Mercurial > public > mk2
annotate code_part1/OSTC_code_asm_part1/math.asm @ 562:56753ea6a791 bug_deco_clearing_missed_stops
Cleaning LOW gf reference in deco model
| author | JeanDo |
|---|---|
| date | Sat, 25 Feb 2012 15:13:26 +0100 |
| parents | 44e9b961f156 |
| children | e3ffc6d62a63 |
| rev | line source |
|---|---|
| 0 | 1 ; OSTC - diving computer code |
| 2 ; Copyright (C) 2008 HeinrichsWeikamp GbR | |
| 3 | |
| 4 ; This program is free software: you can redistribute it and/or modify | |
| 5 ; it under the terms of the GNU General Public License as published by | |
| 6 ; the Free Software Foundation, either version 3 of the License, or | |
| 7 ; (at your option) any later version. | |
| 8 | |
| 9 ; This program is distributed in the hope that it will be useful, | |
| 10 ; but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 11 ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 12 ; GNU General Public License for more details. | |
| 13 | |
| 14 ; You should have received a copy of the GNU General Public License | |
| 15 ; along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 16 | |
| 17 | |
| 18 ; Math routines | |
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19 ; history: |
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20 ; 2005-10-30: Written by Matthias Heinrichs, info@heinrichsweikamp.com |
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21 ; 2007-06-21: MH last updated |
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22 ; 2011-01-19: Clean up of isr variante. |
| 0 | 23 ; known bugs: |
| 24 ; ToDo: clean up! | |
| 25 | |
| 88 | 26 |
| 0 | 27 convert_time: ; converts hi:lo in minutes to hours (hi) and minutes (lo) |
| 28 movff lo,xA+0 ; divide by 60... | |
| 29 movff hi,xA+1 ; | |
| 30 movlw d'60' ; | |
| 31 movwf xB+0 ; | |
| 32 clrf xB+1 ; | |
| 33 rcall div16x16 ; xA/xB=xC with xA as remainder | |
| 34 movff xC+0,hi ; Hours | |
| 35 movff xA+0,lo ; =remaining minutes (0.....59) | |
| 36 return | |
| 37 | |
| 38 div16: | |
| 39 ; divA=divA/2^divB (divB: 8Bit only!) | |
| 40 bcf STATUS,C | |
| 41 rrcf divA+1 | |
| 42 rrcf divA | |
| 43 decfsz divB | |
| 44 bra div16 | |
| 45 return | |
| 46 | |
| 552 | 47 sub32: ;xC:4=xC:4-sub_c:4 (Warning: sub_c+3 trashes sub_a+0!) |
| 48 movf sub_c+0, W | |
| 49 subwf xC+0, F | |
| 50 | |
| 51 movf sub_c+1, W | |
| 52 BTFSS STATUS, C | |
| 53 incfsz sub_c+1, W | |
| 54 subwf xC+1, F | |
| 55 | |
| 56 movf sub_c+2, W | |
| 57 BTFSS STATUS, C | |
| 58 incfsz sub_c+2, W | |
| 59 subwf xC+2, F | |
| 60 | |
| 61 movf sub_c+3, W | |
| 62 BTFSS STATUS, C | |
| 63 incfsz sub_c+3, W | |
| 64 subwf xC+3, F | |
| 65 return | |
| 66 | |
| 544 | 67 sub16: ; sub_c = sub_a - sub_b (with signed values) |
| 0 | 68 bcf neg_flag |
| 74 | 69 movf sub_b+0, W ; Get Value to be subtracted |
| 70 subwf sub_a+0, W ; Do the High Byte | |
| 71 movwf sub_c+0 | |
| 72 movf sub_b+1, W ; Get the Value to be Subbed | |
| 73 subwfb sub_a+1, W | |
| 74 movwf sub_c+1 | |
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75 |
| 354 | 76 btfss STATUS,N ; Negativ result ? |
| 77 return ; NO: result positive done. | |
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78 |
| 354 | 79 bsf neg_flag ; MARK result negative |
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80 |
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81 comf sub_c+1 ; 16bit sign change. |
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82 negf sub_c+0 |
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83 btfsc STATUS,C ; Carry to propagate ? |
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84 incf sub_c+1,F ; YES: do it. |
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85 |
| 0 | 86 return |
| 87 | |
| 544 | 88 subU16: ; sub_c = sub_a - sub_b (with UNSIGNED values) |
| 426 | 89 bcf neg_flag |
| 90 movf sub_b+0, W ; Get Value to be subtracted | |
| 91 subwf sub_a+0, W ; Do the High Byte | |
| 92 movwf sub_c+0 | |
| 93 movf sub_b+1, W ; Get the Value to be Subbed | |
| 94 subwfb sub_a+1, W | |
| 95 movwf sub_c+1 | |
| 96 | |
| 97 btfsc STATUS,C ; Borrow to propagate ? (B == /CARRY) | |
| 98 return ; NO: result positive done. | |
| 99 | |
| 100 bsf neg_flag ; MARK result negative | |
| 101 | |
| 102 comf sub_c+1 ; 16bit sign change. | |
| 103 negf sub_c+0 | |
| 104 btfsc STATUS,C ; Carry to propagate ? | |
