Blame | Last modification | View Log | RSS feed
1 .file "uart.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __tmp_reg__ = 06 __zero_reg__ = 17 .global __do_copy_data8 .global __do_clear_bss11 .text12 .Ltext0:100 .global __vector_13102 __vector_13:103 .stabd 46,0,01:src/uart.c **** // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++2:src/uart.c **** // + Regler für Brushless-Motoren3:src/uart.c **** // + ATMEGA8 mit 8MHz4:src/uart.c **** // + (c) 01.2007 Holger Buss5:src/uart.c **** // + Nur für den privaten Gebrauch6:src/uart.c **** // + Keine Garantie auf Fehlerfreiheit7:src/uart.c **** // + Kommerzielle Nutzung nur mit meiner Zustimmung8:src/uart.c **** // + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden9:src/uart.c **** // + www.mikrocontroller.com10:src/uart.c **** // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++11:src/uart.c ****12:src/uart.c **** #include "main.h"13:src/uart.c **** #include "uart.h"14:src/uart.c ****15:src/uart.c **** #define MAX_SENDE_BUFF 10016:src/uart.c **** #define MAX_EMPFANGS_BUFF 10017:src/uart.c ****18:src/uart.c **** unsigned volatile char SIO_Sollwert = 0;19:src/uart.c **** unsigned volatile char SioTmp = 0;20:src/uart.c **** unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];21:src/uart.c **** unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];22:src/uart.c **** unsigned volatile char NeuerDatensatzEmpfangen = 0;23:src/uart.c **** unsigned volatile char UebertragungAbgeschlossen = 1;24:src/uart.c **** unsigned char MeineSlaveAdresse;25:src/uart.c **** unsigned char MotorTest[4] = {0,0,0,0};26:src/uart.c **** unsigned volatile char AnzahlEmpfangsBytes = 0;27:src/uart.c ****28:src/uart.c **** struct str_DebugOut DebugOut;29:src/uart.c ****30:src/uart.c ****31:src/uart.c **** int Debug_Timer;32:src/uart.c ****33:src/uart.c ****34:src/uart.c **** SIGNAL(INT_VEC_TX)35:src/uart.c **** {105 .LM0:106 .LFBB1:107 /* prologue: frame size=0 */108 0000 1F92 push __zero_reg__109 0002 0F92 push __tmp_reg__110 0004 0FB6 in __tmp_reg__,__SREG__111 0006 0F92 push __tmp_reg__112 0008 1124 clr __zero_reg__113 /* prologue end (size=5) */114 /* epilogue: frame size=0 */115 000a 0F90 pop __tmp_reg__116 000c 0FBE out __SREG__,__tmp_reg__117 000e 0F90 pop __tmp_reg__118 0010 1F90 pop __zero_reg__119 0012 1895 reti120 /* epilogue end (size=5) */121 /* function __vector_13 size 10 (0) */123 .Lscope1:125 .stabd 78,0,0127 .global SendUart129 SendUart:130 .stabd 46,0,036:src/uart.c **** }37:src/uart.c ****38:src/uart.c **** void SendUart(void)39:src/uart.c **** {132 .LM1:133 .LFBB2:134 /* prologue: frame size=0 */135 /* prologue end (size=0) */40:src/uart.c **** static unsigned int ptr = 0;41:src/uart.c **** unsigned char tmp_tx;42:src/uart.c **** if(!(UCSRA & 0x40)) return;137 .LM2:138 0014 5E9B sbis 43-0x20,6139 0016 00C0 rjmp .L1143:src/uart.c **** if(!UebertragungAbgeschlossen)141 .LM3:142 0018 8091 0000 lds r24,UebertragungAbgeschlossen143 001c 8823 tst r24144 001e 01F4 brne .L644:src/uart.c **** {45:src/uart.c **** ptr++; // die [0] wurde schon gesendet146 .LM4:147 0020 8091 0000 lds r24,ptr.2069148 0024 9091 0000 lds r25,(ptr.2069)+1149 0028 0196 adiw r24,1150 002a 9093 0000 sts (ptr.2069)+1,r25151 002e 8093 0000 sts ptr.2069,r2446:src/uart.c **** tmp_tx = SendeBuffer[ptr];153 .LM5:154 0032 FC01 movw r30,r24155 0034 E050 subi r30,lo8(-(SendeBuffer))156 0036 F040 sbci r31,hi8(-(SendeBuffer))157 0038 E081 ld r30,Z47:src/uart.c **** if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))159 .LM6:160 003a ED30 cpi r30,lo8(13)161 003c 01F0 breq .L8162 003e 8436 cpi r24,100163 0040 9105 cpc r25,__zero_reg__164 0042 01F4 brne .L10165 .L8:48:src/uart.c **** {49:src/uart.c **** ptr = 0;167 .LM7:168 0044 1092 0000 sts (ptr.2069)+1,__zero_reg__169 0048 1092 0000 sts ptr.2069,__zero_reg__50:src/uart.c **** UebertragungAbgeschlossen = 1;171 .LM8:172 004c 81E0 ldi r24,lo8(1)173 004e 8093 0000 sts UebertragungAbgeschlossen,r24174 .L10:51:src/uart.c **** }52:src/uart.c **** USR |= (1<TXC);176 .LM9:177 0052 589A sbi 43-0x20,053:src/uart.c **** UDR = tmp_tx;179 .LM10:180 0054 ECB9 out 44-0x20,r30181 0056 0895 ret182 .L6:54:src/uart.c **** }55:src/uart.c **** else ptr = 0;184 .LM11:185 0058 1092 0000 sts (ptr.2069)+1,__zero_reg__186 