| Line 1... |
Line 1... |
| 1 |
CCS PCM C Compiler, Version 4.106, 47914 15-V-13 16:26 |
1 |
CCS PCM C Compiler, Version 4.106, 47914 15-V-13 18:53 |
| 2 |
|
2 |
|
| 3 |
Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst |
3 |
Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lst |
| 4 |
|
4 |
|
| 5 |
ROM used: 972 words (12%) |
5 |
ROM used: 821 words (10%) |
| 6 |
Largest free fragment is 2048 |
6 |
Largest free fragment is 2048 |
| 7 |
RAM used: 12 (3%) at main() level |
7 |
RAM used: 18 (5%) at main() level |
| 8 |
22 (6%) worst case |
8 |
27 (7%) worst case |
| 9 |
Stack: 3 locations |
9 |
Stack: 2 locations |
| 10 |
|
10 |
|
| 11 |
* |
11 |
* |
| 12 |
0000: MOVLW 03 |
12 |
0000: MOVLW 02 |
| 13 |
0001: MOVWF 0A |
13 |
0001: MOVWF 0A |
| 14 |
0002: GOTO 317 |
14 |
0002: GOTO 250 |
| 15 |
0003: NOP |
15 |
0003: NOP |
| 16 |
.................... #include "main.h" |
16 |
.................... #include "main.h" |
| 17 |
.................... #include <16F887.h> |
17 |
.................... #include <16F887.h> |
| 18 |
.................... //////// Standard Header file for the PIC16F887 device //////////////// |
18 |
.................... //////// Standard Header file for the PIC16F887 device //////////////// |
| 19 |
.................... #device PIC16F887 |
19 |
.................... #device PIC16F887 |
| Line 34... |
Line 34... |
| 34 |
.................... #FUSES NODEBUG //No Debug mode for ICD |
34 |
.................... #FUSES NODEBUG //No Debug mode for ICD |
| 35 |
.................... #FUSES NOWRT //Program memory not write protected |
35 |
.................... #FUSES NOWRT //Program memory not write protected |
| 36 |
.................... #FUSES BORV40 //Brownout reset at 4.0V |
36 |
.................... #FUSES BORV40 //Brownout reset at 4.0V |
| 37 |
.................... |
37 |
.................... |
| 38 |
.................... #use delay(clock=8000000) |
38 |
.................... #use delay(clock=8000000) |
| 39 |
* |
- |
|
| 40 |
0069: MOVLW 27 |
- |
|
| 41 |
006A: MOVWF 04 |
- |
|
| 42 |
006B: BCF 03.7 |
- |
|
| 43 |
006C: MOVF 00,W |
- |
|
| 44 |
006D: BTFSC 03.2 |
- |
|
| 45 |
006E: GOTO 07C |
- |
|
| 46 |
006F: MOVLW 02 |
- |
|
| 47 |
0070: MOVWF 78 |
- |
|
| 48 |
0071: CLRF 77 |
- |
|
| 49 |
0072: DECFSZ 77,F |
- |
|
| 50 |
0073: GOTO 072 |
- |
|
| 51 |
0074: DECFSZ 78,F |
- |
|
| 52 |
0075: GOTO 071 |
- |
|
| 53 |
0076: MOVLW 97 |
- |
|
| 54 |
0077: MOVWF 77 |
- |
|
| 55 |
0078: DECFSZ 77,F |
- |
|
| 56 |
0079: GOTO 078 |
- |
|
| 57 |
007A: DECFSZ 00,F |
- |
|
| 58 |
007B: GOTO 06F |
- |
|
| 59 |
007C: RETURN |
- |
|
| 60 |
.................... #use i2c(master, sda=PIN_C4, scl=PIN_C3) |
39 |
.................... #use i2c(master, sda=PIN_C4, scl=PIN_C3) |
| 61 |
* |
40 |
* |
| 62 |
001F: MOVLW 08 |
41 |
001F: MOVLW 08 |
| 63 |
0020: MOVWF 78 |
42 |
0020: MOVWF 78 |
| 64 |
0021: NOP |
43 |
0021: NOP |
| Line 67... |
Line 46... |
| 67 |
0024: MOVF 20,W |
46 |
0024: MOVF 20,W |
| 68 |
0025: BSF 03.5 |
47 |
0025: BSF 03.5 |
| 69 |
0026: MOVWF 07 |
48 |
0026: MOVWF 07 |
| 70 |
0027: NOP |
49 |
0027: NOP |
| 71 |
0028: BCF 03.5 |
50 |
0028: BCF 03.5 |
| 72 |
0029: RLF 2C,F |
51 |
0029: RLF 32,F |
| 73 |
002A: BCF 07.4 |
52 |
002A: BCF 07.4 |
| 74 |
002B: BTFSS 03.0 |
53 |
002B: BTFSS 03.0 |
| 75 |
002C: GOTO 033 |
54 |
002C: GOTO 033 |
| 76 |
002D: BSF 20.4 |
55 |
002D: BSF 20.4 |
| 77 |
002E: MOVF 20,W |
56 |
002E: MOVF 20,W |
| Line 132... |
Line 111... |
| 132 |
0065: BSF 03.5 |
111 |
0065: BSF 03.5 |
| 133 |
0066: MOVWF 07 |
112 |
0066: MOVWF 07 |
| 134 |
0067: BCF 03.5 |
113 |
0067: BCF 03.5 |
| 135 |
0068: RETURN |
114 |
0068: RETURN |
| 136 |
* |
115 |
* |
| 137 |
01EB: MOVLW 08 |
116 |
010C: MOVLW 08 |
| 138 |
01EC: MOVWF 2D |
117 |
010D: MOVWF 33 |
| 139 |
01ED: MOVF 77,W |
118 |
010E: MOVF 77,W |
| 140 |
01EE: MOVWF 2E |
119 |
010F: MOVWF 34 |
| 141 |
01EF: BSF 20.4 |
120 |
0110: BSF 20.4 |
| 142 |
01F0: MOVF 20,W |
121 |
0111: MOVF 20,W |
| 143 |
01F1: BSF 03.5 |
122 |
0112: BSF 03.5 |
| 144 |
01F2: MOVWF 07 |
123 |
0113: MOVWF 07 |
| 145 |
01F3: NOP |
124 |
0114: NOP |
| 146 |
01F4: BCF 03.5 |
125 |
0115: BCF 03.5 |
| 147 |
01F5: BSF 20.3 |
126 |
0116: BSF 20.3 |
| 148 |
01F6: MOVF 20,W |
127 |
0117: MOVF 20,W |
| 149 |
01F7: BSF 03.5 |
128 |
0118: BSF 03.5 |
| 150 |
01F8: MOVWF 07 |
129 |
0119: MOVWF 07 |
| 151 |
01F9: BCF 03.5 |
130 |
011A: BCF 03.5 |
| 152 |
01FA: BTFSS 07.3 |
131 |
011B: BTFSS 07.3 |
| 153 |
01FB: GOTO 1FA |
132 |
011C: GOTO 11B |
| 154 |
01FC: BTFSC 07.4 |
133 |
011D: BTFSC 07.4 |
| 155 |
01FD: BSF 03.0 |
134 |
011E: BSF 03.0 |
| 156 |
01FE: BTFSS 07.4 |
135 |
011F: BTFSS 07.4 |
| 157 |
01FF: BCF 03.0 |
136 |
0120: BCF 03.0 |
| 158 |
0200: RLF 78,F |
137 |
0121: RLF 78,F |
| 159 |
0201: NOP |
138 |
0122: NOP |
| 160 |
0202: BCF 20.3 |
139 |
0123: BCF 20.3 |
| 161 |
0203: MOVF 20,W |
140 |
0124: MOVF 20,W |
| 162 |
0204: BSF 03.5 |
141 |
0125: BSF 03.5 |
| 163 |
0205: MOVWF 07 |
142 |
0126: MOVWF 07 |
| 164 |
0206: BCF 03.5 |
143 |
0127: BCF 03.5 |
| 165 |
0207: BCF 07.3 |
144 |
0128: BCF 07.3 |
| 166 |
0208: DECFSZ 2D,F |
145 |
0129: DECFSZ 33,F |
| 167 |
0209: GOTO 1EF |
146 |
012A: GOTO 110 |
| 168 |
020A: BSF 20.4 |
147 |
012B: BSF 20.4 |
| 169 |
020B: MOVF 20,W |
148 |
012C: MOVF 20,W |
| 170 |
020C: BSF 03.5 |
149 |
012D: BSF 03.5 |
| 171 |
020D: MOVWF 07 |
150 |
012E: MOVWF 07 |
| 172 |
020E: NOP |
151 |
012F: NOP |
| 173 |
020F: BCF 03.5 |
152 |
0130: BCF 03.5 |
| 174 |
0210: BCF 07.4 |
153 |
0131: BCF 07.4 |
| 175 |
0211: MOVF 2E,W |
154 |
0132: MOVF 34,W |
| 176 |
0212: BTFSC 03.2 |
155 |
0133: BTFSC 03.2 |
| 177 |
0213: GOTO 219 |
156 |
0134: GOTO 13A |
| 178 |
0214: BCF 20.4 |
157 |
0135: BCF 20.4 |
| 179 |
0215: MOVF 20,W |
158 |
0136: MOVF 20,W |
| 180 |
0216: BSF 03.5 |
159 |
0137: BSF 03.5 |
| 181 |
0217: MOVWF 07 |
160 |
0138: MOVWF 07 |
| 182 |
0218: BCF 03.5 |
161 |
0139: BCF 03.5 |
| 183 |
0219: NOP |
162 |
013A: NOP |
| 184 |
021A: BSF 20.3 |
163 |
013B: BSF 20.3 |
| 185 |
021B: MOVF 20,W |
164 |
013C: MOVF 20,W |
| 186 |
021C: BSF 03.5 |
165 |
013D: BSF 03.5 |
| 187 |
021D: MOVWF 07 |
166 |
013E: MOVWF 07 |
| 188 |
021E: BCF 03.5 |
167 |
013F: BCF 03.5 |
| 189 |
021F: BTFSS 07.3 |
168 |
0140: BTFSS 07.3 |
| 190 |
0220: GOTO 21F |
169 |
0141: GOTO 140 |
| 191 |
0221: NOP |
170 |
0142: NOP |
| 192 |
0222: BCF 07.3 |
171 |
0143: BCF 07.3 |
| 193 |
0223: BCF 20.3 |
172 |
0144: BCF 20.3 |
| 194 |
0224: MOVF 20,W |
173 |
