1 ; C Compiler for STM8 (COSMIC Software) 2 ; Parser V4.12.9 - 19 Apr 2023 3 ; Generator (Limited) V4.5.6 - 18 Jul 2023 61 ; 19 void InitDC2AC(void* p) 61 ; 20 { 63 .text: section .text,new 64 0000 _InitDC2AC: 68 ; 21 TIM1_DeInit(); //16MHz 70 0000 cd0000 call _TIM1_DeInit 72 ; 22 TIM1_TimeBaseInit(0,TIM1_COUNTERMODE_UP,PULSE_PRIOD, 0); 74 0003 4b00 push #0 75 0005 ae0320 ldw x,#800 76 0008 89 pushw x 77 0009 4b00 push #0 78 000b 5f clrw x 79 000c cd0000 call _TIM1_TimeBaseInit 81 000f 5b04 addw sp,#4 82 ; 23 TIM1_Cmd(ENABLE); 84 0011 a601 ld a,#1 85 0013 cd0000 call _TIM1_Cmd 87 ; 24 StartPulse(0); 89 0016 5f clrw x 90 0017 cd0000 call _StartPulse 92 ; 26 TIM1_CtrlPWMOutputs(ENABLE); 94 001a a601 ld a,#1 95 001c cd0000 call _TIM1_CtrlPWMOutputs 97 ; 28 TIM1_Cmd(ENABLE); 99 001f a601 ld a,#1 100 0021 cd0000 call _TIM1_Cmd 102 ; 29 } 105 0024 81 ret 128 ; 31 void LockAllMotor(void) 128 ; 32 { 129 .text: section .text,new 130 0000 _LockAllMotor: 134 ; 33 (GPIOC->ODR&=(~0x08)); 136 0000 7217500a bres 20490,#3 137 ; 34 } 140 0004 81 ret 163 ; 36 void UNLockAllMotor(void) 163 ; 37 { 164 .text: section .text,new 165 0000 _UNLockAllMotor: 169 ; 38 (GPIOC->ODR|=0x08); 171 0000 7216500a bset 20490,#3 172 ; 39 } 175 0004 81 ret 215 ; 41 void StartPulse(void* p) 215 ; 42 { 216 .text: section .text,new 217 0000 _StartPulse: 221 ; 43 IED.MotorMoveDelayTimerID=-1; 223 0000 35ff0018 mov _IED+24,#255 224 ; 44 TIM1_OC1Init(TIM1_OCMODE_PWM1, 224 ; 45 TIM1_OUTPUTSTATE_ENABLE, 224 ; 46 TIM1_OUTPUTNSTATE_DISABLE, 224 ; 47 PULSE_PRIOD/2, 224 ; 48 TIM1_OCPOLARITY_LOW , 224 ; 49 TIM1_OCNPOLARITY_LOW , 224 ; 50 TIM1_OCIDLESTATE_RESET, 224 ; 51 TIM1_OCNIDLESTATE_RESET); 226 0004 4b00 push #0 227 0006 4b00 push #0 228 0008 4b88 push #136 229 000a 4b22 push #34 230 000c ae0190 ldw x,#400 231 000f 89 pushw x 232 0010 4b00 push #0 233 0012 ae6011 ldw x,#24593 234 0015 cd0000 call _TIM1_OC1Init 236 0018 5b07 addw sp,#7 237 ; 52 TIM1_OC1PreloadConfig(ENABLE); 239 001a a601 ld a,#1 240 001c cd0000 call _TIM1_OC1PreloadConfig 242 ; 53 TIM1_OC2Init(TIM1_OCMODE_PWM1, 242 ; 54 TIM1_OUTPUTSTATE_ENABLE, 242 ; 55 TIM1_OUTPUTNSTATE_DISABLE, 242 ; 56 PULSE_PRIOD/2, 242 ; 57 TIM1_OCPOLARITY_HIGH , 242 ; 58 TIM1_OCNPOLARITY_LOW , 242 ; 59 TIM1_OCIDLESTATE_RESET, 242 ; 60 TIM1_OCNIDLESTATE_RESET); 244 001f 4b00 push #0 245 0021 4b00 push #0 246 0023 4b88 push #136 247 0025 4b00 push #0 248 0027 ae0190 ldw x,#400 249 002a 89 pushw x 250 002b 4b00 push #0 251 002d ae6011 ldw x,#24593 252 0030 cd0000 call _TIM1_OC2Init 254 0033 5b07 addw sp,#7 255 ; 61 TIM1_OC2PreloadConfig(ENABLE); 257 0035 a601 ld a,#1 258 0037 cd0000 call _TIM1_OC2PreloadConfig 260 ; 62 } 263 003a 81 ret 