005c 1092 0000 sts ptr.2069,__zero_reg__187 .L11:188 0060 0895 ret189 /* epilogue: frame size=0 */190 /* epilogue: noreturn */191 /* epilogue end (size=0) */192 /* function SendUart size 39 (39) */198 .Lscope2:200 .stabd 78,0,0206 .global Decode64208 Decode64:209 .stabd 46,0,056:src/uart.c **** }57:src/uart.c ****58:src/uart.c **** // --------------------------------------------------------------------------59:src/uart.c **** void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) //60:src/uart.c **** {211 .LM12:212 .LFBB3:213 /* prologue: frame size=0 */214 0062 1F93 push r17215 0064 CF93 push r28216 0066 DF93 push r29217 /* prologue end (size=3) */218 0068 EC01 movw r28,r24219 006a 70E0 ldi r23,lo8(0)61:src/uart.c **** unsigned char a,b,c,d;62:src/uart.c **** unsigned char ptr = 0;63:src/uart.c **** unsigned char x,y,z;64:src/uart.c **** while(len)65:src/uart.c **** {66:src/uart.c **** a = RxdBuffer[ptrIn++] - '=';67:src/uart.c **** b = RxdBuffer[ptrIn++] - '=';68:src/uart.c **** c = RxdBuffer[ptrIn++] - '=';69:src/uart.c **** d = RxdBuffer[ptrIn++] - '=';70:src/uart.c **** if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden221 .LM13:222 006c A22F mov r26,r18223 006e BB27 clr r27224 0070 1297 sbiw r26,2225 0072 00C0 rjmp .L13226 .L14:228 .LM14:229 0074 E42F mov r30,r20230 0076 FF27 clr r31231 0078 E050 subi r30,lo8(-(RxdBuffer))232 007a F040 sbci r31,hi8(-(RxdBuffer))233 007c 3081 ld r19,Z235 .LM15:236 007e 4F5F subi r20,lo8(-(1))237 0080 E42F mov r30,r20238 0082 FF27 clr r31239 0084 E050 subi r30,lo8(-(RxdBuffer))240 0086 F040 sbci r31,hi8(-(RxdBuffer))241 0088 5081 ld r21,Z243 .LM16:244 008a 4F5F subi r20,lo8(-(1))245 008c E42F mov r30,r20246 008e FF27 clr r31247 0090 E050 subi r30,lo8(-(RxdBuffer))248 0092 F040 sbci r31,hi8(-(RxdBuffer))249 0094 1081 ld r17,Z251 .LM17:252 0096 4F5F subi r20,lo8(-(1))253 0098 E42F mov r30,r20254 009a FF27 clr r31255 009c E050 subi r30,lo8(-(RxdBuffer))256 009e F040 sbci r31,hi8(-(RxdBuffer))257 00a0 2081 ld r18,Z258 00a2 4F5F subi r20,lo8(-(1))260 .LM18:261 00a4 842F mov r24,r20262 00a6 9927 clr r25263 00a8 A817 cp r26,r24264 00aa B907 cpc r27,r25265 00ac 04F0 brlt .L19267 .LM19:268 00ae 5D53 subi r21,lo8(-(-61))71:src/uart.c ****72:src/uart.c **** x = (a << 2) | (b >> 4);73:src/uart.c **** y = ((b & 0x0f) << 4) | (c >> 2);74:src/uart.c **** z = ((c & 0x03) << 6) | d;75:src/uart.c ****76:src/uart.c **** if(len--) ptrOut[ptr++] = x; else break;270 .LM20:271 00b0 FE01 movw r30,r28272 00b2 E70F add r30,r23273 00b4 F11D adc r31,__zero_reg__274 00b6 852F mov r24,r21275 00b8 8295 swap r24276 00ba 8F70 andi r24,0x0f277 00bc 3D53 subi r19,lo8(-(-61))278 00be 330F lsl r19279 00c0 330F lsl r19280 00c2 382B or r19,r24281 00c4 3083 st Z,r1977:src/uart.c **** if(len--) ptrOut[ptr++] = y; else break;283 .LM21:284 00c6 6130 cpi r22,lo8(1)285 00c8 01F0 breq .L19287 .LM22:288 00ca 912F mov r25,r17289 00cc 9D53 subi r25,lo8(-(-61))291 .LM23:292 00ce 7F5F subi r23,lo8(-(1))293 00d0 FE01 movw r30,r28294 00d2 E70F add r30,r23295 00d4 F11D adc r31,__zero_reg__296 00d6 7150 subi r23,lo8(-(-1))297 00d8 5295 swap r21298 00da 507F andi r21,0xf0299 00dc 892F mov r24,r25300 00de 8695 lsr r24301 00e0 8695 lsr r24302 00e2 582B or r21,r24303 00e4 5083 st Z,r21304 00e6 6350 subi r22,lo8(-(-3))78:src/uart.c **** if(len--) ptrOut[ptr++] = z; else break;306 .LM24:307 00e8 6F3F cpi r22,lo8(-1)308 00ea 01F0 breq .L19309 00ec 7E5F subi r23,lo8(-(2))310 00ee FE01 movw r30,r28311 00f0 E70F add r30,r23312 00f2 F11D adc r31,__zero_reg__313 00f4 9295 swap r25314 00f6 990F lsl r25315 00f8 990F lsl r25316 00fa 907C andi r25,0xc0317 00fc 2D53 subi r18,lo8(-(-61))318 00fe 922B or r25,r18319 0100 9083 st Z,r25320 0102 7F5F subi r23,lo8(-(1))321 .L13:323 .LM25:324 0104 6623 tst r22325 0106 01F0 breq .