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📄 phat.lst

📁 Embedded camera control program.
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....................    {  
....................       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);  
.................... }  
....................   
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float asin(float x)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : returns the arcsine value of the value x.  
.................... // Date : N/A  
.................... //  
.................... float asin(float x)  
.................... {  
....................    float r;  
....................   
....................    r = ASIN_COS(x, 0);  
....................    return(r);  
.................... }  
....................   
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float acos(float x)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : returns the arccosine value of the value x.  
.................... // Date : N/A  
.................... //  
.................... float acos(float x)  
.................... {  
....................    float r;  
....................   
....................    r = ASIN_COS(x, 1);  
....................    return(r);  
.................... }  
....................   
.................... float const pat[4] = {0.17630401, 5.6710795, 22.376096, 19.818457};  
.................... float 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  
.................... //  
.................... float atan(float x)  
.................... {  
....................    float y, res, r;  
....................    int1 s, flag;  
....................   
....................    s = 0;  
*
087C:  BCF    5E.0
....................    flag = 0;  
087D:  BCF    5E.1
....................    y = x;  
087E:  MOVF   51,W
087F:  MOVWF  55
0880:  MOVF   50,W
0881:  MOVWF  54
0882:  MOVF   4F,W
0883:  MOVWF  53
0884:  MOVF   4E,W
0885:  MOVWF  52
....................   
....................    if (x < 0)  
0886:  MOVF   51,W
0887:  MOVWF  62
0888:  MOVF   50,W
0889:  MOVWF  61
088A:  MOVF   4F,W
088B:  MOVWF  60
088C:  MOVF   4E,W
088D:  MOVWF  5F
088E:  CLRF   66
088F:  CLRF   65
0890:  CLRF   64
0891:  CLRF   63
0892:  BCF    0A.3
0893:  CALL   2F7
0894:  BSF    0A.3
0895:  BTFSS  03.0
0896:  GOTO   09A
....................    {  
....................       s = 1;  
0897:  BSF    5E.0
....................       y = -y;  
0898:  MOVLW  80
0899:  XORWF  53,F
....................    }  
....................   
....................    if (y > 1.0)  
089A:  CLRF   62
089B:  CLRF   61
089C:  CLRF   60
089D:  MOVLW  7F
089E:  MOVWF  5F
089F:  MOVF   55,W
08A0:  MOVWF  66
08A1:  MOVF   54,W
08A2:  MOVWF  65
08A3:  MOVF   53,W
08A4:  MOVWF  64
08A5:  MOVF   52,W
08A6:  MOVWF  63
08A7:  BCF    0A.3
08A8:  CALL   2F7
08A9:  BSF    0A.3
08AA:  BTFSS  03.0
08AB:  GOTO   0C5
....................    {  
....................       y = 1.0/y;  
08AC:  CLRF   66
08AD:  CLRF   65
08AE:  CLRF   64
08AF:  MOVLW  7F
08B0:  MOVWF  63
08B1:  MOVF   55,W
08B2:  MOVWF  6A
08B3:  MOVF   54,W
08B4:  MOVWF  69
08B5:  MOVF   53,W
08B6:  MOVWF  68
08B7:  MOVF   52,W
08B8:  MOVWF  67
08B9:  BCF    0A.3
08BA:  CALL   3AC
08BB:  BSF    0A.3
08BC:  MOVF   7A,W
08BD:  MOVWF  55
08BE:  MOVF   79,W
08BF:  MOVWF  54
08C0:  MOVF   78,W
08C1:  MOVWF  53
08C2:  MOVF   77,W
08C3:  MOVWF  52
....................       flag = 1;  
08C4:  BSF    5E.1
....................    }  
....................   
