Mercurial > public > mk2
annotate code_part1/OSTC_code_asm_part1/math.asm @ 217:ce6f16711567
BUGFIX gas switch
+ Make sure not to pass gas switch
+ Don't clobber ratio N2/He when canceling ascent passing gas switch.
+ Build-up GF_low history during the whole dive.
| author | JeanDo |
|---|---|
| date | Thu, 24 Feb 2011 23:22:32 +0100 |
| parents | 8d6aca08f66b |
| children | 06299199dfb9 |
| 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 | |
| 47 sub16: | |
| 48 ; sub_c = sub_a - sub_b | |
| 49 bcf neg_flag | |
| 74 | 50 movf sub_b+0, W ; Get Value to be subtracted |
| 51 subwf sub_a+0, W ; Do the High Byte | |
| 52 movwf sub_c+0 | |
| 53 movf sub_b+1, W ; Get the Value to be Subbed | |
| 54 subwfb sub_a+1, W | |
| 55 movwf sub_c+1 | |
| 56 btfsc STATUS,C | |
| 0 | 57 return ; result positve |
| 58 ; sub_c = sub_a - sub_b | |
| 59 bsf neg_flag ; result negative | |
| 60 movff sub_c+0,sub_b+0 | |
| 61 movff sub_c+1,sub_b+1 | |
| 62 setf sub_a | |
| 63 setf sub_a+1 | |
| 74 | 64 movf sub_b+0, W ; Get Value to be subtracted |
| 65 subwf sub_a+0, W ; Do the High Byte | |
| 66 movwf sub_c+0 | |
| 67 movf sub_b+1, W ; Get the Value to be Subbed | |
| 68 subwfb sub_a+1, W | |
| 0 | 69 movwf sub_c+1 |
| 70 return | |
| 71 | |
| 72 | |
| 105 | 73 mult16x16: ;xA*xB=xC |
| 0 | 74 clrf xC+2 ; Clear the High-Order Bits |
| 75 clrf xC+3 | |
| 76 movf xA, w ; Do the "L" Multiplication first | |
| 77 mulwf xB | |
| 78 movf PRODL, w ; Save result | |
| 79 movwf xC | |
| 80 movf PRODH, w | |
| 81 movwf xC+1 | |
| 82 movf xA, w ; Do the "I" Multiplication | |
| 83 mulwf xB+1 | |
| 84 movf PRODL, w ; Save the Most Significant Byte First | |
| 85 addwf xC+1, f | |
| 86 movf PRODH, w | |
| 87 addwfc xC+2, f ; Add to the Last Result | |
| 88 movf xA+1, w ; Do the "O" Multiplication | |
| 89 mulwf xB | |
| 90 movf PRODL, w ; Add the Lower Byte Next | |
| 91 addwf xC+1, f | |
| 92 movf PRODH, w ; Add the High Byte First | |
| 93 addwfc xC+2, f | |
| 94 btfsc STATUS, C ; Add the Carry | |
| 95 incf xC+3, f | |
| 96 movf xA+1, w ; Do the "F" Multiplication | |
| 97 mulwf xB+1 | |
| 98 movf PRODL, w | |
| 99 addwf xC+2, f | |
| 100 movf PRODH, w | |
| 101 addwfc xC+3, f | |
| 102 return | |
| 103 | |
| 104 | |
| 105 div16x16: ;xA/xB=xC with xA as remainder | |
| 106 ;uses divB as temp variable | |
| 107 clrf xC+0 | |
| 108 clrf xC+1 | |
| 109 MOVF xB+0,W ; Check for zero | |
| 110 IORWF xB+1,W ; | |
| 111 BTFSC STATUS,Z ; Check for zero | |
| 112 RETLW H'FF' ; return 0xFF if illegal | |
| 113 MOVLW 1 ; Start count at 1 | |
| 114 MOVWF divB ; Clear Count | |
| 115 div16x16_1 | |
| 116 BTFSC xB+1,7 ; High bit set ? | |
| 117 bra div16x16_2 ; Yes then continue | |
| 118 INCF divB,F ; Increment count | |
| 119 | |
| 120 bcf STATUS,C | |
| 121 rlcf xB+0,F | |
| 122 rlcf xB+1,F | |
| 123 bra div16x16_1 | |
| 124 div16x16_2: | |
| 125 ; Shift result left | |
| 126 bcf STATUS,C | |
| 127 rlcf xC+0,F | |
| 128 rlcf xC+1,F | |
| 129 | |
| 130 ; Reduce Divisor | |
| 131 | |
| 132 MOVF xB,W ; Get low byte of subtrahend | |
| 133 SUBWF xA,F ; Subtract DST(low) - SRC(low) | |
| 134 MOVF xB+1,W ; Now get high byte of subtrahend | |
| 135 BTFSS STATUS,C ; If there was a borrow, rather than | |
| 136 INCF xB+1,W ; decrement high byte of dst we inc src | |
| 137 SUBWF xA+1,F ; Subtract the high byte and we're done | |
| 138 | |
| 139 | |
| 140 BTFSC STATUS, C ; Did it reduce? | |
| 141 bra div16x16_3 ; No, so it was less than | |
| 142 | |
| 143 movf xB+0,W ; Reverse subtraction | |
| 144 addwf xA+0,F | |
| 145 movf xB+1,W | |
| 146 addwfc xA+1,F | |
| 147 | |
| 148 bra div16x16_4 ; Continue the process | |
| 149 div16x16_3: | |
| 150 BSF xC+0,0 ; Yes it did, this gets a 1 bit | |
| 151 div16x16_4: | |
| 152 DECF divB,F ; Decrement N_COUNT | |
| 153 BTFSC STATUS,Z ; If its not zero then continue | |
| 154 return | |
| 155 | |
| 156 bcf STATUS,C | |
| 157 rrcf xB+1,F | |
| 158 rrcf xB+0,F | |
| 159 | |
| 160 bra div16x16_2 ; Next bit. | |
| 161 | |
| 162 div32x16: ; xC:4 / xB:2 = xC+3:xC+2 with xC+1:xC+0 as remainder | |
| 163 ; Setup | |
| 164 movlw .32 ; setup shift counter | |
| 165 movwf divB | |
| 166 movf xC+3,W ; move ACCb to ACCf | |
| 167 movwf xA+1 | |
| 168 movf xC+2,W | |
