main.s

一款挂面机的自动化控制源程序

	.dbline 196
	clr R2
	out 0x2e,R2
	.dbline 197
	out 0x2d,R2
	.dbline 198
	out 0x2c,R2
	.dbline 199
	out 0x2b,R2
	.dbline 200
	out 0x2a,R2
	.dbline 201
	out 0x29,R2
	.dbline 202
;  OCR1BL = 0x00 /*INVALID SETTING*/;
	out 0x28,R2
	.dbline 205
;  //OCR1CH = $OCR1CH$;
;  //OCR1CL = $OCR1CL$;
;  ICR1H  = 0x00 /*INVALID SETTING*/;
	out 0x27,R2
	.dbline 206
;  ICR1L  = 0x00 /*INVALID SETTING*/;
	out 0x26,R2
	.dbline 207
;  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 208
;  TCCR1B = 0x02; //start Timer
	ldi R24,2
	out 0x2e,R24
	.dbline -2
L146:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 32
	jmp _timer1_ovf_isr
	.area text(rom, con, rel)
	.dbfile D:\gmj_1\main.c
	.dbfunc e timer1_ovf_isr _timer1_ovf_isr fV
;      avg_speed -> R12,R13
;      time1_jsq -> R10,R11
;              i -> R12
	.even
_timer1_ovf_isr::
	st -y,R0
	st -y,R1
	st -y,R2
	st -y,R3
	st -y,R4
	st -y,R5
	st -y,R6
	st -y,R7
	st -y,R8
	st -y,R9
	st -y,R16
	st -y,R17
	st -y,R18
	st -y,R19
	st -y,R24
	st -y,R25
	st -y,R30
	st -y,R31
	in R0,0x3f
	st -y,R0
	xcall push_gset5
	sbiw R28,4
	.dbline -1
	.dbline 213
; }
; 
; #pragma interrupt_handler timer1_ovf_isr:9
; void timer1_ovf_isr(void)  //步进电机控制
; {
	.dbline 217
;  unsigned char i;  //循环变量
;  unsigned int time1_jsq;   //time1的时间值
;  unsigned int avg_speed;   //平均速度
;  if (M_state==0)   //停止状态
	lds R2,_M_state
	tst R2
	brne L148
	.dbline 218
;     {
	.dbline 219
; 	return;
	xjmp L147
L148:
	.dbline 222
; 	}
;  //TIMER1 has overflowed
; TCNT1 = tmp_t1;   //计数器赋初值
	lds R2,_tmp_t1
	lds R3,_tmp_t1+1
	out 0x2d,R3
	out 0x2c,R2
	.dbline 223
; PORTC |=0b10000000;      //给出步进电机驱动脉冲
	sbi 0x15,7
	.dbline 224
	clr R12
	xjmp L153
L150:
	.dbline 224
L151:
	.dbline 224
	inc R12
L153:
	.dbline 224
; for (i=0;i<5;i++);
	mov R24,R12
	cpi R24,5
	brlo L150
	.dbline 225
; PORTC &=0b01111111; 
	in R24,0x15
	andi R24,127
	out 0x15,R24
	.dbline 226
; step_num++;     //计步加一
	lds R24,_step_num
	lds R25,_step_num+1
	adiw R24,1
	sts _step_num+1,R25
	sts _step_num,R24
	.dbline 227
; time1_jsq=65535-tmp_t1+1;;
	lds R2,_tmp_t1
	lds R3,_tmp_t1+1
	ldi R24,65535
	ldi R25,255
	sub R24,R2
	sbc R25,R3
	adiw R24,1
	movw R10,R24
	.dbline 227
	.dbline 228
;  switch (M_state)
	lds R14,_M_state
	clr R15
	movw R24,R14
	cpi R24,1
	ldi R30,0
	cpc R25,R30
	breq L157
	cpi R24,2
	ldi R30,0
	cpc R25,R30
	brne X20
	xjmp L160
X20:
	cpi R24,3
	ldi R30,0
	cpc R25,R30
	brne X21
	xjmp L169
X21:
	cpi R24,4
	ldi R30,0
	cpc R25,R30
	brne X22
	xjmp L169
X22:
	cpi R24,5
	ldi R30,0
	cpc R25,R30
	brne X23
	xjmp L181
X23:
	cpi R24,6
	ldi R30,0
	cpc R25,R30
	brne X24
	xjmp L185
X24:
	cpi R24,7
	ldi R30,0
	cpc R25,R30
	brne X25
	xjmp L190
X25:
	cpi R24,8
	ldi R30,0
	cpc R25,R30
	brne X26
	xjmp L191
X26:
	xjmp L154
X17:
	.dbline 229
;     {
L157:
	.dbline 231
;     case 1:      //启动状态
; 	   {
	.dbline 232
; 	   qidong_num++;
	lds R24,_qidong_num
	subi R24,255    ; addi 1
	sts _qidong_num,R24
	.dbline 233
;        tmp_t1=64536;
	ldi R24,64536
	ldi R25,252
