📄 plane050930v01.lst
字号:
639 000111
640 000111 70C8(1+S) b0bts0 FP00IRQ
641 000112 815C(2) jmp P00INTR
642 000113
643 000113 Interrupt90:
644 000113 2C01(1) XCH A,PflagBuf
645 000114 2F86(1) B0MOV PFLAG,A
646 000115 2C00(1) XCH A,AccBuf ;//For release the Acc And Pflag
647 000116 0F00(2) RETI
648 000117 ;--------------------------------------------------------
649 000117 ;--------------------------------------------------------
650 000117 TC0INTR:
651 000117 ;// notbit ptwing
652 000117 ;// jmp TC0INTR90
653 000117 ;----------------------
654 000117 ;左右翼控制
655 000117 7223(1+S) b0bts0 wingstatflag
656 000118 8122(2) jmp TC0INTR10
657 000119 69D1(1) b0bset ptwing
658 00011A 2624(1+S) decms wingbuf
659 00011B 8125(2) jmp TC0INTR20
660 00011C 61D1(1) b0bclr ptwing
661 00011D 6A23(1) b0bset wingstatflag
662 00011E mov_ winglowbuf,#220 ;set low level 10ms
663 00011E 2DDC(1) mov a, #220
664 00011F 1F2C(1) mov winglowbuf, a
665 000120 mov_ wingbuf,wingloadbuf ;set high level
666 000120 1E28(1) mov a, wingloadbuf
667 000121 1F24(1) mov wingbuf, a
668 000122 ;-----
669 000122 TC0INTR10:
670 000122 262C(1+S) decms winglowbuf
671 000123 8125(2) jmp TC0INTR20
672 000124 6223(1) b0bclr wingstatflag
673 000125 ;-----------------------
674 000125 TC0INTR20:
675 000125 ;尾翼控制
676 000125 7323(1+S) b0bts0 empennagestatflag
677 000126 8130(2) jmp TC0INTR30
678 000127 6AD1(1) b0bset ptempennage
679 000128 2625(1+S) decms empennagebuf
680 000129 8133(2) jmp TC0INTR40
681 00012A 62D1(1) b0bclr ptempennage
682 00012B 6B23(1) b0bset empennagestatflag
683 00012C mov_ empennagelowbuf,#230 ;set low level 10ms
684 00012C 2DE6(1) mov a, #230
685 00012D 1F2D(1) mov empennagelowbuf, a
686 00012E mov_ empennagebuf,empennageloadbuf ;set high level
687 00012E 1E29(1) mov a, empennageloadbuf
688 00012F 1F25(1) mov empennagebuf, a
689 000130 ;-----
690 000130 TC0INTR30:
691 000130 262D(1+S) decms empennagelowbuf
692 000131 8133(2) jmp TC0INTR40
693 000132 6323(1) b0bclr empennagestatflag
694 000133 ;-----------------------
695 000133 TC0INTR40:
696 000133 ;螺旋桨控制
697 000133 7423(1+S) b0bts0 screwstatflag
698 000134 813E(2) jmp TC0INTR50
699 000135 68D1(1) b0bset ptscrew
700 000136 2626(1+S) decms screwbuf
701 000137 8141(2) jmp TC0INTR60
702 000138 60D1(1) b0bclr ptscrew
703 000139 6C23(1) b0bset screwstatflag
704 00013A mov_ screwlowbuf,#240 ;set low level 10ms
705 00013A 2DF0(1) mov a, #240
706 00013B 1F2E(1) mov screwlowbuf, a
707 00013C mov_ screwbuf,screwloadbuf ;set high level
708 00013C 1E2A(1) mov a, screwloadbuf
709 00013D 1F26(1) mov screwbuf, a
710 00013E ;-----
711 00013E TC0INTR50:
