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📄 ancap.lst

📁 Embedded camera control program.
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09BD:  BCF    03.1
09BE:  MOVF   7A,W
09BF:  MOVWF  67
09C0:  MOVF   79,W
09C1:  MOVWF  66
09C2:  MOVF   78,W
09C3:  MOVWF  65
09C4:  MOVF   77,W
09C5:  MOVWF  64
09C6:  MOVLW  1B
09C7:  MOVWF  6B
09C8:  MOVLW  E4
09C9:  MOVWF  6A
09CA:  MOVLW  35
09CB:  MOVWF  69
09CC:  MOVLW  82
09CD:  MOVWF  68
09CE:  BCF    0A.3
09CF:  CALL   4D6
09D0:  BSF    0A.3
09D1:  MOVF   7A,W
09D2:  MOVWF  5A
09D3:  MOVF   79,W
09D4:  MOVWF  59
09D5:  MOVF   78,W
09D6:  MOVWF  58
09D7:  MOVF   77,W
09D8:  MOVWF  57
....................    r = r*y*y + qat[2];  
09D9:  MOVF   5A,W
09DA:  MOVWF  63
09DB:  MOVF   59,W
09DC:  MOVWF  62
09DD:  MOVF   58,W
09DE:  MOVWF  61
09DF:  MOVF   57,W
09E0:  MOVWF  60
09E1:  MOVF   52,W
09E2:  MOVWF  67
09E3:  MOVF   51,W
09E4:  MOVWF  66
09E5:  MOVF   50,W
09E6:  MOVWF  65
09E7:  MOVF   4F,W
09E8:  MOVWF  64
09E9:  BCF    0A.3
09EA:  CALL   356
09EB:  BSF    0A.3
09EC:  MOVF   77,W
09ED:  MOVWF  5C
09EE:  MOVF   78,W
09EF:  MOVWF  5D
09F0:  MOVF   79,W
09F1:  MOVWF  5E
09F2:  MOVF   7A,W
09F3:  MOVWF  5F
09F4:  MOVWF  63
09F5:  MOVF   79,W
09F6:  MOVWF  62
09F7:  MOVF   78,W
09F8:  MOVWF  61
09F9:  MOVF   77,W
09FA:  MOVWF  60
09FB:  MOVF   52,W
09FC:  MOVWF  67
09FD:  MOVF   51,W
09FE:  MOVWF  66
09FF:  MOVF   50,W
0A00:  MOVWF  65
0A01:  MOVF   4F,W
0A02:  MOVWF  64
0A03:  BCF    0A.3
0A04:  CALL   356
0A05:  BSF    0A.3
0A06:  MOVF   77,W
0A07:  MOVWF  60
0A08:  MOVF   78,W
0A09:  MOVWF  61
0A0A:  MOVF   79,W
0A0B:  MOVWF  62
0A0C:  MOVF   7A,W
0A0D:  MOVWF  63
0A0E:  BCF    03.1
0A0F:  MOVF   7A,W
0A10:  MOVWF  67
0A11:  MOVF   79,W
0A12:  MOVWF  66
0A13:  MOVF   78,W
0A14:  MOVWF  65
0A15:  MOVF   77,W
0A16:  MOVWF  64
0A17:  MOVLW  A4
0A18:  MOVWF  6B
0A19:  MOVLW  DB
0A1A:  MOVWF  6A
0A1B:  MOVLW  67
0A1C:  MOVWF  69
0A1D:  MOVLW  83
0A1E:  MOVWF  68
0A1F:  BCF    0A.3
0A20:  CALL   4D6
0A21:  BSF    0A.3
0A22:  MOVF   7A,W
0A23:  MOVWF  5A
0A24:  MOVF   79,W
0A25:  MOVWF  59
0A26:  MOVF   78,W
0A27:  MOVWF  58
0A28:  MOVF   77,W
0A29:  MOVWF  57
....................    r = r*y*y + qat[3];  
0A2A:  MOVF   5A,W
0A2B:  MOVWF  63
0A2C:  MOVF   59,W
0A2D:  MOVWF  62
0A2E:  MOVF   58,W
0A2F:  MOVWF  61
0A30:  MOVF   57,W
0A31:  MOVWF  60
0A32:  MOVF   52,W
0A33:  MOVWF  67
0A34:  MOVF   51,W
0A35:  MOVWF  66
0A36:  MOVF   50,W
0A37:  MOVWF  65
0A38:  MOVF   4F,W
0A39:  MOVWF  64
0A3A:  BCF    0A.3
0A3B:  CALL   356
0A3C:  BSF    0A.3
0A3D:  MOVF   77,W
0A3E:  MOVWF  5C
0A3F:  MOVF   78,W
0A40:  MOVWF  5D
0A41:  MOVF   79,W
0A42:  MOVWF  5E
0A43:  MOVF   7A,W
0A44:  MOVWF  5F
0A45:  MOVWF  63
0A46:  MOVF   79,W
0A47:  MOVWF  62
0A48:  MOVF   78,W
0A49:  MOVWF  61