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 234
; 	   if (qidong_num>160)
	ldi R24,160
	lds R2,_qidong_num
	cp R24,R2
	brlo X27
	xjmp L155
X27:
	.dbline 235
; 	      {
	.dbline 236
; 		  M_state=3;    //结束启动状态，转入加速状态
	ldi R24,3
	sts _M_state,R24
	.dbline 237
; 		  }
	.dbline 238
; 	   } break;
	.dbline 238
	xjmp L155
L160:
	.dbline 240
; 	case 2:       //减速至停转
; 	   {
	.dbline 241
; 	   if (time1_jsq<1000) time1_jsq++;
	movw R24,R10
	cpi R24,232
	ldi R30,3
	cpc R25,R30
	brsh L161
	.dbline 241
	adiw R24,1
	movw R10,R24
L161:
	.dbline 242
; 	   tmp_t1=65535-time1_jsq+1;
	ldi R24,65535
	ldi R25,255
	sub R24,R10
	sbc R25,R11
	adiw R24,1
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 243
; 	   if (dec_speed_bz==1)
	lds R24,_dec_speed_bz
	cpi R24,1
	brne L163
	.dbline 244
; 	      {
	.dbline 245
; 		  dec_speed_bz=0;
	clr R2
	sts _dec_speed_bz,R2
	.dbline 246
	ldi R24,3000
	ldi R25,11
	lds R2,_step_num
	lds R3,_step_num+1
	cp R24,R2
	cpc R25,R3
	brsh L165
	.dbline 246
	ldi R24,8000
	ldi R25,31
	sub R24,R2
	sbc R25,R3
	sts _dec_speed_num+1,R25
	sts _dec_speed_num,R24
	xjmp L166
L165:
	.dbline 246
; 		  if (step_num>(M_ZHUANBI*3/4)) dec_speed_num=2*M_ZHUANBI-step_num; else dec_speed_num=M_ZHUANBI-step_num;
	lds R2,_step_num
	lds R3,_step_num+1
	ldi R24,4000
	ldi R25,15
	sub R24,R2
	sbc R25,R3
	sts _dec_speed_num+1,R25
	sts _dec_speed_num,R24
L166:
	.dbline 247
; 		  }
L163:
	.dbline 248
; 	   dec_speed_num--;
	lds R24,_dec_speed_num
	lds R25,_dec_speed_num+1
	sbiw R24,1
	sts _dec_speed_num+1,R25
	sts _dec_speed_num,R24
	.dbline 249
; 	   if (dec_speed_num==0) M_state=0;
	cpi R24,0
	cpc R24,R25
	breq X28
	xjmp L155
X28:
X18:
	.dbline 249
	clr R2
	sts _M_state,R2
	.dbline 250
; 	   } break;
	.dbline 250
	xjmp L155
L169:
	.dbline 253
; 	case 3:     //加速至随动
; 	case 4:     //减速至随动
; 	   {
	.dbline 254
; 	   avg_speed=(unsigned int)((juli/(1000-step_num))/P_speed+0.5);
	lds R2,_step_num
	lds R3,_step_num+1
	ldi R24,1000
	ldi R25,3
	sub R24,R2
	sbc R25,R3
	movw R2,R24
	lds R6,_juli+2
	lds R7,_juli+2+1
	lds R4,_juli
	lds R5,_juli+1
	st -y,R7
	st -y,R6
	st -y,R5
	st -y,R4
	ldi R16,<L172
	ldi R17,>L172
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	movw R16,R2
	lsr R17
	ror R16
	xcall int2fp
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall empy32fs
	movw R16,R2
	andi R16,1
	andi R17,0
	xcall int2fp
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall add32fs
	xcall div32fs
	lds R4,_P_speed+2
	lds R5,_P_speed+2+1
	lds R2,_P_speed
	lds R3,_P_speed+1
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	xcall div32fs
	ldi R16,<L173
	ldi R17,>L173
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall add32f
	movw R30,R28
	std z+0,R16
	std z+1,R17
	std z+2,R18
	std z+3,R19
	movw R30,R28
	ldd R2,z+0
	ldd R3,z+1
	ldd R4,z+2
	ldd R5,z+3
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	ldi R16,<L174
	ldi R17,>L174
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall cmp32f
	brlt L170
	movw R30,R28
	ldd R2,z+0
	ldd R3,z+1
	ldd R4,z+2
	ldd R5,z+3
