
| 028E: MOVF 78,W |
| 028F: MOVWF 29 |
| .................... return x; |
| 0290: MOVF 29,W |
| 0291: MOVWF 78 |
| 0292: MOVF 2A,W |
| 0293: MOVWF 79 |
| .................... |
| .................... y_msb = i2c_read(); |
| 01A2: MOVLW 01 |
| 01A3: MOVWF 77 |
| 01A4: CALL 10C |
| 01A5: MOVF 78,W |
| 01A6: MOVWF 2F |
| .................... y_lsb = i2c_read(0); // do a NACK on last read |
| 01A7: CLRF 77 |
| 01A8: CALL 10C |
| 01A9: MOVF 78,W |
| 01AA: MOVWF 2E |
| .................... |
| .................... 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 |
| .................... |
| .................... // 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 |
| .................... compass.y = make16(y_msb, y_lsb); |
| 01C5: MOVF 2F,W |
| 01C6: MOVWF 24 |
| 01C7: MOVF 2E,W |
| 01C8: MOVWF 23 |
| .................... compass.z = make16(z_msb, z_lsb); |
| 01C9: MOVF 31,W |
| 01CA: MOVWF 26 |
| 01CB: MOVF 30,W |
| 01CC: MOVWF 25 |
| .................... } |
| 0294: BCF 0A.3 |
| 0295: BCF 0A.4 |
| 0296: GOTO 39F (RETURN) |
| 01CD: BCF 0A.3 |
| 01CE: BCF 0A.4 |
| 01CF: GOTO 2EE (RETURN) |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... |
| .................... void main() |
| .................... { |
| * |
| 0317: CLRF 04 |
| 0318: BCF 03.7 |
| 0319: MOVLW 1F |
| 031A: ANDWF 03,F |
| 031B: MOVLW 71 |
| 031C: BSF 03.5 |
| 031D: MOVWF 0F |
| 031E: MOVF 0F,W |
| 031F: BCF 03.5 |
| 0320: BCF 20.7 |
| 0321: MOVF 20,W |
| 0322: BSF 03.5 |
| 0323: MOVWF 07 |
| 0324: BCF 03.5 |
| 0325: BSF 07.7 |
| 0326: BSF 03.5 |
| 0327: BSF 03.6 |
| 0328: MOVF 09,W |
| 0329: ANDLW C0 |
| 032A: MOVWF 09 |
| 032B: BCF 03.6 |
| 032C: BCF 1F.4 |
| 032D: BCF 1F.5 |
| 032E: MOVLW 00 |
| 032F: BSF 03.6 |
| 0330: MOVWF 08 |
| 0331: BCF 03.5 |
| 0332: CLRF 07 |
| 0333: CLRF 08 |
| 0334: CLRF 09 |
| .................... signed int16 X,Y,Z; |
| 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 |
| * |
| 0277: CLRF 29 |
| 0278: CLRF 28 |
| .................... int1 last; |
| .................... unsigned int16 anemo_round=0; |
| .................... unsigned int16 i; |
| .................... |
| .................... |
| .................... //signed int16 X,Y,Z; |
| .................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| * |
| 0338: BSF 03.5 |
| 0339: BSF 03.6 |
| 033A: MOVF 09,W |
| 033B: ANDLW C0 |
| 033C: MOVWF 09 |
| 033D: BCF 03.6 |
| 033E: BCF 1F.4 |
| 033F: BCF 1F.5 |
| 0340: MOVLW 00 |
| 0341: BSF 03.6 |
| 0342: MOVWF 08 |
| 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 |
| .................... setup_adc(ADC_CLOCK_DIV_2); |
