📄 motor.lst
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(0084) Data[5]=temp1;
0190 9340007C STS 0x7C,R20
(0085) Data[6]=y>>8;
0192 2C2C MOV R2,R12
0193 2C3D MOV R3,R13
0194 2C23 MOV R2,R3
0195 2433 CLR R3
0196 FC27 SBRC R2,7
0197 9430 COM R3
0198 9220007D STS 0x7D,R2
(0086) Data[7]=y;
019A 92C0007E STS 0x7E,R12
(0087) Putdata(Data);}
019C E707 LDI R16,0x77
019D E010 LDI R17,0
019E DEA1 RCALL _Putdata
(0088) temp1=temp1+z;
019F 2E24 MOV R2,R20
01A0 2433 CLR R3
01A1 880C LDD R0,Y+20
01A2 881D LDD R1,Y+21
01A3 0C20 ADD R2,R0
01A4 1C31 ADC R3,R1
01A5 2D42 MOV R20,R2
(0089) if(temp1<=0) //结果小于0时输出0
01A6 2422 CLR R2
01A7 1624 CP R2,R20
01A8 F008 BCS 0x01AA
(0090) temp1 = 0x00;
01A9 2744 CLR R20
(0091) if(temp1>=0xF0) //结果大于0xF0时输出0xF0
01AA 3F40 CPI R20,0xF0
01AB F008 BCS 0x01AD
(0092) temp1 = 0xF0;
01AC EF40 LDI R20,0xF0
(0093) OCR2=temp1;
01AD BD43 OUT 0x23,R20
(0094) Ek_2 = Ek_1;
01AE 90200062 LDS R2,0x62
01B0 90300063 LDS R3,0x63
01B2 92300065 STS 0x65,R3
01B4 92200064 STS 0x64,R2
(0095) Ek_1 = Ek;
01B6 90200060 LDS R2,0x60
01B8 90300061 LDS R3,0x61
01BA 92300063 STS 0x63,R3
01BC 92200062 STS 0x62,R2
(0096) TCNT1 = 0x0000; //计数器清零
01BE 2422 CLR R2
01BF 2433 CLR R3
01C0 BC3D OUT 0x2D,R3
01C1 BC2C OUT 0x2C,R2
(0097) }
01C2 9666 ADIW R28,0x16
01C3 D1B1 RCALL pop_gset5
01C4 9508 RET
(0098)
(0099) //***************************串口初始化函数************************//
(0100) void USARTInit(int baudrate)
(0101) {UCR = (1<<TXEN)|(1<<RXCIE)|(1<<RXEN); //设置收发使能,接受中断允许
_USARTInit:
baudrate --> R16
01C5 E988 LDI R24,0x98
01C6 B98A OUT 0x0A,R24
(0102) UBRR = baudrate; //设置波特率寄存器
01C7 B909 OUT 0x09,R16
(0103) }
01C8 9508 RET
_Eepromdata:
01C9 9722 SBIW R28,2
(0104)
(0105) //***************************读EEPROM函数**************************//
(0106) void Eepromdata(void)
(0107) {if((adress==0x0000)||(adress==0x0004)||(adress==0x0008)) //地址判断
01CA 90200075 LDS R2,_adress
01CC 90300076 LDS R3,_adress+1
01CE 2022 TST R2
01CF F411 BNE 0x01D2
01D0 2033 TST R3
01D1 F061 BEQ 0x01DE
01D2 91800075 LDS R24,_adress
01D4 91900076 LDS R25,_adress+1
01D6 3084 CPI R24,4
01D7 E0E0 LDI R30,0
01D8 079E CPC R25,R30
01D9 F021 BEQ 0x01DE
01DA 3088 CPI R24,0x8
01DB E0E0 LDI R30,0
01DC 079E CPC R25,R30
01DD F461 BNE 0x01EA
(0108) EEPROMReadBytes(adress,&Data[4],4);
01DE E084 LDI R24,4
01DF E090 LDI R25,0
01E0 8399 STD Y+1,R25
01E1 8388 STD Y+0,R24
01E2 E72B LDI R18,0x7B
01E3 E030 LDI R19,0
01E4 91000075 LDS R16,_adress
01E6 91100076 LDS R17,_adress+1
01E8 D212 RCALL _EEPROMReadBytes
01E9 C00B RJMP 0x01F5
(0109) else
(0110) EEPROMReadBytes(adress,&Data[6],2);
01EA E082 LDI R24,2
01EB E090 LDI R25,0
01EC 8399 STD Y+1,R25
