📄 pmsm31.lst
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802 ;>>>> #endif
803 ;>>>> drive.calc(&drive);
804 ;>>>> FOC_TI_Run(&foc);
805 ;>>>> pwm.mfunc_c1 = foc.svgen.va;
806 ;>>>> pwm.mfunc_c2 = foc.svgen.vb;
807 ;>>>> pwm.mfunc_c3 = foc.svgen.vc;
808 ;>>>> pwm.update(&pwm);
809 ;>>>> ilg2.read(&ilg2);
810 ;>>>> foc.current_abc.a = ilg2.out_a;
811 ;>>>> foc.current_abc.b = ilg2.out_b;
812 ;>>>> foc.current_abc.c = -(ilg2.out_a+ilg2.out_b);
813 ;>>>> dac.update(&dac);
TMS320C24xx COFF Assembler Version 7.04 Wed Dec 28 11:57:12 2005
Copyright (c) 1987-2003 Texas Instruments Incorporated
../temp/pmsm31.asm PAGE 18
814 ;>>>> #endif /* BUILDLEVEL==LEVEL3 */
815 ;>>>> #if (BUILDLEVEL==LEVEL4)
816 ;>>>> #if TARGET==F243
817 ;>>>> EVIFRA=0x0ffff; /* Clear all Group A EV interrupt flags */
818 ;>>>> #elif TARGET==F2407
819 ;>>>> EVAIFRA=0x0ffff; /* Clear all EV1 Group A EV interrupt flags*/
820 ;>>>> #endif
821 ;>>>> drive.calc(&drive);
822 ;>>>> FOC_TI_Run(&foc);
823 ;>>>> pwm.mfunc_c1 = foc.svgen.va;
824 ;>>>> pwm.mfunc_c2 = foc.svgen.vb;
825 ;>>>> pwm.mfunc_c3 = foc.svgen.vc;
826 ;>>>> pwm.update(&pwm);
827 ;>>>> ilg2.read(&ilg2);
828 ;>>>> foc.current_abc.a = ilg2.out_a;
829 ;>>>> foc.current_abc.b = ilg2.out_b;
830 ;>>>> foc.current_abc.c = -(ilg2.out_a+ilg2.out_b);
831 ;>>>> qep.calc(&qep);
832 ;>>>> speed.theta_elec = qep.theta_elec;
833 ;>>>> speed.calc(&speed);
834 ;>>>> foc.Mea_spd = speed.speed_frq;
835 ;>>>> dac.update(&dac);
836 ;>>>> #endif /* BUILDLEVEL==LEVEL4 */
837 ;>>>> #if (BUILDLEVEL==LEVEL5)
838 ;>>>> #if TARGET==F243
839 ;>>>> EVIFRA=0x0ffff; /* Clear all Group A EV interrupt flags */
840 ;>>>> #elif TARGET==F2407
841 ;>>>> EVAIFRA=0x0ffff; /* Clear all EV1 Group A EV interrupt flags*/
842 ;>>>> #endif
843 ;>>>> drive.calc(&drive);
844 ;>>>> FOC_TI_Run(&foc);
845 ;>>>> pwm.mfunc_c1 = foc.svgen.va;
846 ;>>>> pwm.mfunc_c2 = foc.svgen.vb;
847 ;>>>> pwm.mfunc_c3 = foc.svgen.vc;
848 ;>>>> pwm.update(&pwm);
849 ;>>>> ilg2.read(&ilg2);
850 ;>>>> foc.current_abc.a = ilg2.out_a;
851 ;>>>> foc.current_abc.b = ilg2.out_b;
852 ;>>>> foc.current_abc.c = -(ilg2.out_a+ilg2.out_b);
853 ;>>>> qep.calc(&qep);
854 ;>>>> foc.shaft_theta_elec = qep.theta_elec;
855 ;>>>> foc.shaft_direction = qep.dir_QEP;
856 ;>>>> speed.theta_elec = qep.theta_elec;
857 ;>>>> speed.calc(&speed);
858 ;>>>> foc.Mea_spd = speed.speed_frq;
859 ;>>>> dac.update(&dac);
860 ;>>>> #endif /* BUILDLEVEL==LEVEL5 */
861 0068 bf80 LALK _dac+0
0069 0007-
862 006a 90a0 SACL *+
863 006b bc00- LDPK _dac+5
864 006c 100c- LAC _dac+5
865 006d be30 CALA
866 006e 8b90 MAR *-
TMS320C24xx COFF Assembler Version 7.04 Wed Dec 28 11:57:12 2005
Copyright (c) 1987-2003 Texas Instruments Incorporated
../temp/pmsm31.asm PAGE 19
867 .line 275
868 ;>>>> foc.speed_ref_rpm = mul_q(foc.speed_ref,15,6000,0,0);
869 006f b900 LACK 0
870 0070 90a0 SACL *+
871 0071 90a0 SACL *+
872 0072 bf80 LACK 6000
0073 1770
873 0074 90a0 SACL *+
874 0075 b90f LACK 15
875 0076 90a0 SACL *+
876 0077 a8a0 BLKD _foc+3,*+
0078 0036-
877 0079 7a80 CALL _mul_q
007a 0000!
878 007b 7c05 SBRK 5
879 007c bc00- LDPK _foc+4
880 007d 9037- SACL _foc+4
881 .line 278
882 ;>>>> asm(" SETC XF ");
883 007e be4d SETC XF
884 007f EPI0_2:
885 .line 280
886 007f 7c01 SBRK 1
887 0080 7989 B I$$REST,AR1 ;and return
0081 0000!
