enc.s

平缝机的单片机伺服控制系统源代码。本程序为用单片机控制永磁同步电机的低成本方案

	.module ENC.c
	.area text(rom, con, rel)
	.dbfile C:\DOCUME~1\niutao\MYDOCU~1\永磁电机\平缝机\新建文件夹\函数库\ENC\ENC.c
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 30
; /*****************************************************************
;  *  文件名：      ENC.c
;  *  版本号：      
;  *  创作日期：    2005.7.7
;  *  作者：        wangzq
;  *  功能说明：    采集转速数值
;  
;  *  其它说明：    使用AVR单片机Atmaga48， 晶振：8Mhz
;                   
;  *****************************************************************/
;  
; 
; /*****************************************************************
; 
;  *   修改日期：     
;  *   修改人：	  
;  *   修改原因：   
;                   
; *******************************************************************/
; 
; 
; //包含文件
; #include "ENC.h"
; 
; //TIMER1 initialize - prescale:1
; // WGM: 0) Normal, TOP=0xFFFF
; // desired value: 
; // actual value: Out of range
; void timer1_init(void)
; {
	.dbline 31
;  TCCR1B = 0x00; //stop
	clr R2
	ldi R30,129
	ldi R31,0
	std z+0,R2
	.dbline 32
;  TCNT1H = 0x00 /*INVALID SETTING*/; //setup
	ldi R30,133
	std z+0,R2
	.dbline 33
;  TCNT1L = 0x00 /*INVALID SETTING*/;
	ldi R30,132
	std z+0,R2
	.dbline 34
;  OCR1AH = 0x00 /*INVALID SETTING*/;
	ldi R30,137
	std z+0,R2
	.dbline 35
;  OCR1AL = 0x00 /*INVALID SETTING*/;
	ldi R30,136
	std z+0,R2
	.dbline 36
;  OCR1BH = 0x00 /*INVALID SETTING*/;
	ldi R30,139
	std z+0,R2
	.dbline 37
;  OCR1BL = 0x00 /*INVALID SETTING*/;
	ldi R30,138
	std z+0,R2
	.dbline 38
;  ICR1H  = 0x00 /*INVALID SETTING*/;
	ldi R30,135
	std z+0,R2
	.dbline 39
;  ICR1L  = 0x00 /*INVALID SETTING*/;
	ldi R30,134
	std z+0,R2
	.dbline 40
;  TCCR1A = 0x00;
	ldi R30,128
	std z+0,R2
	.dbline 41
;  TCCR1B = 0xC1; //start Timer
	ldi R24,193
	ldi R30,129
	std z+0,R24
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 20
	rjmp _timer1_capt_isr
	.area text(rom, con, rel)
	.dbfile C:\DOCUME~1\niutao\MYDOCU~1\永磁电机\平缝机\新建文件夹\函数库\ENC\ENC.c
	.dbfunc e timer1_capt_isr _timer1_capt_isr fV
	.even
_timer1_capt_isr::
	st -y,R2
	st -y,R3
	st -y,R4
	st -y,R5
	st -y,R8
	st -y,R9
	st -y,R24
	st -y,R25
	st -y,R30
	st -y,R31
	in R2,0x3f
	st -y,R2
	rcall push_gset2
	.dbline -1
	.dbline 46
; }
; 
; #pragma interrupt_handler timer1_capt_isr:11
; void timer1_capt_isr(void)
; {
	.dbline 47
; 	g_CntUpdate = ICR1L;
	ldi R30,134
	ldi R31,0
	ldd R2,z+0
	clr R3
	sts _g_CntUpdate+1,R3
	sts _g_CntUpdate,R2
	.dbline 48
; 	g_CntUpdate |=(int)ICR1H << 8;
	ldi R30,135
	ldd R2,z+0
	clr R3
	mov R3,R2
	clr R2
	lds R4,_g_CntUpdate
	lds R5,_g_CntUpdate+1
	or R4,R2
	or R5,R3
	sts _g_CntUpdate+1,R5
	sts _g_CntUpdate,R4
	.dbline 50
; 	
; 	if ((TIFR1&0x01) != 0)       //判断定时器1溢出
	sbis 0x16,0
	rjmp L3
	.dbline 51
; 	{
	.dbline 52
; 	g_TotalEnc++;
	lds R24,_g_TotalEnc
	subi R24,255    ; addi 1
	sts _g_TotalEnc,R24
	.dbline 53
; 	TIFR1 |= 0x01;              //取消定时器1溢出标志位
