control_motor.lst

Embedded camera control program.

015A:  MOVF   41,W
015B:  MOVWF  46
015C:  CLRF   45
015D:  BCF    03.0
015E:  RRF    48,F
015F:  RRF    47,F
0160:  RRF    46,F
0161:  RRF    45,F
0162:  DECFSZ 42,F
0163:  GOTO   15C
0164:  BTFSS  43.7
0165:  GOTO   169
0166:  BSF    44.0
0167:  GOTO   24C
0168:  BCF    44.0
0169:  BCF    42.0
016A:  BSF    44.4
016B:  MOVLW  3D
016C:  MOVWF  04
016D:  BCF    03.7
016E:  GOTO   261
016F:  BCF    44.4
0170:  BTFSC  43.7
0171:  GOTO   17C
0172:  BTFSS  42.0
0173:  GOTO   187
0174:  RRF    48,F
0175:  RRF    47,F
0176:  RRF    46,F
0177:  RRF    45,F
0178:  INCF   77,F
0179:  BTFSC  03.2
017A:  GOTO   247
017B:  GOTO   187
017C:  BTFSC  48.7
017D:  GOTO   18A
017E:  BCF    03.0
017F:  RLF    45,F
0180:  RLF    46,F
0181:  RLF    47,F
0182:  RLF    48,F
0183:  DECF   77,F
0184:  BTFSC  03.2
0185:  GOTO   247
0186:  GOTO   17C
0187:  BSF    44.6
0188:  GOTO   1F4
0189:  BCF    44.6
018A:  MOVF   3B,W
018B:  MOVWF  43
018C:  BTFSS  3B.7
018D:  GOTO   190
018E:  BSF    48.7
018F:  GOTO   240
0190:  BCF    48.7
0191:  GOTO   240
0192:  MOVF   3E,W
0193:  MOVWF  42
0194:  MOVWF  77
0195:  MOVF   3A,W
0196:  SUBWF  42,F
0197:  MOVF   3B,W
0198:  MOVWF  48
0199:  BSF    48.7
019A:  MOVF   3C,W
019B:  MOVWF  47
019C:  MOVF   3D,W
019D:  MOVWF  46
019E:  CLRF   45
019F:  BCF    03.0
01A0:  RRF    48,F
01A1:  RRF    47,F
01A2:  RRF    46,F
01A3:  RRF    45,F
01A4:  DECFSZ 42,F
01A5:  GOTO   19E
01A6:  BTFSS  43.7
01A7:  GOTO   1AB
01A8:  BSF    44.1
01A9:  GOTO   24C
01AA:  BCF    44.1
01AB:  BCF    42.0
01AC:  BSF    44.5
01AD:  MOVLW  41
01AE:  MOVWF  04
01AF:  BCF    03.7
01B0:  GOTO   261
01B1:  BCF    44.5
01B2:  BTFSC  43.7
01B3:  GOTO   1BE
01B4:  BTFSS  42.0
01B5:  GOTO   1C9
01B6:  RRF    48,F
01B7:  RRF    47,F
01B8:  RRF    46,F
01B9:  RRF    45,F
01BA:  INCF   77,F
01BB:  BTFSC  03.2
01BC:  GOTO   247
01BD:  GOTO   1C9
01BE:  BTFSC  48.7
01BF:  GOTO   1CC
01C0:  BCF    03.0
01C1:  RLF    45,F
01C2:  RLF    46,F
01C3:  RLF    47,F
01C4:  RLF    48,F
01C5:  DECF   77,F
01C6:  BTFSC  03.2
01C7:  GOTO   247
01C8:  GOTO   1BE
01C9:  BSF    44.7
01CA:  GOTO   1F4
01CB:  BCF    44.7
01CC:  MOVF   3F,W
01CD:  MOVWF  43
01CE:  BTFSS  3F.7
01CF:  GOTO   1D2
01D0:  BSF    48.7
01D1:  GOTO   240
01D2:  BCF    48.7
01D3:  GOTO   240
01D4:  MOVF   3F,W
01D5:  MOVWF  48
01D6:  BSF    48.7
01D7:  MOVF   40,W
01D8:  MOVWF  47
01D9:  MOVF   41,W
01DA:  MOVWF  46
01DB:  BTFSS  43.7
01DC:  GOTO   1E1
01DD:  BCF    48.7
01DE:  BSF    44.2
01DF:  GOTO   24C
01E0:  BCF    44.2
01E1:  CLRF   45
01E2:  BCF    42.0
01E3:  MOVLW  3D
01E4:  MOVWF  04
01E5:  BCF    03.7
01E6:  GOTO   261
01E7:  BTFSC  43.7
01E8:  GOTO   20A
01E9:  MOVF   3B,W
01EA:  MOVWF  43
01EB:  BTFSS  42.0
01EC:  GOTO   1F4
01ED:  RRF    48,F
01EE:  RRF    47,F
01EF:  RRF    46,F
01F0:  RRF    45,F
01F1:  INCF   77,F
01F2:  BTFSC  03.2
01F3:  GOTO   247
01F4:  BTFSS  45.7
01F5:  GOTO   205
01F6:  INCF   46,F
01F7:  BTFSS  03.2
01F8:  GOTO   205
01F9:  INCF   47,F
01FA:  BTFSS  03.2
01FB:  GOTO   205
01FC:  INCF   48,F
01FD:  BTFSS  03.2