01ED 8388 STD Y+0,R24
01EE E72D LDI R18,0x7D
01EF E030 LDI R19,0
01F0 91000075 LDS R16,_adress
01F2 91100076 LDS R17,_adress+1
01F4 D206 RCALL _EEPROMReadBytes
(0111) switch(adress)
01F5 91800075 LDS R24,_adress
01F7 91900076 LDS R25,_adress+1
01F9 3084 CPI R24,4
01FA E0E0 LDI R30,0
01FB 079E CPC R25,R30
01FC F199 BEQ 0x0230
01FD E084 LDI R24,4
01FE E090 LDI R25,0
01FF 90200075 LDS R2,_adress
0201 90300076 LDS R3,_adress+1
0203 1582 CP R24,R2
0204 0593 CPC R25,R3
0205 F04C BLT 0x020F
0206 90200075 LDS R2,_adress
0208 90300076 LDS R3,_adress+1
020A 2022 TST R2
020B F411 BNE 0x020E
020C 2033 TST R3
020D F0F1 BEQ 0x022C
020E C034 RJMP 0x0243
020F 91800075 LDS R24,_adress
0211 91900076 LDS R25,_adress+1
0213 3088 CPI R24,0x8
0214 E0E0 LDI R30,0
0215 079E CPC R25,R30
0216 F0E9 BEQ 0x0234
0217 3088 CPI R24,0x8
0218 E0E0 LDI R30,0
0219 079E CPC R25,R30
021A F144 BLT 0x0243
021B 91800075 LDS R24,_adress
021D 91900076 LDS R25,_adress+1
021F 308C CPI R24,0xC
0220 E0E0 LDI R30,0
0221 079E CPC R25,R30
0222 F0A9 BEQ 0x0238
0223 308E CPI R24,0xE
0224 E0E0 LDI R30,0
0225 079E CPC R25,R30
0226 F0A9 BEQ 0x023C
0227 3180 CPI R24,0x10
0228 E0E0 LDI R30,0
0229 079E CPC R25,R30
022A F0A9 BEQ 0x0240
022B C017 RJMP 0x0243
(0112) {case 0x0000:Data[3]=0xE4;break;
022C EE84 LDI R24,0xE4
022D 9380007A STS _Data+3,R24
022F C013 RJMP 0x0243
(0113) case 0x0004:Data[3]=0xE5;break;
0230 EE85 LDI R24,0xE5
0231 9380007A STS _Data+3,R24
0233 C00F RJMP 0x0243
(0114) case 0x0008:Data[3]=0xE6;break;
0234 EE86 LDI R24,0xE6
0235 9380007A STS _Data+3,R24
0237 C00B RJMP 0x0243
(0115) case 0x000C:Data[3]=0xE7;break;
0238 EE87 LDI R24,0xE7
0239 9380007A STS _Data+3,R24
023B C007 RJMP 0x0243
(0116) case 0x000E:Data[3]=0xE8;break;
023C EE88 LDI R24,0xE8
023D 9380007A STS _Data+3,R24
023F C003 RJMP 0x0243
(0117) case 0x0010:Data[3]=0xE9;break;
0240 EE89 LDI R24,0xE9
0241 9380007A STS _Data+3,R24
(0118) default :break;}
(0119) }
0243 9622 ADIW R28,2
0244 9508 RET
_readdata:
tempdata --> R22
trandata --> R20
data --> R20
0245 D148 RCALL push_gset2
0246 2F40 MOV R20,R16
(0120)
(0121) //***************************读数据函数****************************//
(0122) void readdata(char data)
(0123) {int trandata;
(0124) char tempdata;
(0125) if(data==0xE)
0247 304E CPI R20,0xE
0248 F411 BNE 0x024B
(0126) Eepromdata();
0249 DF7F RCALL _Eepromdata
024A C023 RJMP 0x026E
(0127) else
(0128) {switch(data)
024B 2755 CLR R21
024C 3041 CPI R20,1
024D E0E0 LDI R30,0
024E 075E CPC R21,R30
024F F049 BEQ 0x0259
0250 3042 CPI R20,2
0251 E0E0 LDI R30,0
0252 075E CPC R21,R30
0253 F041 BEQ 0x025C
0254 3043 CPI R20,3
0255 E0E0 LDI R30,0
0256 075E CPC R21,R30
