CCS PCM C Compiler, Version 4.106, 47914 15-V-13 20:34Filename: Z:\home\kaklik\svnMLAB\Modules\Sensors\MAG01A\SW\PIC16F887\main.lstROM used: 775 words (9%)Largest free fragment is 2048RAM used: 28 (8%) at main() level38 (10%) worst caseStack: 2 locations*0000: MOVLW 020001: MOVWF 0A0002: GOTO 24F0003: NOP.................... #include "main.h".................... #include <16F887.h>.................... //////// Standard Header file for the PIC16F887 device ////////////////.................... #device PIC16F887.................... #list........................................ #device adc=8........................................ #FUSES NOWDT //No Watch Dog Timer.................... #FUSES INTRC //Internal RC Osc.................... #FUSES NOPUT //No Power Up Timer.................... #FUSES MCLR //Master Clear pin enabled.................... #FUSES NOPROTECT //Code not protected from reading.................... #FUSES NOCPD //No EE protection.................... #FUSES NOBROWNOUT //No brownout reset.................... #FUSES IESO //Internal External Switch Over mode enabled.................... #FUSES FCMEN //Fail-safe clock monitor enabled.................... #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O.................... #FUSES NODEBUG //No Debug mode for ICD.................... #FUSES NOWRT //Program memory not write protected.................... #FUSES BORV40 //Brownout reset at 4.0V........................................ #use delay(clock=8000000).................... #use i2c(master, sda=PIN_C4, scl=PIN_C3)*001F: MOVLW 080020: MOVWF 780021: NOP0022: BCF 07.30023: BCF 20.30024: MOVF 20,W0025: BSF 03.50026: MOVWF 070027: NOP0028: BCF 03.50029: RLF 3D,F002A: BCF 07.4002B: BTFSS 03.0002C: GOTO 033002D: BSF 20.4002E: MOVF 20,W002F: BSF 03.50030: MOVWF 070031: GOTO 0370032: BCF 03.50033: BCF 20.40034: MOVF 20,W0035: BSF 03.50036: MOVWF 070037: NOP0038: BCF 03.50039: BSF 20.3003A: MOVF 20,W003B: BSF 03.5003C: MOVWF 07003D: BCF 03.5003E: BTFSS 07.3003F: GOTO 03E0040: DECFSZ 78,F0041: GOTO 0210042: NOP0043: BCF 07.30044: BCF 20.30045: MOVF 20,W0046: BSF 03.50047: MOVWF 070048: NOP0049: BCF 03.5004A: BSF 20.4004B: MOVF 20,W004C: BSF 03.5004D: MOVWF 07004E: NOP004F: NOP0050: BCF 03.50051: BSF 20.30052: MOVF 20,W0053: BSF 03.50054: MOVWF 070055: BCF 03.50056: BTFSS 07.30057: GOTO 0560058: CLRF 780059: NOP005A: BTFSC 07.4005B: BSF 78.0005C: BCF 07.3005D: BCF 20.3005E: MOVF 20,W005F: BSF 03.50060: MOVWF 070061: BCF 03.50062: BCF 07.40063: BCF 20.40064: MOVF 20,W0065: BSF 03.50066: MOVWF 070067: BCF 03.50068: RETURN*010B: MOVLW 08010C: MOVWF 3E010D: MOVF 77,W010E: MOVWF 3F010F: BSF 20.40110: MOVF 20,W0111: BSF 03.50112: MOVWF 070113: NOP0114: BCF 03.50115: BSF 20.30116: MOVF 20,W0117: BSF 03.50118: MOVWF 070119: BCF 03.5011A: BTFSS 07.3011B: GOTO 11A011C: BTFSC 07.4011D: BSF 03.0011E: BTFSS 07.4011F: BCF 03.00120: RLF 78,F0121: NOP0122: BCF 20.30123: MOVF 20,W0124: BSF 03.50125: MOVWF 070126: BCF 03.50127: BCF 07.30128: DECFSZ 3E,F0129: GOTO 10F012A: BSF 20.4012B: MOVF 20,W012C: BSF 03.5012D: MOVWF 07012E: NOP012F: BCF 03.50130: BCF 07.40131: MOVF 3F,W0132: BTFSC 03.20133: GOTO 1390134: BCF 20.40135: MOVF 20,W0136: BSF 03.50137: MOVWF 070138: BCF 03.50139: NOP013A: BSF 20.3013B: MOVF 20,W013C: BSF 03.5013D: MOVWF 07013E: BCF 03.5013F: BTFSS 07.30140: GOTO 13F0141: NOP0142: BCF 07.30143: BCF 20.30144: MOVF 20,W0145: BSF 03.50146: MOVWF 070147: NOP0148: BCF 03.50149: BCF 07.4014A: BCF 20.4014B: MOVF 20,W014C: BSF 03.5014D: MOVWF 07014E: BCF 03.5014F: RETURN.................... #use rs232(baud=115200,parity=N,xmit=PIN_C7,rcv=PIN_C6,bits=8) //rcv TXD xmit RXD*00A2: BCF 20.700A3: MOVF 20,W00A4: BSF 03.500A5: MOVWF 0700A6: BCF 03.500A7: BCF 07.700A8: MOVLW 0800A9: MOVWF 7800AA: GOTO 0AB00AB: NOP00AC: BSF 78.700AD: GOTO 0C000AE: BCF 78.700AF: MOVF 40,W00B0: MOVWF 7900B1: RRF 79,F00B2: BTFSC 03.000B3: BSF 07.700B4: BTFSS 03.000B5: BCF 07.700B6: BSF 78.600B7: GOTO 0C000B8: BCF 78.600B9: DECFSZ 78,F00BA: GOTO 0B100BB: MOVF 79,W00BC: MOVWF 4000BD: GOTO 0BE00BE: NOP00BF: BSF 07.700C0: BTFSC 78.700C1: GOTO 0AE00C2: BTFSC 78.600C3: GOTO 0B800C4: RETURN............................................................ #include "HMC5883L.h".................... #define MAG_ADDR_R 0x3D //addresa pro cteni.................... #define MAG_ADDR_W 0x3C............................................................ //Konstanty nastavujici rozsah.................... //pro void set_mag_roz (unsigned int8 h).................... #define MAG_ROZ088 0x00.................... #define MAG_ROZ130 0x20.................... #define MAG_ROZ190 0x40.................... #define MAG_ROZ250 0x60.................... #define MAG_ROZ400 0x80.................... #define MAG_ROZ470 0xA0.................... #define MAG_ROZ560 0xC0.................... #define MAG_ROZ810 0xE0............................................................ #include "HMC5883L.c".................... // i2c slave addresses.................... #define HMC5883L_WRT_ADDR 0x3C.................... #define HMC5883L_READ_ADDR 0x3D........................................ // Register addresses.................... #define HMC5883L_CFG_A_REG 0x00.................... #define HMC5883L_CFG_B_REG 0x01.................... #define HMC5883L_MODE_REG 0x02.................... #define HMC5883L_X_MSB_REG 0x03........................................ //------------------------------.................... // Low level routines.................... //------------------------------.................... void hmc5883l_write_reg(int8 reg, int8 data).................... {.................... i2c_start();*0069: BSF 20.4006A: MOVF 20,W006B: BSF 03.5006C: MOVWF 07006D: NOP006E: BCF 03.5006F: BSF 20.30070: MOVF 20,W0071: BSF 03.50072: MOVWF 070073: NOP0074: BCF 03.50075: BCF 07.40076: BCF 20.40077: MOVF 20,W0078: BSF 03.50079: MOVWF 07007A: NOP007B: BCF 03.5007C: BCF 07.3007D: BCF 20.3007E: MOVF 20,W007F: BSF 03.50080: MOVWF 07.................... i2c_write(HMC5883L_WRT_ADDR);0081: MOVLW 3C0082: BCF 03.50083: MOVWF 3D0084: CALL 01F.................... i2c_write(reg);0085: MOVF 37,W0086: MOVWF 3D0087: CALL 01F.................... i2c_write(data);0088: MOVF 38,W0089: MOVWF 3D008A: CALL 01F.................... i2c_stop();008B: BCF 20.4008C: MOVF 20,W008D: BSF 03.5008E: MOVWF 07008F: NOP0090: BCF 03.50091: BSF 20.30092: MOVF 20,W0093: BSF 03.50094: MOVWF 070095: BCF 03.50096: BTFSS 07.30097: GOTO 0960098: NOP0099: GOTO 09A009A: NOP009B: BSF 20.4009C: MOVF 20,W009D: BSF 03.5009E: MOVWF 07009F: NOP.................... }00A0: BCF 03.500A1: RETURN........................................ //------------------------------.................... int8 hmc5883l_read_reg(int8 reg).................... {.................... int8 retval;........................................ i2c_start();.................... i2c_write(HMC5883L_WRT_ADDR);.................... i2c_write(reg);.................... i2c_start();.................... i2c_write(HMC5883L_READ_ADDR);.................... retval = i2c_read(0);.................... i2c_stop();........................................ return(retval);.................... }........................................ //------------------------------.................... typedef struct.................... {.................... 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};*0270: CLRF 210271: CLRF 220272: CLRF 230273: CLRF 240274: CLRF 250275: CLRF 26........................................ //------------------------------.................... void hmc5883l_read_data(void).................... {.................... unsigned int8 x_lsb;.................... unsigned int8 x_msb;........................................ unsigned int8 y_lsb;.................... unsigned int8 y_msb;........................................ unsigned int8 z_lsb;.................... unsigned int8 z_msb;........................................ i2c_start();*0150: BSF 20.40151: MOVF 20,W0152: BSF 03.50153: MOVWF 070154: NOP0155: BCF 03.50156: BSF 20.30157: MOVF 20,W0158: BSF 03.50159: MOVWF 07015A: NOP015B: BCF 03.5015C: BCF 07.4015D: BCF 20.4015E: MOVF 20,W015F: BSF 03.50160: MOVWF 070161: NOP0162: BCF 03.50163: BCF 07.30164: BCF 20.30165: MOVF 20,W0166: BSF 03.50167: MOVWF 07.................... i2c_write(HMC5883L_WRT_ADDR);0168: MOVLW 3C0169: BCF 03.5016A: MOVWF 3D016B: CALL 01F.................... i2c_write(HMC5883L_X_MSB_REG); // Point to X-msb register016C: MOVLW 03016D: MOVWF 3D016E: CALL 01F.................... i2c_start();016F: BSF 20.40170: MOVF 20,W0171: BSF 03.50172: MOVWF 070173: NOP0174: BCF 03.50175: BSF 20.30176: MOVF 20,W0177: BSF 03.50178: MOVWF 070179: NOP017A: BCF 03.5017B: BTFSS 07.3017C: GOTO 17B017D: BCF 07.4017E: BCF 20.4017F: MOVF 20,W0180: BSF 03.50181: MOVWF 070182: NOP0183: BCF 03.50184: BCF 07.30185: BCF 20.30186: MOVF 20,W0187: BSF 03.50188: MOVWF 07.................... i2c_write(HMC5883L_READ_ADDR);0189: MOVLW 3D018A: BCF 03.5018B: MOVWF 3D018C: CALL 01F........................................ x_msb = i2c_read();018D: MOVLW 01018E: MOVWF 77018F: CALL 10B0190: MOVF 78,W0191: MOVWF 38.................... x_lsb = i2c_read();0192: MOVLW 010193: MOVWF 770194: CALL 10B0195: MOVF 78,W0196: MOVWF 37........................................ z_msb = i2c_read();0197: MOVLW 010198: MOVWF 770199: CALL 10B019A: MOVF 78,W019B: MOVWF 3C.................... z_lsb = i2c_read();019C: MOVLW 01019D: MOVWF 77019E: CALL 10B019F: MOVF 78,W01A0: MOVWF 3B........................................ y_msb = i2c_read();01A1: MOVLW 0101A2: MOVWF 7701A3: CALL 10B01A4: MOVF 78,W01A5: MOVWF 3A.................... y_lsb = i2c_read(0); // do a NACK on last read01A6: CLRF 7701A7: CALL 10B01A8: MOVF 78,W01A9: MOVWF 39........................................ i2c_stop();01AA: BCF 20.401AB: MOVF 20,W01AC: BSF 03.501AD: MOVWF 0701AE: NOP01AF: BCF 03.501B0: BSF 20.301B1: MOVF 20,W01B2: BSF 03.501B3: MOVWF 0701B4: BCF 03.501B5: BTFSS 07.301B6: GOTO 1B501B7: NOP01B8: GOTO 1B901B9: NOP01BA: BSF 20.401BB: MOVF 20,W01BC: BSF 03.501BD: MOVWF 0701BE: NOP........................................ // Combine high and low bytes into 16-bit values..................... compass.x = make16(x_msb, x_lsb);01BF: BCF 03.501C0: MOVF 38,W01C1: MOVWF 2201C2: MOVF 37,W01C3: MOVWF 21.................... compass.y = make16(y_msb, y_lsb);01C4: MOVF 3A,W01C5: MOVWF 2401C6: MOVF 39,W01C7: MOVWF 23.................... compass.z = make16(z_msb, z_lsb);01C8: MOVF 3C,W01C9: MOVWF 2601CA: MOVF 3B,W01CB: MOVWF 25.................... }01CC: BCF 0A.301CD: BCF 0A.401CE: GOTO 2E1 (RETURN).................................................................................................... #include <math.h>.................... ////////////////////////////////////////////////////////////////////////////.................... //// (C) Copyright 1996,2008 Custom Computer Services ////.................... //// This source code may only be used by licensed users of the CCS C ////.................... //// compiler. This source code may only be distributed to other ////.................... //// licensed users of the CCS C compiler. No other use, reproduction ////.................... //// or distribution is permitted without written permission. ////.................... //// Derivative programs created using this software in object code ////.................... //// form are not restricted in any way. ////.................... ////////////////////////////////////////////////////////////////////////////.................... //// ////.................... //// History: ////.................... //// * 9/20/2001 : Improvments are made to sin/cos code. ////.................... //// The code now is small, much faster, ////.................... //// and more accurate. ////.................... //// * 2/21/2007 : Compiler handles & operator differently and does.................... //// not return generic (int8 *) so type cast is done ////.................... //// ////.................... ////////////////////////////////////////////////////////////////////////////........................................ #ifndef MATH_H.................... #define MATH_H........................................ #ifdef PI.................... #undef PI.................... #endif.................... #define PI 3.1415926535897932............................................................ #define SQRT2 1.4142135623730950........................................ //float const ps[4] = {5.9304945, 21.125224, 8.9403076, 0.29730279};.................... //float const qs[4] = {1.0000000, 15.035723, 17.764134, 2.4934718};........................................ ///////////////////////////// Round Functions //////////////////////////////........................................ float32 CEIL_FLOOR(float32 x, unsigned int8 n).................... {.................... float32 y, res;.................... unsigned int16 l;.................... int1 s;........................................ s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y <= 32768.0).................... res = (float32)(unsigned int16)y;........................................ else if (y < 10000000.0).................... {.................... l = (unsigned int16)(y/32768.0);.................... y = 32768.0*(y/32768.0 - (float32)l);.................... res = 32768.0*(float32)l;.................... res += (float32)(unsigned int16)y;.................... }........................................ else.................... res = y;........................................ y = y - (float32)(unsigned int16)y;........................................ if (s).................... res = -res;........................................ if (y != 0).................... {.................... if (s == 1 && n == 0).................... res -= 1.0;........................................ if (s == 0 && n == 1).................... res += 1.0;.................... }.................... if (x == 0).................... res = 0;........................................ return (res);.................... }........................................ // Overloaded Functions to take care for new Data types in PCD.................... // Overloaded function CEIL_FLOOR() for data type - Float48.................... #if defined(__PCD__).................... float48 CEIL_FLOOR(float48 x, unsigned int8 n).................... {.................... float48 y, res;.................... unsigned int16 l;.................... int1 s;........................................ s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y <= 32768.0).................... res = (float48)(unsigned int16)y;........................................ else if (y < 10000000.0).................... {.................... l = (unsigned int16)(y/32768.0);.................... y = 32768.0*(y/32768.0 - (float48)l);.................... res = 32768.0*(float32)l;.................... res += (float48)(unsigned int16)y;.................... }........................................ else.................... res = y;........................................ y = y - (float48)(unsigned int16)y;........................................ if (s).................... res = -res;........................................ if (y != 0).................... {.................... if (s == 1 && n == 0).................... res -= 1.0;........................................ if (s == 0 && n == 1).................... res += 1.0;.................... }.................... if (x == 0).................... res = 0;........................................ return (res);.................... }............................................................ // Overloaded function CEIL_FLOOR() for data type - Float64.................... float64 CEIL_FLOOR(float64 x, unsigned int8 n).................... {.................... float64 y, res;.................... unsigned int16 l;.................... int1 s;........................................ s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y <= 32768.0).................... res = (float64)(unsigned int16)y;........................................ else if (y < 10000000.0).................... {.................... l = (unsigned int16)(y/32768.0);.................... y = 32768.0*(y/32768.0 - (float64)l);.................... res = 32768.0*(float64)l;.................... res += (float64)(unsigned int16)y;.................... }........................................ else.................... res = y;........................................ y = y - (float64)(unsigned int16)y;........................................ if (s).................... res = -res;........................................ if (y != 0).................... {.................... if (s == 1 && n == 0).................... res -= 1.0;........................................ if (s == 0 && n == 1).................... res += 1.0;.................... }.................... if (x == 0).................... res = 0;........................................ return (res);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float floor(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : rounds down the number x..................... // Date : N/A.................... //.................... float32 floor(float32 x).................... {.................... return CEIL_FLOOR(x, 0);.................... }.................... // Following 2 functions are overloaded functions of floor() for PCD.................... // Overloaded function floor() for data type - Float48.................... #if defined(__PCD__).................... float48 floor(float48 x).................... {.................... return CEIL_FLOOR(x, 0);.................... }........................................ // Overloaded function floor() for data type - Float64.................... float64 floor(float64 x).................... {.................... return CEIL_FLOOR(x, 0);.................... }.................... #endif............................................................ ////////////////////////////////////////////////////////////////////////////.................... // float ceil(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : rounds up the number x..................... // Date : N/A.................... //.................... float32 ceil(float32 x).................... {.................... return CEIL_FLOOR(x, 1);.................... }.................... // Following 2 functions are overloaded functions of ceil() for PCD.................... // Overloaded function ceil() for data type - Float48.................... #if defined(__PCD__).................... float48 ceil(float48 x).................... {.................... return CEIL_FLOOR(x, 1);.................... }........................................ // Overloaded function ceil() for data type - Float64.................... float64 ceil(float64 x).................... {.................... return CEIL_FLOOR(x, 1);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float fabs(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : Computes the absolute value of floating point number x.................... // Returns : returns the absolute value of x.................... // Date : N/A.................... //.................... #define fabs abs........................................ ////////////////////////////////////////////////////////////////////////////.................... // float fmod(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : Computes the floating point remainder of x/y.................... // Returns : returns the value of x= i*y, for some integer i such that, if y.................... // is non zero, the result has the same isgn of x na dmagnitude less than the.................... // magnitude of y. If y is zero then a domain error occurs..................... // Date : N/A.................... //........................................ float fmod(float32 x,float32 y).................... {.................... float32 i;.................... if (y!=0.0).................... {.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y);.................... return(x-(i*y));.................... }.................... else.................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... }.................... //Overloaded function for fmod() for PCD.................... // Overloaded function fmod() for data type - Float48.................... #if defined(__PCD__).................... float48 fmod(float48 x,float48 y).................... {.................... float48 i;.................... if (y!=0.0).................... {.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y);.................... return(x-(i*y));.................... }.................... else.................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... }.................... // Overloaded function fmod() for data type - Float64.................... float64 fmod(float64 x,float64 y).................... {.................... float64 i;.................... if (y!=0.0).................... {.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y);.................... return(x-(i*y));.................... }.................... else.................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... }.................... #endif.................... //////////////////// Exponential and logarithmic functions ////////////////////.................... ////////////////////////////////////////////////////////////////////////////.................... // float exp(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the value (e^x).................... // Date : N/A.................... //.................... #define LN2 0.6931471805599453........................................ float const pe[6] = {0.000207455774, 0.00127100575, 0.00965065093,.................... 