mcp2510.lst

用iccavr工具编写的mcp2510与can连接的通讯程序。

__text_start:
__start:
    002D E5CF      LDI	R28,0x5F
    002E E0D4      LDI	R29,4
    002F BFCD      OUT	0x3D,R28
    0030 BFDE      OUT	0x3E,R29
    0031 51C0      SUBI	R28,0x10
    0032 40D0      SBCI	R29,0
    0033 EA0A      LDI	R16,0xAA
    0034 8308      STD	Y+0,R16
    0035 2400      CLR	R0
    0036 E6E6      LDI	R30,0x66
    0037 E0F0      LDI	R31,0
    0038 E010      LDI	R17,0
    0039 37E4      CPI	R30,0x74
    003A 07F1      CPC	R31,R17
    003B F011      BEQ	0x003E
    003C 9201      ST	R0,Z+
    003D CFFB      RJMP	0x0039
    003E 8300      STD	Z+0,R16
    003F E5E4      LDI	R30,0x54
    0040 E0F0      LDI	R31,0
    0041 E6A0      LDI	R26,0x60
    0042 E0B0      LDI	R27,0
    0043 E010      LDI	R17,0
    0044 35EA      CPI	R30,0x5A
    0045 07F1      CPC	R31,R17
    0046 F021      BEQ	0x004B
    0047 95C8      LPM
    0048 9631      ADIW	R30,1
    0049 920D      ST	R0,X+
    004A CFF9      RJMP	0x0044
    004B 940E0341  CALL	_main
_exit:
    004D CFFF      RJMP	_exit
FILE: F:\多运动体协调控制程序\通信程序1\mcp2510.c
(0001) //ICC-AVR application builder : 2007-10-17 16:47:59
(0002) // Target : M16
(0003) // Crystal: 16.000Mhz
(0004) 
(0005) #include <iom16v.h>
(0006) #include <macros.h>
(0007) #define READ 0x03 // 读MCP2510指令代码 
(0008) #define WRITE 0x02 // 写MCP2510指令代码 
(0009) #define RESET 0xC0 // 复位MCP2510指令代码 
(0010) #define RTS 0x80 // MCP2510请求发送指令代码 
(0011) #define STA2510 0xA0 // 读MCP2510状态指令代码 
(0012) #define BITMOD 0x05 // MCP2510位修改指令代码 
(0013) int timecount;
(0014) int a[]; // SPI发送或接收数据寄存器
(0015) int b[]; // 发送或接收的数据
(0016) int c[]; // 发送或接收的数据
(0017) int i; // 临时变量
(0018) int count; // 发送接收计数器
(0019) int count1=0; // for test
(0020) int RecID_H=0;
(0021) int RecID_L=0;
(0022) int DLC;
(0023) 
(0024) void port_init(void)
(0025) {
(0026)  PORTA = 0xFF;
_port_init:
    004E EF8F      LDI	R24,0xFF
    004F BB8B      OUT	0x1B,R24
(0027)  DDRA  = 0x00;
    0050 2422      CLR	R2
    0051 BA2A      OUT	0x1A,R2
(0028)  PORTB = 0xFF;
    0052 BB88      OUT	0x18,R24
(0029)  DDRB  = 0x00;
    0053 BA27      OUT	0x17,R2
(0030)  PORTC = 0xFF; //m103 output only
    0054 BB85      OUT	0x15,R24
(0031)  DDRC  = 0x00;
    0055 BA24      OUT	0x14,R2
(0032)  PORTD = 0xFF;
    0056 BB82      OUT	0x12,R24
(0033)  DDRD  = 0x00;
    0057 BA21      OUT	0x11,R2
    0058 9508      RET
(0034) }
(0035) 
(0036) //TIMER0 initialize - prescale:1
(0037) // WGM: Normal
(0038) // desired value: 100KHz
(0039) // actual value: 100.000KHz (0.0%)
(0040) void timer0_init(void)
(0041) {
(0042)  TCCR0 = 0x00; //stop
_timer0_init:
    0059 2422      CLR	R2
    005A BE23      OUT	0x33,R2
(0043)  TCNT0 = 0x60; //set count
    005B E680      LDI	R24,0x60
    005C BF82      OUT	0x32,R24
