📄 main.lst
字号:
__text_start:
__start:
2A E5CF LDI R28,0x5F
2B E0D8 LDI R29,0x8
2C BFCD OUT 0x3D,R28
2D BFDE OUT 0x3E,R29
2E 51C0 SUBI R28,0x10
2F 40D0 SBCI R29,0
30 EA0A LDI R16,0xAA
31 8308 STD Y+0,R16
32 2400 CLR R0
33 E6E0 LDI R30,0x60
34 E0F0 LDI R31,0
35 E010 LDI R17,0
36 36E0 CPI R30,0x60
37 07F1 CPC R31,R17
38 F011 BEQ 0x003B
39 9201 ST R0,Z+
3A CFFB RJMP 0x0036
3B 8300 STD Z+0,R16
3C E5E4 LDI R30,0x54
3D E0F0 LDI R31,0
3E E6A0 LDI R26,0x60
3F E0B0 LDI R27,0
40 E010 LDI R17,0
41 E000 LDI R16,0
42 BF0B OUT 0x3B,R16
43 35E4 CPI R30,0x54
44 07F1 CPC R31,R17
45 F021 BEQ 0x004A
46 95C8 LPM
47 9631 ADIW R30,1
48 920D ST R0,X+
49 CFF9 RJMP 0x0043
4A 940E 00C6 CALL _main
_exit:
4C CFFF RJMP _exit
FILE: E:\avr\电机控制\电机控制\motor.c
(0001) /****************************************************************
(0002) ** 文件名：motor.c 电机驱动函数
(0003) ****************************************************************/
(0004) #include "config.h"
(0005)
(0006) /******************************************************************************/
(0007) //正转，速度
(0008) void for_ward(uint8 speed)
(0009) {
(0010) if(speed!=0)
_for_ward:
speed --> R16
4D 2300 TST R16
4E F021 BEQ 0x0053
(0011) {
(0012) OCR2 = speed;
4F BD03 OUT 0x23,R16
(0013) while(ASSR&(1<<TCR2UB)==1) ; //启动TC2 pwm 输出，异步操作需要等待 OCR2写入完毕
50 B422 IN R2,0x22
51 FC20 SBRC R2,0
52 CFFD RJMP 0x0050
(0014) }
(0015) TC2_EN; //pwm_start
53 B789 IN R24,0x39
54 6C80 ORI R24,0xC0
55 BF89 OUT 0x39,R24
(0016) moto_en1;
56 9A94 SBI 0x12,4
(0017) moto_uen2;
57 9895 CBI 0x12,5
58 9508 RET
(0018) }
(0019) /******************************************************************************/
(0020) //反转，速度
(0021) void back_ward(uint8 speed)
(0022) {
(0023) if(speed!=0)
_back_ward:
speed --> R16
59 2300 TST R16
5A F021 BEQ 0x005F
(0024) {
(0025) OCR2 = speed;
5B BD03 OUT 0x23,R16
(0026) while(ASSR&(1<<TCR2UB)==1) ;// 启动TC2 pwm 输出，异步操作需要等待OCR2写入完毕
5C B422 IN R2,0x22
5D FC20 SBRC R2,0
5E CFFD RJMP 0x005C
(0027) }
(0028) TC2_EN; //pwm start
5F B789 IN R24,0x39
60 6C80 ORI R24,0xC0
61 BF89 OUT 0x39,R24
(0029) moto_uen1;
62 9894 CBI 0x12,4
(0030) moto_en2;
63 9A95 SBI 0x12,5
64 9508 RET
(0031) }
(0032) /******************************************************************************/
(0033) //停止
(0034) void motor_stop(void)
(0035) {
(0036) moto_en1; //同时置一停止
_motor_stop:
65 9A94 SBI 0x12,4
(0037) moto_en2;
66 9A95 SBI 0x12,5
(0038) TC2_DIS; //pwm stop
67 B789 IN R24,0x39
68 778F ANDI R24,0x7F
69 BF89 OUT 0x39,R24
6A 9508 RET
(0039) }
(0040) /******************************************************************************/
(0041)
(0042) //加速
(0043) void speed_add(uint8 add)
(0044) {
(0045) if(OCR2 + add < 240) //防止出现极大情况时候跳跃到很小。
_speed_add:
add --> R16
6B B583 IN R24,0x23
6C 0F80 ADD R24,R16
6D 3F80 CPI R24,0xF0
6E F418 BCC 0x0072
(0046) {
(0047) OCR2 = OCR2 + add;
6F B423 IN R2,0x23
70 0E20 ADD R2,R16
71 BC23 OUT 0x23,R2
(0048) }
72 9508 RET
(0049) }
(0050) /******************************************************************************/
(0051)
(0052) //加速
(0053) void speed_subtract(uint8 subtract)
(0054) {
(0055) if(OCR2 - subtract > 10) //防止到很小之后跳跃到很大。
_speed_subtract:
subtract --> R16
