;*********************************************************************************************** ; LE_DIST.ASM ; ; COM SENSOR DE PROXIMIDADE (MODULO ULTRASONICO HC-SR04) E PIC 16F628A ; OBJETIVO: MOSTRAR EM LCD A DISTANCIA DE OBJETOS A FRENTE DO SENSOR ; UTILIZA BIBLIOTECA DE PONTO FLUTUANTE PARA OS CALCULOS DE DISTÂNCIA ; AUTOR:CLAUDIO LÁRIOS INICIO: 15-06-2013 TERMINO:16-06-2013 ; USO DIDÁTICO APENAS. ; USE CRISTAL EXTERNO DE 4 MHZ ;*********************************************************************************************** ;MODELO DO MICROCONTROLADOR LIST P=16f628A , R=DEC INCLUDE "P16F628A.INC" ;-------------------------- ERRORLEVEL -302 ;ELIMINA MENSAGEM DE ERRO __CONFIG _CP_OFF & _PWRTE_ON & _WDT_OFF & _XT_OSC & _BODEN_OFF & _LVP_OFF ;BANCOS #DEFINE BANK0 BCF STATUS,RP0 ;SETA BANK0 DE MEMORIA #DEFINE BANK1 BSF STATUS,RP0 ;SETA BANK1 #DEFINE _C STATUS,C ; RENOMEIA PARA BIBLIOTECA DE PONTO FLUTUANTE #DEFINE _Z STATUS,Z ; RENOMEIA PARA BIBLIOTECA DE PONTO FLUTUANTE #DEFINE FLAG_W FLAGS,0 ;FLAG #DEFINE FLAG_ON FLAGS,1 ;FLAG ON (DORMENCIA OU LIGADO) #DEFINE PAG1 FLAGS,2 ;INDICADOR DE PAGINA 1 #DEFINE FLAG_ZE FLAGS,3 ;INDICADOR DE NÚMERO NÃO ZERO A ESQUERDA ;================================================================================================ ;CONSTANTS DEFINITIONS ;================================================================================================ ;LCD Control lines #DEFINE LCD_DB7 PORTA,3 ;PINO 2 - DISPLAYS #DEFINE LCD_DB6 PORTA,2 ;PINO 1 - DISPLAY #DEFINE LCD_DB5 PORTA,1 ;PINO 18 - DISPLAYS #DEFINE LCD_DB4 PORTA,0 ;PINO 17 - DISPLAY #DEFINE LCD_RS PORTB,2 ;PINO 8 - DISPLAY #DEFINE LCD_E PORTB,3 ;PINO 9 - DISPLAY #DEFINE TRIG PORTB,1 ;PINO 7 - TRIGER #DEFINE ECHO PORTB,0 ;PINO 6 - ECHO CBLOCK 0X20 TR,LC,LC1,AUX, TMP,R7,C_ERRO,AUXG,AUXH,PCAUX,TDIG1,TDIG2,TDIG3,BR0,BR1,BR2,BR3 C0,C1,CX,FPE,AARGB4,AARGB3,AARGB2,AARGB1,AARGB0,AEXP,SIGN,FPFLAGS,BARGB3,BARGB2 BARGB1,BARGB0,BEXP,CARGB1,CARGB0,CEXP,TEMPB0,TEMPB1,SINAL,FLAGS ENDC ;CONSTANTES PARA MATEMÁTICA DE PONTO FLUTUANTE EXP equ AEXP TEMP equ TEMPB0 B0 equ 0 B1 equ 1 B2 equ 2 B3 equ 3 B4 equ 4 B5 equ 5 B6 equ 6 B7 equ 7 MSB equ 7 LSB equ 0 EXPBIAS equ D'127' IOV equ 0 ; bit0 = integer overflow flag FOV equ 1 ; bit1 = floating point overflow flag FUN equ 2 ; bit2 = floating point underflow flag FDZ equ 3 ; bit3 = floating point divide by zero flag NAN equ 4 ; bit4 = not-a-number exception flag DOM equ 5 ; bit5 = domain error exception flag RND equ 6 ; bit6 = floating point rounding flag, 0 = truncation ; 1 = unbiased rounding to nearest LSB SAT equ 7 ; bit7 = floating point saturate flag, 0 = terminate on ; exception without saturation, 1 = terminate on ; exception with saturation to appropriate value ;================================================================================== ;MACROS FACILITADORES SWAP MACRO X,Y ;FAZER TROCA DE DADOS ENTRE 2 REGISTRADORES MOVFW X XORWF Y,f XORWF Y,w XORWF Y,f MOVWF X ENDM COPIAR MACRO ESTE,PARA ;COPIA DE REGISTRADOR PARA OUTRO MOVF ESTE,W MOVWF PARA ENDM ;================================================================================ ; RESET ;================================================================================ ORG 0X00 GOTO START ;================================================================================ ; INTERRUPÇÕES ;================================================================================ ORG 0X04 RETFIE ;================================================================================ ; PÁGINA ZERO ;================================================================================ ;;MENSAGENS PEGA_M MOVWF TEMP MOVFW PCAUX MOVWF PCLATH MOVFW TEMP MOVWF PCL MSG1: DT "**LE_DISTANCIA**",0 MSG2: DT "LARIOS.TECNOL.WS",0 MSG3: DT " DISTANCIA: ",0 MSG4: DT "*FORA DE FAIXA* ",0 MSG5: DT " ",0 ;APAGAR LINHA INTEIRA MSG6: DT "***ERRO MATH****",0 ;APAGAR LINHA INTEIRA ;=============================================================================== ;ROTINA DE ENVIO DE FRASES PARA O LCD ENV_LCD MOVWF AUX RT1 CALL PEGA_M ADDLW .0 BTFSC STATUS,Z GOTO SAI_34 CALL ED INCF AUX,F MOVFW AUX GOTO RT1 SAI_34 CLRF PCAUX ;ZERA PAGINA RETURN ;================================================================================ ; CONFIGURAÇÕES INICIAIS DE PORTAS E REGISTRADORES ;================================================================================ START: MOVLW 0X07 MOVWF CMCON ;DESLIGA COMPARADORES CLRF PORTA ; RESET PORTA MOVLW B'00001110' ;PREPARA PORTB PARA MUDANÇA DE ESTADO MOVWF PORTB ; ACERTA PORTB BSF TRIG BANK1 MOVLW B'11110001' ; SETUP PORTB MOVWF TRISB MOVLW B'11100000' ; SETUP PORTA MOVWF TRISA CLRF OPTION_REG BANK0 CLRF PCAUX ;PONTEIRO DE PAGINA CALL LcdInit ;INICIA LCD CALL LcdClear MOVLW 0XFF CALL LcdDelay MOVLW MSG1 CALL ENV_LCD CALL LINHA_2 MOVLW MSG2 CALL ENV_LCD MOVLW 0X06 ;TEMPO DA APRESENTAÇÃO CALL DELAYW CALL CLEAR_LCD MOVLW MSG3 ;MENSAGEM:'DISTANCIA:' CALL ENV_LCD ;================================================================================ ; ROTINA PRINCIPAL ;================================================================================ MAIN: CLRF TMR1H ;ZERA TIMER 1 H /L CLRF TMR1L BCF PIR1,TMR1IF ;APAGA FLAG TMR1 BSF TRIG ;LIGA TRIGGER MOVLW .253 ;DELAY 13 MICRO SEGUNDOS ADDLW .1 BTFSS STATUS,Z GOTO $-2 BCF TRIG ;DISPARA PULSOS DE ULTRASOM BTFSS ECHO ;TESTA SE JÁ SETOU PINO 'ECHO' GOTO $-1 ;AINDA NÃO BSF T1CON,TMR1ON ;JÁ, ENTÃO LIGA TIMER 1 BTFSC ECHO ;TESTA SE RESETOU PINO 'ECHO' GOTO $-1 ;NÃO BCF T1CON,TMR1ON ;JÁ, ENTÃO DESLIGA TIMER 1 ;========================================================================== ; CALCULANDO A DISTÂNCIA A PARTIR DA CONTAGEM DO TIMER 1 ; VELOCIDADE DO SOM = 340 METROS POR SEGUNDO ; ; 340 METROS= 3400.000 DECIMOS DE MILIMETRO ; 1 SEGUNDOS= 1000.000 MICROSEGUNDOS ; O VALOR DO TIMER CORRESPONDERÁ A IDA DO SOM ATÉ O OBJETO , MAIS O ; CAMINHO DE RETORNO. A DISTÂNCIA REAL SERÁ A METADE,PORTANTO. ; FORMULA: ; DISTÂNCIA (EM CM, COM 2 CASAS APÓS VIRGULA)=[3400.000/(1000.000*2)]*TMR1 ; ;========================================================================== CLRF FPE ;APAGA ERROS MATEMÁTICOS ;CONVERTE '2.000.000 ' PARA PONTO FLUTUANTE MOVLW 0X1E MOVWF AARGB0 MOVLW 0X84 MOVWF AARGB1 MOVLW 0X80 MOVWF AARGB2 CALL FLO2424 ;CONVERTE PARA PONTO FLUTUANTE CALL SWAP_A_B ;SALVA EM B ;CONVERTE '3400.000 ' (DECIMOS DE MM) PARA PONTO FLUTUANTE MOVLW 0X33 MOVWF AARGB0 MOVLW 0XE1 MOVWF AARGB1 MOVLW 0X40 MOVWF AARGB2 CALL FLO2424 ;CONVERTE PARA PONTO FLUTUANTE CALL FPD24 ;DIVIDE A POR B 3,4 DECIMOS/uSEG CALL SWAP_A_B ;SALVA EM B ;CONVERTE TMR1 EM PONTO FLUTUANTE CLRF AARGB0 MOVFW TMR1H MOVWF AARGB1 MOVFW TMR1L MOVWF AARGB2 CALL FLO2424 ;CONVERTE PARA PONTO FLUTUANTE CALL FPM24 ;MULTIPLICA 'A' POR 'B' BCF AARGB0,7 ;TORNA RESULTADO SEMPRE POSITIVO CALL INT2424 ;CONVERTE DE PONTO FLUTUANTE PARA INTEIRO MOVF FPE,F ;TESTA SE HOUVE ERROS NA MATEMÁTICA E OVERFLOW BTFSS STATUS,Z ;SE '0' PULA GOTO MSG_ERRO ; GOTO ERRO_CONTA ;'1', ENTÃO HOUVE ERRO BTFSS PIR1,TMR1IF ;TESTA POR OVERFLOW DO TIMER 0 (ESTOURO) GOTO SEGR7 CALL LINHA_2 MOVLW MSG4 CALL ENV_LCD SEGR7 MOVFW AARGB0 ;PREPARA PARA A CONVERSÃO HEXA PARA DECIMAL MOVWF CX MOVFW AARGB1 MOVWF C1 MOVFW AARGB2 MOVWF C0 CALL CONV_DEC ;CONVERTE RESULTADOS DE HEXA PARA DECIMAL CALL CLEAR_L2 ;LIMPA LINHA 2 MOVLW 0XC3 CALL EC ;POSICIONA LEITURA NO LCD SWAPF BR2,W ; ENVIA BR2 NIBLE HIGH ANDLW 0X0F XORLW .0 BTFSC STATUS,Z GOTO PR71 ;NÚMERO É '0'; VAI PARA O PRÓXIMO PE1 BSF FLAG_ZE ;NUMERO NÃO É '0' CALL BIN_ASC_ED PR71 MOVFW BR2 ; ENVIA BR2 NIBLE LOW ANDLW 0X0F XORLW .0 BTFSS STATUS,Z GOTO PS72 ;NÃO É '0' BTFSS FLAG_ZE GOTO PR72 ;NÃO APRESENTA PS72 BSF FLAG_ZE ;NUMERO NÃO É '0' CALL BIN_ASC_ED PR72 SWAPF BR1,W ; ENVIA BR1 NIBLE HIGH ANDLW 0X0F XORLW .0 BTFSS STATUS,Z GOTO PS3 ;NÃO É '0' BTFSS FLAG_ZE GOTO PR3 ;NÃO APRESENTA PS3 CALL BIN_ASC_ED