mcp2510.s

用iccavr工具编写的mcp2510与can连接的通讯程序。

	.module mcp2510.c
	.area text(rom, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.area data(ram, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
_count1::
	.blkb 2
	.area idata
	.word 0
	.area data(ram, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.dbsym e count1 _count1 I
_RecID_H::
	.blkb 2
	.area idata
	.word 0
	.area data(ram, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.dbsym e RecID_H _RecID_H I
_RecID_L::
	.blkb 2
	.area idata
	.word 0
	.area data(ram, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.dbsym e RecID_L _RecID_L I
	.area text(rom, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 25
; //ICC-AVR application builder : 2007-10-17 16:47:59
; // Target : M16
; // Crystal: 16.000Mhz
; 
; #include <iom16v.h>
; #include <macros.h>
; #define READ 0x03 // 读MCP2510指令代码 
; #define WRITE 0x02 // 写MCP2510指令代码 
; #define RESET 0xC0 // 复位MCP2510指令代码 
; #define RTS 0x80 // MCP2510请求发送指令代码 
; #define STA2510 0xA0 // 读MCP2510状态指令代码 
; #define BITMOD 0x05 // MCP2510位修改指令代码 
; int timecount;
; int a[]; // SPI发送或接收数据寄存器
; int b[]; // 发送或接收的数据
; int c[]; // 发送或接收的数据
; int i; // 临时变量
; int count; // 发送接收计数器
; int count1=0; // for test
; int RecID_H=0;
; int RecID_L=0;
; int DLC;
; 
; void port_init(void)
; {
	.dbline 26
;  PORTA = 0xFF;
	ldi R24,255
	out 0x1b,R24
	.dbline 27
;  DDRA  = 0x00;
	clr R2
	out 0x1a,R2
	.dbline 28
;  PORTB = 0xFF;
	out 0x18,R24
	.dbline 29
;  DDRB  = 0x00;
	out 0x17,R2
	.dbline 30
;  PORTC = 0xFF; //m103 output only
	out 0x15,R24
	.dbline 31
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 32
;  PORTD = 0xFF;
	out 0x12,R24
	.dbline 33
;  DDRD  = 0x00;
	out 0x11,R2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer0_init _timer0_init fV
	.even
_timer0_init::
	.dbline -1
	.dbline 41
; }
; 
; //TIMER0 initialize - prescale:1
; // WGM: Normal
; // desired value: 100KHz
; // actual value: 100.000KHz (0.0%)
; void timer0_init(void)
; {
	.dbline 42
;  TCCR0 = 0x00; //stop
	clr R2
	out 0x33,R2
	.dbline 43
;  TCNT0 = 0x60; //set count
	ldi R24,96
	out 0x32,R24
	.dbline 44
;  OCR0  = 0xA0;  //set compare
	ldi R24,160
	out 0x3c,R24
	.dbline 45
;  TCCR0 = 0x01; //start timer
	ldi R24,1
	out 0x33,R24
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 76
	jmp _timer0_comp_isr
	.area text(rom, con, rel)
	.dbfile F:\多运动体协调控制程序\通信程序1\mcp2510.c
	.dbfunc e timer0_comp_isr _timer0_comp_isr fV
	.even
_timer0_comp_isr::
	.dbline -1
	.dbline 50
; }
; 
; #pragma interrupt_handler timer0_comp_isr:20
; void timer0_comp_isr(void)
; {/*int i=0;
	.dbline 59
;  timecount=0;
;  timecount++;
; if (timecount>=1000) timecount=0;
; SPDR=READ;
; SPDR=0x66;
; b[i]=SPDR;
; b[i++]=SPDR;
;  while(!(SPSR & (1<<SPIF)))*/
;   ;
	.dbline -2
L3:
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 68
;  //compare occured TCNT0=OCR0
; }
; 
; //TIMER1 initialize - prescale:1
; // WGM: 0) Normal, TOP=0xFFFF
