weldrobot.lst

Welding Robot controller C Embedded Program on micro-controller.

0A07:  MOVLW  2E
0A08:  BTFSS  0C.4
0A09:  GOTO   208
0A0A:  MOVWF  19
0A0B:  MOVF   6D,W
0A0C:  MOVWF  77
0A0D:  MOVLW  20
0A0E:  ANDWF  6D,F
0A0F:  MOVLW  00
0A10:  MOVLW  30
0A11:  BTFSS  6D.5
0A12:  GOTO   221
0A13:  BCF    6D.5
0A14:  MOVF   6C,W
0A15:  BTFSS  03.2
0A16:  DECF   6D,F
0A17:  MOVF   77,W
0A18:  MOVWF  6D
0A19:  MOVLW  2D
0A1A:  BTFSS  0C.4
0A1B:  GOTO   21A
0A1C:  MOVWF  19
0A1D:  MOVF   6D,W
0A1E:  MOVWF  77
0A1F:  CLRF   6D
0A20:  MOVLW  30
0A21:  ADDWF  77,F
0A22:  MOVF   77,W
0A23:  BTFSS  0C.4
0A24:  GOTO   223
0A25:  MOVWF  19
0A26:  CLRF   28
0A27:  BTFSC  0B.7
0A28:  BSF    28.7
0A29:  BCF    0B.7
0A2A:  MOVF   74,W
0A2B:  BSF    03.5
0A2C:  MOVWF  54
0A2D:  MOVF   73,W
0A2E:  MOVWF  53
0A2F:  MOVF   72,W
0A30:  MOVWF  52
0A31:  MOVF   71,W
0A32:  MOVWF  51
0A33:  CLRF   58
0A34:  CLRF   57
0A35:  CLRF   56
0A36:  MOVLW  0A
0A37:  MOVWF  55
0A38:  BCF    0A.3
0A39:  BCF    03.5
0A3A:  CALL   147
0A3B:  BSF    0A.3
0A3C:  BTFSC  28.7
0A3D:  BSF    0B.7
0A3E:  MOVF   7A,W
0A3F:  MOVWF  74
0A40:  MOVF   79,W
0A41:  MOVWF  73
0A42:  MOVF   78,W
0A43:  MOVWF  72
0A44:  MOVF   77,W
0A45:  MOVWF  71
0A46:  DECFSZ 6F,F
0A47:  GOTO   1AC
0A48:  RETLW  00
0A49:  BSF    03.5
0A4A:  MOVF   28,W
0A4B:  MOVWF  2F
0A4C:  MOVF   2C,W
0A4D:  XORWF  2F,F
0A4E:  BTFSS  2F.7
0A4F:  GOTO   255
0A50:  BCF    03.2
0A51:  BCF    03.0
0A52:  BTFSC  28.7
0A53:  BSF    03.0
0A54:  GOTO   288
0A55:  MOVF   28,W
0A56:  MOVWF  2F
0A57:  MOVF   2B,W
0A58:  MOVWF  30
0A59:  MOVF   27,W
0A5A:  SUBWF  30,F
0A5B:  BTFSC  03.2
0A5C:  GOTO   263
0A5D:  BTFSS  2F.7
0A5E:  GOTO   288
0A5F:  MOVF   03,W
0A60:  XORLW  01
0A61:  MOVWF  03
0A62:  GOTO   288
0A63:  MOVF   2C,W
0A64:  MOVWF  30
0A65:  MOVF   28,W
0A66:  SUBWF  30,F
0A67:  BTFSC  03.2
0A68:  GOTO   26F
0A69:  BTFSS  2F.7
0A6A:  GOTO   288
0A6B:  MOVF   03,W
0A6C:  XORLW  01
0A6D:  MOVWF  03
0A6E:  GOTO   288
0A6F:  MOVF   2D,W
0A70:  MOVWF  30
0A71:  MOVF   29,W
0A72:  SUBWF  30,F
0A73:  BTFSC  03.2
0A74:  GOTO   27B
0A75:  BTFSS  2F.7
0A76:  GOTO   288
0A77:  MOVF   03,W
0A78:  XORLW  01
0A79:  MOVWF  03
0A7A:  GOTO   288
0A7B:  MOVF   2E,W
0A7C:  MOVWF  30
0A7D:  MOVF   2A,W
0A7E:  SUBWF  30,F
0A7F:  BTFSC  03.2
0A80:  GOTO   287
0A81:  BTFSS  2F.7
