motor_master.s

用ICC编写的程序包括SPI

	.module Motor_master.c
	.area text(rom, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_master.c
	.area data(ram, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_master.c
_pwm::
	.blkb 2
	.area idata
	.byte 127,255
	.area data(ram, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_master.c
	.dbsym e pwm _pwm A[2:2]c
	.area text(rom, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_master.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 19
; 
; #include <iom16v.h>
; #include <macros.h>
; //#include "Display.h"
; #include "SPI_master.h"
; #include "time_master.h"
; 
; extern unsigned char timeflag,dispflag;
; 
; 
; extern unsigned char SPI_rx_buff[SIZE];  
; extern unsigned char SPI_tx_buff[SIZE];  
; extern unsigned char rx_wr_index,rx_rd_index,rx_counter,rx_buffer_overflow;  
; extern unsigned char tx_wr_index,tx_rd_index,tx_counter,SPI_ok,SPI_datain,temp;
; 
; unsigned char pwm[2]={0x7f,0xff};
; unsigned char qep_data1[3],qep_data2[3];
; void port_init(void)
; {
	.dbline 20
;  PORTA = 0x00;
	clr R2
	out 0x1b,R2
	.dbline 21
;  DDRA  = 0x00;
	out 0x1a,R2
	.dbline 22
;  PORTB = 0x00;
	out 0x18,R2
	.dbline 23
;  DDRB  = 0x00;
	out 0x17,R2
	.dbline 24
;  PORTC = 0x00; //m103 output only
	out 0x15,R2
	.dbline 25
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 26
;  PORTD = 0x00;
	out 0x12,R2
	.dbline 27
;  DDRD  = 0x00;
	out 0x11,R2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 34
; }
; 
; 
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 36
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 37
;  port_init();
	xcall _port_init
	.dbline 38
;  timer0_init();
	xcall _timer0_init
	.dbline 39
;  timer2_init();
	xcall _timer2_init
	.dbline 40
;  spi_init();
	xcall _spi_init
	.dbline 43
; 
;  
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 44
;  GICR  = 0x00;
	out 0x3b,R2
	.dbline 45
;  TIMSK = 0x41; //timer interrupt sources
	ldi R24,65
	out 0x39,R24
	.dbline 46
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
;              t -> R20
;        set_pwm -> R10
;       SPI_flag -> R20
;              c -> R14
;              i -> y+2
;              j -> y+0
	.even
_main::
	sbiw R28,3
	.dbline -1
	.dbline 52
;  //all peripherals are now initialized
; }
; 
; //
; void main(void)
; {
	.dbline 53
;  	 unsigned char i=0,t=0;
	clr R0
	std y+2,R0
	.dbline 53
	clr R20
	.dbline 54
; 	 int j=0;
	clr R1
	std y+1,R1
	std y+0,R0
	.dbline 55
; 	 unsigned char SPI_flag=1;
	ldi R20,1
	.dbline 57
; 	 unsigned char c;
; 	 unsigned char set_pwm=1;
	clr R10
	inc R10
	.dbline 62
; 	 
; 	 //unsigned char aa_flag;
; 	 
; 	 
; 	 init_devices();
	xcall _init_devices
	.dbline 64
;  	 //insert your functional code here...
; 	 PORTB&=~BIT(SS);
	cbi 0x18,4
	.dbline 65
; 	 putSPIchar(0xaa);
	ldi R16,170
	xcall _putSPIchar
	.dbline 66
; 	 getSPIchar();
	xcall _getSPIchar
	.dbline 67
; 	 putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 68
; 	 getSPIchar();
	xcall _getSPIchar
	.dbline 69
;      putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 70
; 	 getSPIchar();
	xcall _getSPIchar
	.dbline 71
; 	 putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 72
; 	 getSPIchar();
	xcall _getSPIchar
	.dbline 73
; 	 PORTB|=BIT(SS);
	sbi 0x18,4
	xjmp L5
X0:
	.dbline 79
; 		  
; 	 
; 	 
; 	  
; 	 while(1)
; 	 {
L7:
	.dbline 81
; 		while(timeflag)
; 		{
	.dbline 82
; 		  timeflag=0;
	clr R2
	sts _timeflag,R2
	.dbline 83
; 		  if(SPI_flag)
	tst R20
	brne X4
	xjmp L10
X4:
	.dbline 84
; 		  {
	.dbline 85
; 		  PORTB&=~BIT(SS);
	cbi 0x18,4
	.dbline 86
; 		  putSPIchar(0xaa);
	ldi R16,170
	xcall _putSPIchar
	.dbline 87
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 88
; 		  putSPIchar(0x01);
	ldi R16,1
	xcall _putSPIchar
	.dbline 89
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 90
; 		  putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 91
; 		  for(i=0,j=-1;i<10&j<3;i++)
	clr R0
	std y+2,R0
	ldi R24,-1
	ldi R25,-1
	std y+1,R25
	std y+0,R24
	xjmp L15
L12:
	.dbline 92
