boot2407.asm

基于神经网络自动控制的电机调速DSP程序。能自动学习PID参数。

;--------------------------------------------------------*/
;   WQ21ST SOFTWARE	STUDIO.			                  	 */
;--------------------------------------------------------*/
;
;
;    This was chosen as a starting point
;
;
;   This module contains the following definitions :
;
;         __stack    - Stack memory area
;         _c_int0    - Boot function
;         _var_init  - Function which processes initialization tables
;
;    filename:    Boot2407.asm
;    original:	  07/25/2001   by: WQ
;    last update: 08/18/2000   by: WQ


	.global  _c_int0, cinit
	.global  _main, _abort
	.global .bss, end

;;;;;


WD_CNTL 	.set	07029h		;WD Control reg
WD_CNTR 	.set	07023h		;WD Counter reg
WD_KEY		.set	07025h		;WD Key reg

;-----------------------------------------------------------------------------
; Debug directives
;-----------------------------------------------------------------------------
		.def	GPR0			;General purpose registers.
		.def	GPR1
		.def	GPR2
		.def	GPR3


;-----------------------------------------------------------------------------
; Variable Declarations for on chip RAM Blocks
;-----------------------------------------------------------------------------
		.bss	GPR0,1		;General purpose registers.
		.bss	GPR1,1
		.bss	GPR2,1
		.bss	GPR3,1
		.bss	REG5,1
		.bss	REGA,1

;-----------------------------------------------------------------------------
; M A C R O - Definitions
;-----------------------------------------------------------------------------
SBIT0		.macro	DMA, MASK	;Clear bit Macro
		LACC	DMA
		AND	#(0FFFFh-MASK)
		SACL	DMA
		.endm

SBIT1		.macro	DMA, MASK	;Set bit Macro
		LACC	DMA
		OR	#MASK
		SACL	DMA
		.endm

KICK_DOG	.macro			;Watchdog reset macro
		LDP	#00E0h
		SPLK	#05555h, WD_KEY
		SPLK	#0AAAAh, WD_KEY
		LDP	#0h
		.endm


;
; CONST COPY OPTION
; If your system cannot support allocating an initialized section to data
; memory, and you want the boot routine to copy .const from program to
; data memory, then set this CONST_COPY variable to 1
;
; Note the code that does the copy depends on you having the following
; in your linker command file
;
;       MEMORY
;       {
;         PAGE 0 : PROG : ...   /* 'PROG' AND 'DATA' ARE EXAMPLE NAMES */
;         PAGE 1 : DATA : ...
;         ...
;       }
;
;       SECTIONS
;       {
;         ...
;         .const : load = PROG PAGE 0, run = DATA PAGE 1
;                  { 
;                    __const_run = . ;
;                    *(.c_mark)
;                    *(.const)
;                    __const_length = . - __const_run;
;                  }
;         ...
;       }
;
CONST_COPY	.set	0

;
; For CONST COPY, Define the load address of the .const section 
; depends on linker command file being written as above
;
	.if     CONST_COPY
	.sect   ".c_mark"
	.label  __const_load

	.global __const_run, __const_length

	.text
	.endif ; CONST_COPY

;
; Declare the stack.  Size is determined by the linker option -stack
;
__stack:        .usect  ".stack",0

;
; FUNCTION DEF : _c_int0
;
;   1) Set up stack
;   2) Set up proper status
;   3) If "cinit" is not -1, init global variables
;   4) call users' program
;
;
_c_int0:                            ; entry point from reset vector

      SETC    INTM                 ;Disable interrupts
;
; Initialize status bit fields *NOT* initialized at reset                   
;
       CLRC    XF                   ; turn off xf bit
       CLRC    SXM                  ;Clear Sign Extension Mode
       CLRC    OVM                  ;Reset Overflow Mode
       CLRC    CNF                  ;Config Block B0 to Data mem.