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	ldi R16,<L174
	ldi R17,>L174
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall sub32f
	xcall fp2int
	movw R24,R16
	subi R24,0  ; offset = 32768
	sbci R25,128
	movw R14,R24
	xjmp L171
L170:
	movw R30,R28
	ldd R16,z+0
	ldd R17,z+1
	ldd R18,z+2
	ldd R19,z+3
	xcall fp2int
	movw R14,R16
L171:
	movw R12,R14
	.dbline 256
; 	   
; 	   if (avg_speed>time1_jsq) time1_jsq++;
	cp R10,R14
	cpc R11,R15
	brsh L175
	.dbline 256
	movw R24,R10
	adiw R24,1
	movw R10,R24
L175:
	.dbline 257
; 	   if (avg_speed<time1_jsq) time1_jsq--;
	cp R12,R10
	cpc R13,R11
	brsh L177
	.dbline 257
	movw R24,R10
	sbiw R24,1
	movw R10,R24
L177:
	.dbline 258
; 	   tmp_t1=65535-time1_jsq+1;
	ldi R24,65535
	ldi R25,255
	sub R24,R10
	sbc R25,R11
	adiw R24,1
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 259
; 	   if (step_num==999) M_state=5;
	lds R24,_step_num
	lds R25,_step_num+1
	cpi R24,231
	ldi R30,3
	cpc R25,R30
	breq X29
	xjmp L155
X29:
	.dbline 259
	ldi R24,5
	sts _M_state,R24
	.dbline 260
; 	   } break;    
	.dbline 260
	xjmp L155
L181:
	.dbline 262
; 	case 5:    //随动
; 	   {
	.dbline 263
; 	   time1_jsq=(unsigned int)(DW_juli/P_speed);
	lds R4,_DW_juli+2
	lds R5,_DW_juli+2+1
	lds R2,_DW_juli
	lds R3,_DW_juli+1
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	lds R4,_P_speed+2
	lds R5,_P_speed+2+1
	lds R2,_P_speed
	lds R3,_P_speed+1
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	xcall div32f
	movw R30,R28
	std z+0,R16
	std z+1,R17
	std z+2,R18
	std z+3,R19
	movw R30,R28
	ldd R2,z+0
	ldd R3,z+1
	ldd R4,z+2
	ldd R5,z+3
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	ldi R16,<L184
	ldi R17,>L184
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall cmp32f
	brlt L182
	movw R30,R28
	ldd R2,z+0
	ldd R3,z+1
	ldd R4,z+2
	ldd R5,z+3
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	ldi R16,<L184
	ldi R17,>L184
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall sub32f
	xcall fp2int
	movw R24,R16
	subi R24,0  ; offset = 32768
	sbci R25,128
	movw R12,R24
	xjmp L183
L182:
	movw R30,R28
	ldd R16,z+0
	ldd R17,z+1
	ldd R18,z+2
	ldd R19,z+3
	xcall fp2int
	movw R12,R16
L183:
	movw R10,R12
	.dbline 264
; 	   tmp_t1=65535-time1_jsq+1;
	ldi R24,65535
	ldi R25,255
	sub R24,R12
	sbc R25,R13
	adiw R24,1
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 265
; 	   } break;
	.dbline 265
	xjmp L155
L185:
	.dbline 267
; 	case 6:    //加速至碎刀
; 	   {
	.dbline 268
; 	   if (time1_jsq>111) time1_jsq--;
	ldi R24,111
	ldi R25,0
	cp R24,R10
	cpc R25,R11
	brsh L186
	.dbline 268
	movw R24,R10
	sbiw R24,1
	movw R10,R24
L186:
	.dbline 269
; 	   tmp_t1=65535-time1_jsq+1;
	ldi R24,65535
	ldi R25,255
	sub R24,R10
	sbc R25,R11
	adiw R24,1
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 270
; 	   if (time1_jsq==111) M_state=7;
	movw R24,R10
	cpi R24,111
	ldi R30,0
	cpc R25,R30
	brne L155
	.dbline 270
	ldi R24,7
	sts _M_state,R24
	.dbline 271
; 	   } break;
	.dbline 271
	xjmp L155
L190:
	.dbline 273
; 	case 7:    //碎刀
