📄 monitor.lst
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261 0021 8b90 MAR *-
262 *** 189 ----------------------- qep_sample = Y$0 = Encoder_SamplePosition();
263 .line 141
TMS320C1x/C2x/C2xx/C5x COFF Assembler Beta Version 6.63 Mon Feb 9 04:57:53 1998
Copyright (c) 1987-1996 Texas Instruments Incorporated
monitor.asm PAGE 6
264 ;>>>> qep_sample = Encoder_SamplePosition();
265 0022 7a80 CALL _Encoder_SamplePosition
0023 0000!
266 0024 8b8f MAR * ,AR7
267 0025 9089 SACL * ,AR1
268 0026 bc00- LDPK _qep_sample$1
269 0027 9000- SACL _qep_sample$1
270 *** 190 ----------------------- Encoder_CalcPosition(Y$0);
271 .line 142
272 ;>>>> Encoder_CalcPosition(qep_sample);
273 0028 90a0 SACL *+
274 0029 7a80 CALL _Encoder_CalcPosition
002a 0000!
275 002b 8b9a MAR *-,AR2
276 *** 195 ----------------------- angle = (long)encoder_position[1]<<16;
277 .line 147
278 ;>>>> angle = ((long) encoder_position[1]) << 16;
279 002c bc00! LDPK _encoder_position+1
280 002d 6a01! ZALH _encoder_position+1
281 002e b225 LARK AR2,37
282 002f 8be0 MAR *0+
283 0030 90a0 SACL *+
284 0031 9890 SACH *-
285 *** 196 ----------------------- angle += encoder_position[0];
286 .line 148
287 ;>>>> angle += (long) encoder_position[0];
288 0032 bc00! LDPK _encoder_position
289 0033 6900! ZALS _encoder_position
290 0034 62a0 ADDS *+
291 0035 6190 ADDH *-
292 0036 90a0 SACL *+
293 0037 9899 SACH *-,AR1
294 *** 197 ----------------------- fbuffer = (float)angle*7.45058059692383e-9F;
295 .line 149
296 ;>>>> fbuffer = ((double) angle)/(2048 * 0x10000);
297 0038 bf80 LALK FL0
0039 028b'
298 003a bb01 RPTK 1
299 003b a6a0 TBLR *+
300 003c 8b8a MAR * ,AR2
301 003d 69a0 ZALS *+
302 003e 61a9 ADDH *+,AR1
303 003f 7a80 CALL F$$ULTOF
0040 0000!
304 0041 7a80 CALL F$$MUL
0042 0000!
305 0043 8b90 MAR *-
306 0044 6a90 ZALH *-
307 0045 628a ADDS * ,AR2
308 0046 90a0 SACL *+
309 0047 9899 SACH *-,AR1
310 *** 198 ----------------------- fbuffer = fbuffer*3.6e5F;
311 .line 150
312 ;>>>> fbuffer = fbuffer * 360000;
TMS320C1x/C2x/C2xx/C5x COFF Assembler Beta Version 6.63 Mon Feb 9 04:57:53 1998
Copyright (c) 1987-1996 Texas Instruments Incorporated
monitor.asm PAGE 7
313 0048 bf80 LALK FL1
0049 028d'
314 004a bb01 RPTK 1
315 004b a6a0 TBLR *+
316 004c 8b8a MAR * ,AR2
317 004d 10a9 LAC *+,AR1
318 004e 90aa SACL *+,AR2
319 004f 1099 LAC *-,AR1
320 0050 90a0 SACL *+
321 0051 7a80 CALL F$$MUL
0052 0000!
322 0053 8b90 MAR *-
323 0054 6a90 ZALH *-
324 0055 628a ADDS * ,AR2
325 0056 90a0 SACL *+
326 0057 9890 SACH *-
327 *** 199 ----------------------- angle = (long)fbuffer;
328 .line 151
329 ;>>>> angle = (long) fbuffer;
330 0058 10a9 LAC *+,AR1
331 0059 90aa SACL *+,AR2
332 005a 1089 LAC * ,AR1
333 005b 90a0 SACL *+
334 005c 7a80 CALL F$$FTOL
005d 0000!