73 B423 IN R2,0x23
74 1A20 SUB R2,R16
75 E08A LDI R24,0xA
76 1582 CP R24,R2
77 F418 BCC 0x007B
(0056) {
(0057) OCR2 = OCR2 - subtract;
78 B423 IN R2,0x23
79 1A20 SUB R2,R16
7A BC23 OUT 0x23,R2
(0058) }
7B 9508 RET
FILE: E:\avr\电机控制\电机控制\device_init.c
(0001) //ICC-AVR application builder : 2006-11-1 0:27:10
(0002) // Target : M32
(0003) // Crystal: 7.3728Mhz
(0004) //文件名：device_init.c 各种参数初始化
(0005) #include "config.h"
(0006)
(0007) void port_init(void)
(0008) {
(0009) PORTA = 0x00;
_port_init:
7C 2422 CLR R2
7D BA2B OUT 0x1B,R2
(0010) DDRA = 0x00;
7E BA2A OUT 0x1A,R2
(0011) PORTB = 0x00;
7F BA28 OUT 0x18,R2
(0012) DDRB = 0x00;
80 BA27 OUT 0x17,R2
(0013) PORTC = 0x00;
81 BA25 OUT 0x15,R2
(0014) DDRC = 0x00;
82 BA24 OUT 0x14,R2
(0015) PORTD = 0x00;
83 BA22 OUT 0x12,R2
(0016) DDRD = 0xB0; // D7 PWM //参考芯片手册
84 EB80 LDI R24,0xB0
85 BB81 OUT 0x11,R24
86 9508 RET
(0017) }
(0018)
(0019) /**************************采用timer2 产生波形***********************/
(0020) // PWM频率 = 系统时钟频率/（分频系数*2*计数器上限值））
(0021) void timer2_init(void)
(0022) {
(0023) TCCR2 = 0x00; //stop
_timer2_init:
87 2422 CLR R2
88 BC25 OUT 0x25,R2
(0024) TCNT2= 0x01; //set count
89 E081 LDI R24,1
8A BD84 OUT 0x24,R24
(0025) OCR2 = 0x66; //set compare
8B E686 LDI R24,0x66
8C BD83 OUT 0x23,R24
(0026) TCCR2 = (1<<WGM20)|(1<<WGM21)|(1<<COM21)|0x06; // start timer 快速pwm模式，匹配清零，溢出置位 256分频
8D E68E LDI R24,0x6E
8E BD85 OUT 0x25,R24
8F 9508 RET
(0027) //占空比＝高比低为：(OCR2-0X01)/(0XFF-OCR2) OX01++++++(OCR2)__________OXFF (+表示输出高，_表示输出低)
(0028) //即OCR2越大，输出越大
(0029) }
(0030)
(0031) //call this routine to initialize all peripherals
(0032) void init_devices(void)
(0033) {
(0034) //stop errant interrupts until set up
(0035) CLI(); //disable all interrupts
_init_devices:
90 94F8 BCLR 7
(0036) port_init();
91 DFEA RCALL _port_init
(0037) timer2_init();
92 DFF4 RCALL _timer2_init
(0038) TIMSK = 0x00; //timer interrupt sources
93 2422 CLR R2
94 BE29 OUT 0x39,R2
(0039) SEI(); //re-enable interrupts
95 9478 BSET 7
96 9508 RET
_Delay100us:
i --> R20
x --> R16
97 934A ST R20,-Y
FILE: E:\avr\电机控制\电机控制\delay.c
(0001) // 文件名 delay.c 延时
(0002)
(0003) #include "config.h"
(0004) /***************************************************************************
(0005) 延时 M32 7.3728M 粗略计算
(0006) */
(0007) void Delay100us(uint8 x)
(0008) {
(0009) uint8 i; //4clock
(0010) for(i=147;x!=0;x--)
98 E943 LDI R20,0x93
99 C006 RJMP 0x00A0
(0011) while(--i); //5 * i clock
9A 2F84 MOV R24,R20
9B 5081 SUBI R24,1
9C 2F48 MOV R20,R24
9D 2388 TST R24
9E F7D9 BNE 0x009A
9F 950A DEC R16
A0 2300 TST R16
A1 F7C1 BNE 0x009A
A2 9149 LD R20,Y+
A3 9508 RET
_Delay1ms:
n --> R20
A4 934A ST R20,-Y
A5 935A ST R21,-Y
A6 01A8 MOVW R20,R16
(0012) }
(0013) void Delay1ms(uint16 n)
(0014) {
(0015) for (;n!=0;n--){
A7 C004 RJMP 0x00AC
(0016) Delay100us(10);
A8 E00A LDI R16,0xA
A9 DFED RCALL _Delay100us
AA 5041 SUBI R20,1
AB 4050 SBCI R21,0
AC 3040 CPI R20,0
AD 0745 CPC R20,R21
AE F7C9 BNE 0x00A8
AF 9159 LD R21,Y+
B0 9149 LD R20,Y+
B1 9508 RET
_Delay1s:
m --> R20
B2 934A ST R20,-Y
B3 935A ST R21,-Y
B4 01A8 MOVW R20,R16
(0017) }
(0018) }
(0019) void Delay1s(uint16 m) // m <= 6 ,when m==7, it is 1.
