coder.lst

m8改造4VF遥控器

__text_start:
__start:
    001E E5CF      LDI	R28,0x5F
    001F E0D4      LDI	R29,4
    0020 BFCD      OUT	0x3D,R28
    0021 BFDE      OUT	0x3E,R29
    0022 51C4      SUBI	R28,0x14
    0023 40D0      SBCI	R29,0
    0024 EA0A      LDI	R16,0xAA
    0025 8308      STD	Y+0,R16
    0026 2400      CLR	R0
    0027 E7E6      LDI	R30,0x76
    0028 E0F0      LDI	R31,0
    0029 E010      LDI	R17,0
    002A 38E8      CPI	R30,0x88
    002B 07F1      CPC	R31,R17
    002C F011      BEQ	0x002F
    002D 9201      ST	R0,Z+
    002E CFFB      RJMP	0x002A
    002F 8300      STD	Z+0,R16
    0030 E2E6      LDI	R30,0x26
    0031 E0F0      LDI	R31,0
    0032 E6A0      LDI	R26,0x60
    0033 E0B0      LDI	R27,0
    0034 E010      LDI	R17,0
    0035 33EC      CPI	R30,0x3C
    0036 07F1      CPC	R31,R17
    0037 F021      BEQ	0x003C
    0038 95C8      LPM
    0039 9631      ADIW	R30,1
    003A 920D      ST	R0,X+
    003B CFF9      RJMP	0x0035
    003C D132      RCALL	_main
_exit:
    003D CFFF      RJMP	_exit
FILE: D:\AVR程序\简易编码系统\coder.c
(0001) //中断方式发送PWM脉冲，负脉冲，变化范围为1MS~2MS。INT0为教练接口输入负脉冲,INT1为教练接口2，输入正脉冲后自动翻转，
(0002) //外部中断接口打开上拉。隔离脉冲为500US
(0003) //有一个教练允许开关，打开后进入死循环，并允许外部中断，前提条件是有信号，用定时器0进行信号有无判断
(0004) //定时器1采用比较匹配方式触发中断进行信号发送
(0005) 
(0006) 
(0007) #include <iom8v.h>
(0008) #include <macros.h>
(0009) 
(0010) #define Uchar unsigned char
(0011) #define Uint unsigned int
(0012) 
(0013) 
(0014) #define nop() asm("nop")
(0015) #define _nop_() asm("nop")
(0016) 
(0017) 
(0018) 
(0019) #define PB PORTB
(0020) #define PC PORTC
(0021) #define PD PORTD
(0022)  
(0023) #define IN0 PIND&0x04
(0024) #define IN1 PIND&0x08
(0025) 
(0026) #define LEDH PB|=0x01
(0027) #define LEDL PB&=~0x01
(0028) 
(0029) #define BUTTON1 PINB&0x02
(0030) #define BUTTON2 PINB&0x04
(0031) #define BUTTON3 PINB&0x08
(0032) #define BUTTON4 PINB&0x10
(0033) #define BUTTON5 PINB&0x20
(0034) 
(0035) #define OUTH PD|=0x80
(0036) #define OUTL PD&=~0x80
(0037) 
(0038) #define LOW_TIME 400
(0039) #define SWH_time 900
(0040) #define SWL_time 100
(0041) 
(0042) Uint ch_time[9]={1000,1000,1000,1000,1000,1000,1000,1000,1000};//输出用
(0043) Uint time[9];//输出缓存
(0044) Uchar ch_counter=0;//通道计数,用来与数据采集同步
(0045) Uchar input=0;//信号输入有无标志
(0046) Uchar train=0;//训练开始表示，防止切换时发生抖舵
(0047) 
(0048) void port_init(void)
(0049) {
(0050)  PORTB = 0x3E;
_port_init:
    003E E38E      LDI	R24,0x3E
    003F BB88      OUT	0x18,R24
(0051)  DDRB  = 0x01;
    0040 E081      LDI	R24,1
    0041 BB87      OUT	0x17,R24
(0052)  PORTC = 0x00; //m103 output only
    0042 2422      CLR	R2
    0043 BA25      OUT	0x15,R2
(0053)  DDRC  = 0x00;
    0044 BA24      OUT	0x14,R2
(0054)  PORTD = 0x0C;
    0045 E08C      LDI	R24,0xC
    0046 BB82      OUT	0x12,R24
(0055)  DDRD  = 0x80;
    0047 E880      LDI	R24,0x80
    0048 BB81      OUT	0x11,R24
