📄 communication_lib.s
字号:
.word 0x0,0x0
.byte 0,0,0,0,0,0,0,0
.area text(rom, con, rel)
.dbfile E:\单片机\ROOBCO~1\全向定位系统\坐标转换模块\相对定位模块应用版\Relative_Locate_Module\Communication_LIB.c
.dbfunc s MSGMap_Acknowledge _MSGMap_Acknowledge fc
; pcData -> R10,R11
; fBuffer -> y+1
; pMsgItem -> R20,R21
.even
_MSGMap_Acknowledge:
rcall push_xgset300C
movw R20,R16
sbiw R28,13
.dbline -1
.dbline 138
; }
;
; /***********************************************************
; * 函数说明：模块应答消息处理函数 *
; * 输入： 收到的消息 *
; * 输出： 消息是否得到了处理 *
; * 调用函数：无 *
; ***********************************************************/
; static BOOL MSGMap_Acknowledge(MSG_ITEM *pMsgItem)
; {
.dbline 139
; uint8 *pcData = pMsgItem->pData;
movw R30,R20
ldd R10,z+2
ldd R11,z+3
.dbline 140
; float fBuffer[3] = {0};
ldi R24,<L24
ldi R25,>L24
movw R30,R28
adiw R30,1
ldi R16,12
ldi R17,0
st -y,R31
st -y,R30
st -y,R25
st -y,R24
rcall asgncblk
.dbline 142
;
; fBuffer[0] = g_fX;
lds R4,_g_fX+2
lds R5,_g_fX+2+1
lds R2,_g_fX
lds R3,_g_fX+1
std y+1,R2
std y+2,R3
std y+3,R4
std y+4,R5
.dbline 143
; fBuffer[1] = g_fY;
lds R4,_g_fY+2
lds R5,_g_fY+2+1
lds R2,_g_fY
lds R3,_g_fY+1
std y+5,R2
std y+6,R3
std y+7,R4
std y+8,R5
.dbline 144
; fBuffer[2] = g_fAngle;
lds R4,_g_fAngle+2
lds R5,_g_fAngle+2+1
lds R2,_g_fAngle
lds R3,_g_fAngle+1
std y+9,R2
std y+10,R3
std y+11,R4
std y+12,R5
.dbline 147
;
; //发送坐标信息
; Send_MSG(COM_CMD_ACK,(BYTE *)fBuffer,sizeof(fBuffer));
ldi R24,12
std y+0,R24
movw R18,R28
subi R18,255 ; offset = 1
sbci R19,255
ldi R16,172
rcall _Send_MSG
.dbline 149
;
; return TRUE;
ldi R16,1
.dbline -2
L23:
.dbline 0 ; func end
adiw R28,13
rjmp pop_xgset300C
.dbsym r pcData 10 pc
.dbsym l fBuffer 1 A[12:3]D
.dbsym r pMsgItem 20 pS[MsgItem]
.dbend
.dbfunc s MSGMap_Set _MSGMap_Set fc
; cflags0 -> R10
; n1 -> R20
; chXOR0 -> R10
; fAbsoluteAngle0 -> y+1
; chCTR0 -> R20
; pcData -> R22,R23
; pMsgItem -> R20,R21
.even
_MSGMap_Set:
rcall push_xgsetF00C
movw R20,R16
sbiw R28,5
.dbline -1
.dbline 159
; }
;
; /***********************************************************
; * 函数说明：模块设定消息处理函数 *
; * 输入： 收到的消息 *
; * 输出： 消息是否得到了处理 *
; * 调用函数：无 *
; ***********************************************************/
; static BOOL MSGMap_Set(MSG_ITEM *pMsgItem)
; {
.dbline 160
; uint8 *pcData = pMsgItem->pData;
movw R30,R20
ldd R22,z+2
ldd R23,z+3
.dbline 162
;
; if ((pMsgItem->cDataLength) < (1 + sizeof(float) * 3))
ldd R24,z+1
cpi R24,13
brsh L28
X3:
.dbline 163
; {
.dbline 165
; //指令错误
; return FALSE;
clr R16
rjmp L27
L28:
.dbline 168
; }
;
; {
.dbline 169
; UINT8 chCTR = pcData[0];
movw R30,R22
ldd R20,z+0
.dbline 170
; float fAbsoluteAngle = g_fAbsoluteAngle;
lds R4,_g_fAbsoluteAngle+2
lds R5,_g_fAbsoluteAngle+2+1
lds R2,_g_fAbsoluteAngle
lds R3,_g_fAbsoluteAngle+1
