control_motor10.lst

Embedded camera control program.

0167:  MOVWF  5E
0168:  MOVF   54,W
0169:  MOVWF  5D
016A:  CLRF   5C
016B:  BCF    03.0
016C:  RRF    5F,F
016D:  RRF    5E,F
016E:  RRF    5D,F
016F:  RRF    5C,F
0170:  DECFSZ 59,F
0171:  GOTO   16A
0172:  BTFSS  5A.7
0173:  GOTO   177
0174:  BSF    5B.1
0175:  GOTO   218
0176:  BCF    5B.1
0177:  BCF    59.0
0178:  BSF    5B.5
0179:  MOVLW  58
017A:  MOVWF  04
017B:  BCF    03.7
017C:  GOTO   22D
017D:  BCF    5B.5
017E:  BTFSC  5A.7
017F:  GOTO   18A
0180:  BTFSS  59.0
0181:  GOTO   195
0182:  RRF    5F,F
0183:  RRF    5E,F
0184:  RRF    5D,F
0185:  RRF    5C,F
0186:  INCF   77,F
0187:  BTFSC  03.2
0188:  GOTO   213
0189:  GOTO   195
018A:  BTFSC  5F.7
018B:  GOTO   198
018C:  BCF    03.0
018D:  RLF    5C,F
018E:  RLF    5D,F
018F:  RLF    5E,F
0190:  RLF    5F,F
0191:  DECF   77,F
0192:  BTFSC  03.2
0193:  GOTO   213
0194:  GOTO   18A
0195:  BSF    5B.7
0196:  GOTO   1C0
0197:  BCF    5B.7
0198:  MOVF   56,W
0199:  MOVWF  5A
019A:  BTFSS  56.7
019B:  GOTO   19E
019C:  BSF    5F.7
019D:  GOTO   20C
019E:  BCF    5F.7
019F:  GOTO   20C
01A0:  MOVF   56,W
01A1:  MOVWF  5F
01A2:  BSF    5F.7
01A3:  MOVF   57,W
01A4:  MOVWF  5E
01A5:  MOVF   58,W
01A6:  MOVWF  5D
01A7:  BTFSS  5A.7
01A8:  GOTO   1AD
01A9:  BCF    5F.7
01AA:  BSF    5B.2
01AB:  GOTO   218
01AC:  BCF    5B.2
01AD:  CLRF   5C
01AE:  BCF    59.0
01AF:  MOVLW  54
01B0:  MOVWF  04
01B1:  BCF    03.7
01B2:  GOTO   22D
01B3:  BTFSC  5A.7
01B4:  GOTO   1D6
01B5:  MOVF   52,W
01B6:  MOVWF  5A
01B7:  BTFSS  59.0
01B8:  GOTO   1C0
01B9:  RRF    5F,F
01BA:  RRF    5E,F
01BB:  RRF    5D,F
01BC:  RRF    5C,F
01BD:  INCF   77,F
01BE:  BTFSC  03.2
01BF:  GOTO   213
01C0:  BTFSS  5C.7
01C1:  GOTO   1D1
01C2:  INCF   5D,F
01C3:  BTFSS  03.2
01C4:  GOTO   1D1
01C5:  INCF   5E,F
01C6:  BTFSS  03.2
01C7:  GOTO   1D1
01C8:  INCF   5F,F
01C9:  BTFSS  03.2
01CA:  GOTO   1D1
01CB:  RRF    5F,F
01CC:  RRF    5E,F
01CD:  RRF    5D,F
01CE:  INCF   77,F
01CF:  BTFSC  03.2
01D0:  GOTO   213
01D1:  BTFSC  5B.6
01D2:  GOTO   155
01D3:  BTFSC  5B.7
01D4:  GOTO   197
01D5:  GOTO   1F5
01D6:  MOVLW  80
01D7:  XORWF  5F,F
01D8:  BTFSS  5F.7
01D9:  GOTO   1DE
01DA:  GOTO   218
01DB:  MOVF   56,W
01DC:  MOVWF  5A
01DD:  GOTO   1EB
01DE:  MOVF   52,W
01DF:  MOVWF  5A
01E0:  MOVF   5F,F
01E1:  BTFSS  03.2
01E2:  GOTO   1EB
01E3:  MOVF   5E,F
01E4:  BTFSS  03.2
01E5:  GOTO   1EB
01E6:  MOVF   5D,F
01E7:  BTFSS  03.2
01E8:  GOTO   1EB
01E9:  CLRF   77
01EA:  GOTO   20C
01EB:  BTFSC  5F.7
01EC:  GOTO   1F5
01ED:  BCF    03.0
01EE:  RLF    5C,F
01EF:  RLF    5D,F
01F0:  RLF    5E,F
01F1:  RLF    5F,F
01F2:  DECFSZ 77,F
01F3:  GOTO   1EB
01F4:  GOTO   213
01F5:  BTFSS  5A.7
01F6:  GOTO   1F9
01F7:  BSF    5F.7
01F8:  GOTO   20C
01F9:  BCF    5F.7
01FA:  GOTO   20C
01FB:  MOVF   55,W
01FC:  MOVWF  77
01FD:  MOVF   56,W
01FE:  MOVWF  5F
01FF:  MOVF   57,W
0200:  MOVWF  5E
0201:  MOVF   58,W
0202:  MOVWF  5D
0203:  GOTO   20C
0204:  MOVF   51,W
0205:  MOVWF  77
0206:  MOVF   52,W
0207:  MOVWF  5F
0208:  MOVF   53,W
0209:  MOVWF  5E
020A:  MOVF   54,W
020B:  MOVWF  5D
020C:  MOVF   5F,W
020D:  MOVWF  78
020E:  MOVF   5E,W
020F:  MOVWF  79
0210:  MOVF   5D,W
0211:  MOVWF  7A
0212:  GOTO   24B
0213:  CLRF   77
0214:  CLRF   78
0215:  CLRF   79
0216:  CLRF   7A
0217:  GOTO   24B
0218:  CLRF   5C
0219:  COMF   5D,F
021A:  COMF   5E,F
021B:  COMF   5F,F
021C:  COMF   5C,F
021D:  INCF   5C,F
021E:  BTFSS  03.2
021F:  GOTO   226
0220:  INCF   5D,F
0221:  BTFSS  03.2
0222:  GOTO   226
0223:  INCF   5E,F
0224:  BTFSC  03.2
0225:  INCF   5F,F
0226:  BTFSC  5B.0
0227:  GOTO   134
0228:  BTFSC  5B.1
0229:  GOTO   176
022A:  BTFSC  5B.2
