speed_fr.lst

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

C:\TIC2XX\C2000\CGTOOLS\BIN\DSPA.EXE -q -v2xx -gs speed_fr.asm -o ..\obj\speed_fr.obj -l ..\temp\speed_fr.lst 

TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:26 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
speed_fr.asm                                                         PAGE    1

       1            ;=====================================================================================
       2            ; File name:        SPEED_FR.ASM
       3            ;                    
       4            ; Originator:   Digital Control Systems Group
       5            ;                       Texas Instruments
       6            ;
       7            ; Description: This file contains source for a speed calculation function.
       8            ;
       9            ;=====================================================================================
      10            ; History:
      11            ;-------------------------------------------------------------------------------------
      12            ; 01-14-2002    Release Rev 1.0
      13            ;================================================================================
      14            ; Applicability: F240,F241,C242,F243,F24xx.  (Peripheral Independant).
      15            ;================================================================================
      16            ; Routine Name: speed_frq                                Routine Type: C Callable
      17            ;
      18            ; Description:
      19            ;  
      20            ;  C prototype : int speed_frq(SPEED_MEAS *)
      21            ;================================================================================
      22            ;        The definition for the Speed Frequency Object is as follows:
      23            ;
      24            ;typedef struct { int theta_elec;  /* Input: Electrical angle (Q15)  */
      25            ;                 int K1_fr;       /* Parameter: Constant for differentiator (Q6) */
      26            ;                 int theta_old;   /* History: Electrical angle at previous step (Q15)  */
      27            ;                 int K2_fr;       /* Parameter: Constant for low-pass filter (Q15) */
      28            ;                 int speed_frq;   /* Output: Speed in per-unit  (Q15) */
      29            ;                 int K3_fr;       /* Parameter: Constant for low-pass filter (Q15) */
      30            ;                 int rpm_max;     /* Parameter: Base speed in rpm (Q0) */
      31            ;                 int speed_rpm;   /* Output : Speed in rpm  (Q0)  */
      32            ;                 int (*calc)();   /* Pointer to the calulation function   */
      33            ;                } SPEED_MEAS;     /* Data type created      */
      34            ;
      35            ;================================================================================
      36            ;       Frame Usage Details:
      37            ;            |      a       |      b        |   c      |      d     
      38            ;____________|______________|_______________|__________|____________
      39            ;       FR0  |     tmp1     |               |          |
      40            ;
      41            ;
      42            ;================================================================================
      43                            .def        _speed_frq
      44            ;================================================================================
      45      7333  DIFF_MAX_LIMIT_FR                       .set    7333h   ; Maximum limit to differentiate angle (Q15)
      46      0ccd  DIFF_MIN_LIMIT_FR                       .set    0CCDh   ; Minimum limit to differentiate angle (Q15)
      47            
      48            ; Important!! Note that the default DIFF_LIMIT are shown, if it is neccessary 
      49            ; to be changed, the module library (e.g., clib_011.lib) must be rebuilt to take the effect.  
      50            ;================================================================================
      51      0001  __speed_frq_framesize .set 0001h
      52            ;================================================================================
      53 0000       _speed_frq:            
      54                                                                                                                    ; Assume
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00  Tue May  6 12:41:26 2003
Copyright (c) 1987-1999  Texas Instruments Incorporated 
speed_fr.asm                                                         PAGE    2

      55 0000 8aa0          POPD    *+                                                                      ; Keep return address
      56 0001 80a0          SAR     AR0,*+                                                          ; Keep old frame pointer (FP)
      57 0002 8180          SAR     AR1,*                                                           ; Keep old stack pointer (SP)
      58 0003 b001          LARK    AR0,__speed_frq_framesize                       ; Load AR0 with frame size      
      59 0004 00e8          LAR     AR0,*0+,AR0                                                     ; AR0->FP0 (new FP), ARP=AR0
      60                            
      61            ;=================================================================================
      62 0005 7c03                  SBRK    #3              ; ARP=AR0, AR0->FR0-3 (1st argument)            
      63            ;----------------------------------------------------------------------------------
      64 0006 0280                  LAR             AR2,*   ; ARP=AR0, AR0->dir_QEP, AR2->theta_elec
      65            ;----------------------------------------------------------------------------------
      66 0007 7803                  ADRK    #3              ; ARP=AR0, AR0->FR0, AR2->theta_elec
      67            ;----------------------------------------------------------------------------------
      68 0008 8b8a                  MAR             *,AR2   ; ARP=AR2, AR0->FR0, AR2->theta_elec
      69            ;----------------------------------------------------------------------------------
      70 0009 be47                  SETC    SXM             ; Turn sign extension mode on
      71                                                            ; ARP=AR2, AR0->FR0, AR2->theta_elec
      72            ;----------------------------------------------------------------------------------
      73 000a be43                  SETC    OVM             ; Set overflow mode
      74                                                            ; ARP=AR2, AR0->FR0, AR2->theta_elec
      75            ;----------------------------------------------------------------------------------
      76 000b bf00                  SPM     0       ; Reset product mode
      77                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec
      78            ;----------------------------------------------------------------------------------
      79 000c bf80          LACC    #DIFF_MAX_LIMIT_FR      ; ACC = DIFF_MAX_LIMIT  (Q15)
         000d 7333  
      80                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec  
      81            ;----------------------------------------------------------------------------------
      82 000e 3080          SUB             *               ; ACC = DIFF_MAX_LIMIT - theta_elec (Q15)
      83                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec
      84            ;----------------------------------------------------------------------------------
      85 000f e304          BCND    LESS_MAX_FR,GT ; Branch to LESS_MAX if DIFF_MAX_LIMIT > theta_elec
         0010 0013' 
      86                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec 
      87            ;----------------------------------------------------------------------------------
      88 0011 7980          B               SKIP_DIFF_FR  ; ARP=AR2, AR0->FR1, AR2->theta_elec
         0012 002d' 
      89            ;----------------------------------------------------------------------------------
      90 0013       LESS_MAX_FR                             ; ARP=AR2, AR0->FR0, AR2->theta_elec
      91            ;----------------------------------------------------------------------------------
      92 0013 bf80                  LACC    #DIFF_MIN_LIMIT_FR      ; ACC = DIFF_MIN_LIMIT  (Q15)
         0014 0ccd  
      93                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec 
      94            ;----------------------------------------------------------------------------------
      95 0015 3080          SUB             *               ; ACC = DIFF_MIN_LIMIT - theta_elec (Q15)
      96                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec
      97            ;----------------------------------------------------------------------------------
      98 0016 e344          BCND    MORE_MIN_FR,LT ; Branch to MORE_MIN if DIFF_MIN_LIMIT < theta_elec
         0017 001a' 
      99                                                    ; ARP=AR2, AR0->FR0, AR2->theta_elec