+2326 0108 00C0 rjmp .L14327 .L19:328 /* epilogue: frame size=0 */329 010a DF91 pop r29330 010c CF91 pop r28331 010e 1F91 pop r17332 0110 0895 ret333 /* epilogue end (size=4) */334 /* function Decode64 size 88 (81) */341 .Lscope3:343 .stabd 78,0,0346 .global AddCRC348 AddCRC:349 .stabd 46,0,079:src/uart.c **** }80:src/uart.c ****81:src/uart.c **** }82:src/uart.c ****83:src/uart.c ****84:src/uart.c **** //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++85:src/uart.c **** //++ Empfangs-Part der Datenübertragung86:src/uart.c **** //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++87:src/uart.c **** SIGNAL(INT_VEC_RX)88:src/uart.c **** {89:src/uart.c ****90:src/uart.c **** #if X3D_SIO == 191:src/uart.c **** static unsigned char serPacketCounter = 100;92:src/uart.c **** SioTmp = UDR;93:src/uart.c **** if(SioTmp == 0xF5) // Startzeichen94:src/uart.c **** {95:src/uart.c **** serPacketCounter = 0;96:src/uart.c **** }97:src/uart.c **** else98:src/uart.c **** {99:src/uart.c **** if(++serPacketCounter == MotorAdresse) // (1-4)100:src/uart.c **** {101:src/uart.c **** SIO_Sollwert = SioTmp;102:src/uart.c **** SIO_Timeout = 200; // werte für 200ms gültig103:src/uart.c **** }104:src/uart.c **** else105:src/uart.c **** {106:src/uart.c **** if(serPacketCounter > 100) serPacketCounter = 100;107:src/uart.c **** }108:src/uart.c **** }109:src/uart.c **** #else110:src/uart.c **** static unsigned int crc;111:src/uart.c **** static unsigned char crc1,crc2,buf_ptr;112:src/uart.c **** static unsigned char UartState = 0;113:src/uart.c **** unsigned char CrcOkay = 0;114:src/uart.c ****115:src/uart.c **** SioTmp = UDR;116:src/uart.c **** if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0;117:src/uart.c **** if(SioTmp == '\r' && UartState == 2)118:src/uart.c **** {119:src/uart.c **** UartState = 0;120:src/uart.c **** crc -= RxdBuffer[buf_ptr-2];121:src/uart.c **** crc -= RxdBuffer[buf_ptr-1];122:src/uart.c **** crc %= 4096;123:src/uart.c **** crc1 = '=' + crc / 64;124:src/uart.c **** crc2 = '=' + crc % 64;125:src/uart.c **** CrcOkay = 0;126:src/uart.c **** if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay127:src/uart.c **** if(CrcOkay) // Datensatz schon verarbeitet128:src/uart.c **** {129:src/uart.c **** //NeuerDatensatzEmpfangen = 1;130:src/uart.c **** AnzahlEmpfangsBytes = buf_ptr;131:src/uart.c ****132:src/uart.c **** RxdBuffer[buf_ptr] = '\r';133:src/uart.c **** if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt134:src/uart.c **** uart_putchar(RxdBuffer[2]);135:src/uart.c **** if (RxdBuffer[2] == 't') // Motortest136:src/uart.c **** { Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);137:src/uart.c **** SIO_Sollwert = MotorTest[MotorAdresse - 1];138:src/uart.c **** SIO_Timeout = 500; // werte für 500ms gültig139:src/uart.c ****140:src/uart.c **** }141:src/uart.c **** }142:src/uart.c **** }143:src/uart.c **** else144:src/uart.c **** switch(UartState)145:src/uart.c **** {146:src/uart.c **** case 0:147:src/uart.c **** if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten s148:src/uart.c **** buf_ptr = 0;149:src/uart.c **** RxdBuffer[buf_ptr++] = SioTmp;150:src/uart.c **** crc = SioTmp;151:src/uart.c **** break;152:src/uart.c **** case 1: // Adresse auswerten153:src/uart.c **** UartState++;154:src/uart.c **** RxdBuffer[buf_ptr++] = SioTmp;155:src/uart.c **** crc += SioTmp;156:src/uart.c **** break;157:src/uart.c **** case 2: // Eingangsdaten sammeln158:src/uart.c **** RxdBuffer[buf_ptr] = SioTmp;159:src/uart.c **** if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;160:src/uart.c **** else UartState = 0;161:src/uart.c **** crc += SioTmp;162:src/uart.c **** break;163:src/uart.c **** default:164:src/uart.c **** UartState = 0;165:src/uart.c **** break;166:src/uart.c **** }167:src/uart.c ****168:src/uart.c ****169:src/uart.c **** #endif170:src/uart.c **** };171:src/uart.c ****172:src/uart.c ****173:src/uart.c **** // --------------------------------------------------------------------------174:src/uart.c **** void AddCRC(unsigned int wieviele)175:src/uart.c **** {351 .LM26:352 .LFBB4:353 /* prologue: frame size=0 */354 /* prologue end (size=0) */355 0112 DC01 movw r26,r24356 0114 20E0 ldi r18,lo8(0)357 0116 30E0 ldi r19,hi8(0)358 0118 40E0 ldi r20,lo8(0)359 011a 50E0 ldi r21,hi8(0)360 011c 00C0 rjmp .L21361 .L22:176:src/uart.c **** unsigned int tmpCRC = 0,i;177:src/uart.c **** for(i = 0; i < wieviele;i++)178:src/uart.c **** {179:src/uart.c **** tmpCRC += SendeBuffer[i];363 .LM27:364 011e FA01 movw r30,r20365 0120 E050 subi r30,lo8(-(SendeBuffer))366 0122 F040 sbci r31,hi8(-(SendeBuffer))367 0124 8081 ld r24,Z368 0126 280F add r18,r24369 0128 311D adc r19,__zero_reg__371 .LM28:372 012a 4F5F subi r20,lo8(-(1))373 012c 5F4F