D G "__PCM__" 0 0 ""4.084""
D G "__DEVICE__" 0 0 ""
D G "__DATE__" 0 0 ""19-Jul-09""
D G "__TIME__" 0 0 ""17:28:15"" "This program provides a microstepping stepper motor controller down to 1/128th step achieved using PWM"
D G "ENABLE_HW_ENCODER" 0 65 ""
D G "ENABLE_STEPPER" 0 67 ""
D G "_STDDEF" 1 13 ""
D G "ptrdiff_t" 1 16 "unsigned int8"
D G "size_t" 1 21 "unsigned int8"
D G "wchar_t" 1 22 "char"
D G "NULL" 1 23 "0"
D G "offsetof" 1 25 "(s,f) (offsetofbit(s,f)/8)"
d G "PIN_A0" 3 19 "40"
d G "PIN_A1" 3 20 "41"
d G "PIN_A2" 3 21 "42"
d G "PIN_A3" 3 22 "43"
d G "PIN_A4" 3 23 "44"
d G "PIN_A5" 3 24 "45"
d G "PIN_B0" 3 26 "48"
d G "PIN_B1" 3 27 "49"
d G "PIN_B2" 3 28 "50"
d G "PIN_B3" 3 29 "51"
d G "PIN_B4" 3 30 "52"
d G "PIN_B5" 3 31 "53"
d G "PIN_B6" 3 32 "54"
d G "PIN_B7" 3 33 "55"
d G "PIN_C0" 3 35 "56"
d G "PIN_C1" 3 36 "57"
d G "PIN_C2" 3 37 "58"
d G "PIN_C3" 3 38 "59"
d G "PIN_C4" 3 39 "60"
d G "PIN_C5" 3 40 "61"
d G "PIN_C6" 3 41 "62"
d G "PIN_C7" 3 42 "63"
d G "PIN_D0" 3 44 "64"
d G "PIN_D1" 3 45 "65"
d G "PIN_D2" 3 46 "66"
d G "PIN_D3" 3 47 "67"
d G "PIN_D4" 3 48 "68"
d G "PIN_D5" 3 49 "69"
d G "PIN_D6" 3 50 "70"
d G "PIN_D7" 3 51 "71"
d G "PIN_E0" 3 53 "72"
d G "PIN_E1" 3 54 "73"
d G "PIN_E2" 3 55 "74"
d G "FALSE" 3 58 "0"
d G "TRUE" 3 59 "1"
d G "BYTE" 3 61 "int8"
d G "BOOLEAN" 3 62 "int1"
d G "getc" 3 64 "getch"
d G "fgetc" 3 65 "getch"
d G "getchar" 3 66 "getch"
d G "putc" 3 67 "putchar"
d G "fputc" 3 68 "putchar"
d G "fgets" 3 69 "gets"
d G "fputs" 3 70 "puts"
d G "WDT_FROM_SLEEP" 3 75 "3"
d G "WDT_TIMEOUT" 3 76 "11"
d G "MCLR_FROM_SLEEP" 3 77 "19"
d G "MCLR_FROM_RUN" 3 78 "27"
d G "NORMAL_POWER_UP" 3 79 "25"
d G "BROWNOUT_RESTART" 3 80 "26"
d G "RTCC_INTERNAL" 3 87 "0"
d G "RTCC_EXT_L_TO_H" 3 88 "32"
d G "RTCC_EXT_H_TO_L" 3 89 "48"
d G "RTCC_DIV_1" 3 91 "8"
d G "RTCC_DIV_2" 3 92 "0"
d G "RTCC_DIV_4" 3 93 "1"
d G "RTCC_DIV_8" 3 94 "2"
d G "RTCC_DIV_16" 3 95 "3"
d G "RTCC_DIV_32" 3 96 "4"
d G "RTCC_DIV_64" 3 97 "5"
d G "RTCC_DIV_128" 3 98 "6"
d G "RTCC_DIV_256" 3 99 "7"
d G "RTCC_8_BIT" 3 102 "0"
d G "WDT_18MS" 3 114 "8"
d G "WDT_36MS" 3 115 "9"
d G "WDT_72MS" 3 116 "10"
d G "WDT_144MS" 3 117 "11"
d G "WDT_288MS" 3 118 "12"
d G "WDT_576MS" 3 119 "13"
d G "WDT_1152MS" 3 120 "14"
d G "WDT_2304MS" 3 121 "15"
d G "T1_DISABLED" 3 127 "0"
d G "T1_INTERNAL" 3 128 "0x85"
d G "T1_EXTERNAL" 3 129 "0x87"
d G "T1_EXTERNAL_SYNC" 3 130 "0x83"
d G "T1_CLK_OUT" 3 132 "8"
d G "T1_DIV_BY_1" 3 134 "0"
d G "T1_DIV_BY_2" 3 135 "0x10"
d G "T1_DIV_BY_4" 3 136 "0x20"
d G "T1_DIV_BY_8" 3 137 "0x30"
d G "T2_DISABLED" 3 142 "0"
d G "T2_DIV_BY_1" 3 143 "4"
d G "T2_DIV_BY_4" 3 144 "5"
d G "T2_DIV_BY_16" 3 145 "6"
d G "CCP_OFF" 3 151 "0"
d G "CCP_CAPTURE_FE" 3 152 "4"
d G "CCP_CAPTURE_RE" 3 153 "5"
d G "CCP_CAPTURE_DIV_4" 3 154 "6"
d G "CCP_CAPTURE_DIV_16" 3 155 "7"
d G "CCP_COMPARE_SET_ON_MATCH" 3 156 "8"
d G "CCP_COMPARE_CLR_ON_MATCH" 3 157 "9"
d G "CCP_COMPARE_INT" 3 158 "0xA"
d G "CCP_COMPARE_RESET_TIMER" 3 159 "0xB"
d G "CCP_PWM" 3 160 "0xC"
d G "CCP_PWM_PLUS_1" 3 161 "0x1c"
d G "CCP_PWM_PLUS_2" 3 162 "0x2c"