| 169 movwf xA+0 | |
| 170 movf xC+1,W ; move ACCc to ACCe | |
| 171 movwf sub_a+1 | |
| 172 movf xC+0,W | |
| 173 movwf sub_a+0 | |
| 174 clrf xC+3 | |
| 175 clrf xC+2 | |
| 176 clrf xC+1 | |
| 177 clrf xC+0 | |
| 178 clrf sub_b+1 | |
| 179 clrf sub_b+0 | |
| 180 div32x16_2 | |
| 181 bcf STATUS,C | |
| 182 rlcf sub_a+0,F | |
| 183 rlcf sub_a+1,F | |
| 184 rlcf xA+0,F | |
| 185 rlcf xA+1,F | |
| 186 rlcf sub_b+0,F | |
| 187 rlcf sub_b+1,F | |
| 188 movf xB+1,W | |
| 189 subwf sub_b+1,W ; check if a>d | |
| 190 btfss STATUS,Z | |
| 191 goto div32x16_3 | |
| 192 movf xB+0,W | |
| 193 subwf sub_b+0,W ; if msb equal then check lsb | |
| 194 div32x16_3 | |
| 195 btfss STATUS,C ; carry set if d>a | |
| 196 goto div32x16_4 | |
| 197 movf xB+0,W ; d-a into d | |
| 198 subwf sub_b+0,F | |
| 199 btfss STATUS,C | |
| 200 decf sub_b+1,F | |
| 201 movf xB+1,W | |
| 202 subwf sub_b+1,F | |
| 203 bsf STATUS,C ; shift a 1 into b (result) | |
| 204 div32x16_4 | |
| 205 rlcf xC+0,F | |
| 206 rlcf xC+1,F | |
| 207 rlcf xC+2,F | |
| 208 rlcf xC+3,F | |
| 209 decfsz divB,F ; loop until all bits checked | |
| 210 goto div32x16_2 | |
| 211 return | |
| 212 | |
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213 ;============================================================================= |
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214 ; u16 * u16 --> 32bit multiply (xA * xB --> xC) |
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215 ; Used in interupt service routines, to compute temperature and pressure. |
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216 ; |
| 0 | 217 isr_mult16x16: |
| 218 clrf isr_xC+2 ; Clear the High-Order Bits | |
| 219 clrf isr_xC+3 | |
| 220 movf isr_xA, w ; Do the "L" Multiplication first | |
| 221 mulwf isr_xB | |
| 222 movf PRODL, w ; Save result | |
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223 movwf isr_xC+0 |
| 0 | 224 movf PRODH, w |
| 225 movwf isr_xC+1 | |
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226 movf isr_xA+0, w ; Do the "I" Multiplication |
| 0 | 227 mulwf isr_xB+1 |
| 228 movf PRODL, w ; Save the Most Significant Byte First | |
| 229 addwf isr_xC+1, f | |
| 230 movf PRODH, w | |
| 231 addwfc isr_xC+2, f ; Add to the Last Result | |
| 232 movf isr_xA+1, w ; Do the "O" Multiplication | |
| 233 mulwf isr_xB | |
| 234 movf PRODL, w ; Add the Lower Byte Next | |
| 235 addwf isr_xC+1, f | |
| 236 movf PRODH, w ; Add the High Byte First | |
| 237 addwfc isr_xC+2, f | |
| 238 btfsc STATUS, C ; Add the Carry | |
| 239 incf isr_xC+3, f | |
| 240 movf isr_xA+1, w ; Do the "F" Multiplication | |
| 241 mulwf isr_xB+1 | |
| 242 movf PRODL, w | |
| 243 addwf isr_xC+2, f | |
| 244 movf PRODH, w | |
| 245 addwfc isr_xC+3, f | |
| 246 return | |
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247 |
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248 ;============================================================================= |
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249 ; 24bit shift, repeted WREG times. |
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250 ; Because we shift less than 8bits, and keep only C[2:1], we don't care what |
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251 ; bit is inserted... |
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252 ; |
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253 isr_shift_C31: |
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254 rrcf isr_xC+3,F ; Shift the three bytes... |
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255 rrcf isr_xC+2,F |
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256 rrcf isr_xC+1,F |
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257 decfsz WREG |
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258 bra isr_shift_C31 |
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259 return |
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260 |
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261 ;============================================================================= |
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262 ; s16 * s16 --> 32bit multiply (xA * xB --> xC) |
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263 ; Signed multiplication. |
