control_motor3.lst

Embedded camera control program.

....................       result = -1*result;  
....................    if(endptr)  
....................    {  
....................       if (ptr) {  
....................          ptr--;  
....................          *((char *)endptr)=s+ptr;  
....................       }  
....................       else  
....................          *((char *)endptr)=s;  
....................    }  
....................   
....................    return(result);  
.................... }  
....................   
.................... long strtoul(char *s,char *endptr,signed int base)  
.................... {  
....................    char *sc,*s1,*sd;  
....................    unsigned long x=0;  
....................    char sign;  
....................    char digits[]="0123456789abcdefghijklmnopqstuvwxyz";  
....................    for(sc=s;isspace(*sc);++sc);  
....................    sign=*sc=='-'||*sc=='+'?sc++:'+';  
....................    if(sign=='-')  
....................    {  
....................       if (endptr)  
....................       {  
....................         *((char *)endptr)=s;  
....................       }  
....................       return 0;  
....................    }  
....................   
....................    if (base <0 || base ==1|| base >36) // invalid base  
....................    {  
....................       if (endptr)  
....................       {  
....................         *((char *)endptr)=s;  
....................       }  
....................       return 0;  
....................    }  
....................    else if (base)  
....................    {  
....................       if(base==16 && *sc =='0'&&(sc[1]=='x' || sc[1]=='X'))  
....................          sc+=2;  
....................       if(base==8 && *sc =='0')  
....................          sc+=1;  
....................       if(base==2 && *sc =='0'&&sc[1]=='b')  
....................          sc+=2;  
....................   
....................    }  
....................    else if(*sc!='0') // base is 0, find base  
....................       base=10;  
....................    else if (sc[1]=='x' || sc[1]=='X')  
....................       base =16,sc+=2;  
....................    else if(sc[1]=='b')  
....................       base=2,sc+=2;  
....................    else  
....................       base=8;  
....................    for (s1=sc;*sc=='0';++sc);// skip leading zeroes  
....................    sd=memchr(digits,tolower(*sc),base);  
....................    for(; sd!=0; )  
....................    {  
....................       x=x*base+(int16)(sd-digits);  
....................       ++sc;  
....................       sd=memchr(digits,tolower(*sc),base);  
....................    }  
....................    if(s1==sc)  
....................    {  
....................       if (endptr)  
....................       {  
....................         *((char *)endptr)=s;  
....................       }  
....................    return 0;  
....................    }  
....................    if (endptr)  
....................         *((char *)endptr)=sc;  
....................    return x;  
.................... }  
....................   
....................   
.................... signed long strtol(char *s,char *endptr,signed int base)  
.................... {  
....................    char *sc,*s1,*sd;  
....................    signed long x=0;  
....................    char sign;  
....................    char digits[]="0123456789abcdefghijklmnopqstuvwxyz";  
....................    for(sc=s;isspace(*sc);++sc);  
....................    sign=*sc=='-'||*sc=='+'?sc++:'+';  
....................    if (base <0 || base ==1|| base >36) // invalid base  
....................    {  
....................       if (endptr)  
....................       {  
....................         *((char *)endptr)=s;  
....................       }  
....................       return 0;  
....................    }  
....................    else if (base)  
....................    {  
....................       if(base==16 && *sc =='0'&&(sc[1]=='x' || sc[1]=='X'))  
....................          sc+=2;  
....................       if(base==8 && *sc =='0')  
....................          sc+=1;  
....................       if(base==2 && *sc =='0'&&sc[1]=='b')  
....................          sc+=2;  
....................   
....................    }  
....................    else if(*sc!='0') // base is 0, find base  
....................       base=10;  
....................    else if (sc[1]=='x' || sc[1]=='X')  
....................       base =16,sc+=2;  
....................    else if(sc[1]=='b')  
....................       base=2,sc+=2;  
....................    else  
....................       base=8;  
....................    for (s1=sc;*sc=='0';++sc);// skip leading zeroes  
....................   