d G "CCP_PWM_PLUS_3" 3 163 "0x3c"
d G "PSP_ENABLED" 3 175 "0x10"
d G "PSP_DISABLED" 3 176 "0"
d G "SPI_MASTER" 3 183 "0x20"
d G "SPI_SLAVE" 3 184 "0x24"
d G "SPI_L_TO_H" 3 185 "0"
d G "SPI_H_TO_L" 3 186 "0x10"
d G "SPI_CLK_DIV_4" 3 187 "0"
d G "SPI_CLK_DIV_16" 3 188 "1"
d G "SPI_CLK_DIV_64" 3 189 "2"
d G "SPI_CLK_T2" 3 190 "3"
d G "SPI_SS_DISABLED" 3 191 "1"
d G "SPI_SAMPLE_AT_END" 3 193 "0x8000"
d G "SPI_XMIT_L_TO_H" 3 194 "0x4000"
d G "UART_ADDRESS" 3 200 "2"
d G "UART_DATA" 3 201 "4"
d G "A0_A3_A1_A3" 3 205 "0xfff04"
d G "A0_A3_A1_A2_OUT_ON_A4_A5" 3 206 "0xfcf03"
d G "A0_A3_A1_A3_OUT_ON_A4_A5" 3 207 "0xbcf05"
d G "NC_NC_NC_NC" 3 208 "0x0ff07"
d G "A0_A3_A1_A2" 3 209 "0xfff02"
d G "A0_A3_NC_NC_OUT_ON_A4" 3 210 "0x9ef01"
d G "A0_VR_A1_VR" 3 211 "0x3ff06"
d G "A3_VR_A2_VR" 3 212 "0xcff0e"
d G "CP1_INVERT" 3 213 "0x0000010"
d G "CP2_INVERT" 3 214 "0x0000020"
d G "VREF_LOW" 3 222 "0xa0"
d G "VREF_HIGH" 3 223 "0x80"
d G "VREF_A2" 3 225 "0x40"
d G "ADC_OFF" 3 233 "0" "ADC Off"
d G "ADC_CLOCK_DIV_2" 3 234 "0x10000"
d G "ADC_CLOCK_DIV_4" 3 235 "0x4000"
d G "ADC_CLOCK_DIV_8" 3 236 "0x0040"
d G "ADC_CLOCK_DIV_16" 3 237 "0x4040"
d G "ADC_CLOCK_DIV_32" 3 238 "0x0080"
d G "ADC_CLOCK_DIV_64" 3 239 "0x4080"
d G "ADC_CLOCK_INTERNAL" 3 240 "0x00c0" "Internal 2-6us"
d G "NO_ANALOGS" 3 243 "7" "None"
d G "ALL_ANALOG" 3 244 "0" "A0 A1 A2 A3 A5 E0 E1 E2"
d G "AN0_AN1_AN2_AN4_AN5_AN6_AN7_VSS_VREF" 3 245 "1" "A0 A1 A2 A5 E0 E1 E2 VRefh=A3"
d G "AN0_AN1_AN2_AN3_AN4" 3 246 "2" "A0 A1 A2 A3 A5"
d G "AN0_AN1_AN2_AN4_VSS_VREF" 3 247 "3" "A0 A1 A2 A4 VRefh=A3"
d G "AN0_AN1_AN3" 3 248 "4" "A0 A1 A3"
d G "AN0_AN1_VSS_VREF" 3 249 "5" "A0 A1 VRefh=A3"
d G "AN0_AN1_AN4_AN5_AN6_AN7_VREF_VREF" 3 250 "0x08" "A0 A1 A5 E0 E1 E2 VRefh=A3 VRefl=A2"
d G "AN0_AN1_AN2_AN3_AN4_AN5" 3 251 "0x09" "A0 A1 A2 A3 A5 E0"
d G "AN0_AN1_AN2_AN4_AN5_VSS_VREF" 3 252 "0x0A" "A0 A1 A2 A5 E0 VRefh=A3"
d G "AN0_AN1_AN4_AN5_VREF_VREF" 3 253 "0x0B" "A0 A1 A5 E0 VRefh=A3 VRefl=A2"
d G "AN0_AN1_AN4_VREF_VREF" 3 254 "0x0C" "A0 A1 A4 VRefh=A3 VRefl=A2"
d G "AN0_AN1_VREF_VREF" 3 255 "0x0D" "A0 A1 VRefh=A3 VRefl=A2"
d G "AN0" 3 256 "0x0E" "A0"
d G "AN0_VREF_VREF" 3 257 "0x0F" "A0 VRefh=A3 VRefl=A2"
d G "ANALOG_RA3_REF" 3 258 "0x1" "!old only provided for compatibility"
d G "A_ANALOG" 3 259 "0x2" "!old only provided for compatibility"
d G "A_ANALOG_RA3_REF" 3 260 "0x3" "!old only provided for compatibility"
d G "RA0_RA1_RA3_ANALOG" 3 261 "0x4" "!old only provided for compatibility"
d G "RA0_RA1_ANALOG_RA3_REF" 3 262 "0x5" "!old only provided for compatibility"
d G "ANALOG_RA3_RA2_REF" 3 263 "0x8" "!old only provided for compatibility"
d G "ANALOG_NOT_RE1_RE2" 3 264 "0x9" "!old only provided for compatibility"
d G "ANALOG_NOT_RE1_RE2_REF_RA3" 3 265 "0xA" "!old only provided for compatibility"
d G "ANALOG_NOT_RE1_RE2_REF_RA3_RA2" 3 266 "0xB" "!old only provided for compatibility"
d G "A_ANALOG_RA3_RA2_REF" 3 267 "0xC" "!old only provided for compatibility"
d G "RA0_RA1_ANALOG_RA3_RA2_REF" 3 268 "0xD" "!old only provided for compatibility"
d G "RA0_ANALOG" 3 269 "0xE" "!old only provided for compatibility"
