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|
;--------------------------------------------------------
; File Created by SDCC : free open source ANSI-C Compiler
; Version 2.7.4 #4943 (Oct 27 2007) (UNIX)
; This file was generated Fri Jun 13 14:34:01 2008
;--------------------------------------------------------
; PIC port for the 14-bit core
;--------------------------------------------------------
; .module stepmotor1
list p=16f648a
radix dec
include "p16f648a.inc"
;--------------------------------------------------------
; config word
;--------------------------------------------------------
__config 0x3f10
;--------------------------------------------------------
; external declarations
;--------------------------------------------------------
extern _init2
extern _timerTick
extern _processCommand
extern _syncStrobe
extern _setPower
extern _flashLED
extern _LEDon
extern _setFlash
extern _uartTransmit
extern _sendReply
extern _sendMessage
extern _sendDataByte
extern _endMessage
extern _sendMessageISR
extern _sendDataByteISR
extern _endMessageISR
extern _releaseLock
extern _serialInterruptHandler
extern _packetReady
extern _uartNotifyReceive
extern _serial_init
extern _delay_10us
extern _clearwdt
extern _CCP1CON_bits
extern _CMCON_bits
extern _EECON1_bits
extern _INTCON_bits
extern _OPTION_REG_bits
extern _PCON_bits
extern _PIE1_bits
extern _PIR1_bits
extern _PORTA_bits
extern _PORTB_bits
extern _RCSTA_bits
extern _STATUS_bits
extern _T1CON_bits
extern _T2CON_bits
extern _TRISA_bits
extern _TRISB_bits
extern _TXSTA_bits
extern _VRCON_bits
extern _syncEnabled
extern _syncCounter
extern _buffer
extern _serialStatus
extern _INDF
extern _TMR0
extern _PCL
extern _STATUS
extern _FSR
extern _PORTA
extern _PORTB
extern _PCLATH
extern _INTCON
extern _PIR1
extern _TMR1L
extern _TMR1H
extern _T1CON
extern _TMR2
extern _T2CON
extern _CCPR1L
extern _CCPR1H
extern _CCP1CON
extern _RCSTA
extern _TXREG
extern _RCREG
extern _CMCON
extern _OPTION_REG
extern _TRISA
extern _TRISB
extern _PIE1
extern _PCON
extern _PR2
extern _TXSTA
extern _SPBRG
extern _EEDATA
extern _EEADR
extern _EECON1
extern _EECON2
extern _VRCON
extern ___sdcc_saved_fsr
extern __sdcc_gsinit_startup
;--------------------------------------------------------
; global declarations
;--------------------------------------------------------
global _init1
global _main
global _deviceAddress
global PSAVE
global SSAVE
global WSAVE
global STK12
global STK11
global STK10
global STK09
global STK08
global STK07
global STK06
global STK05
global STK04
global STK03
global STK02
global STK01
global STK00
sharebank udata_ovr 0x0070
PSAVE res 1
SSAVE res 1
WSAVE res 1
STK12 res 1
STK11 res 1
STK10 res 1
STK09 res 1
STK08 res 1
STK07 res 1
STK06 res 1
STK05 res 1
STK04 res 1
STK03 res 1
STK02 res 1
STK01 res 1
STK00 res 1
;--------------------------------------------------------
; global definitions
;--------------------------------------------------------
;--------------------------------------------------------
; absolute symbol definitions
;--------------------------------------------------------
;--------------------------------------------------------
; compiler-defined variables
;--------------------------------------------------------
UDL_stepmotor1_0 udata
r0x1001 res 1
r0x1002 res 1
;--------------------------------------------------------
; initialized data