    0049 9508      RET
(0056) }
(0057) 
(0058) //c输入
(0059) 
(0060) //TIMER0 initialize - prescale:1024
(0061) // desired value: 1Hz
(0062) // actual value: Out of range
(0063) void timer0_init(void)
(0064) {
(0065)  TCCR0 = 0x00; //stop
_timer0_init:
    004A 2422      CLR	R2
    004B BE23      OUT	0x33,R2
(0066)  TCNT0 = 0x00 /*INVALID SETTING*/; //set count
    004C BE22      OUT	0x32,R2
    004D 9508      RET
_timer0_ovf_isr:
    004E 922A      ST	R2,-Y
    004F B62F      IN	R2,0x3F
    0050 922A      ST	R2,-Y
(0067)  //TCCR0 = 0x05; //start timer
(0068) }
(0069) 
(0070) #pragma interrupt_handler timer0_ovf_isr:10
(0071) void timer0_ovf_isr(void)
(0072) {
(0073)  input=0;
    0051 2422      CLR	R2
    0052 92200073  STS	input,R2
(0074)  train=0;
    0054 92200074  STS	train,R2
    0056 9029      LD	R2,Y+
    0057 BE2F      OUT	0x3F,R2
    0058 9029      LD	R2,Y+
    0059 9518      RETI
(0075) }
(0076) 
(0077) //TIMER1 initialize - prescale:8
(0078) // WGM: 0) Normal, TOP=0xFFFF
(0079) // desired value: 1Hz
(0080) // actual value: Out of range
(0081) void timer1_init(void)
(0082) {
(0083)  TCCR1B = 0x00; //stop
_timer1_init:
    005A 2422      CLR	R2
    005B BC2E      OUT	0x2E,R2
(0084)  TCNT1H = 0x00 /*INVALID SETTING*/; //setup
    005C BC2D      OUT	0x2D,R2
(0085)  TCNT1L = 0x00 /*INVALID SETTING*/;
    005D BC2C      OUT	0x2C,R2
(0086)  OCR1AH = 0x00 /*INVALID SETTING*/;
    005E BC2B      OUT	0x2B,R2
(0087)  OCR1AL = 0x00 /*INVALID SETTING*/;
    005F BC2A      OUT	0x2A,R2
(0088)  OCR1BH = 0x00 /*INVALID SETTING*/;
    0060 BC29      OUT	0x29,R2
(0089)  OCR1BL = 0x00 /*INVALID SETTING*/;
    0061 BC28      OUT	0x28,R2
(0090)  ICR1H  = 0x00 /*INVALID SETTING*/;
    0062 BC27      OUT	0x27,R2
(0091)  ICR1L  = 0x00 /*INVALID SETTING*/;
    0063 BC26      OUT	0x26,R2
(0092)  TCCR1A = 0x00;
    0064 BC2F      OUT	0x2F,R2
(0093)  TCCR1B = 0x02; //start Timer
    0065 E082      LDI	R24,2
    0066 BD8E      OUT	0x2E,R24
    0067 9508      RET
_timer1_compa_isr:
  counter              --> R16
    0068 920A      ST	R0,-Y
    0069 921A      ST	R1,-Y
    006A 922A      ST	R2,-Y
    006B 923A      ST	R3,-Y
    006C 930A      ST	R16,-Y
    006D 931A      ST	R17,-Y
    006E 938A      ST	R24,-Y
    006F 939A      ST	R25,-Y
    0070 93AA      ST	R26,-Y
    0071 93BA      ST	R27,-Y
    0072 93EA      ST	R30,-Y
    0073 93FA      ST	R31,-Y
    0074 B60F      IN	R0,0x3F
    0075 920A      ST	R0,-Y
(0094) }
(0095) 
(0096) #pragma interrupt_handler timer1_compa_isr:7
(0097) void timer1_compa_isr(void)
(0098) {
(0099)  //compare occured TCNT1=OCR1A//本函数来自4Vf改装系统，有部分改变
(0100)  static Uchar output_static=1;//输出状态，0代表即将输出一个低电平，1代表即将输出一个高电平
(0101)                            //第一次发信号先发一个低电平
(0102)  	
(0103) Uchar counter;//普通计数器用来拷贝数据
(0104) 
(0105) 					   