d G "RA0_ANALOG_RA3_RA2_REF" 3 270 "0xF" "!old only provided for compatibility"
d G "ADC_START_AND_READ" 3 274 "7" "This is the default if nothing is specified"
d G "ADC_START_ONLY" 3 275 "1"
d G "ADC_READ_ONLY" 3 276 "6"
d G "L_TO_H" 3 288 "0x40"
d G "H_TO_L" 3 289 "0"
d G "GLOBAL" 3 291 "0x0BC0"
d G "INT_RTCC" 3 292 "0x0B20"
d G "INT_RB" 3 293 "0xFF0B08"
d G "INT_EXT" 3 294 "0x0B10"
d G "INT_AD" 3 295 "0x8C40"
d G "INT_TBE" 3 296 "0x8C10"
d G "INT_RDA" 3 297 "0x8C20"
d G "INT_TIMER1" 3 298 "0x8C01"
d G "INT_TIMER2" 3 299 "0x8C02"
d G "INT_CCP1" 3 300 "0x8C04"
d G "INT_CCP2" 3 301 "0x8D01"
d G "INT_SSP" 3 302 "0x8C08"
d G "INT_PSP" 3 303 "0x8C80"
d G "INT_BUSCOL" 3 304 "0x8D08"
d G "INT_EEPROM" 3 305 "0x8D10"
d G "INT_TIMER0" 3 306 "0x0B20"
d G "INT_COMP" 3 307 "0x8D40"
D G "CLOCK" 2 10 " ((int32)20000000)"
D G "STEP_A" 2 11 "PIN_A0"
D G "STEP_B" 2 12 "PIN_A1"
D G "STEP_C" 2 13 "PIN_A2"
D G "STEP_D" 2 14 "PIN_A3"
D G "ENC_I" 2 15 "PIN_B6"
D G "ENC_B" 2 16 "PIN_B4"
D G "ENC_A" 2 17 "PIN_B5"
D G "STEP_LED" 2 18 "PIN_D0"
D G "ENC_LED" 2 19 "PIN_D1"
D G "TRIS_C" 2 20 "0x87"
V G "interruptStatus" 2 31 "int8"
D G "TMR1_TIMEDOUT" 2 32 "0x01"
D G "TMR2_TIMEDOUT" 2 33 "0x02"
D G "I2C_READ_PENDING" 2 34 "0x04"
D G "I2C_READ_READY" 2 35 "0x08"
D G "I2C_CMD_READY" 2 36 "0x10"
D G "TMR1_TIMEDOUT_MASK" 2 37 "0x01"
D G "TMR2_TIMEDOUT_MASK" 2 38 "0x02"
D G "I2C_READ_PENDING_MASK" 2 39 "0x04"
D G "I2C_READ_READY_MASK" 2 40 "0x08"
D G "I2C_CMD_READY_MASK" 2 41 "0x10"
D G "DEVICE_NAME" 2 46 "0x0003" "From device type enum in telcontroller.h"
D G "DEVICE_VERSION" 2 50 "0x0100" "software Version number, High byte is major, low byte is minor."
D G "SSPSTATMASK" 2 53 "0x3F"
V G "SSPSTAT" 2 74 "{int1 BF,int1 UA,int1 RWL,int1 S,int1 P,int1 DAL,int1 CKE,int1 SMP}"
D G "SSPCONMASK" 2 77 "0xF0"
V G "SSPCON" 2 92 "{int4 SSPSEL,int1 CKP,int1 SSPEN,int1 SSPOV,int1 WCOL}"
D G "CMD" 2 94 "0"
D G "DATA0" 2 95 "1"
D G "DATA1" 2 96 "2"
D G "DATA2" 2 97 "3"
D G "DATA3" 2 98 "4"
D G "SERIAL_BUFF_SIZE" 2 99 "10"
V G "serialCmd" 2 100 "int8" "Used to identify the I2C command"
V G "serialInCount" 2 101 "int8"
V G "serialOutcount" 2 102 "int8"
V G "serialBuffIn" 2 103 "int8[10]"
V G "serialBuffOut" 2 104 "int8[10]"
V G "serialBuffOutLength" 2 105 "int8"
D G "SERIAL_CMD_DEVICE_NAME_GET" 2 115 "0x00"
D G "SERIAL_CMD_DEVICE_VERSION_GET" 2 116 "0x01"
D G "SERIAL_CMD_STEPPER_STEPS_SET" 2 119 "0x10"
D G "SERIAL_CMD_STEPPER_STEPS_GET" 2 120 "0x11"
D G "SERIAL_CMD_STEPPER_DIRECTION_SET" 2 121 "0x12"
D G "SERIAL_CMD_STEPPER_DIRECTION_GET" 2 122 "0x13"
D G "SERIAL_CMD_STEPPER_MICROSTEPS_SET" 2 123 "0x14" "Use this to accelerate by factor two's"
D G "SERIAL_CMD_STEPPER_MICROSTEPS_GET" 2 124 "0x15"
D G "SERIAL_CMD_STEPPER_MODE_SET" 2 125 "0x16"
D G "SERIAL_CMD_STEPPER_MODE_GET" 2 126 "0x17"
D G "SERIAL_CMD_STEPPER_ACCEL_SET" 2 127 "0x18"
D G "SERIAL_CMD_STEPPER_ACCEL_GET" 2 128 "0x19"
D G "SERIAL_CMD_STEPPER_ENABLE_SET" 2 129 "0x1A"
D G "SERIAL_CMD_STEPPER_ENABLE_GET" 2 130 "0x1B"
D G "SERIAL_CMD_STEPPER_CTR_SET" 2 131 "0x1C"
D G "SERIAL_CMD_STEPPER_CTR_GET" 2 132 "0x1D"