;--------------------------------------------------------
ID_stepmotor1_0 idata
_deviceAddress
db 0x03
;--------------------------------------------------------
; overlayable items in internal ram
;--------------------------------------------------------
; udata_ovr
;--------------------------------------------------------
; reset vector
;--------------------------------------------------------
STARTUP code
nop
pagesel __sdcc_gsinit_startup
goto __sdcc_gsinit_startup
;--------------------------------------------------------
; interrupt and initialization code
;--------------------------------------------------------
c_interrupt code 0x4
__sdcc_interrupt
;***
; pBlock Stats: dbName = I
;***
;entry: _isr ;Function start
; 0 exit points
;functions called:
; _serialInterruptHandler
; _timerTick
; _serialInterruptHandler
; _timerTick
;; Starting pCode block
_isr ;Function start
; 0 exit points
; .line 48; "stepmotor1.c" static void isr() interrupt 0 {
MOVWF WSAVE
SWAPF STATUS,W
CLRF STATUS
MOVWF SSAVE
MOVF PCLATH,W
CLRF PCLATH
MOVWF PSAVE
MOVF FSR,W
BANKSEL ___sdcc_saved_fsr
MOVWF ___sdcc_saved_fsr
; .line 49; "stepmotor1.c" serialInterruptHandler();
PAGESEL _serialInterruptHandler
CALL _serialInterruptHandler
PAGESEL $
; .line 51; "stepmotor1.c" if (TMR1IF) {
BANKSEL _PIR1_bits
BTFSS _PIR1_bits,0
GOTO _00107_DS_
; .line 52; "stepmotor1.c" timerTick();
PAGESEL _timerTick
CALL _timerTick
PAGESEL $
; .line 53; "stepmotor1.c" TMR1IF = 0;
BANKSEL _PIR1_bits
BCF _PIR1_bits,0
_00107_DS_
BANKSEL ___sdcc_saved_fsr
MOVF ___sdcc_saved_fsr,W
MOVWF FSR
MOVF PSAVE,W
MOVWF PCLATH
CLRF STATUS
SWAPF SSAVE,W
MOVWF STATUS
SWAPF WSAVE,F
SWAPF WSAVE,W
END_OF_INTERRUPT
RETFIE
;--------------------------------------------------------
; code
;--------------------------------------------------------
code_stepmotor1 code
;***
; pBlock Stats: dbName = M
;***
;entry: _main ;Function start
; 2 exit points
;has an exit
;functions called:
; _init1
; _init2
; _serial_init
; _uartTransmit
; _packetReady
; _processCommand
; _releaseLock
; _syncStrobe
; _clearwdt
; _init1
; _init2
; _serial_init
; _uartTransmit
; _packetReady
; _processCommand
; _releaseLock
; _syncStrobe
; _clearwdt
;2 compiler assigned registers:
; r0x1001
; r0x1002
;; Starting pCode block
_main ;Function start
; 2 exit points
; .line 123; "stepmotor1.c" byte syncEnabled = 0;
BANKSEL r0x1001
CLRF r0x1001
; .line 125; "stepmotor1.c" init1();
CALL _init1
; .line 126; "stepmotor1.c" init2();
PAGESEL _init2
CALL _init2
PAGESEL $
; .line 127; "stepmotor1.c" serial_init();
PAGESEL _serial_init
CALL _serial_init
PAGESEL $
; .line 130; "stepmotor1.c" GIE=0;
BANKSEL _INTCON_bits
BCF _INTCON_bits,7
; .line 131; "stepmotor1.c" uartTransmit(0);
MOVLW 0x00
PAGESEL _uartTransmit
CALL _uartTransmit
PAGESEL $
; .line 132; "stepmotor1.c" GIE=1;
BANKSEL _INTCON_bits
BSF _INTCON_bits,7
; .line 134; "stepmotor1.c" if (SYNCA) // Only enable if SYNCA is by default high
BTFSS _PORTA_bits,1
GOTO _00127_DS_
; .line 135; "stepmotor1.c" syncEnabled = 1;
MOVLW 0x01
BANKSEL r0x1001
MOVWF r0x1001
_00127_DS_
; .line 138; "stepmotor1.c" if (packetReady()) {
PAGESEL _packetReady
CALL _packetReady
PAGESEL $
BANKSEL r0x1002
MOVWF r0x1002
MOVF r0x1002,W
BTFSC STATUS,2
GOTO _00119_DS_
; .line 139; "stepmotor1.c" processCommand();
PAGESEL _processCommand
CALL _processCommand
PAGESEL $
; .line 140; "stepmotor1.c" releaseLock();
PAGESEL _releaseLock
