aci_mras.lst

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

     240                                                            ; ARP=AR0, AR0->FR2, AR2->ibeta_mras, AR3->K1 
     241            ;----------------------------------------------------------------------------------
     242 003a 7802          ADRK    #2              ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1 
     243            ;----------------------------------------------------------------------------------
     244 003b e304          BCND    DONE0,GT ; Check sign1 = positive ?
         003c 0042' 
     245                                                    ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1 
     246            ;----------------------------------------------------------------------------------
     247 003d 6a90                  LACC    *-,16   ; ACC high = tmp1_high
     248                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1 
     249            ;----------------------------------------------------------------------------------
     250 003e 6280                  ADDS    *               ; ACC = tmp1_high + tmp1_low
     251                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1
     252            ;----------------------------------------------------------------------------------
     253 003f be02                  NEG                             ; Make the result negative
     254                                                            ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1
     255            ;----------------------------------------------------------------------------------
     256 0040 90a0          SACL    *+              ; FR3 = tmp1_low = ACC low
     257                                                    ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1  
     258            ;----------------------------------------------------------------------------------
     259 0041 9880                  SACH    *               ; FR4 = tmp1_high = ACC high
     260                                                            ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1
     261            ;----------------------------------------------------------------------------------
     262 0042       DONE0                   ; ARP=AR0, AR0->FR4, AR2->ibeta_mras, AR3->K1                                           
     263            ;----------------------------------------------------------------------------------
     264 0042 6a90          LACC    *-,16   ; ACC high = tmp1_high  (Q31)
     265                                                    ; ARP=AR0, AR0->FR3, AR2->ibeta_mras, AR3->K1 
     266            ;----------------------------------------------------------------------------------
     267 0043 6290                  ADDS    *-              ; ACC low = tmp1_low  (Q31)
     268                                                            ; ARP=AR0, AR0->FR2, AR2->ibeta_mras, AR3->K1 
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    6

     269            ;----------------------------------------------------------------------------------
     270 0044 be02                  NEG                             ; ACC = -[tmp1_high tmp1_low]     (Q31)
     271                                                            ; ARP=AR0, AR0->FR2, AR2->ibeta_mras, AR3->K1 
     272            ;----------------------------------------------------------------------------------
     273 0045 7c02          SBRK    #2              ; ARP=AR0, AR0->FR0, AR2->ibeta_mras, AR3->K1   
     274            ;----------------------------------------------------------------------------------
     275 0046 62a0                  ADDS    *+              ; ACC = tmp2_low - tmp1_low  (Q31)
     276                                                            ; ARP=AR0, AR0->FR1, AR2->ibeta_mras, AR3->K1
     277            ;----------------------------------------------------------------------------------
     278 0047 6180                  ADDH    *               ; ACC = tmp2_high - tmp1_high  (Q31)
     279                                                            ; ARP=AR0, AR0->FR1, AR2->ibeta_mras, AR3->K1
     280            ;----------------------------------------------------------------------------------
     281 0048 7805          ADRK    #5              ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1 
     282            ;----------------------------------------------------------------------------------
     283 0049 9880          SACH    *               ; FR6 = tmp4 or q(k) = tmp2_high - tmp1_high  (Q15)
     284                                                    ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1  
     285            ;----------------------------------------------------------------------------------
     286 004a 108b          LACC    *,AR3   ; ACC = q(k) (Q15)
     287                                                    ; ARP=AR0, AR0->FR6, AR2->ibeta_mras, AR3->K1, ARP=AR3 
     288            ;----------------------------------------------------------------------------------
     289 004b 7c03                  SBRK    #3              ; ARP=AR3, AR0->FR6, AR2->ibeta_mras, AR3->q  
     290            ;----------------------------------------------------------------------------------
     291 004c 2080                  ADD             *               ; ACC = q(k)+q(k-1)      (Q15)
     292                                                            ; ARP=AR3, AR0->FR6, AR2->ibeta_mras, AR3->q  
     293            ;----------------------------------------------------------------------------------
     294 004d be0a          SFR                             ; ACC = (q(k)+q(k-1))/2  (Q15)
     295                                                            ; ARP=AR3, AR0->FR6, AR2->ibeta_mras, AR3->q  
     296            ;----------------------------------------------------------------------------------
     297 004e 908a          SACL    *,AR2   ; q(k) = (q(k)+q(k-1))/2 (Q15)
     298                                                    ; ARP=AR3, AR0->FR6, AR2->ibeta_mras, AR3->q, ARP=AR2 
     299            ;----------------------------------------------------------------------------------
     300 004f 1080                  LACC    *               ; ACC = ibeta_mras  (Q15)
     301                                                            ; ARP=AR2, AR0->FR6, AR2->ibeta_mras, AR3->q            
     302            ;----------------------------------------------------------------------------------
     303 0050 7802          ADRK    #2              ; ARP=AR2, AR0->FR6, AR2->ibeta_old, AR3->q
     304            ;----------------------------------------------------------------------------------
     305 0051 9080          SACL    *               ; ibeta_old = ibeta_mras  (Q15)
     306                                                    ; ARP=AR2, AR0->FR6, AR2->ibeta_old, AR3->q
     307            ;----------------------------------------------------------------------------------
     308 0052 7c03          SBRK    #3              ; ARP=AR2, AR0->FR6, AR2->ialfa_mras, AR3->q
     309            ;----------------------------------------------------------------------------------
     310 0053 1080                  LACC    *               ; ACC = ialfa_mras  (Q15)
     311                                                            ; ARP=AR2, AR0->FR6, AR2->ialfa_mras, AR3->q
     312            ;----------------------------------------------------------------------------------
     313 0054 7802                  ADRK    #2              ; ARP=AR2, AR0->FR6, AR2->ialfa_old, AR3->q
     314            ;----------------------------------------------------------------------------------
     315 0055 9080                  SACL    *               ; ialfa_old = ialfa_mras  (Q15)
     316                                                            ; ARP=AR2, AR0->FR6, AR2->ialfa_old, AR3->q
     317            ;----------------------------------------------------------------------------------
     318 0056 7c04                  SBRK    #4              ; ARP=AR2, AR0->FR6, AR2->ualfa_mras, AR3->q    
     319            ;----------------------------------------------------------------------------------
     320 0057 8b88          MAR             *,AR0   ; ARP=AR0, AR0->FR6, AR2->ualfa_mras, AR3->q 
     321            ;----------------------------------------------------------------------------------
     322 0058 7c06          SBRK    #6              ; ARP=AR0, AR0->FR0, AR2->ualfa_mras, AR3->q  
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    7