0A82:  GOTO   288
0A83:  MOVF   03,W
0A84:  XORLW  01
0A85:  MOVWF  03
0A86:  GOTO   288
0A87:  BCF    03.0
0A88:  BCF    03.5
0A89:  RETLW  00
0A8A:  MOVLW  8E
0A8B:  MOVWF  77
0A8C:  BSF    03.5
0A8D:  MOVF   27,W
0A8E:  SUBWF  77,F
0A8F:  MOVF   28,W
0A90:  MOVWF  79
0A91:  MOVF   29,W
0A92:  MOVWF  78
0A93:  BSF    79.7
0A94:  MOVF   77,F
0A95:  BTFSC  03.2
0A96:  GOTO   2A2
0A97:  BCF    03.0
0A98:  MOVF   79,F
0A99:  BTFSS  03.2
0A9A:  GOTO   29E
0A9B:  MOVF   78,F
0A9C:  BTFSC  03.2
0A9D:  GOTO   2A2
0A9E:  RRF    79,F
0A9F:  RRF    78,F
0AA0:  DECFSZ 77,F
0AA1:  GOTO   297
0AA2:  BTFSS  28.7
0AA3:  GOTO   2A9
0AA4:  COMF   78,F
0AA5:  COMF   79,F
0AA6:  INCF   78,F
0AA7:  BTFSC  03.2
0AA8:  INCF   79,F
0AA9:  NOP
0AAA:  BCF    03.5
0AAB:  RETLW  00
0AAC:  BSF    03.5
0AAD:  MOVF   27,W
0AAE:  BTFSC  03.2
0AAF:  GOTO   372
0AB0:  MOVWF  33
0AB1:  MOVF   2B,W
0AB2:  BTFSC  03.2
0AB3:  GOTO   372
0AB4:  SUBWF  33,F
0AB5:  BTFSS  03.0
0AB6:  GOTO   2BC
0AB7:  MOVLW  7F
0AB8:  ADDWF  33,F
0AB9:  BTFSC  03.0
0ABA:  GOTO   372
0ABB:  GOTO   2C2
0ABC:  MOVLW  81
0ABD:  SUBWF  33,F
0ABE:  BTFSS  03.0
0ABF:  GOTO   372
0AC0:  BTFSC  03.2
0AC1:  GOTO   372
0AC2:  MOVF   33,W
0AC3:  MOVWF  77
0AC4:  CLRF   78
0AC5:  CLRF   79
0AC6:  CLRF   7A
0AC7:  CLRF   32
0AC8:  MOVF   28,W
0AC9:  MOVWF  31
0ACA:  BSF    31.7
0ACB:  MOVF   29,W
0ACC:  MOVWF  30
0ACD:  MOVF   2A,W
0ACE:  MOVWF  2F
0ACF:  MOVLW  19
0AD0:  MOVWF  33
0AD1:  MOVF   2E,W
0AD2:  SUBWF  2F,F
0AD3:  BTFSC  03.0
0AD4:  GOTO   2E5
0AD5:  MOVLW  01
0AD6:  SUBWF  30,F
0AD7:  BTFSC  03.0
0AD8:  GOTO   2E5
0AD9:  SUBWF  31,F
0ADA:  BTFSC  03.0
0ADB:  GOTO   2E5
0ADC:  SUBWF  32,F
0ADD:  BTFSC  03.0
0ADE:  GOTO   2E5
0ADF:  INCF   32,F
0AE0:  INCF   31,F
0AE1:  INCF   30,F
0AE2:  MOVF   2E,W
0AE3:  ADDWF  2F,F
0AE4:  GOTO   317
0AE5:  MOVF   2D,W
0AE6:  SUBWF  30,F
0AE7:  BTFSC  03.0
0AE8:  GOTO   300
0AE9:  MOVLW  01
0AEA:  SUBWF  31,F
0AEB:  BTFSC  03.0
0AEC:  GOTO   300
0AED:  SUBWF  32,F
0AEE:  BTFSC  03.0
0AEF:  GOTO   300
0AF0:  INCF   32,F
0AF1:  INCF   31,F
0AF2:  MOVF   2D,W
0AF3:  ADDWF  30,F
0AF4:  MOVF   2E,W
0AF5:  ADDWF  2F,F
0AF6:  BTFSS  03.0
0AF7:  GOTO   317
0AF8:  INCF   30,F
0AF9:  BTFSS  03.2
0AFA:  GOTO   317
0AFB:  INCF   31,F
0AFC:  BTFSS  03.2
0AFD:  GOTO   317
0AFE:  INCF   32,F
0AFF:  GOTO   317
