control_motor2.lst

Embedded camera control program.

0466:  RLF    5A,F
0467:  RLF    68,F
0468:  BCF    03.0
0469:  RLF    5C,F
046A:  RLF    5B,F
046B:  RLF    5A,F
046C:  RLF    68,F
046D:  CALL   545
046E:  BCF    03.0
046F:  RLF    5C,F
0470:  RLF    5B,F
0471:  RLF    5A,F
0472:  RLF    68,F
0473:  INCF   69,F
0474:  MOVLW  03
0475:  MOVWF  6A
0476:  BCF    03.0
0477:  RRF    68,F
0478:  RRF    5A,F
0479:  RRF    5B,F
047A:  RRF    5C,F
047B:  DECFSZ 6A,F
047C:  GOTO   476
047D:  MOVLW  03
047E:  SUBWF  59,F
047F:  BTFSS  68.4
0480:  GOTO   45E
0481:  BCF    03.0
0482:  RRF    68,F
0483:  RRF    5A,F
0484:  RRF    5B,F
0485:  RRF    5C,F
0486:  DECF   59,F
0487:  GOTO   45E
0488:  COMF   59,F
0489:  INCF   59,F
048A:  MOVLW  03
048B:  ADDWF  59,F
048C:  INCF   69,W
048D:  SUBWF  67,F
048E:  BTFSS  03.0
048F:  CLRF   67
0490:  MOVLW  01
0491:  GOTO   495
0492:  MOVLW  02
0493:  GOTO   495
0494:  MOVLW  00
0495:  MOVWF  62
0496:  BTFSC  66.7
0497:  GOTO   4A3
0498:  BTFSC  67.7
0499:  GOTO   4A3
049A:  MOVF   67,F
049B:  BTFSC  03.2
049C:  GOTO   4A3
049D:  MOVLW  20
049E:  BTFSS  0C.4
049F:  GOTO   49E
04A0:  MOVWF  19
04A1:  DECFSZ 67,F
04A2:  GOTO   49D
04A3:  BTFSS  66.6
04A4:  GOTO   4A9
04A5:  MOVLW  2D
04A6:  BTFSS  0C.4
04A7:  GOTO   4A6
04A8:  MOVWF  19
04A9:  BTFSS  66.7
04AA:  GOTO   4B6
04AB:  BTFSC  67.7
04AC:  GOTO   4B6
04AD:  MOVF   67,F
04AE:  BTFSC  03.2
04AF:  GOTO   4B6
04B0:  MOVLW  30
04B1:  BTFSS  0C.4
04B2:  GOTO   4B1
04B3:  MOVWF  19
04B4:  DECFSZ 67,F
04B5:  GOTO   4AD
04B6:  BCF    66.7
04B7:  BCF    66.6
04B8:  BTFSS  62.0
04B9:  GOTO   4C1
04BA:  MOVF   69,W
04BB:  MOVWF  62
04BC:  MOVF   69,W
04BD:  MOVWF  64
04BE:  INCF   66,W
04BF:  ADDWF  64,F
04C0:  GOTO   4EB
04C1:  BTFSS  62.1
04C2:  GOTO   4C5
04C3:  INCF   66,W
04C4:  MOVWF  69
04C5:  MOVF   66,F
04C6:  BTFSC  03.2
04C7:  GOTO   543
04C8:  MOVLW  2E
04C9:  BTFSS  0C.4
04CA:  GOTO   4C9
04CB:  MOVWF  19
04CC:  MOVF   69,W
04CD:  MOVWF  65
04CE:  DECF   65,F
04CF:  MOVF   66,W
04D0:  SUBWF  65,W
04D1:  BTFSS  03.0
04D2:  GOTO   4D5
04D3:  MOVF   66,W
04D4:  MOVWF  65
04D5:  MOVF   65,F
04D6:  BTFSC  03.2
04D7:  GOTO   4DE
04D8:  MOVLW  30
04D9:  BTFSS  0C.4
04DA:  GOTO   4D9
04DB:  MOVWF  19
04DC:  DECFSZ 65,F
04DD:  GOTO   4D8
04DE:  MOVF   69,W
04DF:  MOVWF  6A
04E0:  INCF   66,W
04E1:  SUBWF  6A,F
04E2:  BTFSC  03.0
04E3:  GOTO   565
