I've seen there are specific formats to convert MIPS assembly instruction to machine code. There should be similar procedure to convert PIC assembly to machine code manually. Can anyone kindly provide me the documentation related to this?
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The Microchip datasheets all have instruction set references, including how instructions are encoded. Note that most series are completely different (i.e. 16 and 18 series are not remotely similar) so make sure you get the right datasheet.
Here's an example for the 16F627A, taken from page 118 of the PIC16F627A datasheet:
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You are probably looking for MIPS32® M4K® core instruction set. If so than you can find everything about on MIPS homepage.