motor_main.s

基于AVRICC开发环境的ATMEL mega16单片机的电机速度控制程序

	.module motor_main.c
	.area code(ram, con, rel)
	.area lit(rom, con, rel)
_table::
	.byte 189,132
	.byte 217,205
	.byte 228,'m
	.byte 125,133
	.byte 253,237
	.dbfile C:\icc\speedloop\motor_main.c
	.dbsym e table _table A[10:10]kc
	.area data(ram, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
_ledbuff::
	.blkb 2
	.area idata
	.byte 189,189
	.area data(ram, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
	.blkb 2
	.area idata
	.byte 189,189
	.area data(ram, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
	.dbsym e ledbuff _ledbuff A[4:4]c
	.area text(rom, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 19
; //ICC-AVR application builder : 2005-8-3 
; // Target : M16
; // Crystal: 4.0000Mhz
; //closed speed loop controlling 
; 
; #include <iom16v.h>
; #include <macros.h>
; 
; #pragma data:code
; const unsigned char table[]={0xbd,0x84,0xd9,0xcd,0xe4,0x6d,0x7d,0x85,0xfd,0xed};//7segment
; #pragma data:data
; unsigned char ledbuff[]={0xbd,0xbd,0xbd,0xbd};
; 
; unsigned char adc_res8,count;
; unsigned char ad_mux;
; unsigned int adc_res16,count16;
; 
; void port_init(void)
; {
	.dbline 20
;  PORTA = 0x00;
	clr R2
	out 0x1b,R2
	.dbline 21
;  DDRA  = 0xF0;//HIGH 4BIT AS OUTPUT
	ldi R24,240
	out 0x1a,R24
	.dbline 22
;  PORTB = 0x00;
	out 0x18,R2
	.dbline 23
;  DDRB  = 0xfd;//t1 input other output
	ldi R24,253
	out 0x17,R24
	.dbline 24
;  PORTC = 0x00; //m103 output only
	out 0x15,R2
	.dbline 25
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 26
;  PORTD = 0x00;
	out 0x12,R2
	.dbline 27
;  DDRD  = 0xFF;//port d as a output
	ldi R24,255
	out 0x11,R24
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer0_init _timer0_init fV
	.even
_timer0_init::
	.dbline -1
	.dbline 36
; }
; 
; 
; //TIMER0 initialize - prescale:64
; // WGM: Normal
; // desired value: 2mSec
; // actual value:  2.000mSec (0.0%)
; void timer0_init(void)
; {
	.dbline 37
;  TCCR0 = 0x00; //stop
	clr R2
	out 0x33,R2
	.dbline 38
;  TCNT0 = 0x16; //set count
	ldi R24,22
	out 0x32,R24
	.dbline 39
;  OCR0  = 0x57;  //set compare
	ldi R24,87
	out 0x3c,R24
	.dbline 40
;  TCCR0 = 0x05; //start timer
	ldi R24,5
	out 0x33,R24
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 36
	jmp _timer0_ovf_isr
	.area text(rom, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
	.dbfunc e timer0_ovf_isr _timer0_ovf_isr fV
;           temp -> R16
	.even
_timer0_ovf_isr::
	st -y,R2
	st -y,R3
	st -y,R16
	st -y,R24
	st -y,R25
	in R2,0x3f
	st -y,R2
	.dbline -1
	.dbline 45
; }
; 
; #pragma interrupt_handler timer0_ovf_isr:10
; void timer0_ovf_isr(void)
; {
	.dbline 47
;  unsigned char temp;
;  temp=SREG;
	in R16,0x3f
	.dbline 49
;  //unsigned int temp16;
;  TCCR1B=0X00;//STOP T1
	clr R2
	out 0x2e,R2
	.dbline 50
;  TCCR0=0X00;//STOP T0
	out 0x33,R2
	.dbline 51
;  count++;
	lds R24,_count
	subi R24,255    ; addi 1
	sts _count,R24
	.dbline 52
;  count16=TCNT1;
	in R2,0x2c
	in R3,0x2d
	sts _count16+1,R3
	sts _count16,R2
	.dbline 53
;  TCNT1H = 0x00 /*INVALID SETTING*/; //setup
	clr R2
	out 0x2d,R2
	.dbline 54
;  TCNT1L = 0x00 /*INVALID SETTING*/;
	out 0x2c,R2
	.dbline 56
;   
;  TCNT0 = 0x16; //reload counter value
	ldi R24,22
	out 0x32,R24
	.dbline 57
;  OCR0=0X57;
	ldi R24,87
	out 0x3c,R24
	.dbline 58
;  TCCR0=0X05;//START TIMER0
	ldi R24,5
	out 0x33,R24
	.dbline 59
;  TCCR1B=0X07;//START T1
	ldi R24,7
	out 0x2e,R24
	.dbline 60
