📄 threeaxes.lst
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##############################################################################
# #
# IAR AT90S C-Compiler V1.40E/WIN #
# #
# Internal versions FE4.40H CO1.11K CG1.40E GL1.06L CD1.04A #
# AF1.25U AB1.40C EB1.31B #
# #
# Compile time = 16/Aug/2001 14:16:32 #
# Target option = Max 64 KB data + 8 KB code (8515 4414...) #
# Memory model = small #
# Source file = c:\my documents\iarproject\3axespcb0814\threeaxes.c #
# List file = c:\my documents\iarproject\3axespcb0814\release\list\threeaxes.lst#
# Object file = c:\my documents\iarproject\3axespcb0814\release\obj\threeaxes.r90#
# Command line = -v1 -ms #
# -OC:\My Documents\IARProject\3AxesPCB0814\Release\Obj\ #
# -e -c -gA -RCODE #
# -LC:\My Documents\IARProject\3AxesPCB0814\Release\List\ #
# -q -t8 -IC:\IAR\EW22\A90\inc\ -z9 -K #
# C:\My Documents\IARProject\3AxesPCB0814\ThreeAxes.c #
# #
# (c) Copyright IAR Systems 1998 #
##############################################################################
\ NAME threeaxes(17)
\ RSEG CODE(0)
\ RSEG SWITCH(0)
\ COMMON INTVEC(0)
\ RSEG UDATA1(0)
\ PUBLIC AbsEncoderPos1
\ PUBLIC AbsEncoderPos2
\ PUBLIC AbsEncoderPos3
\ PUBLIC AccMSec
\ PUBLIC AccStart
\ PUBLIC DAError1
\ PUBLIC DAError2
\ PUBLIC DAError3
\ PUBLIC DDAOK
\ PUBLIC DDA_Pulse1
\ PUBLIC DDA_Pulse2
\ PUBLIC DDA_Pulse3
\ PUBLIC DDA_Pulse_Modi1
\ PUBLIC DDA_Pulse_Modi2
\ PUBLIC DDA_Pulse_Modi3
\ PUBLIC Distance_Pulse1
\ PUBLIC Distance_Pulse2
\ PUBLIC Distance_Pulse3
\ PUBLIC EERead
\ PUBLIC EEWrite
\ PUBLIC EEprom
\ PUBLIC GetAbsEncoderPos
\ PUBLIC InitHardware
\ PUBLIC InitPos_Para
\ PUBLIC InitVar
\ PUBLIC JogSec
\ PUBLIC JogStart
\ PUBLIC MiliSec
\ PUBLIC Point_V1
\ PUBLIC Point_V2
\ PUBLIC Point_V3
\ PUBLIC PosMove
\ PUBLIC Pulse_Cnt1
\ PUBLIC Pulse_Cnt2
\ PUBLIC Pulse_Cnt3
\ PUBLIC RxdBuf
\ PUBLIC RxdIndex
\ PUBLIC RxdOK
\ PUBLIC `Sec`
\ PUBLIC SendDDA
\ PUBLIC Speed
\ PUBLIC Speed1
\ PUBLIC Speed2
\ PUBLIC Speed3
\ PUBLIC Start
\ PUBLIC Status1
\ PUBLIC Status2
\ PUBLIC Status3
\ PUBLIC Step1
\ PUBLIC Step2
\ PUBLIC Step3
\ PUBLIC Sys_Pos1
\ PUBLIC Sys_Pos2
\ PUBLIC Sys_Pos3
\ PUBLIC Timer1_OVF_interrupt
\ PUBLIC TxdBuf
\ PUBLIC TxdIndex
\ PUBLIC UART_RX_interrupt
\ PUBLIC main
\ EXTERN ?C_SHL_L01
\ EXTERN ?UC_SHR_L01
\ EXTERN ?S_MUL_L02
\ EXTERN ?F_ADD_L04
\ EXTERN ?F_SUB_L04
\ EXTERN ?F_MUL_L04
\ EXTERN ?F_DIV_L04
\ EXTERN ?F_CMP_L04
\ EXTERN ?F2L_L04
\ EXTERN ?SL2F_L04
\ EXTERN ?CV_SWITCH_L06
\ EXTERN ?PROLOGUE2_L09
\ EXTERN ?PROLOGUE4_L09
\ EXTERN ?PROLOGUE16_L09
\ EXTERN ?EPILOGUE_B2_L09
\ EXTERN ?EPILOGUE_B4_L09
\ EXTERN ?EPILOGUE_B16_L09
\ EXTERN ?CL1S_1_40_L08
\ RSEG CODE
1 //This program is for 3 axes pcb
2 #define DDA_TIME 0.001
3 #define CONST 0x800
4 #define DA1LO 0x8060
5 #define DA1HI 0x8061
6 #define DA2LO 0x8062
7 #define DA2HI 0x8063
8 #define DA3LO 0x8064
9 #define DA3HI 0x8065
10 #define ENC10 0x8000 //Cnt1 Lo
11 #define ENC11 0x8001 //Cnt1 Mid
12 #define ENC12 0x8002 //Cnt1 Hi
13 #define ENC13 0x8003 //Cnt1 Status
14 #define ENC20 0x8020 //Cnt2 Lo
15 #define ENC21 0x8021 //Cnt2 Mid
16 #define ENC22 0x8022 //Cnt2 Hi
17 #define ENC23 0x8023 //Cnt2 Status
18 #define ENC30 0x8040 //Cnt3 Lo
19 #define ENC31 0x8041 //Cnt3 Mid
20 #define ENC32 0x8042 //Cnt3 Hi
21 #define ENC33 0x8043 //Cnt2 Status