std y+1,R2
std y+2,R3
std y+3,R4
std y+4,R5
.dbline 172
;
; if (chCTR & BIT(2))
sbrs R20,2
rjmp L30
X4:
.dbline 173
; {
.dbline 175
; //设置角度
; g_chCMDBuffer[2] |= BIT(2);
lds R24,_g_chCMDBuffer+2
ori R24,4
sts _g_chCMDBuffer+2,R24
.dbline 176
; fAbsoluteAngle = TYPE_CONVERSION(&pcData[9],float) - K_ANGLE * (float)g_wCounter;
adiw R30,9
ldd R2,z+0
ldd R3,z+1
ldd R4,z+2
ldd R5,z+3
ldi R16,<L33
ldi R17,>L33
rcall lpm32
movw R6,R16
movw R8,R18
lds R16,_g_wCounter
lds R17,_g_wCounter+1
rcall uint2fp
st -y,R19
st -y,R18
st -y,R17
st -y,R16
movw R16,R6
movw R18,R8
rcall fpmule2x
movw R16,R2
movw R18,R4
rcall fpsub2
std y+1,R16
std y+2,R17
std y+3,R18
std y+4,R19
.dbline 177
; TYPE_CONVERSION(&g_chCMDBuffer[11],float) = fAbsoluteAngle;
ldd R2,y+1
ldd R3,y+2
ldd R4,y+3
ldd R5,y+4
ldi R30,<_g_chCMDBuffer+11
ldi R31,>_g_chCMDBuffer+11
std z+0,R2
std z+1,R3
std z+2,R4
std z+3,R5
.dbline 178
; }
L30:
.dbline 180
;
; fAbsoluteAngle += PI;
ldd R2,y+1
ldd R3,y+2
ldd R4,y+3
ldd R5,y+4
ldi R16,<L35
ldi R17,>L35
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
movw R16,R2
movw R18,R4
rcall fpadd2
std y+1,R16
std y+2,R17
std y+3,R18
std y+4,R19
.dbline 182
;
; if (chCTR & BIT(0))
sbrs R20,0
rjmp L36
X5:
.dbline 183
; {
.dbline 185
; //设置X坐标
; g_chCMDBuffer[2] |= BIT(0);
lds R24,_g_chCMDBuffer+2
ori R24,1
sts _g_chCMDBuffer+2,R24
.dbline 187
;
; TYPE_CONVERSION(&g_chCMDBuffer[3],float) =
ldd R16,y+1
ldd R17,y+2
ldd R18,y+3
ldd R19,y+4
rcall _cosf
movw R2,R16
movw R4,R18
movw R30,R22
ldd R6,z+1
ldd R7,z+2
ldd R8,z+3
ldd R9,z+4
ldi R16,<L40
ldi R17,>L40
rcall lpm32
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall fpmule2x
movw R16,R6
movw R18,R8
rcall fpadd2
ldi R30,<_g_chCMDBuffer+3
ldi R31,>_g_chCMDBuffer+3
std z+0,R16
std z+1,R17
std z+2,R18
std z+3,R19
.dbline 190
; TYPE_CONVERSION(&pcData[1],float) +
; RELATIVE_L * cos(fAbsoluteAngle);
; }
L36:
.dbline 191
; if (chCTR & BIT(1))
sbrs R20,1
rjmp L41
X6:
.dbline 192
; {
.dbline 194
; //设置Y坐标
; g_chCMDBuffer[2] |= BIT(1);
lds R24,_g_chCMDBuffer+2
ori R24,2
sts _g_chCMDBuffer+2,R24
.dbline 195
; TYPE_CONVERSION(&g_chCMDBuffer[7],float) =
ldd R16,y+1
ldd R17,y+2
ldd R18,y+3
ldd R19,y+4
rcall _sinf
movw R2,R16
movw R4,R18
movw R30,R22
ldd R6,z+5
ldd R7,z+6
ldd R8,z+7
ldd R9,z+8
ldi R16,<L40
ldi R17,>L40
rcall lpm32
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall fpmule2x
movw R16,R6
movw R18,R8
rcall fpadd2
ldi R30,<_g_chCMDBuffer+7
ldi R31,>_g_chCMDBuffer+7
std z+0,R16
std z+1,R17
std z+2,R18
std z+3,R19
.dbline 198
; TYPE_CONVERSION(&pcData[5],float) +
; RELATIVE_L * sin(fAbsoluteAngle);
; }
L41:
.dbline 200
;
; if (chCTR & 0x07)
mov R24,R20
andi R24,7
breq L45
X7:
.dbline 201
; {
.dbline 202
; UINT8 n = 0;
.dbline 203