300 ; 64 void InitInvert(void *p) 300 ; 65 { 301 .text: section .text,new 302 0000 _InitInvert: 306 ; 67 TIM1_OC3Init(TIM1_OCMODE_PWM1, 306 ; 68 TIM1_OUTPUTSTATE_ENABLE, 306 ; 69 TIM1_OUTPUTNSTATE_DISABLE, 306 ; 70 PULSE_PRIOD/2, 306 ; 71 TIM1_OCPOLARITY_HIGH , 306 ; 72 TIM1_OCNPOLARITY_LOW , 306 ; 73 TIM1_OCIDLESTATE_RESET, 306 ; 74 TIM1_OCNIDLESTATE_RESET); 308 0000 4b00 push #0 309 0002 4b00 push #0 310 0004 4b88 push #136 311 0006 4b00 push #0 312 0008 ae0190 ldw x,#400 313 000b 89 pushw x 314 000c 4b00 push #0 315 000e ae6011 ldw x,#24593 316 0011 cd0000 call _TIM1_OC3Init 318 0014 5b07 addw sp,#7 319 ; 75 TIM1_OC3PreloadConfig(ENABLE); 321 0016 a601 ld a,#1 322 0018 cd0000 call _TIM1_OC3PreloadConfig 324 ; 76 } 327 001b 81 ret 351 ; 78 void StopInvert() 351 ; 79 { 352 .text: section .text,new 353 0000 _StopInvert: 357 ; 80 TIM1_ForcedOC3Config(TIM1_FORCEDACTION_INACTIVE ); 359 0000 a640 ld a,#64 360 0002 cd0000 call _TIM1_ForcedOC3Config 362 ; 81 } 365 0005 81 ret 403 ; 84 void DeInitDC2AC(void *p) 403 ; 85 { 404 .text: section .text,new 405 0000 _DeInitDC2AC: 409 ; 86 IED.cDCCovert = 1; 411 0000 35010012 mov _IED+18,#1 412 ; 87 TIM1_ForcedOC1Config(TIM1_FORCEDACTION_INACTIVE ); 414 0004 a640 ld a,#64 415 0006 cd0000 call _TIM1_ForcedOC1Config 417 ; 88 TIM1_ForcedOC2Config(TIM1_FORCEDACTION_ACTIVE ); 419 0009 a650 ld a,#80 420 000b cd0000 call _TIM1_ForcedOC2Config 422 ; 91 } 425 000e 81 ret 463 ; 93 void StopDC2ACConvert(void* p) 463 ; 94 { 464 .text: section .text,new 465 0000 _StopDC2ACConvert: 469 ; 95 IED.cMoving = 0; 471 0000 725f0002 clr _IED+2 472 ; 96 IED.cDCCovert = 0; 474 0004 725f0012 clr _IED+18 475 ; 100 StopTimer(&IED.MotorMoveDelayTimerID ); 477 0008 ae0018 ldw x,#_IED+24 478 000b cd0000 call _StopTimer 480 ; 101 DeInitDC2AC(0); 482 000e 5f clrw x 483 000f cd0000 call _DeInitDC2AC 485 ; 102 } 488 0012 81 ret 491 switch .data 492 0000 _CCR2_Val: 493 0000 0000 dc.w 0 588 ; 105 void SetWarningFreq(unsigned int freq) 588 ; 106 { 589 .text: section .text,new 590 0000 _SetWarningFreq: 592 0000 89 pushw x 593 0001 5205 subw sp,#5 594 00000005 OFST: set 5 597 ; 108 TIM3_DeInit(); //4MHz //溢出频率为1KHz //实际250Hz 599 0003 cd0000 call _TIM3_DeInit 601 ; 109 TIM3_TimeBaseInit(0,0xFFFF); 603 0006 aeffff ldw x,#65535 604 0009 89 pushw x 605 000a 4f clr a 606 000b cd0000 call _TIM3_TimeBaseInit 608 000e 85 popw x 609 ; 110 TIM3_Cmd(ENABLE); 611 000f a601 ld a,#1 612 0011 cd0000 call _TIM3_Cmd 614 ; 112 if(freq==0) 616 0014 1e06 ldw x,(OFST+1,sp) 617 0016 2604 jrne L702 618 ; 113 mode = TIM3_OCMODE_TIMING; 620 0018 0f05 clr (OFST+0,sp) 623 001a 2035 jra L112 624 001c L702: 625 ; 116 CCR2_Val = 8000000UL/freq; 627 001c 1e06 