| 0343: BCF 03.5 |
| 0344: BCF 03.6 |
| 0345: BCF 1F.6 |
| 0346: BCF 1F.7 |
| 0347: BSF 03.5 |
| 0348: BCF 1F.7 |
| 0349: BCF 03.5 |
| 034A: BSF 1F.0 |
| 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 |
| .................... setup_spi(SPI_SS_DISABLED); |
| 034B: BCF 14.5 |
| 034C: BCF 20.5 |
| 034D: MOVF 20,W |
| 034E: BSF 03.5 |
| 034F: MOVWF 07 |
| 0350: BCF 03.5 |
| 0351: BSF 20.4 |
| 0352: MOVF 20,W |
| 0353: BSF 03.5 |
| 0354: MOVWF 07 |
| 0355: BCF 03.5 |
| 0356: BCF 20.3 |
| 0357: MOVF 20,W |
| 0358: BSF 03.5 |
| 0359: MOVWF 07 |
| 035A: MOVLW 01 |
| 035B: BCF 03.5 |
| 035C: MOVWF 14 |
| 035D: MOVLW 00 |
| 035E: BSF 03.5 |
| 035F: MOVWF 14 |
| 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 |
| .................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 0360: MOVF 01,W |
| 0361: ANDLW C7 |
| 0362: IORLW 08 |
| 0363: MOVWF 01 |
| 02A1: MOVF 01,W |
| 02A2: ANDLW C7 |
| 02A3: IORLW 08 |
| 02A4: MOVWF 01 |
| .................... setup_timer_1(T1_DISABLED); |
| 0364: BCF 03.5 |
| 0365: CLRF 10 |
| 02A5: BCF 03.5 |
| 02A6: CLRF 10 |
| .................... setup_timer_2(T2_DISABLED,0,1); |
| 0366: MOVLW 00 |
| 0367: MOVWF 78 |
| 0368: MOVWF 12 |
| 0369: MOVLW 00 |
| 036A: BSF 03.5 |
| 036B: MOVWF 12 |
| 02A7: MOVLW 00 |
| 02A8: MOVWF 78 |
| 02A9: MOVWF 12 |
| 02AA: MOVLW 00 |
| 02AB: BSF 03.5 |
| 02AC: MOVWF 12 |
| .................... setup_ccp1(CCP_OFF); |
| 036C: BCF 03.5 |
| 036D: BSF 20.2 |
| 036E: MOVF 20,W |
| 036F: BSF 03.5 |
| 0370: MOVWF 07 |
| 0371: BCF 03.5 |
| 0372: CLRF 17 |
| 0373: BSF 03.5 |
| 0374: CLRF 1B |
| 0375: CLRF 1C |
| 0376: MOVLW 01 |
| 0377: MOVWF 1D |
| 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 |
| .................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
| 0378: BCF 03.5 |
| 0379: BSF 03.6 |
| 037A: CLRF 07 |
| 037B: CLRF 08 |
| 037C: CLRF 09 |
| 02B9: BCF 03.5 |
| 02BA: BSF 03.6 |
| 02BB: CLRF 07 |
| 02BC: CLRF 08 |
| 02BD: CLRF 09 |
| .................... |
| .................... set_mag(); |
| 037D: BCF 03.6 |
| 037E: GOTO 07D |
| .................... // 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 |
| .................... 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 |
| .................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00); |
| 02C8: MOVLW 02 |
| 02C9: MOVWF 2C |
| 02CA: CLRF 2D |
| 02CB: CALL 069 |
| .................... |
| .................... // Continuously read and display the x,y,z results. |
| .................... // Wait at least 67 ms between reads, re the HMC5883L data sheet. |
| .................... |
