step.s

这是关于AVR单片机学习的初步开发

	.module step.c
	.area data(ram, con, rel)
_Pnum::
	.blkb 2
	.area idata
	.word 4160
	.area data(ram, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbsym e Pnum _Pnum i
_Freq::
	.blkb 1
	.area idata
	.byte 50
	.area data(ram, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbsym e Freq _Freq c
_pcont::
	.blkb 2
	.area idata
	.word 0
	.area data(ram, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbsym e pcont _pcont i
_step::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbsym e step _step c
_dirc::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbsym e dirc _dirc c
	.area text(rom, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 32
; //Designed by Buaa Alf
; //通过定时器实现了步进电机的运转，仅仅是一演示程序；
; //烧写程序后，断开电源开关，闭合SW9的1、2、3、4和7、8管角，然后闭合电源开关即可看到电机的运转一周。
; //按复位可以重起单片机，使电机再旋转一周；
; //可参考设计自己的电机控制程序。
; 
; //ICC-AVR application builder : 2005-3-31 上午 11:35:43
; // Target : M8
; // Crystal: 11.059Mhz
; 
; #include <iom8v.h>
; #include <macros.h>
; 
; #define aon PORTB =0x01
; #define bon PORTB =0x02
; #define con PORTB =0x04
; #define don PORTB =0x08
; 
; #define abon PORTB =0x03
; #define bcon PORTB =0x06
; #define cdon PORTB =0x0C
; #define daon PORTB =0x09
; 
; unsigned int Pnum=4160;//总脉冲个数,包含减速比
; char Freq=50;//脉冲频率
; 
; unsigned int pcont=0;
; char step =0;
; char dirc=0;
; 
; void port_init(void)
; {
	.dbline 33
;  PORTB = 0xFF;
	ldi R24,255
	out 0x18,R24
	.dbline 34
;  DDRB  = 0x0F;
	ldi R24,15
	out 0x17,R24
	.dbline 35
;  PORTC = 0x7F; //m103 output only
	ldi R24,127
	out 0x15,R24
	.dbline 36
;  DDRC  = 0x00;
	clr R2
	out 0x14,R2
	.dbline 37
;  PORTD = 0xFF;
	ldi R24,255
	out 0x12,R24
	.dbline 38
;  DDRD  = 0x00;
	out 0x11,R2
	.dbline -2
	.dbline 39
; }
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 46
; 
; //TIMER1 initialisation - prescale:8
; // WGM: 0) Normal, TOP=0xFFFF
; // desired value: 50Hz
; // actual value: 50.001Hz (0.0%)
; void timer1_init(void)
; {
	.dbline 47
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 48
;  TCNT1H = 0x90; //setup
	ldi R24,144
	out 0x2d,R24
	.dbline 49
;  TCNT1L = 0xF0;
	ldi R24,240
	out 0x2c,R24
	.dbline 50
;  OCR1AH = 0x6B;
	ldi R24,107
	out 0x2b,R24
	.dbline 51
;  OCR1AL = 0xFF;
	ldi R24,255
	out 0x2a,R24
	.dbline 52
;  OCR1BH = 0x6B;
	ldi R24,107
	out 0x29,R24
	.dbline 53
;  OCR1BL = 0xFF;
	ldi R24,255
	out 0x28,R24
	.dbline 54
;  ICR1H  = 0x6B;
	ldi R24,107
	out 0x27,R24
	.dbline 55
;  ICR1L  = 0xFF;
	ldi R24,255
	out 0x26,R24
	.dbline 56
;  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 57
;  TCCR1B = 0x02; //start Timer
	ldi R24,2
	out 0x2e,R24
	.dbline -2
	.dbline 58
; }
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 16
	rjmp _timer1_ovf_isr