ldw x,(OFST+1,sp) 628 001e cd0000 call c_uitolx 630 0021 96 ldw x,sp 631 0022 1c0001 addw x,#OFST-4 632 0025 cd0000 call c_rtol 635 0028 ae1200 ldw x,#4608 636 002b bf02 ldw c_lreg+2,x 637 002d ae007a ldw x,#122 638 0030 bf00 ldw c_lreg,x 639 0032 96 ldw x,sp 640 0033 1c0001 addw x,#OFST-4 641 0036 cd0000 call c_ludv 643 0039 be02 ldw x,c_lreg+2 644 003b cf0000 ldw _CCR2_Val,x 645 ; 117 if((TIM3->CCMR2&TIM3_OCMODE_TOGGLE)==TIM3_OCMODE_TOGGLE) 647 003e c65326 ld a,21286 648 0041 a430 and a,#48 649 0043 a130 cp a,#48 650 0045 271b jreq L62 651 ; 118 return ; 653 ; 119 mode = TIM3_OCMODE_TOGGLE; 655 0047 a630 ld a,#48 656 0049 6b05 ld (OFST+0,sp),a 658 ; 120 TIM3_ITConfig(TIM3_IT_CC2, ENABLE); 660 004b ae0401 ldw x,#1025 661 004e cd0000 call _TIM3_ITConfig 663 0051 L112: 664 ; 122 TIM3_OC2Init(mode, 664 ; 123 TIM3_OUTPUTSTATE_ENABLE, 664 ; 124 CCR2_Val, 664 ; 125 TIM3_OCPOLARITY_LOW); 666 0051 4b22 push #34 667 0053 ce0000 ldw x,_CCR2_Val 668 0056 89 pushw x 669 0057 7b08 ld a,(OFST+3,sp) 670 0059 ae0011 ldw x,#17 671 005c 95 ld xh,a 672 005d cd0000 call _TIM3_OC2Init 674 0060 5b03 addw sp,#3 675 ; 127 } 676 0062 L62: 679 0062 5b07 addw sp,#7 680 0064 81 ret 714 ; 131 @far @interrupt void TIM3_CAP_COM_IRQHandler(void) 714 ; 132 #else // _RAISONANCE_ 714 ; 133 void TIM3_CAP_COM_IRQHandler(void) interrupt 16 714 ; 134 #endif // _COSMIC_ 714 ; 135 { 716 .text: section .text,new 717 0000 f_TIM3_CAP_COM_IRQHandler: 719 00000002 OFST: set 2 720 0000 89 pushw x 723 ; 136 unsigned int newValue = (TIM3->CCR2H<<8)+TIM3->CCR2L+CCR2_Val; 725 0001 c6532f ld a,21295 726 0004 5f clrw x 727 0005 97 ld xl,a 728 0006 4f clr a 729 0007 02 rlwa x,a 730 0008 01 rrwa x,a 731 0009 cb5330 add a,21296 732 000c 2401 jrnc L23 733 000e 5c incw x 734 000f L23: 735 000f 02 rlwa x,a 736 0010 72bb0000 addw x,_CCR2_Val 737 0014 1f01 ldw (OFST-1,sp),x 739 ; 137 TIM3->SR1 &= ~TIM3_IT_CC2; 741 0016 72155322 bres 21282,#2 742 ; 138 TIM3->CCR2H = newValue>>8; 744 001a 7b01 ld a,(OFST-1,sp) 745 001c c7532f ld 21295,a 746 ; 139 TIM3->CCR2L = newValue&0xFF; 748 001f 7b02 ld a,(OFST+0,sp) 749 0021 a4ff and a,#255 750 0023 c75330 ld 21296,a 751 ; 140 GPIOD->ODR^=0x80; 753 0026 901e500f bcpl 20495,#7 754 ; 141 } 757 002a 5b02 addw sp,#2 758 002c 80 iret 797 ; 143 void EnableBrakPower (UCHAR bEnable) 797 ; 144 { 799 .text: section .text,new 800 0000 _EnableBrakPower: 802 0000 88 push a 803 00000000 OFST: set 0 806 ; 145 if(IED.BrakeDelayTimerID!