;   if (count16==0)
	lds R2,_count16
	lds R3,_count16+1
	tst R2
	brne L4
	tst R3
	brne L4
X0:
	.dbline 61
;    {
	.dbline 62
;    	TCCR0=0X00;
	clr R2
	out 0x33,R2
	.dbline 63
;    }
L4:
	.dbline 64
;  SREG=temp;
	out 0x3f,R16
	.dbline -2
L3:
	ld R2,y+
	out 0x3f,R2
	ld R25,y+
	ld R24,y+
	ld R16,y+
	ld R3,y+
	ld R2,y+
	.dbline 0 ; func end
	reti
	.dbsym r temp 16 c
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 71
; }
; //TIMER1 initialize - prescale:Rising edge
; // WGM: 0) Normal, TOP=0xFFFF
; // desired value: 1Hz
; // actual value: Out of range
; void timer1_init(void)
; {
	.dbline 72
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 73
;  TCNT1H = 0x00 /*INVALID SETTING*/; //setup
	out 0x2d,R2
	.dbline 74
;  TCNT1L = 0x00 /*INVALID SETTING*/;
	out 0x2c,R2
	.dbline 75
;  OCR1AH = 0x00 /*INVALID SETTING*/;
	out 0x2b,R2
	.dbline 76
;  OCR1AL = 0x00 /*INVALID SETTING*/;
	out 0x2a,R2
	.dbline 77
;  OCR1BH = 0x00 /*INVALID SETTING*/;
	out 0x29,R2
	.dbline 78
;  OCR1BL = 0x00 /*INVALID SETTING*/;
	out 0x28,R2
	.dbline 81
;  //OCR1CH = $OCR1CH$;
;  //OCR1CL = $OCR1CL$;
;  ICR1H  = 0x00 /*INVALID SETTING*/;
	out 0x27,R2
	.dbline 82
;  ICR1L  = 0x00 /*INVALID SETTING*/;
	out 0x26,R2
	.dbline 83
;  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 84
;  TCCR1B = 0x07; //start Timer
	ldi R24,7
	out 0x2e,R24
	.dbline -2
L6:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer2_init _timer2_init fV
	.even
_timer2_init::
	.dbline -1
	.dbline 91
; }
;        
; //TIMER2 initialize - prescale:1
; // WGM: PWM Phase correct
; // actual value: 15.686KHz (93.6%)
; void timer2_init(void)
; {
	.dbline 92
;  TCCR2 = 0x00; //stop
	clr R2
	out 0x25,R2
	.dbline 93
;  ASSR  = 0x00; //set async mode
	out 0x22,R2
	.dbline 94
;  TCNT2 = 0x01; //setup
	ldi R24,1
	out 0x24,R24
	.dbline 95
;  OCR2  = 0xFF;
	ldi R24,255
	out 0x23,R24
	.dbline 96
;  TCCR2 = 0x61; //start
	ldi R24,97
	out 0x25,R24
	.dbline -2
L7:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e adc_init _adc_init fV
	.even
_adc_init::
	.dbline -1
	.dbline 111
; }
; 
; //#pragma interrupt_handler timer2_ovf_isr:5
; //void timer2_ovf_isr(void)
; //{
; // unsigned char temp;
; // temp=SREG;
; // OCR2=adc_res8;
; // SREG=temp; 
; //}
; 
; //ADC initialize
; // Conversion time: 3uS
; void adc_init(void)
; {ad_mux=0x01;
	.dbline 111
	ldi R24,1
	sts _ad_mux,R24
	.dbline 112
;  ADCSR = 0x00; //disable adc
	clr R2
	out 0x6,R2
	.dbline 113
;  ADMUX = (1<<REFS1)|(1<<REFS0)|(1<<ADLAR)|(ad_mux&0x0f); //select adc input 0
	andi R24,15
	ori R24,224
	out 0x7,R24
	.dbline 114
;  ACSR  = 0x80;
	ldi R24,128
	out 0x8,R24
	.dbline 115
;  ADCSRA = (1<<ADEN)|(1<<ADSC)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS1);
	ldi R24,206
	out 0x6,R24
	.dbline -2
L8:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 133
; }
; 
; //#pragma interrupt_handler adc_isr:15
; //void adc_isr(void)
; //{
; // 	 unsigned char temp;
; //	 temp=SREG;
;  	// adc_res8=ADCH;
; 	 //hex2bcd(adc_res8);
; 	 //ad_mux=0x01;
; 	 //ADMUX=(1<<REFS1)|(1<<REFS0)|(1<<ADLAR)|(ad_mux&0x0f);
; //	 ADCSRA|=(1<<ADSC);//start adc again
; // SREG=temp;
; //}
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 135
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 136
;  port_init();
	xcall _port_init
	.dbline 137
;  timer0_init();
	xcall _timer0_init
	.dbline 138
;  timer1_init();
	xcall _timer1_init
	.dbline 139
;  timer2_init();