sbci r21,hi8(-(1))374 .L21:375 012e 4A17 cp r20,r26376 0130 5B07 cpc r21,r27377 0132 01F4 brne .L22180:src/uart.c **** }181:src/uart.c **** tmpCRC %= 4096;379 .LM29:380 0134 3F70 andi r19,hi8(4095)182:src/uart.c **** SendeBuffer[i++] = '=' + tmpCRC / 64;382 .LM30:383 0136 C901 movw r24,r18384 0138 36E0 ldi r19,6385 013a 9695 1: lsr r25386 013c 8795 ror r24387 013e 3A95 dec r19388 0140 01F4 brne 1b389 0142 835C subi r24,lo8(-(61))390 0144 FD01 movw r30,r26391 0146 E050 subi r30,lo8(-(SendeBuffer))392 0148 F040 sbci r31,hi8(-(SendeBuffer))393 014a 8083 st Z,r24394 014c 1196 adiw r26,1183:src/uart.c **** SendeBuffer[i++] = '=' + tmpCRC % 64;396 .LM31:397 014e 2F73 andi r18,lo8(63)398 0150 235C subi r18,lo8(-(61))399 0152 FD01 movw r30,r26400 0154 E050 subi r30,lo8(-(SendeBuffer))401 0156 F040 sbci r31,hi8(-(SendeBuffer))402 0158 2083 st Z,r18184:src/uart.c **** SendeBuffer[i++] = '\r';404 .LM32:405 015a A050 subi r26,lo8(-(SendeBuffer+1))406 015c B040 sbci r27,hi8(-(SendeBuffer+1))407 015e 8DE0 ldi r24,lo8(13)408 0160 8C93 st X,r24185:src/uart.c **** UebertragungAbgeschlossen = 0;410 .LM33:411 0162 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__186:src/uart.c **** UDR = SendeBuffer[0];413 .LM34:414 0166 8091 0000 lds r24,SendeBuffer415 016a 8CB9 out 44-0x20,r24416 /* epilogue: frame size=0 */417 016c 0895 ret418 /* epilogue end (size=1) */419 /* function AddCRC size 47 (46) */425 .Lscope4:427 .stabd 78,0,0433 .global SendOutData435 SendOutData:436 .stabd 46,0,0187:src/uart.c **** }188:src/uart.c ****189:src/uart.c ****190:src/uart.c **** // --------------------------------------------------------------------------191:src/uart.c **** void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)192:src/uart.c **** {438 .LM35:439 .LFBB5:440 /* prologue: frame size=0 */441 016e 1F93 push r17442 0170 CF93 push r28443 0172 DF93 push r29444 /* prologue end (size=3) */445 0174 EA01 movw r28,r20446 0176 722F mov r23,r18193:src/uart.c **** unsigned int pt = 0;194:src/uart.c **** unsigned char a,b,c;195:src/uart.c **** unsigned char ptr = 0;196:src/uart.c ****197:src/uart.c ****198:src/uart.c **** SendeBuffer[pt++] = '#'; // Startzeichen448 .LM36:449 0178 93E2 ldi r25,lo8(35)450 017a 9093 0000 sts SendeBuffer,r25199:src/uart.c **** SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...)452 .LM37:453 017e 6093 0000 sts SendeBuffer+1,r22200:src/uart.c **** SendeBuffer[pt++] = cmd; // Commando455 .LM38:456 0182 8093 0000 sts SendeBuffer+2,r24457 0186 A3E0 ldi r26,lo8(3)458 0188 B0E0 ldi r27,hi8(3)459 018a 60E0 ldi r22,lo8(0)460 018c 00C0 rjmp .L26461 .L27:201:src/uart.c ****202:src/uart.c **** while(len)203:src/uart.c **** {204:src/uart.c **** if(len) { a = snd[ptr++]; len--;} else a = 0;463 .LM39:464 018e FE01 movw r30,r28465 0190 E60F add r30,r22466 0192 F11D adc r31,__zero_reg__467 0194 9081 ld r25,Z468 0196 6F5F subi r22,lo8(-(1))469 0198 7150 subi r23,lo8(-(-1))205:src/uart.c **** if(len) { b = snd[ptr++]; len--;} else b = 0;471 .LM40:472 019a 01F4 brne .L28473 019c 10E0 ldi r17,lo8(0)474 019e 40E0 ldi r20,lo8(0)475 01a0 00C0 rjmp .L30476 .L28:477 01a2 FE01 movw r30,r28478 01a4 E60F add r30,r22479 01a6 F11D adc r31,__zero_reg__480 01a8 4081 ld r20,Z481 01aa 6F5F subi r22,lo8(-(1))482 01ac 7150 subi r23,lo8(-(-1))206:src/uart.c **** if(len) { c = snd[ptr++]; len--;} else c = 0;484 .LM41:485 01ae 01F4 brne .L31486 01b0 10E0 ldi r17,lo8(0)487 01b2 00C0 rjmp .L30488 .L31:489 01b4 FE01 movw r30,r28490 01b6 E60F add r30,r22491 01b8 F11D adc r31,__zero_reg__492 01ba 1081 ld r17,Z493 01bc 6F5F subi r22,lo8(-(1))494 01be 7150 subi r23,lo8(-(-1))495 .L30:207:src/uart.c **** SendeBuffer[pt++] = '=' + (a >> 2);497 .LM42:498 01c0 892F mov r24,r25499 01c2 8695 lsr r24500 01c4 8695 lsr r24501 01c6 835C subi r24,lo8(-(61))502 01c8 FD01 movw r30,r26503 01ca E050 subi r30,lo8(-(SendeBuffer))504 01cc F040 sbci r31,hi8(-(SendeBuffer))505 01ce 8083 st Z,r24208:src/uart.c **** SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));507 .LM43:508 01d0 5527 clr r21509 01d2 9A01 movw r18,r20510 01d4 84E0 ldi r24,4511 01d6 3695 1: lsr r19512 01d8 2795 ror r18513 01da 8A95 dec r24514 01dc 01F4 brne 1b515 01de 892F mov r24,r25516 01e0 9927 clr r25517 01e2 8370 andi r24,lo8(3)518 01e4 9070 andi