?? int.asm
字號:
;************************************************
;Name :InterruptSub
;Function:
;Input :
;Output :
;Register Used:
;*************************************************
InterruptSub:
XCH A,AccBuf
XCH A,PFLAG
B0MOV PflagBuf,A
b0bts0 FTC0IRQ ;//Analyse the Interrupt resourc
jmp TC0INTR
b0bts0 ft0irq
jmp t0intr
b0bts0 FP00IRQ
jmp P00INTR
Interrupt90:
XCH A,PflagBuf
B0MOV PFLAG,A
XCH A,AccBuf ;//For release the Acc And Pflag
RETI
;--------------------------------------------------------
;--------------------------------------------------------
TC0INTR:
incms timer5ms
nop
mov a,timer5ms
sub a,#100
bts1 fc
jmp tc0intr00
clr timer5ms
bset t5msflag
tc0intr00:
;----------------------
;左右翼控制
b0bts0 wingstatflag
jmp TC0INTR10
b0bset ptwing
decms wingbuf
jmp TC0INTR20
b0bclr ptwing
b0bset wingstatflag
mov_ winglowbuf,lowcontant ;set low level 10ms
mov_ wingbuf,wingloadbuf ;set high level
;-----
TC0INTR10:
decms winglowbuf
jmp TC0INTR20
b0bclr wingstatflag
;-----------------------
TC0INTR20:
;尾翼控制
b0bts0 empennagestatflag
jmp TC0INTR30
b0bset ptempennage
decms empennagebuf
jmp TC0INTR40
b0bclr ptempennage
b0bset empennagestatflag
mov_ empennagelowbuf,lowcontant ;set low level 10ms
mov_ empennagebuf,empennageloadbuf ;set high level
;-----
TC0INTR30:
decms empennagelowbuf
jmp TC0INTR40
b0bclr empennagestatflag
;-----------------------
TC0INTR40:
;螺旋槳控制
b0bts0 screwstatflag
jmp TC0INTR50
b0bset ptscrew
decms screwbuf
jmp TC0INTR60
b0bclr ptscrew
b0bset screwstatflag
mov_ screwlowbuf,lowcontant ;set low level 10ms
mov_ screwbuf,screwloadbuf ;set high level
;-----
TC0INTR50:
decms screwlowbuf
jmp TC0INTR60
b0bclr screwstatflag
;-----------------------
TC0INTR60:
;擺尾控制
jmp TC0INTR70
b0bset ptswing
decms swingbuf
jmp TC0INTR80
b0bclr ptswing
b0bset swingstatflag
mov_ swinglowbuf,lowcontant ;set low level 10ms
mov_ swingbuf,swingloadbuf ;set high level
;-----
TC0INTR70:
decms swinglowbuf
jmp TC0INTR80
b0bclr swingstatflag
;-----
TC0INTR80:
TC0INTR90:
b0bclr FTC0IRQ
jmp Interrupt90
;--------------------------------------------------------
;--------------------------------------------------------
t0intr:
mov a,#6
sub a,levecount
bts0 fc
jmp t0intr10
bset errorflag
jmp t0intr90
t0intr10:
incms levecount
nop
t0intr90:
bclr ft0irq
jmp interrupt90
;--------------------------------------------------------
;--------------------------------------------------------
P00INTR:
bclr fp00irq
bclr ft0enb
mov a,t0c
bts1 singleflag
jmp disasm100
mov level,a ;上升沿進入
jmp disasm200
disasm100:
mov leveh,a ;下降沿進入
jmp disasm200
disasm200:
clr t0c