D G "SERIAL_CMD_STEPPER_CTR_RESET" 2 133 "0x1E"
D G "SERIAL_CMD_STEPPER_CTR_ROLLOVER_SET" 2 134 "0x1F"
D G "SERIAL_CMD_STEPPER_CTR_ROLLOVER_GET" 2 135 "0x20"
D G "SERIAL_CMD_STEPPER_CTR_TARGET_SET" 2 136 "0x21"
D G "SERIAL_CMD_STEPPER_CTR_TARGET_GET" 2 137 "0x22"
D G "SERIAL_CMD_STEPPER_STOP_ENABLE_SET" 2 138 "0x23"
D G "SERIAL_CMD_STEPPER_STOP_ENABLE_GET" 2 139 "0x24"
D G "SERIAL_CMD_STEPPER_STEPSPERREV_SET" 2 140 "0x25"
D G "SERIAL_CMD_STEPPER_STEPSPERREV_GET" 2 141 "0x26"
D G "SERIAL_CMD_ENCODER_SET" 2 144 "0x30"
D G "SERIAL_CMD_ENCODER_GET" 2 145 "0x31"
D G "SERIAL_CMD_ENCODER_ROLLOVER_SET" 2 146 "0x32"
D G "SERIAL_CMD_ENCODER_ROLLOVER_GET" 2 147 "0x33"
D G "SERIAL_CMD_ENCODER_TARGET_SET" 2 148 "0x34"
D G "SERIAL_CMD_ENCODER_TARGET_GET" 2 149 "0x35"
D G "SERIAL_CMD_ENCODER_COUNTS_PER_STEP_SET" 2 150 "0x36"
D G "SERIAL_CMD_ENCODER_COUNTS_PER_STEP_GET" 2 151 "0x37"
D G "SERIAL_CMD_ENCODER_RESET" 2 152 "0x38"
D G "SERIAL_CMD_TIMEBASE_SET" 2 154 "0x40"
D G "SERIAL_CMD_TIMEBASE_GET" 2 155 "0x41"
D G "SERIAL_CMD_TIME_ACCUMULATOR_SET" 2 156 "0x42"
D G "SERIAL_CMD_TIME_ACCUMULATOR_GET" 2 157 "0x43"
D G "SERIAL_CMD_TIME_PRESCALER_SET" 2 158 "0x44"
D G "SERIAL_CMD_TIME_PRESCALER_GET" 2 159 "0x45"
D G "SERIAL_CMD_APP_RESET" 2 162 "0xDB"
D G "SERIAL_CMD_APP_INIT" 2 163 "0xDE"
D G "SERIAL_CMD_APP_SHUT" 2 164 "0xDF"
V G "RotaryEncoder" 2 176 "{int4 unused,int1 A,int1 B,int1 Index,int1 unused2}"
V G "OldPortB" 2 178 "int8"
V G "OldEncoder" 2 179 "{int4 unused,int1 A,int1 B,int1 Index,int1 unused2}"
V G "encoderCount" 2 180 "int32"
V G "encoderTarget" 2 181 "int32"
V G "encoderRollover" 2 182 "int32"
V G "encoderCountsPerStep" 2 183 "int32"
V G "encoderOld" 2 184 "int32"
V G "encoderDelta" 2 185 "int32" "Stepper status variables and masks"
E G "UNIPOLAR_A" 2 190 "0" "alternate form to A"
E G "UNIPOLAR_B" 2 191 "1" "half step"
E G "UNIPOLAR_HALF" 2 192 "2" "serial bipolar 8 wires"
E G "BIPOLAR_A" 2 193 "3" "parallel bipolar 8 wires"
E G "BIPOLAR_B" 2 194 "4"
E G "BIPOLAR_C" 2 194 "5"
V G "STEPSPERPHASE" 2 195 "int8"
D G "MAXMICROSTEPINCREMENT" 2 196 "64"
D G "MAXMICROSTEPSPERSTEP" 2 197 "64"
V G "fullstepTable1" 2 202 "int8[8]"
V G "fullstepTable2" 2 212 "int8[8]"
V G "halfstepTable" 2 222 "int8[8]"
V G "bipolarstepTable" 2 232 "int8[8]"
V G "stepTable" 2 241 "*int8" "= { fullStepTable1, fullStepTable2, halfStepTable, bipolarStepTable, fullstepTable};"
V G "pwmTable" 2 243 "int16[65]"
V G "stepperType" 2 246 "STEPPER_TYPE"
V G "stepperStatus" 2 247 "int8" "Current status"
V G "stepperStatusTarget" 2 248 "int8" "Desired status"
V G "stepperStepCount" 2 249 "int8" "Current steps per phase"
V G "stepperStepCountCurrent" 2 250 "int8" "Current step count per phase"
V G "stepperStepCountTarget" 2 251 "int8" "Target step count per phase"
V G "stepperMicrostepCount" 2 252 "int8" "Current microstep count"
V G "stepperMicrostepCountIncrement" 2 253 "sint8" "Current microstep increment size"
V G "stepperMicrostepCountIncrementTarget" 2 254 "int8" "Desired increment for microstepping - sets speed along with timebase."
V G "stepperMicrostepsPerStep" 2 255 "int8" "Stepper number of microsteps per step - used to generate microstep increment and timebase"
V G "stepperMicrostepsPerStepTarget" 2 256 "int8" "Desired number of microsteps per step"
V G "pwmMask" 2 258 "int8"
V G "pwmVal" 2 259 "int16"
V G "stepMask" 2 260 "int8" "CMD Arguments ( status bits 0 ) for stepper clock direction"
D G "STEPPER_CLOCK_TOGGLE_MASK" 2 271 "0x01"
D G "STEPPER_CLOCK_TOGGLE_LOW" 2 272 "0x00"
D G "STEPPER_CLOCK_TOGGLE_HIGH" 2 273 "0x00"
D G "STEPPER_DIRN_MASK" 2 276 "0x02"
D G "STEPPER_DIRN_FORWARD" 2 277 "0x02"
D G "STEPPER_DIRN_REVERSE" 2 278 "0x00"
D G "STEPPER_COUNT_MASK" 2 281 "0x04"
D G "STEPPER_COUNT_ENABLE" 2 282 "0x04"
D G "STEPPER_COUNT_DISABLE" 2 283 "0x04"
D G "STEPPER_MODE_MASK" 2 288 "0x60"
D G "STEPPER_MODE_MOTION" 2 290 "0x00"
D G "STEPPER_MODE_POSITION_CONSTANT" 2 292 "0x40"
D G "STEPPER_MODE_POSITION_RAMPED" 2 294 "0x60"
D G "STEPPER_ENABLE_MASK" 2 297 "0x80"
D G "STEPPER_ENABLE_ON" 2 298 "0x80"
D G "STEPPER_ENABLE_OFF" 2 299 "0x00"
V G "phaseAccum" 2 306 "int32" "the decimal remainder added until it is significant and then subtracted from the reset value on use."
V G "t1Prescaler" 2 307 "int8"
V G "t1ResetCount" 2 308 "int16" "the value to reset the timer to."
V G "t1ResetLoopCount" 2 309 "int16" "the value to reset the timer timeout loop counter to"
V G "t1LoopCount" 2 310 "int16" "How many times we have looped around the TMR1 16 bit timeout."
V G "newResetCount" 2 311 "int16" "Holders for new values"
V G "newResetLoopCount" 2 312 "int16" "Holders for new values."
V G "t2LoopCount" 2 316 "int16"
V G "t2ResetLoopCount" 2 317 "int16"
V G "t2ResetCount" 2 318 "int16" "Timing considerations for star-tracking"
C L "setup_timebase" 2 3 18 "FUNCTION"
F G "setup_timebase" 2 343 "void()"
V L "newResetCount" 2 343 "int16"
V L "newLoopCount" 2 343 "int16"
F G "setup_DeltaTimer" 2 344 "void()"
V L "incrementTime" 2 344 "int32"
F G "setup_stepper" 2 345 "void()"
V L "S" 2 345 "STEPPER_TYPE"
V L "steps" 2 345 "int8"
V L "microsteps" 2 345 "int8"
V L "status" 2 345 "int8"
F G "setup_pwm" 2 346 "void()"
F G "setMicrostepPWM" 2 347 "void()"
V L "count" 2 347 "int16"
F G "setup_encoder" 2 348 "void()"
V L "rollover" 2 348 "int32"
V L "current" 2 348 "int32"
F G "setup_encoder" 2 349 "void()"
V L "rollover" 2 349 "int32"
V L "initial" 2 349 "int32"
V L "countsPerStep" 2 349 "int8"
F G "step_motor" 2 350 "void()" "Indicators"
F G "flashLed" 2 352 "void()"
V L "??65535" 2 352 "int8"
V L "??65535" 2 352 "int16"
V L "??65535" 2 352 "int8" "(C) Copyright 1996,2003 Custom Computer Services           ////"
D G "_ERRNO" 4 13 ""
D G "EDOM" 4 15 "1"
D G "ERANGE" 4 16 "2"
V G "errno" 4 18 "int8"
D G "_FLOAT" 5 15 ""
D G "FLT_RADIX" 5 18 "2"
D G "FLT_MANT_DIG" 5 19 "24" "# of bits in mantissa"
D G "FLT_DIG" 5 21 "6" "# of decimal digits of precision"
D G "FLT_MIN_EXP" 5 23 " (-125)" "min binary exponent"
D G "FLT_MIN_10_EXP" 5 24 " (-37)" "min decimal exponent"
D G "FLT_MAX_EXP" 5 25 "128" "max binary exponent"
D G "FLT_MAX_10_EXP" 5 26 "38" "max decimal exponent"
D G "FLT_MAX" 5 27 "3.402823466e+38F" "max value"
D G "FLT_EPSILON" 5 28 "1.192092896e-07F" "smallest such that 1.0+FLT_EPSILON != 1.0"
D G "FLT_MIN" 5 29 "1.175494351e-38F" "min positive value"
D G "DBL_MANT_DIG" 5 33 "53" "# of bits in mantissa"
D G "DBL_DIG" 5 35 "15" "# of decimal digits of precision"
D G "DBL_MIN_EXP" 5 37 " (-1021)" "min binary exponent"
D G "DBL_MIN_10_EXP" 5 38 " (-307)" "min decimal exponent"
D G "DBL_MAX_EXP" 5 39 "1024" "max binary exponent"
D G "DBL_MAX_10_EXP" 5 40 "308" "max decimal exponent"
D G "DBL_MAX" 5 41 "1.79769313486231e+308F" "max value"
D G "DBL_EPSILON" 5 42 "2.2204460492503131e-16F" "smallest such that 1.0+FLT_EPSILON != 1.0"
D G "DBL_MIN" 5 43 "2.22507385850721e-308F" "min positive value"