712 00013E 262E(1+S) decms screwlowbuf
713 00013F 8141(2) jmp TC0INTR60
714 000140 6423(1) b0bclr screwstatflag
715 000141 ;-----------------------
716 000141 TC0INTR60:
717 000141 ;摆尾控制
718 000141 7523(1+S) b0bts0 swingstatflag
719 000142 814C(2) jmp TC0INTR70
720 000143 6BD1(1) b0bset ptswing
721 000144 2627(1+S) decms swingbuf
722 000145 814F(2) jmp TC0INTR80
723 000146 63D1(1) b0bclr ptswing
724 000147 6D23(1) b0bset swingstatflag
725 000148 mov_ swinglowbuf,#250 ;set low level 10ms
726 000148 2DFA(1) mov a, #250
727 000149 1F2F(1) mov swinglowbuf, a
728 00014A mov_ swingbuf,swingloadbuf ;set high level
729 00014A 1E2B(1) mov a, swingloadbuf
730 00014B 1F27(1) mov swingbuf, a
731 00014C ;-----
732 00014C TC0INTR70:
733 00014C 262F(1+S) decms swinglowbuf
734 00014D 814F(2) jmp TC0INTR80
735 00014E 6523(1) b0bclr swingstatflag
736 00014F ;-----
737 00014F TC0INTR80:
738 00014F /*
739 00014F incms timer1000us
740 00014F nop
741 00014F mov a,timer1000us
742 00014F sub a,#5
743 00014F bts1 fc
744 00014F jmp TC0INTR10
745 00014F ;// bset t1000usflag
746 00014F clr timer1000us
747 00014F TC0INTR10:
748 00014F incms timer1800us
749 00014F nop
750 00014F mov a,timer1800us
751 00014F sub a,#8
752 00014F bts1 fc
753 00014F jmp TC0INTR20
754 00014F bset t1800usflag
755 00014F clr timer1800us
756 00014F TC0INTR20:
757 00014F incms timer18ms
758 00014F nop
759 00014F mov a,timer18ms
760 00014F sub a,#90
761 00014F bts1 fc
762 00014F jmp TC0INTR30
763 00014F bset t18msflag
764 00014F clr timer18ms
765 00014F TC0INTR30:
766 00014F incms timer5ms
767 00014F nop
768 00014F mov a,timer5ms
769 00014F sub a,#25
770 00014F bts1 fc
771 00014F jmp TC0INTR90
772 00014F bset t5msflag
773 00014F clr timer5ms
774 00014F bset t5msflag1
775 00014F bset t5msflag2
776 00014F bset t5msflag3
777 00014F bset t5msflag4
778 00014F */
779 00014F TC0INTR90:
780 00014F 65C8(1) b0bclr FTC0IRQ
781 000150 8113(2) jmp Interrupt90
782 000151 ;--------------------------------------------------------
783 000151 ;--------------------------------------------------------
784 000151 t0intr:
785 000151 815A(2) jmp t0intr90
786 000152 2D06(1) mov a,#6
787 000153 2214(1) sub a,levecount
788 000154 5286(1+S) bts0 fc
789 000155 8158(2) jmp t0intr10
790 000156 4D22(1) bset errorflag
791 000157 815A(2) jmp t0intr90
792 000158 t0intr10:
793 000158 1614(1+S) incms levecount
794 000159 0000(1) nop
795 00015A t0intr90:
796 00015A 44C8(1) bclr ft0irq
797 00015B 8113(2) jmp interrupt90
798 00015C ;--------------------------------------------------------
799 00015C ;--------------------------------------------------------
