📄 can.txt
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SACL Ta
LACC T ;ACC = T
SUB Tc ;ACC = T-Tb
SACL Tb ;ACC = Ta = T-Tb <C>
B LOAD_COMPARES
;Sector 6 calculations - a,b,c --> a,c,b & dx <--> dy
SECTOR_SR6
LACC T ;Acc = T
SUB dx ;Acc = T-dx
SUB dy ;Acc = T-dx-dy
SFR ;Acc = Ta = 1/2(T-dx-dy) <A>
SACL Ta
ADD dy ;Acc = Tc = dx+Ta <B>
SACL Tc
LACC T ;ACC = T
SUB Ta ;ACC = T-Ta
SACL Tb ;ACC = Tb = T-Ta <C>
;Transfer new Compare values for this PWM period
LOAD_COMPARES
POINT_B0
MAR *, AR1
LACC Ta
SACL *,0,AR2 ;Load Compare2 Register with Ta
LACC Tb
SACL *,0,AR3 ;Load Compare3 Register with Tb
LACC Tc
SACL *,0,AR1 ;Load Compare4 Register with Tc
;Receive Frequency target from CAN bus.
CAN_RD
LDP #DP_CAN
W_FLAG
BIT CANIFR,7 ;wait for mailbox 0 interrupt flag
BCND CAN_RD_END,NTC
W_RA
BIT CANRCR,11 ;Wait for receive acknowledge
BCND CAN_RD_END,NTC
SPLK #0010h,CANRCR ;reset RA and CANIFR
LDP #DP_CAN2
LACL CANMBX0A ;Load data in Accu
POINT_B0
SUB FREQ_TRGT
BCND CAN_RD_END,EQ ;If the value doesn't change
LDP #DP_CAN2
LACL CANMBX0A ;Freq_trgt is not updated
POINT_B0
SACL FREQ_TRGT ;Change Freq_trg
CAN_RD_END:
;Adjust frequency demand from RT debugger
FREQ_DMD
POINT_B0
LACC FREQ_TRGT
SUB FREQ_SETPT
BCND FD_END, EQ
LACC RMP_DLY_CNT
ADD #1
SACL RMP_DLY_CNT
SUB #RMP_DLY_MAX
BCND FD_END2, LT
CHNG_FREQ
LACC FREQ_TRGT
SUB FREQ_SETPT
BCND INC_FREQ, GT
DEC_FREQ
LACC FREQ_SETPT
SUB #1
SACL FREQ_SETPT
BCND FD_END, GEQ
SPLK #1, FREQ_SETPT
B FD_END
INC_FREQ
LACC FREQ_SETPT ;If max then Inc Frequency
ADD #1
SACL FREQ_SETPT
SUB #2047
BCND FD_END, LEQ
SPLK #2047, FREQ_SETPT
FD_END
SPLK #0, RMP_DLY_CNT
CLRC INTM
RET
;Sector routine jump table - used with BACC inst.
SECTOR_TBL
SR0 .word SECTOR_SR1
SR1 .word SECTOR_SR2
SR2 .word SECTOR_SR3
SR3 .word SECTOR_SR4
SR4 .word SECTOR_SR5
SR5 .word SECTOR_SR6
;Routine Name: m S _ D E L A Y (1mS version) Routine Type: SR
;Description: Produces a multiple of 1mS delays using the RPT instruction.
;The Delay produced is based on the value loaded in mSEC.
