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📄 hardware.lst

📁 基于凌阳的大名鼎鼎的杰克机器人代码。
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                            	.DEFINE C_D2_LatchA				0x0020 			// 
                            	.DEFINE C_D2_LatchB				0x0040 			//
                            	.DEFINE C_D2_LatchAB			0x00C0 			//
                            	
                            	//... Define for P_LVD_Ctrl ...................
                            	.DEFINE C_LVD24V				0x0000 			// LVD = 2.4V 
                            	.DEFINE C_LVD28V				0x0001 			// LVD = 2.8V
                            	.DEFINE C_LVD32V				0x0002 			// LVD = 3.2V
                            	.DEFINE C_LVD36V				0x0003 			// LVD = 3.6V
                            	
                            	
                            	
                            	/////////////////////////////////////////////////////////////////
                            	// Note: This register map to the P_INT_Ctrl(0x7010)
                            	// 	User's interrupt setting have to combine with this register 
                            	//	while co-work with SACM library.
                            	//
                            	//  See. following function for example:
                            	//	F_SP_SACM_A2000_Init_:
                            	//	F_SP_SACM_S480_Init_:
                            	//	F_SP_SACM_S240_Init_:
                            	//	F_SP_SACM_MS01_Init_:
                            	//	F_SP_SACM_DVR_Init_: 
                            	//////////////////////////////////////////////////
0000044E                    	.IRAM
0000044E 00 00              	.VAR	R_InterruptStatus = 0 					// 
                            	
                            	
                            	//////////////////////////////////////////////////
                            	
                            	.define C_RampDelayTime 16
                            	
                            	.define C_QueueSize 100		
                            			
0000044F 00 00              	.VAR 	R_Queue 
00000450 00 00 00 00        	.DW		C_QueueSize-1	DUP(0) 
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00 00 00
         00 00      
000004B3 00 00              	.VAR	R_ReadIndex 
000004B4 00 00              	.VAR	R_WriteIndex 
                            	
0000B608                    	.CODE
                            	
                            					
                            	
                            	///////////////////////////////////////////
                            	// Function: Initial Queue
                            	// Destory: R1,R2
                            	///////////////////////////////////////////	
                            	_SP_InitQueue:	.PROC
                            	_SP_InitQueue_A2000:
                            	_SP_InitQueue_S480:
                            	_SP_InitQueue_S240:
                            	_SP_InitQueue_MS01:
                            	_SP_InitQueue_DVR:
                            	
                            	F_SP_InitQueue_A2000:
                            	F_SP_InitQueue_S480:
                            	F_SP_InitQueue_S240:
                            	F_SP_InitQueue_MS01:
                            	F_SP_InitQueue_DVR:
                            	F_SP_InitQueue:
0000B608 09 93 4F 04        			R1 = R_Queue
0000B60A 40 94              			R2 = 0 
                            	L_ClearQueueLoop?:		
0000B60B D1 D4              			[R1++] = R2
0000B60C 09 43 B3 04        			cmp	R1, R_Queue+C_QueueSize
0000B60E 44 4E              			jne	L_ClearQueueLoop?
                            				
0000B60F 40 92              			R1 = 0
0000B610 19 D3 B3 04        			[R_ReadIndex] = R1
0000B612 19 D3 B4 04        			[R_WriteIndex] = R1
                            					
0000B614 90 9A              			RETF
                            			.ENDP
                            			
                            	///////////////////////////////////////////
                            	// Function: Get a data form Queue
                            	// Output:  R1: Data
                            	//			R2: return value
                            	// Destory: R1,R2
                            	///////////////////////////////////////////	
                            	F_SP_ReadQueue_A2000:
                            	F_SP_ReadQueue_S480:
                            	F_SP_ReadQueue_S240:
                            	F_SP_ReadQueue_MS01:
                            	F_SP_ReadQueue_DVR:
                            	F_SP_ReadQueue:
0000B615 12 95 B3 04        			R2 = [R_ReadIndex]
0000B617 12 45 B4 04        			cmp R2,[R_WriteIndex]
0000B619 0D 5E              			je	L_RQ_QueueEmpty
                            	
0000B61A 0A 05 4F 04        			R2 += R_Queue				// get queue data address
0000B61C C2 92              			R1 = [R2]
                            			
0000B61D 12 95 B3 04        			R2 = [R_ReadIndex]
0000B61F 41 04              			R2 += 1
0000B620 0A 45 64 00        			cmp	R2, C_QueueSize
0000B622 01 4E              			jne	L_RQ_NotQueueBottom
0000B623 40 94              			R2 = 0
                            	L_RQ_NotQueueBottom:	
0000B624 1A D5 B3 04        			[R_ReadIndex] = R2		
                            			//r2 = 0x0000 						// get queue data
0000B626 90 9A              			retf 
                            	L_RQ_QueueEmpty:
                            			//r2 = 0x8000 						// queue empty
0000B627 90 9A              			retf 
                            	