     323            ;----------------------------------------------------------------------------------
     324 0059 8b8b          MAR             *,AR3   ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->q
     325            ;----------------------------------------------------------------------------------
     326 005a 7803                  ADRK    #3              ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->K1
     327            ;----------------------------------------------------------------------------------
     328 005b 8b8a                  MAR             *,AR2   ; ARP=AR2, AR0->FR0, AR2->ualfa_mras, AR3->K1 
     329            ;----------------------------------------------------------------------------------
     330                    .endif          ; ARP=AR2, AR0->FR0, AR2->ualfa_mras, AR3->K1 
     331            ;----------------------------------------------------------------------------------
     332                            .if (adt_model_)        
     333 005c       ADT_MODEL:
     334            ;----------------------------------------------------------------------------------
     335 005c       IM_ALFA                 ; ARP=AR2, AR0->FR0, AR2->ualfa_mras, AR3->K1
     336            ;----------------------------------------------------------------------------------
     337 005c 8b8b          MAR             *,AR3   ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->K1 
     338            ;----------------------------------------------------------------------------------
     339 005d 780b                  ADRK    #11             ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras
     340            ;----------------------------------------------------------------------------------
     341 005e 7380                  LT              *               ; TREG = wr_hat_mras  (Q15)
     342                                                            ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras
     343            ;----------------------------------------------------------------------------------
     344 005f 5488                  MPY             *,AR0   ; PREG = wr_hat_mras*wr_hat_mras (Q30)
     345                                                            ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras, ARP=AR0 
     346            ;----------------------------------------------------------------------------------
     347 0060 be03          PAC                             ; ACC = wr_hat_mras*wr_hat_mras (Q30)
     348                                                            ; ARP=AR0, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras 
     349            ;----------------------------------------------------------------------------------
     350 0061 9980                  SACH    *,1             ; FR0 = tmp1_high = wr_hat_mras*wr_hat_mras (Q15)
     351                                                            ; ARP=AR0, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras          
     352            ;----------------------------------------------------------------------------------
     353 0062 738b          LT              *,AR3   ; TREG = wr_hat_mras*wr_hat_mras (Q15)     
     354                                    ; ARP=AR0, AR0->FR0, AR2->ualfa_mras, AR3->wr_hat_mras, ARP=AR3
     355            ;----------------------------------------------------------------------------------
     356 0063 7c08          SBRK    #8              ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->K4           
     357            ;----------------------------------------------------------------------------------
     358 0064 54a0                  MPY             *+              ; PREG = K4*wr_hat_mras*wr_hat_mras (Q30)
     359                                    ; ARP=AR3, AR0->FR0, AR2->ualfa_mras, AR3->K5
     360            ;----------------------------------------------------------------------------------
     361 0065 be03                  PAC                             ; ACC = K4*wr_hat_mras*wr_hat_mras (Q30)