(0044)  OCR0  = 0xA0;  //set compare
    005D EA80      LDI	R24,0xA0
    005E BF8C      OUT	0x3C,R24
(0045)  TCCR0 = 0x01; //start timer
    005F E081      LDI	R24,1
    0060 BF83      OUT	0x33,R24
    0061 9508      RET
(0046) }
(0047) 
(0048) #pragma interrupt_handler timer0_comp_isr:20
(0049) void timer0_comp_isr(void)
(0050) {/*int i=0;
(0051)  timecount=0;
(0052)  timecount++;
(0053) if (timecount>=1000) timecount=0;
(0054) SPDR=READ;
(0055) SPDR=0x66;
(0056) b[i]=SPDR;
(0057) b[i++]=SPDR;
(0058)  while(!(SPSR & (1<<SPIF)))*/
(0059)   ;
_timer0_comp_isr:
    0062 9518      RETI
(0060)  //compare occured TCNT0=OCR0
(0061) }
(0062) 
(0063) //TIMER1 initialize - prescale:1
(0064) // WGM: 0) Normal, TOP=0xFFFF
(0065) // desired value: 100KHz
(0066) // actual value: 100.000KHz (0.0%)
(0067) void timer1_init(void)
(0068) {
(0069)  TCCR1B = 0x00; //stop
_timer1_init:
    0063 2422      CLR	R2
    0064 BC2E      OUT	0x2E,R2
(0070)  TCNT1H = 0xFF; //setup
    0065 EF8F      LDI	R24,0xFF
    0066 BD8D      OUT	0x2D,R24
(0071)  TCNT1L = 0x60;
    0067 E680      LDI	R24,0x60
    0068 BD8C      OUT	0x2C,R24
(0072)  OCR1AH = 0x00;
    0069 BC2B      OUT	0x2B,R2
(0073)  OCR1AL = 0xA0;
    006A EA80      LDI	R24,0xA0
    006B BD8A      OUT	0x2A,R24
(0074)  OCR1BH = 0x00;
    006C BC29      OUT	0x29,R2
(0075)  OCR1BL = 0xA0;
    006D BD88      OUT	0x28,R24
(0076)  //OCR1CH = $OCR1CH$;
(0077)  //OCR1CL = $OCR1CL$;
(0078)  ICR1H  = 0x00;
    006E BC27      OUT	0x27,R2
(0079)  ICR1L  = 0xA0;
    006F BD86      OUT	0x26,R24
(0080)  TCCR1A = 0x50;
    0070 E580      LDI	R24,0x50
    0071 BD8F      OUT	0x2F,R24
(0081)  TCCR1B = 0x01; //start Timer
    0072 E081      LDI	R24,1
    0073 BD8E      OUT	0x2E,R24
    0074 9508      RET
(0082) }
(0083) 
(0084) //TIMER2 initialize - prescale:1
(0085) // WGM: Normal
(0086) // desired value: 100KHz
(0087) // actual value: 100.000KHz (0.0%)
(0088) void timer2_init(void)
(0089) {
(0090)  TCCR2 = 0x00; //stop
_timer2_init:
    0075 2422      CLR	R2
    0076 BC25      OUT	0x25,R2
(0091)  ASSR  = 0x00; //set async mode
    0077 BC22      OUT	0x22,R2
(0092)  TCNT2 = 0x60; //setup
    0078 E680      LDI	R24,0x60
    0079 BD84      OUT	0x24,R24
(0093)  OCR2  = 0xA0;
    007A EA80      LDI	R24,0xA0
    007B BD83      OUT	0x23,R24
(0094)  TCCR2 = 0x11; //start
    007C E181      LDI	R24,0x11
    007D BD85      OUT	0x25,R24
    007E 9508      RET
(0095) }
(0096) 
(0097) //SPI initialize
(0098) // clock rate: 4000000hz
(0099) void spi_init(void)
(0100) {
(0101)  SPCR = 0x50; //setup SPI
_spi_init:
    007F E580      LDI	R24,0x50
    0080 B98D      OUT	0x0D,R24
(0102)  SPSR = 0x00; //setup SPI
    0081 2422      CLR	R2
    0082 B82E      OUT	0x0E,R2
    0083 9508      RET
(0103) }