0B00:  MOVF   2C,W
0B01:  IORLW  80
0B02:  SUBWF  31,F
0B03:  BTFSC  03.0
0B04:  GOTO   316
0B05:  MOVLW  01
0B06:  SUBWF  32,F
0B07:  BTFSC  03.0
0B08:  GOTO   316
0B09:  INCF   32,F
0B0A:  MOVF   2C,W
0B0B:  IORLW  80
0B0C:  ADDWF  31,F
0B0D:  MOVF   2D,W
0B0E:  ADDWF  30,F
0B0F:  BTFSS  03.0
0B10:  GOTO   2F4
0B11:  INCF   31,F
0B12:  BTFSS  03.2
0B13:  GOTO   2F4
0B14:  INCF   32,F
0B15:  GOTO   2F4
0B16:  BSF    7A.0
0B17:  DECFSZ 33,F
0B18:  GOTO   31A
0B19:  GOTO   325
0B1A:  BCF    03.0
0B1B:  RLF    2F,F
0B1C:  RLF    30,F
0B1D:  RLF    31,F
0B1E:  RLF    32,F
0B1F:  BCF    03.0
0B20:  RLF    7A,F
0B21:  RLF    79,F
0B22:  RLF    78,F
0B23:  RLF    34,F
0B24:  GOTO   2D1
0B25:  BTFSS  34.0
0B26:  GOTO   32D
0B27:  BCF    03.0
0B28:  RRF    78,F
0B29:  RRF    79,F
0B2A:  RRF    7A,F
0B2B:  RRF    34,F
0B2C:  GOTO   330
0B2D:  DECF   77,F
0B2E:  BTFSC  03.2
0B2F:  GOTO   372
0B30:  BTFSC  34.7
0B31:  GOTO   359
0B32:  BCF    03.0
0B33:  RLF    2F,F
0B34:  RLF    30,F
0B35:  RLF    31,F
0B36:  RLF    32,F
0B37:  MOVF   2E,W
0B38:  SUBWF  2F,F
0B39:  BTFSC  03.0
0B3A:  GOTO   345
0B3B:  MOVLW  01
0B3C:  SUBWF  30,F
0B3D:  BTFSC  03.0
0B3E:  GOTO   345
0B3F:  SUBWF  31,F
0B40:  BTFSC  03.0
0B41:  GOTO   345
0B42:  SUBWF  32,F
0B43:  BTFSS  03.0
0B44:  GOTO   368
0B45:  MOVF   2D,W
0B46:  SUBWF  30,F
0B47:  BTFSC  03.0
0B48:  GOTO   350
0B49:  MOVLW  01
0B4A:  SUBWF  31,F
0B4B:  BTFSC  03.0
0B4C:  GOTO   350
0B4D:  SUBWF  32,F
0B4E:  BTFSS  03.0
0B4F:  GOTO   368
0B50:  MOVF   2C,W
0B51:  IORLW  80
0B52:  SUBWF  31,F
0B53:  BTFSC  03.0
0B54:  GOTO   359
0B55:  MOVLW  01
0B56:  SUBWF  32,F
0B57:  BTFSS  03.0
0B58:  GOTO   368
0B59:  INCF   7A,F
0B5A:  BTFSS  03.2
0B5B:  GOTO   368
0B5C:  INCF   79,F
0B5D:  BTFSS  03.2
0B5E:  GOTO   368
0B5F:  INCF   78,F
0B60:  BTFSS  03.2
0B61:  GOTO   368
0B62:  INCF   77,F
0B63:  BTFSC  03.2
0B64:  GOTO   372
0B65:  RRF    78,F
0B66:  RRF    79,F
0B67:  RRF    7A,F
0B68:  MOVF   28,W
0B69:  MOVWF  33
0B6A:  MOVF   2C,W
0B6B:  XORWF  33,F
0B6C:  BTFSS  33.7
0B6D:  GOTO   370
0B6E:  BSF    78.7
0B6F:  GOTO   376
0B70:  BCF    78.7
0B71:  GOTO   376
0B72:  CLRF   77
0B73:  CLRF   78
0B74:  CLRF   79
0B75:  CLRF   7A
0B76:  NOP
0B77:  BCF    03.5
0B78:  RETLW  00
*
0E80:  MOVLW  10
0E81:  MOVWF  56
0E82:  CLRF   77
0E83:  CLRF   7A
0E84:  RRF    53,F
