motor_salve.s

用ICC编写的程序包括SPI

	.module Motor_salve.c
	.area text(rom, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_salve.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 19
; #include <iom16v.h>
; #include <macros.h>
; 
; #include "qep.h"
; #include "SPI_slave.h"
; #include "pwm.h"
; 
; 
; extern unsigned char SPI_rx_buff[SPI_size];  
; extern unsigned char SPI_tx_buff[SPI_size];  
; extern unsigned char rx_index;  
; extern unsigned char tx_index,SPI_tx_flag;
; extern int	qep_cnt[QEP_size];
; extern unsigned char pwm_value[2];
; extern unsigned char pwm_flag;
; 
; 
; void port_init(void)
; {
	.dbline 20
;  PORTA = 0xFF;
	ldi R24,255
	out 0x1b,R24
	.dbline 21
;  DDRA  = 0x00;
	clr R2
	out 0x1a,R2
	.dbline 22
;  PORTB = 0xFF;
	out 0x18,R24
	.dbline 23
;  DDRB  = 0x00;
	out 0x17,R2
	.dbline 24
;  PORTC = 0x00; 
	out 0x15,R2
	.dbline 25
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 26
;  PORTD = 0x00;
	out 0x12,R2
	.dbline 27
;  DDRD  = 0x30;
	ldi R24,48
	out 0x11,R24
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 32
; } 
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 34
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 35
;  port_init();
	xcall _port_init
	.dbline 36
;  pwm_init();
	xcall _pwm_init
	.dbline 37
;  spi_init();
	xcall _spi_init
	.dbline 39
; 
;  MCUCR = 0x0A;
	ldi R24,10
	out 0x35,R24
	.dbline 40
;  GICR  = 0xC0;
	ldi R24,192
	out 0x3b,R24
	.dbline 41
;  TIMSK = 0x00; //timer interrupt sources
	clr R2
	out 0x39,R2
	.dbline 42
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 46
;  //all peripherals are now initialized
;  }
; void main(void)  
; {   
	.dbline 47
;   init_devices();
	xcall _init_devices
	xjmp L5
L4:
	.dbline 50
;   
;   while(1)
;  {
	.dbline 51
;  if(pwm_flag)
	lds R2,_pwm_flag
	tst R2
	breq L7
	.dbline 52
;   {
	.dbline 53
;   pwm_change();
	xcall _pwm_change
	.dbline 54
;   pwm_flag=0;
	clr R2
	sts _pwm_flag,R2
	.dbline 55
;   }
L7:
	.dbline 57
L5:
	.dbline 49
	xjmp L4
X0:
	.dbline -2
L3:
	.dbline 0 ; func end
	ret
	.dbend