PR3 MOVFW BR1 ; ENVIA BR1 NIBLE LOW ANDLW 0X0F XORLW .0 BTFSS STATUS,Z GOTO PS74 ;NÃO É '0' BTFSS FLAG_ZE GOTO PR74 ;NÃO APRESENTA PS74 CALL BIN_ASC_ED PR74 MOVLW ',' ;ENVIA 'VIRGULA' CALL ED SWAPF BR0,W ; ENVIA BR0 NIBLE HIGH CALL BIN_ASC_ED MOVFW BR0 ; ENVIA BR0 NIBLE LOW CALL BIN_ASC_ED MOVLW 0XC9 ;POSICIONA 'CM' CALL EC MOVLW ' ' CALL ED MOVLW 'c' ;ENVIA 'C' CALL ED MOVLW 'm' ;ENVIA 'M' CALL ED MOVLW .2 ;DETERMINA TEMPO DE APRESENTAÇÃO CALL DELAYW BCF FLAG_ZE ;ZERA FLAG DE ZEROS A ESQUERDA GOTO MAIN MSG_ERRO CALL LINHA_2 MOVLW MSG6 ;MENSAGEM:'ERRO MATH' CALL ENV_LCD MOVLW .5 ;TEMPO DE APRESENTAÇÃO CALL DELAYW GOTO MAIN ;VOLTA A ROTINA PRINCIPAL ;================================================================================= ; ROTINAS DE DELAY ;================================================================================= DELAYW MOVWF TEMP VJ1 CALL DELAY1 DECFSZ TEMP,F GOTO VJ1 DELAY1 LcdDelay1 MOVLW .255 ;DELAY PARA VISUALIZAÇAO DELAY LcdDelay MOVWF LC1 Lp CLRWDT DECFSZ LC,F GOTO Lp DECFSZ LC1,F GOTO Lp RETURN ; ;================================================================================= ; ROTINAS DE CONTROLE DO LCD ;================================================================================= LcdInit movlw .30 ;Wait 30 ms call LcdDelay bcf LCD_RS ;Set LCD command mode bsf LCD_DB4 ;0011->48 bsf LCD_DB5 bcf LCD_DB6 bcf LCD_DB7 call LcdPulse_E ;sequência de reset call LcdPulse_E call LcdPulse_E bcf LCD_DB4 bcf LCD_DB6 bcf LCD_DB7 bsf LCD_DB5 call LcdPulse_E movlw 28H ;Set 4 bit data bus length call EC movlw 06H ;Entry mode set, increment, no shift call EC ; movlw 0DH ;Display ON, Cursor ON, Blink ON ; movlw 0FH ;Display ON, Cursor ALTERADO ON, Blink ON ; movlw 0EH ;Display ON, Cursor ON, Blink OFF movlw 0CH ;Display ON, Cursor OFF, Blink OFF call EC LcdClear CLEAR_LCD movlw 01H ;clear display call EC movlw .5 ;Wait 2 ms call LcdDelay return BIN_ASC_ED ;ROTINA DE BINARIO PARA HEX 0-F COM ENVIO PARA LCD ANDLW 0X0F ;LIMITA 0-F ADDLW 0XF6 ;SOMA 0XF6 BTFSC STATUS,C ;TESTA CARRY ADDLW 0X07 ;C=1 ,ENTÃO SOMA + 7 ADDLW 0X3A ;SOMA 0X3A ;ENVIA PARA O LCD E RETORNA PARA O PONTO DE CHAMADA ED LcdSendData bsf LCD_RS GOTO XENV LINE1 MOVLW 0X80 GOTO EC LINE2 MOVLW 0XC0 EC LcdSendCommand bcf LCD_RS XENV LcdSendByte movwf TR ;Send a byte to LCD by 4 bit data bus bcf LCD_DB4 bcf LCD_DB5 bcf LCD_DB6 bcf LCD_DB7 btfsc TR,4 bsf LCD_DB4 btfsc TR,5 bsf LCD_DB5 btfsc TR,6 bsf LCD_DB6 btfsc TR,7 bsf LCD_DB7 call LcdPulse_E bcf LCD_DB4 bcf LCD_DB5 bcf LCD_DB6 bcf LCD_DB7 btfsc TR,0 bsf LCD_DB4 btfsc TR,1 bsf LCD_DB5 btfsc TR,2 bsf LCD_DB6 btfsc TR,3 bsf LCD_DB7 call LcdPulse_E return LcdPulse_E bsf LCD_E ;Enables LCD clrw addlw .1 btfss STATUS,Z goto $-2 bcf LCD_E ;Disabled LCD return CLEAR_L2 MOVLW 0XC0 CALL EC MOVLW MSG5 ;APAGAR LINHA 2 CALL ENV_LCD MOVLW 0XC0 CALL EC RETURN LINHA1 LINHA_1 MOVLW 0X80 CALL EC RETURN LINHA_2 LINHA2 MOVLW 0XC0 CALL EC RETURN CONV_DEC ;************************************************************************** ; ROTINA PARA CONVERSÃO DE 24 BITS PARA 5 BCD (3BYTES) ; ; ; EX: C0=FF ; C1=FF ; SERÁ APÓS CONVERSÃO : ; BR2=06 , BR1=55 ,BR0=35 (OBS. VALOR MÁXIMO 65535) ;*************************************************************************** ; RESERVAR ESTES REGISTRADORES NA MEMÓRIA ( SRAM) ; LC data 20H ;LOOPCOUNTER ; BR0 data 21H ;RESULTADOS DA CONVERSÃO ; BR1 data 22H ; BR2 data 23H ; CX DATA 24H ;UPPER ; C1 data 25H ;VALOR DE ENTRADA ALTO ; C0 data 26H ;BAIXO HEX_DEC: MOVLW .24 MOVWF LC ;CARREGA 16 CLRF BR0 ;ZERA RESULTADOS CLRF BR1 CLRF BR2 CLRF BR3 VOLTA: BCF STATUS,C RLF C0,F ;DESLOCA PARA ESQUERDA C0,C1,BR0,1,2 RLF C1,F RLF CX,F RLF BR0,F RLF BR1,F RLF BR2,F RLF BR3,F DECFSZ LC,F ;VERIFICA SE CHEGOU AO FIM DA CONVERSÃO GOTO SEG9X RETURN ;FI DA CONVERSÃO SEG9X: MOVLW .3 ADDWF BR3,W ;SOMA 3 EM RES2 ANDLW .8 ; 2ELEV 3=8 XORLW .8 BTFSS STATUS,Z GOTO NSOMA3X ;É=0 ,ENTÃO NÃO SOMA 3 (SE ZERO RETORNA