smopos.lst

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

     262            ;----------------------------------------------------------------------------------
     263 0148 b900          LACL    #0              ; ACC = 0
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    6

     264                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     265            ;----------------------------------------------------------------------------------
     266 0149 7980          B               STZBETA ; ARP=AR2, AR0->FR0, AR2->kslide        
         014a 014c' 
     267            ;----------------------------------------------------------------------------------
     268 014b       EBETAGT                 ; ARP=AR2, AR0->FR0, AR2->kslide
     269            ;----------------------------------------------------------------------------------
     270 014b 1080          LACC    *               ; ACC = kslide  (Q15)
     271                                                    ; ARP=AR2, AR0->FR0, AR2->kslide
     272            ;----------------------------------------------------------------------------------
     273 014c       STZBETA                                 ; ARP=AR2, AR0->FR0, AR2->kslide        
     274            ;----------------------------------------------------------------------------------
     275 014c 7c04          SBRK    #4              ; ARP=AR2, AR0->FR0, AR2->zbeta
     276            ;----------------------------------------------------------------------------------
     277 014d 9080                  SACL    *               ; zbeta = kslide*SIGN(isbetae-isbeta)  (Q15)
     278                                                            ; ARP=AR2, AR0->FR0, AR2->zbeta 
     279            ;----------------------------------------------------------------------------------
     280            ; End: Sliding control calculator
     281            ;----------------------------------------------------------------------------------
     282            ; (3) Sliding control filter - back EMF calculator
     283            ;     esalfa = esalfa + kslf*(zalfa-esalfa)
     284            ;     esbeta = esbeta + kslf*(zbeta-esbeta)
     285            ;----------------------------------------------------------------------------------
     286 014e       SLCNTRLF2               ; ARP=AR2, AR0->FR0, AR2->zbeta
     287            ;----------------------------------------------------------------------------------
     288 014e 7c06          SBRK    #6              ; ARP=AR2, AR0->FR0, AR2->zalfa
     289            ;----------------------------------------------------------------------------------
     290 014f 6a80                  LACC    *,16    ; ACC = zalfa (Q31)
     291                                                            ; ARP=AR2, AR0->FR0, AR2->zalfa
     292            ;----------------------------------------------------------------------------------
     293 0150 780d                  ADRK    #13             ; ARP=AR2, AR0->FR0, AR2->esalfalo
     294            ;----------------------------------------------------------------------------------
     295 0151 6680                  SUBS    *               ; ACC = zalfa - esalfa  (Q31)
     296                                                            ; ARP=AR2, AR0->FR0, AR2->esalfalo
     297            ;----------------------------------------------------------------------------------
     298 0152 7c0e          SBRK    #14             ; ARP=AR2, AR0->FR0, AR2->esalfa
     299            ;----------------------------------------------------------------------------------
     300 0153 6588                  SUB             *,16,AR0 ; ACC = zalfa - esalfa  (Q31)
     301                                                            ; ARP=AR2, AR0->FR0, AR2->esalfa, ARP=AR0
     302            ;----------------------------------------------------------------------------------
     303 0154 90a0                  SACL    *+              ; FR0 = eserrlo = zalfa - esalfa  (Q31)
     304                                                            ; ARP=AR0, AR0->FR1, AR2->esalfa        
     305            ;----------------------------------------------------------------------------------
     306 0155 9890          SACH    *-              ; FR1 = eserrhi = zalfa - esalfa  (Q31)
     307                                                            ; ARP=AR0, AR0->FR0, AR2->esalfa 
     308            ;----------------------------------------------------------------------------------
     309 0156 738a          LT              *,AR2   ; TREG = eserrlo
     310                                                    ; ARP=AR0, AR0->FR0, AR2->esalfa, ARP=AR2
     311            ;----------------------------------------------------------------------------------
     312 0157 780f                  ADRK    #15             ; ARP=AR2, AR0->FR0, AR2->kslf (>0)
     313            ;----------------------------------------------------------------------------------
     314 0158 5588          MPYU    *,AR0   ; PREG = kslf* eserrlo
     315                                                    ; ARP=AR2, AR0->FR0, AR2->kslf (>0), ARP=AR0
     316            ;----------------------------------------------------------------------------------
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    7

