smopos.lst

TI的digital motor control lib的源代码。了解TI的编程规范

     132 0116 9880          SACH    *               ; isalfae = isalfae*fsmopos+gsmopos*(vsalfa-esalfa-zalfa) (Q15)
     133                                                            ; ARP=AR2, AR0->FR0, AR2->isalfae   
     134            ;----------------------------------------------------------------------------------
     135 0117 7802          ADRK    #2              ; ARP=AR2, AR0->FR0, AR2->vsbeta 
     136            ;----------------------------------------------------------------------------------
     137 0118 10a0                  LACC    *+              ; ACC = vsbeta  (Q15)
     138                                                            ; ARP=AR2, AR0->FR0, AR2->esbeta 
     139            ;----------------------------------------------------------------------------------
     140 0119 30a0                  SUB             *+              ; ACC = vsbeta - esbeta  (Q15)
     141                                                            ; ARP=AR2, AR0->FR0, AR2->zbeta 
     142            ;----------------------------------------------------------------------------------
     143 011a 3088                  SUB             *,AR0   ; ACC = vsbeta - esbeta - zbeta (Q15)
     144                                                            ; ARP=AR2, AR0->FR0, AR2->zbeta, ARP=AR0
     145            ;----------------------------------------------------------------------------------
     146 011b 9080                  SACL    *               ; FR0 = smoptemp = vsbeta - esbeta - zbeta (Q15)
     147                                                            ; ARP=AR0, AR0->FR0, AR2->zbeta         
     148            ;----------------------------------------------------------------------------------
     149 011c 738a              LT          *,AR2   ; TREG = smoptemp = vsbeta - esbeta - zbeta (Q15)
     150                                                            ; ARP=AR0, AR0->FR0, AR2->zbeta, ARP=AR2
     151            ;----------------------------------------------------------------------------------
     152 011d 7c05                  SBRK    #5              ; ARP=AR2, AR0->FR0, AR2->gsmopos 
     153            ;----------------------------------------------------------------------------------
     154 011e 5480                  MPY             *               ; PREG = gsmopos*(vsbeta-esbeta-zbeta)  (Q30)
     155                                                            ; ARP=AR2, AR0->FR0, AR2->gsmopos
     156            ;----------------------------------------------------------------------------------
     157 011f be03          PAC                             ; ACC = gsmopos*(vsbeta-esbeta-zbeta)  (Q31)
     158                                                            ; ARP=AR2, AR0->FR0, AR2->gsmopos
     159            ;----------------------------------------------------------------------------------
     160 0120 7806          ADRK    #6              ; ARP=AR2, AR0->FR0, AR2->isbetae
     161            ;----------------------------------------------------------------------------------
     162 0121 7380                  LT              *               ; TREG = isbetae  (Q15)
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:27 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
smopos.asm                                                           PAGE    4

     163                                                            ; ARP=AR2, AR0->FR0, AR2->isbetae       
     164            ;----------------------------------------------------------------------------------
     165 0122 7c04          SBRK    #4              ; ARP=AR2, AR0->FR0, AR2->fsmopos
     166            ;----------------------------------------------------------------------------------
     167 0123 5480                  MPY             *               ; PREG = isbetae*fsmopos  (Q30)
     168                                                            ; ARP=AR2, AR0->FR0, AR2->fsmopos 
     169            ;----------------------------------------------------------------------------------
     170 0124 be04          APAC                    ; ACC = isbetae*fsmopos+gsmopos*(vsbeta-esbeta-zbeta)  (Q31)
     171                                                            ; ARP=AR2, AR0->FR0, AR2->fsmopos
     172            ;----------------------------------------------------------------------------------
     173 0125 7804          ADRK    #4              ; ARP=AR2, AR0->FR0, AR2->isbetae
     174            ;----------------------------------------------------------------------------------
     175 0126 9880          SACH    *               ; isbetae = isbetae*fsmopos+gsmopos*(vsbeta-esbeta-zbeta)  (Q31)
     176                                                            ; ARP=AR2, AR0->FR0, AR2->isbetae       
     177            ;----------------------------------------------------------------------------------
     178            ; End: Sliding mode current observer            
     179            ;----------------------------------------------------------------------------------
     180            ; (2) Sliding control calculator
     181            ;     zalfa = kslide*SIGN(isalfae-isalfa)
     182            ;     zbeta = kslide*SIGN(isbetae-isbeta)               
     183            ;----------------------------------------------------------------------------------
     184 0127       SLCNTRL                         ; ARP=AR2, AR0->FR0, AR2->isbetae
     185            ;----------------------------------------------------------------------------------
     186 0127 7c05          SBRK    #5              ; ARP=AR2, AR0->FR0, AR2->isalfae
     187            ;----------------------------------------------------------------------------------
     188 0128 1080          LACC    *               ; ACC = isalfae  (Q15)
     189                                                    ; ARP=AR2, AR0->FR0, AR2->isalfae
     190            ;----------------------------------------------------------------------------------
     191 0129 7806          ADRK    #6              ; ARP=AR2, AR0->FR0, AR2->isalfa
     192            ;----------------------------------------------------------------------------------
     193 012a 30a0          SUB             *+              ; ACC = isalfae - isalfa  (Q15)
     194                                        ; ARP=AR2, AR0->FR0, AR2->isalfaerr
     195            ;----------------------------------------------------------------------------------
     196 012b 90a0                  SACL    *+              ; isalfaerr = isalfae - isalfa  (Q15)
     197                                        ; ARP=AR2, AR0->FR0, AR2->kslide
     198            ;----------------------------------------------------------------------------------
     199 012c e388          BCND    EALFAZ,EQ ; Branch to EALFAZ if (isalfae-isalfa)=0
         012d 0134' 
     200                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     201            ;----------------------------------------------------------------------------------
     202 012e e304          BCND    EALFAGT,GT ; Branch to EALFAGT if (isalfae-isalfa)>0
         012f 0137' 
     203                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     204            ;----------------------------------------------------------------------------------
     205 0130 1080          LACC    *               ; ACC = kslide  (Q15)
     206                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     207            ;----------------------------------------------------------------------------------
     208 0131 be02          NEG                             ; ACC = -kslide  (Q15)
     209                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     210            ;----------------------------------------------------------------------------------
     211 0132 7980          B               STZALFA ; ARP=AR2, AR0->FR0, AR2->kslide        
         0133 0138' 
     212            ;----------------------------------------------------------------------------------
     213 0134       EALFAZ                  ; ARP=AR2, AR0->FR0, AR2->kslide
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:27 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
smopos.asm                                                           PAGE    5