22 #define BAUD9600 64
23 #define CR 0x0d
24 #define ESC 0x1b
25 #define CMDADR 0x1f
26 #define RUNADR 0x20
27
28 #include <io8515.h>
29 #include "Variable.h"
30 #include "EEprom.h"
\ EEWrite:
\ 00000000 02D0 RCALL ?0364
\ 00000002 4083 ST Z,R20
\ 00000004 0895 RET
\ ?0364:
\ 00000006 E02F MOV R30,R16
\ 00000008 FF27 CLR R31
\ 0000000A .... SUBI R30,LOW(-(EEprom))
\ 0000000C .... SBCI R31,HIGH(-(EEprom))
\ 0000000E 0895 RET
\ ; Adr R16
\ ; Data R20
\ EERead:
\ 00000010 FADF RCALL ?0364
\ 00000012 0081 LD R16,Z
\ 00000014 0895 RET
\ ; data R16
\ ; Adr R16
31 #include <ina90.h>
32 #include "Pos.h"
\ SendDDA:
\ 00000016 .... RCALL ?PROLOGUE4_L09
\ 00000018 .... LDI R30,LOW(DDA_Pulse1)
\ 0000001A .... LDI R31,(DDA_Pulse1 >> 8)
\ 0000001C 5BD0 RCALL ?0367
\ 0000001E .... LDI R30,LOW(Point_V1)
\ 00000020 .... LDI R31,(Point_V1 >> 8)
\ 00000022 72D0 RCALL ?0373
\ 00000024 .... LDI R30,LOW(Point_V1)
\ 00000026 .... LDI R31,(Point_V1 >> 8)
\ 00000028 7AD0 RCALL ?0374
\ 0000002A A7D0 RCALL ?0379
\ 0000002C .... RCALL ?F2L_L04
\ 0000002E 0093.... STS LWRD(DDA_Pulse_Modi1),R16
\ 00000032 1093.... STS LWRD((DDA_Pulse_Modi1+1)),R17
\ 00000036 .... LDI R30,LOW(DDA_Pulse2)
\ 00000038 .... LDI R31,(DDA_Pulse2 >> 8)
\ 0000003A 4CD0 RCALL ?0367
\ 0000003C .... LDI R30,LOW(Point_V2)
\ 0000003E .... LDI R31,(Point_V2 >> 8)
\ 00000040 63D0 RCALL ?0373
\ 00000042 .... LDI R30,LOW(Point_V2)
\ 00000044 .... LDI R31,(Point_V2 >> 8)
\ 00000046 6BD0 RCALL ?0374
\ 00000048 98D0 RCALL ?0379
\ 0000004A .... RCALL ?F2L_L04
\ 0000004C 0093.... STS LWRD(DDA_Pulse_Modi2),R16
\ 00000050 1093.... STS LWRD((DDA_Pulse_Modi2+1)),R17
\ 00000054 94D0 RCALL ?0385
\ 00000056 3ED0 RCALL ?0367
\ 00000058 .... LDI R30,LOW(Point_V3)
\ 0000005A .... LDI R31,(Point_V3 >> 8)
\ 0000005C 55D0 RCALL ?0373
\ 0000005E .... LDI R30,LOW(Point_V3)
\ 00000060 .... LDI R31,(Point_V3 >> 8)
\ 00000062 5DD0 RCALL ?0374
\ 00000064 8AD0 RCALL ?0379
\ 00000066 .... RCALL ?F2L_L04
\ 00000068 0093.... STS LWRD(DDA_Pulse_Modi3),R16
\ 0000006C 1093.... STS LWRD((DDA_Pulse_Modi3+1)),R17
\ 00000070 89D0 RCALL ?0387
\ 00000072 0091.... LDS R16,LWRD(DDA_Pulse_Modi1)
\ 00000076 1091.... LDS R17,LWRD((DDA_Pulse_Modi1+1))
\ 0000007A 87D0 RCALL ?0388
\ 0000007C 91D0 RCALL ?0389
\ 0000007E 0091.... LDS R16,LWRD(DDA_Pulse_Modi2)
\ 00000082 1091.... LDS R17,LWRD((DDA_Pulse_Modi2+1))
\ 00000086 81D0 RCALL ?0388
\ 00000088 8ED0 RCALL ?0390
\ 0000008A 0091.... LDS R16,LWRD(DDA_Pulse_Modi3)
\ 0000008E 1091.... LDS R17,LWRD((DDA_Pulse_Modi3+1))
\ 00000092 7BD0 RCALL ?0388
\ 00000094 E4E0 LDI R30,4
\ 00000096 .... RJMP ?EPILOGUE_B4_L09
\ ?0366:
\ 00000098 .... RCALL ?F_ADD_L04
\ ?0365:
\ 0000009A 8ED0 RCALL ?0476
\ 0000009C 92D0 RCALL ?0477
\ 0000009E .... LDI R30,LOW(Sys_Pos1)
\ 000000A0 .... LDI R31,(Sys_Pos1 >> 8)
\ 000000A2 94D0 RCALL ?0478
\ 000000A4 .... RCALL ?F_SUB_L04
\ 000000A6 .... LDI R30,LOW(DDA_Pulse1)
\ 000000A8 .... LDI R31,(DDA_Pulse1 >> 8)
\ 000000AA 9AD0 RCALL ?0480
\ 000000AC 9ED0 RCALL ?0481
\ 000000AE .... LDI R30,LOW(Sys_Pos2)
\ 000000B0 .... LDI R31,(Sys_Pos2 >> 8)
\ 000000B2 8CD0 RCALL ?0478
\ 000000B4 .... RCALL ?F_SUB_L04
\ 000000B6 .... LDI R30,LOW(DDA_Pulse2)
\ 000000B8 .... LDI R31,(DDA_Pulse2 >> 8)
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