| .................... |
| .................... printf("Magnetometr: \r\n",); |
| 037F: MOVLW 04 |
| 0380: BSF 03.6 |
| 0381: MOVWF 0D |
| 0382: MOVLW 00 |
| 0383: MOVWF 0F |
| 0384: BCF 03.6 |
| 0385: CALL 153 |
| 02CC: MOVLW 04 |
| 02CD: BSF 03.6 |
| 02CE: MOVWF 0D |
| 02CF: MOVLW 00 |
| 02D0: MOVWF 0F |
| 02D1: BCF 03.6 |
| 02D2: CALL 0C6 |
| .................... printf("(c)mlab JACHO 2013: \r\n",); |
| 0386: MOVLW 0D |
| 0387: BSF 03.6 |
| 0388: MOVWF 0D |
| 0389: MOVLW 00 |
| 038A: MOVWF 0F |
| 038B: BCF 03.6 |
| 038C: CALL 153 |
| 02D3: MOVLW 0D |
| 02D4: BSF 03.6 |
| 02D5: MOVWF 0D |
| 02D6: MOVLW 00 |
| 02D7: MOVWF 0F |
| 02D8: BCF 03.6 |
| 02D9: CALL 0C6 |
| .................... printf("X, Y, Z \r\n",); |
| 038D: MOVLW 19 |
| 038E: BSF 03.6 |
| 038F: MOVWF 0D |
| 0390: MOVLW 00 |
| 0391: MOVWF 0F |
| 0392: BCF 03.6 |
| 0393: CALL 153 |
| 02DA: MOVLW 19 |
| 02DB: BSF 03.6 |
| 02DC: MOVWF 0D |
| 02DD: MOVLW 00 |
| 02DE: MOVWF 0F |
| 02DF: BCF 03.6 |
| 02E0: CALL 0C6 |
| .................... |
| .................... while(true) |
| .................... /* while(true) |
| .................... { |
| .................... X = mag_readX(); |
| 0394: GOTO 249 |
| 0395: MOVF 79,W |
| 0396: MOVWF 22 |
| 0397: MOVF 78,W |
| 0398: MOVWF 21 |
| .................... Y = mag_readY(); |
| 0399: GOTO 263 |
| 039A: MOVF 79,W |
| 039B: MOVWF 24 |
| 039C: MOVF 78,W |
| 039D: MOVWF 23 |
| .................... Z = mag_readZ(); |
| 039E: GOTO 27D |
| 039F: MOVF 79,W |
| 03A0: MOVWF 26 |
| 03A1: MOVF 78,W |
| 03A2: MOVWF 25 |
| .................... printf("%4Ld %4Ld %4Ld \r\n", X, Y, Z); |
| 03A3: MOVLW 02 |
| 03A4: MOVWF 04 |
| 03A5: MOVF 22,W |
| 03A6: MOVWF 28 |
| 03A7: MOVF 21,W |
| 03A8: MOVWF 27 |
| 03A9: CALL 297 |
| 03AA: MOVLW 20 |
| 03AB: MOVWF 30 |
| 03AC: CALL 12F |
| 03AD: MOVLW 02 |
| 03AE: MOVWF 04 |
| 03AF: MOVF 24,W |
| 03B0: MOVWF 28 |
| 03B1: MOVF 23,W |
| 03B2: MOVWF 27 |
| 03B3: CALL 297 |
| 03B4: MOVLW 20 |
| 03B5: MOVWF 30 |
| 03B6: CALL 12F |
| 03B7: MOVLW 02 |
| 03B8: MOVWF 04 |
| 03B9: MOVF 26,W |
| 03BA: MOVWF 28 |
| 03BB: MOVF 25,W |
| 03BC: MOVWF 27 |
| 03BD: CALL 297 |
| 03BE: MOVLW 20 |
| 03BF: MOVWF 30 |
| 03C0: CALL 12F |
| 03C1: MOVLW 0D |
| 03C2: MOVWF 30 |
| 03C3: CALL 12F |
| 03C4: MOVLW 0A |
| 03C5: MOVWF 30 |
| 03C6: CALL 12F |
| .................... Delay_ms(50); |
| 03C7: MOVLW 32 |
| 03C8: MOVWF 27 |
| 03C9: CALL 069 |
| .................... |
| .................... } |
| 03CA: GOTO 394 |
| .................... */ |
| .................... |
| .................... 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(); |
