aci_mras.lst

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

     118            ;----------------------------------------------------------------------------------
     119                            .if (ref_model_)        
     120 000f       REF_MODEL:
     121            ;----------------------------------------------------------------------------------
     122 000f 7380          LT              *               ; TREG = ualfa_mras  (Q15)
     123                                                    ; ARP=AR2, AR0->FR0, AR2->ualfa_mras, AR3->K1   
     124            ;----------------------------------------------------------------------------------
     125 0010 7803          ADRK    #3      ; ARP=AR2, AR0->FR0, AR2->ibeta_mras, AR3->K1
     126            ;----------------------------------------------------------------------------------
     127 0011 5490          MPY             *-              ; PREG = ualfa_mras*ibeta_mras  (Q30)
     128                                                    ; ARP=AR2, AR0->FR0, AR2->ialfa_mras, AR3->K1
     129            ;----------------------------------------------------------------------------------
     130 0012 be03                  PAC                             ; ACC = ualfa_mras*ibeta_mras  (Q30)
     131                                                    ; ARP=AR2, AR0->FR0, AR2->ialfa_mras, AR3->K1
     132            ;----------------------------------------------------------------------------------
     133 0013 be02                  NEG                             ; ACC = -ualfa_mras*ibeta_mras  (Q30)
     134                                                    ; ARP=AR2, AR0->FR0, AR2->ialfa_mras, AR3->K1
     135            ;----------------------------------------------------------------------------------
     136 0014 7390          LT              *-              ; TREG = ialfa_mras  (Q15)
     137                                                    ; ARP=AR2, AR0->FR0, AR2->ubeta_mras, AR3->K1
     138            ;----------------------------------------------------------------------------------
     139 0015 54a8          MPY             *+,AR0  ; PREG = ubeta_mras*ialfa_mras  (Q30)
     140                                                    ; ARP=AR2, AR0->FR0, AR2->ialfa_mras, AR3->K1, ARP=AR0
     141            ;----------------------------------------------------------------------------------
     142 0016 be04                  APAC                    ; ACC = ubeta_mras*ialfa_mrasualfa_mras*ibeta_mras  (Q30)  
     143                                            ; ARP=AR0, AR0->FR0, AR2->ialfa_mras, AR3->K1
     144            ;----------------------------------------------------------------------------------
     145 0017 91a0          SACL    *+,1    ; FR0 = tmp2_low = ubeta_mras*ialfa_mrasualfa_mras*ibeta_mras (Q31)
     146                                                    ; ARP=AR0, AR0->FR1, AR2->ialfa_mras, AR3->K1
     147            ;----------------------------------------------------------------------------------
     148 0018 99aa          SACH    *+,1,AR2 ; FR1 = tmp2_high = ubeta_mras*ialfa_mrasualfa_mras*ibeta_mras (Q31)
     149                                                    ; ARP=AR0, AR0->FR2, AR2->ialfa_mras, AR3->K1, ARP=AR2
     150            ;----------------------------------------------------------------------------------
     151 0019 7380                  LT              *               ; TREG = ialfa_mras (Q15)
     152                                                            ; ARP=AR2, AR0->FR2, AR2->ialfa_mras, AR3->K1           
     153            ;----------------------------------------------------------------------------------
     154 001a 7803                  ADRK    #3              ; ARP=AR2, AR0->FR2, AR2->ibeta_old, AR3->K1
     155            ;----------------------------------------------------------------------------------
     156 001b 5490          MPY             *-              ; PREG = ialfa_mras*ibeta_old (Q30)
     157                                                    ; ARP=AR2, AR0->FR2, AR2->ialfa_old, AR3->K1 
     158            ;----------------------------------------------------------------------------------
     159 001c be03                  PAC                             ; ACC = ialfa_mras*ibeta_old (Q30)
     160                                                    ; ARP=AR2, AR0->FR2, AR2->ialfa_old, AR3->K1 
     161            ;----------------------------------------------------------------------------------
     162 001d be02                  NEG                             ; ACC = -ialfa_mras*ibeta_old (Q30)
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:14 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
aci_mras.asm                                                         PAGE    4

