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📄 minid.lst

📁 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
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(0101) 	else 
(0102) 	{
(0103) 		if (result > 1000) 
    0419 EE48      LDI	R20,0xE8
    041A E053      LDI	R21,3
    041B E060      LDI	R22,0
    041C E070      LDI	R23,0
    041D 01FE      MOVW	R30,R28
    041E 8020      LDD	R2,Z+0
    041F 8031      LDD	R3,Z+1
    0420 8042      LDD	R4,Z+2
    0421 8053      LDD	R5,Z+3
    0422 1542      CP	R20,R2
    0423 0553      CPC	R21,R3
    0424 0564      CPC	R22,R4
    0425 0575      CPC	R23,R5
    0426 F44C      BGE	0x0430
(0104) 			result = 1000;
    0427 EE48      LDI	R20,0xE8
    0428 E053      LDI	R21,3
    0429 E060      LDI	R22,0
    042A E070      LDI	R23,0
    042B 01FE      MOVW	R30,R28
    042C 8340      STD	Z+0,R20
    042D 8351      STD	Z+1,R21
    042E 8362      STD	Z+2,R22
    042F 8373      STD	Z+3,R23
(0105) 			
(0106) 		result *= 0xff;
    0430 01FE      MOVW	R30,R28
    0431 8020      LDD	R2,Z+0
    0432 8031      LDD	R3,Z+1
    0433 8042      LDD	R4,Z+2
    0434 8053      LDD	R5,Z+3
    0435 EF4F      LDI	R20,0xFF
    0436 E050      LDI	R21,0
    0437 E060      LDI	R22,0
    0438 E070      LDI	R23,0
    0439 925A      ST	R5,-Y
    043A 924A      ST	R4,-Y
    043B 923A      ST	R3,-Y
    043C 922A      ST	R2,-Y
    043D 018A      MOVW	R16,R20
    043E 019B      MOVW	R18,R22
    043F D0EB      RCALL	empy32u
    0440 01FE      MOVW	R30,R28
    0441 8300      STD	Z+0,R16
    0442 8311      STD	Z+1,R17
    0443 8322      STD	Z+2,R18
    0444 8333      STD	Z+3,R19
(0107) 		result /=1000;
    0445 EE48      LDI	R20,0xE8
    0446 E053      LDI	R21,3
    0447 E060      LDI	R22,0
    0448 E070      LDI	R23,0
    0449 01FE      MOVW	R30,R28
    044A 8020      LDD	R2,Z+0
    044B 8031      LDD	R3,Z+1
    044C 8042      LDD	R4,Z+2
    044D 8053      LDD	R5,Z+3
    044E 937A      ST	R23,-Y
    044F 936A      ST	R22,-Y
    0450 935A      ST	R21,-Y
    0451 934A      ST	R20,-Y
    0452 0181      MOVW	R16,R2
    0453 0192      MOVW	R18,R4
    0454 D05B      RCALL	div32s
    0455 01FE      MOVW	R30,R28
    0456 8300      STD	Z+0,R16
    0457 8311      STD	Z+1,R17
    0458 8322      STD	Z+2,R18
    0459 8333      STD	Z+3,R19
(0108) 	}
(0109) 		
(0110) 	i = result;
    045A 01FE      MOVW	R30,R28
    045B 80A0      LDD	R10,Z+0
(0111)     return i;                              
FILE: <library>
    045C 2D0A      MOV	R16,R10
    045D 9624      ADIW	R28,4
    045E D0FC      RCALL	pop_gset5
    045F 9624      ADIW	R28,4
    0460 9508      RET
_memset:
    0461 8188      LDD	R24,Y+0
    0462 8199      LDD	R25,Y+1
    0463 3080      CPI	R24,0
    0464 0789      CPC	R24,R25
    0465 F029      BEQ	0x046B
    0466 2FE0      MOV	R30,R16
    0467 2FF1      MOV	R31,R17
    0468 9321      ST	R18,Z+
    0469 9701      SBIW	R24,1
    046A F7E9      BNE	0x0468
    046B 9508      RET
push_arg4:
    046C 933A      ST	R19,-Y
    046D 932A      ST	R18,-Y
push_arg2:
    046E 931A      ST	R17,-Y
    046F 930A      ST	R16,-Y
    0470 9508      RET
mod16s:
    0471 9468      BSET	6
    0472 92DA      ST	R13,-Y
    0473 2ED1      MOV	R13,R17
    0474 C004      RJMP	0x0479
div16s:
    0475 94E8      BCLR	6
    0476 92DA      ST	R13,-Y
    0477 2ED1      MOV	R13,R17
    0478 26D3      EOR	R13,R19
    0479 FF17      SBRS	R17,7
    047A C004      RJMP	0x047F
    047B 9510      COM	R17
    047C 9500      COM	R16
    047D 5F0F      SUBI	R16,0xFF
    047E 4F1F      SBCI	R17,0xFF
    047F FF37      SBRS	R19,7
    0480 C004      RJMP	0x0485
    0481 9530      COM	R19
    0482 9520      COM	R18
    0483 5F2F      SUBI	R18,0xFF
    0484 4F3F      SBCI	R19,0xFF
    0485 D00B      RCALL	xdiv16u
    0486 FED7      SBRS	R13,7
    0487 C004      RJMP	0x048C
    0488 9510      COM	R17
    0489 9500      COM	R16
    048A 5F0F      SUBI	R16,0xFF
    048B 4F1F      SBCI	R17,0xFF
    048C 90D9      LD	R13,Y+
    048D 9508      RET
mod16u:
    048E 9468      BSET	6
    048F C001      RJMP	xdiv16u
div16u:
    0490 94E8      BCLR	6
xdiv16u:
    0491 92EA      ST	R14,-Y
    0492 92FA      ST	R15,-Y
    0493 938A      ST	R24,-Y
    0494 24EE      CLR	R14
    0495 24FF      CLR	R15
    0496 E180      LDI	R24,0x10
    0497 0F00      LSL	R16
    0498 1F11      ROL	R17
    0499 1CEE      ROL	R14
    049A 1CFF      ROL	R15
    049B 16E2      CP	R14,R18
    049C 06F3      CPC	R15,R19
    049D F018      BCS	0x04A1
    049E 1AE2      SUB	R14,R18
    049F 0AF3      SBC	R15,R19
    04A0 9503      INC	R16
    04A1 958A      DEC	R24
    04A2 F7A1      BNE	0x0497
    04A3 F416      BRTC	0x04A6
    04A4 2D0E      MOV	R16,R14
    04A5 2D1F      MOV	R17,R15
    04A6 9189      LD	R24,Y+
    04A7 90F9      LD	R15,Y+
    04A8 90E9      LD	R14,Y+
    04A9 9508      RET
div32u:
    04AA 94E8      BCLR	6
    04AB C001      RJMP	0x04AD
mod32u:
    04AC 9468      BSET	6
    04AD D02F      RCALL	long_div_prolog
    04AE 24CC      CLR	R12
    04AF C008      RJMP	0x04B8
div32s:
    04B0 94E8      BCLR	6
    04B1 C001      RJMP	0x04B3
mod32s:
    04B2 9468      BSET	6
    04B3 D029      RCALL	long_div_prolog
    04B4 FD37      SBRC	R19,7
    04B5 D053      RCALL	neg_R16_R19
    04B6 FDB7      SBRC	R27,7
    04B7 D05A      RCALL	neg_R24_R27
    04B8 2477      CLR	R7
    04B9 2488      CLR	R8
    04BA 2499      CLR	R9
    04BB 24AA      CLR	R10
    04BC 24BB      CLR	R11
    04BD D041      RCALL	tst_R16_R19
    04BE F0C1      BEQ	0x04D7
    04BF D044      RCALL	tst_R24_R27
    04C0 F0B1      BEQ	0x04D7
    04C1 E2E8      LDI	R30,0x28
    04C2 0F00      LSL	R16
    04C3 1F11      ROL	R17
    04C4 1F22      ROL	R18
    04C5 1F33      ROL	R19
    04C6 1C77      ROL	R7
    04C7 1C88      ROL	R8
    04C8 1C99      ROL	R9
    04C9 1CAA      ROL	R10
    04CA 1CBB      ROL	R11
    04CB 1688      CP	R8,R24
    04CC 0699      CPC	R9,R25
    04CD 06AA      CPC	R10,R26
    04CE 06BB      CPC	R11,R27
    04CF F028      BCS	0x04D5
    04D0 1A88      SUB	R8,R24
    04D1 0A99      SBC	R9,R25
    04D2 0AAA      SBC	R10,R26
    04D3 0ABB      SBC	R11,R27
    04D4 9503      INC	R16
    04D5 95EA      DEC	R30
    04D6 F759      BNE	0x04C2
    04D7 F426      BRTC	0x04DC
    04D8 2D08      MOV	R16,R8
    04D9 2D19      MOV	R17,R9
    04DA 2D2A      MOV	R18,R10
    04DB 2D3B      MOV	R19,R11
    04DC C013      RJMP	long_div_epilog
long_div_prolog:
    04DD 927A      ST	R7,-Y
    04DE 928A      ST	R8,-Y
    04DF 929A      ST	R9,-Y
    04E0 92AA      ST	R10,-Y
    04E1 92BA      ST	R11,-Y
    04E2 92CA      ST	R12,-Y
    04E3 93EA      ST	R30,-Y
    04E4 938A      ST	R24,-Y
    04E5 939A      ST	R25,-Y
    04E6 93AA      ST	R26,-Y
    04E7 93BA      ST	R27,-Y
    04E8 858B      LDD	R24,Y+11
    04E9 859C      LDD	R25,Y+12
    04EA 85AD      LDD	R26,Y+13
    04EB 85BE      LDD	R27,Y+14
    04EC 2EC3      MOV	R12,R19
    04ED F00E      BRTS	0x04EF
    04EE 26CB      EOR	R12,R27
    04EF 9508      RET
long_div_epilog:
    04F0 FCC7      SBRC	R12,7
    04F1 D017      RCALL	neg_R16_R19
    04F2 91B9      LD	R27,Y+
    04F3 91A9      LD	R26,Y+
    04F4 9199      LD	R25,Y+
    04F5 9189      LD	R24,Y+
    04F6 91E9      LD	R30,Y+
    04F7 90C9      LD	R12,Y+
    04F8 90B9      LD	R11,Y+
    04F9 90A9      LD	R10,Y+
    04FA 9099      LD	R9,Y+
    04FB 9089      LD	R8,Y+
    04FC 9079      LD	R7,Y+
    04FD 9624      ADIW	R28,4
    04FE 9508      RET
tst_R16_R19:
    04FF 2FE0      MOV	R30,R16
    0500 2BE1      OR	R30,R17
    0501 2BE2      OR	R30,R18
    0502 2BE3      OR	R30,R19
    0503 9508      RET
tst_R24_R27:
    0504 2FE8      MOV	R30,R24
    0505 2BE9      OR	R30,R25
    0506 2BEA      OR	R30,R26
    0507 2BEB      OR	R30,R27
    0508 9508      RET
neg_R16_R19:
    0509 9500      COM	R16
    050A 9510      COM	R17
    050B 9520      COM	R18
    050C 9530      COM	R19
    050D 5F0F      SUBI	R16,0xFF
    050E 4F1F      SBCI	R17,0xFF
    050F 4F2F      SBCI	R18,0xFF
    0510 4F3F      SBCI	R19,0xFF
    0511 9508      RET
neg_R24_R27:
    0512 9580      COM	R24
    0513 9590      COM	R25
    0514 95A0      COM	R26
    0515 95B0      COM	R27
    0516 5F8F      SUBI	R24,0xFF
    0517 4F9F      SBCI	R25,0xFF
    0518 4FAF      SBCI	R26,0xFF
    0519 4FBF      SBCI	R27,0xFF
    051A 9508      RET
empy16s:
    051B 920A      ST	R0,-Y
    051C 921A      ST	R1,-Y
    051D 938A      ST	R24,-Y
    051E 939A      ST	R25,-Y
    051F 9F02      MUL	R16,R18
    0520 01C0      MOVW	R24,R0
    0521 9F12      MUL	R17,R18
    0522 0D90      ADD	R25,R0
    0523 9F03      MUL	R16,R19
    0524 0D90      ADD	R25,R0
    0525 018C      MOVW	R16,R24
    0526 9199      LD	R25,Y+
    0527 9189      LD	R24,Y+
    0528 9019      LD	R1,Y+
    0529 9009      LD	R0,Y+
    052A 9508      RET
empy32u:
empy32s:
    052B D050      RCALL	long_prolog
    052C 927F      PUSH	R7
    052D D067      RCALL	tstzero1
    052E F131      BEQ	0x0555
    052F 2477      CLR	R7
    0530 D06A      RCALL	tstzero2
    0531 F419      BNE	0x0535
    0532 018C      MOVW	R16,R24
    0533 019D      MOVW	R18,R26
    0534 C020      RJMP	0x0555
    0535 9F08      MUL	R16,R24
    0536 2CB0      MOV	R11,R0
    0537 2CA1      MOV	R10,R1
    0538 9F28      MUL	R18,R24
    0539 2C90      MOV	R9,R0
    053A 2C81      MOV	R8,R1
    053B 9F18      MUL	R17,R24
    053C 0CA0      ADD	R10,R0
    053D 1C91      ADC	R9,R1
    053E 1C87      ADC	R8,R7
    053F 9F09      MUL	R16,R25
    0540 0CA0      ADD	R10,R0
    0541 1C91      ADC	R9,R1
    0542 1C87      ADC	R8,R7
    0543 9F19      MUL	R17,R25
    0544 0C90      ADD	R9,R0
    0545 1C81      ADC	R8,R1
    0546 9F0A      MUL	R16,R26
    0547 0C90      ADD	R9,R0
    0548 1C81      ADC	R8,R1
    0549 9F38      MUL	R19,R24
    054A 0C80      ADD	R8,R0
    054B 9F29      MUL	R18,R25
    054C 0C80      ADD	R8,R0
    054D 9F1A      MUL	R17,R26
    054E 0C80      ADD	R8,R0
    054F 9F0B      MUL	R16,R27
    0550 0C80      ADD	R8,R0
    0551 2D0B      MOV	R16,R11
    0552 2D1A      MOV	R17,R10
    0553 2D29      MOV	R18,R9
    0554 2D38      MOV	R19,R8
    0555 907F      POP	R7
    0556 C033      RJMP	long_epilog
pop_gset2:
    0557 E0E2      LDI	R30,2
    0558 C010      RJMP	pop
pop_gset4:
    0559 E0E8      LDI	R30,0x8
    055A C00E      RJMP	pop
pop_gset5:
    055B 27EE      CLR	R30
    055C C00C      RJMP	pop
push_gset5:
    055D 92FA      ST	R15,-Y
    055E 92EA      ST	R14,-Y
push_gset4:
    055F 92DA      ST	R13,-Y
    0560 92CA      ST	R12,-Y
push_gset3:
    0561 92BA      ST	R11,-Y
    0562 92AA      ST	R10,-Y
push_gset2:
    0563 937A      ST	R23,-Y
    0564 936A      ST	R22,-Y
push_gset1:
    0565 935A      ST	R21,-Y
    0566 934A      ST	R20,-Y
    0567 9508      RET
pop_gset1:
    0568 E0E1      LDI	R30,1
pop:
    0569 9149      LD	R20,Y+
    056A 9159      LD	R21,Y+
    056B FDE0      SBRC	R30,0
    056C 9508      RET
    056D 9169      LD	R22,Y+
    056E 9179      LD	R23,Y+
    056F FDE1      SBRC	R30,1
    0570 9508      RET
    0571 90A9      LD	R10,Y+
    0572 90B9      LD	R11,Y+
    0573 FDE2      SBRC	R30,2
    0574 9508      RET
    0575 90C9      LD	R12,Y+
    0576 90D9      LD	R13,Y+
    0577 FDE3      SBRC	R30,3
    0578 9508      RET
    0579 90E9      LD	R14,Y+
    057A 90F9      LD	R15,Y+
    057B 9508      RET
long_prolog:
    057C 928A      ST	R8,-Y
    057D 929A      ST	R9,-Y
    057E 92AA      ST	R10,-Y
    057F 92BA      ST	R11,-Y
    0580 93EA      ST	R30,-Y
    0581 938A      ST	R24,-Y
    0582 939A      ST	R25,-Y
    0583 93AA      ST	R26,-Y
    0584 93BA      ST	R27,-Y
    0585 8589      LDD	R24,Y+9
    0586 859A      LDD	R25,Y+10
    0587 85AB      LDD	R26,Y+11
    0588 85BC      LDD	R27,Y+12
    0589 9508      RET
long_epilog:
    058A 91B9      LD	R27,Y+
    058B 91A9      LD	R26,Y+
    058C 9199      LD	R25,Y+
    058D 9189      LD	R24,Y+
    058E 91E9      LD	R30,Y+
    058F 90B9      LD	R11,Y+
    0590 90A9      LD	R10,Y+
    0591 9099      LD	R9,Y+
    0592 9089      LD	R8,Y+
    0593 9624      ADIW	R28,4
    0594 9508      RET
tstzero1:
    0595 27EE      CLR	R30
    0596 2BE0      OR	R30,R16
    0597 2BE1      OR	R30,R17
    0598 2BE2      OR	R30,R18
    0599 2BE3      OR	R30,R19
    059A 9508      RET
tstzero2:
    059B 27EE      CLR	R30
    059C 2BE8      OR	R30,R24
    059D 2BE9      OR	R30,R25
    059E 2BEA      OR	R30,R26
    059F 2BEB      OR	R30,R27
    05A0 9508      RET

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