0145: MOVF 20,W |
| 195 |
0225: BSF 03.5 |
174 |
0146: BSF 03.5 |
| 196 |
0226: MOVWF 07 |
175 |
0147: MOVWF 07 |
| 197 |
0227: NOP |
176 |
0148: NOP |
| 198 |
0228: BCF 03.5 |
177 |
0149: BCF 03.5 |
| 199 |
0229: BCF 07.4 |
178 |
014A: BCF 07.4 |
| 200 |
022A: BCF 20.4 |
179 |
014B: BCF 20.4 |
| 201 |
022B: MOVF 20,W |
180 |
014C: MOVF 20,W |
| 202 |
022C: BSF 03.5 |
181 |
014D: BSF 03.5 |
| 203 |
022D: MOVWF 07 |
182 |
014E: MOVWF 07 |
| - |
|
183 |
014F: BCF 03.5 |
| - |
|
184 |
0150: RETURN |
| 204 |
.................... #use rs232(baud=9600,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
185 |
.................... #use rs232(baud=9600,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD |
| 205 |
* |
186 |
* |
| 206 |
012F: BCF 20.7 |
187 |
00A2: BCF 20.7 |
| 207 |
0130: MOVF 20,W |
188 |
00A3: MOVF 20,W |
| 208 |
0131: BSF 03.5 |
189 |
00A4: BSF 03.5 |
| 209 |
0132: MOVWF 07 |
190 |
00A5: MOVWF 07 |
| 210 |
0133: BCF 03.5 |
191 |
00A6: BCF 03.5 |
| 211 |
0134: BCF 07.7 |
192 |
00A7: BCF 07.7 |
| 212 |
0135: MOVLW 08 |
193 |
00A8: MOVLW 08 |
| 213 |
0136: MOVWF 78 |
194 |
00A9: MOVWF 78 |
| 214 |
0137: GOTO 138 |
195 |
00AA: GOTO 0AB |
| 215 |
0138: NOP |
196 |
00AB: NOP |
| 216 |
0139: BSF 78.7 |
197 |
00AC: BSF 78.7 |
| 217 |
013A: GOTO 149 |
198 |
00AD: GOTO 0BC |
| 218 |
013B: BCF 78.7 |
199 |
00AE: BCF 78.7 |
| 219 |
013C: RRF 30,F |
200 |
00AF: RRF 35,F |
| 220 |
013D: BTFSC 03.0 |
201 |
00B0: BTFSC 03.0 |
| 221 |
013E: BSF 07.7 |
202 |
00B1: BSF 07.7 |
| 222 |
013F: BTFSS 03.0 |
203 |
00B2: BTFSS 03.0 |
| 223 |
0140: BCF 07.7 |
204 |
00B3: BCF 07.7 |
| 224 |
0141: BSF 78.6 |
205 |
00B4: BSF 78.6 |
| 225 |
0142: GOTO 149 |
206 |
00B5: GOTO 0BC |
| 226 |
0143: BCF 78.6 |
207 |
00B6: BCF 78.6 |
| 227 |
0144: DECFSZ 78,F |
208 |
00B7: DECFSZ 78,F |
| 228 |
0145: GOTO 13C |
209 |
00B8: GOTO 0AF |
| 229 |
0146: GOTO 147 |
210 |
00B9: GOTO 0BA |
| 230 |
0147: NOP |
211 |
00BA: NOP |
| 231 |
0148: BSF 07.7 |
212 |
00BB: BSF 07.7 |
| 232 |
0149: MOVLW 3F |
213 |
00BC: MOVLW 3F |
| 233 |
014A: MOVWF 04 |
214 |
00BD: MOVWF 04 |
| 234 |
014B: DECFSZ 04,F |
215 |
00BE: DECFSZ 04,F |
| 235 |
014C: GOTO 14B |
216 |
00BF: GOTO 0BE |
| 236 |
014D: NOP |
217 |
00C0: NOP |
| 237 |
014E: BTFSC 78.7 |
218 |
00C1: BTFSC 78.7 |
| 238 |
014F: GOTO 13B |
219 |
00C2: GOTO 0AE |
| 239 |
0150: BTFSC 78.6 |
220 |
00C3: BTFSC 78.6 |
| 240 |
0151: GOTO 143 |
221 |
00C4: GOTO 0B6 |
| 241 |
0152: RETURN |
222 |
00C5: RETURN |
| 242 |
.................... |
223 |
.................... |
| 243 |
.................... |
224 |
.................... |
| 244 |
.................... #include "HMC5883L.h" |
225 |
.................... #include "HMC5883L.h" |
| 245 |
.................... #define MAG_ADDR_R 0x3D //addresa pro cteni |
226 |
.................... #define MAG_ADDR_R 0x3D //addresa pro cteni |
| 246 |
.................... #define MAG_ADDR_W 0x3C |
227 |
.................... #define MAG_ADDR_W 0x3C |
| Line 257... |
Line 238... |
| 257 |
.................... #define MAG_ROZ560 0xC0 |
238 |
.................... #define MAG_ROZ560 0xC0 |
| 258 |
.................... #define MAG_ROZ810 0xE0 |
239 |
.................... #define MAG_ROZ810 0xE0 |
| 259 |
.................... |
240 |
.................... |
| 260 |
.................... |
241 |
.................... |
| 261 |
.................... #include "HMC5883L.c" |
242 |
.................... #include "HMC5883L.c" |
| - |
|
243 |
.................... // i2c slave addresses |
| - |
|
244 |
.................... #define HMC5883L_WRT_ADDR 0x3C |
| - |
|
245 |
.................... #define HMC5883L_READ_ADDR 0x3D |
| - |
|
246 |
.................... |
| - |
|
247 |
.................... // Register addresses |
| - |
|
248 |
.................... #define HMC5883L_CFG_A_REG 0x00 |
| - |
|
249 |
.................... #define HMC5883L_CFG_B_REG 0x01 |
| - |
|
250 |
.................... #define HMC5883L_MODE_REG 0x02 |
| - |
|
251 |
.................... #define HMC5883L_X_MSB_REG 0x03 |
| - |
|
252 |
.................... |
| - |
|
253 |
.................... //------------------------------ |
| - |
|
254 |
.................... // Low level routines |
| - |
|
255 |
.................... //------------------------------ |
| 262 |
.................... void set_mag (void) //uvodni nastaveni na kontinualni mereni, rozsah ± 8.1 Ga, frekvence mereni 15HZ |
256 |
.................... void hmc5883l_write_reg(int8 reg, int8 data) |
| 263 |
.................... { |
257 |
.................... { |
| 264 |
.................... i2c_start(); //nastavení Configuration Register A |
258 |
.................... i2c_start(); |
| 265 |
* |
259 |
* |
| 266 |
007D: BSF 20.4 |
260 |
0069: BSF 20.4 |
| - |
|
261 |
006A: MOVF 20,W |
| - |
|
262 |
006B: BSF 03.5 |
| - |
|
263 |
006C: MOVWF 07 |
| - |
|
264 |
006D: NOP |
| - |
|
265 |
006E: BCF 03.5 |
| - |
|
266 |
006F: BSF 20.3 |
| - |
|
267 |
0070: MOVF 20,W |
| - |
|
268 |
0071: BSF 03.5 |
| - |
|
269 |
0072: MOVWF 07 |
| - |
|
270 |
0073: NOP |
| - |
|
271 |
0074: BCF 03.5 |
| - |
|
272 |
0075: BCF 07.4 |
| - |
|
273 |
0076: BCF 20.4 |
| - |
|
274 |
0077: MOVF 20,W |
| - |
|
275 |
0078: BSF 03.5 |
| - |
|
276 |
0079: MOVWF 07 |
| - |
|
277 |
007A: NOP |
| - |
|
278 |
007B: BCF 03.5 |
| - |
|
279 |
007C: BCF 07.3 |
| - |
|
280 |
007D: BCF 20.3 |
| 267 |
007E: MOVF 20,W |
281 |
007E: MOVF 20,W |
| 268 |
007F: BSF 03.5 |
282 |
007F: BSF 03.5 |
| 269 |
0080: MOVWF 07 |
283 |
0080: MOVWF 07 |
| - |
|
284 |
.................... i2c_write(HMC5883L_WRT_ADDR); |
| 270 |
0081: NOP |
285 |
0081: MOVLW 3C |
| 271 |
0082: BCF 03.5 |
286 |
0082: BCF 03.5 |
| 272 |
0083: BSF 20.3 |
287 |
0083: MOVWF 32 |
| 273 |
0084: MOVF 20,W |
288 |
0084: CALL 01F |
| - |
|
289 |
.................... i2c_write(reg); |
| 274 |
0085: BSF 03.5 |
290 |
0085: MOVF 2C,W |
| 275 |
0086: MOVWF 07 |
291 |
0086: MOVWF 32 |
| 276 |
0087: NOP |
292 |
0087: CALL 01F |
| - |
|
293 |
.................... i2c_write(data); |
| 277 |
0088: BCF 03.5 |
294 |
0088: MOVF 2D,W |
| - |
|
295 |
0089: MOVWF 32 |
| 278 |
0089: BCF 07.4 |
296 |
008A: CALL 01F |
| - |
|
297 |
.................... i2c_stop(); |
| 279 |
008A: BCF 20.4 |
298 |
008B: BCF 20.4 |
| 280 |
008B: MOVF 20,W |
299 |
008C: MOVF 20,W |
| 281 |
008C: BSF 03.5 |
300 |
008D: BSF 03.5 |
| 282 |
008D: MOVWF 07 |
301 |
008E: MOVWF 07 |
| 283 |
008E: NOP |
302 |
008F: NOP |
| 284 |
008F: BCF 03.5 |
- |
|
| 285 |
0090: BCF 07.3 |
303 |