VALOR ORIGINAL) MOVLW .3 ADDWF BR3,F ; É=1 ENTAO SOMA 3 NSOMA3X: MOVLW 0X30 ADDWF BR3,W ANDLW 0X80 XORLW 0X80 BTFSS STATUS,Z GOTO NSOMA3AX ;É=0 ,ENTÃO NÃO SOMA 30h MOVLW 0X30 ; É=1 ENTAO SOMA 30h ADDWF BR3,F NSOMA3AX SEG9: MOVLW .3 ADDWF BR2,W ;SOMA 3 EM RES2 ANDLW .8 ; 2ELEV 3=8 XORLW .8 BTFSS STATUS,Z GOTO NSOMA3 ;É=0 ,ENTÃO NÃO SOMA 3 (SE ZERO RETORNA VALOR ORIGINAL) MOVLW .3 ADDWF BR2,F ; É=1 ENTAO SOMA 3 NSOMA3: MOVLW 0X30 ADDWF BR2,W ANDLW 0X80 XORLW 0X80 BTFSS STATUS,Z GOTO NSOMA3A ;É=0 ,ENTÃO NÃO SOMA 30h MOVLW 0X30 ; É=1 ENTAO SOMA 30h ADDWF BR2,F NSOMA3A: MOVLW .3 ADDWF BR1,W ;SOMA 3 EM RES2 ANDLW .8 ; 2ELEV 3=8 XORLW .8 BTFSS STATUS,Z GOTO NSOMA3B ;É=0 ,ENTÃO NÃO SOMA 3 (SE ZERO RETORNA VALOR ORIGINAL) MOVLW .3 ADDWF BR1,F ; É=1 ENTAO SOMA 3 NSOMA3B: MOVLW 0X30 ADDWF BR1,W ANDLW 0X80 XORLW 0X80 BTFSS STATUS,Z GOTO NSOMA3C ;É=0 ,ENTÃO NÃO SOMA 30h MOVLW 0X30 ; É=1 ENTAO SOMA 30h ADDWF BR1,F NSOMA3C: MOVLW .3 ADDWF BR0,W ;SOMA 3 EM RES2 ANDLW .8 ; 2ELEV 3=8 XORLW .8 BTFSS STATUS,Z GOTO NSOMA3D ;É=0 ,ENTÃO NÃO SOMA 3 (SE ZERO RETORNA VALOR ORIGINAL) MOVLW .3 ADDWF BR0,F ; É=1 ENTAO SOMA 3 NSOMA3D: MOVLW 0X30 ADDWF BR0,W ANDLW 0X80 XORLW 0X80 BTFSS STATUS,Z GOTO NSOMA3E ;É=0 ,ENTÃO NÃO SOMA 30h MOVLW 0X30 ; É=1 ENTAO SOMA 30h ADDWF BR0,F NSOMA3E: GOTO VOLTA ;======================================================================== ;OPERAÇÕES ENTRE BANCOS DE REGISTRADORES 'A','B' E 'C' COPIAR_A_B ;COPIA BANCO 'A' EM 'B' COPIAR AEXP,BEXP COPIAR AARGB0,BARGB0 COPIAR AARGB1,BARGB1 RETURN SWAP_A_B ;TROCA CONTEUDO ENTRE BANCO 'A' E 'B' SWAP AEXP,BEXP SWAP AARGB0,BARGB0 SWAP AARGB1,BARGB1 RETURN COPIAR_C_A ;COPIA BANCO 'C' EM 'A' COPIAR CEXP,AEXP COPIAR CARGB0,AARGB0 COPIAR CARGB1,AARGB1 RETURN COPIAR_A_C ;COPIA BANCO 'A' EM 'C' COPIAR AEXP,CEXP COPIAR AARGB0,CARGB0 COPIAR AARGB1,CARGB1 RETURN ;********************************************************************************************** ; SEGUE A BIBLIOTECA DE PONTO FLUTUANTE FORNECIDA PELA MICROCHIP COM ALTERAÇÕES PARA REDUZIR ; O TAMANHO, SENDO DELETADO PARTES NÃO NECESSÁRIAS. ;********************************************************************************************** ; ; 24 bit floating point representation ; ; EXPONENT 8 bit biased exponent ; It is important to note that the use of biased exponents produces ; a unique representation of a floating point 0, given by ; EXP = HIGHBYTE = LOWBYTE = 0x00, with 0 being the only ; number with EXP = 0. ; ; HIGHBYTE 8 bit most significant byte of fraction in sign-magnitude representation, ; with SIGN = MSB, implicit MSB = 1 and radix point to the right of MSB ; ; LOWBYTE 8 bit least significant byte of sign-magnitude fraction ; ; EXPONENT HIGHBYTE LOWBYTE ; ; xxxxxxxx S.xxxxxxx xxxxxxxx ; ; | ; RADIX ; POINT ; ;********************************************************************************************** ;********************************************************************************************** ; Integer to float conversion ; Input: 16 bit 2's complement integer right justified in AARGB0, AARGB1 ; Use: CALL FLO1624 or CALL FLO24 ; Output: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; Result: AARG <-- FLOAT( AARG ) ; Max Timing: 11+72 = 83 clks SAT = 0 ; 11+77 = 88 clks SAT = 1 ; Min Timing: 7+14 = 21 clks AARG = 0 ; 7+18 = 25 clks ; PM: 11+26 = 37 DM: 6 ;---------------------------------------------------------------------------------------------- ;FLO1624 ;FLO24 MOVLW D'15'+EXPBIAS ; initialize exponent and add bias ; MOVWF EXP ; MOVF AARGB0,W ; MOVWF SIGN ; BTFSS AARGB0,MSB ; test sign ; GOTO NRM2424 ; COMF AARGB1,F ; if < 0, negate and set MSB in SIGN ; COMF AARGB0,F ; INCF AARGB1,F ; BTFSC _Z ; INCF AARGB0,F ;********************************************************************************************** ; Normalization routine ; Input: 24 bit unnormalized floating point number in AEXP, AARGB0, AARGB1, ; with