; 		   {
	.dbline 93
; 		     if((c=getSPIchar())==0x55)
	xcall _getSPIchar
	mov R14,R16
	cpi R16,85
	brne L16
	.dbline 94
; 			  j=0;
	clr R0
	clr R1
	std y+1,R1
	std y+0,R0
L16:
	.dbline 95
; 			 putSPIchar(0x44);
	ldi R16,68
	xcall _putSPIchar
	.dbline 96
; 			 if(j>=0)
	ldd R24,y+0
	ldd R25,y+1
	cpi R24,0
	ldi R30,0
	cpc R25,R30
	brlt L18
	.dbline 97
; 			 qep_data1[j++]=c;
	movw R2,R24
	adiw R24,1
	std y+1,R25
	std y+0,R24
	ldi R24,<_qep_data1
	ldi R25,>_qep_data1
	movw R30,R2
	add R30,R24
	adc R31,R25
	std z+0,R14
L18:
	.dbline 98
L13:
	.dbline 91
	ldd R0,y+2
	inc R0
	std y+2,R0
L15:
	.dbline 91
	ldd R24,y+2
	cpi R24,10
	brsh L20
	ldi R24,1
	ldi R25,0
	movw R12,R24
	xjmp L21
L20:
	clr R12
	clr R13
L21:
	ldd R24,y+0
	ldd R25,y+1
	cpi R24,3
	ldi R30,0
	cpc R25,R30
	brge L22
	ldi R22,1
	ldi R23,0
	xjmp L23
L22:
	clr R22
	clr R23
L23:
	movw R2,R12
	and R2,R22
	and R3,R23
	tst R2
	breq X5
	xjmp L12
X5:
	tst R3
	breq X6
	xjmp L12
X6:
X1:
	.dbline 99
; 			}
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 101
; 	
; 		  putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 102
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 104
; 		  
; 		  NOP();
	nop
	.dbline 105
; 		  putSPIchar(0xaa);
	ldi R16,170
	xcall _putSPIchar
	.dbline 106
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 107
; 		  putSPIchar(0x02);
	ldi R16,2
	xcall _putSPIchar
	.dbline 108
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 109
; 		  putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 110
; 		  for(i=0,j=-1;i<10&j<3;i++)
	clr R0
	std y+2,R0
	ldi R24,-1
	ldi R25,-1
	std y+1,R25
	std y+0,R24
	xjmp L27
L24:
	.dbline 111
; 		   {
	.dbline 112
; 		     if((c=getSPIchar())==0x56)
	xcall _getSPIchar
	mov R14,R16
	cpi R16,86
	brne L28
	.dbline 113
; 			  j=0;
	clr R0
	clr R1
	std y+1,R1
	std y+0,R0
L28:
	.dbline 114
; 			 putSPIchar(0x44);
	ldi R16,68
	xcall _putSPIchar
	.dbline 115
; 			 if(j>=0)
	ldd R24,y+0
	ldd R25,y+1
	cpi R24,0
	ldi R30,0
	cpc R25,R30
	brlt L30
	.dbline 116
; 			 qep_data2[j++]=c;
	movw R2,R24
	adiw R24,1
	std y+1,R25
	std y+0,R24
	ldi R24,<_qep_data2
	ldi R25,>_qep_data2
	movw R30,R2
	add R30,R24
	adc R31,R25
	std z+0,R14
L30:
	.dbline 117
L25:
	.dbline 110
	ldd R0,y+2
	inc R0
	std y+2,R0
L27:
	.dbline 110
	ldd R24,y+2
	cpi R24,10
	brsh L32
	ldi R22,1
	ldi R23,0
	xjmp L33
L32:
	clr R22
	clr R23
L33:
	ldd R24,y+0
	ldd R25,y+1
	cpi R24,3
	ldi R30,0
	cpc R25,R30
	brge L34
	ldi R24,1
	ldi R25,0
	movw R12,R24
	xjmp L35
L34:
	clr R12
	clr R13
L35:
	movw R2,R22
	and R2,R12
	and R3,R13
	tst R2
	breq X7
	xjmp L24
X7:
	tst R3
	breq X8
	xjmp L24
X8:
X2:
	.dbline 118
; 			}
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 119
; 		  NOP();
	nop
	.dbline 120
; 		  PORTB|=BIT(SS);
	sbi 0x18,4
	.dbline 121
; 		  NOP();
	nop
	.dbline 122
; 		  }
L10:
	.dbline 123
; 		  if(set_pwm)
	tst R10
	breq L36
	.dbline 124
; 		  {
	.dbline 125
; 		  PORTB&=~BIT(SS);
	cbi 0x18,4
	.dbline 126
; 	  	  putSPIchar(0x55);
	ldi R16,85
	xcall _putSPIchar
	.dbline 127
; 	 	  getSPIchar();
	xcall _getSPIchar
	.dbline 128
; 	 	  putSPIchar(pwm[0]);
	lds R16,_pwm
	xcall _putSPIchar
	.dbline 129
; 	 	  getSPIchar();
	xcall _getSPIchar
	.dbline 130
;      	  putSPIchar(pwm[1]);
	lds R16,_pwm+1
	xcall _putSPIchar
	.dbline 131
; 	 	  getSPIchar();
	xcall _getSPIchar
	.dbline 132
; 		  putSPIchar(0x00);
	clr R16
	xcall _putSPIchar
	.dbline 133
; 		  getSPIchar();
	xcall _getSPIchar
	.dbline 134
; 	 	  PORTB|=BIT(SS);
	sbi 0x18,4
	.dbline 135
; 		  }
L36:
	.dbline 136
L8:
	.dbline 80
	lds R2,_timeflag
	tst R2
	breq X9
	xjmp L7
X9:
	.dbline 137
L5:
	.dbline 78
	xjmp L8
X3:
	.dbline -2
L3:
	adiw R28,3
	.dbline 0 ; func end
	ret
	.dbsym r t 20 c
	.dbsym r set_pwm 10 c
	.dbsym r SPI_flag 20 c
	.dbsym r c 14 c
	.dbsym l i 2 c
	.dbsym l j 0 I
	.dbend
	.area bss(ram, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_master.c
_qep_data2::
	.blkb 3
	.dbsym e qep_data2 _qep_data2 A[3:3]c
_qep_data1::
	.blkb 3
	.dbsym e qep_data1 _qep_data1 A[3:3]c