335 005e 8b8a MAR * ,AR2
336 005f 7c03 SBRK 3
337 0060 90a0 SACL *+
338 0061 989b SACH *-,AR3
339 *** 204 ----------------------- ltoa(angle, &str);
340 .line 156
341 ;>>>> ltoa (angle, str);
342 0062 b30e LARK AR3,14
343 0063 8be9 MAR *0+,AR1
344 0064 83aa SAR AR3,*+,AR2
345 0065 69a0 ZALS *+
346 0066 6189 ADDH * ,AR1
347 0067 90a0 SACL *+
348 0068 98a0 SACH *+
349 0069 7a80 CALL _ltoa
006a 0000!
350 006b 7c03 SBRK 3
351 *** 205 ----------------------- if ( (i = strlen(&str)) >= 10 ) goto g7;
352 .line 157
353 ;>>>> for (i=strlen(str); i<10; i++)
354 006c 8b8b MAR * ,AR3
355 006d b30e LARK AR3,14
356 006e 8be9 MAR *0+,AR1
357 006f 83a0 SAR AR3,*+
358 0070 7a80 CALL _strlen
0071 0000!
359 0072 8b98 MAR *-,AR0
360 0073 9080 SACL *
361 0074 0580 LAR AR5,*
TMS320C1x/C2x/C2xx/C5x COFF Assembler Beta Version 6.63 Mon Feb 9 04:57:53 1998
Copyright (c) 1987-1996 Texas Instruments Incorporated
monitor.asm PAGE 8
362 0075 8580 SAR AR5,*
363 0076 be47 SSXM
364 0077 1080 LAC *
365 0078 ba0a SUBK 10
366 0079 e38c BGEZ L7
007a 0088'
367 *** ----------------------- L$1 = 9-i;
368 007b 8580 SAR AR5,*
369 007c b909 LACK 9
370 007d 3080 SUB *
371 007e 9080 SACL *
372 007f 0689 LAR AR6,* ,AR1
373 *** -----------------------g6:
374 *** -----------------------g50:
375 0080 L50:
376 *** 206 ----------------------- sendstr_PMEM(" ");
377 .line 158
378 ;>>>> sendstr_PMEM(" ");
379 0080 bf0b LRLK AR3,SL2
0081 0030+
380 0082 83a0 SAR AR3,*+
381 0083 7a80 CALL _sendstr_PMEM
0084 0000!
382 0085 8b9e MAR *-,AR6
383 *** 205 ----------------------- if ( --L$1 != -1 ) goto g50;
384 .line 157
385 0086 7b99 BANZ L50,*-,AR1
0087 0080'
386 0088 L7:
387 *** -----------------------g7:
388 *** 207 ----------------------- sendstr_DMEM(&str);
389 .line 159
390 ;>>>> sendstr_DMEM(str);
391 ;>>>> } while( SCI_Getc() == -1 );
392 0088 8b8b MAR * ,AR3
393 0089 b30e LARK AR3,14
394 008a 8be9 MAR *0+,AR1
395 008b 83a0 SAR AR3,*+
396 008c 7a80 CALL _sendstr_DMEM
008d 0000!
397 008e 8b90 MAR *-
398 *** 210 ----------------------- if ( SCI_Getc() == (-1) ) goto g3;
399 .line 162
400 ;>>>> break;
401 008f 7a80 CALL _SCI_Getc
0090 0000!
402 0091 be47 SSXM
403 0092 bfa0 SUBK -1
0093 ffff
404 0094 e388 BZ L3
0095 001c'
405 *** 210 ----------------------- goto g37;
406 0096 7980 B L37
0097 01ef'
TMS320C1x/C2x/C2xx/C5x COFF Assembler Beta Version 6.63 Mon Feb 9 04:57:53 1998
Copyright (c) 1987-1996 Texas Instruments Incorporated
monitor.asm PAGE 9
407 0098 L8:
408 *** -----------------------g8:
409 *** 147 ----------------------- clrscr();
410 .line 99
411 0098 7a89 CALL _clrscr,AR1
0099 0000!
412 *** 148 ----------------------- sendstr_PMEM("\rSIN/COS Q-Encoder, Increments, Phase: 000000 000000");
413 .line 100
414 009a bf0b LRLK AR3,SL3
009b 0032+
415 009c 83a0 SAR AR3,*+
416 009d 7a80 CALL _sendstr_PMEM
009e 0000!