01FE:  GOTO   205
01FF:  RRF    48,F
0200:  RRF    47,F
0201:  RRF    46,F
0202:  INCF   77,F
0203:  BTFSC  03.2
0204:  GOTO   247
0205:  BTFSC  44.6
0206:  GOTO   189
0207:  BTFSC  44.7
0208:  GOTO   1CB
0209:  GOTO   229
020A:  MOVLW  80
020B:  XORWF  48,F
020C:  BTFSS  48.7
020D:  GOTO   212
020E:  GOTO   24C
020F:  MOVF   3F,W
0210:  MOVWF  43
0211:  GOTO   21F
0212:  MOVF   3B,W
0213:  MOVWF  43
0214:  MOVF   48,F
0215:  BTFSS  03.2
0216:  GOTO   21F
0217:  MOVF   47,F
0218:  BTFSS  03.2
0219:  GOTO   21F
021A:  MOVF   46,F
021B:  BTFSS  03.2
021C:  GOTO   21F
021D:  CLRF   77
021E:  GOTO   240
021F:  BTFSC  48.7
0220:  GOTO   229
0221:  BCF    03.0
0222:  RLF    45,F
0223:  RLF    46,F
0224:  RLF    47,F
0225:  RLF    48,F
0226:  DECFSZ 77,F
0227:  GOTO   21F
0228:  GOTO   247
0229:  BTFSS  43.7
022A:  GOTO   22D
022B:  BSF    48.7
022C:  GOTO   240
022D:  BCF    48.7
022E:  GOTO   240
022F:  MOVF   3E,W
0230:  MOVWF  77
0231:  MOVF   3F,W
0232:  MOVWF  48
0233:  MOVF   40,W
0234:  MOVWF  47
0235:  MOVF   41,W
0236:  MOVWF  46
0237:  GOTO   240
0238:  MOVF   3A,W
0239:  MOVWF  77
023A:  MOVF   3B,W
023B:  MOVWF  48
023C:  MOVF   3C,W
023D:  MOVWF  47
023E:  MOVF   3D,W
023F:  MOVWF  46
0240:  MOVF   48,W
0241:  MOVWF  78
0242:  MOVF   47,W
0243:  MOVWF  79
0244:  MOVF   46,W
0245:  MOVWF  7A
0246:  GOTO   27F
0247:  CLRF   77
0248:  CLRF   78
0249:  CLRF   79
024A:  CLRF   7A
024B:  GOTO   27F
024C:  CLRF   45
024D:  COMF   46,F
024E:  COMF   47,F
024F:  COMF   48,F
0250:  COMF   45,F
0251:  INCF   45,F
0252:  BTFSS  03.2
0253:  GOTO   25A
0254:  INCF   46,F
0255:  BTFSS  03.2
0256:  GOTO   25A
0257:  INCF   47,F
0258:  BTFSC  03.2
0259:  INCF   48,F
025A:  BTFSC  44.0
025B:  GOTO   168
025C:  BTFSC  44.1
025D:  GOTO   1AA
025E:  BTFSC  44.2
025F:  GOTO   1E0
0260:  GOTO   20F
0261:  MOVF   00,W
0262:  ADDWF  46,F
0263:  BTFSS  03.0
0264:  GOTO   26B
0265:  INCF   47,F
0266:  BTFSS  03.2
0267:  GOTO   26B
0268:  INCF   48,F
0269:  BTFSC  03.2
026A:  BSF    42.0
026B:  DECF   04,F
026C:  MOVF   00,W
026D:  ADDWF  47,F
026E:  BTFSS  03.0
026F:  GOTO   273
0270:  INCF   48,F
0271:  BTFSC  03.2
0272:  BSF    42.0
0273:  DECF   04,F
0274:  MOVF   00,W
0275:  BTFSS  00.7
0276:  XORLW  80
0277:  ADDWF  48,F
0278:  BTFSC  03.0
0279:  BSF    42.0
027A:  BTFSC  44.4
027B:  GOTO   16F
027C:  BTFSC  44.5
027D:  GOTO   1B1
027E:  GOTO   1E7
027F:  NOP
0280:  RETLW  00
0281:  MOVLW  8E
0282:  MOVWF  77
0283:  MOVF   3A,W
0284:  SUBWF  77,F
0285:  MOVF   3B,W
0286:  MOVWF  79
0287:  MOVF   3C,W
0288:  MOVWF  78
0289:  BSF    79.7
028A:  MOVF   77,F
028B:  BTFSC  03.2
028C:  GOTO   298
028D:  BCF    03.0
028E:  MOVF   79,F
028F:  BTFSS  03.2
0290:  GOTO   294
0291:  MOVF   78,F
0292:  BTFSC  03.2
0293:  GOTO   298
0294:  RRF    79,F
0295:  RRF    78,F
0296:  DECFSZ 77,F
0297:  GOTO   28D
0298:  BTFSS  3B.7
0299:  GOTO   29F
029A:  COMF   78,F
029B:  COMF   79,F
029C:  INCF   78,F
029D:  BTFSC  03.2
029E:  INCF   79,F
029F:  NOP
02A0:  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  
....................   
....................