camera2.lst

Embedded camera control program.

CCS PCM C Compiler, Version 3.211, 16465               03-Oct-05 13:58

               Filename: D:\phuoc\laptrinhpic\CAMERA2.LST

               ROM used: 1359 words (17%)
                         Largest free fragment is 2048
               RAM used: 79 (22%) at main() level
                         94 (26%) worst case
               Stack:    3 locations

*
0000:  MOVLW  00
0001:  MOVWF  0A
0002:  GOTO   317
0003:  NOP
....................  //Connecting with camera for reading and calculating the errors  
....................   
.................... #device  PIC16F877 *=16 ADC=10  
0004:  BCF    0A.0
0005:  BCF    0A.1
0006:  BCF    0A.2
0007:  ADDWF  02,F
0008:  RETLW  41
0009:  RETLW  43
000A:  RETLW  4B
000B:  RETLW  00
000C:  BCF    0A.0
000D:  BCF    0A.1
000E:  BCF    0A.2
000F:  ADDWF  02,F
0010:  RETLW  53
0011:  RETLW  57
0012:  RETLW  20
0013:  RETLW  31
0014:  RETLW  20
0015:  RETLW  33
0016:  RETLW  33
0017:  RETLW  20
0018:  RETLW  38
0019:  RETLW  30
001A:  RETLW  20
001B:  RETLW  0D
001C:  RETLW  00
001D:  BCF    0A.0
001E:  BCF    0A.1
001F:  BCF    0A.2
0020:  ADDWF  02,F
0021:  RETLW  43
0022:  RETLW  52
0023:  RETLW  20
0024:  RETLW  31
0025:  RETLW  38
0026:  RETLW  20
0027:  RETLW  34
0028:  RETLW  34
0029:  RETLW  0D
002A:  RETLW  00
002B:  BCF    0A.0
002C:  BCF    0A.1
002D:  BCF    0A.2
002E:  ADDWF  02,F
002F:  RETLW  50
0030:  RETLW  4D
0031:  RETLW  20
0032:  RETLW  31
0033:  RETLW  0D
0034:  RETLW  00
0035:  BCF    0A.0
0036:  BCF    0A.1
0037:  BCF    0A.2
0038:  ADDWF  02,F
0039:  RETLW  4D
003A:  RETLW  4D
003B:  RETLW  20
003C:  RETLW  30
003D:  RETLW  0D
003E:  RETLW  00
003F:  BCF    0A.0
0040:  BCF    0A.1
0041:  BCF    0A.2
0042:  ADDWF  02,F
0043:  RETLW  4C
0044:  RETLW  4D
0045:  RETLW  20
0046:  RETLW  31
0047:  RETLW  0D
0048:  RETLW  00
0049:  BCF    0A.0
004A:  BCF    0A.1
004B:  BCF    0A.2
004C:  ADDWF  02,F
004D:  RETLW  50
004E:  RETLW  4D
004F:  RETLW  20
0050:  RETLW  30
0051:  RETLW  0D
0052:  RETLW  00
0053:  BCF    0A.0
0054:  BCF    0A.1
0055:  BCF    0A.2
0056:  ADDWF  02,F
0057:  RETLW  44
0058:  RETLW  4D
0059:  RETLW  20
005A:  RETLW  30
005B:  RETLW  0D
005C:  RETLW  00
005D:  BCF    0A.0
005E:  BCF    0A.1
005F:  BCF    0A.2
0060:  ADDWF  02,F
0061:  RETLW  54
0062:  RETLW  43
0063:  RETLW  20
0064:  RETLW  0D
0065:  RETLW  00
0066:  CLRF   77
0067:  CLRF   78