417 009f 8b90 MAR *-
418 00a0 L10:
419 *** -----------------------g10:
420 *** 152 ----------------------- sendstr_PMEM("\b\b\b\b\b\b\b\b\b\b\b\b\b\b");
421 .line 104
422 00a0 bf0b LRLK AR3,SL4
00a1 0067+
423 00a2 83a0 SAR AR3,*+
424 00a3 7a80 CALL _sendstr_PMEM
00a4 0000!
425 00a5 8b90 MAR *-
426 *** 157 ----------------------- qep_sample = Y$1 = Encoder_SamplePosition();
427 .line 109
428 00a6 7a80 CALL _Encoder_SamplePosition
00a7 0000!
429 00a8 8b8f MAR * ,AR7
430 00a9 9089 SACL * ,AR1
431 00aa bc00- LDPK _qep_sample$1
432 00ab 9000- SACL _qep_sample$1
433 *** 158 ----------------------- Encoder_CalcPosition(Y$1);
434 .line 110
435 00ac 90a0 SACL *+
436 00ad 7a80 CALL _Encoder_CalcPosition
00ae 0000!
437 00af 8b9b MAR *-,AR3
438 *** 163 ----------------------- ltoa((unsigned long)encoder_position[1], &str);
439 .line 115
440 00b0 b30e LARK AR3,14
441 00b1 8be9 MAR *0+,AR1
442 00b2 83a0 SAR AR3,*+
443 00b3 bc00! LDPK _encoder_position+1
444 00b4 6901! ZALS _encoder_position+1
445 00b5 90a0 SACL *+
446 00b6 98a0 SACH *+
447 00b7 7a80 CALL _ltoa
00b8 0000!
448 00b9 7c03 SBRK 3
449 *** 164 ----------------------- if ( (i = strlen(&str)) >= 7 ) goto g14;
450 .line 116
451 00ba 8b8b MAR * ,AR3
452 00bb b30e LARK AR3,14
TMS320C1x/C2x/C2xx/C5x COFF Assembler Beta Version 6.63 Mon Feb 9 04:57:53 1998
Copyright (c) 1987-1996 Texas Instruments Incorporated
monitor.asm PAGE 10
453 00bc 8be9 MAR *0+,AR1
454 00bd 83a0 SAR AR3,*+
455 00be 7a80 CALL _strlen
00bf 0000!
456 00c0 8b98 MAR *-,AR0
457 00c1 9080 SACL *
458 00c2 0580 LAR AR5,*
459 00c3 8580 SAR AR5,*
460 00c4 be47 SSXM
461 00c5 1080 LAC *
462 00c6 ba07 SUBK 7
463 00c7 e38c BGEZ L14
00c8 00d6'
464 *** ----------------------- L$2 = 6-i;
465 00c9 8580 SAR AR5,*
466 00ca b906 LACK 6
467 00cb 3080 SUB *
468 00cc 9080 SACL *
469 00cd 0689 LAR AR6,* ,AR1
470 *** -----------------------g13:
471 *** -----------------------g49:
472 00ce L49:
473 *** 165 ----------------------- sendstr_PMEM(" ");
474 .line 117
475 00ce bf0b LRLK AR3,SL2
00cf 0030+
476 00d0 83a0 SAR AR3,*+
477 00d1 7a80 CALL _sendstr_PMEM
00d2 0000!
478 00d3 8b9e MAR *-,AR6
479 *** 164 ----------------------- if ( --L$2 != -1 ) goto g49;
480 .line 116
481 00d4 7b99 BANZ L49,*-,AR1
00d5 00ce'
482 00d6 L14:
483 *** -----------------------g14:
484 *** 166 ----------------------- sendstr_DMEM(&str);
485 .line 118
486 00d6 8b8b MAR * ,AR3
487 00d7 b30e LARK AR3,14
488 00d8 8be9 MAR *0+,AR1
489 00d9 83a0 SAR AR3,*+
490 00da 7a80 CALL _sendstr_DMEM
00db 0000!
491 00dc 8b9b MAR *-,AR3
492 *** 168 ----------------------- ltoa((unsigned long)encoder_position[0], &str);
493 .line 120
494 00dd b30e LARK AR3,14
495 00de 8be9 MAR *0+,AR1
496 00df 83a0 SAR AR3,*+
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