motor_slave.s

用ICC编写的程序包括SPI

	.module Motor_slave.c
	.area text(rom, con, rel)
	.dbfile F:\IccAvr_Pro\Motor_slave.c
	.area vector(rom, abs)
	.org 4
	jmp _int0_isr
	.area text(rom, con, rel)
	.area vector(rom, abs)
	.org 8
	jmp _int1_isr
	.area text(rom, con, rel)
	.area vector(rom, abs)
	.org 16
	jmp _timer2_ovf_isr
	.area text(rom, con, rel)
	.area vector(rom, abs)
	.org 56
	jmp _adc_isr
	.area text(rom, con, rel)
	.area vector(rom, abs)
	.org 68
	jmp _spi_stc_isr
	.area text(rom, con, rel)
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 23
; #include <iom16v.h>
; #include <macros.h>
; 
; #include "time.h"
; #include "ad.h"
; #include "qep.h"
; #include "isr.h"
; #include "SPI_slave.h"
; 
; 
; extern unsigned char SPI_rx_buff[SPI_size];  
; extern unsigned char SPI_tx_buff[SPI_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;
; extern int	qep_cnt[QEP_size];
; extern unsigned char time_flag;
; extern unsigned int AD_value[AD_size]; 
; extern unsigned char ad_index; 
; 
; extern const unsigned char ad_channel[AD_size];
; 
; void port_init(void)
; {
	.dbline 24
;  PORTA = 0xFF;
	ldi R24,255
	out 0x1b,R24
	.dbline 25
;  DDRA  = 0x00;
	clr R2
	out 0x1a,R2
	.dbline 26
;  PORTB = 0x00;
	out 0x18,R2
	.dbline 27
;  DDRB  = 0x40;
	ldi R24,64
	out 0x17,R24
	.dbline 28
;  PORTC = 0x00; //m103 output only
	out 0x15,R2
	.dbline 29
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 30
;  PORTD = 0x00;
	out 0x12,R2
	.dbline 31
;  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 36
; } 
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 38
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 39
;  port_init();
	xcall _port_init
	.dbline 40
;  timer1_init();
	xcall _timer1_init
	.dbline 41
;  timer2_init();
	xcall _timer2_init
	.dbline 42
;  spi_init();
	xcall _spi_init
	.dbline 43
;  adc_init();
	xcall _adc_init
	.dbline 45
; 
;  MCUCR = 0x0F;
	ldi R24,15
	out 0x35,R24
	.dbline 46
;  GICR  = 0xC0;
	ldi R24,192
	out 0x3b,R24
	.dbline 47
;  TIMSK = 0x40; //timer interrupt sources
	ldi R24,64
	out 0x39,R24
	.dbline 48
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
;              i -> R20
	.even
_main::
	.dbline -1
	.dbline 52
;  //all peripherals are now initialized
;  }
; void main(void)  
; {  
	.dbline 53
;   unsigned char i=0;    
	clr R20
	xjmp L5
X0:
	.dbline 55
;   while(1)
;   {
L7:
	.dbline 57
;    while(!time_flag)  
;    {  
	.dbline 58
;   	  time_flag=0;
	clr R2
	sts _time_flag,R2
	.dbline 59
; 	  if(SPI_datain)
	lds R2,_SPI_datain
	tst R2
	breq L10
	.dbline 60
; 	  {
	.dbline 61
; 	  	switch(getSPIchar())
	xcall _getSPIchar
	mov R22,R16
	clr R23
	cpi R22,170
	ldi R30,0
	cpc R23,R30
	breq L15
	xjmp L12
X1:
	.dbline 62
; 		 {
L15:
	.dbline 64
; 		    case 0xaa:
; 				if(i<4)
	cpi R20,4
	brsh L16
	.dbline 65
; 				{
	.dbline 66
; 				 putSPIchar(*((unsigned char*)(qep_cnt)+i));
	ldi R24,<_qep_cnt
	ldi R25,>_qep_cnt
	mov R30,R20
	clr R31
	add R30,R24
	adc R31,R25
	ldd R16,z+0
	xcall _putSPIchar
	.dbline 67
; 				 i++;
	inc R20
	.dbline 68
; 				 }
	xjmp L13
L16:
	.dbline 70
; 				 else
; 				 i=0;
	clr R20
	.dbline 71
; 				break;
	xjmp L13
L12:
	.dbline 74
; 		
; 			default:
; 		  	putSPIchar(0xee);break;
	ldi R16,238
	xcall _putSPIchar
	.dbline 74
L13:
	.dbline 76
; 		  }
; 		 SPI_datain=0;
	clr R2
	sts _SPI_datain,R2
	.dbline 77
; 	  }
L10:
	.dbline 78
L8:
	.dbline 56
	lds R2,_time_flag
	tst R2
	breq L7
	.dbline 80
L5:
	.dbline 54
	xjmp L8
X2:
	.dbline -2
L3:
	.dbline 0 ; func end
	ret
	.dbsym r i 20 c
	.dbend