motor_control.lst

利用avr c编程的综合程序

 135               		brne .L3
 136               	.LBE55:
 137               	.LBE56:
   1:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /* Copyright (c) 2002, Marek Michalkiewicz
   2:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    Copyright (c) 2004,2005,2007 Joerg Wunsch
   3:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    Copyright (c) 2007  Florin-Viorel Petrov
   4:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    All rights reserved.
   5:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
   6:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    Redistribution and use in source and binary forms, with or without
   7:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    modification, are permitted provided that the following conditions are met:
   8:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
   9:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    * Redistributions of source code must retain the above copyright
  10:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      notice, this list of conditions and the following disclaimer.
  11:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  12:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    * Redistributions in binary form must reproduce the above copyright
  13:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      notice, this list of conditions and the following disclaimer in
  14:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      the documentation and/or other materials provided with the
  15:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      distribution.
  16:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  17:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    * Neither the name of the copyright holders nor the names of
  18:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      contributors may be used to endorse or promote products derived
  19:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****      from this software without specific prior written permission.
  20:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  21:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  22:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  23:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  24:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  25:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  26:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  27:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  28:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  29:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  30:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  31:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****   POSSIBILITY OF SUCH DAMAGE. */
  32:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  33:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /* $Id: delay.h,v 1.5 2007/10/28 23:25:56 joerg_wunsch Exp $ */
  34:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  35:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #ifndef _UTIL_DELAY_H_
  36:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #define _UTIL_DELAY_H_ 1
  37:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  38:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #include <inttypes.h>
  39:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #include <util/delay_basic.h>
  40:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  41:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /** \file */
  42:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /** \defgroup util_delay <util/delay.h>: Convenience functions for busy-wait delay loops
  43:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     \code
  44:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     #define F_CPU 1000000UL  // 1 MHz
  45:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     //#define F_CPU 14.7456E6
  46:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     #include <util/delay.h>
  47:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     \endcode
  48:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  49:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     \note As an alternative method, it is possible to pass the
  50:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     F_CPU macro down to the compiler from the Makefile.
  51:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     Obviously, in that case, no \c \#define statement should be
  52:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     used.
  53:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  54:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     The functions in this header file are wrappers around the basic
  55:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     busy-wait functions from <util/delay_basic.h>.  They are meant as
  56:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     convenience functions where actual time values can be specified
  57:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     rather than a number of cycles to wait for.  The idea behind is
  58:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     that compile-time constant expressions will be eliminated by
  59:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     compiler optimization so floating-point expressions can be used
  60:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     to calculate the number of delay cycles needed based on the CPU
  61:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     frequency passed by the macro F_CPU.
  62:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  63:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     \note In order for these functions to work as intended, compiler
  64:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     optimizations <em>must</em> be enabled, and the delay time
  65:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     <em>must</em> be an expression that is a known constant at
  66:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     compile-time.  If these requirements are not met, the resulting
  67:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     delay will be much longer (and basically unpredictable), and
  68:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     applications that otherwise do not use floating-point calculations
  69:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     will experience severe code bloat by the floating-point library
  70:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     routines linked into the application.
  71:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  72:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     The functions available allow the specification of microsecond, and
  73:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     millisecond delays directly, using the application-supplied macro
  74:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****     F_CPU as the CPU clock frequency (in Hertz).
  75:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  76:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** */
  77:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  78:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #if !defined(__DOXYGEN__)
  79:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** static inline void _delay_us(double __us) __attribute__((always_inline));
  80:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** static inline void _delay_ms(double __ms) __attribute__((always_inline));
  81:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #endif
  82:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  83:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #ifndef F_CPU
  84:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /* prevent compiler error by supplying a default */
  85:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** # warning "F_CPU not defined for <util/delay.h>"
  86:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** # define F_CPU 1000000UL
  87:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #endif
  88:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  89:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #ifndef __OPTIMIZE__
  90:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** # warning "Compiler optimizations disabled; functions from <util/delay.h> won't work as designed"
  91:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** #endif
  92:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  93:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /**
  94:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    \ingroup util_delay
  95:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  96:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    Perform a delay of \c __us microseconds, using _delay_loop_1().
  97:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
  98:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    The macro F_CPU is supposed to be defined to a
  99:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    constant defining the CPU clock frequency (in Hertz).
 100:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 101:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    The maximal possible delay is 768 us / F_CPU in MHz.
 102:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 103:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    If the user requests a delay greater than the maximal possible one,
 104:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    _delay_us() will automatically call _delay_ms() instead.  The user
 105:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    will not be informed about this case.
 106:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****  */
 107:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** void
 108:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** _delay_us(double __us)
 109:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** {
 110:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	uint8_t __ticks;
 111:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	double __tmp = ((F_CPU) / 3e6) * __us;
 112:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	if (__tmp < 1.0)
 113:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		__ticks = 1;
 114:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	else if (__tmp > 255)
 115:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	{
 116:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		_delay_ms(__us / 1000.0);
 117:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		return;
 118:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	}
 119:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	else
 120:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		__ticks = (uint8_t)__tmp;
 121:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	_delay_loop_1(__ticks);
 122:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** }
 123:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 124:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 125:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** /**
 126:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    \ingroup util_delay
 127:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 128:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    Perform a delay of \c __ms milliseconds, using _delay_loop_2().
 129:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 130:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    The macro F_CPU is supposed to be defined to a
 131:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    constant defining the CPU clock frequency (in Hertz).
 132:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 133:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    The maximal possible delay is 262.14 ms / F_CPU in MHz.
 134:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 
 135:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    When the user request delay which exceed the maximum possible one,
 136:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    _delay_ms() provides a decreased resolution functionality. In this
 137:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    mode _delay_ms() will work with a resolution of 1/10 ms, providing
 138:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    delays up to 6.5535 seconds (independent from CPU frequency).  The
 139:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****    user will not be informed about decreased resolution.