=-1) 808 0001 c60019 ld a,_IED+25 809 0004 a1ff cp a,#255 810 0006 2706 jreq L542 811 ; 146 StopTimer(&IED.BrakeDelayTimerID); 813 0008 ae0019 ldw x,#_IED+25 814 000b cd0000 call _StopTimer 816 000e L542: 817 ; 147 if(bEnable) 819 000e 0d01 tnz (OFST+1,sp) 820 0010 2710 jreq L742 821 ; 149 BRAKECHECK = 1; //如果要开刹车,立即打开 823 0012 72120003 bset _SPIIO+3,#1 824 ; 151 SuspendTask(TASK_CHECK_COIL); 826 0016 a614 ld a,#20 827 0018 cd0000 call _SuspendTask 829 ; 152 SuspendTask(TASK_CHECK_MOTOR); 831 001b a60d ld a,#13 832 001d cd0000 call _SuspendTask 835 0020 2019 jra L152 836 0022 L742: 837 ; 159 IED.BrakeDelayTimerID = StartTimer( 837 ; 160 TIMER_MODE_ONCEROUTINE,1000UL,StartCheckBrake,0); 839 0022 5f clrw x 840 0023 89 pushw x 841 0024 ae0000 ldw x,#_StartCheckBrake 842 0027 89 pushw x 843 0028 ae03e8 ldw x,#1000 844 002b 89 pushw x 845 002c ae0000 ldw x,#0 846 002f 89 pushw x 847 0030 a601 ld a,#1 848 0032 cd0000 call _StartTimer 850 0035 5b08 addw sp,#8 851 0037 c70019 ld _IED+25,a 852 ; 161 nop(); 855 003a 9d nop 857 003b L152: 858 ; 164 } 861 003b 84 pop a 862 003c 81 ret 900 ; 166 void StartCheckBrake(void *p) 900 ; 167 { 901 .text: section .text,new 902 0000 _StartCheckBrake: 906 ; 168 IED.BrakeDelayTimerID = -1; 908 0000 35ff0019 mov _IED+25,#255 909 ; 169 BRAKECHECK = 0; 911 0004 72130003 bres _SPIIO+3,#1 912 ; 170 ActiveTask(TASK_CHECK_COIL,50L); 914 0008 ae0032 ldw x,#50 915 000b 89 pushw x 916 000c ae0000 ldw x,#0 917 000f 89 pushw x 918 0010 a614 ld a,#20 919 0012 cd0000 call _ActiveTask 921 0015 5b04 addw sp,#4 922 ; 171 ActiveTask(TASK_CHECK_MOTOR,1000L); 924 0017 ae03e8 ldw x,#1000 925 001a 89 pushw x 926 001b ae0000 ldw x,#0 927 001e 89 pushw x 928 001f a60d ld a,#13 929 0021 cd0000 call _ActiveTask 931 0024 5b04 addw sp,#4 932 ; 177 } 935 0026 81 ret 959 ; 180 void EnableBattary(void) 959 ; 181 { 960 .text: section .text,new 961 0000 _EnableBattary: 965 ; 182 if(BAT_CTRL_RELAY!=1) 967 0000 c60003 ld a,_SPIIO+3 968 0003 a501 bcp a,#1 969 0005 2604 jrne L103 970 ; 187 BAT_CTRL_RELAY = 1; 972 0007 72100003 bset _SPIIO+3,#0 973 000b L103: 974 ; 189 } 977 000b 81 ret 1001 ; 191 void DisableBattary(void) 1001 ; 192 { 1002 .text: section .text,new 1003 0000 _DisableBattary: 1007 ; 193 if(BAT_CTRL_RELAY!=0) 1009 0000 c60003 ld a,_SPIIO+3 1010 0003 a501 bcp a,#1 1011 0005 2704 jreq L313 1012 ; 198 BAT_CTRL_RELAY = 0; 1014 0007 72110003 bres _SPIIO+3,#0 1015 000b L313: 1016 ; 200 } 1019 000b 81 ret 1050 ; 203 void BotCheck(void) 1050 ; 204 { 1051 .text: section .text,new 1052 0000 _BotCheck: 1056 ; 205 GetCurretPos(); 1058 0000 cd0000 call _GetCurretPos 1060 ; 206 if(pos_bot_bit==0) 1062 0003 c60004 ld a,_SPIIO+4 1063 0006 a580 bcp a,#128 1064 0008 260f jrne L523 1065 ; 208 StopDC2ACConvert(0); 1067 000a 5f clrw x 1068 000b cd0000 call _StopDC2ACConvert 1070 ; 209 SuspendTask(TASK_BREAK);//DC_DN_PR 1072 000e a612 ld a,#18 1073 0010 cd0000 call _SuspendTask 