| 105 incf sub_c+1,F ; YES: do it. | |
| 106 | |
| 107 return | |
| 108 | |
| 476 | 109 ;============================================================================= |
| 110 | |
| 105 | 111 mult16x16: ;xA*xB=xC |
| 0 | 112 clrf xC+2 ; Clear the High-Order Bits |
| 113 clrf xC+3 | |
| 114 movf xA, w ; Do the "L" Multiplication first | |
| 115 mulwf xB | |
| 116 movf PRODL, w ; Save result | |
| 117 movwf xC | |
| 118 movf PRODH, w | |
| 119 movwf xC+1 | |
| 120 movf xA, w ; Do the "I" Multiplication | |
| 121 mulwf xB+1 | |
| 122 movf PRODL, w ; Save the Most Significant Byte First | |
| 123 addwf xC+1, f | |
| 124 movf PRODH, w | |
| 125 addwfc xC+2, f ; Add to the Last Result | |
| 126 movf xA+1, w ; Do the "O" Multiplication | |
| 127 mulwf xB | |
| 128 movf PRODL, w ; Add the Lower Byte Next | |
| 129 addwf xC+1, f | |
| 130 movf PRODH, w ; Add the High Byte First | |
| 131 addwfc xC+2, f | |
| 132 btfsc STATUS, C ; Add the Carry | |
| 133 incf xC+3, f | |
| 134 movf xA+1, w ; Do the "F" Multiplication | |
| 135 mulwf xB+1 | |
| 136 movf PRODL, w | |
| 137 addwf xC+2, f | |
| 138 movf PRODH, w | |
| 139 addwfc xC+3, f | |
| 140 return | |
| 141 | |
| 476 | 142 ;============================================================================= |
| 0 | 143 |
| 144 div16x16: ;xA/xB=xC with xA as remainder | |
| 145 ;uses divB as temp variable | |
| 146 clrf xC+0 | |
| 147 clrf xC+1 | |
| 148 MOVF xB+0,W ; Check for zero | |
| 149 IORWF xB+1,W ; | |
| 150 BTFSC STATUS,Z ; Check for zero | |
| 151 RETLW H'FF' ; return 0xFF if illegal | |
| 152 MOVLW 1 ; Start count at 1 | |
| 153 MOVWF divB ; Clear Count | |
| 154 div16x16_1 | |
| 155 BTFSC xB+1,7 ; High bit set ? | |
| 156 bra div16x16_2 ; Yes then continue | |
| 157 INCF divB,F ; Increment count | |
| 158 | |
| 159 bcf STATUS,C | |
| 160 rlcf xB+0,F | |
| 161 rlcf xB+1,F | |
| 162 bra div16x16_1 | |
| 163 div16x16_2: | |
| 164 ; Shift result left | |
| 165 bcf STATUS,C | |
| 166 rlcf xC+0,F | |
| 167 rlcf xC+1,F | |
| 168 | |
| 169 ; Reduce Divisor | |
| 170 | |
| 171 MOVF xB,W ; Get low byte of subtrahend | |
| 172 SUBWF xA,F ; Subtract DST(low) - SRC(low) | |
| 173 MOVF xB+1,W ; Now get high byte of subtrahend | |
| 174 BTFSS STATUS,C ; If there was a borrow, rather than | |
| 175 INCF xB+1,W ; decrement high byte of dst we inc src | |
| 176 SUBWF xA+1,F ; Subtract the high byte and we're done | |
| 177 | |
| 178 | |
| 179 BTFSC STATUS, C ; Did it reduce? | |
| 180 bra div16x16_3 ; No, so it was less than | |
| 181 | |
| 182 movf xB+0,W ; Reverse subtraction | |
| 183 addwf xA+0,F | |
| 184 movf xB+1,W | |
| 185 addwfc xA+1,F | |
| 186 | |
| 187 bra div16x16_4 ; Continue the process | |
| 188 div16x16_3: | |
| 189 BSF xC+0,0 ; Yes it did, this gets a 1 bit | |
| 190 div16x16_4: | |
| 191 DECF divB,F ; Decrement N_COUNT | |
| 192 BTFSC STATUS,Z ; If its not zero then continue | |
| 193 return | |
| 194 | |
| 195 bcf STATUS,C | |
| 196 rrcf xB+1,F | |
| 197 rrcf xB+0,F | |
| 198 | |
| 199 bra div16x16_2 ; Next bit. | |
| 200 | |
| 476 | 201 ;============================================================================= |
| 202 | |
| 0 | 203 div32x16: ; xC:4 / xB:2 = xC+3:xC+2 with xC+1:xC+0 as remainder |
| 204 ; Setup | |
| 205 movlw .32 ; setup shift counter | |
| 206 movwf divB | |
| 207 movf xC+3,W ; move ACCb to ACCf | |
| 208 movwf xA+1 | |
| 209 movf xC+2,W | |
| 210 movwf xA+0 | |
| 211 movf xC+1,W ; move ACCc to ACCe | |
| 212 movwf sub_a+1 | |
| 213 movf xC+0,W | |
| 214 movwf sub_a+0 | |
| 215 clrf xC+3 | |
| 216 clrf xC+2 | |
| 217 clrf xC+1 | |
| 218 clrf xC+0 | |
| 219 clrf sub_b+1 | |
| 220 clrf sub_b+0 | |
| 221 div32x16_2 | |
| 222 bcf STATUS,C | |
| 223 rlcf sub_a+0,F | |
| 224 rlcf sub_a+1,F | |
| 225 rlcf xA+0,F | |
| 226 rlcf xA+1,F | |
| 227 rlcf sub_b+0,F | |
| 228 rlcf sub_b+1,F | |
| 229 movf xB+1,W | |
| 230 subwf sub_b+1,W ; check if a>d | |
| 231 btfss STATUS,Z | |
| 476 | 232 bra div32x16_3 |
| 0 | 233 movf xB+0,W |
| 234 subwf sub_b+0,W ; if msb equal then check lsb | |
| 235 div32x16_3 | |
| 236 btfss STATUS,C ; carry set if d>a | |
| 476 | 237 bra div32x16_4 |
| 0 | 238 movf xB+0,W ; d-a into d |
| 239 subwf sub_b+0,F | |
| 240 btfss STATUS,C | |
| 241 decf sub_b+1,F | |
| 242 movf xB+1,W | |
| 243 subwf sub_b+1,F | |
| 244 bsf STATUS,C ; shift a 1 into b (result) | |