D G "LDBL_MANT_DIG" 5 47 "64" "# of bits in mantissa"
D G "LDBL_DIG" 5 49 "18" "# of decimal digits of precision"
D G "LDBL_MIN_EXP" 5 51 " (-16381)" "min binary exponent"
D G "LDBL_MIN_10_EXP" 5 52 " (-4931)" "min decimal exponent"
D G "LDBL_MAX_EXP" 5 53 "16384" "max binary exponent"
D G "LDBL_MAX_10_EXP" 5 54 "4932" "max decimal exponent"
D G "LDBL_MAX" 5 55 "1.18973149535723176502e+4932F" "max value"
D G "LDBL_EPSILON" 5 56 "1.084202172485504434e-019F" "smallest such that 1.0+FLT_EPSILON != 1.0"
D G "LDBL_MIN" 5 57 "3.36210314311209350626e-4932F" "min positive value"
D G "_LIMITS" 6 15 ""
D G "_C2" 6 16 "1"
D G "CHAR_BIT" 6 18 "1" "short"
D G "CHAR_MAX" 6 22 "255" "unsigned integer maximum"
D G "CHAR_MIN" 6 23 "0" "unsigned integer minimum"
D G "SCHAR_MAX" 6 26 "127" "signed integer maximum"
D G "SCHAR_MIN" 6 27 " (-127-_C2)" "signed integer minimum"
D G "MB_LEN_MAX" 6 31 "1"
D G "SHRT_MAX" 6 53 "1" "signed short maximum"
D G "SHRT_MIN" 6 54 "0" "signed short minimum"
D G "INT_MAX" 6 56 "127" "signed integer minimum"
D G "INT_MIN" 6 57 " (-127-_C2)" "signed integer maximum"
D G "LONG_MAX" 6 60 "32767" "signed long maximum"
D G "LONG_MIN" 6 61 " (-32767-_C2)" "signed long minimum"
D G "USHRT_MAX" 6 64 "1" "unsigned short integer maximum"
D G "UCHAR_MAX" 6 65 "255" "unsigned integer maximum"
D G "UINT_MAX" 6 66 "255" "unsigned integer maximum"
D G "ULONG_MAX" 6 67 "65535" "unsigned long integer maximum"
D G "MATH_H" 7 21 ""
D G "PI" 7 26 "3.1415926535897932"
D G "SQRT2" 7 29 "1.4142135623730950"
C L "flashLed" 7 2 3 "FUNCTION"
F G "CEIL_FLOOR" 7 36 "float()"
V L "x" 7 36 "float"
V L "n" 7 36 "int8"
V L "y" 7 38 "float"
V L "res" 7 38 "float"
V L "l" 7 39 "int16"
V L "S" 7 40 "int1"
C L "floor" 7 2 5 "FUNCTION"
F G "floor" 7 192 "float()"
V L "x" 7 192 "float"
C L "ceil" 7 2 5 "FUNCTION"
F G "ceil" 7 218 "float()"
V L "x" 7 218 "float"
D G "fabs" 7 244 "abs"
C L "fmod" 7 2 6 "FUNCTION"
F G "fmod" 7 256 "float()"
V L "x" 7 256 "float"
V L "y" 7 256 "float"
V L "i" 7 258 "float"
D G "LN2" 7 319 "0.6931471805599453"
V G "pe" 7 321 "float[6]"
F G "exp" 7 325 "float()"
V L "x" 7 325 "float"
V L "y" 7 327 "float"
V L "res" 7 327 "float"
V L "r" 7 327 "float"
V L "n" 7 331 "sint8"
V L "S" 7 332 "int1"
C L "exp" 7 2 1 "FUNCTION"
V G "pl" 7 496 "float[4]"
V G "ql" 7 497 "float[4]"
C L "log" 7 2 3 "FUNCTION"
F G "log" 7 505 "float()"
V L "x" 7 505 "float"
V L "y" 7 507 "float"
V L "res" 7 507 "float"
V L "r" 7 507 "float"
V L "y2" 7 507 "float"
V L "n" 7 511 "sint8"
C L "log" 7 2 1 "FUNCTION"
D G "LN10" 7 729 "2.3025850929940456"
C L "log10" 7 2 3 "FUNCTION"
F G "log10" 7 737 "float()"
V L "x" 7 737 "float"
V L "r" 7 739 "float"
C L "modf" 7 2 8 "FUNCTION"
F G "modf" 7 778 "float()"
V L "value" 7 778 "float"
V L "iptr" 7 778 "*float"
C L "pwr" 7 2 5 "FUNCTION"
F G "pwr" 7 805 "float()"
V L "x" 7 805 "float"
V L "y" 7 805 "float"
C L "pow" 7 2 6 "FUNCTION"
F G "pow" 7 840 "float()"
V L "x" 7 840 "float"
V L "y" 7 840 "float"
C L "sqrt" 7 2 5 "FUNCTION"
F G "sqrt" 7 874 "float()"
V L "x" 7 874 "float"
V L "y" 7 876 "float"
V L "res" 7 876 "float"
V L "P" 7 880 "*int8"
D G "PI_DIV_BY_TWO" 7 1069 "1.5707963267948966"
C L "cos" 7 2 3 "FUNCTION"
F G "cos" 7 1080 "float()"
V L "x" 7 1080 "float"
V L "y" 7 1082 "float"
V L "t" 7 1082 "float"
V L "t2" 7 1082 "float"
V L "quad" 7 1083 "int8"
V L "i" 7 1083 "int8"
V L "frac" 7 1084 "float"
V L "P" 7 1085 "float[4]"
C L "cos" 7 2 1 "FUNCTION"
C L "cos" 7 2 1 "FUNCTION"
C L "cos" 7 2 1 "FUNCTION"
C L "cos" 7 2 1 "FUNCTION"
C L "cos" 7 2 1 "FUNCTION"
C L "cos" 7 2 1 "FUNCTION"
C L "sin" 7 2 5 "FUNCTION"
F G "sin" 7 1210 "float()"
V L "x" 7 1210 "float"
C L "tan" 7 2 5 "FUNCTION"
F G "tan" 7 1236 "float()"
V L "x" 7 1236 "float"
V L "c" 7 1238 "float"
V L "S" 7 1238 "float"
V G "pas" 7 1276 "float[3]"
V G "qas" 7 1277 "float[3]"