	.area text(rom, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbfunc e timer1_ovf_isr _timer1_ovf_isr fV
	.even
_timer1_ovf_isr::
	st -y,R2
	st -y,R3
	st -y,R4
	st -y,R5
	st -y,R24
	st -y,R25
	in R2,0x3f
	st -y,R2
	.dbline -1
	.dbline 62
; 
; #pragma interrupt_handler timer1_ovf_isr:9
; void timer1_ovf_isr(void)
; {
	.dbline 64
;  //TIMER1 has overflowed
;  if(pcont <=Pnum)
	lds R2,_Pnum
	lds R3,_Pnum+1
	lds R4,_pcont
	lds R5,_pcont+1
	cp R2,R4
	cpc R3,R5
	brsh X0
	rjmp L4
X0:
	.dbline 65
;  { 
	.dbline 66
;    if(dirc == 0)
	lds R2,_dirc
	tst R2
	brne L6
	.dbline 67
;    { if(step == 0)
	.dbline 67
	lds R2,_step
	tst R2
	brne L8
	.dbline 68
;    	 	aon;
	ldi R24,1
	out 0x18,R24
	rjmp L7
L8:
	.dbline 69
; 	 else if(step == 1)
	lds R24,_step
	cpi R24,1
	brne L10
	.dbline 70
; 	 	abon;
	ldi R24,3
	out 0x18,R24
	rjmp L7
L10:
	.dbline 71
; 	 else if(step == 2)
	lds R24,_step
	cpi R24,2
	brne L12
	.dbline 72
; 	 	bon;
	ldi R24,2
	out 0x18,R24
	rjmp L7
L12:
	.dbline 73
;      else if(step == 3)
	lds R24,_step
	cpi R24,3
	brne L14
	.dbline 74
; 	 	bcon;
	ldi R24,6
	out 0x18,R24
	rjmp L7
L14:
	.dbline 75
;      else if(step == 4)
	lds R24,_step
	cpi R24,4
	brne L16
	.dbline 76
; 	 	con;
	ldi R24,4
	out 0x18,R24
	rjmp L7
L16:
	.dbline 77
;      else if(step == 5)
	lds R24,_step
	cpi R24,5
	brne L18
	.dbline 78
; 	 	cdon;
	ldi R24,12
	out 0x18,R24
	rjmp L7
L18:
	.dbline 79
; 	 else if(step == 6)
	lds R24,_step
	cpi R24,6
	brne L20
	.dbline 80
; 	 	don;
	ldi R24,8
	out 0x18,R24
	rjmp L7
L20:
	.dbline 82
;      else 
; 	 	daon;
	ldi R24,9
	out 0x18,R24
	.dbline 83
;    }
	rjmp L7
L6:
	.dbline 85
;    else
;    {
	.dbline 86
;    	 if(step == 0)
	lds R2,_step
	tst R2
	brne L22
	.dbline 87
;    	 	aon;
	ldi R24,1
	out 0x18,R24
	rjmp L23
L22:
	.dbline 88
; 	 else if(step == 1)
	lds R24,_step
	cpi R24,1
	brne L24
	.dbline 89
; 	 	daon;
	ldi R24,9
	out 0x18,R24
	rjmp L25
L24:
	.dbline 90
; 	 else if(step == 2)
	lds R24,_step
	cpi R24,2
	brne L26
	.dbline 91
; 	 	don;
	ldi R24,8
	out 0x18,R24
	rjmp L27
L26:
	.dbline 92
;      else if(step == 3)
	lds R24,_step
	cpi R24,3
	brne L28
	.dbline 93
; 	 	cdon;
	ldi R24,12
	out 0x18,R24
	rjmp L29
L28:
	.dbline 94
;      else if(step == 4)
	lds R24,_step
	cpi R24,4
	brne L30
	.dbline 95
; 	 	con;
	ldi R24,4
	out 0x18,R24
	rjmp L31
L30:
	.dbline 96
;      else if(step == 5)
	lds R24,_step
	cpi R24,5
	brne L32
	.dbline 97
; 	 	bcon;
	ldi R24,6
	out 0x18,R24
	rjmp L33
L32:
	.dbline 98
; 	 else if(step == 6)
	lds R24,_step
	cpi R24,6
	brne L34
	.dbline 99
; 	 	bon;
	ldi R24,2
	out 0x18,R24
	rjmp L35
L34:
	.dbline 101
;      else
; 	 	abon;
	ldi R24,3
	out 0x18,R24
L35:
L33:
L31:
L29:
L27:
L25:
L23:
	.dbline 102
;    }
L7:
	.dbline 103
;    step ++;
	lds R24,_step
	subi R24,255    ; addi 1
	sts _step,R24
	.dbline 104
;    if(step>=8) step =0;