; // desired value: 100KHz
; // actual value: 100.000KHz (0.0%)
; void timer1_init(void)
; {
	.dbline 69
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 70
;  TCNT1H = 0xFF; //setup
	ldi R24,255
	out 0x2d,R24
	.dbline 71
;  TCNT1L = 0x60;
	ldi R24,96
	out 0x2c,R24
	.dbline 72
;  OCR1AH = 0x00;
	out 0x2b,R2
	.dbline 73
;  OCR1AL = 0xA0;
	ldi R24,160
	out 0x2a,R24
	.dbline 74
;  OCR1BH = 0x00;
	out 0x29,R2
	.dbline 75
;  OCR1BL = 0xA0;
	out 0x28,R24
	.dbline 78
;  //OCR1CH = $OCR1CH$;
;  //OCR1CL = $OCR1CL$;
;  ICR1H  = 0x00;
	out 0x27,R2
	.dbline 79
;  ICR1L  = 0xA0;
	out 0x26,R24
	.dbline 80
;  TCCR1A = 0x50;
	ldi R24,80
	out 0x2f,R24
	.dbline 81
;  TCCR1B = 0x01; //start Timer
	ldi R24,1
	out 0x2e,R24
	.dbline -2
L4:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer2_init _timer2_init fV
	.even
_timer2_init::
	.dbline -1
	.dbline 89
; }
; 
; //TIMER2 initialize - prescale:1
; // WGM: Normal
; // desired value: 100KHz
; // actual value: 100.000KHz (0.0%)
; void timer2_init(void)
; {
	.dbline 90
;  TCCR2 = 0x00; //stop
	clr R2
	out 0x25,R2
	.dbline 91
;  ASSR  = 0x00; //set async mode
	out 0x22,R2
	.dbline 92
;  TCNT2 = 0x60; //setup
	ldi R24,96
	out 0x24,R24
	.dbline 93
;  OCR2  = 0xA0;
	ldi R24,160
	out 0x23,R24
	.dbline 94
;  TCCR2 = 0x11; //start
	ldi R24,17
	out 0x25,R24
	.dbline -2
L5:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e spi_init _spi_init fV
	.even
_spi_init::
	.dbline -1
	.dbline 100
; }
; 
; //SPI initialize
; // clock rate: 4000000hz
; void spi_init(void)
; {
	.dbline 101
;  SPCR = 0x50; //setup SPI
	ldi R24,80
	out 0xd,R24
	.dbline 102
;  SPSR = 0x00; //setup SPI
	clr R2
	out 0xe,R2
	.dbline -2
L6:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e adc_init _adc_init fV
	.even
_adc_init::
	.dbline -1
	.dbline 108
; }
; 
; //ADC initialize
; // Conversion time: 3uS
; void adc_init(void)
; {
	.dbline 109
;  ADCSR = 0x00; //disable adc
	clr R2
	out 0x6,R2
	.dbline 110
;  ADMUX = 0x00; //select adc input 0
	out 0x7,R2
	.dbline 111
;  ACSR  = 0x80;
	ldi R24,128
	out 0x8,R24
	.dbline 112
;  ADCSR = 0xE2;
	ldi R24,226
	out 0x6,R24
	.dbline -2
L7:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 117
; }
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 119
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 120
;  port_init();
	xcall _port_init
	.dbline 121
;  timer0_init();
	xcall _timer0_init
	.dbline 122
;  timer1_init();
	xcall _timer1_init
	.dbline 123
;  timer2_init();
	xcall _timer2_init
	.dbline 124
;  spi_init();
	xcall _spi_init
	.dbline 125
;  adc_init();
	xcall _adc_init
	.dbline 127
; 
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 128
;  GICR  = 0x00;
	out 0x3b,R2
	.dbline 129
;  TIMSK = 0x02; //timer interrupt sources
	ldi R24,2
	out 0x39,R24
	.dbline 130
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L8:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e SPIINT _SPIINT fV
	.even
_SPIINT::
	.dbline -1
	.dbline 136