| .................... hmc5883l_read_data(); |
| 02ED: GOTO 151 |
| .................... |
| .................... 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 |
| .................... |
| .................... 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 |
| .................... } |
| 0333: GOTO 2E1 |
| .................... |
| .................... } |
| 03CB: SLEEP |
| .................... |
| .................... |
| .................... |
| 0334: SLEEP |
| Configuration Fuses: |
| Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.sta |
|---|
| 1,60 → 1,55 |
| ROM used: 972 (12%) |
| 972 (12%) including unused fragments |
| ROM used: 821 (10%) |
| 821 (10%) including unused fragments |
| 2 Average locations per line |
| 1 Average locations per line |
| 15 Average locations per statement |
| RAM used: 12 (3%) at main() level |
| 22 (6%) worst case |
| RAM used: 18 (5%) at main() level |
| 27 (7%) worst case |
| Stack used: 3 worst case (out of 8 total available) |
| Stack used: 2 worst case (out of 8 total available) |
| Lines Stmts % Files |
| ----- ----- --- ----- |
| 32 19 29 main.c |
| 70 28 50 main.c |
| 22 0 0 main.h |
| 423 0 0 C:\Program Files (x86)\PICC\devices\16F887.h |
| 19 0 0 HMC5883L.h |
| 102 46 71 HMC5883L.c |
| 86 28 50 HMC5883L.c |
| ----- ----- |
| 598 65 Total |
| 620 56 Total |
| Page ROM % RAM Vol Diff Functions: |
| ---- --- --- --- --- ---- ---------- |
| 0 20 2 1 @delay_ms1 |
| Inline 3 357 1.4 @I2C_READ_1 |
| 0 74 8 1 113 1.3 @I2C_WRITE_1 |
| 0 69 8 3 357 1.4 @I2C_READ_1 |
| 0 74 9 1 113 1.3 @I2C_WRITE_1 |
| 0 36 4 1 152 2.2 @PUTCHAR_1_ |
| 0 178 18 0 357 1.4 set_mag |
| 0 155 16 1 152 2.2 mag_read |
| 0 21 2 6 129 4.6 mag_vypocet |
| 0 26 3 4 171 2.7 mag_readX |
| 0 26 3 4 171 2.7 mag_readY |
| 0 26 3 4 171 2.7 mag_readZ |
| 0 181 19 6 587 3.3 MAIN |
| 0 9 1 0 @const102 |
| 0 70 7 3 @PSTRINGC7_69 |
| 0 12 1 0 @const104 |
| 0 6 1 0 @const105 |
| 0 128 13 9 @PRINTF_LD_69 |
| 0 57 7 2 102 1.8 hmc5883l_write_reg |
| 0 127 15 6 627 3.5 hmc5883l_read_data |
| 0 229 28 6 1048 7.4 MAIN |
| 0 9 1 0 171 2.7 @const100 |
| 0 70 9 3 171 2.7 @PSTRINGC7_69 |
| 0 12 1 0 171 2.7 @const102 |
| 0 6 1 0 587 3.3 @const103 |
| 0 128 16 9 @PRINTF_LD_69 |
| Program metrics: |
| Functions 10 |
| Statements 65 |
| Comments 99 |
| Volume (V) 3874 |
| Difficilty (D) 23.6 |
| Effort to implement (E) 91333 |
| Time to implement (T) 1 hours, 25 minutes |
| Statements 56 |
| Comments 119 |
| Volume (V) 5424 |
| Difficilty (D) 29.5 |
| Effort to implement (E) 160169 |
| Time to implement (T) 2 hours, 28 minutes |