888
889 .endfunc 776,000000000H,1
890
891 .sym _c_int04,_c_int04,32,2,0
892 .globl _c_int04
893
894 .func 786
895 ;>>>> void interrupt c_int04()
896 ******************************************************
897 * FUNCTION DEF : _c_int04
898 ******************************************************
899 0082 _c_int04:
900 0082 7a80 CALL I$$SAVE
0083 0000!
901 0084 8180 SAR AR1,*
902 0085 b001 LARK AR0,1
903 0086 00e0 LAR AR0,*0+
904
905 .line 9
906 ;>>>> qep.indexevent(&qep);
907 0087 bf80 LALK _qep+0
0088 0027-
908 0089 90a0 SACL *+
909 008a bc00- LDPK _qep+11
910 008b 1032- LAC _qep+11
911 008c be30 CALA
912 008d 8b90 MAR *-
913 008e EPI0_3:
914 .line 11
TMS320C24xx COFF Assembler Version 7.04 Wed Dec 28 11:57:12 2005
Copyright (c) 1987-2003 Texas Instruments Incorporated
../temp/pmsm31.asm PAGE 20
915 008e 7c01 SBRK 1
916 008f 7989 B I$$REST,AR1 ;and return
0090 0000!
917
918 .endfunc 796,000000000H,1
919
920 .sym _RstSystem,_RstSystem,32,2,0
921 .globl _RstSystem
922
923 .func 799
924 ;>>>> void RstSystem(void)
925 ******************************************************
926 * FUNCTION DEF : _RstSystem
927 ******************************************************
928 0091 _RstSystem:
929 0091 8aa0 POPD *+
930 0092 80a0 SAR AR0,*+
931 0093 8180 SAR AR1,*
932 0094 b001 LARK AR0,1
933 0095 00e8 LAR AR0,*0+,AR0
934
935 .line 8
936 ;>>>> WSGR=WAIT_STATES; /* Initialize Wait State Generator */
937 0096 b940 LACK 64
938 0097 9080 SACL *
939 0098 0c89 OUT * ,0ffffh,AR1
0099 ffff
940 .line 9
941 ;>>>> disable_ints(); /* Make sure the interrupts are disabled */
942 009a 7a80 CALL _disable_ints
009b 0000!
943 .line 10
944 ;>>>> wdog.disable(); /* Vccp/Wddis pin/bit must be high */
945 009c bc00- LDPK _wdog
946 009d 1002- LAC _wdog
947 009e be30 CALA
948 .line 11
949 ;>>>> IMR=0x0A; /* Set up interrupt mask to enable INT2
950 ;>>>> until an explicit enable. */
951 ;>>>> #if (TARGET==F243)
952 ;>>>> SCSR=0x40c0; /* Init SCSR */
953 ;>>>> EVIMRA=0x0201; /* Enable the timer 1 underflow/ CAP3 (index QEP) interrupts */
954 ;>>>> #endif
955 ;>>>> #if (TARGET==F2407)
956 009f b304 LARK AR3,4
957 00a0 b90a LACK 10
958 00a1 8b8b MAR * ,AR3
959 00a2 9080 SACL *
960 .line 25
961 ;>>>> SCSR1=0xc; /* Init SCSR */
962 00a3 bf0c LARK AR4,28696
00a4 7018
963 00a5 7808 ADRK 8
964 00a6 8b8c MAR * ,AR4
TMS320C24xx COFF Assembler Version 7.04 Wed Dec 28 11:57:12 2005
Copyright (c) 1987-2003 Texas Instruments Incorporated
../temp/pmsm31.asm PAGE 21
965 00a7 838d SAR AR3,* ,AR5
966 .line 26
967 ;>>>> EVAIMRA=0x0201; /* Enable the timer 1 underflow/ CAP3 (index QEP) interrupts */
968 ;>>>> #endif
969 00a8 bf0d LARK AR5,29740
00a9 742c
970 00aa ae89 SPLK #513,* ,AR1
00ab 0201
971 00ac EPI0_4:
972 .line 29
973 00ac 7c02 SBRK 2
974 00ad 0090 LAR AR0,*-
975 00ae 7680 PSHD *
976 00af ef00 RET
977
978 .endfunc 827,000000000H,1
979
980 .sym _phantom,_phantom,32,2,0
981 .globl _phantom
982
983 .func 829
984 ;>>>> void interrupt phantom(void)
985 ;>>>> static int phantom_count;
986 ******************************************************
987 * FUNCTION DEF : _phantom
988 ******************************************************
989 00b0 _phantom:
990 00b0 7a80 CALL I$$SAVE
00b1 0000!
991 00b2 8180 SAR AR1,*
992 00b3 b001 LARK AR0,1
993 00b4 00e0 LAR AR0,*0+
994
995
996 .sym _phantom_count,_phantom_count$1,4,3,16
997 .line 5
998 ;>>>> phantom_count ++;
999 00b5 bc00- LDPK _phantom_count$1
1000 00b6 1001- LAC _phantom_count$1
1001 00b7 b801 ADDK 1
1002 00b8 9001- SACL _phantom_count$1
1003 00b9 EPI0_5:
1004 .line 14
1005 00b9 7c01 SBRK 1
1006 00ba 7989 B I$$REST,AR1 ;and return
00bb 0000!
1007
1008 .endfunc 842,000000000H,1
1009
1010 .sym _rtmon_init,_rtmon_init,32,2,0
1011 .globl _rtmon_init
1012
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