bset ft0enb
bts0 singleflag
jmp disasm220
jmp disasm210
disasm210:
@p00_edge 1 ;下降沿進入，設為上升沿中斷
bts0 firstflag
jmp disasm221
mov a,levecount
bts0 fz
jmp disasm80
bset firstflag
clr levecount
clr inputcount
jmp disasm90
disasm220:
@p00_edge 2 ;上升沿進入，設為下降沿中斷
mov a,#35;60;56 ;448us=8x56
sub a,level
bts0 fc
jmp disasm80 ;小于448us，出錯
mov a,#95;70;75 ;600us=8x75
sub a,level
bts0 fc
jmp disasm90 ;小于600us，返回
jmp disasm80 ;大于600us，出錯
disasm221:
incms inputcount
nop
mov a,inputcount
sub a,#5
bts1 fc
jmp disasm70;chksignaltable
jmp disasm80
disasm80:
@p00_edge 2 ;出錯，設為下降沿中斷
clr inputcount
clr levecount
bclr firstflag
jmp disasm90
disasm70:
bset chksigntableflag
disasm90:
P00INTR90:
jmp Interrupt90
;***********************************************
mnint:
bts1 chksigntableflag
jmp gearempennage60
bclr chksigntableflag
clr tablecount
bclr fp00ien
chksignaltable: ;查詢控制信號的檔位
b0mov y,#signaltable$m
b0mov z,#signaltable$l
mov a,tablecount
add z,a
mov a,#0
adc y,a
movc
sub a,leveh
bts0 fc
jmp chksignaltableend
jmp signaltableadd
signaltableadd:
incms tablecount
nop
jmp chksignaltable
chksignaltableend:
mov a,tablecount
bts0 fz
jmp mnint008 ;error
sub a,#22
bts0 fc
jmp mnint008 ;error
mov a,tablecount
add a,zerocontant
mov gearbuf,a
mov a,inputcount
@jmp_a 5
jmp mnint00
jmp gearwing
jmp gearempennage
jmp gearscrew
jmp gearswing
; jmp mnint00
gearwing:
mov a,gearbuf
cmprs a,wingbuf1
jmp gearwing10
incms samebuf1
nop
mov a,samebuf1
sub a,samecontant
bts1 fc
jmp mnint00
bts1 add1flag
jmp gearwing001
mov a,wingbuf1
sub a,wingloadbuf
bts1 fc
jmp gearwing002
sub a,#2
bts1 fc
jmp mnint00
bclr add1flag
jmp gearwing002
gearwing001:
mov a,wingloadbuf
sub a,wingbuf1
bts1 fc
jmp gearwing002
sub a,#2
bts1 fc
jmp mnint00
bset add1flag
jmp gearwing002
gearwing002:
mov a,wingbuf1
mov wingloadbuf,a
mov wingbuf,a
clr samebuf1
bclr wingstatflag
jmp mnint00
gearwing10:
mov a,gearbuf
mov wingbuf1,a
clr samebuf1
jmp mnint00
gearempennage:
mov a,gearbuf
cmprs a,empennagebuf1
jmp gearempennage10
incms samebuf2
nop
mov a,samebuf2
sub a,samecontant
bts1 fc
jmp mnint00
clr samebuf2
call complete
gearempennage50:
bts1 csxenbflag
jmp gearempennage20
gearempennage60:
bts1 csxenbflag
jmp mnint00
bts1 empenaddflag
jmp gearempennage30
bclr empenaddflag
mov a,equalcontant
add a,csxcalibratebuf
add a,csxcalibratebuf
mov empennagebuf1,a
jmp gearempennage20
gearempennage30:
bts1 empensubflag
jmp mnint00
bclr empensubflag
mov a,equalcontant
sub a,csxcalibratebuf
sub a,csxcalibratebuf
mov empennagebuf1,a
jmp gearempennage20
gearempennage20:
bts1 add2flag
jmp gearempennage001
mov a,empennagebuf1