F G "ASIN_COS" 7 1279 "float()"
V L "x" 7 1279 "float"
V L "n" 7 1279 "int8"
V L "y" 7 1281 "float"
V L "res" 7 1281 "float"
V L "r" 7 1281 "float"
V L "y2" 7 1281 "float"
V L "S" 7 1282 "int1"
C L "ASIN_COS" 7 2 1 "FUNCTION"
C L "ASIN_COS" 7 2 1 "FUNCTION"
C L "asin" 7 2 5 "FUNCTION"
F G "asin" 7 1425 "float()"
V L "x" 7 1425 "float"
V L "r" 7 1427 "float"
C L "acos" 7 2 5 "FUNCTION"
F G "acos" 7 1459 "float()"
V L "x" 7 1459 "float"
V L "r" 7 1461 "float"
V G "pat" 7 1487 "float[4]"
V G "qat" 7 1488 "float[4]"
C L "atan" 7 2 3 "FUNCTION"
F G "atan" 7 1496 "float()"
V L "x" 7 1496 "float"
V L "y" 7 1498 "float"
V L "res" 7 1498 "float"
V L "r" 7 1498 "float"
V L "S" 7 1499 "int1"
V L "flag" 7 1499 "int1"
C L "atan" 7 2 1 "FUNCTION"
C L "atan2" 7 2 7 "FUNCTION"
F G "atan2" 7 1629 "float()"
V L "y" 7 1629 "float"
V L "x" 7 1629 "float"
V L "z" 7 1631 "float"
V L "sign" 7 1632 "int1"
V L "quad" 7 1633 "int8"
C L "atan2" 7 2 1 "FUNCTION"
C L "atan2" 7 2 1 "FUNCTION"
C L "cosh" 7 2 7 "FUNCTION"
F G "cosh" 7 1851 "float()"
V L "x" 7 1851 "float"
C L "sinh" 7 2 6 "FUNCTION"
F G "sinh" 7 1878 "float()"
V L "x" 7 1878 "float"
C L "tanh" 7 2 6 "FUNCTION"
F G "tanh" 7 1908 "float()"
V L "x" 7 1908 "float"
D G "LOG2" 7 1938 ".30102999566398119521"
F G "frexp" 7 1939 "float()"
V L "x" 7 1939 "float"
V L "exp" 7 1939 "*sint8"
V L "res" 7 1941 "float"
V L "sign" 7 1942 "int1"
C L "ldexp" 7 2 6 "FUNCTION"
F G "ldexp" 7 2084 "float()"
V L "value" 7 2084 "float"
V L "exp" 7 2084 "sint8"
C L "write_stepper_mask" 7 2 2 "FUNCTION"
C L "write_stepper_mask" 0 82 3 "FUNCTION"
F G "write_stepper_mask" 0 89 "void()"
V L "data" 0 89 "int8"
V L "temp" 0 91 "int8"
C L "write_stepper_mask" 0 82 2 "FUNCTION"
C L "write_stepper_mask" 0 82 1 "FUNCTION"
F G "write_stepper_phase" 0 102 "void()"
V L "data" 0 102 "int8"
C L "write_stepper_phase" 0 82 1 "FUNCTION"
D G "write_encoder_bits" 0 107 "( data )  output_e( (data & 0x03 ) )"
F G "RB_isr" 0 111 "void()"
V L "byTemp" 0 113 "int8"
C L "RB_isr" 0 82 1 "FUNCTION"
F G "TIMER1_isr" 0 162 "void()"
V L "tempphase" 0 164 "int32" "Use this to keep track of step times. TMR1 counts from XXX to 65536 where it rolls over."
C L "TIMER1_isr" 0 82 1 "FUNCTION"
C L "TIMER1_isr" 0 82 1 "FUNCTION"
F G "TIMER2_isr" 0 195 "void()" "Either output a square wave and count the times between encoder ticks and adjust stepper rate"
C L "TIMER2_isr" 0 82 3 "FUNCTION"
C L "flashLed" 0 82 6 "FUNCTION"
F G "flashLed" 0 229 "void()"
V L "led" 0 229 "int8"
V L "duration" 0 229 "int16"
V L "flashes" 0 229 "int8"
V L "i" 0 231 "int8"
F G "setup_stepper" 0 244 "void()"
V L "S" 0 244 "STEPPER_TYPE"
V L "steps" 0 244 "int8"
V L "microsteps" 0 244 "int8"
V L "status" 0 244 "int8"
V L "pwmMask" 0 246 "int8"
C L "setup_stepper" 0 82 1 "FUNCTION"
C L "setup_stepper" 0 82 2 "FUNCTION"
C L "setup_stepper" 0 82 1 "FUNCTION"
C L "setup_stepper" 0 82 2 "FUNCTION"
F G "setup_pwm" 0 318 "void(int8 steps,int8 microsteps,int8 status)" "Aim for a 20KHz frequency with a 10 bit resolution"
C L "setup_pwm" 0 82 7 "FUNCTION"
C L "setup_pwm" 0 82 1 "FUNCTION"
C L "setup_pwm" 0 82 1 "FUNCTION"
F G "setup_DeltaTimer" 0 336 "void(int8 steps,int8 microsteps,int8 status)"
V L "incrementTime" 0 336 "int32" "Note timer2 is in use by PWM for square wave generation"
V L "intbase" 0 339 "float"
V L "Tosc" 0 340 "float"
V L "fTemp1" 0 341 "float"
V L "fTemp2" 0 341 "float" "Timer 2 setup"
C L "setup_DeltaTimer" 0 82 1 "FUNCTION"
C L "setup_DeltaTimer" 0 82 1 "FUNCTION"
C L "setup_DeltaTimer" 0 82 1 "FUNCTION"
F G "setMicrostepPWM" 0 353 "void()"
V L "count" 0 353 "int16"
F G "setup_encoder" 0 358 "void(int16 count)"
V L "rollover" 0 358 "int32"
V L "initial" 0 358 "int32"
V L "countsPerStep" 0 358 "int8"
F G "setupPrescaler" 0 370 "void(int32 rollover,int32 initial,int8 countsPerStep)"
