fiq.asm

以凌阳SPCE061A（61）系列单片机为基础的机器人程序。 加里森敢死队重现江湖 第一组： 杰克、开始、准备、跳舞、再来一曲 第二组： 开始、向前走、倒退、左转、右转 第三组：

.include hardware.inc
.include s480.inc
.include bsrSD.inc

.external _BSR_FIQ_Routine
.external F_FIQ_Service_SACM_S480

.public _FIQ

.text
_FIQ:
	push r1,r5 to [sp]
	r1 = C_FIQ_TMA
	test r1,[P_INT_Ctrl]
	jnz L_FIQ_TimerA
	r1 = C_FIQ_TMB
	test r1,[P_INT_Ctrl]
	jnz L_FIQ_TimerB
L_FIQ_PWM:
	r1 = C_FIQ_PWM
	[P_INT_Clear] = r1
	pop r1,r5 from [sp]
	reti
L_FIQ_TimerA:
	[P_INT_Clear] = r1
	call _BSR_FIQ_Routine
	call F_FIQ_Service_SACM_S480
	pop r1,r5 from [sp]
	reti
L_FIQ_TimerB:
	[P_INT_Clear] = r1
	pop r1,r5 from [sp]
	reti