📄 xunxiandongzuo8.lis
字号:
05E6 7FEF ldi R23,255
05E8 F501 movw R30,R10
05EA 40A7 std z+40,R20
05EC 51A7 std z+41,R21
05EE 62A7 std z+42,R22
05F0 73A7 std z+43,R23
05F2 L39:
05F2 L38:
05F2 .dbline 162
05F2 ; L_sPID.vi_FeedBack = Num_Speed; //储存当前速速值
05F2 L28:
05F2 .dbline 164
05F2 ;
05F2 ; /**************************************/
05F2 8AE0 ldi R24,10
05F4 90E0 ldi R25,0
05F6 F501 movw R30,R10
05F8 20A4 ldd R2,z+40
05FA 31A4 ldd R3,z+41
05FC 42A4 ldd R4,z+42
05FE 53A4 ldd R5,z+43
0600 8A93 st -y,R24
0602 8101 movw R16,R2
0604 9201 movw R18,R4
0606 00D0 rcall asr32
0608 .dbline -2
0608 L25:
0608 2C96 adiw R28,12
060A 00D0 rcall pop_gset3
060C .dbline 0 ; func end
060C 0895 ret
060E .dbsym l temp_comp 8 L
060E .dbsym l d_error 4 L
060E .dbsym l error 0 L
060E .dbsym r pp 10 pX
060E .dbend
.area data(ram, con, rel)
0007 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
0007 _rev_buf::
0007 .blkb 2
.area idata
0007 0000 .byte 0,0
.area data(ram, con, rel)
0009 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
0009 .blkb 2
.area idata
0009 0000 .byte 0,0
.area data(ram, con, rel)
000B .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
000B .blkb 2
.area idata
000B 0000 .byte 0,0
.area data(ram, con, rel)
000D .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
000D .blkb 2
.area idata
000D 0000 .byte 0,0
.area data(ram, con, rel)
000F .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
000F .blkb 2
.area idata
000F 0000 .byte 0,0
.area data(ram, con, rel)
0011 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/L_PID.c
0011 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0011 .dbsym e rev_buf _rev_buf A[10:10]c
0011 _send_buf::
0011 .blkb 2
.area idata
0011 0102 .byte 1,2
.area data(ram, con, rel)
0013 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0013 .blkb 2
.area idata
0013 0304 .byte 3,4
.area data(ram, con, rel)
0015 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0015 .blkb 2
.area idata
0015 0506 .byte 5,6
.area data(ram, con, rel)
0017 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0017 .blkb 2
.area idata
0017 0709 .byte 7,9
.area data(ram, con, rel)
0019 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0019 .blkb 2
.area idata
0019 0000 .byte 0,0
.area data(ram, con, rel)
001B .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
001B .dbsym e send_buf _send_buf A[10:10]c
.area text(rom, con, rel)
060E .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
060E .dbfunc e spi_init _spi_init fV
.even
060E _spi_init::
060E .dbline -1
060E .dbline 8
060E .dbline 9
060E 88B3 in R24,0x18
0610 8C63 ori R24,60
0612 88BB out 0x18,R24
0614 .dbline 10
0614 87B3 in R24,0x17
0616 837C andi R24,195
0618 87BB out 0x17,R24
061A .dbline 11
061A BC9A sbi 0x17,4
061C .dbline 14
061C 83EC ldi R24,195
061E 8DB9 out 0xd,R24
0620 .dbline 15
0620 2224 clr R2
0622 2EB8 out 0xe,R2
0624 .dbline -2
0624 .dbline 16
0624 L41:
0624 .dbline 0 ; func end
0624 0895 ret
0626 .dbend
.area vector(rom, abs)
.org 20
0014 13C3 rjmp _spi_stc_isr
.area text(rom, con, rel)
0626 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
.area data(ram, con, rel)
001B .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
001B L43:
001B .blkb 1
.area idata
001B 00 .byte 0
.area data(ram, con, rel)
001C .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
001C L44:
001C .blkb 1
.area idata
001C 00 .byte 0
.area data(ram, con, rel)
001D .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
001D L45:
001D .blkb 1
.area idata
001D 00 .byte 0
.area data(ram, con, rel)
001E .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
001E L46:
001E .blkb 1
.area idata
001E 00 .byte 0
.area data(ram, con, rel)
001F .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
.area text(rom, con, rel)
0626 .dbfile E:\李斐机器人\xunxianjiadongzuo\8/Slave_SPI.c