r25,hi8(3)519 01e6 F4E0 ldi r31,4520 01e8 880F 1: lsl r24521 01ea 991F rol r25522 01ec FA95 dec r31523 01ee 01F4 brne 1b524 01f0 282B or r18,r24525 01f2 235C subi r18,lo8(-(61))526 01f4 FD01 movw r30,r26527 01f6 E050 subi r30,lo8(-(SendeBuffer+1))528 01f8 F040 sbci r31,hi8(-(SendeBuffer+1))529 01fa 2083 st Z,r18209:src/uart.c **** SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));531 .LM44:532 01fc 812F mov r24,r17533 01fe 8295 swap r24534 0200 8695 lsr r24535 0202 8695 lsr r24536 0204 8370 andi r24,0x3537 0206 4F70 andi r20,lo8(15)538 0208 5070 andi r21,hi8(15)539 020a 440F lsl r20540 020c 551F rol r21541 020e 440F lsl r20542 0210 551F rol r21543 0212 842B or r24,r20544 0214 835C subi r24,lo8(-(61))545 0216 FD01 movw r30,r26546 0218 E050 subi r30,lo8(-(SendeBuffer+2))547 021a F040 sbci r31,hi8(-(SendeBuffer+2))548 021c 8083 st Z,r24210:src/uart.c **** SendeBuffer[pt++] = '=' + ( c & 0x3f);550 .LM45:551 021e 1F73 andi r17,lo8(63)552 0220 135C subi r17,lo8(-(61))553 0222 FD01 movw r30,r26554 0224 E050 subi r30,lo8(-(SendeBuffer+3))555 0226 F040 sbci r31,hi8(-(SendeBuffer+3))556 0228 1083 st Z,r17557 022a 1496 adiw r26,4558 .L26:560 .LM46:561 022c 7723 tst r23562 022e 01F0 breq .+2563 0230 00C0 rjmp .L27211:src/uart.c **** }212:src/uart.c **** AddCRC(pt);565 .LM47:566 0232 CD01 movw r24,r26567 0234 00D0 rcall AddCRC568 /* epilogue: frame size=0 */569 0236 DF91 pop r29570 0238 CF91 pop r28571 023a 1F91 pop r17572 023c 0895 ret573 /* epilogue end (size=4) */574 /* function SendOutData size 106 (99) */583 .Lscope5:585 .stabd 78,0,0588 .global uart_putchar590 uart_putchar:591 .stabd 46,0,0213:src/uart.c **** }214:src/uart.c ****215:src/uart.c ****216:src/uart.c ****217:src/uart.c **** //############################################################################218:src/uart.c **** //Routine für die Serielle Ausgabe219:src/uart.c **** int uart_putchar (char c)220:src/uart.c **** //############################################################################221:src/uart.c **** {593 .LM48:594 .LFBB6:595 /* prologue: frame size=0 */596 023e 1F93 push r17597 /* prologue end (size=1) */598 0240 182F mov r17,r24222:src/uart.c **** if (c == '\n')600 .LM49:601 0242 8A30 cpi r24,lo8(10)602 0244 01F4 brne .L40223:src/uart.c **** uart_putchar('\r');604 .LM50:605 0246 8DE0 ldi r24,lo8(13)606 0248 00D0 rcall uart_putchar607 .L40:224:src/uart.c **** //Warten solange bis Zeichen gesendet wurde225:src/uart.c **** loop_until_bit_is_set(USR, UDRE);609 .LM51:610 024a 5D9B sbis 43-0x20,5611 024c 00C0 rjmp .L40226:src/uart.c **** //Ausgabe des Zeichens227:src/uart.c **** UDR = c;613 .LM52:614 024e 1CB9 out 44-0x20,r17228:src/uart.c ****229:src/uart.c **** return (0);230:src/uart.c **** }616 .LM53:617 0250 80E0 ldi r24,lo8(0)618 0252 90E0 ldi r25,hi8(0)619 /* epilogue: frame size=0 */620 0254 1F91 pop r17621 0256 0895 ret622 /* epilogue end (size=2) */623 /* function uart_putchar size 13 (10) */625 .Lscope6:627 .stabd 78,0,0629 .global __vector_11631 __vector_11:632 .stabd 46,0,0634 .LM54:635 .LFBB7:636 /* prologue: frame size=0 */637 0258 1F92 push __zero_reg__638 025a 0F92 push __tmp_reg__639 025c 0FB6 in __tmp_reg__,__SREG__640 025e 0F92 push __tmp_reg__641 0260 1124 clr __zero_reg__642 0262 2F93 push r18643 0264 3F93 push r19644 0266 4F93 push r20645 0268 5F93 push r21646 026a 6F93 push r22647 026c 7F93 push r23648 026e 8F93 push r24649 0270 9F93 push r25650 0272 AF93 push r26651 0274 BF93 push r27652 0276 CF93 push r28653 0278 DF93 push r29654 027a EF93 push r30655 027c FF93 push r31656 /* prologue end (size=19) */658 .LM55:659 027e 8CB1 in r24,44-0x20660 0280 8093 0000 sts SioTmp,r24662 .LM56:663 0284 4091 0000 lds r20,buf_ptr.2137664 0288 4436 cpi r20,lo8(100)665 028a 00F0 brlo .L44667 .LM57:668 028c 1092 0000 sts UartState.2138,__zero_reg__669 .L44:671 .LM58:672 0290 5091 0000 lds r21,SioTmp673 0294 5D30 cpi r21,lo8(13)674 0296 01F0 breq .+2675 0298 00C0 rjmp .L46676 029a 8091 0000 lds r24,UartState.2138677 029e 8230 cpi r24,lo8(2)678 02a0 01F0 breq .