V L "scale" 0 370 "int8"
C L "setupPrescaler" 0 82 1 "FUNCTION"
F G "init_config" 0 393 "void(int8 countsPerStep)"
V L "temp" 0 395 "int8"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 4 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
D G "DEBUG_A" 0 435 ""
C L "init_config" 0 82 3 "FUNCTION"
C L "init_config" 0 82 4 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
C L "init_config" 0 82 1 "FUNCTION"
F G "setup_timebase" 0 480 "void()"
V L "newResetCount" 0 480 "int16"
V L "newLoopCount" 0 480 "int16"
F G "MAIN" 0 488 "void(int16 newResetCount,int16 newLoopCount)"
V L "i" 0 490 "int8"
V L "temp" 0 491 "int8"
V L "dwTemp" 0 492 "int16"
V L "wTemp" 0 493 "int16"
V L "qwTemp" 0 494 "int32"
C L "MAIN" 0 82 2 "FUNCTION"
C L "MAIN" 0 82 2 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 2 "FUNCTION"
C L "MAIN" 0 82 2 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 2 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
C L "MAIN" 0 82 1 "FUNCTION"
F G "step_motor" 0 646 "void()"
V L "Index" 0 648 "int8"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 12 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
C L "step_motor" 0 82 1 "FUNCTION"
F B "reset_cpu" 0 0
F B "abs" 1 0
F B "sleep" 0 0
F B "delay_cycles" 1 0
F B "read_bank" 2 0
F B "write_bank" 3 0
F B "shift_left" 2 2
F B "shift_right" 2 2
F B "rotate_left" 2 0
F B "rotate_right" 2 0
F B "_mul" 2 0
F B "memset" 3 0
F B "isamoung" 2 0
F B "isamong" 2 0
F B "bit_set" 2 0
F B "bit_clear" 2 0
F B "bit_test" 2 0
F B "toupper" 1 0
F B "tolower" 1 0
F B "swap" 1 0
F B "printf" 1 255
F B "fprintf" 1 255
F B "sprintf" 1 255
F B "make8" 2 0
F B "make16" 2 0
F B "make32" 1 255
F B "label_address" 1 1
F B "goto_address" 1 0
F B "_va_arg" 1 0
F B "offsetofbit" 2 2
F B "enable_interrupts" 1 0
F B "disable_interrupts" 1 0
F B "interrupt_active" 1 0
F B "clear_interrupt" 1 0
F B "jump_to_isr" 1 0
F B "ext_int_edge" 1 2
F B "read_eeprom" 1 0
F B "write_eeprom" 2 0
F B "read_program_eeprom" 1 0
F B "write_program_eeprom" 2 0
F B "write_program_memory" 4 0
F B "write_program_memory8" 4 0
F B "read_program_memory" 4 0
F B "read_program_memory8" 4 0
F B "strcpy" 2 0
F B "memcpy" 3 0
F B "output_high" 1 0
F B "output_low" 1 0
F B "input" 1 0
F B "input_state" 1 0
F B "output_float" 1 0
F B "output_drive" 1 0
F B "output_bit" 1 1
F B "output_toggle" 1 0
F B "output_a" 1 0
F B "output_b" 1 0
F B "output_c" 1 0
F B "output_d" 1 0
F B "output_e" 1 0
F B "input_a" 0 0
F B "input_b" 0 0
F B "input_c" 0 0
F B "input_d" 0 0
F B "input_e" 0 0
F B "set_tris_a" 1 0
F B "set_tris_b" 1 0
F B "set_tris_c" 1 0
F B "set_tris_d" 1 0
F B "set_tris_e" 1 0
F B "get_tris_a" 0 0
F B "get_tris_b" 0 0
F B "get_tris_c" 0 0
F B "get_tris_d" 0 0
F B "get_tris_e" 0 0
F B "port_b_pullups" 1 0
F B "setup_counters" 2 0
F B "setup_wdt" 1 0
F B "restart_cause" 0 0
F B "restart_wdt" 0 0
F B "get_rtcc" 0 0
F B "set_rtcc" 1 0
F B "get_timer0" 0 0
F B "set_timer0" 1 0
F B "setup_comparator" 1 0
F B "setup_port_a" 1 0
F B "setup_adc_ports" 1 0
F B "setup_adc" 1 0
F B "set_adc_channel" 1 0
F B "read_adc" 0 1
F B "adc_done" 0 0
F B "setup_timer_0" 1 0
F B "setup_vref" 1 0
F B "setup_timer_1" 1 0
F B "get_timer1" 0 0
F B "set_timer1" 1 0
F B "setup_timer_2" 3 0
F B "get_timer2" 0 0
F B "set_timer2" 1 0
F B "setup_ccp1" 1 0
F B "set_pwm1_duty" 1 0
F B "setup_ccp2" 1 0
F B "set_pwm2_duty" 1 0
F B "setup_psp" 1 0
F B "psp_output_full" 0 0
F B "psp_input_full" 0 0
F B "psp_overflow" 0 0
F B "setup_spi" 1 0
F B "spi_read" 0 1
F B "spi_write" 1 0
F B "spi_data_is_in" 0 0
F B "setup_spi2" 1 0
F B "spi_read2" 0 1
F B "spi_write2" 1 0
F B "spi_data_is_in2" 0 0
F B "delay_ms" 1 0
F B "delay_us" 1 0
F B "i2c_read" 0 2
F B "i2c_write" 1 2
F B "i2c_start" 0 2
F B "i2c_stop" 0 1
F B "i2c_isr_state" 0 1
F B "i2c_slaveaddr" 1 2
F B "i2c_poll" 0 1