| Est Delivered Bugs (B) 1 |
| Cyclomatic Complexity 1 |
| Maintainability (MI) 60 |
| Cyclomatic Complexity 4 |
| Maintainability (MI) 70 |
| Segment Used Free |
| ----------- ---- ---- |
| 00000-00003 4 0 |
| 00004-007FF 968 1076 |
| 00004-007FF 817 1227 |
| 00800-00FFF 0 2048 |
| 01000-017FF 0 2048 |
| 01800-01FFF 0 2048 |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.sym |
|---|
| 1,5 → 1,5 |
| 004 @WRITE_PROGRAM_MEMORY8.P1 |
| 004-005 @READ_PROGRAM_MEMORY8.P2 |
| 004-005 @READ_PROGRAM_MEMORY8.P1 |
| 004 @WRITE_PROGRAM_MEMORY8.P2 |
| 015 CCP_1_LOW |
| 015 CCP_1 |
| 016 CCP_1_HIGH |
| 7,41 → 7,35 |
| 01B CCP_2 |
| 01C CCP_2_HIGH |
| 020 @TRIS_C |
| 021-022 MAIN.x |
| 023-024 MAIN.Y |
| 025-026 MAIN.Z |
| 027 @delay_ms1.P1 |
| 027 mag_readX.h |
| 027-028 @PRINTF_LD_69.P1 |
| 027 mag_readY.h |
| 027 mag_readZ.h |
| 027 @PSTRINGC7_69.@SCRATCH1 |
| 028 mag_readX.l |
| 028 mag_readY.l |
| 028 mag_readZ.l |
| 028 @PSTRINGC7_69.@SCRATCH2 |
| 029-02A mag_readX.x |
| 029-02A mag_readY.x |
| 029-02A mag_readZ.x |
| 029 @PSTRINGC7_69.@SCRATCH3 |
| 029 @PRINTF_LD_69.@SCRATCH1 |
| 02A @PRINTF_LD_69.@SCRATCH2 |
| 02B mag_vypocet.h |
| 02B mag_read.reg |
| 02B @PRINTF_LD_69.@SCRATCH3 |
| 02C mag_vypocet.l |
| 02C @I2C_WRITE_1.P1 |
| 02C @I2C_READ_1.P2 |
| 02C @PRINTF_LD_69.@SCRATCH4 |
| 02D-02E mag_vypocet.x |
| 02D @I2C_READ_1.@SCRATCH1 |
| 02D @PRINTF_LD_69.@SCRATCH5 |
| 02E @I2C_READ_1.@SCRATCH2 |
| 02E @PRINTF_LD_69.@SCRATCH6 |
| 02F mag_vypocet.@SCRATCH1 |
| 02F @PRINTF_LD_69.@SCRATCH7 |
| 030 @PUTCHAR_1_.P1 |
| 030 mag_vypocet.@SCRATCH2 |
| 021-026 compass |
| 027.0 MAIN.last |
| 028-029 MAIN.anemo_round |
| 02A-02B MAIN.i |
| 02C-02D @PRINTF_LD_69.P1 |
| 02C hmc5883l_write_reg.reg |
| 02C hmc5883l_read_data.x_lsb |
| 02C MAIN.@SCRATCH1 |
| 02C @PSTRINGC7_69.@SCRATCH1 |
| 02D hmc5883l_write_reg.data |
| 02D hmc5883l_read_data.x_msb |
| 02D @PSTRINGC7_69.@SCRATCH2 |
| 02E hmc5883l_read_data.y_lsb |
| 02E @PSTRINGC7_69.@SCRATCH3 |
| 02E @PRINTF_LD_69.@SCRATCH1 |
| 02F hmc5883l_read_data.y_msb |
| 02F @PRINTF_LD_69.@SCRATCH2 |
| 030 hmc5883l_read_data.z_lsb |
| 030 @PRINTF_LD_69.@SCRATCH3 |
| 031 hmc5883l_read_data.z_msb |
| 031 @PRINTF_LD_69.@SCRATCH4 |
| 032 @I2C_WRITE_1.P1 |
| 032 @I2C_READ_1.P2 |
| 032 @PRINTF_LD_69.@SCRATCH5 |
| 033 @I2C_READ_1.@SCRATCH1 |
| 033 @PRINTF_LD_69.@SCRATCH6 |
| 034 @I2C_READ_1.@SCRATCH2 |
| 034 @PRINTF_LD_69.@SCRATCH7 |
| 035 @PUTCHAR_1_.P1 |
| 077 @SCRATCH |
| 078 @SCRATCH |
| 078 _RETURN_ |
| 49,27 → 43,22 |
| 07A @SCRATCH |
| 107.6 C1OUT |
| 108.6 C2OUT |
| 10D-10E @READ_PROGRAM_MEMORY8.P1 |
| 10D-10E @WRITE_PROGRAM_MEMORY8.P2 |