+2679 02a2 00C0 rjmp .L46681 .LM59:682 02a4 1092 0000 sts UartState.2138,__zero_reg__684 .LM60:685 02a8 A42F mov r26,r20686 02aa BB27 clr r27687 02ac FD01 movw r30,r26688 02ae E050 subi r30,lo8(-(RxdBuffer-2))689 02b0 F040 sbci r31,hi8(-(RxdBuffer-2))690 02b2 3081 ld r19,Z692 .LM61:693 02b4 ED01 movw r28,r26694 02b6 C050 subi r28,lo8(-(RxdBuffer-1))695 02b8 D040 sbci r29,hi8(-(RxdBuffer-1))696 02ba 2881 ld r18,Y698 .LM62:699 02bc 8091 0000 lds r24,crc.2134700 02c0 9091 0000 lds r25,(crc.2134)+1701 02c4 831B sub r24,r19702 02c6 9109 sbc r25,__zero_reg__703 02c8 821B sub r24,r18704 02ca 9109 sbc r25,__zero_reg__705 02cc 9F70 andi r25,hi8(4095)706 02ce 9093 0000 sts (crc.2134)+1,r25707 02d2 8093 0000 sts crc.2134,r24709 .LM63:710 02d6 9C01 movw r18,r24711 02d8 96E0 ldi r25,6712 02da 3695 1: lsr r19713 02dc 2795 ror r18714 02de 9A95 dec r25715 02e0 01F4 brne 1b716 02e2 235C subi r18,lo8(-(61))717 02e4 2093 0000 sts crc1.2135,r18719 .LM64:720 02e8 982F mov r25,r24721 02ea 9F73 andi r25,lo8(63)722 02ec 935C subi r25,lo8(-(61))723 02ee 9093 0000 sts crc2.2136,r25725 .LM65:726 02f2 8081 ld r24,Z727 02f4 2817 cp r18,r24728 02f6 01F0 breq .+2729 02f8 00C0 rjmp .L65730 02fa 8881 ld r24,Y731 02fc 9817 cp r25,r24732 02fe 01F0 breq .+2733 0300 00C0 rjmp .L65735 .LM66:736 0302 4093 0000 sts AnzahlEmpfangsBytes,r20738 .LM67:739 0306 A050 subi r26,lo8(-(RxdBuffer))740 0308 B040 sbci r27,hi8(-(RxdBuffer))741 030a 5C93 st X,r21743 .LM68:744 030c 8091 0000 lds r24,RxdBuffer+2745 0310 8235 cpi r24,lo8(82)746 0312 01F4 brne .L52747 0314 88E1 ldi r24,lo8(24)748 0316 90E0 ldi r25,hi8(24)749 0318 2CE0 ldi r18,lo8(12)750 /* #APP */751 031a 0FB6 in __tmp_reg__,__SREG__752 031c F894 cli753 031e A895 wdr754 0320 81BD out 33,r24755 0322 0FBE out __SREG__,__tmp_reg__756 0324 21BD out 33,r18757 /* #NOAPP */758 .L52:760 .LM69:761 0326 8091 0000 lds r24,RxdBuffer+2762 032a 00D0 rcall uart_putchar764 .LM70:765 032c 8091 0000 lds r24,RxdBuffer+2766 0330 8437 cpi r24,lo8(116)767 0332 01F0 breq .+2768 0334 00C0 rjmp .L65770 .LM71:771 0336 2091 0000 lds r18,AnzahlEmpfangsBytes772 033a 43E0 ldi r20,lo8(3)773 033c 64E0 ldi r22,lo8(4)774 033e 80E0 ldi r24,lo8(MotorTest)775 0340 90E0 ldi r25,hi8(MotorTest)776 0342 00D0 rcall Decode64778 .LM72:779 0344 E091 0000 lds r30,MotorAdresse780 0348 FF27 clr r31781 034a E050 subi r30,lo8(-(MotorTest-1))782 034c F040 sbci r31,hi8(-(MotorTest-1))783 034e 8081 ld r24,Z784 0350 8093 0000 sts SIO_Sollwert,r24786 .LM73:787 0354 84EF ldi r24,lo8(500)788 0356 91E0 ldi r25,hi8(500)789 0358 9093 0000 sts (SIO_Timeout)+1,r25790 035c 8093 0000 sts SIO_Timeout,r24791 0360 00C0 rjmp .L65792 .L46:794 .LM74:795 0362 8091 0000 lds r24,UartState.2138796 0366 8130 cpi r24,lo8(1)797 0368 01F0 breq .L57798 036a 8130 cpi r24,lo8(1)799 036c 00F0 brlo .L56800 036e 8230 cpi r24,lo8(2)801 0370 01F4 brne .L66802 0372 00C0 rjmp .L58803 .L56:805 .LM75:806 0374 8091 0000 lds r24,SioTmp807 0378 8332 cpi r24,lo8(35)808 037a 01F4 brne .L59809 037c 8091 0000 lds r24,NeuerDatensatzEmpfangen810 0380 8823 tst r24811 0382 01F4 brne .L59812 0384 81E0 ldi r24,lo8(1)813 0386 8093 0000 sts UartState.2138,r24814 .L59:816 .LM76:817 038a 8091 0000 lds r24,SioTmp818 038e 8093 0000 sts RxdBuffer,r24819 0392 81E0 ldi r24,lo8(1)820 0394 8093 0000 sts buf_ptr.2137,r24822 .LM77:823 0398 8091 0000 lds r24,SioTmp824 039c 9927 clr r25825 039e 00C0 rjmp .L67826 .L57:828 .LM78:829 03a0 82E0 ldi r24,lo8(2)830 03a2 8093 0000 sts UartState.2138,r24832 .LM79:833 03a6 E42F mov r30,r20834 03a8 FF27 clr r31835 03aa 8091 0000 lds r24,SioTmp836 03ae E050 subi r30,lo8(-(RxdBuffer))837 03b0 F040 sbci r31,hi8(-(RxdBuffer))838 03b2 8083 st Z,r24839 03b4 00C0 rjmp .L68840 .L58:842 .LM80:843 03b6 E42F mov r30,r20844 03b8 FF27 clr r31845 03ba 8091 0000 lds r24,SioTmp846 03be E050 subi r30,lo8(-(RxdBuffer))847 03c0 F040 sbci r31,hi8(-(RxdBuffer))848 03c2 8083 st Z,r24850 .LM81:851 03c4 4436 cpi r20,lo8(100)852 03c6 00F4 brsh .L62853 .L68:854 03c8 4F5F subi r20,lo8(-(1))855 03ca 4093 0000 sts buf_ptr.2137,r20856 03ce 00C0 rjmp .L64857 .L62:859 .LM82:860 03d0 1092 0000 sts UartState.2138,__zero_reg__861 .L64:863 .LM83:864 03d4 2091 0000 lds r18,SioTmp865 03d8 8091 0000 lds r24,crc.2134866 03dc 9091 0000 lds r25,(crc.2134)+1867 03e0 820F add r24,r18868 03e2 911D adc r25,__zero_reg__869 .L67:870 03e4 9093 0000 sts (crc.2134)+1,r25871 03e8 8093 0000 sts crc.2134,r24872 03ec 00C0 rjmp .L65873 .L66:875 .LM84:876 03ee 1092 0000 sts UartState.2138,__zero_reg__877 .L65:878 /* epilogue: frame