(0104) 
(0105) //ADC initialize
(0106) // Conversion time: 3uS
(0107) void adc_init(void)
(0108) {
(0109)  ADCSR = 0x00; //disable adc
_adc_init:
    0084 2422      CLR	R2
    0085 B826      OUT	0x06,R2
(0110)  ADMUX = 0x00; //select adc input 0
    0086 B827      OUT	0x07,R2
(0111)  ACSR  = 0x80;
    0087 E880      LDI	R24,0x80
    0088 B988      OUT	0x08,R24
(0112)  ADCSR = 0xE2;
    0089 EE82      LDI	R24,0xE2
    008A B986      OUT	0x06,R24
    008B 9508      RET
(0113) }
(0114) 
(0115) //call this routine to initialize all peripherals
(0116) void init_devices(void)
(0117) {
(0118)  //stop errant interrupts until set up
(0119)  CLI(); //disable all interrupts
_init_devices:
    008C 94F8      BCLR	7
(0120)  port_init();
    008D DFC0      RCALL	_port_init
(0121)  timer0_init();
    008E DFCA      RCALL	_timer0_init
(0122)  timer1_init();
    008F DFD3      RCALL	_timer1_init
(0123)  timer2_init();
    0090 DFE4      RCALL	_timer2_init
(0124)  spi_init();
    0091 DFED      RCALL	_spi_init
(0125)  adc_init();
    0092 DFF1      RCALL	_adc_init
(0126) 
(0127)  MCUCR = 0x00;
    0093 2422      CLR	R2
    0094 BE25      OUT	0x35,R2
(0128)  GICR  = 0x00;
    0095 BE2B      OUT	0x3B,R2
(0129)  TIMSK = 0x02; //timer interrupt sources
    0096 E082      LDI	R24,2
    0097 BF89      OUT	0x39,R24
(0130)  SEI(); //re-enable interrupts
    0098 9478      BSET	7
    0099 9508      RET
(0131)  //all peripherals are now initialized
(0132) }
(0133) 
(0134) 
(0135) void SPIINT()// SPI中断服务子程序 
(0136) {
(0137) SPSR=0x00;
_SPIINT:
    009A 2422      CLR	R2
    009B B82E      OUT	0x0E,R2
(0138) a[i++]=SPDR; // 数据暂存a[]中 
    009C 9020006A  LDS	R2,i
    009E 9030006B  LDS	R3,i+1
    00A0 01C1      MOVW	R24,R2
    00A1 9601      ADIW	R24,1
    00A2 9390006B  STS	i+1,R25
    00A4 9380006A  STS	i,R24
    00A6 E002      LDI	R16,2
    00A7 E010      LDI	R17,0
    00A8 0191      MOVW	R18,R2
    00A9 940E0349  CALL	empy16s
    00AB 01F8      MOVW	R30,R16
    00AC E780      LDI	R24,0x70
    00AD E090      LDI	R25,0
    00AE 0FE8      ADD	R30,R24
    00AF 1FF9      ADC	R31,R25
    00B0 B02F      IN	R2,0x0F
    00B1 2433      CLR	R3
    00B2 8231      STD	Z+1,R3
    00B3 8220      STD	Z+0,R2
(0139) count-=1;
    00B4 91800068  LDS	R24,count
    00B6 91900069  LDS	R25,count+1
    00B8 9701      SBIW	R24,1
    00B9 93900069  STS	count+1,R25
    00BB 93800068  STS	count,R24
(0140) if(count>0) SPDR=a[i];// 未发送完，继续 
    00BD 2422      CLR	R2
    00BE 1628      CP	R2,R24
    00BF 0639      CPC	R3,R25
    00C0 F48C      BGE	0x00D2
    00C1 9120006A  LDS	R18,i
    00C3 9130006B  LDS	R19,i+1
    00C5 E002      LDI	R16,2
    00C6 E010      LDI	R17,0
    00C7 940E0349  CALL	empy16s
    00C9 01F8      MOVW	R30,R16
    00CA E780      LDI	R24,0x70