(0020) {
(0021) m=m*40;
B5 E208 LDI R16,0x28
B6 E010 LDI R17,0
B7 019A MOVW R18,R20
B8 940E 00F7 CALL empy16s
BA 01A8 MOVW R20,R16
(0022) for (;m!=0;m--){
BB C004 RJMP 0x00C0
(0023) Delay100us(250);
BC EF0A LDI R16,0xFA
BD DFD9 RCALL _Delay100us
BE 5041 SUBI R20,1
BF 4050 SBCI R21,0
C0 3040 CPI R20,0
C1 0745 CPC R20,R21
C2 F7C9 BNE 0x00BC
C3 9159 LD R21,Y+
C4 9149 LD R20,Y+
C5 9508 RET
FILE: E:\avr\电机控制\电机控制\main.c
(0001) //文件名 main.c 工程主文件
(0002)
(0003) #include "config.h"
(0004)
(0005)
(0006) void main(void)
(0007) {
(0008)
(0009) /******************************************************************************/
(0010) //初始工作
(0011) /******************************************************************************/
(0012) init_devices();
_main:
C6 940E 0090 CALL _init_devices
C8 C022 RJMP 0x00EB
(0013)
(0014) while(1)
(0015) {
(0016) for_ward(0); //默认速度运转 正
C9 2700 CLR R16
CA 940E 004D CALL _for_ward
(0017) Delay1s(5); //延时5s
CC E005 LDI R16,5
CD E010 LDI R17,0
CE 940E 00B2 CALL _Delay1s
(0018) motor_stop(); //停止
D0 940E 0065 CALL _motor_stop
(0019) Delay1s(5); //延时5s
D2 E005 LDI R16,5
D3 E010 LDI R17,0
D4 940E 00B2 CALL _Delay1s
(0020) back_ward(0); //默认速度运转 反
D6 2700 CLR R16
D7 940E 0059 CALL _back_ward
(0021) Delay1s(5); //延时5s
D9 E005 LDI R16,5
DA E010 LDI R17,0
DB 940E 00B2 CALL _Delay1s
(0022) speed_add(20); //加速
DD E104 LDI R16,0x14
DE 940E 006B CALL _speed_add
(0023) Delay1s(5); //延时5s
E0 E005 LDI R16,5
E1 E010 LDI R17,0
E2 940E 00B2 CALL _Delay1s
(0024) speed_subtract(20); //减速
E4 E104 LDI R16,0x14
E5 940E 0073 CALL _speed_subtract
(0025) Delay1s(5); //延时5s
E7 E005 LDI R16,5
E8 E010 LDI R17,0
E9 940E 00B2 CALL _Delay1s
EB CFDD RJMP 0x00C9
EC 9508 RET
(0026) }
(0027)
(0028) }
(0029)
(0030) /******************************************************************************/
(0031) // T2 控制PWM输出
(0032) // timer2_comp_isr不需要用，但是必须允许中断，在中断时有信号输出变化
(0033) /******************************************************************************/
(0034)
(0035) #pragma interrupt_handler timer2_comp_isr:5
(0036) void timer2_comp_isr(void)
(0037) {
_timer2_comp_isr:
ED 9518 RETI
_timer2_ovf_isr:
EE 938A ST R24,-Y
EF B78F IN R24,0x3F
F0 938A ST R24,-Y
(0038) //compare occured TCNT0=OCR0
(0039) }
(0040) #pragma interrupt_handler timer2_ovf_isr:6
(0041) void timer2_ovf_isr(void)
(0042) {
(0043) TCNT2 = 0x01;//reload counter value
FILE: <library>
F1 E081 LDI R24,1
F2 BD84 OUT 0x24,R24
F3 9189 LD R24,Y+
F4 BF8F OUT 0x3F,R24
F5 9189 LD R24,Y+
F6 9518 RETI
empy16s:
F7 920A ST R0,-Y
F8 921A ST R1,-Y
F9 938A ST R24,-Y
FA 939A ST R25,-Y
FB 9F02 MUL R16,R18
FC 01C0 MOVW R24,R0
FD 9F12 MUL R17,R18
FE 0D90 ADD R25,R0
FF 9F03 MUL R16,R19
100 0D90 ADD R25,R0
101 018C MOVW R16,R24
102 9199 LD R25,Y+
103 9189 LD R24,Y+
104 9019 LD R1,Y+
105 9009 LD R0,Y+
106 9508 RET
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