sub a,empennageloadbuf
bts1 fc
jmp gearempennage002
sub a,#2
bts1 fc
jmp mnint00
bclr add2flag
jmp gearempennage002
gearempennage001:
mov a,empennageloadbuf
sub a,empennagebuf1
bts1 fc
jmp gearempennage002
sub a,#2
bts1 fc
jmp mnint00
bset add2flag
jmp gearempennage002
gearempennage002:
mov a,empennagebuf1
mov empennageloadbuf,a
mov empennagebuf,a
bclr empennagestatflag
jmp mnint00
gearempennage10:
mov empennagebuf1,a
clr samebuf2
jmp mnint00
gearscrew:
mov a,gearbuf
cmprs a,screwbuf1
jmp gearscrew10
incms samebuf3
nop
mov a,samebuf3
sub a,samecontant
bts1 fc
jmp mnint00
bts1 add3flag
jmp gearscrew001
mov a,screwbuf1
sub a,screwloadbuf
bts1 fc
jmp gearscrew002
sub a,#2
bts1 fc
jmp mnint00
bclr add3flag
jmp gearscrew002
gearscrew001:
mov a,screwloadbuf
sub a,screwbuf1
bts1 fc
jmp gearscrew002
sub a,#2
bts1 fc
jmp mnint00
bset add3flag
jmp gearscrew002
gearscrew002:
mov a,screwbuf1
mov screwloadbuf,a
mov screwbuf,a
clr samebuf3
bclr screwstatflag
jmp mnint00
gearscrew10:
mov a,gearbuf
mov screwbuf1,a
clr samebuf3
jmp mnint00
gearswing:
mov a,gearbuf
cmprs a,swingbuf1
jmp gearswing10
incms samebuf4
nop
mov a,samebuf4
sub a,samecontant
bts1 fc
jmp mnint00
bts1 add4flag
jmp gearswing001
mov a,swingbuf1
sub a,swingloadbuf
bts1 fc
jmp gearswing002
sub a,#2
bts1 fc
jmp mnint00
bclr add4flag
jmp gearswing002
gearswing001:
mov a,swingloadbuf
sub a,swingbuf1
bts1 fc
jmp gearswing002
sub a,#2
bts1 fc
jmp mnint00
bset add4flag
jmp gearswing002
gearswing002:
mov a,swingbuf1
mov swingloadbuf,a
mov swingbuf,a
clr samebuf4
bclr swingstatflag
jmp mnint00
gearswing10:
mov a,gearbuf
mov swingbuf1,a
clr samebuf4
jmp mnint00
mnint008:
@p00_edge 2 ;出錯，設為下降沿中斷
clr inputcount
clr levecount
bclr firstflag
mnint00:
bset fp00ien
mnint01:
bts1 t5msflag
jmp mnint90
bclr t5msflag
call dkeychat
mnint10:
incms timer500ms
nop
mov a,timer500ms
sub a,#100
bts1 fc
jmp mnint90
clr timer500ms
bset t500msflag
mnint90:
ret
;***********************************************
signaltable:
dw 034h ;0
dw 03ah ;0 ;1
dw 041h ;1
dw 048h ;2
dw 04fh ;3
dw 056h ;4
dw 05dh ;5
dw 064h ;6
dw 06bh ;7
dw 072h ;8
dw 079h ;9
dw 080h ;10
dw 087h ;11
dw 08eh ;12
dw 095h ;13
dw 09ch ;14
dw 0a3h ;15
dw 0aah ;16
dw 0b1h ;17
dw 0b8h ;18
dw 0bfh ;19
dw 0c6h ;20 ;20
dw 0ffh ;21
/*
dw 09dh ;21
dw 0a2h ;22
dw 0a7h ;23
dw 0ach ;24
dw 0b3h ;25
dw 0b8h ;26
dw 0bdh ;27
dw 0c2h ;28
dw 0ffh;0c7h ;29 ;
dw 0cdh ;30
dw 0d2h ;31
dw 0d7h ;32
dw 0ddh ;33
dw 0e1h ;34
dw 0e7h ;35
dw 0ech ;36
dw 0f2h ;37
dw 0f7h ;38
dw 0fch ;39
dw 0ffh ;40
*/
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