0090: BCF 03.5 |
| 286 |
0091: BCF 20.3 |
304 |
0091: BSF 20.3 |
| 287 |
0092: MOVF 20,W |
305 |
0092: MOVF 20,W |
| 288 |
0093: BSF 03.5 |
306 |
0093: BSF 03.5 |
| 289 |
0094: MOVWF 07 |
307 |
0094: MOVWF 07 |
| 290 |
.................... I2C_Write(MAG_ADDR_W); |
- |
|
| 291 |
0095: MOVLW 3C |
- |
|
| 292 |
0096: BCF 03.5 |
308 |
0095: BCF 03.5 |
| 293 |
0097: MOVWF 2C |
- |
|
| 294 |
0098: CALL 01F |
- |
|
| 295 |
.................... I2C_Write(0x00); |
- |
|
| 296 |
0099: CLRF 2C |
- |
|
| 297 |
009A: CALL 01F |
- |
|
| 298 |
.................... I2C_Write(0x70); |
- |
|
| 299 |
009B: MOVLW 70 |
- |
|
| 300 |
009C: MOVWF 2C |
- |
|
| 301 |
009D: CALL 01F |
- |
|
| 302 |
.................... i2c_stop(); |
- |
|
| 303 |
009E: BCF 20.4 |
- |
|
| 304 |
009F: MOVF 20,W |
- |
|
| 305 |
00A0: BSF 03.5 |
- |
|
| 306 |
00A1: MOVWF 07 |
- |
|
| 307 |
00A2: NOP |
- |
|
| 308 |
00A3: BCF 03.5 |
- |
|
| 309 |
00A4: BSF 20.3 |
- |
|
| 310 |
00A5: MOVF 20,W |
- |
|
| 311 |
00A6: BSF 03.5 |
- |
|
| 312 |
00A7: MOVWF 07 |
- |
|
| 313 |
00A8: BCF 03.5 |
- |
|
| 314 |
00A9: BTFSS 07.3 |
309 |
0096: BTFSS 07.3 |
| 315 |
00AA: GOTO 0A9 |
310 |
0097: GOTO 096 |
| 316 |
00AB: NOP |
311 |
0098: NOP |
| 317 |
00AC: GOTO 0AD |
312 |
0099: GOTO 09A |
| 318 |
00AD: NOP |
- |
|
| 319 |
00AE: BSF 20.4 |
- |
|
| 320 |
00AF: MOVF 20,W |
- |
|
| 321 |
00B0: BSF 03.5 |
- |
|
| 322 |
00B1: MOVWF 07 |
- |
|
| 323 |
00B2: NOP |
313 |
009A: NOP |
| 324 |
.................... Delay_ms(6); |
- |
|
| 325 |
00B3: MOVLW 06 |
- |
|
| 326 |
00B4: BCF 03.5 |
- |
|
| 327 |
00B5: MOVWF 27 |
- |
|
| 328 |
00B6: CALL 069 |
- |
|
| 329 |
.................... |
- |
|
| 330 |
.................... i2c_start(); //nastavení Configuration Register B |
- |
|
| 331 |
00B7: BSF 20.4 |
314 |
009B: BSF 20.4 |
| 332 |
00B8: MOVF 20,W |
- |
|
| 333 |
00B9: BSF 03.5 |
- |
|
| 334 |
00BA: MOVWF 07 |
- |
|
| 335 |
00BB: NOP |
- |
|
| 336 |
00BC: BCF 03.5 |
- |
|
| 337 |
00BD: BSF 20.3 |
- |
|
| 338 |
00BE: MOVF 20,W |
- |
|
| 339 |
00BF: BSF 03.5 |
- |
|
| 340 |
00C0: MOVWF 07 |
- |
|
| 341 |
00C1: NOP |
- |
|
| 342 |
00C2: BCF 03.5 |
- |
|
| 343 |
00C3: BCF 07.4 |
- |
|
| 344 |
00C4: BCF 20.4 |
- |
|
| 345 |
00C5: MOVF 20,W |
- |
|
| 346 |
00C6: BSF 03.5 |
- |
|
| 347 |
00C7: MOVWF 07 |
- |
|
| 348 |
00C8: NOP |
- |
|
| 349 |
00C9: BCF 03.5 |
- |
|
| 350 |
00CA: BCF 07.3 |
- |
|
| 351 |
00CB: BCF 20.3 |
- |
|
| 352 |
00CC: MOVF 20,W |
315 |
009C: MOVF 20,W |
| 353 |
00CD: BSF 03.5 |
316 |
009D: BSF 03.5 |
| 354 |
00CE: MOVWF 07 |
317 |
009E: MOVWF 07 |
| 355 |
.................... I2C_Write(MAG_ADDR_W); |
- |
|
| 356 |
00CF: MOVLW 3C |
- |
|
| 357 |
00D0: BCF 03.5 |
- |
|
| 358 |
00D1: MOVWF 2C |
- |
|
| 359 |
00D2: CALL 01F |
- |
|
| 360 |
.................... I2C_Write(0x01); |
- |
|
| 361 |
00D3: MOVLW 01 |
- |
|
| 362 |
00D4: MOVWF 2C |
- |
|
| 363 |
00D5: CALL 01F |
- |
|
| 364 |
.................... I2C_Write(MAG_ROZ810); |
- |
|
| 365 |
00D6: MOVLW E0 |
- |
|
| 366 |
00D7: MOVWF 2C |
- |
|
| 367 |
00D8: CALL 01F |
- |
|
| 368 |
.................... i2c_stop(); |
- |
|
| 369 |
00D9: BCF 20.4 |
- |
|
| 370 |
00DA: MOVF 20,W |
- |
|
| 371 |
00DB: BSF 03.5 |
- |
|
| 372 |
00DC: MOVWF 07 |
- |
|
| 373 |
00DD: NOP |
- |
|
| 374 |
00DE: BCF 03.5 |
- |
|
| 375 |
00DF: BSF 20.3 |
- |
|
| 376 |
00E0: MOVF 20,W |
- |
|
| 377 |
00E1: BSF 03.5 |
- |
|
| 378 |
00E2: MOVWF 07 |
- |
|
| 379 |
00E3: BCF 03.5 |
- |
|
| 380 |
00E4: BTFSS 07.3 |
- |
|
| 381 |
00E5: GOTO 0E4 |
- |
|
| 382 |
00E6: NOP |
- |
|
| 383 |
00E7: GOTO 0E8 |
- |
|
| 384 |
00E8: NOP |
- |
|
| 385 |
00E9: BSF 20.4 |
- |
|
| 386 |
00EA: MOVF 20,W |
- |
|
| 387 |
00EB: BSF 03.5 |
- |
|
| 388 |
00EC: MOVWF 07 |
- |
|
| 389 |
00ED: NOP |
- |
|
| 390 |
.................... |
- |
|
| 391 |
.................... Delay_ms(6); |
- |
|
| 392 |
00EE: MOVLW 06 |
- |
|
| 393 |
00EF: BCF 03.5 |
- |
|
| 394 |
00F0: MOVWF 27 |
- |
|
| 395 |
00F1: CALL 069 |
- |
|
| 396 |
.................... |
- |
|
| 397 |
.................... i2c_start(); //nastveni Mode Register |
- |
|
| 398 |
00F2: BSF 20.4 |
- |
|
| 399 |
00F3: MOVF 20,W |
- |
|
| 400 |
00F4: BSF 03.5 |
- |
|
| 401 |
00F5: MOVWF 07 |
- |
|
| 402 |
00F6: NOP |
- |
|
| 403 |
00F7: BCF 03.5 |
- |
|
| 404 |
00F8: BSF 20.3 |
- |
|
| 405 |
00F9: MOVF 20,W |
- |
|
| 406 |
00FA: BSF 03.5 |
- |
|
| 407 |
00FB: MOVWF 07 |
- |
|
| 408 |
00FC: NOP |
318 |
009F: NOP |
| 409 |
00FD: BCF 03.5 |
- |
|
| 410 |
00FE: BCF 07.4 |
- |
|
| 411 |
00FF: BCF 20.4 |
- |
|
| 412 |
0100: MOVF 20,W |
- |
|
| 413 |
0101: BSF 03.5 |
- |
|
| 414 |
0102: MOVWF 07 |
- |
|
| 415 |
0103: NOP |
- |
|
| 416 |
0104: BCF 03.5 |
- |
|
| 417 |
0105: BCF 07.3 |
- |
|
| 418 |
0106: BCF 20.3 |
- |
|
| 419 |
0107: MOVF 20,W |
- |
|
| 420 |
0108: BSF 03.5 |
- |
|
| 421 |
0109: MOVWF 07 |
- |
|
| 422 |
.................... I2C_Write(MAG_ADDR_W); |
- |
|
| 423 |
010A: MOVLW 3C |
- |
|
| 424 |
010B: BCF 03.5 |
- |
|
| 425 |
010C: MOVWF 2C |
- |
|
| 426 |
010D: CALL 01F |
- |
|
| 427 |
.................... I2C_Write(0x02); |
- |
|
| 428 |
010E: MOVLW 02 |
- |
|
| 429 |
010F: MOVWF 2C |
- |
|
| 430 |
0110: CALL 01F |
- |
|
| 431 |
.................... I2C_Write(0x00); |
- |
|
| 432 |
0111: CLRF 2C |
- |
|
| 433 |
0112: CALL 01F |
- |
|
| 434 |
.................... i2c_stop(); |
- |
|
| 435 |
0113: BCF 20.4 |
- |
|
| 436 |
0114: MOVF 20,W |
- |
|
| 437 |
0115: BSF 03.5 |
- |
|
| 438 |
0116: MOVWF 07 |
- |
|
| 439 |
0117: NOP |
- |
|
| 440 |
0118: BCF 03.5 |
- |
|
| 441 |
0119: BSF 20.3 |
- |
|
| 442 |
011A: MOVF 20,W |
- |
|
| 443 |
011B: BSF 03.5 |
- |
|
| 444 |
011C: MOVWF 07 |
- |
|
| 445 |
011D: BCF 03.5 |
- |
|
| 446 |
011E: BTFSS 07.3 |
- |
|
| 447 |
011F: GOTO 11E |
- |
|
| 448 |
0120: NOP |
- |
|
| 449 |
0121: GOTO 122 |
- |
|
| 450 |
0122: NOP |
- |
|
| 451 |
0123: BSF 20.4 |
- |
|
| 452 |
0124: MOVF 20,W |
- |
|
| 453 |
0125: BSF 03.5 |
- |
|
| 454 |
0126: MOVWF 07 |
- |
|
| 455 |
0127: NOP |
- |
|
| 456 |
.................... Delay_ms(6); |
- |
|
| 457 |
0128: MOVLW 06 |
- |
|
| 458 |
0129: BCF 03.5 |
- |
|
| 459 |
012A: MOVWF 27 |
- |
|
| 460 |
012B: CALL 069 |
- |
|
| 461 |
.................... } |
319 |
.................... } |
| 462 |
012C: BCF 0A.3 |
- |
|
| 463 |
012D: BCF 0A.4 |
320 |
00A0: BCF 03.5 |
| 464 |
012E: GOTO 37F (RETURN) |
321 |
00A1: RETURN |
| 465 |
.................... |
322 |
.................... |
| - |
|
323 |
.................... //------------------------------ |
| 466 |