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264 ; Code from... the Pic18F documentation ;-) |
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265 isr_unsigned_mult16x16: |
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266 MOVF isr_xA+0, W ; Lowest is simply a[0] * b[0] |
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267 MULWF isr_xB+0 |
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268 MOVFF PRODL, isr_xC+0 |
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269 MOVFF PRODH, isr_xC+1 |
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270 ; |
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271 MOVF isr_xA+1, W ; And highest a[1] * b[1] |
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272 MULWF isr_xB+1 |
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273 MOVFF PRODL, isr_xC+2 |
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274 MOVFF PRODH, isr_xC+3 |
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275 ; |
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276 MOVF isr_xA+0, W ; Intermediates do propagate: |
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277 MULWF isr_xB+1 |
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278 MOVF PRODL, W |
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279 ADDWF isr_xC+1, F ; Add cross products |
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280 MOVF PRODH, W |
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281 ADDWFC isr_xC+2, F ; with propagated carry |
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282 CLRF WREG |
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283 ADDWFC isr_xC+3, F ; on the three bytes. |
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284 ; |
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285 MOVF isr_xA+1, W ; And the second one, similarly. |
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286 MULWF isr_xB+0 |
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287 MOVF PRODL, W |
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288 ADDWF isr_xC+1, F ; Add cross products |
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289 MOVF PRODH, W |
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290 ADDWFC isr_xC+2, F |
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291 CLRF WREG |
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292 ADDWFC isr_xC+3, F |
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293 return |
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294 |
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295 isr_signed_mult16x16: |
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296 rcall isr_unsigned_mult16x16 |
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297 |
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298 ; Manage sign extension of operand B |
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299 BTFSS isr_xB+1,7 ; Is B negatif ? |
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300 BRA isr_signed_mult_checkA ; No: check ARG1 |
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301 MOVF isr_xA+0, W ; Yes: add -65536 * A |
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302 SUBWF isr_xC+2, F |
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303 MOVF isr_xA+1, W |
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304 SUBWFB isr_xC+3, F |
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305 ; And of operand A |
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306 isr_signed_mult_checkA |
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307 BTFSS isr_xA+1, 7 ; Is A negatif ? |
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308 RETURN ; No: done |
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309 MOVF isr_xB+0, W |
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310 SUBWF isr_xC+2, F |
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311 MOVF isr_xB+1, W |
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312 SUBWFB isr_xC+3, F |
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8d6aca08f66b
Use signed arithmetic for pressure/temperature compensation.
JeanDo
parents:
105
diff
changeset
|
313 RETURN |