0068:  MOVF   7C,W
0069:  BCF    03.0
006A:  BTFSC  7D.0
006B:  ADDWF  77,F
006C:  RRF    77,F
006D:  RRF    78,F
006E:  BTFSC  7D.1
006F:  ADDWF  77,F
0070:  RRF    77,F
0071:  RRF    78,F
0072:  BTFSC  7D.2
0073:  ADDWF  77,F
0074:  RRF    77,F
0075:  RRF    78,F
0076:  BTFSC  7D.3
0077:  ADDWF  77,F
0078:  RRF    77,F
0079:  RRF    78,F
007A:  BTFSC  7D.4
007B:  ADDWF  77,F
007C:  RRF    77,F
007D:  RRF    78,F
007E:  BTFSC  7D.5
007F:  ADDWF  77,F
0080:  RRF    77,F
0081:  RRF    78,F
0082:  BTFSC  7D.6
0083:  ADDWF  77,F
0084:  RRF    77,F
0085:  RRF    78,F
0086:  BTFSC  7D.7
0087:  ADDWF  77,F
0088:  RRF    77,F
0089:  RRF    78,F
008A:  RETLW  00
*
011A:  MOVF   6A,W
011B:  CLRF   78
011C:  SUBWF  69,W
011D:  BTFSC  03.0
011E:  GOTO   122
011F:  MOVF   69,W
0120:  MOVWF  77
0121:  GOTO   12E
0122:  CLRF   77
0123:  MOVLW  08
0124:  MOVWF  6B
0125:  RLF    69,F
0126:  RLF    77,F
0127:  MOVF   6A,W
0128:  SUBWF  77,W
0129:  BTFSC  03.0
012A:  MOVWF  77
012B:  RLF    78,F
012C:  DECFSZ 6B,F
012D:  GOTO   125
012E:  RETLW  00
012F:  BCF    68.6
0130:  MOVF   67,W
0131:  MOVWF  69
0132:  MOVLW  64
0133:  MOVWF  6A
0134:  CALL   11A
0135:  MOVF   78,W
0136:  BTFSS  03.2
0137:  GOTO   155
0138:  BTFSC  68.3
0139:  GOTO   161
013A:  BTFSC  68.6
013B:  GOTO   142
013C:  BTFSC  68.0
013D:  GOTO   142
013E:  BTFSC  68.2
013F:  GOTO   142
0140:  BTFSC  68.7
0141:  GOTO   161
0142:  BTFSS  68.0
0143:  GOTO   14E
0144:  BTFSC  68.7
0145:  GOTO   161
0146:  BTFSC  68.6
0147:  GOTO   14E
0148:  BTFSC  68.0
0149:  GOTO   161
014A:  BTFSC  68.2
014B:  GOTO   14E
014C:  BTFSC  68.7
014D:  GOTO   161
014E:  MOVLW  20
014F:  BTFSS  68.4
0150:  MOVLW  30
0151:  BTFSS  0C.4
0152:  GOTO   151
0153:  MOVWF  19
0154:  GOTO   161
0155:  BTFSS  68.7
0156:  GOTO   15C
0157:  MOVLW  2D
0158:  BTFSS  0C.4
0159:  GOTO   158
015A:  MOVWF  19
015B:  BCF    68.7
015C:  MOVLW  30
015D:  ADDWF  78,W
015E:  BTFSS  0C.4
015F:  GOTO   15E
0160:  MOVWF  19
0161:  BTFSC  68.6
0162:  GOTO   16B
0163:  MOVF   77,W
0164:  MOVWF  69
0165:  MOVLW  0A
0166:  MOVWF  6A
0167:  CALL   11A
0168:  MOVF   78,W
0169:  BSF    68.6
016A:  GOTO   135
016B:  BTFSS  68.7
016C:  GOTO   171
016D:  MOVLW  2D
016E:  BTFSS  0C.4
016F:  GOTO   16E
0170:  MOVWF  19
0171:  MOVLW  30
0172:  ADDWF  77,W
0173:  BTFSS  0C.4
0174:  GOTO   173
0175:  MOVWF  19
0176:  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;  
....................