.................... void set_mag_roz (unsigned int8 h) //nastavy rozsah |
324 |
.................... int8 hmc5883l_read_reg(int8 reg) |
| 467 |
.................... { |
325 |
.................... { |
| - |
|
326 |
.................... int8 retval; |
| 468 |
.................... |
327 |
.................... |
| 469 |
.................... // |
328 |
.................... i2c_start(); |
| 470 |
.................... |
329 |
.................... i2c_write(HMC5883L_WRT_ADDR); |
| 471 |
.................... |
330 |
.................... i2c_write(reg); |
| 472 |
.................... i2c_start(); |
331 |
.................... i2c_start(); |
| 473 |
.................... I2C_Write(MAG_ADDR_W); |
332 |
.................... i2c_write(HMC5883L_READ_ADDR); |
| 474 |
.................... I2C_Write(0x01); |
- |
|
| 475 |
.................... I2C_Write(h); |
333 |
.................... retval = i2c_read(0); |
| 476 |
.................... i2c_stop(); |
334 |
.................... i2c_stop(); |
| 477 |
.................... |
- |
|
| 478 |
.................... Delay_ms(6); |
- |
|
| 479 |
.................... |
335 |
.................... |
| 480 |
.................... |
336 |
.................... return(retval); |
| 481 |
.................... } |
337 |
.................... } |
| 482 |
.................... |
338 |
.................... |
| 483 |
.................... |
- |
|
| 484 |
.................... byte mag_read(byte reg) //pro cteni reg |
- |
|
| 485 |
.................... { |
- |
|
| 486 |
.................... |
- |
|
| 487 |
.................... i2c_start(); |
- |
|
| 488 |
* |
- |
|
| 489 |
0199: BSF 20.4 |
- |
|
| 490 |
019A: MOVF 20,W |
- |
|
| 491 |
019B: BSF 03.5 |
- |
|
| 492 |
019C: MOVWF 07 |
- |
|
| 493 |
019D: NOP |
- |
|
| 494 |
019E: BCF 03.5 |
- |
|
| 495 |
019F: BSF 20.3 |
- |
|
| 496 |
01A0: MOVF 20,W |
- |
|
| 497 |
01A1: BSF 03.5 |
- |
|
| 498 |
01A2: MOVWF 07 |
- |
|
| 499 |
01A3: NOP |
- |
|
| 500 |
01A4: BCF 03.5 |
- |
|
| 501 |
01A5: BCF 07.4 |
- |
|
| 502 |
01A6: BCF 20.4 |
- |
|
| 503 |
01A7: MOVF 20,W |
- |
|
| 504 |
01A8: BSF 03.5 |
- |
|
| 505 |
01A9: MOVWF 07 |
- |
|
| 506 |
01AA: NOP |
- |
|
| 507 |
01AB: BCF 03.5 |
- |
|
| 508 |
01AC: BCF 07.3 |
- |
|
| 509 |
01AD: BCF 20.3 |
- |
|
| 510 |
01AE: MOVF 20,W |
- |
|
| 511 |
01AF: BSF 03.5 |
- |
|
| 512 |
01B0: MOVWF 07 |
- |
|
| 513 |
.................... I2C_Write(MAG_ADDR_W); |
- |
|
| 514 |
01B1: MOVLW 3C |
- |
|
| 515 |
01B2: BCF 03.5 |
- |
|
| 516 |
01B3: MOVWF 2C |
- |
|
| 517 |
01B4: CALL 01F |
- |
|
| 518 |
.................... I2C_write(reg); |
- |
|
| 519 |
01B5: MOVF 2B,W |
- |
|
| 520 |
01B6: MOVWF 2C |
- |
|
| 521 |
01B7: CALL 01F |
- |
|
| 522 |
.................... i2c_stop(); |
- |
|
| 523 |
01B8: BCF 20.4 |
- |
|
| 524 |
01B9: MOVF 20,W |
- |
|
| 525 |
01BA: BSF 03.5 |
- |
|
| 526 |
01BB: MOVWF 07 |
- |
|
| 527 |
01BC: NOP |
- |
|
| 528 |
01BD: BCF 03.5 |
- |
|
| 529 |
01BE: BSF 20.3 |
- |
|
| 530 |
01BF: MOVF 20,W |
- |
|
| 531 |
01C0: BSF 03.5 |
- |
|
| 532 |
01C1: MOVWF 07 |
- |
|
| 533 |
01C2: BCF 03.5 |
- |
|
| 534 |
01C3: BTFSS 07.3 |
- |
|
| 535 |
01C4: GOTO 1C3 |
- |
|
| 536 |
01C5: NOP |
- |
|
| 537 |
01C6: GOTO 1C7 |
- |
|
| 538 |
01C7: NOP |
- |
|
| 539 |
01C8: BSF 20.4 |
- |
|
| 540 |
01C9: MOVF 20,W |
- |
|
| 541 |
01CA: BSF 03.5 |
- |
|
| 542 |
01CB: MOVWF 07 |
- |
|
| 543 |
01CC: NOP |
- |
|
| 544 |
.................... i2c_start(); |
- |
|
| 545 |
01CD: BCF 03.5 |
- |
|
| 546 |
01CE: BSF 20.4 |
- |
|
| 547 |
01CF: MOVF 20,W |
- |
|
| 548 |
01D0: BSF 03.5 |
- |
|
| 549 |
01D1: MOVWF 07 |
- |
|
| 550 |
01D2: NOP |
- |
|
| 551 |
01D3: BCF 03.5 |
- |
|
| 552 |
01D4: BSF 20.3 |
- |
|
| 553 |
01D5: MOVF 20,W |
- |
|
| 554 |
01D6: BSF 03.5 |
- |
|
| 555 |
01D7: MOVWF 07 |
- |
|
| 556 |
01D8: NOP |
- |
|
| 557 |
01D9: BCF 03.5 |
- |
|
| 558 |
01DA: BCF 07.4 |
- |
|
| 559 |
01DB: BCF 20.4 |
- |
|
| 560 |
01DC: MOVF 20,W |
- |
|
| 561 |
01DD: BSF 03.5 |
- |
|
| 562 |
01DE: MOVWF 07 |
- |
|
| 563 |
01DF: NOP |
- |
|
| 564 |
01E0: BCF 03.5 |
- |
|
| 565 |
01E1: BCF 07.3 |
- |
|
| 566 |
01E2: BCF 20.3 |
- |
|
| 567 |
01E3: MOVF 20,W |
- |
|
| 568 |
01E4: BSF 03.5 |
- |
|
| 569 |
01E5: MOVWF 07 |
- |
|
| 570 |
.................... I2C_Write(MAG_ADDR_R); |
339 |
.................... //------------------------------ |
| 571 |
01E6: MOVLW 3D |
- |
|
| 572 |
01E7: BCF 03.5 |
- |
|
| 573 |
01E8: MOVWF 2C |
- |
|
| 574 |
01E9: CALL 01F |
- |
|
| 575 |
.................... reg=i2c_read(0); |
- |
|
| 576 |
01EA: CLRF 77 |
- |
|
| 577 |
* |
- |
|
| 578 |
022E: MOVF 78,W |
- |
|
| 579 |
022F: BCF 03.5 |
- |
|
| 580 |
0230: MOVWF 2B |
- |
|
| 581 |
.................... return reg; |
340 |
.................... typedef struct |
| 582 |
0231: MOVF 2B,W |
- |
|
| 583 |
0232: MOVWF 78 |
- |
|
| 584 |
.................... } |
- |
|
| 585 |
0233: RETURN |
- |
|
| 586 |
.................... |
- |
|
| 587 |
.................... |
- |
|
| 588 |
.................... signed int16 mag_vypocet(unsigned int8 h, unsigned int8 l) //prepocet na 16bit cislo |
- |
|
| 589 |
.................... { |
341 |
.................... { |
| 590 |
.................... signed int16 x; |
342 |
.................... signed int16 x; |
| 591 |
.................... x = (((unsigned int16) h << 8) + l ); |
343 |
.................... signed int16 y; |
| 592 |
0234: CLRF 30 |
- |
|
| 593 |
0235: MOVF 2B,W |
344 |
.................... signed int16 z; |
| 594 |
0236: MOVWF 2F |
- |
|
| 595 |
0237: MOVWF 30 |
- |
|
| 596 |
0238: CLRF 2F |
- |
|
| 597 |
0239: MOVF 2C,W |
345 |
.................... }hmc5883l_result; |
| 598 |
023A: ADDWF 2F,W |
346 |
.................... |
| 599 |
023B: MOVWF 78 |
- |
|
| 600 |
023C: MOVF 30,W |
347 |
.................... // This global structure holds the values read |
| 601 |
023D: MOVWF 7A |
- |
|
| 602 |
023E: BTFSC 03.0 |
348 |
.................... // from the HMC5883L x,y,z registers. |
| 603 |
023F: INCF 7A,F |
349 |
.................... hmc5883l_result compass = {0,0,0}; |
| 604 |
0240: MOVF 78,W |
350 |
* |
| 605 |
0241: MOVWF 2D |
351 |
0271: CLRF 21 |
| 606 |
0242: MOVF 7A,W |
352 |
0272: CLRF 22 |
| 607 |
0243: MOVWF 2E |
353 |
0273: CLRF 23 |
| 608 |
.................... return x; |
- |
|
| 609 |
0244: MOVF 2D,W |
354 |
0274: CLRF 24 |
| 610 |
0245: MOVWF 78 |
355 |
0275: CLRF 25 |
| 611 |
0246: MOVF 2E,W |
356 |
0276: CLRF 26 |
| 612 |
0247: MOVWF 79 |
- |
|
| 613 |
.................... } |
- |
|
| 614 |
0248: RETURN |