                            	///////////////////////////////////////////
                            	// Function: Get a data from Queue but do 
                            	//			not change queue index
                            	// R1: output
                            	// Destory: R1,R2
                            	///////////////////////////////////////////
                            	F_SP_ReadQueue_NIC:
                            	F_SP_ReadQueue_NIC_A2000:
                            	F_SP_ReadQueue_NIC_S480:
                            	F_SP_ReadQueue_NIC_S240:
                            	F_SP_ReadQueue_NIC_MS01:
                            	F_SP_ReadQueue_NIC_DVR:
0000B628 12 95 B3 04        			R2 = [R_ReadIndex]
0000B62A 12 45 B4 04        			cmp R2,[R_WriteIndex]
0000B62C 03 5E              			je	L_RQ_QueueEmpty?
                            	
0000B62D 0A 05 4F 04        			R2 += R_Queue				// get queue data index
0000B62F C2 92              			R1 = [R2]
                            	L_RQ_QueueEmpty?:
0000B630 90 9A              			RETF
                            			
                            	///////////////////////////////////////////
                            	// Function: Put a data to Queue
                            	// R1: Input
                            	// Destory: R1,R2
                            	///////////////////////////////////////////	
                            	F_SP_WriteQueue_A2000:
                            	F_SP_WriteQueue_S480:
                            	F_SP_WriteQueue_S240:
                            	F_SP_WriteQueue_MS01:
                            	F_SP_WriteQueue_DVR:
                            	F_SP_WriteQueue:
0000B631 12 95 B4 04        			R2 = [R_WriteIndex] 			// put data to queue
0000B633 0A 05 4F 04        			R2 += R_Queue
0000B635 C2 D2              			[R2] = R1
                            	
0000B636 12 95 B4 04        			R2 = [R_WriteIndex]
0000B638 41 04              			R2 += 1
0000B639 0A 45 64 00        			cmp	R2, C_QueueSize
0000B63B 01 4E              			jne	L_WQ_NotQueueBottom
0000B63C 40 94              			R2 = 0
                            	L_WQ_NotQueueBottom:
0000B63D 1A D5 B4 04        			[R_WriteIndex] = R2
0000B63F 90 9A              			RETF
                            	
                            			
                            	///////////////////////////////////////////
                            	// Function: Test Queue Status
                            	// o/p: R1
                            	// Destory: R1
                            	///////////////////////////////////////////	
                            	F_SP_TestQueue_A2000:
                            	F_SP_TestQueue_S480:
                            	F_SP_TestQueue_S240:
                            	F_SP_TestQueue_MS01:
                            	F_SP_TestQueue_DVR:
                            	F_SP_TestQueue:
                            			//... Test Queue Empty ...
0000B640 11 93 B3 04        			R1 = [R_ReadIndex] 
0000B642 11 43 B4 04        			cmp R1,[R_WriteIndex] 
0000B644 12 5E              			je	L_TQ_QueueEmpty 
                            	
                            			//... Test Queue Full ...
0000B645 11 93 B3 04        			R1 = [R_ReadIndex] 				// For N Queue Full: 1.R=0 and W=N-1 2. R<>0 and W=R-1 
0000B647 05 4E              			jnz	L_TQ_JudgeCond2 
0000B648 11 93 B4 04        			R1 = [R_WriteIndex] 
0000B64A 09 43 63 00        			cmp	R1, C_QueueSize-1 			// Cond1
0000B64C 08 5E              			je	L_TQ_QueueFull 			
                            	L_TQ_JudgeCond2:		
0000B64D 11 93 B3 04        			R1 = [R_ReadIndex] 
0000B64F 41 22              			R1 -=1 
0000B650 11 43 B4 04        			cmp R1,[R_WriteIndex] 
0000B652 02 5E              			je	L_TQ_QueueFull 	
                            	
0000B653 40 92              			r1 = 0 							// not Full, not empty
0000B654 90 9A              			retf 
                            	L_TQ_QueueFull:
0000B655 41 92              			r1 = 1 							// full
0000B656 90 9A              			retf 
                            	L_TQ_QueueEmpty:
0000B657 42 92              			r1 = 2 							// empty
0000B658 90 9A              			retf 
                            	
                            	
                            	
                            	
                            	
                            	///////////////////////////////////////////////////////////////////////////////
                            	// Function: The partial code of hardware setting of SACM_A2000_Initial() 
                            	//			or F_SACM_A2000_Initial:
                            	// Note: The following functions are the partial code of original
                            	//			initial subroutine. (H/W setting part) 

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