| 10D-10E @WRITE_PROGRAM_MEMORY8.P1 |
| 10D-10E @READ_PROGRAM_MEMORY8.P2 |
| ROM Allocation: |
| 0069 @delay_ms1 |
| 01EB @I2C_READ_1 |
| 010C @I2C_READ_1 |
| 001F @I2C_WRITE_1 |
| 012F @PUTCHAR_1_ |
| 007D set_mag |
| 0199 mag_read |
| 0234 mag_vypocet |
| 0249 mag_readX |
| 0263 mag_readY |
| 027D mag_readZ |
| 0317 MAIN |
| 0004 @const102 |
| 0153 @PSTRINGC7_69 |
| 000D @const104 |
| 0019 @const105 |
| 0297 @PRINTF_LD_69 |
| 0317 @cinit |
| 00A2 @PUTCHAR_1_ |
| 0069 hmc5883l_write_reg |
| 0151 hmc5883l_read_data |
| 0250 MAIN |
| 0004 @const100 |
| 00C6 @PSTRINGC7_69 |
| 000D @const102 |
| 0019 @const103 |
| 01D0 @PRINTF_LD_69 |
| 0250 @cinit |
| User Memory space: |
| /Modules/Sensors/MAG01A/SW/PIC16F887/main.tre |
|---|
| 1,19 → 1,18 |
| ÀÄmain |
| ÀÄMAIN 0/181 Ram=6 |
| ÀÄMAIN 0/229 Ram=6 |
| ÃÄ??0?? |
| ÃÄset_mag 0/178 Ram=0 |
| ÃÄhmc5883l_write_reg 0/57 Ram=2 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÀÄ@I2C_WRITE_1 0/74 Ram=1 |
| ÃÄhmc5883l_write_reg 0/57 Ram=2 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@delay_ms1 0/20 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÀÄ@I2C_WRITE_1 0/74 Ram=1 |
| ÃÄhmc5883l_write_reg 0/57 Ram=2 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@delay_ms1 0/20 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÀÄ@delay_ms1 0/20 Ram=1 |
| ³ ÀÄ@I2C_WRITE_1 0/74 Ram=1 |
| ÃÄ@PSTRINGC7_69 0/70 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| 23,42 → 22,16 |
| ÃÄ@PSTRINGC7_69 0/70 Ram=3 |
| ³ ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄmag_readX 0/26 Ram=4 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÀÄmag_vypocet 0/21 Ram=6 |
| ÃÄmag_readY 0/26 Ram=4 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÀÄmag_vypocet 0/21 Ram=6 |
| ÃÄmag_readZ 0/26 Ram=4 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÃÄmag_read 0/155 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ³ ÀÄ@I2C_READ_1 (Inline) Ram=3 |
| ³ ÀÄmag_vypocet 0/21 Ram=6 |
| ÃÄhmc5883l_read_data 0/127 Ram=6 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_WRITE_1 0/74 Ram=1 |
| ³ ÃÄ@I2C_READ_1 0/69 Ram=3 |
| ³ ÃÄ@I2C_READ_1 0/69 Ram=3 |
| ³ ÃÄ@I2C_READ_1 0/69 Ram=3 |
| ³ ÃÄ@I2C_READ_1 0/69 Ram=3 |
| ³ ÃÄ@I2C_READ_1 0/69 Ram=3 |
| ³ ÀÄ@I2C_READ_1 0/69 Ram=3 |
| ÃÄ@PRINTF_LD_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| 68,6 → 41,8 |
| ÃÄ@PRINTF_LD_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PRINTF_LD_69 0/128 Ram=9 |
| ³ ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÃÄ@PUTCHAR_1_ 0/36 Ram=1 |
| ÀÄ@delay_ms1 0/20 Ram=1 |
| ÀÄ@PUTCHAR_1_ 0/36 Ram=1 |