- |
|
| 615 |
.................... |
- |
|
| 616 |
.................... |
357 |
.................... |
| - |
|
358 |
.................... //------------------------------ |
| 617 |
.................... signed int16 mag_readX(void) //nacteni osy x |
359 |
.................... void hmc5883l_read_data(void) |
| 618 |
.................... { |
360 |
.................... { |
| 619 |
.................... unsigned int8 h,l; |
361 |
.................... unsigned int8 x_lsb; |
| 620 |
.................... signed int16 x; |
362 |
.................... unsigned int8 x_msb; |
| 621 |
.................... h=mag_read(0x03); |
- |
|
| 622 |
0249: MOVLW 03 |
- |
|
| 623 |
024A: MOVWF 2B |
- |
|
| 624 |
024B: CALL 199 |
- |
|
| 625 |
024C: MOVF 78,W |
- |
|
| 626 |
024D: MOVWF 27 |
- |
|
| 627 |
.................... l=mag_read(0x04); |
- |
|
| 628 |
024E: MOVLW 04 |
- |
|
| 629 |
024F: MOVWF 2B |
- |
|
| 630 |
0250: CALL 199 |
- |
|
| 631 |
0251: MOVF 78,W |
- |
|
| 632 |
0252: MOVWF 28 |
- |
|
| 633 |
.................... x=mag_vypocet(h,l); |
- |
|
| 634 |
0253: MOVF 27,W |
- |
|
| 635 |
0254: MOVWF 2B |
- |
|
| 636 |
0255: MOVF 28,W |
- |
|
| 637 |
0256: MOVWF 2C |
- |
|
| 638 |
0257: CALL 234 |
- |
|
| 639 |
0258: MOVF 79,W |
- |
|
| 640 |
0259: MOVWF 2A |
- |
|
| 641 |
025A: MOVF 78,W |
- |
|
| 642 |
025B: MOVWF 29 |
- |
|
| 643 |
.................... return x; |
- |
|
| 644 |
025C: MOVF 29,W |
- |
|
| 645 |
025D: MOVWF 78 |
- |
|
| 646 |
025E: MOVF 2A,W |
- |
|
| 647 |
025F: MOVWF 79 |
- |
|
| 648 |
.................... |
- |
|
| 649 |
.................... } |
- |
|
| 650 |
0260: BCF 0A.3 |
- |
|
| 651 |
0261: BCF 0A.4 |
- |
|
| 652 |
0262: GOTO 395 (RETURN) |
- |
|
| 653 |
.................... |
363 |
.................... |
| - |
|
364 |
.................... unsigned int8 y_lsb; |
| - |
|
365 |
.................... unsigned int8 y_msb; |
| 654 |
.................... |
366 |
.................... |
| 655 |
.................... signed int16 mag_readY(void) //nacteni osy x |
- |
|
| 656 |
.................... { |
- |
|
| 657 |
.................... unsigned int8 h,l; |
367 |
.................... unsigned int8 z_lsb; |
| 658 |
.................... signed int16 x; |
368 |
.................... unsigned int8 z_msb; |
| 659 |
.................... h=mag_read(0x07); |
- |
|
| 660 |
0263: MOVLW 07 |
- |
|
| 661 |
0264: MOVWF 2B |
- |
|
| 662 |
0265: CALL 199 |
- |
|
| 663 |
0266: MOVF 78,W |
- |
|
| 664 |
0267: MOVWF 27 |
- |
|
| 665 |
.................... l=mag_read(0x08); |
- |
|
| 666 |
0268: MOVLW 08 |
- |
|
| 667 |
0269: MOVWF 2B |
- |
|
| 668 |
026A: CALL 199 |
- |
|
| 669 |
026B: MOVF 78,W |
- |
|
| 670 |
026C: MOVWF 28 |
- |
|
| 671 |
.................... x=mag_vypocet(h,l); |
- |
|
| 672 |
026D: MOVF 27,W |
- |
|
| 673 |
026E: MOVWF 2B |
- |
|
| 674 |
026F: MOVF 28,W |
- |
|
| 675 |
0270: MOVWF 2C |
- |
|
| 676 |
0271: CALL 234 |
- |
|
| 677 |
0272: MOVF 79,W |
- |
|
| 678 |
0273: MOVWF 2A |
- |
|
| 679 |
0274: MOVF 78,W |
- |
|
| 680 |
0275: MOVWF 29 |
- |
|
| 681 |
.................... return x; |
- |
|
| 682 |
0276: MOVF 29,W |
- |
|
| 683 |
0277: MOVWF 78 |
- |
|
| 684 |
0278: MOVF 2A,W |
- |
|
| 685 |
0279: MOVWF 79 |
- |
|
| 686 |
.................... |
- |
|
| 687 |
.................... } |
- |
|
| 688 |
027A: BCF 0A.3 |
- |
|
| 689 |
027B: BCF 0A.4 |
- |
|
| 690 |
027C: GOTO 39A (RETURN) |
- |
|
| 691 |
.................... |
369 |
.................... |
| 692 |
.................... |
370 |
.................... i2c_start(); |
| - |
|
371 |
* |
| - |
|
372 |
0151: BSF 20.4 |
| - |
|
373 |
0152: MOVF 20,W |
| - |
|
374 |
0153: BSF 03.5 |
| - |
|
375 |
0154: MOVWF 07 |
| - |
|
376 |
0155: NOP |
| - |
|
377 |
0156: BCF 03.5 |
| - |
|
378 |
0157: BSF 20.3 |
| - |
|
379 |
0158: MOVF 20,W |
| - |
|
380 |
0159: BSF 03.5 |
| - |
|
381 |
015A: MOVWF 07 |
| - |
|
382 |
015B: NOP |
| - |
|
383 |
015C: BCF 03.5 |
| - |
|
384 |
015D: BCF 07.4 |
| - |
|
385 |
015E: BCF 20.4 |
| - |
|
386 |
015F: MOVF 20,W |
| - |
|
387 |
0160: BSF 03.5 |
| - |
|
388 |
0161: MOVWF 07 |
| - |
|
389 |
0162: NOP |
| - |
|
390 |
0163: BCF 03.5 |
| - |
|
391 |
0164: BCF 07.3 |
| - |
|
392 |
0165: BCF 20.3 |
| - |
|
393 |
0166: MOVF 20,W |
| - |
|
394 |
0167: BSF 03.5 |
| - |
|
395 |
0168: MOVWF 07 |
| 693 |
.................... signed int16 mag_readZ(void) //nacteni osy x |
396 |
.................... i2c_write(HMC5883L_WRT_ADDR); |
| - |
|
397 |
0169: MOVLW 3C |
| - |
|
398 |
016A: BCF 03.5 |
| - |
|
399 |
016B: MOVWF 32 |
| - |
|
400 |
016C: CALL 01F |
| - |
|
401 |
.................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register |
| - |
|
402 |
016D: MOVLW 03 |
| - |
|
403 |
016E: MOVWF 32 |
| - |
|
404 |
016F: CALL 01F |
| 694 |
.................... { |
405 |
.................... i2c_start(); |
| - |
|
406 |
0170: BSF 20.4 |
| - |
|
407 |
0171: MOVF 20,W |
| - |
|
408 |
0172: BSF 03.5 |
| - |
|
409 |
0173: MOVWF 07 |
| - |
|
410 |
0174: NOP |
| - |
|
411 |
0175: BCF 03.5 |
| - |
|
412 |
0176: BSF 20.3 |
| - |
|
413 |
0177: MOVF 20,W |
| - |
|
414 |
0178: BSF 03.5 |
| - |
|
415 |
0179: MOVWF 07 |
| - |
|
416 |
017A: NOP |
| - |
|
417 |
017B: BCF 03.5 |
| - |
|
418 |
017C: BTFSS 07.3 |
| - |
|
419 |
017D: GOTO 17C |
| - |
|
420 |
017E: BCF 07.4 |
| - |
|
421 |
017F: BCF 20.4 |
| - |
|
422 |
0180: MOVF 20,W |
| - |
|
423 |
0181: BSF 03.5 |
| - |
|
424 |
0182: MOVWF 07 |
| - |
|
425 |
0183: NOP |
| - |
|
426 |
0184: BCF 03.5 |
| - |
|
427 |
0185: BCF 07.3 |
| - |
|
428 |
0186: BCF 20.3 |
| - |
|
429 |
0187: MOVF 20,W |
| - |
|
430 |
0188: BSF 03.5 |
| - |
|
431 |
0189: MOVWF 07 |
| 695 |
.................... unsigned int8 h,l; |
432 |
.................... i2c_write(HMC5883L_READ_ADDR); |
| - |
|
433 |
018A: MOVLW 3D |
| - |
|
434 |
018B: BCF 03.5 |
| - |
|
435 |
018C: MOVWF 32 |
| - |
|
436 |
018D: CALL 01F |
| 696 |
.................... signed int16 x; |
437 |
.................... |
| 697 |
.................... h=mag_read(0x05); |
438 |
.................... x_msb = i2c_read(); |
| 698 |
027D: MOVLW 05 |
439 |
018E: MOVLW 01 |
| 699 |
027E: MOVWF 2B |
440 |
018F: MOVWF 77 |
| 700 |
027F: CALL 199 |
441 |
0190: CALL 10C |
| 701 |
0280: MOVF 78,W |
442 |
0191: MOVF 78,W |
| 702 |
0281: MOVWF 27 |
443 |
0192: MOVWF 2D |
| 703 |
.................... l=mag_read(0x06); |
444 |
.................... x_lsb = i2c_read(); |
| 704 |
0282: MOVLW 06 |
445 |
0193: MOVLW 01 |
| 705 |
0283: MOVWF 2B |
446 |
0194: MOVWF 77 |
| 706 |
