📄 weldrobotold.lst
字号:
0EB3: GOTO 6BA
0EB4: BTFSS 6B.7
0EB5: GOTO 6C7
0EB6: MOVF 03,W
0EB7: XORLW 01
0EB8: MOVWF 03
0EB9: GOTO 6C7
0EBA: MOVF 6A,W
0EBB: MOVWF 6C
0EBC: MOVF 66,W
0EBD: SUBWF 6C,F
0EBE: BTFSC 03.2
0EBF: GOTO 6C6
0EC0: BTFSS 6B.7
0EC1: GOTO 6C7
0EC2: MOVF 03,W
0EC3: XORLW 01
0EC4: MOVWF 03
0EC5: GOTO 6C7
0EC6: BCF 03.0
0EC7: RETLW 00
*
0FC4: MOVLW 10
0FC5: MOVWF 57
0FC6: CLRF 77
0FC7: CLRF 7A
0FC8: RRF 54,F
0FC9: RRF 53,F
0FCA: BTFSS 03.0
0FCB: GOTO 7D2
0FCC: MOVF 55,W
0FCD: ADDWF 77,F
0FCE: BTFSC 03.0
0FCF: INCF 7A,F
0FD0: MOVF 56,W
0FD1: ADDWF 7A,F
0FD2: RRF 7A,F
0FD3: RRF 77,F
0FD4: RRF 79,F
0FD5: RRF 78,F
0FD6: DECFSZ 57,F
0FD7: GOTO 7C8
0FD8: RETLW 00
0FD9: CLRF 78
0FDA: CLRF 79
0FDB: CLRF 77
0FDC: CLRF 7A
0FDD: MOVF 58,W
0FDE: BTFSS 03.2
0FDF: GOTO 7E3
0FE0: MOVF 57,W
0FE1: BTFSC 03.2
0FE2: GOTO 7FD
0FE3: MOVLW 10
0FE4: MOVWF 59
0FE5: BCF 03.0
0FE6: RLF 55,F
0FE7: RLF 56,F
0FE8: RLF 77,F
0FE9: RLF 7A,F
0FEA: MOVF 58,W
0FEB: SUBWF 7A,W
0FEC: BTFSS 03.2
0FED: GOTO 7F0
0FEE: MOVF 57,W
0FEF: SUBWF 77,W
0FF0: BTFSS 03.0
0FF1: GOTO 7F9
0FF2: MOVF 57,W
0FF3: SUBWF 77,F
0FF4: BTFSS 03.0
0FF5: DECF 7A,F
0FF6: MOVF 58,W
0FF7: SUBWF 7A,F
0FF8: BSF 03.0
0FF9: RLF 78,F
0FFA: RLF 79,F
0FFB: DECFSZ 59,F
0FFC: GOTO 7E5
0FFD: NOP
0FFE: RETLW 00
*
1319: BSF 0A.0
131A: BSF 0A.1
131B: BCF 0A.2
131C: ADDWF 02,F
131D: GOTO 27D
131E: GOTO 280
131F: GOTO 285
1320: GOTO 286
1321: GOTO 287
.................... #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;
.................... 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;
....................
.................... if (s)
.................... res = -res;
....................
.................... if (y != 0)
.................... {
.................... if (s == 1 && n == 0)
.................... res -= 1.0;
....................
.................... if (s == 0 && n == 1)
.................... res += 1.0;
.................... }
.................... if (x == 0)
.................... res = 0;
....................
.................... return (res);
.................... }
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float floor(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : rounds down the number x.
.................... // Date : N/A
.................... //
.................... float floor(float x)
.................... {
.................... return CEIL_FLOOR(x, 0);
.................... }
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float ceil(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : rounds up the number x.
.................... // Date : N/A
.................... //
.................... float ceil(float x)
.................... {
.................... return CEIL_FLOOR(x, 1);
.................... }
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float fabs(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : Computes the absolute value of floating point number x
.................... // Returns : returns the absolute value of x
.................... // Date : N/A
.................... //
.................... #define fabs abs
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float fmod(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : Computes the floating point remainder of x/y
.................... // Returns : returns the value of x= i*y, for some integer i such that, if y
.................... // is non zero, the result has the same isgn of x na dmagnitude less than the
.................... // magnitude of y. If y is zero then a domain error occurs.
.................... // Date : N/A
.................... //
....................
.................... float fmod(float x,float y)
.................... {
.................... float i;
.................... if (y!=0.0)
.................... {
.................... i=(x/y < 0.0)? ceil(x/y): floor(x/y);
.................... return(x-(i*y));
.................... }
.................... else
.................... {
.................... #ifdef _ERRNO
.................... {
.................... errno=EDOM;
.................... }
.................... #endif
.................... }
.................... }
....................
.................... //////////////////// Exponential and logarithmic functions ////////////////////
....................
.................... #define LN2 0.6931471806
....................