sign in SIGN,MSB and other bits zero. ; Use: CALL NRM2424 or CALL NRM24 ; Output: 24 bit normalized floating point number in AEXP, AARGB0, AARGB1 ; Result: AARG <-- NORMALIZE( AARG ) ; Max Timing: 10+6+7*7+7 = 72 clks SAT = 0 ; 10+6+7*7+1+11 = 77 clks SAT = 1 ; Min Timing: 14 clks AARG = 0 ; 5+9+4 = 18 clks ; PM: 26 DM: 6 ;---------------------------------------------------------------------------------------------- NRM2424 NRM24 CLRF TEMP ; clear exponent decrement MOVF AARGB0,W ; test if highbyte=0 BTFSS _Z GOTO NORM2424 MOVF AARGB1,W ; if so, shift 8 bits by move MOVWF AARGB0 BTFSC _Z ; if highbyte=0, result=0 GOTO RES024 CLRF AARGB1 BSF TEMP,3 NORM2424 MOVF TEMP,W SUBWF EXP,F BTFSS _Z BTFSS _C GOTO SETFUN24 BCF _C ; clear carry bit NORM2424A BTFSC AARGB0,MSB ; if MSB=1, normalization done GOTO FIXSIGN24 RLF AARGB1,F ; otherwise, shift left and RLF AARGB0,F ; decrement EXP DECFSZ EXP,F GOTO NORM2424A GOTO SETFUN24 ; underflow if EXP=0 FIXSIGN24 BTFSS SIGN,MSB BCF AARGB0,MSB ; clear explicit MSB if positive RETLW 0 RES024 CLRF AARGB0 ; result equals zero CLRF AARGB1 CLRF AARGB2 ; clear extended byte CLRF EXP RETLW 0 ;********************************************************************************************** ;********************************************************************************************** ; Integer to float conversion ; Input: 24 bit 2's complement integer right justified in AARGB0, AARGB1, AARGB2 ; Use: CALL FLO2424 ; Output: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; Result: AARG <-- FLOAT( AARG ) ; Max Timing: 14+94 = 108 clks RND = 0 ; 14+103 = 117 clks RND = 1, SAT = 0 ; 14+109 = 123 clks RND = 1, SAT = 1 ; Min Timing: 6+28 = 34 clks AARG = 0 ; 6+22 = 28 clks ; PM: 14+51 = 65 DM: 7 ;---------------------------------------------------------------------------------------------- FLO2424 MOVLW D'23'+EXPBIAS ; initialize exponent and add bias MOVWF EXP CLRF SIGN BTFSS AARGB0,MSB ; test sign GOTO NRM3224 COMF AARGB2,F ; if < 0, negate and set MSB in SIGN COMF AARGB1,F COMF AARGB0,F INCF AARGB2,F BTFSC _Z INCF AARGB1,F BTFSC _Z INCF AARGB0,F BSF SIGN,MSB ;********************************************************************************************** ; Normalization routine ; Input: 32 bit unnormalized floating point number in AEXP, AARGB0, AARGB1, ; AARGB2, with sign in SIGN,MSB ; Use: CALL NRM3224 ; Output: 24 bit normalized floating point number in AEXP, AARGB0, AARGB1 ; Result: AARG <-- NORMALIZE( AARG ) ; Max Timing: 21+6+7*8+7+4 = 94 clks RND = 0 ; 21+6+7*8+20+4 = 103 clks RND = 1, SAT = 0 ; 21+6+7*8+19+11 = 109 clks RND = 1, SAT = 1 ; Min Timing: 22+6 = 28 clks AARG = 0 ; 5+9+4+4 = 22 clks ; PM: 51 DM: 7 ;---------------------------------------------------------------------------------------------- NRM3224 CLRF TEMP ; clear exponent decrement MOVF AARGB0,W ; test if highbyte=0 BTFSS _Z GOTO NORM3224 MOVF AARGB1,W ; if so, shift 8 bits by move MOVWF AARGB0 MOVF AARGB2,W MOVWF AARGB1 CLRF AARGB2 BSF TEMP,3 ; increase decrement by 8 MOVF AARGB0,W ; test if highbyte=0 BTFSS _Z GOTO NORM3224 MOVF AARGB1,W ; if so, shift 8 bits by move MOVWF AARGB0 CLRF AARGB1 BCF TEMP,3 ; increase decrement by 8 BSF TEMP,4 MOVF AARGB0,W ; if highbyte=0, result=0 BTFSC _Z GOTO RES024 NORM3224 MOVF TEMP,W SUBWF EXP,F BTFSS _Z BTFSS _C GOTO SETFUN24 BCF _C ; clear carry bit NORM3224A BTFSC AARGB0,MSB ; if MSB=1, normalization done GOTO NRMRND3224 RLF AARGB2,F ; otherwise, shift left and RLF AARGB1,F ; decrement EXP RLF AARGB0,F DECFSZ EXP,F GOTO NORM3224A GOTO SETFUN24 ; underflow if EXP=0 NRMRND3224 BTFSC FPFLAGS,RND BTFSS AARGB1,LSB GOTO FIXSIGN24 BTFSS AARGB2,MSB ; round if next bit is set GOTO FIXSIGN24 INCF AARGB1,F BTFSC _Z INCF AARGB0,F BTFSS _Z ; has rounding caused carryout? GOTO FIXSIGN24 RRF AARGB0,F ; if so, right shift RRF AARGB1,F INCF EXP,F BTFSC _Z ; check for overflow GOTO SETFOV24 GOTO FIXSIGN24 ;********************************************************************************************** ;********************************************************************************************** ; Float to integer conversion ; Input: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; Use: CALL INT2424 ; Output: 24 bit 2's complement integer right justified in AARGB0, AARGB1, AARGB2 ; Result: AARG <-- INT( AARG ) ; Max Timing: 41+6*7+6+16 = 105 clks RND = 0 ; 41+6*7+6+24 = 113 clks RND = 1, SAT = 0 ; 41+6*7+6+26 = 115 clks RND = 1, SAT = 1 ; Min Timing: 5 clks ; PM: 82 DM: 6 ;---------------------------------------------------------------------------------------------- INT2424 CLRF AARGB2 MOVF EXP,W ; test for zero argument BTFSC _Z RETLW 0x00 MOVF AARGB0,W ; save sign in SIGN MOVWF SIGN BSF AARGB0,MSB ; make MSB explicit MOVLW EXPBIAS+D'23' ; remove bias from EXP SUBWF EXP,F BTFSS EXP,MSB GOTO SETIOV24 COMF EXP,F INCF EXP,F MOVLW 8 ; do byte shift if EXP >= 8 SUBWF EXP,W BTFSS _C GOTO TSHIFT2424 MOVWF EXP RLF AARGB2,F ; rotate next bit for rounding MOVF AARGB1,W MOVWF AARGB2 MOVF AARGB0,W MOVWF AARGB1 CLRF AARGB0 MOVLW 8 ; do another byte shift if EXP >= 8 SUBWF EXP,W BTFSS _C GOTO TSHIFT2424 MOVWF EXP RLF AARGB2,F ; rotate next bit for rounding MOVF AARGB1,W MOVWF AARGB2 CLRF AARGB1 MOVLW 8 ; do another byte shift if EXP >= 8 SUBWF EXP,W BTFSS _C GOTO TSHIFT2424 MOVWF EXP RLF AARGB2,F ; rotate next bit for rounding CLRF AARGB2 MOVF EXP,W BTFSS _Z BCF _C GOTO SHIFT2424OK TSHIFT2424 MOVF EXP,W ; shift completed if EXP = 0 BTFSC _Z GOTO SHIFT2424OK SHIFT2424 BCF _C RRF AARGB0,F ; right shift by EXP RRF AARGB1,F RRF AARGB2,F DECFSZ EXP,F GOTO SHIFT2424 SHIFT2424OK BTFSC FPFLAGS,RND BTFSS AARGB2,LSB GOTO INT2424OK BTFSS _C GOTO INT2424OK INCF AARGB2,F BTFSC _Z INCF AARGB1,F BTFSC _Z INCF AARGB0,F BTFSC AARGB0,MSB ; test for overflow GOTO SETIOV24 INT2424OK BTFSS SIGN,MSB ; if sign bit set, negate RETLW 0 COMF AARGB0,F COMF AARGB1,F COMF AARGB2,F INCF AARGB2,F BTFSC _Z INCF AARGB1,F BTFSC _Z INCF AARGB0,F RETLW 0 IRES024 CLRF AARGB0 ; integer result equals zero CLRF AARGB1 CLRF AARGB2 RETLW 0 SETIOV24 BSF FPFLAGS,IOV ; set integer overflow flag BTFSS FPFLAGS,SAT ; test for saturation ; RETLW 0xFF ; return error code in WREG GOTO SAI_ERRO; return error code in WREG CLRF AARGB0 ; saturate to largest two's BTFSS SIGN,MSB ; complement 24 bit integer MOVLW 0xFF MOVWF AARGB0 ; SIGN = 0, 0x 7F FF FF MOVWF AARGB1 ; SIGN = 1, 0x 80 00 00 MOVWF AARGB2 RLF SIGN,F RRF AARGB0,F ;RETLW 0xFF ; return error code in WREG GOTO SAI_ERRO; return error code in WREG ;********************************************************************************************** ;********************************************************************************************** ; Floating Point Multiply ; Input: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; 24 bit floating point number in BEXP, BARGB0, BARGB1 ; Use: CALL FPM24 ; Output: 24 bit floating point product in AEXP, AARGB0, AARGB1 ; Result: AARG <-- AARG * BARG ; Max Timing: 25+15*16+15+18 = 298 clks RND = 0 ; 25+15*16+15+29 = 309 clks RND = 1, SAT = 0 ; 25+15*16+15+33 = 313 clks RND = 1, SAT = 1 ; Min Timing: 6+5 = 11 clks AARG * BARG = 0 ; 24+15*11+14+15 = 218 clks ; PM: 80 DM: 11 ;---------------------------------------------------------------------------------------------- FPM24 MOVF AEXP,W ; test for zero arguments BTFSS _Z MOVF BEXP,W BTFSC _Z GOTO RES024 M24BNE0 MOVF AARGB0,W XORWF BARGB0,W MOVWF SIGN ; save sign in SIGN MOVF BEXP,W ADDWF EXP,F MOVLW EXPBIAS-1 BTFSS _C GOTO MTUN24 SUBWF EXP,F BTFSC _C GOTO SETFOV24 ; set multiply overflow flag GOTO MOK24 MTUN24 SUBWF EXP,F BTFSS _C GOTO SETFUN24 MOK24 MOVF AARGB0,W MOVWF AARGB2 ; move result to AARG MOVF AARGB1,W MOVWF AARGB3 BSF AARGB2,MSB ; make argument MSB's explicit BSF BARGB0,MSB BCF _C CLRF AARGB0 ; clear initial partial product CLRF AARGB1 