0E85:  RRF    52,F
0E86:  BTFSS  03.0
0E87:  GOTO   68E
0E88:  MOVF   54,W
0E89:  ADDWF  77,F
0E8A:  BTFSC  03.0
0E8B:  INCF   7A,F
0E8C:  MOVF   55,W
0E8D:  ADDWF  7A,F
0E8E:  RRF    7A,F
0E8F:  RRF    77,F
0E90:  RRF    79,F
0E91:  RRF    78,F
0E92:  DECFSZ 56,F
0E93:  GOTO   684
0E94:  RETLW  00
0E95:  CLRF   78
0E96:  CLRF   79
0E97:  CLRF   77
0E98:  CLRF   7A
0E99:  MOVF   57,W
0E9A:  BTFSS  03.2
0E9B:  GOTO   69F
0E9C:  MOVF   56,W
0E9D:  BTFSC  03.2
0E9E:  GOTO   6B9
0E9F:  MOVLW  10
0EA0:  MOVWF  58
0EA1:  BCF    03.0
0EA2:  RLF    54,F
0EA3:  RLF    55,F
0EA4:  RLF    77,F
0EA5:  RLF    7A,F
0EA6:  MOVF   57,W
0EA7:  SUBWF  7A,W
0EA8:  BTFSS  03.2
0EA9:  GOTO   6AC
0EAA:  MOVF   56,W
0EAB:  SUBWF  77,W
0EAC:  BTFSS  03.0
0EAD:  GOTO   6B5
0EAE:  MOVF   56,W
0EAF:  SUBWF  77,F
0EB0:  BTFSS  03.0
0EB1:  DECF   7A,F
0EB2:  MOVF   57,W
0EB3:  SUBWF  7A,F
0EB4:  BSF    03.0
0EB5:  RLF    78,F
0EB6:  RLF    79,F
0EB7:  DECFSZ 58,F
0EB8:  GOTO   6A1
0EB9:  NOP
0EBA:  RETLW  00
*
16BD:  BCF    0A.0
16BE:  BSF    0A.1
16BF:  BSF    0A.2
16C0:  ADDWF  02,F
16C1:  GOTO   613
16C2:  GOTO   618
16C3:  GOTO   61D
16C4:  GOTO   622
16C5:  GOTO   627
.................... #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 
....................  
.................... #ifdef PI 
.................... #undef  PI 
.................... #endif 
.................... #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; 
*
112A:  BCF    76.0
....................    y = x; 
112B:  MOVF   6E,W
112C:  MOVWF  73
112D:  MOVF   6D,W
112E:  MOVWF  72
112F:  MOVF   6C,W
1130:  MOVWF  71
1131:  MOVF   6B,W
1132:  MOVWF  70
....................  
....................    if (x < 0) 
1133:  MOVF   6E,W
1134:  BSF    03.5
1135:  MOVWF  2A
1136:  BCF    03.5
1137:  MOVF   6D,W
1138:  BSF    03.5
1139:  MOVWF  29
113A:  BCF    03.5
113B:  MOVF   6C,W
113C:  BSF    03.5
113D:  MOVWF  28
113E:  BCF    03.5
113F:  MOVF   6B,W
1140:  BSF    03.5
1141:  MOVWF  27
1142:  CLRF   2E
1143:  CLRF   2D
1144:  CLRF   2C
1145:  CLRF   2B
1146:  BCF    0A.4
1147:  BSF    0A.3
1148:  BCF    03.5
1149:  CALL   249
114A:  BSF    0A.4
114B:  BCF    0A.3
114C:  BTFSS  03.0
114D:  GOTO   151
....................    { 
....................       s = 1; 
114E:  BSF    76.0
....................       y = -y; 
114F:  MOVLW  80