 140:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h ****  */
 141:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** void
 142:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** _delay_ms(double __ms)
 143:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** {
 144:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	uint16_t __ticks;
 145:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	double __tmp = ((F_CPU) / 4e3) * __ms;
 146:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	if (__tmp < 1.0)
 147:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		__ticks = 1;
 148:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	else if (__tmp > 65535)
 149:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 	{
 150:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		//	__ticks = requested delay in 1/10 ms
 151:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		__ticks = (uint16_t) (__ms * 10.0);
 152:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		while(__ticks)
 153:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 		{
 154:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 			// wait 1/10 ms
 155:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 			_delay_loop_2(((F_CPU) / 4e3) / 10);
 156:c:/winavr-20080512/lib/gcc/../../avr/include/util/delay.h **** 			__ticks --;
 139               	5,.LM7-.LFBB1
 140               	.LM7:
 141 001e 0197      		ldd r24,Y+1
 142               		subi r24,lo8(-(1))
 143               		std Y+1,r24
 144 0020 01F4      	.L2:
 145               		ldd r24,Y+1
 146               		cp r24,r20
 147               		brlo .L4
 148               	/* epilogue start */
 150               	.LM8:
 151 0022 8981      		pop __tmp_reg__
 152 0024 8F5F      		pop r28
 153 0026 8983      		pop r29
 154               		ret
 116:motor_control.c **** 		_delay_ms(1000);
 117:motor_control.c **** }
 159               	50-.LFBB1
 171               	.Lscope1:
 173               	.global	get_cheese
 175               	get_cheese:
 177               	.LM9:
 178               	.LFBB2:
 179               		push r16
 180               		push r17
 181               		push r29
 182               		push r28
 183               		push __tmp_reg__
 184               		in r28,__SP_L__
 185               		in r29,__SP_H__
 118:motor_control.c **** 
 119:motor_control.c **** void get_cheese(void)
 120:motor_control.c **** {
 186               	 frame size = 1 */
 188               	.LM10:
 189 0036 0F93      		call uartClose
 191 003a DF93      	.LM11:
 192 003c CF93      		call getTime
 193 003e 0F92      		mov r17,r24
 195 0042 DEB7      	.LM12:
 196               		ldi r20,lo8(150)
 197               		ldi r21,hi8(150)
 121:motor_control.c **** 	uartClose();
 198               	(150)
 199               		ldi r23,hi8(150)
 200 0044 0E94 0000 		ldi r24,lo8(26)
 122:motor_control.c **** 	
 123:motor_control.c **** 	unsigned char temp_time = getTime();
 201               	ll motor
 202               		ldi r24,lo8(1000)
 203 0048 0E94 0000 		ldi r25,hi8(1000)
 204 004c 182F      	.LBB57:
 124:motor_control.c **** 	
 125:motor_control.c **** 	motor(0x1a, 150, 150);
 205               	58:
 206               	.LBB59:
 207 004e 46E9      	.LBB60:
 209 0052 66E9      	.Ltext6:
 211 0056 8AE1      	.LM13:
 212 0058 0E94 0000 		ldi r18,lo8(400)
 213 005c 88EE      		ldi r19,hi8(400)
 214 005e 93E0      	.L8:
 215               		movw r30,r18
 216               	/* #APP */
 217               	 ;  105 "c:/winavr-20080512/lib/gcc/../../avr/include/util/delay_basic.h" 1
 218               		1: sbiw r30,1
 219               		brne 1b
 220               	 ;  0 "" 2
 221               	/* #NOAPP */
 222               	.LBE60:
 223 0060 20E9      	.LBE59:
 225               	.Ltext7:
 227               	.LM14:
 228               		sbiw r24,1
 230 0068 01F4      	.LM15:
 231               		brne .L8
 232               	.LBE58:
 233               	.LBE57:
 235               	.Ltext8:
 237               	.LM16:
 238               		ldi r20,lo8(-1000)
 239 006a 0197      		ldi r21,hi8(-1000)
 240               		ldi r22,lo8(7400)
 241               		ldi r23,hi8(7400)
 242 006c 01F4      		ldi r24,lo8(42)
 243               		call motor
 244               		ldi r24,lo8(10000)
 245               		ldi r25,hi8(10000)
 246               	.LBB61:
 126:motor_control.c **** 	_delay_ms(100);
 127:motor_control.c **** 	
 128:motor_control.c **** 	motor(0x2a, 7400, -1000);
 247               	-20080512/lib/gcc/../../avr/include/util/delay_basic.h",132,0,0,.Ltext9
 248               	.Ltext9:
 250 0070 5CEF      	.LM17:
 251 0072 68EE      		ldi r18,lo8(400)
 252 0074 7CE1      		ldi r19,hi8(400)
 253 0076 8AE2      	.L9:
 254 0078 0E94 0000 		movw r30,r18
 255 007c 80E1      	/* #APP */
 256 007e 97E2      	 ;  105 "c:/winavr-20080512/lib/gcc/../../avr/include/util/delay_basic.h" 1
 257               		1: sbiw r30,1
 258               		brne 1b
 259               	 ;  0 "" 2
 260               	/* #NOAPP */
 261               	.LBE64:
 262               	.LBE63:
 264               	.Ltext10:
 266 0082 31E0      	.LM18:
 267               		sbiw r24,1
 269               	.LM19:
 270               		brne .L9
 271 0086 3197      	.LBE62:
 272 0088 01F4      	.LBE61:
 274               	.Ltext11:
 276               	.LM20:
 277               		ldi r20,lo8(800)
 278               		ldi r21,hi8(800)