weldrobot.lst

Welding Robot controller C Embedded Program on micro-controller.

1150:  XORWF  71,F
....................    } 
....................  
....................    if (y <= 32768.0) 
1151:  MOVF   73,W
1152:  BSF    03.5
1153:  MOVWF  2A
1154:  MOVF   72,W
1155:  MOVWF  29
1156:  MOVF   71,W
1157:  MOVWF  28
1158:  MOVF   70,W
1159:  MOVWF  27
115A:  CLRF   2E
115B:  CLRF   2D
115C:  CLRF   2C
115D:  MOVLW  8E
115E:  MOVWF  2B
115F:  BCF    0A.4
1160:  BSF    0A.3
1161:  BCF    03.5
1162:  CALL   249
1163:  BSF    0A.4
1164:  BCF    0A.3
1165:  BTFSC  03.0
1166:  GOTO   169
1167:  BTFSS  03.2
1168:  GOTO   192
....................   res = (float)(long)y; 
1169:  MOVF   73,W
116A:  BSF    03.5
116B:  MOVWF  2A
116C:  MOVF   72,W
116D:  MOVWF  29
116E:  MOVF   71,W
116F:  MOVWF  28
1170:  MOVF   70,W
1171:  MOVWF  27
1172:  BCF    0A.4
1173:  BSF    0A.3
1174:  BCF    03.5
1175:  CALL   28A
1176:  BSF    0A.4
1177:  BCF    0A.3
1178:  CLRF   28
1179:  BTFSC  0B.7
117A:  BSF    28.7
117B:  BCF    0B.7
117C:  MOVF   79,W
117D:  BSF    03.5
117E:  MOVWF  61
117F:  MOVF   78,W
1180:  MOVWF  60
1181:  BCF    0A.4
1182:  BCF    03.5
1183:  CALL   429
1184:  BSF    0A.4
1185:  BTFSC  28.7
1186:  BSF    0B.7
1187:  MOVF   7A,W
1188:  BSF    03.5
1189:  MOVWF  23
118A:  MOVF   79,W
118B:  MOVWF  22
118C:  MOVF   78,W
118D:  MOVWF  21
118E:  MOVF   77,W
118F:  MOVWF  20
....................  
....................  else if (y < 10000000.0) 
1190:  GOTO   2B0
1191:  BCF    03.5
1192:  MOVF   73,W
1193:  BSF    03.5
1194:  MOVWF  2A
1195:  MOVF   72,W
1196:  MOVWF  29
1197:  MOVF   71,W
1198:  MOVWF  28
1199:  MOVF   70,W
119A:  MOVWF  27
119B:  MOVLW  80
119C:  MOVWF  2E
119D:  MOVLW  96
119E:  MOVWF  2D
119F:  MOVLW  18
11A0:  MOVWF  2C
11A1:  MOVLW  96
11A2:  MOVWF  2B
11A3:  BCF    0A.4
11A4:  BSF    0A.3
11A5:  BCF    03.5
11A6:  CALL   249
11A7:  BSF    0A.4
11A8:  BCF    0A.3
11A9:  BTFSS  03.0
11AA:  GOTO   2A7
....................    { 
....................   l = (long)(y/32768.0); 
11AB:  MOVF   73,W
11AC:  BSF    03.5
11AD:  MOVWF  2A
11AE:  MOVF   72,W
11AF:  MOVWF  29
11B0:  MOVF   71,W
11B1:  MOVWF  28
11B2:  MOVF   70,W
11B3:  MOVWF  27
11B4:  CLRF   2E
11B5:  CLRF   2D
11B6:  CLRF   2C
11B7:  MOVLW  8E
11B8:  MOVWF  2B
11B9:  BCF    0A.4
11BA:  BSF    0A.3
11BB:  BCF    03.5
11BC:  CALL   2AC
11BD:  BSF    0A.4
11BE:  BCF    0A.3
11BF:  MOVF   7A,W
11C0:  BSF    03.5
11C1:  MOVWF  2A
11C2:  MOVF   79,W
11C3:  MOVWF  29
11C4:  MOVF   78,W
11C5:  MOVWF  28
11C6:  MOVF   77,W
11C7:  MOVWF  27
11C8:  BCF    0A.4
11C9:  BSF    0A.3
11CA:  BCF    03.5
11CB:  CALL   28A
11CC:  BSF    0A.4
11CD:  BCF    0A.3
11CE:  MOVF   79,W
11CF:  MOVWF  75
11D0:  MOVF   78,W
11D1:  MOVWF  74
....................       y = 32768.0*(y/32768.0 - (float)l); 
11D2:  MOVF   73,W
11D3:  BSF    03.5
11D4:  MOVWF  2A
11D5:  MOVF   72,W
11D6:  MOVWF  29
11D7:  MOVF   71,W
11D8:  MOVWF  28
11D9:  MOVF   70,W
11DA:  MOVWF  27
11DB:  CLRF   2E
11DC:  CLRF   2D
11DD:  CLRF   2C
11DE:  MOVLW  8E
11DF:  MOVWF  2B
11E0:  BCF    0A.4
11E1:  BSF    0A.3
11E2:  BCF    03.5
11E3:  CALL   2AC
11E4:  BSF    0A.4
11E5:  BCF    0A.3
11E6:  MOVF   77,W
11E7:  BSF    03.5
11E8:  MOVWF  24
11E9:  MOVF   78,W
11EA:  MOVWF  25
11EB:  MOVF   79,W
11EC:  MOVWF  26
11ED:  MOVF   7A,W
11EE:  MOVWF  27
11EF:  BCF    03.5
11F0:  CLRF   28
11F1:  BTFSC  0B.7
11F2:  BSF    28.7
11F3:  BCF    0B.7
11F4:  MOVF   75,W
11F5:  BSF    03.5
11F6:  MOVWF  61
11F7:  MOVF   74,W
11F8:  MOVWF  60
11F9:  BCF    0A.4
11FA:  BCF    03.5
11FB:  CALL   429
11FC:  BSF    0A.4
11FD:  BTFSC  28.7
11FE:  BSF    0B.7
11FF:  BSF    03.1
1200:  BSF    03.5
1201:  MOVF   27,W
1202:  MOVWF  2E
1203:  MOVF   26,W
1204:  MOVWF  2D
1205:  MOVF   25,W
1206:  MOVWF  2C
1207:  MOVF   24,W
1208:  MOVWF  2B
1209:  MOVF   7A,W
120A:  MOVWF  32
120B:  MOVF   79,W
120C:  MOVWF  31
120D:  MOVF   78,W
120E:  MOVWF  30
120F:  MOVF   77,W
1210:  MOVWF  2F
1211:  BCF    0A.4
1212:  BSF    0A.3
1213:  BCF    03.5
1214:  CALL   000
1215:  BSF    0A.4
1216:  BCF    0A.3
1217:  CLRF   28
1218:  BTFSC  0B.7
1219:  BSF    28.7
121A:  BCF    0B.7
121B:  BSF    03.5
121C:  CLRF   63
121D:  CLRF   62
121E:  CLRF   61
121F:  MOVLW  8E
1220:  MOVWF  60
1221:  MOVF   7A,W
1222:  MOVWF  67
1223:  MOVF   79,W
1224:  MOVWF  66
1225:  MOVF   78,W
1226:  MOVWF  65
1227:  MOVF   77,W
1228:  MOVWF  64
1229:  BCF    0A.4
122A:  BCF    03.5
122B:  CALL   449
122C:  BSF    0A.4
122D:  BTFSC  28.7
122E:  BSF    0B.7
122F:  MOVF   7A,W
1230:  MOVWF  73
1231:  MOVF   79,W
1232:  MOVWF  72
1233:  MOVF   78,W
1234:  MOVWF  71
1235:  MOVF   77,W
1236:  MOVWF  70
....................   res = 32768.0*(float)l; 
1237:  CLRF   28
1238:  BTFSC  0B.7