;i.e. Delay = mSEC x 1mS
mS_DELAY
POINT_B0
LACC #25000
SACL GPR0
LACC mSEC
mS_LP
RPT GPR0 ;25,000 cycles = 1 mS @ 25MHz
NOP ;1 cycle
SUB #1 ;1 cycle
BCND mS_LP,GT ;4 cycles
RET ;4 cycles
;LED display table - used to indicate speed setting
LED_TABLE
.word 00080h
.word 00040h
.word 00020h
.word 00010h
.word 00008h
.word 00004h
.word 00002h
.word 00001h
.word 00001h
;No. Samples 256 Angle Range 60
;SINVAL ;Index Angle Sin(Angle)
STABLE .word 0 ; 0 0 0.00
.word 134 ; 1 0.23 0.00
.word 268 ; 2 0.47 0.01
.word 402 ; 3 0.70 0.01
.word 536 ; 4 0.94 0.02
.word 670 ; 5 1.17 0.02
.word 804 ; 6 1.41 0.02
.word 938 ; 7 1.64 0.03
.word 1072 ; 8 1.88 0.03
.word 1206 ; 9 2.11 0.04
.word 1340 ; 10 2.34 0.04
.word 1474 ; 11 2.58 0.04
.word 1608 ; 12 2.81 0.05
.word 1742 ; 13 3.05 0.05
.word 1876 ; 14 3.28 0.06
.word 2009 ; 15 3.52 0.06
.word 2143 ; 16 3.75 0.07
.word 2277 ; 17 3.98 0.07
.word 2411 ; 18 4.22 0.07
.word 2544 ; 19 4.45 0.08
.word 2678 ; 20 4.69 0.08
.word 2811 ; 21 4.92 0.09
.word 4144 ; 31 7.27 0.13
.word 4277 ; 32 7.50 0.13
.word 4410 ; 33 7.73 0.13
.word 4543 ; 34 7.97 0.14
.word 4675 ; 35 8.20 0.14
.word 4808 ; 36 8.44 0.15
.word 4941 ; 37 8.67 0.15
.word 5073 ; 38 8.91 0.15
.word 5205 ; 39 9.14 0.16
.word 5338 ; 40 9.38 0.16
.word 5470 ; 41 9.61 0.17
.word 5602 ; 42 9.84 0.17
.word 5734 ; 43 10.08 0.17
.word 5866 ; 44 10.31 0.18
.word 5998 ; 45 10.55 0.18
.word 6130 ; 46 10.78 0.19
.word 6261 ; 47 11.02 0.19
.word 6393 ; 48 11.25 0.20
.word 6524 ; 49 11.48 0.20
.word 6655 ; 50 11.72 0.20
.word 6787 ; 51 11.95 0.21
.word 6918 ; 52 12.19 0.21
.word 7049 ; 53 12.42 0.22
.word 7180 ; 54 12.66 0.22
.word 7310 ; 55 12.89 0.22
.word 7441 ; 56 13.13 0.23
.word 7571 ; 57 13.36 0.23
.word 7702 ; 58 13.59 0.24
.word 7832 ; 59 13.83 0.24
.word 7962 ; 60 14.06 0.24
.word 8092 ; 61 14.30 0.25
.word 8222 ; 62 14.53 0.25
.word 8351 ; 63 14.77 0.25
.word 8481 ; 64 15.00 0.26
.word 8610 ; 65 15.23 0.26
.word 8740 ; 66 15.47 0.27
.word 8869 ; 67 15.70 0.27
.word 8998 ; 68 15.94 0.27
.word 9127 ; 69 16.17 0.28
.word 9255 ; 70 16.41 0.28
.word 9384 ; 71 16.64 0.29
.word 9512 ; 72 16.88 0.29
.word 9640 ; 73 17.11 0.29
.word 9768 ; 74 17.34 0.30
.word 9896 ; 75 17.58 0.30
.word 10024 ; 76 17.81 0.31
.word 10151 ; 77 18.05 0.31
.word 10279 ; 78 18.28 0.31
.word 10406 ; 79 18.52 0.32
.word 10533 ; 80 18.75 0.32
.word 10660 ; 81 18.98 0.33
.word 10786 ; 82 19.22 0.33
.word 10913 ; 83 19.45 0.33
.word 11039 ; 84 19.69 0.34
.word 11165 ; 85 19.92 0.34