....................    res = pat[0]*y*y + pat[1];  
08C5:  MOVLW  0A
08C6:  MOVWF  66
08C7:  MOVLW  89
08C8:  MOVWF  65
08C9:  MOVLW  34
08CA:  MOVWF  64
08CB:  MOVLW  7C
08CC:  MOVWF  63
08CD:  MOVF   55,W
08CE:  MOVWF  6A
08CF:  MOVF   54,W
08D0:  MOVWF  69
08D1:  MOVF   53,W
08D2:  MOVWF  68
08D3:  MOVF   52,W
08D4:  MOVWF  67
08D5:  BCF    0A.3
08D6:  CALL   336
08D7:  BSF    0A.3
08D8:  MOVF   77,W
08D9:  MOVWF  5F
08DA:  MOVF   78,W
08DB:  MOVWF  60
08DC:  MOVF   79,W
08DD:  MOVWF  61
08DE:  MOVF   7A,W
08DF:  MOVWF  62
08E0:  MOVWF  66
08E1:  MOVF   79,W
08E2:  MOVWF  65
08E3:  MOVF   78,W
08E4:  MOVWF  64
08E5:  MOVF   77,W
08E6:  MOVWF  63
08E7:  MOVF   55,W
08E8:  MOVWF  6A
08E9:  MOVF   54,W
08EA:  MOVWF  69
08EB:  MOVF   53,W
08EC:  MOVWF  68
08ED:  MOVF   52,W
08EE:  MOVWF  67
08EF:  BCF    0A.3
08F0:  CALL   336
08F1:  BSF    0A.3
08F2:  MOVF   77,W
08F3:  MOVWF  63
08F4:  MOVF   78,W
08F5:  MOVWF  64
08F6:  MOVF   79,W
08F7:  MOVWF  65
08F8:  MOVF   7A,W
08F9:  MOVWF  66
08FA:  BCF    03.1
08FB:  MOVF   7A,W
08FC:  MOVWF  6A
08FD:  MOVF   79,W
08FE:  MOVWF  69
08FF:  MOVF   78,W
0900:  MOVWF  68
0901:  MOVF   77,W
0902:  MOVWF  67
0903:  MOVLW  7C
0904:  MOVWF  6E
0905:  MOVLW  79
0906:  MOVWF  6D
0907:  MOVLW  35
0908:  MOVWF  6C
0909:  MOVLW  81
090A:  MOVWF  6B
090B:  BCF    0A.3
090C:  CALL   477
090D:  BSF    0A.3
090E:  MOVF   7A,W
090F:  MOVWF  59
0910:  MOVF   79,W
0911:  MOVWF  58
0912:  MOVF   78,W
0913:  MOVWF  57
0914:  MOVF   77,W
0915:  MOVWF  56
....................    res = res*y*y + pat[2];  
0916:  MOVF   59,W
0917:  MOVWF  66
0918:  MOVF   58,W
0919:  MOVWF  65
091A:  MOVF   57,W
091B:  MOVWF  64
091C:  MOVF   56,W
091D:  MOVWF  63
091E:  MOVF   55,W
091F:  MOVWF  6A
0920:  MOVF   54,W
0921:  MOVWF  69
0922:  MOVF   53,W
0923:  MOVWF  68
0924:  MOVF   52,W
0925:  MOVWF  67
0926:  BCF    0A.3
0927:  CALL   336
0928:  BSF    0A.3
0929:  MOVF   77,W
092A:  MOVWF  5F
092B:  MOVF   78,W
092C:  MOVWF  60
092D:  MOVF   79,W
092E:  MOVWF  61
092F:  MOVF   7A,W
0930:  MOVWF  62
0931:  MOVWF  66
0932:  MOVF   79,W
0933:  MOVWF  65
0934:  MOVF   78,W
0935:  MOVWF  64
0936:  MOVF   77,W
0937:  MOVWF  63
0938:  MOVF   55,W
0939:  MOVWF  6A
093A:  MOVF   54,W
093B:  MOVWF  69
093C:  MOVF   53,W
093D:  MOVWF  68
093E:  MOVF   52,W
093F:  MOVWF  67
0940:  BCF    0A.3
0941:  CALL   336
0942:  BSF    0A.3
0943:  MOVF   77,W
0944:  MOVWF  63
0945:  MOVF   78,W
0946:  MOVWF  64
0947:  MOVF   79,W
0948:  MOVWF  65
0949:  MOVF   7A,W
094A:  MOVWF  66
094B:  BCF    03.1
094C:  MOVF   7A,W
094D:  MOVWF  6A
094E:  MOVF   79,W
094F:  MOVWF  69
0950:  MOVF   78,W
0951:  MOVWF  68
0952:  MOVF   77,W
0953:  MOVWF  67
0954:  MOVLW  3F
0955:  MOVWF  6E
0956:  MOVLW  02
0957:  MOVWF  6D
0958:  MOVLW  33
0959:  MOVWF  6C
095A:  MOVLW  83
095B:  MOVWF  6B
095C:  BCF    0A.3
095D:  CALL   477
095E:  BSF    0A.3
