Efficient Fixed-Point Trigonometry For PIC16F

[ScaleRobotics]

Microchip has an application note AN1061 http://ww1.microchip.com/downloads/e...tes/01061A.pdf which talks about using the ATAN function, among other things. I can't wait to use it for a project I am working on ........ I just need to know how. .....

I am a newbie when it comes to adding includes. I tried a few different ways to add the assembly code for the atan, and I could not get it to compile. I tried using the math16.asm file as an include in a new main program, I also tried cutting and pasting the assembly into a main.pbp program with asm and endasm lines on the front and back. Can someone steer me in the right direction? This cordic function would be perfect for me.

I get the following error when trying to compile with MPASM using MicroCode Studio Plus: Error[149] Directive only allowed when generating an object file.
I get this for multiple line listings of the assembly code, but this does not seem to make sense for the lines it references. Like

movlw 0x00 ; Y_H & Y_L is loaded with 0x0000

Thanks for your help.

Walter