.module _2.c
	.area data(ram, con, rel)
_flag::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile F:\單片機教學\調試程序\實驗二舵機串口\2.c
	.dbsym e flag _flag c
_data::
	.blkb 1
	.area idata
	.byte 90
	.area data(ram, con, rel)
	.dbfile F:\單片機教學\調試程序\實驗二舵機串口\2.c
	.dbsym e data _data c
	.area text(rom, con, rel)
	.dbfile F:\單片機教學\調試程序\實驗二舵機串口\2.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 12
; //ICC-AVR application builder : 2005-3-29 下午 11:17:39
; // Target : M8
; // Crystal: 11.059Mhz
; 
; #include <iom8v.h>
; #include <macros.h>
; char flag = 0;
; char data = 90;
; 
; 
; void port_init(void)
; {
	.dbline 13
;  PORTB = 0xFF;
	ldi R24,255
	out 0x18,R24
	.dbline 14
;  DDRB  = 0x02;
	ldi R24,2
	out 0x17,R24
	.dbline 15
;  PORTC = 0x7F; //m103 output only
	ldi R24,127
	out 0x15,R24
	.dbline 16
;  DDRC  = 0x00;
	clr R2
	out 0x14,R2
	.dbline 17
;  PORTD = 0xFF;
	ldi R24,255
	out 0x12,R24
	.dbline 18
;  DDRD  = 0x00;
	out 0x11,R2
	.dbline -2
	.dbline 19
; }
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 26
; 
; //TIMER1 initialisation - prescale:8
; // WGM: 14) PWM fast, TOP=ICRn
; // desired value: 50Hz
; // actual value: 50.001Hz (0.0%)
; void timer1_init(void)
; {
	.dbline 27
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 28
;  TCNT1H = 0x00; //setup
	out 0x2d,R2
	.dbline 29
;  TCNT1L = 0x00;
	out 0x2c,R2
	.dbline 30
;  OCR1AH = 0x08;
	ldi R24,8
	out 0x2b,R24
	.dbline 31
;  OCR1AL = 0x79;
	ldi R24,121
	out 0x2a,R24
	.dbline 32
;  OCR1BH = 0x6B;
	ldi R24,107
	out 0x29,R24
	.dbline 33
;  OCR1BL = 0xFE;
	ldi R24,254
	out 0x28,R24
	.dbline 34
;  ICR1H  = 0x6B;
	ldi R24,107
	out 0x27,R24
	.dbline 35
;  ICR1L  = 0xFE;
	ldi R24,254
	out 0x26,R24
	.dbline 36
;  TCCR1A = 0x82;
	ldi R24,130
	out 0x2f,R24
	.dbline 37
;  TCCR1B = 0x1A; //start Timer
	ldi R24,26
	out 0x2e,R24
	.dbline -2
	.dbline 38
; }
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e uart0_init _uart0_init fV
	.even
_uart0_init::
	.dbline -1
	.dbline 46
; 
; //UART0 initialisation
; // desired baud rate: 9600
; // actual: baud rate:9600 (0.0%)
; // char size: 8 bit
; // parity: Disabled
; void uart0_init(void)
; {
	.dbline 47
;  UCSRB = 0x00; //disable while setting baud rate
	clr R2
	out 0xa,R2
	.dbline 48
;  UCSRA = 0x00;
	out 0xb,R2
	.dbline 49
;  UCSRC = 0x86;
	ldi R24,134
	out 0x20,R24
	.dbline 50
;  UBRRL = 0x47; //set baud rate lo
	ldi R24,71
	out 0x9,R24
	.dbline 51
;  UBRRH = 0x00; //set baud rate hi
	out 0x20,R2
	.dbline 52
;  UCSRB = 0x98;
	ldi R24,152
	out 0xa,R24
	.dbline -2
	.dbline 53
; }
L3:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 22
	rjmp _uart0_rx_isr
	.area text(rom, con, rel)
	.dbfile F:\單片機教學\調試程序\實驗二舵機串口\2.c
	.dbfunc e uart0_rx_isr _uart0_rx_isr fV
	.even
_uart0_rx_isr::
	st -y,R2
	st -y,R24
	in R2,0x3f
	st -y,R2
	.dbline -1
	.dbline 57
; 
; #pragma interrupt_handler uart0_rx_isr:12
; void uart0_rx_isr(void)
; {
	.dbline 60
;  //uart has received a character in UDR
;    
;  data= UDR;
	in R2,0xc
	sts _data,R2
	.dbline 61
;  UDR =  data;
	out 0xc,R2
	.dbline 62
;  flag = 1;
	ldi R24,1
	sts _flag,R24
	.dbline -2
	.dbline 65
;  
;  
; }
L4:
	ld R2,y+
	out 0x3f,R2
	ld R24,y+
	ld R2,y+
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 69
; 
; //call this routine to initialise all peripherals
; void init_devices(void)
; {
	.dbline 71
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 72
;  port_init();
	rcall _port_init
	.dbline 73
;  timer1_init();
	rcall _timer1_init
	.dbline 74
;  uart0_init();
	rcall _uart0_init
	.dbline 76
; 
;  MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 77
;  GICR  = 0x00;
	out 0x3b,R2
	.dbline 78
;  TIMSK = 0x04; //timer interrupt sources
	ldi R24,4
	out 0x39,R24
	.dbline 79
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
	.dbline 81
;  //all peripherals are now initialised
; }
L5:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
;           time -> R20,R21
	.even
_main::
	.dbline -1
	.dbline 85
; 
; //
; void main(void)
; {
	.dbline 87
;  unsigned int time;
;  init_devices();
	rcall _init_devices
	rjmp L8
L7:
	.dbline 90
;  //insert your functional code here...
;  while(1)
;  {
	.dbline 91
;   if(flag == 1)
	lds R24,_flag
	cpi R24,1
	brne L10
	.dbline 92
;   {	
	.dbline 93
;   	time = data *31;
	lds R2,_data
	ldi R24,31
	mul R24,R2
	movw R20,R0
	.dbline 94
; 	time = (time>>1)+691;
	lsr R21
	ror R20
	subi R20,77  ; offset = 691
	sbci R21,253
	.dbline 95
;  	OCR1AH = time >>8;
	movw R2,R20
	mov R2,R3
	clr R3
	out 0x2b,R2
	.dbline 96
;  	OCR1AL = time; 
	out 0x2a,R20
	.dbline 97
; 	flag = 0;
	clr R2
	sts _flag,R2
	.dbline 98
;   }
L10:
	.dbline 99
L8:
	.dbline 89
	rjmp L7
X0:
	.dbline -2
	.dbline 101
; }
; 
; }
L6:
	.dbline 0 ; func end
	ret
	.dbsym r time 20 i
	.dbend