     214            ;----------------------------------------------------------------------------------
     215 0134 b900          LACL    #0              ; ACC = 0
     216                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     217            ;----------------------------------------------------------------------------------
     218 0135 7980          B               STZALFA ; ARP=AR2, AR0->FR0, AR2->kslide        
         0136 0138' 
     219            ;----------------------------------------------------------------------------------
     220 0137       EALFAGT                 ; ARP=AR2, AR0->FR0, AR2->kslide
     221            ;----------------------------------------------------------------------------------
     222 0137 1080          LACC    *               ; ACC = kslide  (Q15)
     223                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     224            ;----------------------------------------------------------------------------------
     225 0138       STZALFA                                 ; ARP=AR2, AR0->FR0, AR2->kslide        
     226            ;----------------------------------------------------------------------------------
     227 0138 7c0a          SBRK    #10             ; ARP=AR2, AR0->FR0, AR2->zalfa
     228            ;----------------------------------------------------------------------------------
     229 0139 9080                  SACL    *               ; zalfa = kslide*SIGN(isalfae-isalfa)  (Q15)
     230                                                            ; ARP=AR2, AR0->FR0, AR2->zalfa
     231            ;----------------------------------------------------------------------------------
     232 013a 7807                  ADRK    #7              ; ARP=AR2, AR0->FR0, AR2->isbetae
     233            ;----------------------------------------------------------------------------------
     234 013b 1080                  LACC    *               ; ACC = isbetae  (Q15)
     235                                                            ; ARP=AR2, AR0->FR0, AR2->isbetae
     236            ;----------------------------------------------------------------------------------
     237 013c 7804                  ADRK    #4              ; ARP=AR2, AR0->FR0, AR2->isbeta
     238            ;----------------------------------------------------------------------------------
     239 013d 30a0                  SUB             *+              ; ACC = isbetae - isbeta (Q15)
     240                                                            ; ARP=AR2, AR0->FR0, AR2->isbetaerr 
     241            ;----------------------------------------------------------------------------------
     242 013e 9080                  SACL    *               ; isbetaerr = isbetae - isbeta (Q15)
     243                                                            ; ARP=AR2, AR0->FR0, AR2->isbetaerr
     244            ;----------------------------------------------------------------------------------
     245 013f 7c02          SBRK    #2              ; ARP=AR2, AR0->FR0, AR2->kslide
     246            ;----------------------------------------------------------------------------------
     247 0140 e388          BCND    EBETAZ,EQ ; Branch to EBETAZ if (isbetae-isbeta)=0
         0141 0148' 
     248                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     249            ;----------------------------------------------------------------------------------
     250 0142 e304          BCND    EBETAGT,GT ; Branch to EBETAGT if (isbetae-isbeta)>0
         0143 014b' 
     251                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     252            ;----------------------------------------------------------------------------------
     253 0144 1080          LACC    *               ; ACC = kslide  (Q15)
     254                                                    ; ARP=AR2, AR0->FR0, AR2->kslide 
     255            ;----------------------------------------------------------------------------------
     256 0145 be02          NEG                             ; ACC = -kslide  (Q15)
     257                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     258            ;----------------------------------------------------------------------------------
     259 0146 7980          B               STZBETA ; ARP=AR2, AR0->FR0, AR2->kslide        
         0147 014c' 
     260            ;----------------------------------------------------------------------------------
     261 0148       EBETAZ                  ; ARP=AR2, AR0->FR0, AR2->kslide