📄 speed1.s
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.equ __30F4011, 1
.include "p30f4011.inc"
;..............................................................................
;Configuration bits:
;..............................................................................
config __FOSC, CSW_ON_FSCM_OFF & FRC & HS ;Turn off clock switching and
;fail-safe clock monitoring and
;use the External Clock as the
;system clock
config __FWDT, WDT_OFF ;Turn off Watchdog Timer
config __FBORPOR, PBOR_ON & BORV_27 & PWRT_16 & MCLR_EN
;Set Brown-out Reset voltage and
;and set Power-up Timer to 16msecs
config __FGS, CODE_PROT_OFF ;Set Code Protection Off for the
;General Segment
;..............................................................................
;Program Specific Constants (literals used in code)
;..............................................................................
.equ SAMPLES, 64 ;Number of samples
;..............................................................................
;Global Declarations:
;..............................................................................
.global _wreg_init ;Provide global scope to _wreg_init routine
;In order to call this routine from a C file,
;place "wreg_init" in an "extern" declaration
;in the C file.
.global __reset ;The label for the first line of code.
.global __T1Interrupt ;Declare Timer 1 ISR name global
.global __CNInterrupt ;Declare Timer 1 ISR name global
;..............................................................................
;Constants stored in Program space
;..............................................................................
.section .myconstbuffer, code
.palign 2 ;Align next word stored in Program space to an
;address that is a multiple of 2
ps_coeff:
.hword 0x0002, 0x0003, 0x0005, 0x000A
;..............................................................................
;Uninitialized variables in X-space in data memory
;..............................................................................
.section .xbss, bss, xmemory
x_input: .space 2*SAMPLES ;Allocating space (in bytes) to variable.
SPEED: .space 2 ; CAN output signal
;..............................................................................
;Uninitialized variables in Y-space in data memory
;..............................................................................
.section .ybss, bss, ymemory
y_input: .space 2*SAMPLES
;..............................................................................
;Uninitialized variables in Near data memory (Lower 8Kb of RAM)
;..............................................................................
.section .nbss, bss, near
var1: .space 2 ;Example of allocating 1 word of space for
;variable "var1".
SUPER_VPN_FLAG: .space 2 ; reserve 2 bytes, see description below
READY_CHECK_POSITION_FLAG: .space 2
CW_FLAG: .space 2
CCW_FLAG: .space 2
UNDER_VPN_FLAG: .space 2 ; HONEY_1 signal
SHUT_CURRENT_FLAG: .space 2 ; HONEY_2 signal
PDC1_VAL: .space 2 ; PWM1 value
PDC2_VAL: .space 2 ; PWM2 value
VOER_VPN_FLAG: .space 2 ; PWM1 value
OVER_CURRENT_FLAG: .space 2 ; PWM2 value
FIRST_VPN_FLAG: .space 2 ; CAN input signal
COUNT: .space 2 ; CAN output signal
OVER_TM1_VAL: .space 2 ; Accelerate value
SPEED_COUNT: .space 2 ; CAN output signal
;..............................................................................
;Code Section in Program Memory
;..............................................................................
.text ;Start of Code section
__reset:
MOV #__SP_init, W15 ;Initalize the Stack Pointer
MOV #__SPLIM_init, W0 ;Initialize the Stack Pointer Limit Register
MOV W0, SPLIM
NOP ;Add NOP to follow SPLIM initialization
CALL _wreg_init ;Call _wreg_init subroutine
;Optionally use RCALL instead of CALL
; Setup CN control registers
BSET TRISC,#13
BSET TRISC,#14
BSET CNEN1,#0
BCLR IFS0,#CNIF
MOV #0x1000,W0
MOV,W0,IPC3
BSET IEC0,#CNIE
CLR READY_CHECK_POSITION_FLAG
CLR CW_FLAG
CLR CCW_FLAG
; Setup 32-bit timer control registers
MOV #0x0030,W0
MOV W0,T2CON
MOV W0,T3CON
CLR TMR3
CLR TMR2
MOV #0xFFFF,W0
MOV W0,PR2
MOV W0,PR3
BSET T2CON,#T32
BSET T2CON,#TON
CLR SPEED_COUNT
MAIN_LOOP:
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
BRA MAIN_LOOP
;*****************************************************************************
;
;
; This is the CN0 Interrupt Service Routine
;
;
;*****************************************************************************
__CNInterrupt:
PUSH.D W0
PUSH.D W2
PUSH.D W4
CALL CHECK_SPEED
CP0 READY_CHECK_POSITION_FLAG
BRA NZ, CHECK_POSISTION
BTSC PORTC,#14
BTSC PORTC,#13
BRA END_HALT
SETM READY_CHECK_POSITION_FLAG
BRA END_HALT
CHECK_POSISTION:
CLR CW_FLAG
CLR CCW_FLAG
BTSC PORTC,#13
BRA DEFINE_CCW
BRA DEFINE_CW
DEFINE_CW:
SETM CW_FLAG
CLR READY_CHECK_POSITION_FLAG
BRA END_HALT
DEFINE_CCW:
SETM CCW_FLAG
CLR READY_CHECK_POSITION_FLAG
BRA END_HALT
END_HALT:
BCLR IFS0, #CNIF
POP.D W4
POP.D W2
POP.D W0
RETFIE
CHECK_SPEED:
MOV SPEED_COUNT,W2
MOV #0x0009,W4
CP W2,W4
BRA GE,CONFIRM_SPEED
BRA LT,PLUS_SPEED
RETURN
PLUS_SPEED:
INC SPEED_COUNT
RETURN
CONFIRM_SPEED:
CLR SPEED_COUNT
CP0 TMR3
BRA NZ,CHECK_BIG
BRA CHECK_SMALL
RETURN
CHECK_BIG:
MOV TMR3,W4
MOV #0xEA60,W2
REPEAT #17
DIV.U W2,W4
MOV W0,SPEED
REPEAT #9
LSR SPEED
CLR TMR2
CLR TMR3
RETURN
CHECK_SMALL:
MOV TMR2,W11
MOV #0xEA60,W2
REPEAT #17
DIV.U W2,W4
MOV W0,SPEED
REPEAT #9
LSR SPEED
CLR TMR2
CLR TMR3
RETURN
;<<insert more user code here>>
done:
BRA done ;Place holder for last line of executed code
;..............................................................................
;Subroutine: Initialization of W registers to 0x0000
;..............................................................................
_wreg_init:
CLR W0
MOV W0, W14
REPEAT #12
MOV W0, [++W14]
CLR W14
RETURN
;..............................................................................
;Timer 1 Interrupt Service Routine
;Example context save/restore in the ISR performed using PUSH.D/POP.D
;instruction. The instruction pushes two words W4 and W5 on to the stack on
;entry into ISR and pops the two words back into W4 and W5 on exit from the ISR
;..............................................................................
__T1Interrupt:
PUSH.D W4 ;Save context using double-word PUSH
;<<insert more user code here>>
BCLR IFS0, #T1IF ;Clear the Timer1 Interrupt flag Status
;bit.
POP.D W4 ;Retrieve context POP-ping from Stack
RETFIE ;Return from Interrupt Service routine
;--------End of All Code Sections ---------------------------------------------
.end
;End of program code in this file
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