800 00015C P00INTR:
801 00015C 40C8(1) bclr fp00irq
802 00015D 81EB(2) jmp P00INTR90
803 00015E 47D8(1) bclr ft0enb
804 00015F 1ED9(1) mov a,t0c
805 000160 58D0(1+S) bts1 singleflag
806 000161 8164(2) jmp disasm100
807 000162 1F13(1) mov level,a ;上升沿进入
808 000163 8166(2) jmp disasm200
809 000164 disasm100:
810 000164 1F12(1) mov leveh,a ;下降沿进入
811 000165 8166(2) jmp disasm200
812 000166 disasm200:
813 000166 2BD9(1) clr t0c
814 000167 4FD8(1) bset ft0enb
815 000168 50D0(1+S) bts0 singleflag
816 000169 8176(2) jmp disasm220
817 00016A 816B(2) jmp disasm210
818 00016B disasm210:
819 00016B @p00_edge 1 ;下降沿进入，设为上升沿中断
820 00016B 2D08(1) MOV A,#00001000B
821 00016C 2FBF(1) B0MOV PEDGE,A
822 00016D 5722(1+S) bts0 firstflag
823 00016E 8181(2) jmp disasm221
824 00016F 1E14(1) mov a,levecount
825 000170 5086(1+S) bts0 fz
826 000171 81E6(2) jmp disasm80
827 000172 4F22(1) bset firstflag
828 000173 2B14(1) clr levecount
829 000174 2B09(1) clr inputcount
830 000175 81EB(2) jmp disasm90
831 000176 disasm220:
832 000176 @p00_edge 2 ;上升沿进入，设为下降沿中断
833 000176 2D10(1) MOV A,#00010000B
834 000177 2FBF(1) B0MOV PEDGE,A
835 000178 2D38(1) mov a,#56 ;448us=8x56
836 000179 2213(1) sub a,level
837 00017A 5286(1+S) bts0 fc
838 00017B 81E6(2) jmp disasm80 ;小于448us，出错
839 00017C 2D4B(1) mov a,#75 ;600us=8x75
840 00017D 2213(1) sub a,level
841 00017E 5286(1+S) bts0 fc
842 00017F 81EB(2) jmp disasm90 ;小于600us，返回
843 000180 81E6(2) jmp disasm80 ;大于600us，出错
844 000181
845 000181 disasm221:
846 000181 2B19(1) clr tablecount
847 000182 1609(1+S) incms inputcount
848 000183 0000(1) nop
849 000184 1E09(1) mov a,inputcount
850 000185 2405(1) sub a,#5
851 000186 5A86(1+S) bts1 fc
852 000187 8189(2) jmp chksignaltable
853 000188 81E6(2) jmp disasm80
854 000189 chksignaltable: ;查询控制信号的档位
855 000189 3401(1) b0mov y,#signaltable$m
856 00018A 33F9(1) b0mov z,#signaltable$l
857 00018B 1E19(1) mov a,tablecount
858 00018C 1383(1) add z,a
859 00018D 2D00(1) mov a,#0
860 00018E 1184(1) adc y,a
861 00018F 0D00(2) movc
862 000190 2212(1) sub a,leveh
863 000191 5286(1+S) bts0 fc
864 000192 8197(2) jmp chksignaltableend
865 000193 8194(2) jmp signaltableadd
866 000194 signaltableadd:
867 000194 1619(1+S) incms tablecount
868 000195 0000(1) nop
869 000196 8189(2) jmp chksignaltable
870 000197 chksignaltableend:
871 000197 1E19(1) mov a,tablecount
872 000198 5086(1+S) bts0 fz
873 000199 81E6(2) jmp disasm80 ;error
874 00019A 240B(1) sub a,#11
875 00019B 5286(1+S) bts0 fc
876 00019C 81E6(2) jmp disasm80 ;error
877 00019D 1E19(1) mov a,tablecount
878 00019E 1F08(1) mov gearbuf,a