(0106) output_static=!output_static;
    0076 90200075  LDS	R2,output_static
    0078 2022      TST	R2
    0079 F419      BNE	0x007D
    007A E001      LDI	R16,1
    007B E010      LDI	R17,0
    007C C002      RJMP	0x007F
    007D 2700      CLR	R16
    007E 2711      CLR	R17
    007F 93000075  STS	output_static,R16
(0107)   
(0108) switch(output_static)
    0081 2711      CLR	R17
    0082 3000      CPI	R16,0
    0083 0701      CPC	R16,R17
    0084 F029      BEQ	0x008A
    0085 3001      CPI	R16,1
    0086 E0E0      LDI	R30,0
    0087 071E      CPC	R17,R30
    0088 F091      BEQ	0x009B
    0089 C044      RJMP	0x00CE
(0109) {
(0110) case 0:OUTH;
    008A 9A97      SBI	0x12,7
(0111)        TCNT1=0;//定时器清零
    008B 2422      CLR	R2
    008C 2433      CLR	R3
    008D BC3D      OUT	0x2D,R3
    008E BC2C      OUT	0x2C,R2
(0112) 	   OCR1A=LOW_TIME;
    008F E980      LDI	R24,0x90
    0090 E091      LDI	R25,1
    0091 BD9B      OUT	0x2B,R25
    0092 BD8A      OUT	0x2A,R24
(0113) 	   if(ch_counter==9)ch_counter=0;//计数清零同步放行
    0093 91800072  LDS	R24,ch_counter
    0095 3089      CPI	R24,0x9
    0096 F009      BEQ	0x0098
    0097 C036      RJMP	0x00CE
    0098 92200072  STS	ch_counter,R2
(0114) break;
    009A C033      RJMP	0x00CE
(0115) 
(0116) case 1:OUTL;
    009B 9897      CBI	0x12,7
(0117)        TCNT1=0;//定时器清零
    009C 2422      CLR	R2
    009D 2433      CLR	R3
    009E BC3D      OUT	0x2D,R3
    009F BC2C      OUT	0x2C,R2
(0118) 	   OCR1A=ch_time[ch_counter];  
    00A0 90200072  LDS	R2,ch_counter
    00A2 E082      LDI	R24,2
    00A3 9D82      MUL	R24,R2
    00A4 01F0      MOVW	R30,R0
    00A5 E680      LDI	R24,0x60
    00A6 E090      LDI	R25,0
    00A7 0FE8      ADD	R30,R24
    00A8 1FF9      ADC	R31,R25
    00A9 8020      LDD	R2,Z+0
    00AA 8031      LDD	R3,Z+1
    00AB BC3B      OUT	0x2B,R3
    00AC BC2A      OUT	0x2A,R2
(0119) 	        if(ch_counter==8)//最后一个高电平是同步电平
    00AD 91800072  LDS	R24,ch_counter
    00AF 3088      CPI	R24,0x8
    00B0 F4C1      BNE	0x00C9
(0120) 	   {
(0121) 	      for(counter=0;counter<=8;counter++)
    00B1 2700      CLR	R16
    00B2 C013      RJMP	0x00C6
(0122) 	      {
(0123) 	      ch_time[counter]=time[counter]+600;
    00B3 E082      LDI	R24,2
    00B4 9F80      MUL	R24,R16
    00B5 E786      LDI	R24,0x76
    00B6 E090      LDI	R25,0
    00B7 01F0      MOVW	R30,R0
    00B8 0FE8      ADD	R30,R24
    00B9 1FF9      ADC	R31,R25
    00BA 8180      LDD	R24,Z+0
    00BB 8191      LDD	R25,Z+1
    00BC 5A88      SUBI	R24,0xA8
    00BD 4F9D      SBCI	R25,0xFD
    00BE E6E0      LDI	R30,0x60
    00BF E0F0      LDI	R31,0
    00C0 01D0      MOVW	R26,R0
    00C1 0FAE      ADD	R26,R30
    00C2 1FBF      ADC	R27,R31
    00C3 938D      ST	R24,X+
    00C4 939C      ST	R25,0(X)
    00C5 9503      INC	R16
    00C6 E088      LDI	R24,0x8