       LDP     #0E0h
       SPLK    #006Fh,WD_CNTL
       KICK_DOG

;      LDP     #00E0h
;      SPLK    #00CBh,PLL_CNTL2     ;CLKIN(XTAL)=10MHz,CPUCLK=20MHz
;      SPLK    #00C3h,PLL_CNTL1     ;CLKMD=PLL Enable,SYSCLK=CPUCLK/2,
;      SPLK    #40C0h,SYSCR	    ;CLKOUT=CPUCLK, no reset,

;       LDP     #0000h
;       SPLK    #4h,GPR3			
;       OUT     GPR3,WSGR            ;Set XMIF to run w/no(0) wait states
                                    ;1 wait state for offchip I/O reads


;
;  Set up initial stack and frame pointers
;
	LRLK    AR0,__stack             ; set up frame pointer
	LRLK    AR1,__stack             ; set up stack pointer

;
; Initialize status bit fields which are set to these same values by reset.
; If you run this routine from reset, you can comment out this code.
;
	SPM     0                       ; product shift count of zero
        MAR     *,AR0                   ; AR = 0, mls 10/07/96

	SSXM                            ; set SXM=1 for next instruction
;
; If cinit is not -1, process initialization tables
;
	LALK    cinit                   ; get pointer to init tables
	ADDK    1
	BZ      skip                    ; if (cinit == -1)

	CALL    _var_init,AR1           ; var_init() 

;
;  Call the user's program
;
skip:
	.if     CONST_COPY
	CALL    const_copy
	.endif

                           ; start of hw stack init code
        LACK    #0014h     ; vectors for underflow
        SACL    *
        PSHD    *          
        PSHD    *          
        PSHD    *          
        PSHD    *          
        PSHD    *          
        PSHD    *          
        PSHD    *          
        PSHD    *          
                
	CALL    _main,AR1
	CALL    _abort,AR1              ; to never return...

	.page
;
;  FUNCTION DEF : _var_init
;
;  PROCESS INITIALIZATION TABLES.  TABLES ARE IN
;  PROGRAM MEMORY IN THE FOLLOWING FORMAT :
;
;       .word  <length of init data in words>
;       .word  <address of variable to initialize>
;       .word  <init data>
;       .word  ...
;
;  The init table is terminated with a zero length
;
;

_var_init:

;
; C2xx Version
;
	ADRK    2                       ; allocate two words of local memory
	LALK    cinit                   ; load accumulator with base of table
	LARP    AR0

;
;  Read init record header.
;  An init record with a zero length terminates the list.
;
loop:
	TBLR    *+                      ; read length 
	ADDK    1
	TBLR    *                       ; read address

	LAR     AR2,*-                  ; load variable address into ar2
	LAR     AR3,*,AR3               ; load count into ar3
	BANZ    copy,*-,AR2             ; check for end of table
 
;
;  At end of list, return to caller
;
	LARP    AR1 
	SBRK    2                       ; deallocate locals
	RET                             ; return to _c_int0

;
;  Perform the copy of data from program to data
;
copy:
	ADDK    1                       ; increment pointer to data     
	TBLR    *+,AR3                  ; copy data from program to variable
	BANZ    copy,*-,AR2             ; until count is zero

	ADDK    1                       ; point to beginning of next record
	B       loop,AR0                ; go process next record


	.page

;
; CONST COPY Routine - copies the .const section from program to data memory
;
	.if CONST_COPY
const_copy:

;
; C2xx version - must use 'RPT *' because RPTK count isn't big enough
;
	LALK    #__const_length         ; load length of const section
	BZ      quit                    ; if 0, quit
	LRLK    AR2,#__const_run        ; AR2 = const address in data
	LALK    #__const_length-1       ; load length - 1
	SACL    *                       ; write to temp

	RPT     *,AR2                   ; repeat length times
	BLKP    #__const_load,*+        ; block copy from program

	LARP    AR1                     ; restore ARP to SP
quit:
	RET                             ; return

	.endif ; CONST_COPY

	.end