0257 F049 BEQ 0x0261
0258 C00B RJMP 0x0264
(0129) {case 1:trandata=TCNT1;break; //读TCNT1
0259 B54C IN R20,0x2C
025A B55D IN R21,0x2D
025B C008 RJMP 0x0264
(0130) case 2:trandata=(int)(tempdata=TCNT0);break;//读TCNT0
025C B622 IN R2,0x32
025D 2D62 MOV R22,R2
025E 2D42 MOV R20,R2
025F 2755 CLR R21
0260 C003 RJMP 0x0264
(0131) case 3:trandata=GetOutputADC();break;//读A/D转换结果
0261 DDF2 RCALL _GetOutputADC
0262 2F40 MOV R20,R16
0263 2F51 MOV R21,R17
(0132) default :break;}
(0133) Data[6]=(char)trandata;//数据低八位
0264 9340007D STS 0x7D,R20
(0134) Data[7]=(char)(trandata>>8);//数据高八位
0266 2E24 MOV R2,R20
0267 2E35 MOV R3,R21
0268 2C23 MOV R2,R3
0269 2433 CLR R3
026A FC27 SBRC R2,7
026B 9430 COM R3
026C 9220007E STS 0x7E,R2
(0135) }
(0136) Putdata(Data);
026E E707 LDI R16,0x77
026F E010 LDI R17,0
0270 DDCF RCALL _Putdata
(0137) }
0271 D0FF RCALL pop_gset2
0272 9508 RET
_order:
0273 D103 RCALL push_gset1
(0138)
(0139) //***************************命令函数******************************//
(0140) void order(void)
(0141) {switch (Data[4])
0274 9140007B LDS R20,0x7B
0276 2755 CLR R21
0277 3C40 CPI R20,0xC0
0278 E0E0 LDI R30,0
0279 075E CPC R21,R30
027A F109 BEQ 0x029C
027B 3C41 CPI R20,0xC1
027C E0E0 LDI R30,0
027D 075E CPC R21,R30
027E F0F9 BEQ 0x029E
027F 3C42 CPI R20,0xC2
0280 E0E0 LDI R30,0
0281 075E CPC R21,R30
0282 F0F9 BEQ 0x02A2
0283 3C43 CPI R20,0xC3
0284 E0E0 LDI R30,0
0285 075E CPC R21,R30
0286 F121 BEQ 0x02AB
0287 3C44 CPI R20,0xC4
0288 E0E0 LDI R30,0
0289 075E CPC R21,R30
028A F149 BEQ 0x02B4
028B 3C45 CPI R20,0xC5
028C E0E0 LDI R30,0
028D 075E CPC R21,R30
028E F139 BEQ 0x02B6
028F 3C46 CPI R20,0xC6
0290 E0E0 LDI R30,0
0291 075E CPC R21,R30
0292 F129 BEQ 0x02B8
0293 3C48 CPI R20,0xC8
0294 E0E0 LDI R30,0
0295 075E CPC R21,R30
0296 F141 BEQ 0x02BF
0297 3C49 CPI R20,0xC9
0298 E0E0 LDI R30,0
0299 075E CPC R21,R30
029A F141 BEQ 0x02C3
029B C02A RJMP 0x02C6
(0142) {case 0xC0:PORTB=PORTB|0x04;break; //停止
029C 9AC2 SBI 0x18,2
029D C028 RJMP 0x02C6
(0143) case 0xC1:PORTB=PORTB&0xFB;break; //启动
029E B388 IN R24,0x18
029F 7F8B ANDI R24,0xFB
02A0 BB88 OUT 0x18,R24
02A1 C024 RJMP 0x02C6
(0144) case 0xC2: //正转
(0145) {PORTB=PORTB&0xFC|0x02;
02A2 B388 IN R24,0x18
02A3 7F8C ANDI R24,0xFC
02A4 6082 ORI R24,2
02A5 BB88 OUT 0x18,R24
(0146) PORTD=PORTD&0x3F|0x40;
02A6 B382 IN R24,0x12
02A7 738F ANDI R24,0x3F
02A8 6480 ORI R24,0x40
02A9 BB82 OUT 0x12,R24
(0147) break;}
02AA C01B RJMP 0x02C6
(0148) case 0xC3: //反转
(0149) {PORTB=PORTB&0xFC|0x01;
02AB B388 IN R24,0x18
02AC 7F8C ANDI R24,0xFC
02AD 6081 ORI R24,1
02AE BB88 OUT 0x18,R24
(0150) PORTD=PORTD&0x3F|0x80;
02AF B382 IN R24,0x12
02B0 738F ANDI R24,0x3F