     163                                                    ; ARP=AR2, AR0->FR2, AR2->ialfa_old, AR3->K1 
     164            ;----------------------------------------------------------------------------------
     165 001e 7390          LT              *-              ; TREG = ialfa_old (Q15)
     166                                                    ; ARP=AR2, AR0->FR2, AR2->ibeta_mras, AR3->K1 
     167            ;----------------------------------------------------------------------------------
     168 001f 5488                  MPY             *,AR0   ; PREG = ibeta_mras*ialfa_old (Q30)
     169                                                            ; ARP=AR2, AR0->FR2, AR2->ibeta_mras, AR3->K1, ARP=AR0 
     170            ;----------------------------------------------------------------------------------
     171 0020 be04                  APAC                    ; ACC = ibeta_mras*ialfa_old-ialfa_mras*ibeta_old (Q30)
     172                                                            ; ARP=AR0, AR0->FR2, AR2->ibeta_mras, AR3->K1   
     173            ;----------------------------------------------------------------------------------
     174 0021 98a0          SACH    *+              ; FR2 = sign1 Keeping sign
     175                                                    ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1            
     176            ;----------------------------------------------------------------------------------
     177 0022 be00                  ABS                             ; ACC = |ibeta_mras*ialfa_old-ialfa_mras*ibeta_old| (Q30)
     178                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1 
     179            ;----------------------------------------------------------------------------------
     180 0023 91a0                  SACL    *+,1    ; FR3 = tmp1_low = |ibeta_mras*ialfa_old-ialfa_mras*ibeta_old| (Q31)
     181                                                            ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1
     182            ;----------------------------------------------------------------------------------
     183 0024 999b          SACH    *-,1,AR3 ; FR4 = tmp1_high = |ibeta_mras*ialfa_old-ialfa_mras*ibeta_old| (Q31)
     184                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1, ARP=AR3
     185            ;----------------------------------------------------------------------------------
     186 0025 7388                  LT              *,AR0   ; TREG = K1 (Q11)
     187                                                            ; ARP=AR3, AR0->FR3, AR2->ibeta_mras, AR3->K1, ARP=AR0
     188            ;----------------------------------------------------------------------------------
     189 0026 5580                  MPYU    *               ; PREG = K1*tmp1_low
     190                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1                   
     191            ;----------------------------------------------------------------------------------
     192 0027 7803                  ADRK    #3              ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1    
     193            ;----------------------------------------------------------------------------------                             
     194 0028 8d90          SPH             *-              ; FR6 = tmp4 = PREG high  (save partial result)
     195                                                    ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1 
     196            ;----------------------------------------------------------------------------------
     197 0029 8c90                  SPL             *-              ; FR5 = tmp5 = PREG low
     198                                                            ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1                   
     199            ;----------------------------------------------------------------------------------
     200 002a 5580                  MPYU    *               ; PREG = K1*tmp1_high
     201                                                            ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1 
     202            ;----------------------------------------------------------------------------------
     203 002b be03          PAC                             ; ACC = K1*tmp1_high
     204                                                    ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1  
     205            ;----------------------------------------------------------------------------------
     206 002c 7802          ADRK    #2              ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1
     207            ;----------------------------------------------------------------------------------
     208 002d 6280                  ADDS    *               ; ACC = K1*tmp1_high + tmp4
     209                                                            ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1
     210            ;----------------------------------------------------------------------------------
     211 002e 7c03          SBRK    #3              ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1
     212            ;----------------------------------------------------------------------------------
     213 002f 96a0                  SACL    *+,6    ; FR3 = tmp1_low = ACC low   (Q31)
     214                                                            ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1
     215            ;----------------------------------------------------------------------------------
     216 0030 9ea0          SACH    *+,6    ; FR4 = tmp1_high = ACC high   (Q31)
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:14 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
aci_mras.asm                                                         PAGE    5

     217                                                            ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1
     218            ;----------------------------------------------------------------------------------
     219 0031 1080          LACC    *               ; ACC = tmp5
     220                                                    ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1
     221            ;----------------------------------------------------------------------------------
     222 0032 bfb0                  AND             #0FC00h ; Pick MSB 6 bits in low 16 bits of K1*tmp1_low
         0033 fc00  
     223                                                            ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1    
     224            ;----------------------------------------------------------------------------------
     225 0034 9e80                  SACH    *,6             ; FR5 = tmp5 = MSB 6 bits in low 16 bits of K1*tmp1_low
     226                                                            ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1 
     227            ;----------------------------------------------------------------------------------
     228 0035 6980                  LACL    *               ; ACC = tmp5
     229                                                            ; ARP=AR0, AR0->FR5, AR2->ibeta_mras, AR3->K1 
     230            ;----------------------------------------------------------------------------------
     231 0036 7c02                  SBRK    #2              ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1           
     232            ;----------------------------------------------------------------------------------
     233 0037 6280                  ADDS    *               ; FR3 = tmp1_low = MSB 6 bits in low 16 bits of K1*tmp1_low
     234                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1 
     235            ;----------------------------------------------------------------------------------
     236 0038 9090                  SACL    *-              ; FR3 = tmp1_low = ACC low
     237                                                            ; ARP=AR0, AR0->FR2, AR2->ibeta_mras, AR3->K1 
     238            ;----------------------------------------------------------------------------------
     239 0039 1080                  LACC    *               ; ACC = sign1