022B:  GOTO   1AC
022C:  GOTO   1DB
022D:  MOVF   00,W
022E:  ADDWF  5D,F
022F:  BTFSS  03.0
0230:  GOTO   237
0231:  INCF   5E,F
0232:  BTFSS  03.2
0233:  GOTO   237
0234:  INCF   5F,F
0235:  BTFSC  03.2
0236:  BSF    59.0
0237:  DECF   04,F
0238:  MOVF   00,W
0239:  ADDWF  5E,F
023A:  BTFSS  03.0
023B:  GOTO   23F
023C:  INCF   5F,F
023D:  BTFSC  03.2
023E:  BSF    59.0
023F:  DECF   04,F
0240:  MOVF   00,W
0241:  BTFSS  00.7
0242:  XORLW  80
0243:  ADDWF  5F,F
0244:  BTFSC  03.0
0245:  BSF    59.0
0246:  BTFSC  5B.4
0247:  GOTO   13B
0248:  BTFSC  5B.5
0249:  GOTO   17D
024A:  GOTO   1B3
024B:  NOP
024C:  RETLW  00
024D:  MOVLW  8E
024E:  MOVWF  77
024F:  MOVF   51,W
0250:  SUBWF  77,F
0251:  MOVF   52,W
0252:  MOVWF  79
0253:  MOVF   53,W
0254:  MOVWF  78
0255:  BSF    79.7
0256:  MOVF   77,F
0257:  BTFSC  03.2
0258:  GOTO   264
0259:  BCF    03.0
025A:  MOVF   79,F
025B:  BTFSS  03.2
025C:  GOTO   260
025D:  MOVF   78,F
025E:  BTFSC  03.2
025F:  GOTO   264
0260:  RRF    79,F
0261:  RRF    78,F
0262:  DECFSZ 77,F
0263:  GOTO   259
0264:  BTFSS  52.7
0265:  GOTO   26B
0266:  COMF   78,F
0267:  COMF   79,F
0268:  INCF   78,F
0269:  BTFSC  03.2
026A:  INCF   79,F
026B:  NOP
026C:  RETLW  00
.................... #include <16F877.h> 
....................  //////// Standard Header file for the PIC16F877 device ////////////////  
.................... //#device PIC16F877  
.................... #list  
....................  
.................... #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 made to sin/cos code.              ////  
.................... ////                 The code now is small, much faster,                ////  
.................... ////                 and more accurate.                                 ////  
.................... ////                                                                    ////  
.................... ////////////////////////////////////////////////////////////////////////////  
....................   
.................... #ifndef MATH_H  
.................... #define MATH_H  
....................   
....................   
.................... #undef  PI  
.................... #define PI     3.141592654  
....................   
....................   
.................... #define SQRT2  1.41421356  
....................   
.................... //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 //////////////////////////////  
....................   
.................... float CEIL_FLOOR(float x, int n)  
.................... {  
....................    float y, res;  
....................    long l;  
....................    int1 s;  
....................   
....................    s = 0;  
....................    y = x;  
....................   
....................    if (x < 0)  
....................    {  
....................       s = 1;  
....................       y = -y;  
....................    }  
....................   
....................    if (y <= 32768.0)  
....................   res = (float)(long)y;  
....................   
....................  else if (y < 10000000.0)  
....................    {  
....................   l = (long)(y/32768.0);  
....................       y = 32768.0*(y/32768.0 - (float)l);  
....................   res = 32768.0*(float)l;  
....................   res += (float)(long)y;  
....................  }  
....................   
....................  else  
....................   res = y;  
....................   
....................  y = y - (float)(long)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);  
.................... }  
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float floor(float x)