    00C7 1780      CP	R24,R16
    00C8 F750      BCC	0x00B3
(0124) 		  
(0125) 	      }
(0126) 	   }
(0127) 	   ch_counter++;
    00C9 91800072  LDS	R24,ch_counter
    00CB 5F8F      SUBI	R24,0xFF
    00CC 93800072  STS	ch_counter,R24
(0128) }// switch(output_static)
    00CE 9009      LD	R0,Y+
    00CF BE0F      OUT	0x3F,R0
    00D0 91F9      LD	R31,Y+
    00D1 91E9      LD	R30,Y+
    00D2 91B9      LD	R27,Y+
    00D3 91A9      LD	R26,Y+
    00D4 9199      LD	R25,Y+
    00D5 9189      LD	R24,Y+
    00D6 9119      LD	R17,Y+
    00D7 9109      LD	R16,Y+
    00D8 9039      LD	R3,Y+
    00D9 9029      LD	R2,Y+
    00DA 9019      LD	R1,Y+
    00DB 9009      LD	R0,Y+
    00DC 9518      RETI
(0129) 
(0130) }//void timer1_compa_isr(void)
(0131) 
(0132) 
(0133) 
(0134) //ADC initialize
(0135) // Conversion time: 104uS
(0136) void adc_init(void)
(0137) {
(0138)  ADCSR = 0x00; //disable adc
_adc_init:
    00DD 2422      CLR	R2
    00DE B826      OUT	0x06,R2
(0139)  ADMUX = 0x00; //select adc input 0
    00DF B827      OUT	0x07,R2
(0140)  ACSR  = 0x80;
    00E0 E880      LDI	R24,0x80
    00E1 B988      OUT	0x08,R24
(0141)  ADCSR = 0x86;
    00E2 E886      LDI	R24,0x86
    00E3 B986      OUT	0x06,R24
    00E4 9508      RET
(0142) }
(0143) 
(0144) //Watchdog initialize
(0145) // prescale: 32K 
(0146) void watchdog_init(void)
(0147) {
(0148)  WDR(); //this prevents a timout on enabling
_watchdog_init:
    00E5 95A8      WDR
(0149)  WDTCR = 0x18;
    00E6 E188      LDI	R24,0x18
    00E7 BD81      OUT	0x21,R24
(0150)  WDTCR = 0x09; //WATCHDOG ENABLED - dont forget to issue WDRs
    00E8 E089      LDI	R24,0x9
    00E9 BD81      OUT	0x21,R24
    00EA 9508      RET
(0151)  
(0152) }
(0153) 
(0154) 
(0155) 
(0156) //call this routine to initialize all peripherals
(0157) void init_devices(void)
(0158) {
(0159)  //stop errant interrupts until set up
(0160)  CLI(); //disable all interrupts
_init_devices:
    00EB 94F8      BCLR	7
(0161)  
(0162)  port_init();
    00EC DF51      RCALL	_port_init
(0163)  timer0_init();
    00ED DF5C      RCALL	_timer0_init
(0164)  timer1_init();
    00EE DF6B      RCALL	_timer1_init
(0165)  adc_init();
    00EF DFED      RCALL	_adc_init
(0166)  OSCCAL=0xb3;
    00F0 EB83      LDI	R24,0xB3
    00F1 BF81      OUT	0x31,R24
(0167)  watchdog_init();
    00F2 DFF2      RCALL	_watchdog_init
(0168)  MCUCR = 0x05;
    00F3 E085      LDI	R24,5
    00F4 BF85      OUT	0x35,R24
(0169)  //GICR//中断开关应在MAIN中用开关和信号有无控制
(0170)  GICR  = 0x00;
    00F5 2422      CLR	R2
    00F6 BE2B      OUT	0x3B,R2
(0171)  TIMSK = 0x11; //timer interrupt sources
    00F7 E181      LDI	R24,0x11
    00F8 BF89      OUT	0x39,R24
(0172)  SEI(); //re-enable interrupts
    00F9 9478      BSET	7
    00FA 9508      RET
_int0_isr:
    00FB 922A      ST	R2,-Y
    00FC 930A      ST	R16,-Y