04E4:  DECF   59,F
04E5:  INCF   66,W
04E6:  MOVWF  64
04E7:  MOVF   69,W
04E8:  SUBWF  64,F
04E9:  MOVF   64,W
04EA:  MOVWF  62
04EB:  MOVF   68,W
04EC:  MOVWF  61
04ED:  MOVF   59,W
04EE:  BTFSC  03.2
04EF:  GOTO   4F5
04F0:  MOVWF  63
04F1:  BCF    03.0
04F2:  RRF    61,F
04F3:  DECFSZ 63,F
04F4:  GOTO   4F1
04F5:  MOVF   64,W
04F6:  BTFSC  03.2
04F7:  GOTO   543
04F8:  MOVLW  30
04F9:  ADDWF  61,W
04FA:  BTFSS  0C.4
04FB:  GOTO   4FA
04FC:  MOVWF  19
04FD:  MOVF   62,W
04FE:  BTFSS  03.2
04FF:  GOTO   507
0500:  MOVF   66,F
0501:  BTFSC  03.2
0502:  GOTO   543
0503:  MOVLW  2E
0504:  BTFSS  0C.4
0505:  GOTO   504
0506:  MOVWF  19
0507:  DECF   62,F
0508:  DECF   64,F
0509:  BTFSC  03.2
050A:  GOTO   543
050B:  MOVF   59,W
050C:  BTFSC  03.2
050D:  GOTO   513
050E:  MOVWF  63
050F:  BCF    03.0
0510:  RLF    61,F
0511:  DECFSZ 63,F
0512:  GOTO   50F
0513:  MOVF   61,W
0514:  SUBWF  68,F
0515:  MOVF   68,W
0516:  MOVWF  5D
0517:  MOVF   5A,W
0518:  MOVWF  5E
0519:  MOVF   5B,W
051A:  MOVWF  5F
051B:  MOVF   5C,W
051C:  MOVWF  60
051D:  BCF    03.0
051E:  RLF    5C,F
051F:  RLF    5B,F
0520:  RLF    5A,F
0521:  RLF    68,F
0522:  BCF    03.0
0523:  RLF    5C,F
0524:  RLF    5B,F
0525:  RLF    5A,F
0526:  RLF    68,F
0527:  MOVF   60,W
0528:  ADDWF  5C,F
0529:  BTFSS  03.0
052A:  GOTO   530
052B:  INCFSZ 5B,F
052C:  GOTO   530
052D:  INCFSZ 5A,F
052E:  GOTO   530
052F:  INCF   68,F
0530:  MOVF   5F,W
0531:  ADDWF  5B,F
0532:  BTFSS  03.0
0533:  GOTO   537
0534:  INCFSZ 5A,F
0535:  GOTO   537
0536:  INCF   68,F
0537:  MOVF   5E,W
0538:  ADDWF  5A,F
0539:  BTFSC  03.0
053A:  INCF   68,F
053B:  MOVF   5D,W
053C:  ADDWF  68,F
053D:  BCF    03.0
053E:  RLF    5C,F
053F:  RLF    5B,F
0540:  RLF    5A,F
0541:  RLF    68,F
0542:  GOTO   4EB
0543:  NOP
0544:  GOTO   565
0545:  MOVF   60,W
0546:  ADDWF  5C,F
0547:  BTFSS  03.0
0548:  GOTO   54E
0549:  INCFSZ 5B,F
054A:  GOTO   54E
054B:  INCFSZ 5A,F
054C:  GOTO   54E
054D:  INCF   68,F
054E:  MOVF   5F,W
054F:  ADDWF  5B,F
0550:  BTFSS  03.0
0551:  GOTO   555
0552:  INCFSZ 5A,F
0553:  GOTO   555
0554:  INCF   68,F
0555:  MOVF   5E,W
0556:  ADDWF  5A,F
0557:  BTFSC  03.0
0558:  INCF   68,F
0559:  MOVF   5D,W
055A:  ADDWF  68,F
055B:  RETLW  00
055C:  MOVF   68,W
055D:  MOVWF  5D
055E:  MOVF   5A,W
055F:  MOVWF  5E
0560:  MOVF   5B,W
0561:  MOVWF  5F
0562:  MOVF   5C,W
0563:  MOVWF  60
0564:  RETLW  00