; 	   {
	.dbline 274
; 	   time1_jsq=111;
	ldi R24,111
	ldi R25,0
	movw R10,R24
	.dbline 275
; 	   tmp_t1=65425;
	ldi R24,65425
	ldi R25,255
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 276
; 	   } break;
	.dbline 276
	xjmp L155
L191:
	.dbline 278
; 	case 8:    //转动至平行
; 	   {
	.dbline 279
; 	   if (step_num==0) M_state=0;
	lds R2,_step_num
	lds R3,_step_num+1
	tst R2
	brne L192
	tst R3
	brne L192
X19:
	.dbline 279
	clr R2
	sts _M_state,R2
L192:
	.dbline 280
; 	   tmp_t1=64536;
	ldi R24,64536
	ldi R25,252
	sts _tmp_t1+1,R25
	sts _tmp_t1,R24
	.dbline 281
; 	   time1_jsq=1000;
	ldi R24,1000
	ldi R25,3
	movw R10,R24
	.dbline 282
; 	   } break;
	.dbline 282
L154:
L155:
	.dbline 284
; 	}
; juli=juli-P_speed*time1_jsq;
	lds R4,_juli+2
	lds R5,_juli+2+1
	lds R2,_juli
	lds R3,_juli+1
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	lds R4,_P_speed+2
	lds R5,_P_speed+2+1
	lds R2,_P_speed
	lds R3,_P_speed+1
	st -y,R5
	st -y,R4
	st -y,R3
	st -y,R2
	ldi R16,<L172
	ldi R17,>L172
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	movw R16,R10
	lsr R17
	ror R16
	xcall int2fp
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall empy32fs
	movw R16,R10
	andi R16,1
	andi R17,0
	xcall int2fp
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	xcall add32fs
	xcall empy32fs
	xcall sub32f
	sts _juli+1,R17
	sts _juli,R16
	sts _juli+2+1,R19
	sts _juli+2,R18
	.dbline -2
L147:
	adiw R28,4
	xcall pop_gset5
	ld R0,y+
	out 0x3f,R0
	ld R31,y+
	ld R30,y+
	ld R25,y+
	ld R24,y+
	ld R19,y+
	ld R18,y+
	ld R17,y+
	ld R16,y+
	ld R9,y+
	ld R8,y+
	ld R7,y+
	ld R6,y+
	ld R5,y+
	ld R4,y+
	ld R3,y+
	ld R2,y+
	ld R1,y+
	ld R0,y+
	.dbline 0 ; func end
	reti
	.dbsym r avg_speed 12 i
	.dbsym r time1_jsq 10 i
	.dbsym r i 12 c
	.dbend
	.dbfunc e timer2_init _timer2_init fV
	.even
_timer2_init::
	.dbline -1
	.dbline 292
; }
; 
; //TIMER2 initialize - prescale:128
; // WGM: Normal
; // desired value: 500Hz
; // actual value: 500.000Hz (0.0%)
; void timer2_init(void)
; {
	.dbline 293
;  TCCR2 = 0x00; //stop
	clr R2
	out 0x25,R2
	.dbline 294
;  ASSR  = 0x00; //set async mode
	out 0x22,R2
	.dbline 295
;  TCNT2 = 0x06; //setup
	ldi R24,6
	out 0x24,R24
	.dbline 296
;  OCR2  = 0xFA;
	ldi R24,250
	out 0x23,R24
	.dbline 297
;  TCCR2 = 0x05; //start
	ldi R24,5
	out 0x25,R24
	.dbline -2
L194:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 16
	jmp _timer2_ovf_isr
	.area text(rom, con, rel)
	.dbfile D:\gmj_1\main.c
	.dbfunc e timer2_ovf_isr _timer2_ovf_isr fV
;           adc0 -> R10,R11
	.even
_timer2_ovf_isr::
	xcall push_lset
	xcall push_gset3
	.dbline -1
	.dbline 302
; }
; 
; #pragma interrupt_handler timer2_ovf_isr:5
; void timer2_ovf_isr(void)
; {
	.dbline 304
; unsigned int adc0;
;  TCNT2 = 0x06; //reload counter value
	ldi R24,6
	out 0x24,R24
	.dbline 305
;  adc0=read_adc();  //取测速发电机的电压值
	xcall _read_adc
	movw R10,R16
	.dbline 306
;     P_speed=adc0*dw_speed;  //求皮带速度
	ldi R16,<L172
	ldi R17,>L172
	xcall lpm32
	st -y,R19
	st -y,R18
	st -y,R17
	st -y,R16
	movw R16,R10
	lsr R17