.word 11291 ; 86 20.16 0.34
.word 11417 ; 87 20.39 0.35
.word 11543 ; 88 20.63 0.35
.word 11668 ; 89 20.86 0.36
.word 11793 ; 90 21.09 0.36
.word 11918 ; 91 21.33 0.36
.word 12043 ; 92 21.56 0.37
.word 12167 ; 93 21.80 0.37
.word 12292 ; 94 22.03 0.38
.word 12416 ; 95 22.27 0.38
.word 12540 ; 96 22.50 0.38
.word 12664 ; 97 22.73 0.39
.word 12787 ; 98 22.97 0.39
.word 12910 ; 99 23.20 0.39
.word 13033 ; 100 23.44 0.40
.word 13156 ; 101 23.67 0.40
.word 13279 ; 102 23.91 0.41
.word 13401 ; 103 24.14 0.41
.word 13524 ; 104 24.38 0.41
.word 13646 ; 105 24.61 0.42
.word 13767 ; 106 24.84 0.42
.word 13889 ; 107 25.08 0.42
.word 14010 ; 108 25.31 0.43
.word 14131 ; 109 25.55 0.43
.word 14252 ; 110 25.78 0.43
.word 14373 ; 111 26.02 0.44
.word 14493 ; 112 26.25 0.44
.word 14613 ; 113 26.48 0.45
.word 14733 ; 114 26.72 0.45
.word 14852 ; 115 26.95 0.45
.word 14972 ; 116 27.19 0.46
.word 15091 ; 117 27.42 0.46
.word 15210 ; 118 27.66 0.46
.word 15328 ; 119 27.89 0.47
.word 15447 ; 120 28.13 0.47
.word 15565 ; 121 28.36 0.48
.word 15683 ; 122 28.59 0.48
.word 15800 ; 123 28.83 0.48
.word 15917 ; 124 29.06 0.49
.word 16035 ; 125 29.30 0.49
.word 16151 ; 126 29.53 0.49
.word 16268 ; 127 29.77 0.50
.word 16384 ; 128 30.00 0.50
.word 16500 ; 129 30.23 0.50
.word 16616 ; 130 30.47 0.51
.word 16731 ; 131 30.70 0.51
.word 16846 ; 132 30.94 0.51
.word 16961 ; 133 31.17 0.52
.word 17075 ; 134 31.41 0.52
.word 17190 ; 135 31.64 0.52
.word 17304 ; 136 31.88 0.53
.word 17417 ; 137 32.11 0.53
.word 17531 ; 138 32.34 0.53
.word 17644 ; 139 32.58 0.54
.word 17757 ; 140 32.81 0.54
.word 17869 ; 141 33.05 0.55
.word 17981 ; 142 33.28 0.55
.word 18093 ; 143 33.52 0.55
.word 18205 ; 144 33.75 0.56
.word 18316 ; 145 33.98 0.56
.word 18427 ; 146 34.22 0.56
.word 18538 ; 147 34.45 0.57
.word 18648 ; 148 34.69 0.57
.word 18758 ; 149 34.92 0.57
.word 18868 ; 150 35.16 0.58
.word 18978 ; 151 35.39 0.58
.word 19087 ; 152 35.63 0.58
.word 19195 ; 153 35.86 0.59
.word 19304 ; 154 36.09 0.59
.word 19412 ; 155 36.33 0.59
.word 19520 ; 156 36.56 0.60
.word 19627 ; 157 36.80 0.60
.word 19735 ; 158 37.03 0.60
.word 19841 ; 159 37.27 0.61
.word 19948 ; 160 37.50 0.61
.word 20054 ; 161 37.73 0.61
.word 20160 ; 162 37.97 0.62
.word 20265 ; 163 38.20 0.62
.word 20371 ; 164 38.44 0.62
.word 20475 ; 165 38.67 0.62
.word 20580 ; 166 38.91 0.63
.word 20684 ; 167 39.14 0.63
.word 20788 ; 168 39.38 0.63
.word 20891 ; 169 39.61 0.64
.word 20994 ; 170 39.84 0.64
.word 21097 ; 171 40.08 0.64