0284: CALL 199 |
447 |
0195: CALL 10C |
| 707 |
0285: MOVF 78,W |
448 |
0196: MOVF 78,W |
| 708 |
0286: MOVWF 28 |
449 |
0197: MOVWF 2C |
| - |
|
450 |
.................... |
| 709 |
.................... x=mag_vypocet(h,l); |
451 |
.................... z_msb = i2c_read(); |
| - |
|
452 |
0198: MOVLW 01 |
| - |
|
453 |
0199: MOVWF 77 |
| - |
|
454 |
019A: CALL 10C |
| 710 |
0287: MOVF 27,W |
455 |
019B: MOVF 78,W |
| - |
|
456 |
019C: MOVWF 31 |
| - |
|
457 |
.................... z_lsb = i2c_read(); |
| - |
|
458 |
019D: MOVLW 01 |
| 711 |
0288: MOVWF 2B |
459 |
019E: MOVWF 77 |
| - |
|
460 |
019F: CALL 10C |
| 712 |
0289: MOVF 28,W |
461 |
01A0: MOVF 78,W |
| - |
|
462 |
01A1: MOVWF 30 |
| - |
|
463 |
.................... |
| - |
|
464 |
.................... y_msb = i2c_read(); |
| - |
|
465 |
01A2: MOVLW 01 |
| 713 |
028A: MOVWF 2C |
466 |
01A3: MOVWF 77 |
| 714 |
028B: CALL 234 |
467 |
01A4: CALL 10C |
| 715 |
028C: MOVF 79,W |
468 |
01A5: MOVF 78,W |
| 716 |
028D: MOVWF 2A |
469 |
01A6: MOVWF 2F |
| - |
|
470 |
.................... y_lsb = i2c_read(0); // do a NACK on last read |
| - |
|
471 |
01A7: CLRF 77 |
| - |
|
472 |
01A8: CALL 10C |
| 717 |
028E: MOVF 78,W |
473 |
01A9: MOVF 78,W |
| 718 |
028F: MOVWF 29 |
474 |
01AA: MOVWF 2E |
| - |
|
475 |
.................... |
| 719 |
.................... return x; |
476 |
.................... i2c_stop(); |
| - |
|
477 |
01AB: BCF 20.4 |
| 720 |
0290: MOVF 29,W |
478 |
01AC: MOVF 20,W |
| - |
|
479 |
01AD: BSF 03.5 |
| 721 |
0291: MOVWF 78 |
480 |
01AE: MOVWF 07 |
| - |
|
481 |
01AF: NOP |
| - |
|
482 |
01B0: BCF 03.5 |
| - |
|
483 |
01B1: BSF 20.3 |
| 722 |
0292: MOVF 2A,W |
484 |
01B2: MOVF 20,W |
| - |
|
485 |
01B3: BSF 03.5 |
| - |
|
486 |
01B4: MOVWF 07 |
| - |
|
487 |
01B5: BCF 03.5 |
| - |
|
488 |
01B6: BTFSS 07.3 |
| - |
|
489 |
01B7: GOTO 1B6 |
| - |
|
490 |
01B8: NOP |
| - |
|
491 |
01B9: GOTO 1BA |
| - |
|
492 |
01BA: NOP |
| - |
|
493 |
01BB: BSF 20.4 |
| - |
|
494 |
01BC: MOVF 20,W |
| - |
|
495 |
01BD: BSF 03.5 |
| 723 |
0293: MOVWF 79 |
496 |
01BE: MOVWF 07 |
| - |
|
497 |
01BF: NOP |
| 724 |
.................... |
498 |
.................... |
| - |
|
499 |
.................... // Combine high and low bytes into 16-bit values. |
| - |
|
500 |
.................... compass.x = make16(x_msb, x_lsb); |
| - |
|
501 |
01C0: BCF 03.5 |
| - |
|
502 |
01C1: MOVF 2D,W |
| - |
|
503 |
01C2: MOVWF 22 |
| - |
|
504 |
01C3: MOVF 2C,W |
| - |
|
505 |
01C4: MOVWF 21 |
| - |
|
506 |
.................... compass.y = make16(y_msb, y_lsb); |
| - |
|
507 |
01C5: MOVF 2F,W |
| - |
|
508 |
01C6: MOVWF 24 |
| - |
|
509 |
01C7: MOVF 2E,W |
| - |
|
510 |
01C8: MOVWF 23 |
| - |
|
511 |
.................... compass.z = make16(z_msb, z_lsb); |
| - |
|
512 |
01C9: MOVF 31,W |
| - |
|
513 |
01CA: MOVWF 26 |
| - |
|
514 |
01CB: MOVF 30,W |
| - |
|
515 |
01CC: MOVWF 25 |
| 725 |
.................... } |
516 |
.................... } |
| 726 |
0294: BCF 0A.3 |
517 |
01CD: BCF 0A.3 |
| 727 |
0295: BCF 0A.4 |
518 |
01CE: BCF 0A.4 |
| 728 |
0296: GOTO 39F (RETURN) |
519 |
01CF: GOTO 2EE (RETURN) |
| 729 |
.................... |
- |
|
| 730 |
.................... |
520 |
.................... |
| 731 |
.................... |
521 |
.................... |
| 732 |
.................... |
522 |
.................... |
| 733 |
.................... |
523 |
.................... |
| 734 |
.................... |
524 |
.................... |
| 735 |
.................... void main() |
525 |
.................... void main() |
| 736 |
.................... { |
526 |
.................... { |
| 737 |
* |
527 |
* |
| 738 |
0317: CLRF 04 |
528 |
0250: CLRF 04 |
| 739 |
0318: BCF 03.7 |
529 |
0251: BCF 03.7 |
| 740 |
0319: MOVLW 1F |
530 |
0252: MOVLW 1F |
| 741 |
031A: ANDWF 03,F |
531 |
0253: ANDWF 03,F |
| 742 |
031B: MOVLW 71 |
532 |
0254: MOVLW 71 |
| 743 |
031C: BSF 03.5 |
533 |
0255: BSF 03.5 |
| 744 |
031D: MOVWF 0F |
534 |
0256: MOVWF 0F |
| 745 |
031E: MOVF 0F,W |
535 |
0257: MOVF 0F,W |
| 746 |
031F: BCF 03.5 |
536 |
0258: BCF 03.5 |
| 747 |
0320: BCF 20.7 |
537 |
0259: BCF 20.7 |
| 748 |
0321: MOVF 20,W |
538 |
025A: MOVF 20,W |
| 749 |
0322: BSF 03.5 |
539 |
025B: BSF 03.5 |
| 750 |
0323: MOVWF 07 |
540 |
025C: MOVWF 07 |
| 751 |
0324: BCF 03.5 |
541 |
025D: BCF 03.5 |
| 752 |
0325: BSF 07.7 |
542 |
025E: BSF 07.7 |
| 753 |
0326: BSF 03.5 |
543 |
025F: BSF 03.5 |
| 754 |
0327: BSF 03.6 |
544 |
0260: BSF 03.6 |
| 755 |
0328: MOVF 09,W |
545 |
0261: MOVF 09,W |
| 756 |
0329: ANDLW C0 |
546 |
0262: ANDLW C0 |
| 757 |
032A: MOVWF 09 |
547 |
0263: MOVWF 09 |
| 758 |
032B: BCF 03.6 |
548 |
0264: BCF 03.6 |
| 759 |
032C: BCF 1F.4 |
549 |
0265: BCF 1F.4 |
| 760 |
032D: BCF 1F.5 |
550 |
0266: BCF 1F.5 |
| 761 |
032E: MOVLW 00 |
551 |
0267: MOVLW 00 |
| 762 |
032F: BSF 03.6 |
552 |
0268: BSF 03.6 |
| 763 |
0330: MOVWF 08 |
553 |
0269: MOVWF 08 |
| 764 |
0331: BCF 03.5 |
554 |
026A: BCF 03.5 |
| 765 |
0332: CLRF 07 |
555 |
026B: CLRF 07 |
| 766 |
0333: CLRF 08 |
556 |
026C: CLRF 08 |
| 767 |
0334: CLRF 09 |
557 |
026D: CLRF 09 |
| 768 |
.................... signed int16 X,Y,Z; |
- |
|
| 769 |
.................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
- |
|
| 770 |
* |
558 |
* |
| - |
|
559 |
0277: CLRF 29 |
| - |
|
560 |
0278: CLRF 28 |
| - |
|
561 |
.................... int1 last; |
| - |
|
562 |
.................... unsigned int16 anemo_round=0; |
| - |
|
563 |
.................... unsigned int16 i; |
| - |
|
564 |
.................... |
| - |
|
565 |
.................... |
| - |
|
566 |
.................... //signed int16 X,Y,Z; |
| - |
|
567 |
.................... setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| 771 |
0338: BSF 03.5 |
568 |
0279: BSF 03.5 |
| 772 |
0339: BSF 03.6 |
569 |
027A: BSF 03.6 |
| 773 |
033A: MOVF 09,W |
570 |
027B: MOVF 09,W |
| 774 |
033B: ANDLW C0 |
571 |
027C: ANDLW C0 |
| 775 |
033C: MOVWF 09 |
572 |
027D: MOVWF 09 |
| 776 |
033D: BCF 03.6 |
573 |
027E: BCF 03.6 |
| 777 |
033E: BCF 1F.4 |
574 |
027F: BCF 1F.4 |
| 778 |
033F: BCF 1F.5 |
575 |
0280: BCF 1F.5 |
| 779 |
0340: MOVLW 00 |
576 |
0281: MOVLW 00 |
| 780 |
0341: BSF 03.6 |
577 |
0282: BSF 03.6 |
| 781 |
0342: MOVWF 08 |
578 |
0283: MOVWF 08 |
| 782 |
.................... setup_adc(ADC_CLOCK_DIV_2); |
579 |
.................... setup_adc(ADC_CLOCK_DIV_2); |
| 783 |
0343: BCF 03.5 |
580 |
0284: BCF 03.5 |
| 784 |
0344: BCF 03.6 |
581 |
0285: BCF 03.6 |
| 785 |
0345: BCF 1F.6 |