1075 ; 213 IED.cPos = POS_BOT ; 1077 0013 35020001 mov _IED+1,#2 1079 0017 2013 jra L723 1080 0019 L523: 1081 ; 217 CheckBrakePower();//检查逆变是否正常 1083 0019 cd0000 call _CheckBrakePower 1085 ; 218 if(Warning_flag==0) 1087 001c 725d0000 tnz _Warning_flag 1088 0020 260a jrne L723 1089 ; 219 Beep(1,200); 1091 0022 ae00c8 ldw x,#200 1092 0025 89 pushw x 1093 0026 a601 ld a,#1 1094 0028 cd0000 call _Beep 1096 002b 85 popw x 1097 002c L723: 1098 ; 221 } 1101 002c 81 ret 1104 switch .data 1105 0002 _DC2AC_CTRL: 1106 0002 00 dc.b 0 1134 ; 224 void StartDC2ACConvert(void) 1134 ; 225 { 1135 .text: section .text,new 1136 0000 _StartDC2ACConvert: 1140 ; 226 IED.cMoving = 1; 1142 0000 35010002 mov _IED+2,#1 1143 ; 227 if(DC2AC_CTRL==FALSE) 1145 0004 725d0002 tnz _DC2AC_CTRL 1146 0008 2607 jrne L343 1147 ; 229 DC2AC_CTRL = TRUE; 1149 000a 35010002 mov _DC2AC_CTRL,#1 1150 ; 231 UNLockAllMotor(); 1152 000e cd0000 call _UNLockAllMotor 1154 0011 L343: 1155 ; 238 StopTimer(&IED.MotorMoveDelayTimerID); 1157 0011 ae0018 ldw x,#_IED+24 1158 0014 cd0000 call _StopTimer 1160 ; 239 IED.MotorMoveDelayTimerID = StartTimer(TIMER_MODE_ONCEROUTINE,10,StartPulse,0); //延时0.1S逆变 1162 0017 5f clrw x 1163 0018 89 pushw x 1164 0019 ae0000 ldw x,#_StartPulse 1165 001c 89 pushw x 1166 001d ae000a ldw x,#10 1167 0020 89 pushw x 1168 0021 ae0000 ldw x,#0 1169 0024 89 pushw x 1170 0025 a601 ld a,#1 1171 0027 cd0000 call _StartTimer 1173 002a 5b08 addw sp,#8 1174 002c c70018 ld _IED+24,a 1175 ; 241 } 1178 002f 81 ret 1208 ; 251 void Task_Power_Check() //电压错误信号检测 1208 ; 252 { 1209 .text: section .text,new 1210 0000 _Task_Power_Check: 1212 0000 5204 subw sp,#4 1213 00000004 OFST: set 4 1216 ; 253 if(MAINPOWER>MAINPOWER_VOL) // 主电电压正常显示 1218 0002 9c rvf 1219 0003 ae0bb8 ldw x,#3000 1220 0006 cd0000 call c_itof 1222 0009 96 ldw x,sp 1223 000a 1c0001 addw x,#OFST-3 1224 000d cd0000 call c_rtol 1227 0010 ae0010 ldw x,#_voltage+16 1228 0013 cd0000 call c_ltor 1230 0016 96 ldw x,sp 1231 0017 1c0001 addw x,#OFST-3 1232 001a cd0000 call c_fcmp 1234 001d 2d24 jrsle L553 1235 ; 255 IED.Main_Power_OK_Cnt++ ; //连续电压好才判断正常 1237 001f 725c001b inc _IED+27 1238 ; 256 if(IED.Main_Power_OK_Cnt>1) 1240 0023 c6001b ld a,_IED+27 1241 0026 a102 cp a,#2 1242 0028 2538 jrult L163 1243 ; 258 IED.Err &= ~MAIN_POWER_ERROR; 1245 002a 72150005 bres _IED+5,#2 1246 ; 259 ActiveTask(TASK_PHASE,PHASE_PRIOD); 1248 002e ae07d0 ldw x,#2000 1249 0031 89 pushw x 1250 0032 ae0000 ldw x,#0 1251 0035 89 pushw x 1252 0036 a60a ld a,#10 1253 0038 cd0000 call _ActiveTask 1255 003b 5b04 addw sp,#4 1256 ; 260 IED.Main_Power_OK_Cnt = 1; 1258 003d 3501001b mov _IED+27,#1 1259 0041 201f jra L163 1260 0043 L553: 1261 ; 