0A4A:  MOVF   77,W
0A4B:  MOVWF  60
0A4C:  MOVF   52,W
0A4D:  MOVWF  67
0A4E:  MOVF   51,W
0A4F:  MOVWF  66
0A50:  MOVF   50,W
0A51:  MOVWF  65
0A52:  MOVF   4F,W
0A53:  MOVWF  64
0A54:  BCF    0A.3
0A55:  CALL   356
0A56:  BSF    0A.3
0A57:  MOVF   77,W
0A58:  MOVWF  60
0A59:  MOVF   78,W
0A5A:  MOVWF  61
0A5B:  MOVF   79,W
0A5C:  MOVWF  62
0A5D:  MOVF   7A,W
0A5E:  MOVWF  63
0A5F:  BCF    03.1
0A60:  MOVF   7A,W
0A61:  MOVWF  67
0A62:  MOVF   79,W
0A63:  MOVWF  66
0A64:  MOVF   78,W
0A65:  MOVWF  65
0A66:  MOVF   77,W
0A67:  MOVWF  64
0A68:  MOVLW  33
0A69:  MOVWF  6B
0A6A:  MOVLW  8C
0A6B:  MOVWF  6A
0A6C:  MOVLW  1E
0A6D:  MOVWF  69
0A6E:  MOVLW  83
0A6F:  MOVWF  68
0A70:  BCF    0A.3
0A71:  CALL   4D6
0A72:  BSF    0A.3
0A73:  MOVF   7A,W
0A74:  MOVWF  5A
0A75:  MOVF   79,W
0A76:  MOVWF  59
0A77:  MOVF   78,W
0A78:  MOVWF  58
0A79:  MOVF   77,W
0A7A:  MOVWF  57
....................   
....................    res = y*res/r;  
0A7B:  MOVF   52,W
0A7C:  MOVWF  63
0A7D:  MOVF   51,W
0A7E:  MOVWF  62
0A7F:  MOVF   50,W
0A80:  MOVWF  61
0A81:  MOVF   4F,W
0A82:  MOVWF  60
0A83:  MOVF   56,W
0A84:  MOVWF  67
0A85:  MOVF   55,W
0A86:  MOVWF  66
0A87:  MOVF   54,W
0A88:  MOVWF  65
0A89:  MOVF   53,W
0A8A:  MOVWF  64
0A8B:  BCF    0A.3
0A8C:  CALL   356
0A8D:  BSF    0A.3
0A8E:  MOVF   77,W
0A8F:  MOVWF  5C
0A90:  MOVF   78,W
0A91:  MOVWF  5D
0A92:  MOVF   79,W
0A93:  MOVWF  5E
0A94:  MOVF   7A,W
0A95:  MOVWF  5F
0A96:  MOVWF  63
0A97:  MOVF   79,W
0A98:  MOVWF  62
0A99:  MOVF   78,W
0A9A:  MOVWF  61
0A9B:  MOVF   77,W
0A9C:  MOVWF  60
0A9D:  MOVF   5A,W
0A9E:  MOVWF  67
0A9F:  MOVF   59,W
0AA0:  MOVWF  66
0AA1:  MOVF   58,W
0AA2:  MOVWF  65
0AA3:  MOVF   57,W
0AA4:  MOVWF  64
0AA5:  BCF    0A.3
0AA6:  CALL   3CC
0AA7:  BSF    0A.3
0AA8:  MOVF   7A,W
0AA9:  MOVWF  56
0AAA:  MOVF   79,W
0AAB:  MOVWF  55
0AAC:  MOVF   78,W
0AAD:  MOVWF  54
0AAE:  MOVF   77,W
0AAF:  MOVWF  53
....................   
....................   
....................    if (flag)                              // for |x| > 1  
0AB0:  BTFSS  5B.1
0AB1:  GOTO   2CE
....................       res = PI_DIV_BY_TWO - res;  
0AB2:  BSF    03.1
0AB3:  MOVLW  DB
0AB4:  MOVWF  67
0AB5:  MOVLW  0F
0AB6:  MOVWF  66
0AB7:  MOVLW  49
0AB8:  MOVWF  65
0AB9:  MOVLW  7F
0ABA:  MOVWF  64
0ABB:  MOVF   56,W
0ABC:  MOVWF  6B
0ABD:  MOVF   55,W
0ABE:  MOVWF  6A
0ABF:  MOVF   54,W
0AC0:  MOVWF  69
0AC1:  MOVF   53,W
0AC2:  MOVWF  68
0AC3:  BCF    0A.3
0AC4:  CALL   4D6
0AC5:  BSF    0A.3
0AC6:  MOVF   7A,W
0AC7:  MOVWF  56
0AC8:  MOVF   79,W
0AC9:  MOVWF  55
0ACA:  MOVF   78,W
0ACB:  MOVWF  54
0ACC:  MOVF   77,W
0ACD:  MOVWF  53
....................    if (s)  
0ACE:  BTFSS  5B.0
0ACF:  GOTO   2D2
....................       res = -res;  
0AD0:  MOVLW  80
0AD1:  XORWF  54,F
....................   