	sbi 0x16,0
	.dbline 54
; 	}
L3:
	.dbline 56
; 	
; 	if (g_CntOld < g_CntUpdate)
	lds R2,_g_CntUpdate
	lds R3,_g_CntUpdate+1
	lds R4,_g_CntOld
	lds R5,_g_CntOld+1
	cp R4,R2
	cpc R5,R3
	brsh L5
	.dbline 57
; 	{
	.dbline 58
; 	g_DeltaEnc = g_CntUpdate - g_CntOld;
	movw R2,R4
	lds R4,_g_CntUpdate
	lds R5,_g_CntUpdate+1
	sub R4,R2
	sbc R5,R3
	movw R2,R4
	clr R4
	clr R5
	sts _g_DeltaEnc+1,R3
	sts _g_DeltaEnc,R2
	sts _g_DeltaEnc+2+1,R5
	sts _g_DeltaEnc+2,R4
	.dbline 60
; 		
; 	}
	rjmp L6
L5:
	.dbline 62
; 	else 
; 	{
	.dbline 63
; 	g_DeltaEnc = (0x10000 - g_CntOld) + g_CntUpdate;
	lds R2,_g_CntOld
	lds R3,_g_CntOld+1
	clr R4
	clr R5
	ldi R20,0
	ldi R21,0
	ldi R22,1
	ldi R23,0
	sub R20,R2
	sbc R21,R3
	sbc R22,R4
	sbc R23,R5
	lds R2,_g_CntUpdate
	lds R3,_g_CntUpdate+1
	clr R4
	clr R5
	add R20,R2
	adc R21,R3
	adc R22,R4
	adc R23,R5
	sts _g_DeltaEnc+1,R21
	sts _g_DeltaEnc,R20
	sts _g_DeltaEnc+2+1,R23
	sts _g_DeltaEnc+2,R22
	.dbline 64
; 	}
L6:
	.dbline 66
; 	
; 	if (g_TotalEnc > 10) 
	ldi R24,10
	lds R2,_g_TotalEnc
	cp R24,R2
	brsh L12
	.dbline 67
; 	g_TotalEnc = 10;
	sts _g_TotalEnc,R24
	.dbline 69
; 	
; 	for (; g_TotalEnc != 0; g_TotalEnc--)
	rjmp L12
L9:
	.dbline 70
	.dbline 71
	ldi R20,0
	ldi R21,0
	ldi R22,1
	ldi R23,0
	lds R4,_g_DeltaEnc+2
	lds R5,_g_DeltaEnc+2+1
	lds R2,_g_DeltaEnc
	lds R3,_g_DeltaEnc+1
	add R2,R20
	adc R3,R21
	adc R4,R22
	adc R5,R23
	sts _g_DeltaEnc+1,R3
	sts _g_DeltaEnc,R2
	sts _g_DeltaEnc+2+1,R5
	sts _g_DeltaEnc+2,R4
	.dbline 72
L10:
	.dbline 69
	lds R24,_g_TotalEnc
	subi R24,1
	sts _g_TotalEnc,R24
L12:
	.dbline 69
	lds R2,_g_TotalEnc
	tst R2
	brne L9
	.dbline 84
; 	{
; 	g_DeltaEnc += 0x10000;
; 	}
; 	/*
; 	g_DeltaEnc *= 125;
; 	g_DeltaEnc /=1000;
; 	g_DeltaEnc *= 72;
; 	g_DeltaEnc = 3 000 000 / g_DeltaEnc;
; 	
; 	//if (g_DeltaEnc > 6000)
; 	//g_DeltaEnc = 6000;
; 	//g_DeltaEnc *= 0xff;
; 	//g_DeltaEnc /=6000;
; 	*/
; 	g_TotalEnc = 0;				//速度溢出标志清零
	clr R2
	sts _g_TotalEnc,R2
	.dbline 85
; 	g_CntOld = g_CntUpdate;		//准备下次采样
	lds R2,_g_CntUpdate
	lds R3,_g_CntUpdate+1
	sts _g_CntOld+1,R3
	sts _g_CntOld,R2
	.dbline -2
L2:
	rcall pop_gset2
	ld R2,y+
	out 0x3f,R2
	ld R31,y+
	ld R30,y+
	ld R25,y+
	ld R24,y+
	ld R9,y+
	ld R8,y+
	ld R5,y+
	ld R4,y+
	ld R3,y+
	ld R2,y+
	.dbline 0 ; func end
	reti
	.dbend
	.area vector(rom, abs)
	.org 26
	rjmp _timer1_ovf_isr
	.area text(rom, con, rel)
	.dbfile C:\DOCUME~1\niutao\MYDOCU~1\永磁电机\平缝机\新建文件夹\函数库\ENC\ENC.c
	.dbfunc e timer1_ovf_isr _timer1_ovf_isr fV
	.even
_timer1_ovf_isr::
	st -y,R24
	st -y,R25
	in R24,0x3f
	st -y,R24
	.dbline -1
	.dbline 92
; }
; 
; 
; 
; #pragma interrupt_handler timer1_ovf_isr:14
; void timer1_ovf_isr(void)
; {
	.dbline 93
; 	g_TotalEnc ++; 				//速度溢出标志
	lds R24,_g_TotalEnc
	subi R24,255    ; addi 1
	sts _g_TotalEnc,R24
	.dbline -2
L13:
	ld R24,y+
	out 0x3f,R24
	ld R25,y+
	ld R24,y+
	.dbline 0 ; func end
	reti
	.dbend