....................    sd=memchr(digits,tolower(*sc),base);  
....................    for(;sd!=0;)  
....................    {  
....................       x=x*base+(int16)(sd-digits);  
....................       ++sc;  
....................       sd=memchr(digits,tolower(*sc),base);  
....................    }  
....................    if(s1==sc)  
....................    {  
....................       if (endptr)  
....................       {  
....................         *((char *)endptr)=s;  
....................       }  
....................    return 0;  
....................    }  
....................    if(sign=='-')  
....................       x  =-x;  
....................    if (endptr)  
....................         *((char *)endptr)=sc;  
....................    return x;  
.................... }  
....................   
.................... signed int system(char *string)  
.................... {  
....................    return 0;  
.................... }  
....................   
.................... int mblen(char *s,size_t n)  
.................... {  
....................    return strlen(s);  
.................... }  
....................   
.................... int mbtowc(wchar_t *pwc,char *s,size_t n)  
.................... {  
....................    *pwc=*s;  
....................    return 1;  
.................... }  
....................   
.................... int wctomb(char *s,wchar_t wchar)  
.................... {  
....................    *s=wchar;  
....................    return 1;  
.................... }  
....................   
.................... size_t mbstowcs(wchar_t *pwcs,char *s,size_t n)  
.................... {  
....................    strncpy(pwcs,s,n);  
....................    return strlen(pwcs);  
.................... }  
....................   
.................... size_t wcstombs(char *s,wchar_t *pwcs,size_t n)  
.................... {  
....................    strncpy(s,pwcs,n);  
....................    return strlen(s);  
.................... }  
....................   
.................... //---------------------------------------------------------------------------  
.................... // The random number implementation  
.................... //---------------------------------------------------------------------------  
....................   
.................... unsigned int32 _Randseed = 1;  
0403:  MOVLW  01
0404:  MOVWF  29
0405:  CLRF   2A
0406:  CLRF   2B
0407:  CLRF   2C
....................   
.................... long rand(void)  
.................... {  
....................    _Randseed = _Randseed * 1103515245 + 12345;  
....................    return ((unsigned long)(_Randseed >> 16) % RAND_MAX);  
.................... }  
....................   
.................... void srand(unsigned int32 seed)  
.................... {  
....................    _Randseed = seed;  
.................... }  
....................   
.................... //---------------------------------------------------------------------------  
.................... // Searching and sorting utilities implementation  
.................... //---------------------------------------------------------------------------  
....................   
.................... typedef signed int (*_Cmpfun)(char * p1,char * p2);  
....................   
.................... void qsort(char * qdata, int qitems, int qsize, _Cmpfun cmp) {  
....................    int m,j,i,l;  
....................    short done;  
....................    BYTE t[16];  
....................   
....................    m = qitems/2;  
....................    while( m > 0 ) {  
....................      for(j=0; j<(qitems-m); ++j) {  
....................         i = j;  
....................         do  
....................         {  
....................            done=TRUE;  
....................            l = i+m;  
....................            if( (*cmp)(qdata+i*qsize, qdata+l*qsize) > 0 ) {  
....................               memcpy(t, qdata+i*qsize, qsize);  
....................               memcpy(qdata+i*qsize, qdata+l*qsize, qsize);  
....................               memcpy(qdata+l*qsize, t, qsize);  
....................               if(m <= i)  
....................                 i -= m;  
....................                 done = FALSE;  
....................            }  
....................         } while(!done);  
....................      }  
....................      m = m/2;  
....................    }  
.................... }  
....................   
....................   
.................... char *bsearch(char *key, char *base, size_t num, size_t width,_Cmpfun cmp)  
.................... {  
....................    char *p, *q;  
....................    size_t n;  
....................    size_t pivot;  
....................    signed int val;  
....................   
....................    p = base;  
....................    n = num;  
....................   
....................    while (n > 0)  
....................    {  
....................       pivot = n >> 1;  
....................       q = p + width * pivot;  
....................   
....................       val = (*cmp)(key, q);  
....................   
....................       if (val < 0)  
....................          n = pivot;  
....................       else if (val == 0)  
....................          return ((char *)q);  
....................       else {  
....................          p = q + width;  
....................          n -= pivot + 1;  
....................       }  
....................    }  
....................   
....................    return NULL;      // There's no match  
.................... }  
....................   
....................   
.................... #endif  
....................  
.................... #include <math.h> 
....................  ////////////////////////////////////////////////////////////////////////////  
.................... ////        (C) Copyright 1996,2003 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 mad