size=0 */879 03f2 FF91 pop r31880 03f4 EF91 pop r30881 03f6 DF91 pop r29882 03f8 CF91 pop r28883 03fa BF91 pop r27884 03fc AF91 pop r26885 03fe 9F91 pop r25886 0400 8F91 pop r24887 0402 7F91 pop r23888 0404 6F91 pop r22889 0406 5F91 pop r21890 0408 4F91 pop r20891 040a 3F91 pop r19892 040c 2F91 pop r18893 040e 0F90 pop __tmp_reg__894 0410 0FBE out __SREG__,__tmp_reg__895 0412 0F90 pop __tmp_reg__896 0414 1F90 pop __zero_reg__897 0416 1895 reti898 /* epilogue end (size=19) */899 /* function __vector_11 size 231 (193) */908 .Lscope7:910 .stabd 78,0,0914 .global WriteProgramData916 WriteProgramData:917 .stabd 46,0,0231:src/uart.c ****232:src/uart.c **** // --------------------------------------------------------------------------233:src/uart.c **** void WriteProgramData(unsigned int pos, unsigned char wert)234:src/uart.c **** {919 .LM85:920 .LFBB8:921 /* prologue: frame size=0 */922 /* prologue end (size=0) */923 /* epilogue: frame size=0 */924 0418 0895 ret925 /* epilogue end (size=1) */926 /* function WriteProgramData size 1 (0) */928 .Lscope8:930 .stabd 78,0,0932 .global DatenUebertragung934 DatenUebertragung:935 .stabd 46,0,0235:src/uart.c **** }236:src/uart.c ****237:src/uart.c **** //############################################################################238:src/uart.c **** //INstallation der Seriellen Schnittstelle239:src/uart.c **** void UART_Init (void)240:src/uart.c **** //############################################################################241:src/uart.c **** {242:src/uart.c **** //Enable TXEN im Register UCR TX-Data Enable & RX Enable243:src/uart.c ****244:src/uart.c **** UCR=(1 << TXEN) | (1 << RXEN);245:src/uart.c **** // UART Double Speed (U2X)246:src/uart.c **** USR |= (1<<U2X);247:src/uart.c **** // RX-Interrupt Freigabe248:src/uart.c ****249:src/uart.c **** UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt250:src/uart.c ****251:src/uart.c **** // TX-Interrupt Freigabe252:src/uart.c **** // UCSRB |= (1<<TXCIE);253:src/uart.c ****254:src/uart.c **** //Teiler wird gesetzt255:src/uart.c **** UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 );256:src/uart.c **** //öffnet einen Kanal für printf (STDOUT)257:src/uart.c **** fdevopen (uart_putchar, NULL);258:src/uart.c **** Debug_Timer = SetDelay(200);259:src/uart.c **** // Version beim Start ausgeben (nicht schön, aber geht... )260:src/uart.c **** uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':');261:src/uart.c **** uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x3262:src/uart.c **** uart_putchar ('\n');uart_putchar ('A');uart_putchar ('D');uart_putchar ('R'); uart_putchar (':');263:src/uart.c ****264:src/uart.c **** }265:src/uart.c ****266:src/uart.c ****267:src/uart.c ****268:src/uart.c ****269:src/uart.c **** //---------------------------------------------------------------------------------------------270:src/uart.c **** void DatenUebertragung(void)271:src/uart.c **** {937 .LM86:938 .LFBB9:939 /* prologue: frame size=0 */940 /* prologue end (size=0) */272:src/uart.c **** if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Scht942 .LM87:943 041a 8091 0000 lds r24,Debug_Timer944 041e 9091 0000 lds r25,(Debug_Timer)+1945 0422 00D0 rcall CheckDelay946 0424 8823 tst r24947 0426 01F0 breq .L75949 .LM88:950 0428 8091 0000 lds r24,UebertragungAbgeschlossen951 042c 8823 tst r24952 042e 01F0 breq .L75273:src/uart.c **** {274:src/uart.c **** SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));954 .LM89:955 0430 6091 0000 lds r22,MeineSlaveAdresse956 0434 22E2 ldi r18,lo8(34)957 0436 40E0 ldi r20,lo8(DebugOut)958 0438 50E0 ldi r21,hi8(DebugOut)959 043a 84E4 ldi r24,lo8(68)960 043c 00D0 rcall SendOutData275:src/uart.c **** Debug_Timer = SetDelay(50); // Sendeintervall962 .LM90:963 043e 82E3 ldi r24,lo8(50)964 0440 90E0 ldi r25,hi8(50)965 0442 00D0 rcall SetDelay966 0444 9093 0000 sts (Debug_Timer)+1,r25967 0448 8093 0000 sts Debug_Timer,r24968 .L75:969 044c 0895 ret970 /* epilogue: frame size=0 */971 /* epilogue: noreturn */972 /* epilogue end (size=0) */973 /* function DatenUebertragung size 26 (26) */975 .Lscope9:977 .stabd 78,0,0979 .global UART_Init981 UART_Init:982 .stabd 46,0,0984 .LM91:985 .LFBB10:986 /* prologue: frame size=0 */987 /* prologue end (size=0) */989 .LM92:990 044e 88E1 ldi r24,lo8(24)991 0450 8AB9 out 42-0x20,r24993 .LM93:994 0452 599A sbi 43-0x20,1996 .LM94:997 0454 579A sbi 42-0x20,7999 .LM95:1000 0456 80E1 ldi r24,lo8(16)1001 0458 89B9 out 41-0x20,r241003 .LM96:1004 045a 60E0 ldi r22,lo8(0)1005 045c 70E0 ldi r23,hi8(0)1006 045e 80E0 ldi r24,lo8(pm(uart_putchar))1007 0460 90E0 ldi r25,hi8(pm(uart_putchar))1008 0462 00D0 rcall fdevopen1010 .LM97:1011 0464 88EC ldi r24,lo8(200)1012 0466 90E0 ldi r25,hi8(200)1013 0468 00D0 rcall SetDelay1014 046a 9093 0000 sts (Debug_Timer)+1,r251015 046e 8093 0000 sts Debug_Timer,r241017 .LM98:1018 0472 8AE0 ldi r24,lo8(10)1019 0474 00D0 rcall uart_putchar1020 0476 82E4 ldi r24,lo8(66)1021 0478 00D0 rcall uart_putchar1022 047a 8CE4 ldi r24,lo8(76)1023 047c 00D0 rcall uart_putchar1024 047e 8AE3 ldi r24,lo8(58)1025 0480 00D0 rcall uart_putchar1027 .LM99:1028 0482 86E5 ldi r24,lo8(86)1029 0484 00D0 rcall uart_putchar1030 0486 80E3 ldi r24,lo8(48)1031 0488 00D0 rcall uart_putchar1032 048a 8EE2 ldi r24,lo8(46)1033 048c 00D0 rcall uart_putchar1034 048e 83E3 ldi r24,lo8(51)1035 0490 00D0 rcall uart_putchar1036 0492 87E3 ldi r24,lo8(55)1037 0494 00D0 rcall uart_putchar1039 .LM100:1040 0496 8AE0 ldi r24,lo8(10)1041 0498 00D0 rcall uart_putchar1042 049a 81E4 ldi r24,lo8(65)1043 049c 00D0 rcall uart_putchar1044 049e 84E4 ldi r24,lo8(68)1045 04a0 00D0 rcall uart_putchar1046 04a2 82E5 ldi r24,lo8(82)1047 04a4 00D0 rcall uart_putchar1048 04a6 8AE3 ldi r24,lo8(58)1049 04a8 00D0 rcall uart_putchar1050 04aa 8091 0000 lds r24,MotorAdresse1051 04ae 805D subi r24,lo8(-(48))1052 04b0 00D0 rcall uart_putchar1053 /* epilogue: frame size=0 */1054 04b2 0895 ret1055 /* epilogue end (size=1) */1056 /* function UART_Init size 51 (50) */1058 .Lscope10:1060 .stabd 78,0,01061 .global SIO_Sollwert1062 .global SIO_Sollwert1063 .section .bss1066 SIO_Sollwert:1067 0000 00 .skip 1,01068 .global SioTmp1069 .global SioTmp1072 SioTmp:1073 0001 00 .skip 1,01074 .global NeuerDatensatzEmpfangen1075 .global NeuerDatensatzEmpfangen1078 NeuerDatensatzEmpfangen:1079 0002 00 .skip 1,01080 .global UebertragungAbgeschlossen1081 .data1084 UebertragungAbgeschlossen:1085 0000 01 .byte 11086 .global MotorTest1087 .global MotorTest1088 .section .bss1091 MotorTest:1092 0003 0000 0000 .skip 4,01093 .global AnzahlEmpfangsBytes1094 .global AnzahlEmpfangsBytes1097 AnzahlEmpfangsBytes:1098 0007 00 .skip 1,01099 .lcomm UartState.2138,11100 .lcomm buf_ptr.2137,11101 .lcomm crc2.2136,11102 .lcomm crc1.2135,11103 .lcomm crc.2134,21104 .lcomm ptr.2069,21105 .comm MeineSlaveAdresse,1,11106 .comm Debug_Timer,2,11107 .comm DebugOut,34,11108 .comm SendeBuffer,100,11109 .comm RxdBuffer,100,11127 .text1129 .Letext0:1130 /* File "src/uart.c": code 612 = 0x0264 ( 544), prologues 31, epilogues 37 */DEFINED SYMBOLS*ABS*:00000000 uart.c/tmp/ccYvbISt.s:2 *ABS*:0000003f __SREG__/tmp/ccYvbISt.s:3 *ABS*:0000003e __SP_H__/tmp/ccYvbISt.s:4 *ABS*:0000003d __SP_L__/tmp/ccYvbISt.s:5 *ABS*:00000000 __tmp_reg__/tmp/ccYvbISt.s:6 *ABS*:00000001 __zero_reg__/tmp/ccYvbISt.s:102 .text:00000000 __vector_13/tmp/ccYvbISt.s:129 .text:00000014 SendUart/tmp/ccYvbISt.s:1084 .data:00000000 UebertragungAbgeschlossen/tmp/ccYvbISt.s:1103 .bss:0000000e ptr.2069*COM*:00000064 SendeBuffer/tmp/ccYvbISt.s:208 .text:00000062 Decode64*COM*:00000064 RxdBuffer/tmp/ccYvbISt.s:348 .text:00000112 AddCRC/tmp/ccYvbISt.s:435 .text:0000016e SendOutData/tmp/ccYvbISt.s:590 .text:0000023e uart_putchar/tmp/ccYvbISt.s:631 .text:00000258 __vector_11/tmp/ccYvbISt.s:1072 .bss:00000001 SioTmp/tmp/ccYvbISt.s:1099 .bss:00000009 buf_ptr.2137.bss:00000008 UartState.2138/tmp/ccYvbISt.s:1102 .bss:0000000c crc.2134/tmp/ccYvbISt.s:1101 .bss:0000000b crc1.2135/tmp/ccYvbISt.s:1100 .bss:0000000a crc2.2136/tmp/ccYvbISt.s:1097 .bss:00000007 AnzahlEmpfangsBytes/tmp/ccYvbISt.s:1091 .bss:00000003 MotorTest/tmp/ccYvbISt.s:1066 .bss:00000000 SIO_Sollwert/tmp/ccYvbISt.s:1078 .bss:00000002 NeuerDatensatzEmpfangen/tmp/ccYvbISt.s:916 .text:00000418 WriteProgramData/tmp/ccYvbISt.s:934 .text:0000041a DatenUebertragung*COM*:00000002 Debug_Timer*COM*:00000001 MeineSlaveAdresse*COM*:00000022 DebugOut/tmp/ccYvbISt.s:981 .text:0000044e UART_InitUNDEFINED SYMBOLS__do_copy_data__do_clear_bssMotorAdresseSIO_TimeoutCheckDelaySetDelayfdevopen