	cpi R24,8
	brlo L36
	.dbline 104
	clr R2
	sts _step,R2
L36:
	.dbline 106
;    
;    TCNT1H = 0xE0; //reload counter high value更改速度
	ldi R24,224
	out 0x2d,R24
	.dbline 107
;    TCNT1L = 0x01; //reload counter low value   
	ldi R24,1
	out 0x2c,R24
	.dbline 108
;    TCCR1A = 0x00;
	clr R2
	out 0x2f,R2
	.dbline 109
;    TCCR1B = 0x02; //start Timer
	ldi R24,2
	out 0x2e,R24
	.dbline 111
;    
;    pcont++;
	lds R24,_pcont
	lds R25,_pcont+1
	adiw R24,1
	sts _pcont+1,R25
	sts _pcont,R24
	.dbline 112
;  }
	rjmp L5
L4:
	.dbline 114
	clr R2
	out 0x2e,R2
L5:
	.dbline -2
	.dbline 115
;  else
;  	TCCR1B = 0x00;
; }
L3:
	ld R2,y+
	out 0x3f,R2
	ld R25,y+
	ld R24,y+
	ld R5,y+
	ld R4,y+
	ld R3,y+
	ld R2,y+
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e uart0_init _uart0_init fV
	.even
_uart0_init::
	.dbline -1
	.dbline 123
; 
; //UART0 initialisation
; // desired baud rate: 9600
; // actual: baud rate:9600 (0.0%)
; // char size: 8 bit
; // parity: Disabled
; void uart0_init(void)
; {
	.dbline 124
;  UCSRB = 0x00; //disable while setting baud rate
	clr R2
	out 0xa,R2
	.dbline 125
;  UCSRA = 0x00;
	out 0xb,R2
	.dbline 126
;  UCSRC = 0x86;
	ldi R24,134
	out 0x20,R24
	.dbline 127
;  UBRRL = 0x47; //set baud rate lo
	ldi R24,71
	out 0x9,R24
	.dbline 128
;  UBRRH = 0x00; //set baud rate hi
	out 0x20,R2
	.dbline 129
;  UCSRB = 0x98;
	ldi R24,152
	out 0xa,R24
	.dbline -2
	.dbline 130
; }
L38:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 22
	rjmp _uart0_rx_isr
	.area text(rom, con, rel)
	.dbfile F:\单片机教学\调试程序\stepmotor\step.c
	.dbfunc e uart0_rx_isr _uart0_rx_isr fV
	.even
_uart0_rx_isr::
	.dbline -1
	.dbline 134
; 
; #pragma interrupt_handler uart0_rx_isr:12
; void uart0_rx_isr(void)
; {
	.dbline -2
	.dbline 136
;  //uart has received a character in UDR
; }
L39:
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 140
; 
; //call this routine to initialise all peripherals
; void init_devices(void)
; {
	.dbline 142
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 143
;  port_init();
	rcall _port_init
	.dbline 144
;  timer1_init();
	rcall _timer1_init
	.dbline 145
;  uart0_init();
	rcall _uart0_init
	.dbline 147
; 
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 148
;  GICR  = 0x00;
	out 0x3b,R2
	.dbline 149
;  TIMSK = 0x04; //timer interrupt sources
	ldi R24,4
	out 0x39,R24
	.dbline 150
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
	.dbline 152
;  //all peripherals are now initialised
; }
L40:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 156
; 
; //
; void main(void)
; {
	.dbline 157
;  init_devices();
	rcall _init_devices
L42:
	.dbline 159
L43:
	.dbline 159
	rjmp L42
X1:
	.dbline -2
	.dbline 160
;  //insert your functional code here...
;  while(1);
; }
L41:
	.dbline 0 ; func end
	ret
	.dbend