02B1 6880 ORI R24,0x80
02B2 BB82 OUT 0x12,R24
(0151) break;}
02B3 C012 RJMP 0x02C6
(0152) case 0xC4:Upspeed();break; //加速
02B4 DDA8 RCALL _Upspeed
02B5 C010 RJMP 0x02C6
(0153) case 0xC5:Downspeed();break; //减速
02B6 DDC9 RCALL _Downspeed
02B7 C00E RJMP 0x02C6
(0154) case 0xC6: //制动
(0155) {PORTB=PORTB|0x03;
02B8 B388 IN R24,0x18
02B9 6083 ORI R24,3
02BA BB88 OUT 0x18,R24
(0156) PORTD=PORTD&0x3F;
02BB B382 IN R24,0x12
02BC 738F ANDI R24,0x3F
02BD BB82 OUT 0x12,R24
(0157) break;}
02BE C007 RJMP 0x02C6
(0158) case 0xC8:flage=1;break; //监控
02BF E081 LDI R24,1
02C0 93800066 STS 0x66,R24
02C2 C003 RJMP 0x02C6
(0159) case 0xC9:flage=0;break; //退出监控
02C3 2422 CLR R2
02C4 92200066 STS 0x66,R2
(0160) default :break;
(0161) }
(0162) }
02C6 D0B3 RCALL pop_gset1
02C7 9508 RET
_Datadisposal:
operation --> R20
temp --> R22
02C8 D0C5 RCALL push_gset2
02C9 9722 SBIW R28,2
(0163)
(0164)
(0165) //***************************数据处理函数**************************//
(0166) void Datadisposal(void)
(0167) {char operation;
(0168) int temp;
(0169) operation=Data[3];
02CA 9140007A LDS R20,_Data+3
(0170) temp=Data[4];
02CC 9160007B LDS R22,0x7B
02CE 2777 CLR R23
(0171) temp=temp<<8;
02CF 2F76 MOV R23,R22
02D0 2766 CLR R22
(0172) adress=temp+Data[5];
02D1 9020007C LDS R2,0x7C
02D3 2433 CLR R3
02D4 2E46 MOV R4,R22
02D5 2E57 MOV R5,R23
02D6 0C42 ADD R4,R2
02D7 1C53 ADC R5,R3
02D8 92500076 STS _adress+1,R5
02DA 92400075 STS _adress,R4
(0173) switch(operation&0x0F)
02DC 2F64 MOV R22,R20
02DD 2777 CLR R23
02DE 706F ANDI R22,0xF
02DF 7070 ANDI R23,0
02E0 3060 CPI R22,0
02E1 0767 CPC R22,R23
02E2 F049 BEQ 0x02EC
02E3 3061 CPI R22,1
02E4 E0E0 LDI R30,0
02E5 077E CPC R23,R30
02E6 F051 BEQ 0x02F1
02E7 3062 CPI R22,2
02E8 E0E0 LDI R30,0
02E9 077E CPC R23,R30
02EA F091 BEQ 0x02FD
02EB C012 RJMP 0x02FE
(0174) {case 0:readdata(operation>>4);break;
02EC 2F04 MOV R16,R20
02ED 9502 SWAP R16
02EE 700F ANDI R16,0xF
02EF DF55 RCALL _readdata
02F0 C00D RJMP 0x02FE
(0175) case 1:EEPROMWriteBytes(adress,&Data[6],2);break;
02F1 E082 LDI R24,2
02F2 E090 LDI R25,0
02F3 8399 STD Y+1,R25
02F4 8388 STD Y+0,R24
02F5 E72D LDI R18,0x7D
02F6 E030 LDI R19,0
02F7 91000075 LDS R16,_adress
02F9 91100076 LDS R17,_adress+1
02FB D120 RCALL _EEPROMWriteBytes
02FC C001 RJMP 0x02FE
(0176) case 2:order();break;
02FD DF75 RCALL _order
(0177) default :break;
(0178) }
(0179) }
02FE 9622 ADIW R28,2
02FF D071 RCALL pop_gset2
0300 9508 RET
(0180)
(0181) //***************************主函数********************************//
(0182) void main()
(0183) {USARTInit(25); //初始化串口
_main:
0301 E109 LDI R16,0x19
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