0.0554965651, 0.240227138, 0.693147172};............................................................ float32 exp(float32 x).................... {.................... float32 y, res, r;.................... #if defined(__PCD__).................... int8 data1;.................... #endif.................... signed int8 n;.................... int1 s;.................... #ifdef _ERRNO.................... if(x > 88.722838).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... n = (signed int16)(x/LN2);.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... n = -n;.................... y = -y;.................... }........................................ res = 0.0;.................... #if !defined(__PCD__).................... *((unsigned int8 *)(&res)) = n + 0x7F;.................... #endif........................................ #if defined(__PCD__) // Takes care of IEEE format for PCD.................... data1 = n+0x7F;.................... if(bit_test(data1,0)).................... bit_set(*(((unsigned int8 *)(&res)+2)),7);.................... rotate_right(&data1,1);.................... bit_clear(data1,7);.................... *(((unsigned int8 *)(&res)+3)) = data1;.................... #endif........................................ y = y/LN2 - (float32)n;........................................ r = pe[0]*y + pe[1];.................... r = r*y + pe[2];.................... r = r*y + pe[3];.................... r = r*y + pe[4];.................... r = r*y + pe[5];........................................ res = res*(1.0 + y*r);........................................ if (s).................... res = 1.0/res;.................... return(res);.................... }............................................................ //Overloaded function for exp() for PCD.................... // Overloaded function exp() for data type - Float48.................... #if defined(__PCD__).................... float48 exp(float48 x).................... {.................... float48 y, res, r;.................... int8 data1;.................... signed int8 n;.................... int1 s;.................... #ifdef _ERRNO.................... if(x > 88.722838).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... n = (signed int16)(x/LN2);.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... n = -n;.................... y = -y;.................... }........................................ res = 0.0;........................................ data1 = n+0x7F;.................... if(bit_test(data1,0)).................... bit_set(*(((unsigned int8 *)(&res)+4)),7);.................... rotate_right(&data1,1);.................... bit_clear(data1,7);.................... *(((unsigned int8 *)(&res)+5)) = data1;........................................ y = y/LN2 - (float48)n;........................................ r = pe[0]*y + pe[1];.................... r = r*y + pe[2];.................... r = r*y + pe[3];.................... r = r*y + pe[4];.................... r = r*y + pe[5];........................................ res = res*(1.0 + y*r);........................................ if (s).................... res = 1.0/res;.................... return(res);.................... }........................................ // Overloaded function exp() for data type - Float64.................... float64 exp(float64 x).................... {.................... float64 y, res, r;.................... unsigned int16 data1, data2;.................... unsigned int16 *p;.................... signed int16 n;.................... int1 s;.................... #ifdef _ERRNO.................... if(x > 709.7827128).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... n = (signed int16)(x/LN2);.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... n = -n;.................... y = -y;.................... }........................................ res = 0.0;........................................ #if !defined(__PCD__).................... *((unsigned int16 *)(&res)) = n + 0x7F;.................... #endif.................... p= (((unsigned int16 *)(&res))+3);.................... data1 = *p;.................... data2 = *p;.................... data1 = n + 0x3FF;.................... data1 = data1 <<4;.................... if(bit_test(data2,15)).................... bit_set(data1,15);.................... data2 = data2 & 0x000F;.................... data1 ^= data2;........................................ *(((unsigned int16 *)(&res)+3)) = data1;............................................................ y = y/LN2 - (float64)n;........................................ r = pe[0]*y + pe[1];.................... r = r*y + pe[2];.................... r = r*y + pe[3];.................... r = r*y + pe[4];.................... r = r*y + pe[5];........................................ res = res*(1.0 + y*r);........................................ if (s).................... res = 1.0/res;.................... return(res);.................... }........................................ #ENDIF............................................................ /************************************************************/........................................ float32 const pl[4] = {0.45145214, -9.0558803, 26.940971, -19.860189};.................... float32 const ql[4] = {1.0000000, -8.1354259, 16.780517, -9.9300943};........................................ ////////////////////////////////////////////////////////////////////////////.................... // float log(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the the natural log of x.................... // Date : N/A.................... //.................... float32 log(float32 x).................... {.................... float32 y, res, r, y2;.................... #if defined(__PCD__).................... unsigned int8 data1,data2;.................... #endif.................... signed int8 n;.................... #ifdef _ERRNO.................... if(x <0).................... {.................... errno=EDOM;.................... }.................... if(x ==0).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... y = x;........................................ if (y != 1.0).................... {.................... #if !defined(__PCD__).................... *((unsigned int8 *)(&y)) = 0x7E;.................... #endif........................................ #if defined(__PCD__) // Takes care of IEEE format.................... data2 = *(((unsigned int8 *)(&y))+3);.................... *(((unsigned int8 *)(&y))+3) = 0x3F;.................... data1 = *(((unsigned int8 *)(&y))+2);.................... bit_clear(data1,7);.................... *(((unsigned int8 *)(&y))+2) = data1;.................... if(bit_test(data2,7)).................... bit_set(*(((unsigned int8 *)(&y))+3),7);.................... #endif........................................ y = (y - 1.0)/(y + 1.0);........................................ y2=y*y;........................................ res = pl[0]*y2 + pl[1];.................... res = res*y2 + pl[2];.................... res = res*y2 + pl[3];........................................ r = ql[0]*y2 + ql[1];.................... r = r*y2 + ql[2];.................... r = r*y2 + ql[3];........................................ res = y*res/r;.................... #if !defined(__PCD__).................... n = *((unsigned int8 *)(&x)) - 0x7E;.................... #endif.................... #if defined(__PCD__).................... data1 = *(((unsigned int8 *)(&x)+3));.................... rotate_left(&data1,1);.................... data2 = *(((unsigned int8 *)(&x)+2));.................... if(bit_test (data2,7)).................... bit_set(data1,0);.................... n = data1 - 0x7E;.................... #endif........................................ if (n<0).................... r = -(float32)-n;.................... else.................... r = (float32)n;........................................ res += r*LN2;.................... }........................................ else.................... res = 0.0;........................................ return(res);.................... }........................................ //Overloaded function for log() for PCD.................... // Overloaded function log() for data type - Float48.................... #if defined(__PCD__).................... float48 log(float48 x).................... {.................... float48 y, res, r, y2;.................... unsigned int8 data1,data2;.................... signed int8 n;.................... #ifdef _ERRNO.................... if(x <0).................... {.................... errno=EDOM;.................... }.................... if(x ==0).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... y = x;........................................ if (y != 1.0).................... {........................................ #if !defined(__PCD__).................... *((unsigned int8 *)(&y)) = 0x7E;.................... #endif.................... data2 = *(((unsigned int8 *)(&y))+5);.................... *(((unsigned int8 *)(&y))+5) = 0x3F;.................... data1 = *(((unsigned int8 *)(&y))+4);.................... bit_clear(data1,7);.................... *(((unsigned int8 *)(&y))+4) = data1;........................................ if(bit_test(data2,7)).................... bit_set(*(((unsigned int8 *)(&y))+4),7);.................... y = (y - 1.0)/(y + 1.0);........................................ y2=y*y;........................................ res = pl[0]*y2 + pl[1];.................... res = res*y2 + pl[2];.................... res = res*y2 + pl[3];........................................ r = ql[0]*y2 + ql[1];.................... r = r*y2 + ql[2];.................... r = r*y2 + ql[3];........................................ res = y*res/r;........................................ data1 = *(((unsigned int8 *)(&x)+5));.................... rotate_left(&data1,1);.................... data2 = *(((unsigned int8 *)(&x)+4));.................... if(bit_test (data2,7)).................... bit_set(data1,0);........................................ n = data1 - 0x7E;........................................ if (n<0).................... r = -(float48)-n;.................... else.................... r = (float48)n;........................................ res += r*LN2;.................... }........................................ else.................... res = 0.0;........................................ return(res);.................... }........................................ // Overloaded function log() for data type - Float48.................... #if defined(__PCD__).................... float32 const pl_64[4] = {0.45145214, -9.0558803, 26.940971, -19.860189};.................... float32 const ql_64[4] = {1.0000000, -8.1354259, 16.780517, -9.9300943};.................... #endif.................... float64 log(float64 x).................... {.................... float64 y, res, r, y2;.................... unsigned int16 data1,data2;.................... unsigned int16 *p;.................... signed int16 n;.................... #ifdef _ERRNO.................... if(x <0).................... {.................... errno=EDOM;.................... }.................... if(x ==0).................... {.................... errno=ERANGE;.................... return(0);.................... }.................... #endif.................... y = x;........................................ if (y != 1.0).................... {.................... #if !defined(__PCD__).................... *((unsigned int8 *)(&y)) = 0x7E;.................... #endif.................... p= (((unsigned int16 *)(&y))+3);.................... data1 = *p;.................... data2 = *p;.................... data1 = 0x3FE;.................... data1 = data1 <<4;.................... if(bit_test (data2,15)).................... bit_set(data1,15);.................... data2 = data2 & 0x000F;.................... data1 ^=data2;........................................ *p = data1;........................................ y = (y - 1.0)/(y + 1.0);........................................ y2=y*y;........................................ res = pl_64[0]*y2 + pl_64[1];.................... res = res*y2 + pl_64[2];.................... res = res*y2 + pl_64[3];........................................ r = ql_64[0]*y2 + ql_64[1];.................... r = r*y2 + ql_64[2];.................... r = r*y2 + ql_64[3];........................................ res = y*res/r;........................................ p= (((unsigned int16 *)(&x))+3);.................... data1 = *p;.................... bit_clear(data1,15);.................... data1 = data1 >>4;.................... n = data1 - 0x3FE;............................................................ if (n<0).................... r = -(float64)-n;.................... else.................... r = (float64)n;........................................ res += r*LN2;.................... }........................................ else.................... res = 0.0;........................................ return(res);.................... }.................... #endif............................................................ #define LN10 2.3025850929940456........................................ ////////////////////////////////////////////////////////////////////////////.................... // float log10(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the the log base 10 of x.................... // Date : N/A.................... //.................... float32 log10(float32 x).................... {.................... float32 r;........................................ r = log(x);.................... r = r/LN10;.................... return(r);.................... }........................................ //Overloaded functions for log10() for PCD.................... // Overloaded function log10() for data type - Float48.................... #if defined(__PCD__).................... float48 log10(float48 x).................... {.................... float48 r;........................................ r = log(x);.................... r = r/LN10;.................... return(r);.................... }........................................ // Overloaded function log10() for data type - Float64.................... float64 log10(float64 x).................... {.................... float64 r;........................................ r = log(x);.................... r = r/LN10;.................... return(r);.................... }.................... #endif.................... ////////////////////////////////////////////////////////////////////////////.................... // float modf(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description :breaks the argument value int integral and fractional parts,.................... // ach of which have the same sign as the argument. It stores the integral part.................... // as a float in the object pointed to by the iptr.................... // Returns : returns the signed fractional part of value..................... // Date : N/A.................... //........................................ float32 modf(float32 value,float32 *iptr).................... {.................... *iptr=(value < 0.0)? ceil(value): floor(value);.................... return(value - *iptr);.................... }.................... //Overloaded functions for modf() for PCD.................... // Overloaded function modf() for data type - Float48.................... #if defined(__PCD__).................... float48 modf(float48 value,float48 *iptr).................... {.................... *iptr=(value < 0.0)? ceil(value): floor(value);.................... return(value - *iptr);.................... }.................... // Overloaded function modf() for data type - Float64.................... float64 modf(float64 value,float64 *iptr).................... {.................... *iptr=(value < 0.0)? ceil(value): floor(value);.................... return(value - *iptr);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float pwr(float x,float y).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the value (x^y).................... // Date : N/A.................... // Note : 0 is returned when the function will generate an imaginary number.................... //.................... float32 pwr(float32 x,float32 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }.................... //Overloaded functions for pwr() for PCD.................... // Overloaded function pwr() for data type - Float48.................... #if defined(__PCD__).................... float48 pwr(float48 x,float48 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }.................... // Overloaded function pwr() for data type - Float64.................... float64 pwr(float64 x,float64 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }.................... #endif........................................ //////////////////// Power functions ////////////////////........................................ ////////////////////////////////////////////////////////////////////////////.................... // float pow(float x,float y).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the value (x^y).................... // Date : N/A.................... // Note : 0 is returned when the function will generate an imaginary number.................... //.................... float32 pow(float32 x,float32 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }.................... //Overloaded functions for pow() for PCD.................... // Overloaded function for pow() data type - Float48.................... #if defined(__PCD__).................... float48 pow(float48 x,float48 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }........................................ // Overloaded function pow() for data type - Float64.................... float64 pow(float64 x,float64 y).................... {.................... if(0 > x && fmod(y, 1) == 0) {.................... if(fmod(y, 2) == 0) {.................... return (exp(log(-x) * y));.................... } else {.................... return (-exp(log(-x) * y));.................... }.................... } else if(0 > x && fmod(y, 1) != 0) {.................... return 0;.................... } else {.................... if(x != 0 || 0 >= y) {.................... return (exp(log(x) * y));.................... }.................... }.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float sqrt(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the square root of x.................... // Date : N/A.................... //.................... float32 sqrt(float32 x).................... {.................... float32 y, res;.................... #if defined(__PCD__).................... unsigned int16 data1,data2;.................... #endif.................... BYTE *p;........................................ #ifdef _ERRNO.................... if(x < 0).................... {.................... errno=EDOM;.................... }.................... #endif........................................ if( x<=0.0).................... return(0.0);........................................ y=x;........................................ #if !defined(__PCD__).................... p=&y;.................... (*p)=(BYTE)((((unsigned int16)(*p)) + 127) >> 1);.................... #endif........................................ #if defined(__PCD__).................... p = (((unsigned int8 *)(&y))+3);.................... data1 = *(((unsigned int8 *)(&y))+3);.................... data2 = *(((unsigned int8 *)(&y))+2);.................... rotate_left(&data1,1);.................... if(bit_test(data2,7)).................... bit_set(data1,0);.................... data1 = ((data1+127) >>1);.................... bit_clear(data2,7);.................... if(bit_test(data1,0)).................... bit_set(data2,7);.................... data1 = data1 >>1;.................... *(((unsigned int8 *)(&y))+3) = data1;.................... *(((unsigned int8 *)(&y))+2) = data2;........................................ #endif........................................ do {.................... res=y;.................... y+=(x/y);........................................ #if !defined(__PCD__).................... (*p)--;.................... #endif........................................ #if defined(__PCD__).................... data1 = *(((unsigned int8 *)(&y))+3);.................... data2 = *(((unsigned int8 *)(&y))+2);.................... rotate_left(&data1,1);.................... if(bit_test(data2,7)).................... bit_set(data1,0);.................... data1--;.................... bit_clear(data2,7);.................... if(bit_test(data1,0)).................... bit_set(data2,7);.................... data1 = data1 >>1;.................... *(((unsigned int8 *)(&y))+3) = data1;.................... *(((unsigned int8 *)(&y))+2) = data2;........................................ #endif.................... } while(res != y);........................................ return(res);.................... }.................... //Overloaded functions for sqrt() for PCD.................... // Overloaded function sqrt() for data type - Float48.................... #if defined(__PCD__).................... float48 sqrt(float48 x).................... {.................... float48 y, res;.................... unsigned int16 data1,data2;.................... BYTE *p;........................................ #ifdef _ERRNO.................... if(x < 0).................... {.................... errno=EDOM;.................... }.................... #endif........................................ if( x<=0.0).................... return(0.0);........................................ y=x;........................................ #if !defined(__PCD__).................... p=&y;.................... (*p)=(BYTE)((((unsigned int16)(*p)) + 127) >> 1);.................... #endif........................................ #if defined(__PCD__).................... p = (((unsigned int8 *)(&y))+5);.................... data1 = *(((unsigned int8 *)(&y))+5);.................... data2 = *(((unsigned int8 *)(&y))+4);.................... rotate_left(&data1,1);.................... if(bit_test(data2,7)).................... bit_set(data1,0);.................... data1 = ((data1+127) >>1);.................... bit_clear(data2,7);.................... if(bit_test(data1,0)).................... bit_set(data2,7);.................... data1 = data1 >>1;.................... *(((unsigned int8 *)(&y))+5) = data1;.................... *(((unsigned int8 *)(&y))+4) = data2;........................................ #endif........................................ do {.................... res=y;.................... y+=(x/y);........................................ #if !defined(__PCD__).................... (*p)--;.................... #endif........................................ data1 = *(((unsigned int8 *)(&y))+5);.................... data2 = *(((unsigned int8 *)(&y))+4);.................... rotate_left(&data1,1);.................... if(bit_test(data2,7)).................... bit_set(data1,0);.................... data1--;.................... bit_clear(data2,7);.................... if(bit_test(data1,0)).................... bit_set(data2,7);.................... data1 = data1 >>1;.................... *(((unsigned int8 *)(&y))+5) = data1;.................... *(((unsigned int8 *)(&y))+4) = data2;........................................ } while(res != y);........................................ return(res);.................... }........................................ // Overloaded function sqrt() for data type - Float64.................... float64 sqrt(float64 x).................... {.................... float64 y, res;.................... unsigned int16 *p;.................... unsigned int16 temp1,temp2;........................................ #ifdef _ERRNO.................... if(x < 0).................... {.................... errno=EDOM;.................... }.................... #endif........................................ if( x<=0.0).................... return(0.0);........................................ y=x;.................... p= (((unsigned int16 *)(&y))+3);.................... temp1 = *p;.................... temp2 = *p;.................... bit_clear(temp1,15);.................... temp1 = (temp1>>4)+1023;.................... temp1 = temp1 >> 1;.................... temp1 = (temp1<<4) & 0xFFF0;.................... if(bit_test(temp2,15)).................... bit_set(temp1,15);.................... temp2 = temp2 & 0x000F;.................... temp1 ^= temp2;........................................ (*p) = temp1;........................................ do {.................... res=y;.................... y+=(x/y);.................... temp1 = *p;.................... temp2 = *p;.................... bit_clear(temp1,15);.................... temp1 = (temp1>>4);.................... temp1--;.................... temp1 = (temp1<<4) & 0xFFF0;.................... if(bit_test(temp2,15)).................... bit_set(temp1,15);.................... temp2 = temp2 & 0x000F;.................... temp1 ^= temp2;.................... (*p) = temp1;........................................ } while(res != y);........................................ return(res);.................... }.................... #endif........................................ ////////////////////////////// Trig Functions //////////////////////////////.................... #ifdef PI_DIV_BY_TWO.................... #undef PI_DIV_BY_TWO.................... #endif.................... #define PI_DIV_BY_TWO 1.5707963267948966.................... #ifdef TWOBYPI.................... #undef TWOBYPI.................... #define TWOBYPI 0.6366197723675813.................... #endif.................... ////////////////////////////////////////////////////////////////////////////.................... // float cos(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the cosine value of the angle x, which is in radian.................... // Date : 9/20/2001.................... //.................... float32 cos(float32 x).................... {.................... float32 y, t, t2 = 1.0;.................... unsigned int8 quad, i;.................... float32 frac;.................... float32 p[6] = { //by the series definition for cosine.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ).................... 0.04166666666667,.................... -0.00138888888889,.................... 0.00002480158730,.................... -0.00000027557319,.................... 0.00000000208767,.................... //-0.00000000001147,.................... // 0.00000000000005.................... };........................................ if (x < 0) x = -x; // absolute value of input........................................ quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input.................... quad = quad % 4; // quadrant (0 to 3)........................................ if (quad == 0 || quad == 2).................... t = frac * PI_DIV_BY_TWO;.................... else if (quad == 1).................... t = (1-frac) * PI_DIV_BY_TWO;.................... else // should be 3.................... t = (frac-1) * PI_DIV_BY_TWO;........................................ y = 1.0;.................... t = t * t;.................... for (i = 0; i <= 5; i++).................... {.................... t2 = t2 * t;.................... y = y + p[i] * t2;.................... }........................................ if (quad == 2 || quad == 1).................... y = -y; // correct sign........................................ return (y);.................... }............................................................ //Overloaded functions for cos() for PCD.................... // Overloaded function cos() for data type - Float48.................... #if defined(__PCD__).................... float48 cos(float48 x).................... {.................... float48 y, t, t2 = 1.0;.................... unsigned int8 quad, i;.................... float48 frac;.................... float48 p[6] = { //by the series definition for cosine.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ).................... 0.04166666666667,.................... -0.00138888888889,.................... 0.00002480158730,.................... -0.00000027557319,.................... 0.00000000208767,.................... //-0.00000000001147,.................... // 0.00000000000005.................... };........................................ if (x < 0) x = -x; // absolute value of input........................................ quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input.................... quad = quad % 4; // quadrant (0 to 3)........................................ if (quad == 0 || quad == 2).................... t = frac * PI_DIV_BY_TWO;.................... else if (quad == 1).................... t = (1-frac) * PI_DIV_BY_TWO;.................... else // should be 3.................... t = (frac-1) * PI_DIV_BY_TWO;........................................ y = 0.999999999781;.................... t = t * t;.................... for (i = 0; i <= 5; i++).................... {.................... t2 = t2 * t;.................... y = y + p[i] * t2;.................... }........................................ if (quad == 2 || quad == 1).................... y = -y; // correct sign........................................ return (y);.................... }........................................ // Overloaded function cos() for data type - Float48.................... float64 cos(float64 x).................... {.................... float64 y, t, t2 = 1.0;.................... unsigned int8 quad, i;.................... float64 frac;.................... float64 p[6] = { //by the series definition for cosine.................... -0.5, // sum ( ( (-1)^n * x^2n )/(2n)! ).................... 0.04166666666667,.................... -0.00138888888889,.................... 0.00002480158730,.................... -0.00000027557319,.................... 0.00000000208767,.................... //-0.00000000001147,.................... // 0.00000000000005.................... };........................................ if (x < 0) x = -x; // absolute value of input........................................ quad = (unsigned int8)(x / PI_DIV_BY_TWO); // quadrant.................... frac = (x / PI_DIV_BY_TWO) - quad; // fractional part of input.................... quad = quad % 4; // quadrant (0 to 3)........................................ if (quad == 0 || quad == 2).................... t = frac * PI_DIV_BY_TWO;.................... else if (quad == 1).................... t = (1-frac) * PI_DIV_BY_TWO;.................... else // should be 3.................... t = (frac-1) * PI_DIV_BY_TWO;........................................ y = 0.999999999781;.................... t = t * t;.................... for (i = 0; i <= 5; i++).................... {.................... t2 = t2 * t;.................... y = y + p[i] * t2;.................... }........................................ if (quad == 2 || quad == 1).................... y = -y; // correct sign........................................ return (y);.................... }........................................ #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float sin(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the sine value of the angle x, which is in radian.................... // Date : 9/20/2001.................... //.................... float32 sin(float32 x).................... {.................... return cos(x - PI_DIV_BY_TWO);.................... }........................................ //Overloaded functions for sin() for PCD.................... // Overloaded function sin() for data type - Float48.................... #if defined(__PCD__).................... float48 sin(float48 x).................... {.................... return cos(x - PI_DIV_BY_TWO);.................... }........................................ // Overloaded function sin() for data type - Float48.................... float64 sin(float64 x).................... {.................... return cos(x - PI_DIV_BY_TWO);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float tan(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the tangent value of the angle x, which is in radian.................... // Date : 9/20/2001.................... //.................... float32 tan(float32 x).................... {.................... float32 c, s;........................................ c = cos(x);.................... if (c == 0.0).................... return (1.0e+36);........................................ s = sin(x);.................... return(s/c);.................... }.................... //Overloaded functions for tan() for PCD.................... // Overloaded function tan() for data type - Float48.................... #if defined(__PCD__).................... float48 tan(float48 x).................... {.................... float48 c, s;........................................ c = cos(x);.................... if (c == 0.0).................... return (1.0e+36);........................................ s = sin(x);.................... return(s/c);.................... }........................................ // Overloaded function tan() for data type - Float48.................... float64 tan(float64 x).................... {.................... float64 c, s;........................................ c = cos(x);.................... if (c == 0.0).................... return (1.0e+36);........................................ s = sin(x);.................... return(s/c);.................... }.................... #endif........................................ float32 const pas[3] = {0.49559947, -4.6145309, 5.6036290};.................... float32 const qas[3] = {1.0000000, -5.5484666, 5.6036290};........................................ float32 ASIN_COS(float32 x, unsigned int8 n).................... {.................... float32 y, res, r, y2;.................... int1 s;.................... #ifdef _ERRNO.................... if(x <-1 || x > 1).................... {.................... errno=EDOM;.................... }.................... #endif.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 0.5).................... {.................... y = sqrt((1.0 - y)/2.0);.................... n += 2;.................... }........................................ y2=y*y;........................................ res = pas[0]*y2 + pas[1];.................... res = res*y2 + pas[2];........................................ r = qas[0]*y2 + qas[1];.................... r = r*y2 + qas[2];........................................ res = y*res/r;........................................ if (n & 2) // |x| > 0.5.................... res = PI_DIV_BY_TWO - 2.0*res;.................... if (s).................... res = -res;.................... if (n & 1) // take arccos.................... res = PI_DIV_BY_TWO - res;........................................ return(res);.................... }........................................ //Overloaded functions for ASIN_COS() for PCD.................... // Overloaded function ASIN_COS() for data type - Float48.................... #if defined(__PCD__).................... float48 ASIN_COS(float48 x, unsigned int8 n).................... {.................... float48 y, res, r, y2;.................... int1 s;.................... #ifdef _ERRNO.................... if(x <-1 || x > 1).................... {.................... errno=EDOM;.................... }.................... #endif.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 0.5).................... {.................... y = sqrt((1.0 - y)/2.0);.................... n += 2;.................... }........................................ y2=y*y;........................................ res = pas[0]*y2 + pas[1];.................... res = res*y2 + pas[2];........................................ r = qas[0]*y2 + qas[1];.................... r = r*y2 + qas[2];........................................ res = y*res/r;........................................ if (n & 2) // |x| > 0.5.................... res = PI_DIV_BY_TWO - 2.0*res;.................... if (s).................... res = -res;.................... if (n & 1) // take arccos.................... res = PI_DIV_BY_TWO - res;........................................ return(res);.................... }........................................ // Overloaded function ASIN_COS() for data type - Float64.................... float64 ASIN_COS(float64 x, unsigned int8 n).................... {.................... float64 y, res, r, y2;.................... int1 s;.................... #ifdef _ERRNO.................... if(x <-1 || x > 1).................... {.................... errno=EDOM;.................... }.................... #endif.................... s = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 0.5).................... {.................... y = sqrt((1.0 - y)/2.0);.................... n += 2;.................... }........................................ y2=y*y;........................................ res = pas[0]*y2 + pas[1];.................... res = res*y2 + pas[2];........................................ r = qas[0]*y2 + qas[1];.................... r = r*y2 + qas[2];........................................ res = y*res/r;........................................ if (n & 2) // |x| > 0.5.................... res = PI_DIV_BY_TWO - 2.0*res;.................... if (s).................... res = -res;.................... if (n & 1) // take arccos.................... res = PI_DIV_BY_TWO - res;........................................ return(res);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float asin(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the arcsine value of the value x..................... // Date : N/A.................... //.................... float32 asin(float32 x).................... {.................... float32 r;........................................ r = ASIN_COS(x, 0);.................... return(r);.................... }.................... //Overloaded functions for asin() for PCD.................... // Overloaded function asin() for data type - Float48.................... #if defined(__PCD__).................... float48 asin(float48 x).................... {.................... float48 r;........................................ r = ASIN_COS(x, 0);.................... return(r);.................... }........................................ // Overloaded function asin() for data type - Float64.................... float64 asin(float64 x).................... {.................... float64 r;........................................ r = ASIN_COS(x, 0);.................... return(r);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float acos(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the arccosine value of the value x..................... // Date : N/A.................... //.................... float32 acos(float32 x).................... {.................... float32 r;........................................ r = ASIN_COS(x, 1);.................... return(r);.................... }.................... //Overloaded functions for acos() for PCD.................... // Overloaded function acos() for data type - Float48.................... #if defined(__PCD__).................... float48 acos(float48 x).................... {.................... float48 r;........................................ r = ASIN_COS(x, 1);.................... return(r);.................... }........................................ // Overloaded function acos() for data type - Float64.................... float64 acos(float64 x).................... {.................... float64 r;........................................ r = ASIN_COS(x, 1);.................... return(r);.................... }.................... #endif........................................ float32 const pat[4] = {0.17630401, 5.6710795, 22.376096, 19.818457};.................... float32 const qat[4] = {1.0000000, 11.368190, 28.982246, 19.818457};........................................ ////////////////////////////////////////////////////////////////////////////.................... // float atan(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : returns the arctangent value of the value x..................... // Date : N/A.................... //.................... float32 atan(float32 x).................... {.................... float32 y, res, r;.................... int1 s, flag;........................................ s = 0;.................... flag = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 1.0).................... {.................... y = 1.0/y;.................... flag = 1;.................... }........................................ res = pat[0]*y*y + pat[1];.................... res = res*y*y + pat[2];.................... res = res*y*y + pat[3];........................................ r = qat[0]*y*y + qat[1];.................... r = r*y*y + qat[2];.................... r = r*y*y + qat[3];........................................ res = y*res/r;............................................................ if (flag) // for |x| > 1.................... res = PI_DIV_BY_TWO - res;.................... if (s).................... res = -res;........................................ return(res);.................... }.................... //Overloaded functions for atan() for PCD.................... // Overloaded function atan() for data type - Float48.................... #if defined(__PCD__).................... float48 atan(float48 x).................... {.................... float48 y, res, r;.................... int1 s, flag;........................................ s = 0;.................... flag = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 1.0).................... {.................... y = 1.0/y;.................... flag = 1;.................... }........................................ res = pat[0]*y*y + pat[1];.................... res = res*y*y + pat[2];.................... res = res*y*y + pat[3];........................................ r = qat[0]*y*y + qat[1];.................... r = r*y*y + qat[2];.................... r = r*y*y + qat[3];........................................ res = y*res/r;............................................................ if (flag) // for |x| > 1.................... res = PI_DIV_BY_TWO - res;.................... if (s).................... res = -res;........................................ return(res);.................... }........................................ // Overloaded function atan() for data type - Float64.................... float64 atan(float64 x).................... {.................... float64 y, res, r;.................... int1 s, flag;........................................ s = 0;.................... flag = 0;.................... y = x;........................................ if (x < 0).................... {.................... s = 1;.................... y = -y;.................... }........................................ if (y > 1.0).................... {.................... y = 1.0/y;.................... flag = 1;.................... }........................................ res = pat[0]*y*y + pat[1];.................... res = res*y*y + pat[2];.................... res = res*y*y + pat[3];........................................ r = qat[0]*y*y + qat[1];.................... r = r*y*y + qat[2];.................... r = r*y*y + qat[3];........................................ res = y*res/r;............................................................ if (flag) // for |x| > 1.................... res = PI_DIV_BY_TWO - res;.................... if (s).................... res = -res;........................................ return(res);.................... }.................... #endif........................................ /////////////////////////////////////////////////////////////////////////////.................... // float atan2(float y, float x).................... /////////////////////////////////////////////////////////////////////////////.................... // Description :computes the principal value of arc tangent of y/x, using the.................... // signs of both the arguments to determine the quadrant of the return value.................... // Returns : returns the arc tangent of y/x..................... // Date : N/A.................... //........................................ float32 atan2(float32 y,float32 x).................... {.................... float32 z;.................... int1 sign;.................... unsigned int8 quad;.................... sign=0;.................... quad=0; //quadrant.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1));.................... if(y<0.0).................... {.................... sign=1;.................... y=-y;.................... }.................... if(x<0.0).................... {.................... x=-x;.................... }.................... if (x==0.0).................... {.................... if(y==0.0).................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... else.................... {.................... if(sign).................... {.................... return (-(PI_DIV_BY_TWO));.................... }.................... else.................... {.................... return (PI_DIV_BY_TWO);.................... }.................... }.................... }.................... else.................... {.................... z=y/x;.................... switch(quad).................... {.................... case 1:.................... {.................... return atan(z);.................... break;.................... }.................... case 2:.................... {.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122.................... return (PI-atan(z));.................... break;.................... }.................... case 3:.................... {.................... return (atan(z)-PI);.................... break;.................... }.................... case 4:.................... {.................... return (-atan(z));.................... break;.................... }.................... }.................... }.................... }........................................ //Overloaded functions for atan2() for PCD.................... // Overloaded function atan2() for data type - Float48.................... #if defined(__PCD__).................... float48 atan2(float48 y,float48 x).................... {.................... float48 z;.................... int1 sign;.................... unsigned int8 quad;.................... sign=0;.................... quad=0; //quadrant.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1));.................... if(y<0.0).................... {.................... sign=1;.................... y=-y;.................... }.................... if(x<0.0).................... {.................... x=-x;.................... }.................... if (x==0.0).................... {.................... if(y==0.0).................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... else.................... {.................... if(sign).................... {.................... return (-(PI_DIV_BY_TWO));.................... }.................... else.................... {.................... return (PI_DIV_BY_TWO);.................... }.................... }.................... }.................... else.................... {.................... z=y/x;.................... switch(quad).................... {.................... case 1:.................... {.................... return atan(z);.................... break;.................... }.................... case 2:.................... {.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122.................... return (PI-atan(z));.................... break;.................... }.................... case 3:.................... {.................... return (atan(z)-PI);.................... break;.................... }.................... case 4:.................... {.................... return (-atan(z));.................... break;.................... }.................... }.................... }.................... }........................................ // Overloaded function atan2() for data type - Float64.................... float64 atan2(float64 y,float64 x).................... {.................... float64 z;.................... int1 sign;.................... unsigned int8 quad;.................... sign=0;.................... quad=0; //quadrant.................... quad=((y<=0.0)?((x<=0.0)?3:4):((x<0.0)?2:1));.................... if(y<0.0).................... {.................... sign=1;.................... y=-y;.................... }.................... if(x<0.0).................... {.................... x=-x;.................... }.................... if (x==0.0).................... {.................... if(y==0.0).................... {.................... #ifdef _ERRNO.................... {.................... errno=EDOM;.................... }.................... #endif.................... }.................... else.................... {.................... if(sign).................... {.................... return (-(PI_DIV_BY_TWO));.................... }.................... else.................... {.................... return (PI_DIV_BY_TWO);.................... }.................... }.................... }.................... else.................... {.................... z=y/x;.................... switch(quad).................... {.................... case 1:.................... {.................... return atan(z);.................... break;.................... }.................... case 2:.................... {.................... // return (atan(z)+PI_DIV_BY_TWO); //2L3122.................... return (PI-atan(z));.................... break;.................... }.................... case 3:.................... {.................... return (atan(z)-PI);.................... break;.................... }.................... case 4:.................... {.................... return (-atan(z));.................... break;.................... }.................... }.................... }.................... }.................... #endif........................................ //////////////////// Hyperbolic functions ////////////////////........................................ ////////////////////////////////////////////////////////////////////////////.................... // float cosh(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : Computes the hyperbolic cosine value of x.................... // Returns : returns the hyperbolic cosine value of x.................... // Date : N/A.................... //........................................ float32 cosh(float32 x).................... {.................... return ((exp(x)+exp(-x))/2);.................... }.................... //Overloaded functions for cosh() for PCD.................... // Overloaded function cosh() for data type - Float48.................... #if defined(__PCD__).................... float48 cosh(float48 x).................... {.................... return ((exp(x)+exp(-x))/2);.................... }........................................ // Overloaded function cosh() for data type - Float64.................... float64 cosh(float64 x).................... {.................... return ((exp(x)+exp(-x))/2);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float sinh(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : Computes the hyperbolic sine value of x.................... // Returns : returns the hyperbolic sine value of x.................... // Date : N/A.................... //........................................ float32 sinh(float32 x).................... {........................................ return ((exp(x) - exp(-x))/2);.................... }.................... //Overloaded functions for sinh() for PCD.................... // Overloaded function sinh() for data type - Float48.................... #if defined(__PCD__).................... float48 sinh(float48 x).................... {........................................ return ((exp(x) - exp(-x))/2);.................... }........................................ // Overloaded function sinh() for data type - Float48.................... float64 sinh(float64 x).................... {........................................ return ((exp(x) - exp(-x))/2);.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float tanh(float x).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : Computes the hyperbolic tangent value of x.................... // Returns : returns the hyperbolic tangent value of x.................... // Date : N/A.................... //........................................ float32 tanh(float32 x).................... {.................... return(sinh(x)/cosh(x));.................... }.................... //Overloaded functions for tanh() for PCD.................... // Overloaded function tanh() for data type - Float48.................... #if defined(__PCD__).................... float48 tanh(float48 x).................... {.................... return(sinh(x)/cosh(x));.................... }........................................ // Overloaded function tanh() for data type - Float64.................... float64 tanh(float64 x).................... {.................... return(sinh(x)/cosh(x));.................... }.................... #endif........................................ ////////////////////////////////////////////////////////////////////////////.................... // float frexp(float x, signed int *exp).................... ////////////////////////////////////////////////////////////////////////////.................... // Description : breaks a floating point number into a normalized fraction and an integral.................... // power of 2. It stores the integer in the signed int object pointed to by exp..................... // Returns : returns the value x, such that x is a double with magnitude in the interval.................... // [1/2,1) or zero, and value equals x times 2 raised to the power *exp.If value is zero,.................... // both parts of the result are zero..................... // Date : N/A.................... //........................................ #define LOG2 .30102999566398119521.................... float32 frexp(float32 x, signed int8 *exp).................... {.................... float32 res;.................... int1 sign = 0;.................... if(x == 0.0).................... {.................... *exp=0;.................... return (0.0);.................... }.................... if(x < 0.0).................... {.................... x=-x;.................... sign=1;.................... }.................... if (x > 1.0).................... {.................... *exp=(ceil(log10(x)/LOG2));.................... res=x/(pow(2, *exp));.................... if (res == 1).................... {.................... *exp=*exp+1;.................... res=.5;.................... }.................... }.................... else.................... {.................... if(x < 0.5).................... {.................... *exp=-1;.................... res=x*2;.................... }.................... else.................... {.................... *exp=0;.................... res=x;.................... }.................... }.................... if(sign).................... {.................... res=-res;.................... }.................... return res;.................... }........................................ //Overloaded functions for frexp() for PCD.................... // Overloaded function frexp() for data type - Float48.................... #if defined(__PCD__).................... float48 frexp(float48 x, signed int8 *exp).................... {.................... float48 res;.................... int1 sign = 0;.................... if(x == 0.0).................... {.................... *exp=0;.................... return (0.0);.................... }.................... if(x < 0.0).................... {.................... x=-x;.................... sign=1;.................... }.................... if (x > 1.0).................... {.................... *exp=(ceil(log10(x)/LOG2));.................... res=x/(pow(2, *exp));.................... if (res == 1).................... {.................... *exp=*exp+1;.................... res=.5;.................... }.................... }.................... else.................... {.................... if(x < 0.5).................... {.................... *exp=-1;.................... res=x*2;.................... }.................... else.................... {.................... *exp=0;.................... res=x;.................... }.................... }.................... if(sign).................... {.................... res=-res;.................... }.................... return res;.................... }........................................ // Overloaded function frexp() for data type - Float64.................... float64 frexp(float64 x, signed int8 *exp).................... {.................... float64 res;.................... int1 sign = 0;.................... if(x == 0.0).................... {.................... *exp=0;.................... return (0.0);.................... }.................... if(x < 0.0).................... {.................... x=-x;.................... sign=1;.................... }.................... if (x > 1.0).................... {.................... *exp=(ceil(log10(x)/LOG2));.................... res=x/(pow(2, *exp));.................... if (res == 1).................... {.................... *exp=*exp+1;.................... res=.5;.................... }.................... }.................... else.................... {.................... if(x < 0.5).................... {.................... *exp=-1;.................... res=x*2;.................... }.................... else.................... {.................... *exp=0;.................... res=x;.................... }.................... }.................... if(sign).................... {.................... res=-res;.................... }.................... return res;.................... }.................... #endif........................................ //////////////////////////////////////////////////////////////////////////////.................... // float ldexp(float x, signed int *exp).................... //////////////////////////////////////////////////////////////////////////////.................... // Description : multiplies a floating point number by an integral power of 2..................... // Returns : returns the value of x times 2 raised to the power exp..................... // Date : N/A.................... //........................................ float32 ldexp(float32 value, signed int8 exp).................... {.................... return (value * pow(2,exp));.................... }.................... //Overloaded functions for ldexp() for PCD.................... // Overloaded function ldexp() for data type - Float48........................................ #if defined(__PCD__).................... float48 ldexp(float48 value, signed int8 exp).................... {.................... return (value * pow(2,exp));.................... }.................... // Overloaded function ldexp() for data type - Float64.................... float64 ldexp(float64 value, signed int8 exp).................... {.................... return (value * pow(2,exp));.................... }.................... #endif........................................ #endif............................................................ void main().................... {*024F: CLRF 040250: BCF 03.70251: MOVLW 1F0252: ANDWF 03,F0253: MOVLW 710254: BSF 03.50255: MOVWF 0F0256: MOVF 0F,W0257: BCF 03.50258: BCF 20.70259: MOVF 20,W025A: BSF 03.5025B: MOVWF 07025C: BCF 03.5025D: BSF 07.7025E: BSF 03.5025F: BSF 03.60260: MOVF 09,W0261: ANDLW C00262: MOVWF 090263: BCF 03.60264: BCF 1F.40265: BCF 1F.50266: MOVLW 000267: BSF 03.60268: MOVWF 080269: BCF 03.5026A: CLRF 07026B: CLRF 08026C: CLRF 09*0276: CLRF 340277: CLRF 33.................... float last,b,anemo_speed;.................... unsigned int16 anemo_round=0;.................... unsigned int16 i;............................................................ //signed int16 X,Y,Z;.................... setup_adc_ports(NO_ANALOGS|VSS_VDD);0278: BSF 03.50279: BSF 03.6027A: MOVF 09,W027B: ANDLW C0027C: MOVWF 09027D: BCF 03.6027E: BCF 1F.4027F: BCF 1F.50280: MOVLW 000281: BSF 03.60282: MOVWF 08.................... setup_adc(ADC_CLOCK_DIV_2);0283: BCF 03.50284: BCF 03.60285: BCF 1F.60286: BCF 1F.70287: BSF 03.50288: BCF 1F.70289: BCF 03.5028A: BSF 1F.0.................... setup_spi(SPI_SS_DISABLED);028B: BCF 14.5028C: BCF 20.5028D: MOVF 20,W028E: BSF 03.5028F: MOVWF 070290: BCF 03.50291: BSF 20.40292: MOVF 20,W0293: BSF 03.50294: MOVWF 070295: BCF 03.50296: BCF 20.30297: MOVF 20,W0298: BSF 03.50299: MOVWF 07029A: MOVLW 01029B: BCF 03.5029C: MOVWF 14029D: MOVLW 00029E: BSF 03.5029F: MOVWF 14.................... setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);02A0: MOVF 01,W02A1: ANDLW C702A2: IORLW 0802A3: MOVWF 01.................... setup_timer_1(T1_DISABLED);02A4: BCF 03.502A5: CLRF 10.................... setup_timer_2(T2_DISABLED,0,1);02A6: MOVLW 0002A7: MOVWF 7802A8: MOVWF 1202A9: MOVLW 0002AA: BSF 03.502AB: MOVWF 12.................... setup_ccp1(CCP_OFF);02AC: BCF 03.502AD: BSF 20.202AE: MOVF 20,W02AF: BSF 03.502B0: MOVWF 0702B1: BCF 03.502B2: CLRF 1702B3: BSF 03.502B4: CLRF 1B02B5: CLRF 1C02B6: MOVLW 0102B7: MOVWF 1D.................... setup_comparator(NC_NC_NC_NC);// This device COMP currently not supported by the PICWizard02B8: BCF 03.502B9: BSF 03.602BA: CLRF 0702BB: CLRF 0802BC: CLRF 09........................................ // Init the HMC5883L. Set Mode register for.................... // continuous measurements..................... hmc5883l_write_reg(HMC5883L_CFG_A_REG, 0x18); // no average, maximal update range02BD: BCF 03.602BE: CLRF 3702BF: MOVLW 1802C0: MOVWF 3802C1: CALL 069.................... hmc5883l_write_reg(HMC5883L_CFG_B_REG, 0xE0); // maximal range02C2: MOVLW 0102C3: MOVWF 3702C4: MOVLW E002C5: MOVWF 3802C6: CALL 069.................... hmc5883l_write_reg(HMC5883L_MODE_REG, 0x00);02C7: MOVLW 0202C8: MOVWF 3702C9: CLRF 3802CA: 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",);02CB: MOVLW 0402CC: BSF 03.602CD: MOVWF 0D02CE: MOVLW 0002CF: MOVWF 0F02D0: BCF 03.602D1: CALL 0C5.................... printf("(c)mlab JACHO 2013: \r\n",);02D2: MOVLW 0D02D3: BSF 03.602D4: MOVWF 0D02D5: MOVLW 0002D6: MOVWF 0F02D7: BCF 03.602D8: CALL 0C5.................... printf("X, Y, Z \r\n",);02D9: MOVLW 1902DA: BSF 03.602DB: MOVWF 0D02DC: MOVLW 0002DD: MOVWF 0F02DE: BCF 03.602DF: CALL 0C5........................................ /* while(true).................... {.................... X = mag_readX();.................... Y = mag_readY();.................... Z = mag_readZ();.................... printf("%4Ld %4Ld %4Ld \r\n", X, Y, Z);.................... Delay_ms(50);........................................ }.................... */........................................ while(TRUE).................... {........................................ // for(i=0;i<=10;i++).................... // {.................... hmc5883l_read_data();02E0: GOTO 150........................................ // b = atan2((float)compass.y,(float)compass.x); // vypocet azimutu z kartezskych souradnic.................... // b = (b/3.141596)*180; // prevod na stupne.................... // b += 180;........................................ // anemo_speed += (b-last);.................... // last=b;.................... // delay_ms(10);.................... // }.................... // anemo_speed=anemo_speed/10;........................................ printf("%6Ld %6Ld %6Ld \n\r", compass.x, compass.y, compass.z);02E1: MOVLW 0002E2: MOVWF 0402E3: MOVF 22,W02E4: MOVWF 3802E5: MOVF 21,W02E6: MOVWF 3702E7: CALL 1CF02E8: MOVLW 2002E9: MOVWF 4002EA: CALL 0A202EB: MOVLW 0002EC: MOVWF 0402ED: MOVF 24,W02EE: MOVWF 3802EF: MOVF 23,W02F0: MOVWF 3702F1: CALL 1CF02F2: MOVLW 2002F3: MOVWF 4002F4: CALL 0A202F5: MOVLW 0002F6: MOVWF 0402F7: MOVF 26,W02F8: MOVWF 3802F9: MOVF 25,W02FA: MOVWF 3702FB: CALL 1CF02FC: MOVLW 2002FD: MOVWF 4002FE: CALL 0A202FF: MOVLW 0A0300: MOVWF 400301: CALL 0A20302: MOVLW 0D0303: MOVWF 400304: CALL 0A2.................... // delay_ms(100);.................... }0305: GOTO 2E0........................................ }............................................................0306: SLEEPConfiguration Fuses:Word 1: 2CF5 INTRC NOWDT NOPUT MCLR NOPROTECT NOCPD NOBROWNOUT IESO FCMEN NOLVP NODEBUGWord 2: 3FFF NOWRT BORV40