MOVLW D'16' MOVWF TEMP ; initialize counter MLOOP24 BTFSS AARGB3,LSB ; test next bit GOTO MNOADD24 MADD24 MOVF BARGB1,W ADDWF AARGB1,F MOVF BARGB0,W BTFSC _C INCFSZ BARGB0,W ADDWF AARGB0,F MNOADD24 RRF AARGB0,F RRF AARGB1,F RRF AARGB2,F RRF AARGB3,F BCF _C DECFSZ TEMP,F GOTO MLOOP24 BTFSC AARGB0,MSB ; check for postnormalization GOTO MROUND24 RLF AARGB2,F RLF AARGB1,F RLF AARGB0,F DECF EXP,F MROUND24 BTFSC FPFLAGS,RND BTFSS AARGB1,LSB GOTO MUL24OK BTFSS AARGB2,MSB ; round if next bit is set GOTO MUL24OK INCF AARGB1,F BTFSC _Z INCF AARGB0,F BTFSS _Z ; has rounding caused carryout? GOTO MUL24OK RRF AARGB0,F ; if so, right shift RRF AARGB1,F INCF EXP,F BTFSC _Z ; check for overflow GOTO SETFOV24 MUL24OK BTFSS SIGN,MSB BCF AARGB0,MSB ; clear explicit MSB if positive RETLW 0 SETFOV24 BSF FPFLAGS,FOV ; set floating point underflag BTFSS FPFLAGS,SAT ; test for saturation ;RETLW 0xFF ; return error code in WREG GOTO SAI_ERRO; return error code in WREG MOVLW 0xFF MOVWF AEXP ; saturate to largest floating MOVWF AARGB0 ; point number = 0x FF 7F FF MOVWF AARGB1 ; modulo the appropriate sign bit RLF SIGN,F RRF AARGB0,F ;RETLW 0xFF ; return error code in WREG GOTO SAI_ERRO; return error code in WREG ;********************************************************************************************** ;********************************************************************************************** ; Floating Point Divide ; Input: 24 bit floating point dividend in AEXP, AARGB0, AARGB1 ; 24 bit floating point divisor in BEXP, BARGB0, BARGB1 ; Use: CALL FPD24 ; Output: 24 bit floating point quotient in AEXP, AARGB0, AARGB1 ; Result: AARG <-- AARG / BARG ; Max Timing: 32+13+15*26+25+12 = 472 clks RND = 0 ; 32+13+15*26+25+34 = 494 clks RND = 1, SAT = 0 ; 32+13+15*26+25+38 = 498 clks RND = 1, SAT = 1 ; Min Timing: 7+5 = 12 clks ; PM: 120 DM: 11 ;---------------------------------------------------------------------------------------------- FPD24 MOVF BEXP,W ; test for divide by zero BTFSC _Z GOTO SETFDZ24 MOVF AEXP,W BTFSC _Z GOTO RES024 D24BNE0 MOVF AARGB0,W XORWF BARGB0,W MOVWF SIGN ; save sign in SIGN BSF AARGB0,MSB ; make argument MSB's explicit BSF BARGB0,MSB TALIGN24 CLRF TEMP ; clear align increment MOVF AARGB0,W MOVWF AARGB2 ; test for alignment MOVF AARGB1,W MOVWF AARGB3 MOVF BARGB1,W SUBWF AARGB3, f MOVF BARGB0,W BTFSS _C INCFSZ BARGB0,W SUBWF AARGB2, f CLRF AARGB2 CLRF AARGB3 BTFSS _C GOTO DALIGN24OK BCF _C ; align if necessary RRF AARGB0,F RRF AARGB1,F RRF AARGB2,F MOVLW 0x01 MOVWF TEMP ; save align increment DALIGN24OK MOVF BEXP,W ; compare AEXP and BEXP SUBWF EXP,F BTFSS _C GOTO ALTB24 AGEB24 MOVLW EXPBIAS-1 ADDWF TEMP,W ADDWF EXP,F BTFSC _C GOTO SETFOV24 GOTO DARGOK24 ; set overflow flag ALTB24 MOVLW EXPBIAS-1 ADDWF TEMP,W ADDWF EXP,F BTFSS _C GOTO SETFUN24 ; set underflow flag DARGOK24 MOVLW D'16' ; initialize counter MOVWF TEMPB1 DLOOP24 RLF AARGB3,F ; left shift RLF AARGB2,F RLF AARGB1,F RLF AARGB0,F RLF TEMP,F MOVF BARGB1,W ; subtract SUBWF AARGB1,F MOVF BARGB0,W BTFSS _C INCFSZ BARGB0,W SUBWF AARGB0,F RLF BARGB0,W IORWF TEMP,F BTFSS TEMP,LSB ; test for restore GOTO DREST24 BSF AARGB3,LSB GOTO DOK24 DREST24 MOVF BARGB1,W ; restore if necessary ADDWF AARGB1,F MOVF BARGB0,W BTFSC _C INCF BARGB0,W ADDWF AARGB0,F BCF AARGB3,LSB DOK24 DECFSZ TEMPB1,F GOTO DLOOP24 DROUND24 BTFSC FPFLAGS,RND BTFSS AARGB3,LSB GOTO DIV24OK BCF _C RLF AARGB1,F ; compute next significant bit RLF AARGB0,F ; for rounding RLF TEMP,F MOVF BARGB1,W ; subtract SUBWF AARGB1,F MOVF BARGB0,W BTFSS _C INCFSZ BARGB0,W SUBWF AARGB0,F RLF BARGB0,W IORWF TEMP,W ANDLW 0x01 ADDWF AARGB3,F BTFSC _C INCF AARGB2,F BTFSS _Z ; test if rounding caused carryout GOTO DIV24OK RRF AARGB2,F RRF AARGB3,F INCF EXP,F BTFSC _Z ; test for overflow GOTO SETFOV24 DIV24OK BTFSS SIGN,MSB BCF AARGB2,MSB ; clear explicit MSB if positive MOVF AARGB2,W MOVWF AARGB0 ; move result to AARG MOVF