....................    return(res);  
0AD2:  MOVF   53,W
0AD3:  MOVWF  77
0AD4:  MOVF   54,W
0AD5:  MOVWF  78
0AD6:  MOVF   55,W
0AD7:  MOVWF  79
0AD8:  MOVF   56,W
0AD9:  MOVWF  7A
.................... }  
....................   
.................... /////////////////////////////////////////////////////////////////////////////  
.................... //	float atan2(float y, float x)  
.................... /////////////////////////////////////////////////////////////////////////////  
.................... // Description :computes the principal value of arc tangent of y/x, using the  
.................... // signs of both the arguments to determine the quadrant of the return value  
.................... // Returns : returns the arc tangent of y/x.  
.................... // Date : N/A  
.................... //  
....................   
....................   
.................... float atan2(float y,float x)  
.................... {  
....................    float z;  
....................    int1 sign;  
....................    int quad;  
....................    sign=0;  
....................    quad=0; //quadrant  
....................    quad=((y<=0.0)?(x<=0.0)?:4):((x<0.0)?:1));  
....................    if(y<0.0)  
....................    {  
....................       sign=1;  
....................       y=-y;  
....................    }  
....................    if(x<0.0)  
....................    {  
....................       x=-x;  
....................    }  
....................    if (x==0.0)  
....................    {  
....................       if(y==0.0)  
....................       {  
....................       #ifdef _ERRNO  
....................       {  
....................          errno=EDOM;  
....................       }  
....................       #endif  
....................       }  
....................       else  
....................       {  
....................          if(sign)  
....................          {  
....................          return (-(PI_DIV_BY_TWO));  
....................          }  
....................          else  
....................          {  
....................          return (PI_DIV_BY_TWO);  
....................          }  
....................       }  
....................    }  
....................    else  
....................    {  
....................       z=y/x;  
....................       switch(quad)  
....................       {  
....................          case 1:  
....................          {  
....................             return atan(z);  
....................             break;  
....................          }  
....................          case 2:  
....................          {  
.................... //            return (atan(z)+PI_DIV_BY_TWO);  //2L3122  
....................             return (PI-atan(z));  
....................             break;  
....................          }  
....................          case 3:  
....................          {  
....................             return (atan(z)-PI);  
....................             break;  
....................          }  
....................          case 4:  
....................          {  
....................             return (-atan(z));  
....................             break;  
....................          }  
....................       }  
....................    }  
.................... }  
....................   
.................... //////////////////// Hyperbolic functions ////////////////////  
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float cosh(float x)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : Computes the hyperbolic cosine value of x  
.................... // Returns : returns the hyperbolic cosine value of x  
.................... // Date : N/A  
.................... //  
....................   
.................... float cosh(float x)  
.................... {  
....................    return ((exp(x)+exp(-x))/2);  
.................... }  
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float sinh(float x)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : Computes the hyperbolic sine value of x  
.................... // Returns : returns the hyperbolic sine value of x  
.................... // Date : N/A  
.................... //  
....................   
.................... float sinh(float x)  
.................... {  
....................   
....................    return ((exp(x) - exp(-x))/2);  
.................... }  
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float tanh(float x)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : Computes the hyperbolic tangent value of x  
.................... // Returns : returns the hyperbolic tangent value of x  
.................... // Date : N/A  
.................... //  
....................   
.................... float tanh(float x)  
.................... {  
....................    return(sinh(x)/cosh(x));  
.................... }  
....................   
.................... ////////////////////////////////////////////////////////////////////////////  
.................... //	float frexp(float x, signed int *exp)  
.................... ////////////////////////////////////////////////////////////////////////////  
.................... // Description : breaks a floating point number into a normalized fraction and an integral  
.................... // power of 2. It stores the integer in the signed int object pointed to by exp.  
.................... // Returns : returns the value x, such that x is a double with magnitude in the interval  
.................... // [1/2,1) or zero, and value equals x times 2 raised to the power *exp.If value is zero,  
.................... // both parts of the result are zero.  
.................... // Date : N/A  
.................... //  
....................   
....................   
....................   
.................... #define LOG2 .30102999566398119521  
.................... float frexp(float x, signed int *exp)  
.................... {  
....................    float res;  
....................    int1 sign = 0;  
....................    if(x == 0.0)  
....................    {  
....................       *exp=0;  
....................       return (0.0);  
....................    }  
....................    if(x < 0.0)  
....................    {  
....................      x=-x;  
....................      sign=1;  
....................    }  
....................    if (x > 1.0)  
....................    {  
....................       *exp=(ceil(log10(x)/LOG2));  
....................       res=x/(pow(2, *exp));  
....................       if (res == 1)  
....................       {  
....................          *exp=*exp+1;  
....................           res=.5;  
....................       }  
....................    }  
....................    else  
....................    {  
....................       if(x < 0.5)  
....................       {  
....................          *exp=-1;  
....................          res=x*2;  
....................       }  
....................       else  
....................       {  
....................          *exp=0;  
....................           res=x;  
....................       }  
....................    }  
....................    if(sign)  
....................    {  
....................       res=-res;  
................

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