582 |
0286: BCF 1F.6 |
| 786 |
0346: BCF 1F.7 |
583 |
0287: BCF 1F.7 |
| 787 |
0347: BSF 03.5 |
584 |
0288: BSF 03.5 |
| 788 |
0348: BCF 1F.7 |
585 |
0289: BCF 1F.7 |
| 789 |
0349: BCF 03.5 |
586 |
028A: BCF 03.5 |
| 790 |
034A: BSF 1F.0 |
587 |
028B: BSF 1F.0 |
| 791 |
.................... setup_spi(SPI_SS_DISABLED); |
588 |
.................... setup_spi(SPI_SS_DISABLED); |
| 792 |
034B: BCF 14.5 |
589 |
028C: BCF 14.5 |
| 793 |
034C: BCF 20.5 |
590 |
028D: BCF 20.5 |
| 794 |
034D: MOVF 20,W |
591 |
028E: MOVF 20,W |
| 795 |
034E: BSF 03.5 |
592 |
028F: BSF 03.5 |
| 796 |
034F: MOVWF 07 |
593 |
0290: MOVWF 07 |
| 797 |
0350: BCF 03.5 |
594 |
0291: BCF 03.5 |
| 798 |
0351: BSF 20.4 |
595 |
0292: BSF 20.4 |
| 799 |
0352: MOVF 20,W |
596 |
0293: MOVF 20,W |
| 800 |
0353: BSF 03.5 |
597 |
0294: BSF 03.5 |
| 801 |
0354: MOVWF 07 |
598 |
0295: MOVWF 07 |
| 802 |
0355: BCF 03.5 |
599 |
0296: BCF 03.5 |
| 803 |
0356: BCF 20.3 |
600 |
0297: BCF 20.3 |
| 804 |
0357: MOVF 20,W |
601 |
0298: MOVF 20,W |
| 805 |
0358: BSF 03.5 |
602 |
0299: BSF 03.5 |
| 806 |
0359: MOVWF 07 |
603 |
029A: MOVWF 07 |
| 807 |
035A: MOVLW 01 |
604 |
029B: MOVLW 01 |
| 808 |
035B: BCF 03.5 |
605 |
029C: BCF 03.5 |
| 809 |
035C: MOVWF 14 |
606 |
029D: MOVWF 14 |
| 810 |
035D: MOVLW 00 |
607 |
029E: MOVLW 00 |
| 811 |
035E: BSF 03.5 |
608 |
029F: BSF 03.5 |
| 812 |
035F: MOVWF 14 |
609 |
02A0: MOVWF 14 |
| 813 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
610 |
.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| 814 |
0360: MOVF 01,W |
611 |
02A1: MOVF 01,W |
| 815 |
0361: ANDLW C7 |
612 |
02A2: ANDLW C7 |
| 816 |
0362: IORLW 08 |
613 |
02A3: IORLW 08 |
| 817 |
0363: MOVWF 01 |
614 |
02A4: MOVWF 01 |
| 818 |
.................... setup_timer_1(T1_DISABLED); |
615 |
.................... setup_timer_1(T1_DISABLED); |
| 819 |
0364: BCF 03.5 |
616 |
02A5: BCF 03.5 |
| 820 |
0365: CLRF 10 |
617 |
02A6: CLRF 10 |
| 821 |
.................... setup_timer_2(T2_DISABLED,0,1); |
618 |
.................... setup_timer_2(T2_DISABLED,0,1); |
| 822 |
0366: MOVLW 00 |
619 |
02A7: MOVLW 00 |
| 823 |
0367: MOVWF 78 |
620 |
02A8: MOVWF 78 |
| 824 |
0368: MOVWF 12 |
621 |
02A9: MOVWF 12 |
| 825 |
0369: MOVLW 00 |
622 |
02AA: MOVLW 00 |
| 826 |
036A: BSF 03.5 |
623 |
02AB: BSF 03.5 |
| 827 |
036B: MOVWF 12 |
624 |
02AC: MOVWF 12 |
| 828 |
.................... setup_ccp1(CCP_OFF); |
625 |
.................... setup_ccp1(CCP_OFF); |
| 829 |
036C: BCF 03.5 |
626 |
02AD: BCF 03.5 |
| 830 |
036D: BSF 20.2 |
627 |
02AE: BSF 20.2 |
| 831 |
036E: MOVF 20,W |
628 |
02AF: MOVF 20,W |
| 832 |
036F: BSF 03.5 |
629 |
02B0: BSF 03.5 |
| 833 |
0370: MOVWF 07 |
630 |
02B1: MOVWF 07 |
| 834 |
0371: BCF 03.5 |
631 |
02B2: BCF 03.5 |
| 835 |
0372: CLRF 17 |
632 |
02B3: CLRF 17 |
| 836 |
0373: BSF 03.5 |
633 |
02B4: BSF 03.5 |
| 837 |
0374: CLRF 1B |
634 |
02B5: CLRF 1B |
| 838 |
0375: CLRF 1C |
635 |
02B6: CLRF 1C |
| 839 |
0376: MOVLW 01 |
636 |
02B7: MOVLW 01 |
| 840 |
0377: MOVWF 1D |
637 |
02B8: MOVWF 1D |
| 841 |
.................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
638 |
.................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard |
| 842 |
0378: BCF 03.5 |
639 |
02B9: BCF 03.5 |
| 843 |
0379: BSF 03.6 |
640 |
02BA: BSF 03.6 |
| 844 |
037A: CLRF 07 |
641 |
02BB: CLRF 07 |
| 845 |
037B: CLRF 08 |
642 |
02BC: CLRF 08 |
| 846 |
037C: CLRF 09 |
643 |
02BD: CLRF 09 |
| 847 |
.................... |
644 |
.................... |
| - |
|
645 |
.................... // Init the HMC5883L. Set Mode register for |
| 848 |
.................... set_mag(); |
646 |
.................... // continuous measurements. |
| - |
|
647 |
.................... hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range |
| 849 |
037D: BCF 03.6 |
648 |
02BE: BCF 03.6 |
| - |
|
649 |
02BF: CLRF 2C |
| - |
|
650 |
02C0: MOVLW 18 |
| - |
|
651 |
02C1: MOVWF 2D |
| - |
|
652 |
02C2: CALL 069 |
| - |
|
653 |
.................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range |
| - |
|
654 |
02C3: MOVLW 01 |
| - |
|
655 |
02C4: MOVWF 2C |
| - |
|
656 |
02C5: MOVLW E0 |
| - |
|
657 |
02C6: MOVWF 2D |
| - |
|
658 |
02C7: CALL 069 |
| - |
|
659 |
.................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00); |
| - |
|
660 |
02C8: MOVLW 02 |
| - |
|
661 |
02C9: MOVWF 2C |
| - |
|
662 |
02CA: CLRF 2D |
| 850 |
037E: GOTO 07D |
663 |
02CB: CALL 069 |
| - |
|
664 |
.................... |
| - |
|
665 |
.................... // Continuously read and display the x,y,z results. |
| - |
|
666 |
.................... // Wait at least 67 ms between reads, re the HMC5883L data sheet. |
| - |
|
667 |
.................... |
| 851 |
.................... |
668 |
.................... |
| 852 |
.................... printf("Magnetometr: \r\n",); |
669 |
.................... printf("Magnetometr: \r\n",); |
| 853 |
037F: MOVLW 04 |
670 |
02CC: MOVLW 04 |
| 854 |
0380: BSF 03.6 |
671 |
02CD: BSF 03.6 |
| 855 |
0381: MOVWF 0D |
672 |
02CE: MOVWF 0D |
| 856 |
0382: MOVLW 00 |
673 |
02CF: MOVLW 00 |
| 857 |
0383: MOVWF 0F |
674 |
02D0: MOVWF 0F |
| 858 |
0384: BCF 03.6 |
675 |
02D1: BCF 03.6 |
| 859 |
0385: CALL 153 |
676 |
02D2: CALL 0C6 |
| 860 |
.................... printf("(c)mlab JACHO 2013: \r\n",); |
677 |
.................... printf("(c)mlab JACHO 2013: \r\n",); |
| 861 |
0386: MOVLW 0D |
678 |
02D3: MOVLW 0D |
| 862 |
0387: BSF 03.6 |
679 |
02D4: BSF 03.6 |
| 863 |
0388: MOVWF 0D |
680 |
02D5: MOVWF 0D |
| 864 |
0389: MOVLW 00 |
681 |
02D6: MOVLW 00 |
| 865 |
038A: MOVWF 0F |
682 |
02D7: MOVWF 0F |
| 866 |
038B: BCF 03.6 |
683 |
02D8: BCF 03.6 |
| 867 |
038C: CALL 153 |
684 |
02D9: CALL 0C6 |
| 868 |
.................... printf("X, Y, Z \r\n",); |
685 |
.................... printf("X, Y, Z \r\n",); |
| 869 |
038D: MOVLW 19 |
686 |
02DA: MOVLW 19 |
| 870 |
038E: BSF 03.6 |
687 |
02DB: BSF 03.6 |
| 871 |
038F: MOVWF 0D |
688 |
02DC: MOVWF 0D |
| 872 |
0390: MOVLW 00 |
689 |
02DD: MOVLW 00 |
| 873 |
0391: MOVWF 0F |
690 |
02DE: MOVWF 0F |
| 874 |
0392: BCF 03.6 |
691 |
02DF: BCF 03.6 |
| 875 |
0393: CALL 153 |
692 |
02E0: CALL 0C6 |
| 876 |
.................... |
693 |
.................... |
| 877 |
.................... while(true) |
694 |
.................... /* while(true) |
| 878 |
.................... { |
695 |
.................... { |
| 879 |
.................... X = mag_readX(); |
696 |
.................... X = mag_readX(); |
| 880 |