CALL _releaseLock
PAGESEL $
_00119_DS_
; .line 142; "stepmotor1.c" if (syncEnabled && !SYNCA) {
MOVLW 0x00
BANKSEL r0x1001
IORWF r0x1001,W
BTFSC STATUS,2
GOTO _00124_DS_
BANKSEL _PORTA_bits
BTFSC _PORTA_bits,1
GOTO _00124_DS_
_00120_DS_
; .line 145; "stepmotor1.c" while(!SYNCA)
BANKSEL _PORTA_bits
BTFSS _PORTA_bits,1
GOTO _00120_DS_
; .line 147; "stepmotor1.c" syncStrobe();
PAGESEL _syncStrobe
CALL _syncStrobe
PAGESEL $
_00124_DS_
; .line 149; "stepmotor1.c" clearwdt();
PAGESEL _clearwdt
CALL _clearwdt
PAGESEL $
GOTO _00127_DS_
RETURN
; exit point of _main
;***
; pBlock Stats: dbName = C
;***
;entry: _init1 ;Function start
; 2 exit points
;has an exit
;; Starting pCode block
_init1 ;Function start
; 2 exit points
; .line 60; "stepmotor1.c" OPTION_REG = BIN(01011111); // Disable TMR0 on RA4, 1:128 WDT, pullups on
MOVLW 0x5f
BANKSEL _OPTION_REG
MOVWF _OPTION_REG
; .line 61; "stepmotor1.c" CMCON = 0xff; // Comparator module defaults
MOVLW 0xff
BANKSEL _CMCON
MOVWF _CMCON
; .line 63; "stepmotor1.c" TRISA = BIN(00101010); // Port A outputs except 1,3 (sync) and 5 (Max)
MOVLW 0x2a
BANKSEL _TRISA
MOVWF _TRISA
; .line 72; "stepmotor1.c" TRISB = BIN(00000011); // Port B 0,1 input, 2-7 outputs
MOVLW 0x03
MOVWF _TRISB
; .line 89; "stepmotor1.c" PIE1 = BIN(00000000); // All peripheral interrupts initially disabled
CLRF _PIE1
; .line 90; "stepmotor1.c" INTCON = BIN(00000000); // Interrupts disabled
BANKSEL _INTCON
CLRF _INTCON
; .line 91; "stepmotor1.c" PIR1 = 0; // Clear peripheral interrupt flags
CLRF _PIR1
; .line 92; "stepmotor1.c" SPBRG = 12; // 12 = 19200 (actually 19230) baud @ 4MHz
MOVLW 0x0c
BANKSEL _SPBRG
MOVWF _SPBRG
; .line 94; "stepmotor1.c" TXSTA = BIN(00000100); // 8 bit high speed
MOVLW 0x04
MOVWF _TXSTA
; .line 95; "stepmotor1.c" RCSTA = BIN(10000000); // Enable port for 8 bit receive
MOVLW 0x80
BANKSEL _RCSTA
MOVWF _RCSTA
; .line 97; "stepmotor1.c" PORTB = PULLUPS; // Turn on pullups for B0,3
MOVLW 0x01
MOVWF _PORTB
; .line 99; "stepmotor1.c" RCIE = 1; // Enable receive interrupts
BANKSEL _PIE1_bits
BSF _PIE1_bits,5
; .line 100; "stepmotor1.c" CREN = 1; // Start reception
BANKSEL _RCSTA_bits
BSF _RCSTA_bits,4
; .line 102; "stepmotor1.c" TXEN = 1; // Enable transmit
BANKSEL _TXSTA_bits
BSF _TXSTA_bits,5
; .line 103; "stepmotor1.c" PEIE = 1; // Peripheral interrupts on
BANKSEL _INTCON_bits
BSF _INTCON_bits,6
; .line 104; "stepmotor1.c" GIE = 1; // Now turn on interrupts
BSF _INTCON_bits,7
; .line 106; "stepmotor1.c" PORTB = 0;
CLRF _PORTB
; .line 107; "stepmotor1.c" PORTA = 0;
CLRF _PORTA
; .line 109; "stepmotor1.c" TMR1IE = 0;
BANKSEL _PIE1_bits
BCF _PIE1_bits,0
; .line 111; "stepmotor1.c" TMR2 = 0;
BANKSEL _TMR2
CLRF _TMR2
; .line 112; "stepmotor1.c" CCPR1L = 4; // Default power-up current limiting (25%)
MOVLW 0x04
MOVWF _CCPR1L
; .line 113; "stepmotor1.c" PR2 = 16;
MOVLW 0x10
BANKSEL _PR2
MOVWF _PR2
; .line 114; "stepmotor1.c" CCP1CON = BIN(00001100); // PWM mode
MOVLW 0x0c
BANKSEL _CCP1CON
MOVWF _CCP1CON
; .line 115; "stepmotor1.c" T2CON = BIN(00000100); // Start timer 1:1 prescale, 1:1 postscale
MOVLW 0x04
MOVWF _T2CON
; .line 117; "stepmotor1.c" T1CON = BIN(00000000); // Timer 1 in clock mode with 1:1 scale
CLRF _T1CON
; .line 118; "stepmotor1.c" TMR1IE = 1; // Enable timer interrupt
BANKSEL _PIE1_bits
BSF _PIE1_bits,0
RETURN
; exit point of _init1
; code size estimation:
; 94+ 47 = 141 instructions ( 376 byte)
end
|
