C到汇编程序转换

当然，只要把它贴在这里就行了。



      以下为原文

    Sure, just attach it to a post here.
 

任何C编译器都能做到这一点。当然，如果程序很短，你最好从头开始写。



      以下为原文

    Any C compiler can do it. XC8 of course.
 
However, if the program is short, you may be better off writing it from scratch.

为什么不列出来呢？XTAL球？



      以下为原文

    Why not list it?
 
xtal ball?

谢谢。



      以下为原文

    Thanks here it is.
 

PIC16F628A - 20MHz HS xtal
  Compiler - MikroC for PIC v8
  PIC pins;
   RA0 = digital ST input, quad encoder A
   RA1 = digital ST input, quad encoder B
   RB3 = CCP1 output, PWM to motor, HI = ON
   RB0 = echo encoder A output
   RB1 = echo encoder A output

   PIC configs; MCRLE off, BODEN off, BORES off, WDT off, LVP off, PWRT on
******************************************************************************/

// This constant sets the motor speed. The value is in nanoSeconds per pulse,
// as we are using a quadrature encoder there are 4 pulses per encoder slot.
// My encoder had 36 slots, so that makes 36*4 or 144 pulses per revolution.
// Example; 1 motor rev per second = 144 pulses /sec.
// nS per pulse = 1 billion / 144 = 6944444
//#define  MOTOR_PULSE_PERIOD  1736111    // 4 RPS
//#define  MOTOR_PULSE_PERIOD  3472222    // 2 RPS
#define  MOTOR_PULSE_PERIOD  6944444    // 1 RPS
//#define  MOTOR_PULSE_PERIOD  13888889   // 0.5 RPS

// This constant sets the proportional gain. Basically it sets how much
// more PWM % is added for each pulse behind that the motor gets.
// ie; if set to 10, the PWM is increased by 10% for each pulse behind.
// Values must be within 1-50. Values of 10 or 16 worked well with
// low motor RPMs, for higher RPMs a smaller value like 2 to 8 can be used.
#define  MOTOR_PROP_GAIN  10

// global vars
unsigned char rpos;       // reference position of xtal based freq
unsigned char mpos;       // actual motor position
unsigned char mlag;       // amount the motor lags the reference
unsigned char enc_new;    // holds motor's quadrature encoder data for testing
unsigned char enc_last;
unsigned long bres;       // bresenham accumulator used to make ref frequency
unsigned char pins;       // temporary var for echoing encoder signals


//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void interrupt()
{
  //-------------------------------------------------------
  // This is TMR0 int, prescaled at 2:1 so we get here every 512 instructions.
  // This int does the entire closed loop speed control;
  //  1. updates encoder to see if motor has moved, records it position
  //  2. updates reference freq generator, records its position
  //  3. compares the two, sets PWM if motor lags behind reference
  //  4. limit both counts, so they never roll, but still retain all error
  //-------------------------------------------------------
  // clear int flag straight away to give max safe time
  INTCON.T0IF = 0;

  //  1. updates encoder to see if motor has moved, records it position
  enc_new = (PORTA & 0b00000011);   // get the 2 encoder bits
  if(enc_new != enc_last)
  {
    if(enc_new.F1 != enc_last.F0) mpos++;   // record new motor position
    else                          mpos--;
    enc_last = enc_new;
  }

  //  2. updates reference freq generator, records its position
  bres += 102400;                 // add nS per interrupt period (512 insts * 200nS)
  if(bres >= MOTOR_PULSE_PERIOD)  // if reached a new reference step
  {
    bres -= MOTOR_PULSE_PERIOD;
    rpos++;                       // record new xtal-locked reference position
  }

  //  3. compares the two, set PWM% if motor lags behind reference
  if(mpos < rpos)   // if motor lagging behind
  {
    mlag = (rpos - mpos);                            // find how far it's lagging behind
    if(mlag >= (100/MOTOR_PROP_GAIN)) CCPR1L = 100;  // full power if is too far behind
    else CCPR1L = (mlag * MOTOR_PROP_GAIN);          // else adjust PWM if slightly behind
  }
  else            // else if motor is fast, cut all power!
  {
    CCPR1L = 0;
  }

  //  4. limit both counts, so they never roll, but still retain all error
  if(rpos>250 || mpos>250)
  {
    rpos -= 50;
    mpos -= 50;
  }