0626 .dbfunc e spi_stc_isr _spi_stc_isr fV
0626 .dbsym s data_long L46 c
0626 .dbsym s com_flag L45 c
0626 .dbsym s start_trans_flag L44 c
0626 .dbsym s i L43 c
0626 ; temp_int -> R10,R11
0626 ; temp_long -> y+0
0626 ; temp_char -> R12
.even
0626 _spi_stc_isr::
0626 00D0 rcall push_lset
0628 00D0 rcall push_gset4
062A 2497 sbiw R28,4
062C .dbline -1
062C .dbline 40
062C .dbline 46
062C CC24 clr R12
062E .dbline 47
062E AA24 clr R10
0630 BB24 clr R11
0632 .dbline 48
0632 40E0 ldi R20,0
0634 50E0 ldi R21,0
0636 60E0 ldi R22,0
0638 70E0 ldi R23,0
063A FE01 movw R30,R28
063C 4083 std z+0,R20
063E 5183 std z+1,R21
0640 6283 std z+2,R22
0642 7383 std z+3,R23
0644 .dbline 50
0644 .dbline 52
0644 CFB0 in R12,0xf
0646 20901C00 lds R2,L44
064A 2220 tst R2
064C F1F4 brne L47
064E .dbline 53
064E .dbline 54
064E 8C2D mov R24,R12
0650 807E andi R24,224
0652 8034 cpi R24,64
0654 09F0 breq X1
0656 68C1 rjmp L48
0658 X1:
0658 .dbline 55
0658 .dbline 56
0658 .dbline 57
0658 .dbline 58
0658 .dbline 60
0658 8C2D mov R24,R12
065A 8F70 andi R24,15
065C 80931E00 sts L46,R24
0660 8C2D mov R24,R12
0662 8071 andi R24,16
0664 80931D00 sts L45,R24
0668 81E0 ldi R24,1
066A 80931C00 sts L44,R24
066E 20901D00 lds R2,L45
0672 2220 tst R2
0674 09F4 brne X2
0676 58C1 rjmp L48
0678 X2:
0678 .dbline 61
0678 .dbline 62
0678 20901100 lds R2,_send_buf
067C 2FB8 out 0xf,R2
067E .dbline 63
067E 80911B00 lds R24,L43
0682 8F5F subi R24,255 ; addi 1
0684 80931B00 sts L43,R24
0688 .dbline 64
0688 .dbline 65
0688 .dbline 66
0688 4FC1 rjmp L48
068A L47:
068A .dbline 68
068A .dbline 69
068A 20901D00 lds R2,L45
068E 2220 tst R2
0690 09F0 breq X3
0692 2EC1 rjmp L53
0694 X3:
0694 .dbline 70
0694 .dbline 71
0694 80E0 ldi R24,<_rev_buf
0696 90E0 ldi R25,>_rev_buf
0698 E0911B00 lds R30,L43
069C FF27 clr R31
069E E80F add R30,R24
06A0 F91F adc R31,R25
06A2 C082 std z+0,R12
06A4 .dbline 73
06A4 .dbline 75
06A4 80911B00 lds R24,L43
06A8 8F5F subi R24,255 ; addi 1
06AA 80931B00 sts L43,R24
06AE 20901E00 lds R2,L46
06B2 8215 cp R24,R2
06B4 08F4 brsh X4
06B6 38C1 rjmp L54
06B8 X4:
06B8 .dbline 76
06B8 .dbline 77
06B8 .dbline 78
06B8 .dbline 79
06B8 .dbline 80
06B8 .dbline 82
06B8 2224 clr R2
06BA 20921B00 sts L43,R2
06BE 20921C00 sts L44,R2
06C2 20921E00 sts L46,R2
06C6 20921D00 sts L45,R2
06CA C0900700 lds R12,_rev_buf
06CE DD24 clr R13
06D0 C601 movw R24,R12
06D2 8039 cpi R24,144
06D4 E0E0 ldi R30,0
06D6 9E07 cpc R25,R30
06D8 09F4 brne X5
06DA 84C0 rjmp L70
06DC X5:
06DC 80E9 ldi R24,144
06DE 8C15 cp R24,R12
06E0 9D05 cpc R25,R13
06E2 0CF1 brlt L77
06E4 L76:
06E4 C601 movw R24,R12
06E6 8038 cpi R24,128
06E8 E0E0 ldi R30,0
06EA 9E07 cpc R25,R30
06EC 09F4 brne X6
06EE 66C0 rjmp L67
06F0 X6:
06F0 8138 cpi R24,129
06F2 E0E0 ldi R30,0
06F4 9E07 cpc R25,R30
06F6 09F4 brne X7
06F8 5AC0 rjmp L66
06FA X7:
06FA 8738 cpi R24,135
06FC E0E0 ldi R30,0
06FE 9E07 cpc R25,R30
0700 09F4 brne X8
0702 40C0 rjmp L64
0704 X8:
0704 8838 cpi R24,136
0706 E0E0 ldi R30,0
0708 9E07 cpc R25,R30
070A A1F0 breq L60
070C 8938 cpi R24,137
070E E0E0 ldi R30,0
0710 9E07 cpc R25,R30
0712 D1F0 breq L61
0714 8A38 cpi R24,138
0716 E0E0 ldi R30,0
0718 9E07 cpc R25,R30
071A 01F1 breq L62
071C 8B38 cpi R24,139
071E E0E0 ldi R30,0
0720 9E07 cpc R25,R30
0722 31F1 breq L63
0724 01C1 rjmp L54
0726 L77:
0726 C601 movw R24,R12
0728 843A cpi R24,164
072A E0E0 ldi R30,0
072C 9E07 cpc R25,R30
072E 09F4 brne X9
0730 33C0 rjmp L65
0732 X9:
0732 FAC0 rjmp L54
0734 X0:
0734 .dbline 83
0734 L60:
0734 .dbline 85
0734 .dbline 86
0734 07E6 ldi R16,103
0736 10E0 ldi R17,0
0738 FBD0 rcall _risemotor
073A .dbline 87
073A 0CEF ldi R16,2300
073C 18E0 ldi R17,8
073E 85D1 rcall _delay_ms
0740 .dbline 88
0740 03E7 ldi R16,115
0742 10E0 ldi R17,0
0744 F5D0 rcall _risemotor
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