Subversion Repositories BL-Ctrl

   1                            .file   "twislave.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __tmp_reg__ = 0
   6                    __zero_reg__ = 1
   7                            .global __do_copy_data
   8                            .global __do_clear_bss
  11                            .text
  12                    .Ltext0:
 105                    .global InitIC2_Slave
 107                    InitIC2_Slave:
 108                            .stabd  46,0,0
   1:src/twislave.c **** /*############################################################################
   2:src/twislave.c **** Slaveadr = 0x52 = Vorne, 0x54 = Hinten, 0x56 = Rechts, 0x58 = Links
   3:src/twislave.c **** ############################################################################*/
   4:src/twislave.c **** 
   5:src/twislave.c **** #include <avr/io.h>
   6:src/twislave.c **** #include <util/twi.h>
   7:src/twislave.c **** #include "main.h"
   8:src/twislave.c **** 
   9:src/twislave.c **** unsigned char I2C_RXBuffer;
  10:src/twislave.c **** unsigned char Byte_Counter=0;
  11:src/twislave.c **** 
  12:src/twislave.c **** //############################################################################
  13:src/twislave.c **** //I2C (TWI) Interface Init
  14:src/twislave.c **** void InitIC2_Slave(uint8_t adr)
  15:src/twislave.c **** //############################################################################
  16:src/twislave.c **** { 
 110                    .LM0:
 111                    .LFBB1:
 112                    /* prologue: frame size=0 */
 113                    /* prologue end (size=0) */
  17:src/twislave.c ****     TWAR = adr + (2*MotorAdresse); // Eigene Adresse setzen 
 115                    .LM1:
 116 0000 9091 0000             lds r25,MotorAdresse
 117 0004 990F                  lsl r25
 118 0006 980F                  add r25,r24
 119 0008 92B9                  out 34-0x20,r25
  18:src/twislave.c ****     TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
 121                    .LM2:
 122 000a 85EC                  ldi r24,lo8(-59)
 123 000c 86BF                  out 86-0x20,r24
 124                    /* epilogue: frame size=0 */
 125 000e 0895                  ret
 126                    /* epilogue end (size=1) */
 127                    /* function InitIC2_Slave size 8 (7) */
 129                    .Lscope1:
 131                            .stabd  78,0,0
 133                    .global __vector_17
 135                    __vector_17:
 136                            .stabd  46,0,0
  19:src/twislave.c **** }
  20:src/twislave.c **** 
  21:src/twislave.c **** //############################################################################
  22:src/twislave.c **** //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet
  23:src/twislave.c **** //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.
  24:src/twislave.c **** ISR (TWI_vect)
  25:src/twislave.c **** //############################################################################
  26:src/twislave.c **** {   
 138                    .LM3:
 139                    .LFBB2:
 140                    /* prologue: frame size=0 */
 141 0010 1F92                  push __zero_reg__
 142 0012 0F92                  push __tmp_reg__
 143 0014 0FB6                  in __tmp_reg__,__SREG__
 144 0016 0F92                  push __tmp_reg__
 145 0018 1124                  clr __zero_reg__
 146 001a 8F93                  push r24
 147 001c 9F93                  push r25
 148                    /* prologue end (size=7) */
  27:src/twislave.c ****     switch (TWSR & 0xF8)
 150                    .LM4:
 151 001e 81B1                  in r24,33-0x20
 152 0020 9927                  clr r25
 153 0022 887F                  andi r24,lo8(248)
 154 0024 9070                  andi r25,hi8(248)
 155 0026 8038                  cpi r24,128
 156 0028 9105                  cpc r25,__zero_reg__
 157 002a 01F0                  breq .L7
 159                    .LM5:
 160 002c 8138                  cpi r24,129
 161 002e 9105                  cpc r25,__zero_reg__
 162 0030 04F4                  brge .L11
 163 0032 0097                  sbiw r24,0
 164 0034 01F0                  breq .L5
 165 0036 8036                  cpi r24,96
 166 0038 9105                  cpc r25,__zero_reg__
 167 003a 01F4                  brne .L4
 168 003c 00C0                  rjmp .L6
 169                    .L11:
 170 003e 883B                  cpi r24,184
 171 0040 9105                  cpc r25,__zero_reg__
 172 0042 01F0                  breq .L9
 173 0044 883F                  cpi r24,248
 174 0046 9105                  cpc r25,__zero_reg__
 175 0048 01F0                  breq .L10
 176 004a 883A                  cpi r24,168
 177 004c 9105                  cpc r25,__zero_reg__
 178 004e 01F4                  brne .L4
 179 0050 00C0                  rjmp .L9
 180                    .L6:
  28:src/twislave.c ****         {  
  29:src/twislave.c ****         case SR_SLA_ACK:  
  30:src/twislave.c ****             TWCR |= (1<<TWINT);
 182                    .LM6:
 183 0052 86B7                  in r24,86-0x20
 184 0054 8068                  ori r24,lo8(-128)
 185 0056 86BF                  out 86-0x20,r24
  31:src/twislave.c ****             Byte_Counter=0;
 187                    .LM7:
 188 0058 1092 0000             sts Byte_Counter,__zero_reg__
 189 005c 00C0                  rjmp .L19
 190                    .L7:
  32:src/twislave.c ****             return;
  33:src/twislave.c ****         // Daten Empfangen
  34:src/twislave.c ****         case SR_PREV_ACK:
  35:src/twislave.c ****             I2C_RXBuffer = TWDR;
 192                    .LM8:
 193 005e 83B1                  in r24,35-0x20
 194 0060 8093 0000             sts I2C_RXBuffer,r24
  36:src/twislave.c ****             I2C_Timeout = 500;
 196                    .LM9:
 197 0064 84EF                  ldi r24,lo8(500)
 198 0066 91E0                  ldi r25,hi8(500)
 199 0068 9093 0000             sts (I2C_Timeout)+1,r25
 200 006c 8093 0000             sts I2C_Timeout,r24
 201 0070 00C0                  rjmp .L18
 202                    .L9:
  37:src/twislave.c ****             TWCR |= (1<<TWINT);
  38:src/twislave.c ****             return;
  39:src/twislave.c ****         // Daten Senden
  40:src/twislave.c ****         case SW_SLA_ACK:  
  41:src/twislave.c ****             if (Byte_Counter==0)
  42:src/twislave.c ****                 {
  43:src/twislave.c ****                 TWDR = Mittelstrom;
  44:src/twislave.c ****                 Byte_Counter++;
  45:src/twislave.c ****                 }
  46:src/twislave.c ****             else
  47:src/twislave.c ****                 {
  48:src/twislave.c ****                 TWDR = MaxPWM;
  49:src/twislave.c ****                 }
  50:src/twislave.c ****             TWCR |= (1<<TWINT);
  51:src/twislave.c ****             return; 
  52:src/twislave.c ****         // Daten Senden
  53:src/twislave.c ****         case SW_DATA_ACK:
  54:src/twislave.c ****             if (Byte_Counter==0)
 204                    .LM10:
 205 0072 8091 0000             lds r24,Byte_Counter
 206 0076 8823                  tst r24
 207 0078 01F4                  brne .L16
  55:src/twislave.c ****                 {
  56:src/twislave.c ****                 TWDR = Mittelstrom;
 209                    .LM11:
 210 007a 8091 0000             lds r24,Mittelstrom
 211 007e 83B9                  out 35-0x20,r24
  57:src/twislave.c ****                 Byte_Counter++;
 213                    .LM12:
 214 0080 81E0                  ldi r24,lo8(1)
 215 0082 8093 0000             sts Byte_Counter,r24
 216 0086 00C0                  rjmp .L18
 217                    .L16:
  58:src/twislave.c ****                 }
  59:src/twislave.c ****             else
  60:src/twislave.c ****                 {
  61:src/twislave.c ****                 TWDR = MaxPWM;
 219                    .LM13:
 220 0088 8091 0000             lds r24,MaxPWM
 221 008c 83B9                  out 35-0x20,r24
 222                    .L18:
  62:src/twislave.c ****                 }
  63:src/twislave.c ****             TWCR |= (1<<TWINT);
 224                    .LM14:
 225 008e 86B7                  in r24,86-0x20
 226 0090 8068                  ori r24,lo8(-128)
 227 0092 00C0                  rjmp .L20
 228                    .L10:
  64:src/twislave.c ****             return; 
  65:src/twislave.c ****         // Bus-Fehler zurücksetzen
  66:src/twislave.c ****         case TWI_BUS_ERR_2:
  67:src/twislave.c ****             TWCR |=(1<<TWSTO) | (1<<TWINT); 
 230                    .LM15:
 231 0094 86B7                  in r24,86-0x20
 232 0096 8069                  ori r24,lo8(-112)
 233 0098 86BF                  out 86-0x20,r24
 234                    .L5:
  68:src/twislave.c ****         // Bus-Fehler zurücksetzen   
  69:src/twislave.c ****         case TWI_BUS_ERR_1:
  70:src/twislave.c ****             TWCR |=(1<<TWSTO) | (1<<TWINT); 
 236                    .LM16:
 237 009a 86B7                  in r24,86-0x20
 238 009c 8069                  ori r24,lo8(-112)
 239 009e 86BF                  out 86-0x20,r24
 240                    .L4:
  71:src/twislave.c ****         }
  72:src/twislave.c ****     TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset
 242                    .LM17:
 243 00a0 85EC                  ldi r24,lo8(-59)
 244                    .L20:
 245 00a2 86BF                  out 86-0x20,r24
 246                    .L19:
 247                    /* epilogue: frame size=0 */
 248 00a4 9F91                  pop r25
 249 00a6 8F91                  pop r24
 250 00a8 0F90                  pop __tmp_reg__
 251 00aa 0FBE                  out __SREG__,__tmp_reg__
 252 00ac 0F90                  pop __tmp_reg__
 253 00ae 1F90                  pop __zero_reg__
 254 00b0 1895                  reti
 255                    /* epilogue end (size=7) */
 256                    /* function __vector_17 size 81 (67) */
 258                    .Lscope2:
 260                            .stabd  78,0,0
 261                    .global Byte_Counter
 262                    .global Byte_Counter
 263                            .section .bss
 266                    Byte_Counter:
 267 0000 00                    .skip 1,0
 268                            .comm I2C_RXBuffer,1,1
 271                            .text
 273                    .Letext0:
 274                    /* File "src/twislave.c": code   89 = 0x0059 (  74), prologues   7, epilogues   8 */
DEFINED SYMBOLS
                            *ABS*:00000000 twislave.c
     /tmp/ccwqDpRs.s:2      *ABS*:0000003f __SREG__
     /tmp/ccwqDpRs.s:3      *ABS*:0000003e __SP_H__
     /tmp/ccwqDpRs.s:4      *ABS*:0000003d __SP_L__
     /tmp/ccwqDpRs.s:5      *ABS*:00000000 __tmp_reg__
     /tmp/ccwqDpRs.s:6      *ABS*:00000001 __zero_reg__
     /tmp/ccwqDpRs.s:107    .text:00000000 InitIC2_Slave
     /tmp/ccwqDpRs.s:135    .text:00000010 __vector_17
     /tmp/ccwqDpRs.s:266    .bss:00000000 Byte_Counter
                            *COM*:00000001 I2C_RXBuffer

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
MotorAdresse
I2C_Timeout
Mittelstrom
MaxPWM