}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++


//=============================================================================
//   MAIN
//=============================================================================
void main()
{
  //-------------------------------------------------------
  // setup PIC 16F628A
  CMCON = 0b00000111;     // comparators OFF, all pins digital

  PORTA = 0b00000000;     //
  TRISA = 0b00000011;     // RA0,RA1 used for digital ST encoder inputs

  PORTB = 0b00000000;     //
  TRISB = 0b00000000;     // RB3 is CCP1 PWM out, RB0,RB1 are encoder echo outputs

  // set TMR2 to roll every 100 ticks, PWM freq = 5mil/16/100 = 3125 Hz
  T2CON = 0b00000111;     // TMR2 ON, 16:1 prescale
  PR2 = (100-1);          // PWM total period of 100

  // set PWM out on CCP1
  CCPR1L = 0;             // PWM range 0-100% = start  with PWM of 0%
  CCP1CON = 0b00001100;   // CCP1 on, set to PWM mode

  // TMR0 used for interrupt, makes interrupt every 512 insts
  OPTION_REG = 0b10000000;   // PORTB pullups OFF, TMR0 on, 2:1 prescale
 

  //-------------------------------------------------------
  // setup before main loop
  Delay_mS(200);    // allow PSU voltages time to stabilise

  // setup vars etc, will be used in interrupt
  bres = 0;
  rpos = 0;
  mpos = 0;

  // finally start TMR0 roll interrupt
  INTCON = 0b10100000;  // GIE=on, TMR0IE=on

  //-------------------------------------------------------
  // main run loop
  while(1)
  {
    //-------------------------------------------------
    // We don't need to do anything in main loop as the motor speed
    // control is done entirely in the TMR0 interrupt.


    //-------------------------------------------------
    // For convenience in setting up the encoder trimpots,
    // echo the two encoder pins out two spare PORTB digital outputs!
    pins = 0;
    if(PORTA.F0) pins.F0 = 1;
    if(PORTA.F1) pins.F1 = 1;
    PORTB = pins;    // output those two pins only (PWM output is not affected)
  }
}

//-----------------------------------------------------------------------------

论坛需要[代码]和[/code ]是小写的，以便作为代码标签工作。



      以下为原文

    The forum requires


to be lowercase in order to work as code tags.

嗨，汇编列表和MaFrIP都在ZIPFILE中和MPLAB项目一起。C源代码有一些变化，可以用XC8编译。



      以下为原文

    Hi,
Assembler listing and mapfile are in the zipfile together with MPLAB project.
There are some changes in c source code, to be able to compile with XC8.
 
Regards,
   Mysil
   Attachment(s)

C_source.zip (66.69 KB) - downloaded 93 times

慢的部分是分割和乘法的。如果Moto Pro的增益是8，那么你可以移动3。也慢。无符号长BRES32位的OPS在8位MpUpHOW写下自己，先做慢的部分。走在公园里…



      以下为原文

    The slow parts are division and multiply.
if(mlag >= (100/MOTOR_PROP_GAIN)) CCPR1L = 100;  // full power if is too far behind
else CCPR1L = (mlag * MOTOR_PROP_GAIN);          // else adjust PWM if slightly behind
 
If MOTOR_PROP_GAIN was 8 then you could shift by 3.
 
Also slow.
unsigned long bres
32bit ops in 8bit mpu
 
 
Better off writing yourself, do the slow parts first.
Walk in the park...
 
 
 

是的，但是那些应该在编译时解决。



      以下为原文

   


True, but those (that) should be resolved at compile time

没错，但是他使用的是除法10，你知道它是如何发挥出来的。就像NorthGuy所说的，从头开始写，你可以比编译器更好地优化它。



      以下为原文

    True again, but he is using divide by 10 and you know how that plays out.
 
Like NorthGuy said, write from scratch and you can optimize it better than the compiler.

谢谢大家，我想要汇编源代码，以便将方法包含在另一个PIC和Aptudia. A中。



      以下为原文

    Thanks all, I wanted the assembly source code in order to include the method in another PIC and purpose.
A.

很难将C生成代码合并到另一个汇编程序中。



      以下为原文

    It's quite unlikely you'll be able to merge a C-generated code into another assembler project...

我并不是打算逐字地使用它，而是想破译密码以便合并它。



      以下为原文

   
I did not intend to use it verbatim, but want to decipher the code in order to merge it.
A.