.................... float const pe[6] = {0.000207455774, 0.00127100575, 0.00965065093,
.................... 0.0554965651, 0.240227138, 0.693147172};
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float exp(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the value (e^x)
.................... // Date : N/A
.................... //
.................... float exp(float x)
.................... {
.................... float y, res, r;
.................... signed int n;
.................... int1 s;
.................... #ifdef _ERRNO
.................... if(x > 88.722838)
.................... {
.................... errno=ERANGE;
.................... return(0);
.................... }
.................... #endif
.................... n = (signed long)(x/LN2);
.................... s = 0;
.................... y = x;
....................
.................... if (x < 0)
.................... {
.................... s = 1;
.................... n = -n;
.................... y = -y;
.................... }
....................
.................... res = 0.0;
.................... *(&res) = n + 0x7F;
....................
.................... y = y/LN2 - (float)n;
....................
.................... r = pe[0]*y + pe[1];
.................... r = r*y + pe[2];
.................... r = r*y + pe[3];
.................... r = r*y + pe[4];
.................... r = r*y + pe[5];
....................
.................... res = res*(1.0 + y*r);
....................
.................... if (s)
.................... res = 1.0/res;
.................... return(res);
.................... }
....................
.................... /************************************************************/
....................
.................... float const pl[4] = {0.45145214, -9.0558803, 26.940971, -19.860189};
.................... float const ql[4] = {1.0000000, -8.1354259, 16.780517, -9.9300943};
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float log(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the the natural log of x
.................... // Date : N/A
.................... //
.................... float log(float x)
.................... {
.................... float y, res, r, y2;
.................... signed n;
.................... #ifdef _ERRNO
.................... if(x <0)
.................... {
.................... errno=EDOM;
.................... }
.................... if(x ==0)
.................... {
.................... errno=ERANGE;
.................... return(0);
.................... }
.................... #endif
.................... y = x;
....................
.................... if (y != 1.0)
.................... {
.................... *(&y) = 0x7E;
....................
.................... y = (y - 1.0)/(y + 1.0);
....................
.................... y2=y*y;
....................
.................... res = pl[0]*y2 + pl[1];
.................... res = res*y2 + pl[2];
.................... res = res*y2 + pl[3];
....................
.................... r = ql[0]*y2 + ql[1];
.................... r = r*y2 + ql[2];
.................... r = r*y2 + ql[3];
....................
.................... res = y*res/r;
....................
.................... n = *(&x) - 0x7E;
....................
.................... if (n<0)
.................... r = -(float)-n;
.................... else
.................... r = (float)n;
....................
.................... res += r*LN2;
.................... }
....................
.................... else
.................... res = 0.0;
....................
.................... return(res);
.................... }
....................
.................... #define LN10 2.30258509
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float log10(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the the log base 10 of x
.................... // Date : N/A
.................... //
.................... float log10(float x)
.................... {
.................... float r;
....................
.................... r = log(x);
.................... r = r/LN10;
.................... return(r);
.................... }
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float modf(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description :breaks the argument value int integral and fractional parts,
.................... // ach of which have the same sign as the argument. It stores the integral part
.................... // as a float in the object pointed to by the iptr
.................... // Returns : returns the signed fractional part of value.
.................... // Date : N/A
.................... //
....................
.................... float modf(float value,float *iptr)
.................... {
.................... *iptr=(value < 0.0)? ceil(value): floor(value);
.................... return(value - *iptr);
.................... }
....................
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float pwr(float x,float y)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the value (x^y)
.................... // Date : N/A
.................... //
.................... float pwr(float x,float y)
.................... {
.................... if(x>=0)
.................... return( exp(y*log(x)) );
.................... else
.................... return( -exp(y*log(-x)) );
.................... }
....................
....................
.................... //////////////////// Power functions ////////////////////
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float pow(float x,float y)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the value (x^y)
.................... // Date : N/A
.................... //
.................... float pow(float x,float y)
.................... {
.................... if(x>=0)
.................... return( exp(y*log(x)) );
.................... else
.................... return( -exp(y*log(-x)) );
.................... }
....................
.................... ////////////////////////////////////////////////////////////////////////////
.................... // float sqrt(float x)
.................... ////////////////////////////////////////////////////////////////////////////
.................... // Description : returns the square root of x
.................... // Date : N/A
.................... //
.................... float sqrt(float x)
.................... {
.................... float y, res;
.................... BYTE *p;
....................
.................... #ifdef _ERRNO
.................... if(x < 0)
.................... {
.................... errno=EDOM;
.................... }
.................... #endif
....................
.................... if( x<=0.0)
.................... return(0.0);
....................
.................... y=x;
.................... p=&y;
.................... (*p)=(BYTE)((((int16)(*p)) + 127) >> 1);
....................
.................... do {
.................... res=y;
.................... y+=(x/y);
.................... (*p)--;
.................... } while(res != y);
....................
.................... return(res);
.................... }
....................
....................
....................
.................... ////////////////////////////// Trig Functions //////////////////////////////
.................... #ifdef PI_DIV_BY_TWO
.................... #undef PI_DIV_BY_TWO
.................... #endif
.................... #define PI_DIV_BY_TWO 1.570796326794896
.................... #ifdef TWOBYPI
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