095F:  MOVF   7A,W
0960:  MOVWF  59
0961:  MOVF   79,W
0962:  MOVWF  58
0963:  MOVF   78,W
0964:  MOVWF  57
0965:  MOVF   77,W
0966:  MOVWF  56
....................    res = res*y*y + pat[3];  
0967:  MOVF   59,W
0968:  MOVWF  66
0969:  MOVF   58,W
096A:  MOVWF  65
096B:  MOVF   57,W
096C:  MOVWF  64
096D:  MOVF   56,W
096E:  MOVWF  63
096F:  MOVF   55,W
0970:  MOVWF  6A
0971:  MOVF   54,W
0972:  MOVWF  69
0973:  MOVF   53,W
0974:  MOVWF  68
0975:  MOVF   52,W
0976:  MOVWF  67
0977:  BCF    0A.3
0978:  CALL   336
0979:  BSF    0A.3
097A:  MOVF   77,W
097B:  MOVWF  5F
097C:  MOVF   78,W
097D:  MOVWF  60
097E:  MOVF   79,W
097F:  MOVWF  61
0980:  MOVF   7A,W
0981:  MOVWF  62
0982:  MOVWF  66
0983:  MOVF   79,W
0984:  MOVWF  65
0985:  MOVF   78,W
0986:  MOVWF  64
0987:  MOVF   77,W
0988:  MOVWF  63
0989:  MOVF   55,W
098A:  MOVWF  6A
098B:  MOVF   54,W
098C:  MOVWF  69
098D:  MOVF   53,W
098E:  MOVWF  68
098F:  MOVF   52,W
0990:  MOVWF  67
0991:  BCF    0A.3
0992:  CALL   336
0993:  BSF    0A.3
0994:  MOVF   77,W
0995:  MOVWF  63
0996:  MOVF   78,W
0997:  MOVWF  64
0998:  MOVF   79,W
0999:  MOVWF  65
099A:  MOVF   7A,W
099B:  MOVWF  66
099C:  BCF    03.1
099D:  MOVF   7A,W
099E:  MOVWF  6A
099F:  MOVF   79,W
09A0:  MOVWF  69
09A1:  MOVF   78,W
09A2:  MOVWF  68
09A3:  MOVF   77,W
09A4:  MOVWF  67
09A5:  MOVLW  33
09A6:  MOVWF  6E
09A7:  MOVLW  8C
09A8:  MOVWF  6D
09A9:  MOVLW  1E
09AA:  MOVWF  6C
09AB:  MOVLW  83
09AC:  MOVWF  6B
09AD:  BCF    0A.3
09AE:  CALL   477
09AF:  BSF    0A.3
09B0:  MOVF   7A,W
09B1:  MOVWF  59
09B2:  MOVF   79,W
09B3:  MOVWF  58
09B4:  MOVF   78,W
09B5:  MOVWF  57
09B6:  MOVF   77,W
09B7:  MOVWF  56
....................   
....................    r = qat[0]*y*y + qat[1];  
09B8:  CLRF   66
09B9:  CLRF   65
09BA:  CLRF   64
09BB:  MOVLW  7F
09BC:  MOVWF  63
09BD:  MOVF   55,W
09BE:  MOVWF  6A
09BF:  MOVF   54,W
09C0:  MOVWF  69
09C1:  MOVF   53,W
09C2:  MOVWF  68
09C3:  MOVF   52,W
09C4:  MOVWF  67
09C5:  BCF    0A.3
09C6:  CALL   336
09C7:  BSF    0A.3
09C8:  MOVF   77,W
09C9:  MOVWF  5F
09CA:  MOVF   78,W
09CB:  MOVWF  60
09CC:  MOVF   79,W
09CD:  MOVWF  61
09CE:  MOVF   7A,W
09CF:  MOVWF  62
09D0:  MOVWF  66
09D1:  MOVF   79,W
09D2:  MOVWF  65
09D3:  MOVF   78,W
09D4:  MOVWF  64
09D5:  MOVF   77,W
09D6:  MOVWF  63
09D7:  MOVF   55,W
09D8:  MOVWF  6A
09D9:  MOVF   54,W
09DA:  MOVWF  69
09DB:  MOVF   53,W
09DC:  MOVWF  68
09DD:  MOVF   52,W
09DE:  MOVWF  67
09DF:  BCF    0A.3
09E0:  CALL   336
09E1:  BSF    0A.3
09E2:  MOVF   77,W
09E3:  MOVWF  63
09E4:  MOVF   78,W
09E5:  MOVWF  64
09E6:  MOVF   79,W
09E7:  MOVWF  65
09E8:  MOVF   7A,W
09E9:  MOVWF  66
09EA:  BCF    03.1
09EB:  MOVF   7A,W
09EC:  MOVWF  6A
09ED:  MOVF   79,W
09EE:  MOVWF  69
09EF:  MOVF   78,W
09F0:  MOVWF  68
09F1:  MOVF   77,W
09F2:  MOVWF  67
09F3:  MOVLW  1B

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