| 245 div32x16_4 | |
| 246 rlcf xC+0,F | |
| 247 rlcf xC+1,F | |
| 248 rlcf xC+2,F | |
| 249 rlcf xC+3,F | |
| 250 decfsz divB,F ; loop until all bits checked | |
| 476 | 251 bra div32x16_2 |
| 0 | 252 return |
| 253 | |
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254 ;============================================================================= |
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255 ; u16 * u16 --> 32bit multiply (xA * xB --> xC) |
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256 ; Used in interupt service routines, to compute temperature and pressure. |
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257 ; |
| 0 | 258 isr_mult16x16: |
| 259 clrf isr_xC+2 ; Clear the High-Order Bits | |
| 260 clrf isr_xC+3 | |
| 261 movf isr_xA, w ; Do the "L" Multiplication first | |
| 262 mulwf isr_xB | |
| 263 movf PRODL, w ; Save result | |
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264 movwf isr_xC+0 |
| 0 | 265 movf PRODH, w |
| 266 movwf isr_xC+1 | |
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267 movf isr_xA+0, w ; Do the "I" Multiplication |
| 0 | 268 mulwf isr_xB+1 |
| 269 movf PRODL, w ; Save the Most Significant Byte First | |
| 270 addwf isr_xC+1, f | |
| 271 movf PRODH, w | |
| 272 addwfc isr_xC+2, f ; Add to the Last Result | |
| 273 movf isr_xA+1, w ; Do the "O" Multiplication | |
| 274 mulwf isr_xB | |
| 275 movf PRODL, w ; Add the Lower Byte Next | |
| 276 addwf isr_xC+1, f | |
| 277 movf PRODH, w ; Add the High Byte First | |
| 278 addwfc isr_xC+2, f | |
| 279 btfsc STATUS, C ; Add the Carry | |
| 280 incf isr_xC+3, f | |
| 281 movf isr_xA+1, w ; Do the "F" Multiplication | |
| 282 mulwf isr_xB+1 | |
| 283 movf PRODL, w | |
| 284 addwf isr_xC+2, f | |
| 285 movf PRODH, w | |
| 286 addwfc isr_xC+3, f | |
| 287 return | |
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288 |
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289 ;============================================================================= |
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290 ; 24bit shift, repeted WREG times. |
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291 ; Because we shift less than 8bits, and keep only C[2:1], we don't care what |
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292 ; bit is inserted... |
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293 ; |
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294 isr_shift_C31: |
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295 rrcf isr_xC+3,F ; Shift the three bytes... |
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296 rrcf isr_xC+2,F |
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297 rrcf isr_xC+1,F |
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298 decfsz WREG |
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299 bra isr_shift_C31 |
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300 return |
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301 |
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302 ;============================================================================= |
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303 ; s16 * s16 --> 32bit multiply (xA * xB --> xC) |
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304 ; Signed multiplication. |
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305 ; Code from... the Pic18F documentation ;-) |
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306 isr_unsigned_mult16x16: |
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307 MOVF isr_xA+0, W ; Lowest is simply a[0] * b[0] |
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308 MULWF isr_xB+0 |
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309 MOVFF PRODL, isr_xC+0 |
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310 MOVFF PRODH, isr_xC+1 |
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311 ; |
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312 MOVF isr_xA+1, W ; And highest a[1] * b[1] |
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313 MULWF isr_xB+1 |
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314 MOVFF PRODL, isr_xC+2 |
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315 MOVFF PRODH, isr_xC+3 |
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316 ; |