1239:  BSF    28.7
123A:  BCF    0B.7
123B:  MOVF   75,W
123C:  BSF    03.5
123D:  MOVWF  61
123E:  MOVF   74,W
123F:  MOVWF  60
1240:  BCF    0A.4
1241:  BCF    03.5
1242:  CALL   429
1243:  BSF    0A.4
1244:  BTFSC  28.7
1245:  BSF    0B.7
1246:  CLRF   28
1247:  BTFSC  0B.7
1248:  BSF    28.7
1249:  BCF    0B.7
124A:  BSF    03.5
124B:  CLRF   63
124C:  CLRF   62
124D:  CLRF   61
124E:  MOVLW  8E
124F:  MOVWF  60
1250:  MOVF   7A,W
1251:  MOVWF  67
1252:  MOVF   79,W
1253:  MOVWF  66
1254:  MOVF   78,W
1255:  MOVWF  65
1256:  MOVF   77,W
1257:  MOVWF  64
1258:  BCF    0A.4
1259:  BCF    03.5
125A:  CALL   449
125B:  BSF    0A.4
125C:  BTFSC  28.7
125D:  BSF    0B.7
125E:  MOVF   7A,W
125F:  BSF    03.5
1260:  MOVWF  23
1261:  MOVF   79,W
1262:  MOVWF  22
1263:  MOVF   78,W
1264:  MOVWF  21
1265:  MOVF   77,W
1266:  MOVWF  20
....................   res += (float)(long)y; 
1267:  MOVF   73,W
1268:  MOVWF  2A
1269:  MOVF   72,W
126A:  MOVWF  29
126B:  MOVF   71,W
126C:  MOVWF  28
126D:  MOVF   70,W
126E:  MOVWF  27
126F:  BCF    0A.4
1270:  BSF    0A.3
1271:  BCF    03.5
1272:  CALL   28A
1273:  BSF    0A.4
1274:  BCF    0A.3
1275:  CLRF   28
1276:  BTFSC  0B.7
1277:  BSF    28.7
1278:  BCF    0B.7
1279:  MOVF   79,W
127A:  BSF    03.5
127B:  MOVWF  61
127C:  MOVF   78,W
127D:  MOVWF  60
127E:  BCF    0A.4
127F:  BCF    03.5
1280:  CALL   429
1281:  BSF    0A.4
1282:  BTFSC  28.7
1283:  BSF    0B.7
1284:  BCF    03.1
1285:  BSF    03.5
1286:  MOVF   23,W
1287:  MOVWF  2E
1288:  MOVF   22,W
1289:  MOVWF  2D
128A:  MOVF   21,W
128B:  MOVWF  2C
128C:  MOVF   20,W
128D:  MOVWF  2B
128E:  MOVF   7A,W
128F:  MOVWF  32
1290:  MOVF   79,W
1291:  MOVWF  31
1292:  MOVF   78,W
1293:  MOVWF  30
1294:  MOVF   77,W
1295:  MOVWF  2F
1296:  BCF    0A.4
1297:  BSF    0A.3
1298:  BCF    03.5
1299:  CALL   000
129A:  BSF    0A.4
129B:  BCF    0A.3
129C:  MOVF   7A,W
129D:  BSF    03.5
129E:  MOVWF  23
129F:  MOVF   79,W
12A0:  MOVWF  22
12A1:  MOVF   78,W
12A2:  MOVWF  21
12A3:  MOVF   77,W
12A4:  MOVWF  20
....................  } 
....................  
....................  else 
12A5:  GOTO   2B0
12A6:  BCF    03.5
....................   res = y; 
12A7:  MOVF   73,W
12A8:  BSF    03.5
12A9:  MOVWF  23
12AA:  MOVF   72,W
12AB:  MOVWF  22
12AC:  MOVF   71,W
12AD:  MOVWF  21
12AE:  MOVF   70,W
12AF:  MOVWF  20
....................  