	xcall _timer2_init
	.dbline 142
;  //adc_init();
; 
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 143
;  GICR  = 0x00;
	out 0x3b,R2
	.dbline 144
;  TIMSK = 0x41; //enable timer0 timer2 interrupt sources
	ldi R24,65
	out 0x39,R24
	.dbline 145
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L9:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_1ms _delay_1ms fV
;              i -> R16,R17
	.even
_delay_1ms::
	.dbline -1
	.dbline 149
;  //all peripherals are now initialized
; }
; void delay_1ms(void)
; {
	.dbline 151
;  unsigned int i;
;  for (i=0;i<542;i++)
	clr R16
	clr R17
	xjmp L14
L11:
	.dbline 152
L12:
	.dbline 151
	subi R16,255  ; offset = 1
	sbci R17,255
L14:
	.dbline 151
	cpi R16,30
	ldi R30,2
	cpc R17,R30
	brlo L11
	.dbline -2
L10:
	.dbline 0 ; func end
	ret
	.dbsym r i 16 i
	.dbend
	.dbfunc e hex2bcd _hex2bcd fV
;           temp -> R20
;              i -> R22
;            cnt -> R10,R11
	.even
_hex2bcd::
	xcall push_gset3
	movw R10,R16
	.dbline -1
	.dbline 155
;  ;
; }
; void hex2bcd(unsigned int cnt)
; {
	.dbline 157
;  unsigned char i,temp;
;  for (i=0;i<4;i++)
	clr R22
	xjmp L19
L16:
	.dbline 158
	.dbline 159
	ldi R18,10
	ldi R19,0
	movw R16,R10
	xcall mod16u
	mov R20,R16
	.dbline 160
	ldi R24,<_table
	ldi R25,>_table
	mov R30,R20
	clr R31
	add R30,R24
	adc R31,R25
	lpm R30,Z
	ldi R24,<_ledbuff
	ldi R25,>_ledbuff
	mov R26,R22
	clr R27
	add R26,R24
	adc R27,R25
	st x,R30
	.dbline 161
	ldi R18,10
	ldi R19,0
	movw R16,R10
	xcall div16u
	movw R10,R16
	.dbline 162
L17:
	.dbline 157
	inc R22
L19:
	.dbline 157
	cpi R22,4
	brlo L16
	.dbline -2
L15:
	xcall pop_gset3
	.dbline 0 ; func end
	ret
	.dbsym r temp 20 c
	.dbsym r i 22 c
	.dbsym r cnt 10 i
	.dbend
	.dbfunc e display _display fV
;              i -> R20
	.even
_display::
	xcall push_gset1
	.dbline -1
	.dbline 166
;  	 {
; 	  temp=cnt%10;
; 	  ledbuff[i]=table[temp];
; 	  cnt=cnt/10;
; 	 }
; }
; 
; void display(void)
; {
	.dbline 168
;  	 unsigned char i;
; 	 for (i=0;i<4;i++)
	clr R20
	xjmp L24
L21:
	.dbline 169
	.dbline 170
	ldi R24,<_ledbuff
	ldi R25,>_ledbuff
	mov R30,R20
	clr R31
	add R30,R24
	adc R31,R25
	ldd R2,z+0
	out 0x18,R2
	.dbline 171
	mov R17,R20
	subi R17,252    ; addi 4
	ldi R16,1
	xcall lsl8
	mov R2,R16
	com R2
	out 0x1b,R2
	.dbline 172
	xcall _delay_1ms
	.dbline 173
	mov R17,R20
	subi R17,252    ; addi 4
	ldi R16,1
	xcall lsl8
	in R2,0x1b
	or R2,R16
	out 0x1b,R2
	.dbline 174
L22:
	.dbline 168
	inc R20
L24:
	.dbline 168
	cpi R20,4
	brlo L21
	.dbline -2
L20:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r i 20 c
	.dbend
	.dbfunc e main _main fI
	.even
_main::
	.dbline -1
	.dbline 179
; 	 {
; 	  PORTB=ledbuff[i];
; 	  PORTA=~(1<<(4+i));
; 	  delay_1ms();
; 	  PORTA|=(1<<(4+i));
; 	 }
; }
; 
; 
; main()
; {
	.dbline 180
;  	  init_devices();
	xcall _init_devices
	.dbline 181
; 	  count=0;
	clr R2
	sts _count,R2
	xjmp L27
L26:
	.dbline 183
	.dbline 185
	lds R16,_count16
	lds R17,_count16+1
	xcall _hex2bcd
	.dbline 186
	xcall _display
	.dbline 187
L27:
	.dbline 182
	xjmp L26
X1:
	.dbline -2
L25:
	.dbline 0 ; func end
	ret
	.dbend
	.area bss(ram, con, rel)
	.dbfile C:\icc\speedloop\motor_main.c
_count16::
	.blkb 2
	.dbsym e count16 _count16 i
_adc_res16::
	.blkb 2
	.dbsym e adc_res16 _adc_res16 i
_ad_mux::
	.blkb 1
	.dbsym e ad_mux _ad_mux c
_count::
	.blkb 1
	.dbsym e count _count c
_adc_res8::
	.blkb 1
	.dbsym e adc_res8 _adc_res8 c