     317 0159 be03          PAC                             ; ACC = kslf* eserrlo
     318                                                    ; ARP=AR0, AR0->FR0, AR2->kslf (>0)
     319            ;----------------------------------------------------------------------------------
     320 015a 7802                  ADRK    #2              ; ARP=AR0, AR0->FR2, AR2->kslf (>0)     
     321            ;----------------------------------------------------------------------------------
     322 015b 9890                  SACH    *-              ; FR2 = smoptemp = kslf*eserrlo
     323                                                            ; ARP=AR0, AR0->FR1, AR2->kslf (>0)  
     324            ;----------------------------------------------------------------------------------
     325 015c 73aa          LT              *+,AR2  ; TREG = eserrhi
     326                                                    ; ARP=AR0, AR0->FR2, AR2->kslf (>0), ARP=AR2
     327            ;----------------------------------------------------------------------------------
     328 015d 5498          MPY             *-,AR0  ; PREG = kslf*eserrhi
     329                                                    ; ARP=AR2, AR0->FR2, AR2->esalfalo, ARP=AR0
     330            ;----------------------------------------------------------------------------------
     331 015e be03                  PAC                             ; ACC = kslf*eserrhi
     332                                                    ; ARP=AR0, AR0->FR2, AR2->esalfalo
     333            ;----------------------------------------------------------------------------------
     334 015f 209a          ADD             *-,AR2  ; ACC = smoptemp + kslf*eserrhi
     335                                                    ; ARP=AR0, AR0->FR1, AR2->esalfalo, ARP=AR2     
     336            ;----------------------------------------------------------------------------------
     337 0160 6280          ADDS    *               ; ACC = esalfa+smoptemp+kslf*eserrhi  (Q31)
     338                                                    ; ARP=AR2, AR0->FR1, AR2->esalfalo      
     339            ;----------------------------------------------------------------------------------
     340 0161 7c0e          SBRK    #14             ; ARP=AR2, AR0->FR1, AR2->esalfa
     341            ;----------------------------------------------------------------------------------
     342 0162 6180          ADD             *,16    ; ACC = esalfa+smoptemp+kslf*eserrhi  (Q31)
     343                                                    ; ARP=AR2, AR0->FR1, AR2->esalfa
     344            ;----------------------------------------------------------------------------------
     345 0163 9880                  SACH    *               ; esalfa = esalfa+smoptemp+kslf*eserrhi  (Q31)
     346                                                    ; ARP=AR2, AR0->FR1, AR2->esalfa
     347            ;----------------------------------------------------------------------------------
     348 0164 780e          ADRK    #14             ; ARP=AR2, AR0->FR1, AR2->esalfalo
     349            ;----------------------------------------------------------------------------------
     350 0165 9080                  SACL    *               ; esalfa = esalfa+smoptemp+kslf*eserrhi  (Q31)
     351                                                    ; ARP=AR2, AR0->FR1, AR2->esalfalo
     352            ;----------------------------------------------------------------------------------
     353 0166 7c07          SBRK    #7              ; ARP=AR2, AR0->FR1, AR2->zbeta
     354            ;----------------------------------------------------------------------------------
     355 0167 6a80          LACC    *,16    ; ACC = zbeta (Q31)
     356                                                            ; ARP=AR2, AR0->FR1, AR2->zbeta
     357            ;----------------------------------------------------------------------------------
     358 0168 7809                  ADRK    #9              ; ARP=AR2, AR0->FR1, AR2->esbetalo
     359            ;----------------------------------------------------------------------------------
     360 0169 6680                  SUBS    *               ; ACC = zbeta - esbeta  (Q31)
     361                                                            ; ARP=AR2, AR0->FR1, AR2->esbetalo
     362            ;----------------------------------------------------------------------------------
     363 016a 7c0a          SBRK    #10             ; ARP=AR2, AR0->FR1, AR2->esbeta
     364            ;----------------------------------------------------------------------------------
     365 016b 6588                  SUB             *,16,AR0 ; ACC = zbeta - esbeta  (Q31)
     366                                                            ; ARP=AR2, AR0->FR1, AR2->esbeta, ARP=AR0
     367            ;----------------------------------------------------------------------------------
     368 016c 7c01                  SBRK    #1              ; ARP=AR0, AR0->FR0, AR2->esbeta
     369            ;----------------------------------------------------------------------------------
     370 016d 90a0                  SACL    *+              ; FR0 = eserrlo = zbeta - esbeta  (Q31)
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    8

     371                                                            ; ARP=AR0, AR0->FR1, AR2->esbeta        
     372            ;----------------------------------------------------------------------------------
     373 016e 9890          SACH    *-              ; FR1 = eserrhi = zbeta - esbeta  (Q31)
     374                                                            ; ARP=AR0, AR0->FR0, AR2->esbeta 
     375            ;----------------------------------------------------------------------------------
     376 016f 738a          LT              *,AR2   ; TREG = eserrlo
     377                                                    ; ARP=AR0, AR0->FR0, AR2->esbeta, ARP=AR2
     378            ;----------------------------------------------------------------------------------
     379 0170 7809                  ADRK    #9              ; ARP=AR2, AR0->FR0, AR2->kslf (>0)
     380            ;----------------------------------------------------------------------------------
     381 0171 5588          MPYU    *,AR0   ; PREG = kslf* eserrlo
     382                                                    ; ARP=AR2, AR0->FR0, AR2->kslf (>0), ARP=AR0
     383            ;----------------------------------------------------------------------------------
     384 0172 be03          PAC                             ; ACC = kslf* eserrlo
     385                                                    ; ARP=AR0, AR0->FR0, AR2->kslf (>0)
     386            ;----------------------------------------------------------------------------------
     387 0173 7802                  ADRK    #2              ; ARP=AR0, AR0->FR2, AR2->kslf (>0)     
     388            ;----------------------------------------------------------------------------------
     389 0174 9890                  SACH    *-              ; FR2 = smoptemp = kslf*eserrlo
     390                                                            ; ARP=AR0, AR0->FR1, AR2->kslf (>0)  
     391            ;----------------------------------------------------------------------------------
     392 0175 73aa          LT              *+,AR2  ; TREG = eserrhi
     393                                                    ; ARP=AR0, AR0->FR2, AR2->kslf (>0), ARP=AR2