; BYTE chXOR = 0;
clr R10
.dbline 205
;
; for (n = 1;n < 15;n++)
ldi R20,1
rjmp L50
L47:
.dbline 206
; {
.dbline 207
; chXOR ^= g_chCMDBuffer[n];
ldi R24,<_g_chCMDBuffer
ldi R25,>_g_chCMDBuffer
mov R30,R20
clr R31
add R30,R24
adc R31,R25
ldd R2,z+0
eor R10,R2
.dbline 208
; }
L48:
.dbline 205
inc R20
L50:
.dbline 205
cpi R20,15
brlo L47
X8:
.dbline 209
; g_chCMDBuffer[15] = chXOR;
sts _g_chCMDBuffer+15,R10
.dbline 211
;
; SAFE_CODE_PERFORMANCE
.dbline 211
in R10,0x3f
.dbline 211
cli
.dbline 211
ldi R24,1
sts _g_bIfSendCMD,R24
.dbline 211
clr R2
sts _g_bIfStartCMD,R2
.dbline 211
sts _g_bIfSendHead,R2
.dbline 211
.dbline 211
out 0x3f,R10
.dbline 211
.dbline 217
; (
; g_bIfSendCMD = TRUE;
; g_bIfStartCMD = FALSE;
; g_bIfSendHead = FALSE;
; )
; }
L45:
.dbline 219
;
; }
.dbline 222
;
;
; Send_MSG(COM_CMD_SET,NULL,0);
clr R2
std y+0,R2
clr R18
clr R19
ldi R16,161
rcall _Send_MSG
.dbline 224
;
; return TRUE;
ldi R16,1
.dbline -2
L27:
.dbline 0 ; func end
adiw R28,5
rjmp pop_xgsetF00C
.dbsym r cflags0 10 c
.dbsym r n1 20 c
.dbsym r chXOR0 10 c
.dbsym l fAbsoluteAngle0 1 D
.dbsym r chCTR0 20 c
.dbsym r pcData 22 pc
.dbsym r pMsgItem 20 pS[MsgItem]
.dbend
.area bss(ram, con, rel)
.dbfile E:\单片机\ROOBCO~1\全向定位系统\坐标转换模块\相对定位模块应用版\Relative_Locate_Module\Communication_LIB.c
_SFPLocateModuleShellMsgItem::
.blkb 32
.dbsym e SFPLocateModuleShellMsgItem _SFPLocateModuleShellMsgItem A[32:32]c
_SFPLocateModuleShellBuffer::
.blkb 32
.dbsym e SFPLocateModuleShellBuffer _SFPLocateModuleShellBuffer A[32:32]c
_SFPLocateModuleShell::
.blkb 37
.dbsym e SFPLocateModuleShell _SFPLocateModuleShell S[SerialFrameProcess]
_MSGMapLocateModuleShellItemArray::
.blkb 6
.dbsym e MSGMapLocateModuleShellItemArray _MSGMapLocateModuleShellItemArray A[6:2]S[MsgMapItem]
_MSGMapLocateModuleShell::
.blkb 3
.dbsym e MSGMapLocateModuleShell _MSGMapLocateModuleShell S[MsgMap]
.area lit(rom, con, rel)
L40:
.word 0x8000,0x4317
L35:
.word 0xfdb,0x4049
L33:
.word 0xfdb,0x3bc9
; }
.area func_lit
PL_UARTaddDataToTxBuff: .word `_UARTaddDataToTxBuff
PL_UARTgetDataFromRxBuff: .word `_UARTgetDataFromRxBuff
PL_SFP_NULL_Peek_Data_Function: .word `_SFP_NULL_Peek_Data_Function
PL_SFP_NULL_Output_Data_Function: .word `_SFP_NULL_Output_Data_Function
PL_SFP_NULL_Input_Data_Function: .word `_SFP_NULL_Input_Data_Function
PL_ADT_Queue_Peek_From_Buffer: .word `_ADT_Queue_Peek_From_Buffer
PL_ADT_Queue_Check_Empty: .word `_ADT_Queue_Check_Empty
PL_ADT_Queue_Get_From_Buffer: .word `_ADT_Queue_Get_From_Buffer
PL_ADT_Queue_Add_To_Buffer: .word `_ADT_Queue_Add_To_Buffer
PL_MSGMap_Acknowledge: .word `_MSGMap_Acknowledge
PL_MSGMap_Set: .word `_MSGMap_Set
PL_MSG_NULL_PROC: .word `_MSG_NULL_PROC
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