879 00019F 1E09(1) mov a,inputcount
880 0001A0 @jmp_a 5
881 0001A0 13CE(1) add pcl, a
882 0001A1 81EB(2) jmp disasm90
883 0001A2 81A6(2) jmp gearwing
884 0001A3 81B6(2) jmp gearempennage
885 0001A4 81C6(2) jmp gearscrew
886 0001A5 81D6(2) jmp gearswing
887 0001A6 gearwing:
888 0001A6 1E08(1) mov a,gearbuf
889 0001A7 070A(1+S) cmprs a,wingbuf1
890 0001A8 81B2(2) jmp gearwing10
891 0001A9 160E(1+S) incms samebuf1
892 0001AA 0000(1) nop
893 0001AB 1E0E(1) mov a,samebuf1
894 0001AC 2405(1) sub a,samecontant
895 0001AD 5A86(1+S) bts1 fc
896 0001AE 81EB(2) jmp disasm90
897 0001AF 1E0A(1) mov a,wingbuf1
898 0001B0 1F24(1) mov wingbuf,a
899 0001B1 81EB(2) jmp disasm90
900 0001B2 gearwing10:
901 0001B2 1E08(1) mov a,gearbuf
902 0001B3 1F0A(1) mov wingbuf1,a
903 0001B4 2B0E(1) clr samebuf1
904 0001B5 81EB(2) jmp disasm90
905 0001B6 gearempennage:
906 0001B6 1E08(1) mov a,gearbuf
907 0001B7 070B(1+S) cmprs a,empennagebuf1
908 0001B8 81C2(2) jmp gearempennage10
909 0001B9 160F(1+S) incms samebuf2
910 0001BA 0000(1) nop
911 0001BB 1E0F(1) mov a,samebuf2
912 0001BC 2405(1) sub a,samecontant
913 0001BD 5A86(1+S) bts1 fc
914 0001BE 81EB(2) jmp disasm90
915 0001BF 1E0B(1) mov a,empennagebuf1
916 0001C0 1F25(1) mov empennagebuf,a
917 0001C1 81EB(2) jmp disasm90
918 0001C2 gearempennage10:
919 0001C2 1E08(1) mov a,gearbuf
920 0001C3 1F0B(1) mov empennagebuf1,a
921 0001C4 2B0F(1) clr samebuf2
922 0001C5 81EB(2) jmp disasm90
923 0001C6 gearscrew:
924 0001C6 1E08(1) mov a,gearbuf
925 0001C7 070C(1+S) cmprs a,screwbuf1
926 0001C8 81D2(2) jmp gearscrew10
927 0001C9 1610(1+S) incms samebuf3
928 0001CA 0000(1) nop
929 0001CB 1E10(1) mov a,samebuf3
930 0001CC 2405(1) sub a,samecontant
931 0001CD 5A86(1+S) bts1 fc
932 0001CE 81EB(2) jmp disasm90
933 0001CF 1E0C(1) mov a,screwbuf1
934 0001D0 1F26(1) mov screwbuf,a
935 0001D1 81EB(2) jmp disasm90
936 0001D2 gearscrew10:
937 0001D2 1E08(1) mov a,gearbuf
938 0001D3 1F0C(1) mov screwbuf1,a
939 0001D4 2B10(1) clr samebuf3
940 0001D5 81EB(2) jmp disasm90
941 0001D6 gearswing:
942 0001D6 1E08(1) mov a,gearbuf
943 0001D7 070D(1+S) cmprs a,swingbuf1
944 0001D8 81E2(2) jmp gearswing10
945 0001D9 1611(1+S) incms samebuf4
946 0001DA 0000(1) nop
947 0001DB 1E11(1) mov a,samebuf4
948 0001DC 2405(1) sub a,samecontant
949 0001DD 5A86(1+S) bts1 fc
950 0001DE 81EB(2) jmp disasm90
951 0001DF 1E0D(1) mov a,swingbuf1
952 0001E0 1F27(1) mov swingbuf,a
953 0001E1 81EB(2) jmp disasm90
954 0001E2 gearswing10:
955 0001E2 1E08(1) mov a,gearbuf
956 0001E3 1F0D(1) mov swingbuf1,a
957 0001E4 2B11(1) clr samebuf4
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