0394: GOTO 249 |
- |
|
| 881 |
0395: MOVF 79,W |
- |
|
| 882 |
0396: MOVWF 22 |
- |
|
| 883 |
0397: MOVF 78,W |
- |
|
| 884 |
0398: MOVWF 21 |
- |
|
| 885 |
.................... Y = mag_readY(); |
697 |
.................... Y = mag_readY(); |
| 886 |
0399: GOTO 263 |
- |
|
| 887 |
039A: MOVF 79,W |
- |
|
| 888 |
039B: MOVWF 24 |
- |
|
| 889 |
039C: MOVF 78,W |
- |
|
| 890 |
039D: MOVWF 23 |
- |
|
| 891 |
.................... Z = mag_readZ(); |
698 |
.................... Z = mag_readZ(); |
| 892 |
039E: GOTO 27D |
- |
|
| 893 |
039F: MOVF 79,W |
- |
|
| 894 |
03A0: MOVWF 26 |
- |
|
| 895 |
03A1: MOVF 78,W |
- |
|
| 896 |
03A2: MOVWF 25 |
- |
|
| 897 |
.................... printf("%4Ld %4Ld %4Ld \r\n", X, Y, Z); |
699 |
.................... printf("%4Ld %4Ld %4Ld \r\n", X, Y, Z); |
| 898 |
03A3: MOVLW 02 |
- |
|
| 899 |
03A4: MOVWF 04 |
- |
|
| 900 |
03A5: MOVF 22,W |
- |
|
| 901 |
03A6: MOVWF 28 |
- |
|
| 902 |
03A7: MOVF 21,W |
- |
|
| 903 |
03A8: MOVWF 27 |
- |
|
| 904 |
03A9: CALL 297 |
- |
|
| 905 |
03AA: MOVLW 20 |
- |
|
| 906 |
03AB: MOVWF 30 |
- |
|
| 907 |
03AC: CALL 12F |
- |
|
| 908 |
03AD: MOVLW 02 |
- |
|
| 909 |
03AE: MOVWF 04 |
- |
|
| 910 |
03AF: MOVF 24,W |
- |
|
| 911 |
03B0: MOVWF 28 |
- |
|
| 912 |
03B1: MOVF 23,W |
- |
|
| 913 |
03B2: MOVWF 27 |
- |
|
| 914 |
03B3: CALL 297 |
- |
|
| 915 |
03B4: MOVLW 20 |
- |
|
| 916 |
03B5: MOVWF 30 |
- |
|
| 917 |
03B6: CALL 12F |
- |
|
| 918 |
03B7: MOVLW 02 |
- |
|
| 919 |
03B8: MOVWF 04 |
- |
|
| 920 |
03B9: MOVF 26,W |
- |
|
| 921 |
03BA: MOVWF 28 |
- |
|
| 922 |
03BB: MOVF 25,W |
- |
|
| 923 |
03BC: MOVWF 27 |
- |
|
| 924 |
03BD: CALL 297 |
- |
|
| 925 |
03BE: MOVLW 20 |
- |
|
| 926 |
03BF: MOVWF 30 |
- |
|
| 927 |
03C0: CALL 12F |
- |
|
| 928 |
03C1: MOVLW 0D |
- |
|
| 929 |
03C2: MOVWF 30 |
- |
|
| 930 |
03C3: CALL 12F |
- |
|
| 931 |
03C4: MOVLW 0A |
- |
|
| 932 |
03C5: MOVWF 30 |
- |
|
| 933 |
03C6: CALL 12F |
- |
|
| 934 |
.................... Delay_ms(50); |
700 |
.................... Delay_ms(50); |
| 935 |
03C7: MOVLW 32 |
- |
|
| 936 |
03C8: MOVWF 27 |
- |
|
| 937 |
03C9: CALL 069 |
- |
|
| 938 |
.................... |
701 |
.................... |
| 939 |
.................... } |
702 |
.................... } |
| - |
|
703 |
.................... */ |
| - |
|
704 |
.................... |
| - |
|
705 |
.................... while(TRUE) |
| - |
|
706 |
.................... { |
| - |
|
707 |
.................... |
| - |
|
708 |
.................... for( i=0;i<=1000;i++) |
| - |
|
709 |
02E1: CLRF 2B |
| - |
|
710 |
02E2: CLRF 2A |
| - |
|
711 |
02E3: MOVF 2B,W |
| - |
|
712 |
02E4: SUBLW 03 |
| - |
|
713 |
02E5: BTFSS 03.0 |
| - |
|
714 |
02E6: GOTO 303 |
| - |
|
715 |
02E7: BTFSS 03.2 |
| - |
|
716 |
02E8: GOTO 2ED |
| - |
|
717 |
02E9: MOVF 2A,W |
| - |
|
718 |
02EA: SUBLW E8 |
| - |
|
719 |
02EB: BTFSS 03.0 |
| - |
|
720 |
02EC: GOTO 303 |
| - |
|
721 |
.................... { |
| - |
|
722 |
.................... // delay_ms(); |
| - |
|
723 |
.................... hmc5883l_read_data(); |
| - |
|
724 |
02ED: GOTO 151 |
| - |
|
725 |
.................... |
| - |
|
726 |
.................... if(compass.x < 0) |
| - |
|
727 |
02EE: BTFSS 22.7 |
| - |
|
728 |
02EF: GOTO 2F6 |
| - |
|
729 |
.................... { |
| - |
|
730 |
.................... if(last == 1) anemo_round++; |
| - |
|
731 |
02F0: BTFSS 27.0 |
| - |
|
732 |
02F1: GOTO 2F5 |
| - |
|
733 |
02F2: INCF 28,F |
| - |
|
734 |
02F3: BTFSC 03.2 |
| - |
|
735 |
02F4: INCF 29,F |
| - |
|
736 |
.................... last=0; |
| - |
|
737 |
02F5: BCF 27.0 |
| - |
|
738 |
.................... } |
| - |
|
739 |
.................... if(compass.x > 0) last=1; |
| - |
|
740 |
02F6: BTFSC 22.7 |
| - |
|
741 |
02F7: GOTO 2FF |
| - |
|
742 |
02F8: MOVF 22,F |
| - |
|
743 |
02F9: BTFSS 03.2 |
| - |
|
744 |
02FA: GOTO 2FE |
| - |
|
745 |
02FB: MOVF 21,W |
| - |
|
746 |
02FC: SUBLW 00 |
| - |
|
747 |
02FD: BTFSS 03.0 |
| - |
|
748 |
02FE: BSF 27.0 |
| - |
|
749 |
.................... } |
| - |
|
750 |
02FF: INCF 2A,F |
| - |
|
751 |
0300: BTFSC 03.2 |
| - |
|
752 |
0301: INCF 2B,F |
| - |
|
753 |
0302: GOTO 2E3 |
| - |
|
754 |
.................... |
| - |
|
755 |
.................... printf("%6Ld %6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z, anemo_round); |
| - |
|
756 |
0303: MOVLW 00 |
| - |
|
757 |
0304: MOVWF 04 |
| - |
|
758 |
0305: MOVF 22,W |
| - |
|
759 |
0306: MOVWF 2D |
| - |
|
760 |
0307: MOVF 21,W |
| - |
|
761 |
0308: MOVWF 2C |
| - |
|
762 |
0309: CALL 1D0 |
| - |
|
763 |
030A: MOVLW 20 |
| - |
|
764 |
030B: MOVWF 35 |
| - |
|
765 |
030C: CALL 0A2 |
| - |
|
766 |
030D: MOVLW 00 |
| - |
|
767 |
030E: MOVWF 04 |
| - |
|
768 |
030F: MOVF 24,W |
| - |
|
769 |
0310: MOVWF 2D |
| - |
|
770 |
0311: MOVF 23,W |
| - |
|
771 |
0312: MOVWF 2C |
| - |
|
772 |
0313: CALL 1D0 |
| - |
|
773 |
0314: MOVLW 20 |
| - |
|
774 |
0315: MOVWF 35 |
| - |
|
775 |
0316: CALL 0A2 |
| - |
|
776 |
0317: MOVLW 00 |
| - |
|
777 |
0318: MOVWF 04 |
| - |
|
778 |
0319: MOVF 26,W |
| - |
|
779 |
031A: MOVWF 2D |
| - |
|
780 |
031B: MOVF 25,W |
| - |
|
781 |
031C: MOVWF 2C |
| - |
|
782 |
031D: CALL 1D0 |
| - |
|
783 |
031E: MOVLW 20 |
| - |
|
784 |
031F: MOVWF 35 |
| - |
|
785 |
0320: CALL 0A2 |
| - |
|
786 |
0321: MOVLW 00 |
| - |
|
787 |
0322: MOVWF 04 |
| - |
|
788 |
0323: MOVF 29,W |
| - |
|
789 |
0324: MOVWF 2D |
| - |
|
790 |
0325: MOVF 28,W |
| - |
|
791 |
0326: MOVWF 2C |
| - |
|
792 |
0327: CALL 1D0 |
| - |
|
793 |
0328: MOVLW 20 |
| - |
|
794 |
0329: MOVWF 35 |
| - |
|
795 |
032A: CALL 0A2 |
| - |
|
796 |
032B: MOVLW 0A |
| - |
|
797 |
032C: MOVWF 35 |
| - |
|
798 |
032D: CALL 0A2 |
| - |
|
799 |
032E: MOVLW 0D |
| - |
|
800 |
032F: MOVWF 35 |
| - |
|
801 |
0330: CALL 0A2 |
| - |
|
802 |
.................... anemo_round=0; |
| - |
|
803 |
0331: CLRF 29 |
| - |
|
804 |
0332: CLRF 28 |
| - |
|
805 |
.................... } |
| 940 |
03CA: GOTO 394 |
806 |
0333: GOTO 2E1 |
| - |
|
807 |
.................... |
| 941 |
.................... } |
808 |
.................... } |
| - |
|
809 |
.................... |
| - |
|
810 |
.................... |
| - |
|
811 |
.................... |
| 942 |
03CB: SLEEP |
812 |
0334: SLEEP |
| 943 |
|
813 |
|
| 944 |
Configuration Fuses: |
814 |
Configuration Fuses: |
| 945 |
Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |
815 |
Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUG |
| 946 |
Word 2: 3FFF NOWRT BORV40 |
816 |
Word 2: 3FFF NOWRT BORV40 |