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317 MOVF isr_xA+0, W ; Intermediates do propagate: |
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318 MULWF isr_xB+1 |
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319 MOVF PRODL, W |
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320 ADDWF isr_xC+1, F ; Add cross products |
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321 MOVF PRODH, W |
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322 ADDWFC isr_xC+2, F ; with propagated carry |
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323 CLRF WREG |
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324 ADDWFC isr_xC+3, F ; on the three bytes. |
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325 ; |
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326 MOVF isr_xA+1, W ; And the second one, similarly. |
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327 MULWF isr_xB+0 |
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328 MOVF PRODL, W |
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329 ADDWF isr_xC+1, F ; Add cross products |
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330 MOVF PRODH, W |
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331 ADDWFC isr_xC+2, F |
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332 CLRF WREG |
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333 ADDWFC isr_xC+3, F |
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334 return |
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335 |
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336 isr_signed_mult16x16: |
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337 rcall isr_unsigned_mult16x16 |
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338 |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
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339 ; Manage sign extension of operand B |
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Use signed arithmetic for pressure/temperature compensation.
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340 BTFSS isr_xB+1,7 ; Is B negatif ? |
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341 BRA isr_signed_mult_checkA ; No: check ARG1 |
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342 MOVF isr_xA+0, W ; Yes: add -65536 * A |
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Use signed arithmetic for pressure/temperature compensation.
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parents:
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343 SUBWF isr_xC+2, F |
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Use signed arithmetic for pressure/temperature compensation.
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344 MOVF isr_xA+1, W |
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Use signed arithmetic for pressure/temperature compensation.
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parents:
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345 SUBWFB isr_xC+3, F |
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Use signed arithmetic for pressure/temperature compensation.
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346 ; And of operand A |
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347 isr_signed_mult_checkA |
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Use signed arithmetic for pressure/temperature compensation.
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348 BTFSS isr_xA+1, 7 ; Is A negatif ? |
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349 RETURN ; No: done |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
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350 MOVF isr_xB+0, W |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
105
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351 SUBWF isr_xC+2, F |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
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changeset
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352 MOVF isr_xB+1, W |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
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353 SUBWFB isr_xC+3, F |
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Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
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354 RETURN |