.word 21199 ; 172 40.31 0.65
.word 21301 ; 173 40.55 0.65
.word 21403 ; 174 40.78 0.65
.word 21504 ; 175 41.02 0.66
.word 21605 ; 176 41.25 0.66
.word 21706 ; 177 41.48 0.66
.word 21806 ; 178 41.72 0.67
.word 22006 ; 180 42.19 0.67
.word 22105 ; 181 42.42 0.67
.word 22204 ; 182 42.66 0.68
.word 22302 ; 183 42.89 0.68
.word 22400 ; 184 43.13 0.68
.word 22595 ; 186 43.59 0.69
.word 22692 ; 187 43.83 0.69
.word 22788 ; 188 44.06 0.70
.word 22884 ; 189 44.30 0.70
.word 22980 ; 190 44.53 0.70
.word 23075 ; 191 44.77 0.70
.word 23170 ; 192 45.00 0.71
.word 23265 ; 193 45.23 0.71
.word 23359 ; 194 45.47 0.71
.word 23453 ; 195 45.70 0.72
.word 23546 ; 196 45.94 0.72
.word 23640 ; 197 46.17 0.72
.word 23732 ; 198 46.41 0.72
.word 23824 ; 199 46.64 0.73
.word 23916 ; 200 46.88 0.73
.word 24008 ; 201 47.11 0.73
.word 24099 ; 202 47.34 0.74
.word 24189 ; 203 47.58 0.74
.word 24369 ; 205 48.05 0.74
.word 24459 ; 206 48.28 0.75
.word 24548 ; 207 48.52 0.75
.word 24636 ; 208 48.75 0.75
.word 24724 ; 209 48.98 0.75
.word 24812 ; 210 49.22 0.76
.word 24986 ; 212 49.69 0.76
.word 25073 ; 213 49.92 0.77
.word 25159 ; 214 50.16 0.77
.word 25245 ; 215 50.39 0.77
.word 25330 ; 216 50.63 0.77
.word 25415 ; 217 50.86 0.78
.word 25499 ; 218 51.09 0.78
.word 25583 ; 219 51.33 0.78
.word 25667 ; 220 51.56 0.78
.word 25750 ; 221 51.80 0.79
.word 25833 ; 222 52.03 0.79
.word 25915 ; 223 52.27 0.79
.word 25997 ; 224 52.50 0.79
.word 26078 ; 225 52.73 0.80
.word 26159 ; 226 52.97 0.80
.word 26239 ; 227 53.20 0.80
.word 26320 ; 228 53.44 0.80
.word 26399 ; 229 53.67 0.81
.word 26478 ; 230 53.91 0.81
.word 26557 ; 231 54.14 0.81
.word 26635 ; 232 54.38 0.81
.word 26713 ; 233 54.61 0.82
.word 26791 ; 234 54.84 0.82
.word 26868 ; 235 55.08 0.82
.word 26944 ; 236 55.31 0.82
.word 27020 ; 237 55.55 0.82
.word 27096 ; 238 55.78 0.83
.word 27171 ; 239 56.02 0.83
.word 27246 ; 240 56.25 0.83
.word 27320 ; 241 56.48 0.83
.word 27394 ; 242 56.72 0.84
.word 27467 ; 243 56.95 0.84
.word 27540 ; 244 57.19 0.84
.word 27612 ; 245 57.42 0.84
.word 27684 ; 246 57.66 0.84
.word 27756 ; 247 57.89 0.85
.word 27827 ; 248 58.13 0.85
.word 27897 ; 249 58.36 0.85
.word 27967 ; 250 58.59 0.85
.word 28037 ; 251 58.83 0.86
.word 28106 ; 252 59.06 0.86
.word 28175 ; 253 59.30 0.86
.word 28243 ; 254 59.53 0.86
.word 28311 ; 255 59.77 0.86
;I S R - PHANTOM
;Description: Dummy ISR, used to trap spurious interrupts.
PHANTOM B PHANTOM
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