    00FD 931A      ST	R17,-Y
    00FE 938A      ST	R24,-Y
    00FF 93EA      ST	R30,-Y
    0100 B62F      IN	R2,0x3F
    0101 922A      ST	R2,-Y
(0173)  //all peripherals are now initialized
(0174) }
(0175) 
(0176) 
(0177) 
(0178) #pragma interrupt_handler int0_isr:2
(0179) void int0_isr(void)
(0180) {
(0181)  //external interupt on INT0 负输入
(0182)  TCNT0 = 0x00 ;//有信号
    0102 2422      CLR	R2
    0103 BE22      OUT	0x32,R2
(0183)  input=1;
    0104 E081      LDI	R24,1
    0105 93800073  STS	input,R24
(0184)  if(train)//先不忙发送
    0107 90200074  LDS	R2,train
    0109 2022      TST	R2
    010A F099      BEQ	0x011E
(0185)  switch(IN0)
    010B B300      IN	R16,0x10
    010C 2711      CLR	R17
    010D 7004      ANDI	R16,4
    010E 7010      ANDI	R17,0
    010F 3000      CPI	R16,0
    0110 0701      CPC	R16,R17
    0111 F049      BEQ	0x011B
    0112 3000      CPI	R16,0
    0113 E0E0      LDI	R30,0
    0114 071E      CPC	R17,R30
    0115 F044      BLT	0x011E
    0116 3004      CPI	R16,4
    0117 E0E0      LDI	R30,0
    0118 071E      CPC	R17,R30
    0119 F019      BEQ	0x011D
    011A C003      RJMP	0x011E
(0186)  {
(0187)  case 0:
(0188)  OUTL;
    011B 9897      CBI	0x12,7
(0189)  break;
    011C C001      RJMP	0x011E
(0190)  case 0x04:
(0191)  OUTH;
    011D 9A97      SBI	0x12,7
(0192)  }
    011E 9029      LD	R2,Y+
    011F BE2F      OUT	0x3F,R2
    0120 91E9      LD	R30,Y+
    0121 9189      LD	R24,Y+
    0122 9119      LD	R17,Y+
    0123 9109      LD	R16,Y+
    0124 9029      LD	R2,Y+
    0125 9518      RETI
_int1_isr:
    0126 922A      ST	R2,-Y
    0127 930A      ST	R16,-Y
    0128 931A      ST	R17,-Y
    0129 938A      ST	R24,-Y
    012A 93EA      ST	R30,-Y
    012B B62F      IN	R2,0x3F
    012C 922A      ST	R2,-Y
(0193) }
(0194) 
(0195) #pragma interrupt_handler int1_isr:3
(0196) void int1_isr(void)
(0197) {
(0198)  //external interupt on INT1 正输入自动反向
(0199)  TCNT0 = 0x00 ;//有信号
    012D 2422      CLR	R2
    012E BE22      OUT	0x32,R2
(0200)  input=1;
    012F E081      LDI	R24,1
    0130 93800073  STS	input,R24
(0201)  if(train)//先不忙发送
    0132 90200074  LDS	R2,train
    0134 2022      TST	R2
    0135 F099      BEQ	0x0149
(0202)   switch(IN1)
    0136 B300      IN	R16,0x10
    0137 2711      CLR	R17
    0138 7008      ANDI	R16,0x8
    0139 7010      ANDI	R17,0
    013A 3000      CPI	R16,0
    013B 0701      CPC	R16,R17
    013C F049      BEQ	0x0146
    013D 3000      CPI	R16,0
    013E E0E0      LDI	R30,0
    013F 071E      CPC	R17,R30
    0140 F044      BLT	0x0149
    0141 3008      CPI	R16,0x8
    0142 E0E0      LDI	R30,0
    0143 071E      CPC	R17,R30
    0144 F019      BEQ	0x0148
    0145 C003      RJMP	0x0149
(0203)  {
(0204)  case 0:
(0205)  OUTH;
    0146 9A97      SBI	0x12,7
(0206)  break;
    0147 C001      RJMP	0x0149
(0207)  case 0x08: