minid_20050711.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 MiniD_20050711.c
	.area text(rom, con, rel)
	.dbfile E:\PMax\单片机源代码\函数库\MiniD\MiniD_20050711.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 15
; //ICC-AVR application builder : 2005-7-11 14:38:07
; // Target : M48
; // Crystal: 8.0000Mhz
; 
; #include "Minid.h"
; 
; 
; //函数定义
; void adc_init(void); 					       //ADC initialize
; void adc_isr(void);
; word AdcPedal(word adcp);						//踏板信号转换为对应的控制值
; 
; 
; void port_init(void)
; {
	.dbline 16
;  PORTB = 0xff;
	ldi R24,255
	out 0x5,R24
	.dbline 17
;  DDRB  = 0x00;
	clr R2
	out 0x4,R2
	.dbline 18
;  PORTC = 0xff; //m103 output only
	out 0x8,R24
	.dbline 19
;  DDRC  = 0x00;
	out 0x7,R2
	.dbline 20
;  PORTD = 0xff;
	out 0xb,R24
	.dbline 21
;  DDRD  = 0x00;
	out 0xa,R2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 26
; }
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 28
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 29
;  port_init();
	rcall _port_init
	.dbline 30
;  timer1_init();
	rcall _timer1_init
	.dbline 32
; 
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 33
;  EICRA = 0x00; //extended ext ints
	sts 105,R2
	.dbline 34
;  EIMSK = 0x00;
	out 0x1d,R2
	.dbline 36
;  
;  TIMSK0 = 0x00; //timer 0 interrupt sources
	sts 110,R2
	.dbline 37
;  TIMSK1 = 0x21; //timer 1 interrupt sources
	ldi R24,33
	sts 111,R24
	.dbline 38
;  TIMSK2 = 0x00; //timer 2 interrupt sources
	sts 112,R2
	.dbline 40
;  
;  PCMSK0 = 0x00; //pin change mask 0 
	sts 107,R2
	.dbline 41
;  PCMSK1 = 0x00; //pin change mask 1 
	sts 108,R2
	.dbline 42
;  PCMSK2 = 0x00; //pin change mask 2
	sts 109,R2
	.dbline 43
;  PCICR = 0x00; //pin change enable 
	sts 104,R2
	.dbline 44
;  PRR = 0x00; //power controller
	sts 100,R2
	.dbline 45
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
;              d -> R20
;             jj -> R22,R23
;              j -> R10,R11
;              i -> y+0
	.even
_main::
	sbiw R28,4
	.dbline -1
	.dbline 51
;  //all peripherals are now initialized
; }
; 
; //
; void main(void)
; {
	.dbline 55
; 	dword i;
; 	word j,jj;
; 	byte d;
; 	init_devices();
	rcall _init_devices
	.dbline 58
; 	
; 	//insert your functional code here...
; 	PIDInit (&sPID);
	ldi R16,<_sPID
	ldi R17,>_sPID
	rcall _PIDInit
	rjmp L5
L4:
	.dbline 60
	.dbline 61
	lds R4,_g_DeltaEnc+2
	lds R5,_g_DeltaEnc+2+1
	lds R2,_g_DeltaEnc
	lds R3,_g_DeltaEnc+1
	movw R30,R28
	std z+0,R2
	std z+1,R3
	std z+2,R4
	std z+3,R5
	.dbline 62
	movw R24,R10
	adiw R24,1
	movw R10,R24
	.dbline 63
	movw R16,R24
	rcall _AdcPedal
	movw R22,R16
	.dbline 64
	clr R2
	clr R3
	sts _sPID+4+1,R3
	sts _sPID+4,R2
	.dbline 65
	sts _sPID+2+1,R3
	sts _sPID+2,R2
	.dbline 66
	ldi R24,5000
	ldi R25,19
	sts _sPID+1,R25
	sts _sPID,R24
	.dbline 67
	movw R30,R28
	ldd R18,z+0
	ldd R19,z+1
	ldi R16,<_sPID
	ldi R17,>_sPID
	rcall _PIDCalc
	mov R20,R16
	.dbline 69
L5:
	.dbline 59
	rjmp L4
X0:
	.dbline -2
L3:
	adiw R28,4
	.dbline 0 ; func end
	ret
	.dbsym r d 20 c
	.dbsym r jj 22 i
	.dbsym r j 10 i
	.dbsym l i 0 l
	.dbend
	.area bss(ram, con, rel)
	.dbfile E:\PMax\单片机源代码\函数库\MiniD\MiniD_20050711.c
_g_ValueAdc::
	.blkb 2
	.dbfile E:\PMax\单片机源代码\函数库\MiniD/Minid.h
	.dbsym e g_ValueAdc _g_ValueAdc i
_g_AdcNum::
	.blkb 1
	.dbsym e g_AdcNum _g_AdcNum c
_g_AdcEnd::
	.blkb 1
	.dbsym e g_AdcEnd _g_AdcEnd c
_g_DeltaEnc::
	.blkb 4
	.dbsym e g_DeltaEnc _g_DeltaEnc l
_g_CntOld::
	.blkb 2
	.dbsym e g_CntOld _g_CntOld i
_g_CntUpdate::
	.blkb 2
	.dbsym e g_CntUpdate _g_CntUpdate i
_g_TotalEnc::
	.blkb 1
	.dbsym e g_TotalEnc _g_TotalEnc c
_sPID::
	.blkb 16
	.dbstruct 0 16 PID
	.dbfield 0 SetValue I
	.dbfield 2 P I
	.dbfield 4 I I
	.dbfield 6 D I
	.dbfield 8 LastError I
	.dbfield 10 PrevError I
	.dbfield 12 SumError L
	.dbend
	.dbsym e sPID _sPID S[PID]