;  //all peripherals are now initialized
; }
; 
; 
; void SPIINT()// SPI中断服务子程序 
; {
	.dbline 137
; SPSR=0x00;
	clr R2
	out 0xe,R2
	.dbline 138
; a[i++]=SPDR; // 数据暂存a[]中 
	lds R2,_i
	lds R3,_i+1
	movw R24,R2
	adiw R24,1
	sts _i+1,R25
	sts _i,R24
	ldi R16,2
	ldi R17,0
	movw R18,R2
	xcall empy16s
	movw R30,R16
	ldi R24,<_a
	ldi R25,>_a
	add R30,R24
	adc R31,R25
	in R2,0xf
	clr R3
	std z+1,R3
	std z+0,R2
	.dbline 139
; count-=1;
	lds R24,_count
	lds R25,_count+1
	sbiw R24,1
	sts _count+1,R25
	sts _count,R24
	.dbline 140
; if(count>0) SPDR=a[i];// 未发送完，继续 
	clr R2
	cp R2,R24
	cpc R3,R25
	brge L10
	.dbline 140
	lds R18,_i
	lds R19,_i+1
	ldi R16,2
	ldi R17,0
	xcall empy16s
	movw R30,R16
	ldi R24,<_a
	ldi R25,>_a
	add R30,R24
	adc R31,R25
	ldd R2,z+0
	ldd R3,z+1
	out 0xf,R2
	xjmp L9
L10:
	.dbline 141
; else PORTB|=BIT(PB4);//否则，片选信号置高电平 
	sbi 0x18,4
	.dbline 142
; return;
	.dbline -2
L9:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e SPIEXCHANGE _SPIEXCHANGE fV
;          count -> R20,R21
	.even
_SPIEXCHANGE::
	xcall push_gset1
	movw R20,R16
	.dbline -1
	.dbline 148
; }
; 
; 
; void SPIEXCHANGE(count)// 启动SPI传送 
; int count;
; {
	.dbline 149
; if(count>0) { // 有数据可送？ 
	clr R2
	clr R3
	cp R2,R20
	cpc R3,R21
	brge L12
	.dbline 149
	.dbline 150
; i=0,i=i++;
	sts _i+1,R3
	sts _i,R2
	movw R24,R2
	adiw R24,1
	sts _i+1,R25
	sts _i,R24
	sts _i+1,R3
	sts _i,R2
	.dbline 151
; PORTB&=~BIT(PB4); // 片选位置低电平 
	cbi 0x18,4
	.dbline 152
; SPDR=a[i];       // 送数 
	movw R18,R2
	ldi R16,2
	ldi R17,0
	xcall empy16s
	movw R30,R16
	ldi R24,<_a
	ldi R25,>_a
	add R30,R24
	adc R31,R25
	ldd R2,z+0
	ldd R3,z+1
	out 0xf,R2
	.dbline 153
; }
	.dbline 155
; else
; ;                   // 否则，空操作，并返回 
	.dbline 156
; return;
	.dbline -2
L12:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r count 20 I
	.dbend
	.dbfunc e WAIT_SPI _WAIT_SPI fV
	.even
_WAIT_SPI::
	.dbline -1
	.dbline 160
; }
; 
; void WAIT_SPI()// 等待SPI传送完成 
; {
L16:
	.dbline 161
; do{
	.dbline 162
; ;
	.dbline 163
L17:
	.dbline 163
; }while(count>0); // 当count!=0时，等待 to add "CLRWDT" 
	clr R2
	clr R3
	lds R4,_count
	lds R5,_count+1
	cp R2,R4
	cpc R3,R5
	brlt L16
	.dbline 164
; return;
	.dbline -2
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e RESET2510 _RESET2510 fV
	.even
_RESET2510::
	.dbline -1
	.dbline 168
; }
;  
; void RESET2510()//对MCP2510芯片进行复位 
; {
	.dbline 169
; a[0]=RESET;
	ldi R24,192
	ldi R25,0
	sts _a+1,R25
	sts _a,R24
	.dbline 170
; count=1;
	ldi R24,1
	sts _count+1,R25
	sts _count,R24
	.dbline 171
; SPIEXCHANGE(count); // 送复位指令 
	movw R16,R24
	xcall _SPIEXCHANGE
	.dbline 172
; WAIT_SPI();
	xcall _WAIT_SPI
	.dbline 173
; return;
	.dbline -2
L19:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e RD2510 _RD2510 fV
;              j -> R20,R21
;              n -> R22,R23
;         adress -> R20,R21
	.even
_RD2510::
	xcall push_gset2
	movw R22,R18
	movw R20,R16
	.dbline -1
	.dbline 179
; }
; 
; void RD2510(adress,n)//从地址