....................  y = y - (float)(long)y; 
12B0:  MOVF   73,W
12B1:  MOVWF  2A
12B2:  MOVF   72,W
12B3:  MOVWF  29
12B4:  MOVF   71,W
12B5:  MOVWF  28
12B6:  MOVF   70,W
12B7:  MOVWF  27
12B8:  BCF    0A.4
12B9:  BSF    0A.3
12BA:  BCF    03.5
12BB:  CALL   28A
12BC:  BSF    0A.4
12BD:  BCF    0A.3
12BE:  CLRF   28
12BF:  BTFSC  0B.7
12C0:  BSF    28.7
12C1:  BCF    0B.7
12C2:  MOVF   79,W
12C3:  BSF    03.5
12C4:  MOVWF  61
12C5:  MOVF   78,W
12C6:  MOVWF  60
12C7:  BCF    0A.4
12C8:  BCF    03.5
12C9:  CALL   429
12CA:  BSF    0A.4
12CB:  BTFSC  28.7
12CC:  BSF    0B.7
12CD:  BSF    03.1
12CE:  MOVF   73,W
12CF:  BSF    03.5
12D0:  MOVWF  2E
12D1:  MOVF   72,W
12D2:  MOVWF  2D
12D3:  MOVF   71,W
12D4:  MOVWF  2C
12D5:  MOVF   70,W
12D6:  MOVWF  2B
12D7:  MOVF   7A,W
12D8:  MOVWF  32
12D9:  MOVF   79,W
12DA:  MOVWF  31
12DB:  MOVF   78,W
12DC:  MOVWF  30
12DD:  MOVF   77,W
12DE:  MOVWF  2F
12DF:  BCF    0A.4
12E0:  BSF    0A.3
12E1:  BCF    03.5
12E2:  CALL   000
12E3:  BSF    0A.4
12E4:  BCF    0A.3
12E5:  MOVF   7A,W
12E6:  MOVWF  73
12E7:  MOVF   79,W
12E8:  MOVWF  72
12E9:  MOVF   78,W
12EA:  MOVWF  71
12EB:  MOVF   77,W
12EC:  MOVWF  70
....................  
....................  if (s) 
12ED:  BTFSS  76.0
12EE:  GOTO   2F3
....................   res = -res; 
12EF:  MOVLW  80
12F0:  BSF    03.5
12F1:  XORWF  21,F
12F2:  BCF    03.5
....................  
....................  if (y != 0) 
12F3:  MOVF   73,W
12F4:  BSF    03.5
12F5:  MOVWF  2A
12F6:  MOVF   72,W
12F7:  MOVWF  29
12F8:  MOVF   71,W
12F9:  MOVWF  28
12FA:  MOVF   70,W
12FB:  MOVWF  27
12FC:  CLRF   2E
12FD:  CLRF   2D
12FE:  CLRF   2C
12FF:  CLRF   2B
1300:  BCF    0A.4
1301:  BSF    0A.3
1302:  BCF    03.5
1303:  CALL   249
1304:  BSF    0A.4
1305:  BCF    0A.3
1306:  BTFSC  03.2
1307:  GOTO   34F
....................  { 
....................   if (s == 1 && n == 0) 
1308:  BTFSS  76.0
1309:  GOTO   32C
130A:  MOVF   6F,F
130B:  BTFSS  03.2
130C:  GOTO   32C
....................    res -= 1.0; 
130D:  BSF    03.1
130E:  BSF    03.5
130F:  MOVF   23,W
1310:  MOVWF  2E
1311:  MOVF   22,W
1312:  MOVWF  2D
1313:  MOVF   21,W
1314:  MOVWF  2C
1315:  MOVF   20,W
1316:  MOVWF  2B
1317:  CLRF   32
1318:  CLRF   31
1319:  CLRF   30
131A:  MOVLW  7F
131B:  MOVWF  2F
131C:  BCF    0A.4
131D:  BSF    0A.3
131E:  BCF    03.5
131F:  CALL   000
1320:  BSF    0A.4
1321:  BCF    0A.3
1322:  MOVF   7A,W
1323:  BSF    03.5
1324:  MOVWF  23
1325:  MOVF   79,W
1326:  MOVWF  22
1327:  MOVF   78,W
1328:  MOVWF  21
1329:  MOVF   77,W
132A:  MOVWF  20
132B:  BCF    03.5
....................  
....................   if (s == 0 && n == 1) 
132C:  BTFSC  76.0
132D:  GOTO   34F
132E:  DECFSZ 6F,W
132F:  GOTO   34F
....................    res += 1.0; 
1330:  BCF    03.1
1331:  BSF    03.5
1332:  MOVF   23,W
1333:  MOVWF  2E
1334:  MOVF   22,W
1335:  MOVWF  2D
1336:  MOVF   21,W
1337:  MOVWF  2C
1338:  MOVF   20,W
1339:  MOVWF  2B
133A:  CLRF   32
133B:  CLRF   31
133C:  CLRF   30
133D:  MOVLW  7F
133E:  MOVWF  2F
133F:  BCF    0A.4
1340:  BSF    0A.3
1341:  BCF    03.5
1342:  CALL   000
1343:  BSF    0A.4
1344:  BCF    0A.3
1345:  MOVF   7A,W
1346:  BSF    03.5