?? pid.lst
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C:\TIC2XX\C2000\CGTOOLS\BIN\DSPA.EXE -q -v2xx -gs pid.asm -o ..\obj\pid.obj -l ..\temp\pid.lst
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Tue May 6 12:41:09 2003
Copyright (c) 1987-1999 Texas Instruments Incorporated
pid.asm PAGE 1
1 ;=====================================================================================
2 ; File name: PID.ASM
3 ;
4 ; Originator: Digital Control Systems Group
5 ; Texas Instruments
6 ;
7 ; Description:
8 ; Performs PID and feed forward control
9 ;
10 ;=====================================================================================
11 ; History:
12 ;-------------------------------------------------------------------------------------
13 ; 9-15-2000 Release Rev 1.0
14 ;-------------------------------------------------------------------------------------
15 ; C prototype : int pid(struct pid_data pointer *);
16 ;===========================================================================
17 ;
18 ; History:
19 ; __________________________________________________________________________
20 ; Date of Mod | DESCRIPTION
21 ; ------------|-----------------------------------------------------------
22 ; |
23 ; |
24 ; |
25 ; |
26 ;===========================================================================
27 ; The PID and Feed-forward controller operates on a structure defined as
28 ; follows:
29 ; [un_H,un_L,en,en-1,en-2,K0,K1,K2,Kx,Kf,rn,sat_upper,sat_lower,output]
30 ; This is fourteen elements in all.
31 ; If any func *s are added they should be added in at the end, or else the pid_ff
32 ; called with a * to the first data element.
33 ;
34
35
36
37
38 .def _pid_ff
39
40 0000 8aa0 _pid_ff: POPD *+
41 0001 80a0 SAR AR0,*+
42 0002 8180 SAR AR1,*
43 0003 b001 LARK AR0,1
44 0004 00e8 LAR AR0,*0+,AR0
45 ;===============================================================================
46 0005 be43 SETC OVM
47 0006 bf01 SPM 1
48 0007 be46 clrc SXM ; ARP=AR0, AR0->FR0.
49 ;-------------------------------------------------------------------------------
50 0008 7c03 SBRK #3 ; Point to ARG1 (in this pointer to
51 ; source struct.
52 ; AR0=(FR0)-3
53 ; ARP=AR0, AR0->FR0-3.
54 ;-------------------------------------------------------------------------------
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Tue May 6 12:41:09 2003
Copyright (c) 1987-1999 Texas Instruments Incorporated
pid.asm PAGE 2
55 0009 038b LAR AR3,*,AR3 ; point AR3 to struct.
56 ; ARP=AR3, AR0->FR0-3, AR3->un_H.
57 ;-------------------------------------------------------------------------------
58 000a 7807 ADRK #7 ; move AR3 to point to K2
59 ; ARP=AR3, AR0->FR0-3, AR3->K2.
60 ;-------------------------------------------------------------------------------
61 000b 8b88 MAR *,AR0 ; ARP=AR0 to get the pointer again.
62 ; ARP=AR0, AR0->FR0-3, AR3->K2.
63 ;-------------------------------------------------------------------------------
64 000c 028a LAR AR2,*,AR2 ; Get the ptr to struct pid in AR2.
65 ; ARP=AR2, AR0->FR0-3, AR2->un_H,AR3->K2
66 ;-------------------------------------------------------------------------------
67 000d 6aa0 LACC *+,16 ; get un_H in ACCH
68 ; ARP=AR2, AR0->FR0-3, AR2->un_L,AR3->K2
69 ;-------------------------------------------------------------------------------
70 000e 20a0 ADD *+ ; get un_L in ACCL
71 ; ARP=AR2, AR0->FR0-3, AR2->en,AR3->K2
72 ;-------------------------------------------------------------------------------
73 000f 7802 ADRK #2 ; point AR2 to en-2.
74 ; ARP=AR2, AR0->FR0-3, AR2->en-2,AR3->K2
75 ;-------------------------------------------------------------------------------
76 0010 739b LT *-,AR3 ; get en-2 in TREG
77 ; ARP=AR3, AR2->en-1,AR3->K2, AR0->FR0-3
78 ;-------------------------------------------------------------------------------
79 0011 549a MPY *-,AR2 ; get product (en-2)*K2
80 ; ARP=AR2, AR2->en-1,AR3->K1, AR0->FR0-3
81 ;-------------------------------------------------------------------------------
82 0012 729b LTD *-,AR3 ; get en-1 and point to en
83 ; also en-1 is copied to en-2.
84 ; **ALSO **
85 ; add product to un_H:un_L.
86 ; ARP=AR3, AR2->en ,AR3->K1, AR0->FR0-3
87 ;-------------------------------------------------------------------------------
88 0013 549a MPY *-,AR2 ; multiply by K1 and move AR3 to K0
89 ; ARP=AR2, AR2->en,AR3->K0, AR0->FR0-3
90 ;-------------------------------------------------------------------------------
91 0014 729b LTD *-,AR3 ; load TREG with en, copy en to en-1
92 ; ARP=AR3 pointing to K0
93 ; AR2 now points to un_L
94 ; **ALSO **
95 ; add product to un_H:un_L.
96 ; ARP=AR3, AR2->un_L,AR3->K0, AR0->FR0-3
97 ;-------------------------------------------------------------------------------
98 0015 548a MPY *,AR2 ; get product K0.en
99 ; ARP=AR2, AR2->un_L,AR3->K0, AR0->FR0-3
100 ;-------------------------------------------------------------------------------
101 0016 be04 APAC ; add to acc
102 ;-------------------------------------------------------------------------------
103 ; Acc now has un=un-1 + K0.en + K1 en-1 + K2 en-2.
104 ; AR3 points to K0, AR2 points to un_L
105 ; ARP=AR3.
106 ;-------------------------------------------------------------------------------
107 0017 9090 SACL *- ; store lower un-sat'ed sum in un_L
108 ; ARP=AR2, AR2->un_H,AR3->K0, AR0->FR0-3
TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Tue May 6 12:41:09 2003
Copyright (c) 1987-1999 Texas Instruments Incorporated
pid.asm PAGE 3
109 ;-------------------------------------------------------------------------------
110 0018 9880 SACH * ; store upper un-sat'ed sum in un_H
111 ; ARP=AR2, AR2->un_H,AR3->K0, AR0->FR0-3
112 ;-------------------------------------------------------------------------------
113
114 ; AR2 points to un_H
115
116
117 ; B _PID_DIAG_EXIT
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