AARGB3,W MOVWF AARGB1 RETLW 0 SETFUN24 BSF FPFLAGS,FUN ; set floating point underflag BTFSS FPFLAGS,SAT ; test for saturation ;RETLW 0xFF ; return error code in WREG GOTO SAI_ERRO; return error code in WREG MOVLW 0x01 ; saturate to smallest floating MOVWF AEXP ; point number = 0x 01 00 00 CLRF AARGB0 ; modulo the appropriate sign bit CLRF AARGB1 RLF SIGN,F RRF AARGB0,F ; RETLW 0XFF GOTO SAI_ERRO; return error code in WREG SETFDZ24 BSF FPFLAGS,FDZ ; set divide by zero flag ; RETLW 0xFF GOTO SAI_ERRO ;********************************************************************************************** ;********************************************************************************************** ; Floating Point Subtract ; Input: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; 24 bit floating point number in BEXP, BARGB0, BARGB1 ; Use: CALL FPS24 ; Output: 24 bit floating point sum in AEXP, AARGB0, AARGB1 ; Result: AARG <-- AARG - BARG ; Max Timing: 2+197 = 199 clks RND = 0 ; 2+208 = 210 clks RND = 1, SAT = 0 ; 2+213 = 215 clks RND = 1, SAT = 1 ; Min Timing: 2+12 = 14 clks ; PM: 2+112 = 114 DM: 11 ;---------------------------------------------------------------------------------------------- FPS24 MOVLW 0x80 XORWF BARGB0,F ;********************************************************************************************** ; Floating Point Add ; Input: 24 bit floating point number in AEXP, AARGB0, AARGB1 ; 24 bit floating point number in BEXP, BARGB0, BARGB1 ; Use: CALL FPA24 ; Output: 24 bit floating point sum in AEXP, AARGB0, AARGB1 ; Result: AARG <-- AARG - BARG ; Max Timing: 25+28+6*6+5+31+72 = 197 clks RND = 0 ; 25+28+6*6+5+42+72 = 208 clks RND = 1, SAT = 0 ; 25+28+6*6+5+42+77 = 213 clks RND = 1, SAT = 1 ; Min Timing: 8+4 = 12 clks ; PM: 112 DM: 11 ;---------------------------------------------------------------------------------------------- FPA24 MOVF AARGB0,W ; exclusive or of signs in TEMP XORWF BARGB0,W MOVWF TEMP CLRF AARGB2 ; clear extended byte CLRF BARGB2 MOVF AEXP,W ; use AARG if AEXP >= BEXP SUBWF BEXP,W BTFSS _C GOTO USEA24 MOVF BEXP,W ; use BARG if AEXP < BEXP MOVWF AARGB4 ; therefore, swap AARG and BARG MOVF AEXP,W MOVWF BEXP MOVF AARGB4,W MOVWF AEXP MOVF BARGB0,W MOVWF AARGB4 MOVF AARGB0,W MOVWF BARGB0 MOVF AARGB4,W MOVWF AARGB0 MOVF BARGB1,W MOVWF AARGB4 MOVF AARGB1,W MOVWF BARGB1 MOVF AARGB4,W MOVWF AARGB1 USEA24 MOVF BEXP,W ; return AARG if BARG = 0 BTFSC _Z RETLW 0x00 MOVF AARGB0,W MOVWF SIGN ; save sign in SIGN BSF AARGB0,MSB ; make MSB's explicit BSF BARGB0,MSB MOVF BEXP,W ; compute shift count in BEXP SUBWF AEXP,W MOVWF BEXP BTFSC _Z GOTO ALIGNED24 MOVLW 8 SUBWF BEXP,W BTFSS _C ; if BEXP >= 8, do byte shift GOTO ALIGNB24 MOVWF BEXP MOVF BARGB1,W ; keep for postnormalization MOVWF BARGB2 MOVF BARGB0,W MOVWF BARGB1 CLRF BARGB0 MOVLW 8 SUBWF BEXP,W BTFSS _C ; if BEXP >= 8, BARG = 0 relative to AARG GOTO ALIGNB24 MOVF SIGN,W MOVWF AARGB0 RETLW 0x00 ALIGNB24 MOVF BEXP,W ; already aligned if BEXP = 0 BTFSC _Z GOTO ALIGNED24 ALOOPB24 BCF _C ; right shift by BEXP RRF BARGB0,F RRF BARGB1,F RRF BARGB2,F DECFSZ BEXP,F GOTO ALOOPB24 ALIGNED24 BTFSS TEMP,MSB ; negate if signs opposite GOTO AOK24 COMF BARGB2,F COMF BARGB1,F COMF BARGB0,F INCF BARGB2,F BTFSC _Z INCF BARGB1,F BTFSC _Z INCF BARGB0,F AOK24 MOVF BARGB2,W ADDWF AARGB2,F MOVF BARGB1,W BTFSC _C INCFSZ BARGB1,W ADDWF AARGB1,F MOVF BARGB0,W BTFSC _C INCFSZ BARGB0,W ADDWF AARGB0,F BTFSC TEMP,MSB GOTO ACOMP24 BTFSS _C GOTO NRMRND3224 RRF AARGB0,F ; shift right and increment EXP RRF AARGB1,F RRF AARGB2,F INCFSZ AEXP,F GOTO NRMRND3224 GOTO SETFOV24 ACOMP24 BTFSC _C GOTO NRM3224 ; normalize and fix sign COMF AARGB2,F COMF AARGB1,F ; negate, toggle sign bit and COMF AARGB0,F ; then normalize INCF AARGB2,F BTFSC _Z INCF AARGB1,F BTFSC _Z INCF AARGB0,F MOVLW 0x80 XORWF SIGN,F GOTO NRM24 SAI_ERRO IORWF FPE,F RETLW 0XFF ; FIM DA BIBLIOTECA DE PONTO FLUTUANTE (ADAPTADA) END