0565:  NOP
0566:  RETLW  00
*
057D:  CLRF   61
057E:  MOVF   04,W
057F:  MOVWF  60
0580:  BCF    61.0
0581:  BTFSC  03.7
0582:  BSF    61.0
0583:  SWAPF  5A,W
0584:  IORLW  F0
0585:  MOVWF  5C
0586:  ADDWF  5C,F
0587:  ADDLW  E2
0588:  MOVWF  5D
0589:  ADDLW  32
058A:  MOVWF  5F
058B:  MOVF   5A,W
058C:  ANDLW  0F
058D:  ADDWF  5D,F
058E:  ADDWF  5D,F
058F:  ADDWF  5F,F
0590:  ADDLW  E9
0591:  MOVWF  5E
0592:  ADDWF  5E,F
0593:  ADDWF  5E,F
0594:  SWAPF  59,W
0595:  ANDLW  0F
0596:  ADDWF  5E,F
0597:  ADDWF  5F,F
0598:  RLF    5E,F
0599:  RLF    5F,F
059A:  COMF   5F,F
059B:  RLF    5F,F
059C:  MOVF   59,W
059D:  ANDLW  0F
059E:  ADDWF  5F,F
059F:  RLF    5C,F
05A0:  MOVLW  07
05A1:  MOVWF  5B
05A2:  MOVLW  0A
05A3:  ADDWF  5F,F
05A4:  DECF   5E,F
05A5:  BTFSS  03.0
05A6:  GOTO   5A3
05A7:  ADDWF  5E,F
05A8:  DECF   5D,F
05A9:  BTFSS  03.0
05AA:  GOTO   5A7
05AB:  ADDWF  5D,F
05AC:  DECF   5C,F
05AD:  BTFSS  03.0
05AE:  GOTO   5AB
05AF:  ADDWF  5C,F
05B0:  DECF   5B,F
05B1:  BTFSS  03.0
05B2:  GOTO   5AF
05B3:  MOVLW  5B
05B4:  MOVWF  04
05B5:  BCF    03.7
05B6:  MOVLW  07
05B7:  ANDWF  60,W
05B8:  ADDWF  04,F
05B9:  MOVLW  5F
05BA:  SUBWF  04,W
05BB:  BTFSC  03.2
05BC:  GOTO   5D1
05BD:  MOVF   00,W
05BE:  MOVWF  77
05BF:  BTFSS  03.2
05C0:  GOTO   5C7
05C1:  BTFSC  60.4
05C2:  GOTO   5CF
05C3:  BTFSC  60.3
05C4:  GOTO   5C9
05C5:  MOVLW  20
05C6:  GOTO   5CA
05C7:  MOVLW  08
05C8:  MOVWF  60
05C9:  MOVLW  30
05CA:  ADDWF  77,F
05CB:  MOVF   77,W
05CC:  BTFSS  0C.4
05CD:  GOTO   5CC
05CE:  MOVWF  19
05CF:  INCF   04,F
05D0:  GOTO   5B9
05D1:  MOVF   00,W
05D2:  MOVWF  77
05D3:  MOVLW  30
05D4:  ADDWF  77,F
05D5:  MOVF   77,W
05D6:  BTFSS  0C.4
05D7:  GOTO   5D6
05D8:  MOVWF  19
05D9:  RETLW  00
05DA:  MOVLW  8E
05DB:  MOVWF  77
05DC:  MOVF   59,W
05DD:  SUBWF  77,F
05DE:  MOVF   5A,W
05DF:  MOVWF  79
05E0:  MOVF   5B,W
05E1:  MOVWF  78
05E2:  BSF    79.7
05E3:  MOVF   77,F
05E4:  BTFSC  03.2
05E5:  GOTO   5F1
05E6:  BCF    03.0
05E7:  MOVF   79,F
05E8:  BTFSS  03.2
05E9:  GOTO   5ED
05EA:  MOVF   78,F
05EB:  BTFSC  03.2
05EC:  GOTO   5F1
05ED:  RRF    79,F
05EE:  RRF    78,F
05EF:  DECFSZ 77,F
05F0:  GOTO   5E6
05F1:  BTFSS  5A.7
05F2:  GOTO   5F8
05F3:  COMF   78,F
05F4:  COMF   79,F
05F5:  INCF   78,F
05F6:  BTFSC  03.2
05F7:  INCF   79,F
05F8:  NOP
05F9:  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 //////////////////////////////