    00CB E090      LDI	R25,0
    00CC 0FE8      ADD	R30,R24
    00CD 1FF9      ADC	R31,R25
    00CE 8020      LDD	R2,Z+0
    00CF 8031      LDD	R3,Z+1
    00D0 B82F      OUT	0x0F,R2
    00D1 C001      RJMP	0x00D3
(0141) else PORTB|=BIT(PB4);//否则，片选信号置高电平 
    00D2 9AC4      SBI	0x18,4
(0142) return;
    00D3 9508      RET
_SPIEXCHANGE:
  count                --> R20
    00D4 940E0364  CALL	push_gset1
    00D6 01A8      MOVW	R20,R16
(0143) }
(0144) 
(0145) 
(0146) void SPIEXCHANGE(count)// 启动SPI传送 
(0147) int count;
(0148) {
(0149) if(count>0) { // 有数据可送？ 
    00D7 2422      CLR	R2
    00D8 2433      CLR	R3
    00D9 1624      CP	R2,R20
    00DA 0635      CPC	R3,R21
    00DB F4E4      BGE	0x00F8
(0150) i=0,i=i++;
    00DC 9230006B  STS	i+1,R3
    00DE 9220006A  STS	i,R2
    00E0 01C1      MOVW	R24,R2
    00E1 9601      ADIW	R24,1
    00E2 9390006B  STS	i+1,R25
    00E4 9380006A  STS	i,R24
    00E6 9230006B  STS	i+1,R3
    00E8 9220006A  STS	i,R2
(0151) PORTB&=~BIT(PB4); // 片选位置低电平 
    00EA 98C4      CBI	0x18,4
(0152) SPDR=a[i];       // 送数 
    00EB 0191      MOVW	R18,R2
    00EC E002      LDI	R16,2
    00ED E010      LDI	R17,0
    00EE 940E0349  CALL	empy16s
    00F0 01F8      MOVW	R30,R16
    00F1 E780      LDI	R24,0x70
    00F2 E090      LDI	R25,0
    00F3 0FE8      ADD	R30,R24
    00F4 1FF9      ADC	R31,R25
    00F5 8020      LDD	R2,Z+0
    00F6 8031      LDD	R3,Z+1
    00F7 B82F      OUT	0x0F,R2
(0153) }
(0154) else
(0155) ;                   // 否则，空操作，并返回 
(0156) return;
    00F8 940E0367  CALL	pop_gset1
    00FA 9508      RET
(0157) }
(0158) 
(0159) void WAIT_SPI()// 等待SPI传送完成 
(0160) {
(0161) do{
(0162) ;
(0163) }while(count>0); // 当count!=0时，等待 to add "CLRWDT" 
_WAIT_SPI:
    00FB 2422      CLR	R2
    00FC 2433      CLR	R3
    00FD 90400068  LDS	R4,count
    00FF 90500069  LDS	R5,count+1
    0101 1424      CP	R2,R4
    0102 0435      CPC	R3,R5
    0103 F3BC      BLT	0x00FB
(0164) return;
    0104 9508      RET
(0165) }
(0166)  
(0167) void RESET2510()//对MCP2510芯片进行复位 
(0168) {
(0169) a[0]=RESET;
_RESET2510:
    0105 EC80      LDI	R24,0xC0
    0106 E090      LDI	R25,0
    0107 93900071  STS	a+1,R25
    0109 93800070  STS	a,R24
(0170) count=1;
    010B E081      LDI	R24,1
    010C 93900069  STS	count+1,R25
    010E 93800068  STS	count,R24
(0171) SPIEXCHANGE(count); // 送复位指令 
    0110 018C      MOVW	R16,R24
    0111 DFC2      RCALL	_SPIEXCHANGE
(0172) WAIT_SPI();
    0112 DFE8      RCALL	_WAIT_SPI
(0173) return;
    0113 9508      RET
_RD2510:
  j                    --> R20
  n                    --> R22
  adress               --> R20
    0114 940E0362  CALL	push_gset2
    0116 01B9      MOVW	R22,R18
    0117 01A8      MOVW	R20,R16
(0174) }
(0175) 
(0176) void RD2510(adress,n)//从地址