265 DeChargeBat(FALSE); //停止电池放电 1263 0043 4f clr a 1264 0044 cd0000 call _DeChargeBat 1266 ; 266 IED.Main_Power_OK_Cnt = 0; 1268 0047 725f001b clr _IED+27 1269 ; 267 if(MOTOR__RUN) 1271 004b c60003 ld a,_SPIIO+3 1272 004e a50c bcp a,#12 1273 0050 2703 jreq L363 1274 ; 268 ErrStopMotor(); 1276 0052 cd0000 call _ErrStopMotor 1278 0055 L363: 1279 ; 269 IED.Err |= MAIN_POWER_ERROR; 1281 0055 72140005 bset _IED+5,#2 1282 ; 270 IED.Err |= ErrPhase; 1284 0059 72100005 bset _IED+5,#0 1285 ; 271 SuspendTask(TASK_PHASE); //主电错误停止相位检测,防止检测错误 1287 005d a60a ld a,#10 1288 005f cd0000 call _SuspendTask 1290 0062 L163: 1291 ; 273 } 1294 0062 5b04 addw sp,#4 1295 0064 81 ret 1352 ; 275 void ChargeBat(bool bEnable) 1352 ; 276 { 1353 .text: section .text,new 1354 0000 _ChargeBat: 1356 0000 88 push a 1357 00000000 OFST: set 0 1360 ; 278 if(bEnable) //充电时不得放电 1362 0001 4d tnz a 1363 0002 2704 jreq L314 1364 ; 279 DeChargeBat(FALSE); //不充电时不一定放电 1366 0004 4f clr a 1367 0005 cd0000 call _DeChargeBat 1369 0008 L314: 1370 ; 280 CHARGE_BAT = bEnable; 1372 0008 7b01 ld a,(OFST+1,sp) 1373 000a 44 srl a 1374 000b 901d0003 bccm _SPIIO+3,#6 1375 ; 281 } 1378 000f 84 pop a 1379 0010 81 ret 1415 ; 283 void DeChargeBat(bool bEnable) 1415 ; 284 { 1416 .text: section .text,new 1417 0000 _DeChargeBat: 1421 ; 285 FLUSH_BAT = bEnable; 1423 0000 44 srl a 1424 0001 901f0003 bccm _SPIIO+3,#7 1425 ; 286 } 1428 0005 81 ret 1455 ; 289 void BatCheck(void) 1455 ; 290 { 1456 .text: section .text,new 1457 0000 _BatCheck: 1459 0000 5204 subw sp,#4 1460 00000004 OFST: set 4 1463 ; 295 if(BAT_POWER MAINPOWER_VOL) 1484 001f 9c rvf 1485 0020 ae0bb8 ldw x,#3000 1486 0023 cd0000 call c_itof 1488 0026 96 ldw x,sp 1489 0027 1c0001 addw x,#OFST-3 1490 002a cd0000 call c_rtol 1493 002d ae0010 ldw x,#_voltage+16 1494 0030 cd0000 call c_ltor 1496 0033 96 ldw x,sp 1497 0034 1c0001 addw x,#OFST-3 1498 0037 cd0000 call c_fcmp 1500 003a 2d0a jrsle L544 1501 ; 299 IED.Bat_Low_Cnt =0 ; 1503 003c 725f001a clr _IED+26 1504 ; 300 IED.Err &= ~BAT_LOW_ERR; 1506 0040 72170005 bres _IED+5,#3 1508 0044 201d jra L344 1509 0046 L544: 1510 ; 304 IED.Bat_Low_Cnt ++ ; 1512 0046 725c001a inc _IED+26 1513 ; 305 if(IED.Bat_Low_Cnt>=10) 1515 004a c6001a ld a,_IED+26 1516 004d a10a cp a,#10 1517 004f 2504 jrult L154 1518 ; 307 IED.Err |= BAT_LOW_ERR; 1520 0051 72160005 bset _IED+5,#3 1521 0055 L154: 1522 ; 309 if(IED.Bat_Low_Cnt>=80) //检测电压低80次后关机 8S 1524 0055 c6001a ld a,_IED+26 1525 0058 a150 cp a,#80 1526 005a 2507 jrult L344 1527 ; 311 DisableBattary(); //电压低无主电关机 1529 005c cd0000 call _DisableBattary 1531 ; 312 StopDC2ACConvert(0); 1533 005f 5f clrw x 1534 0060 cd0000 call _StopDC2ACConvert 1536 0063 L344: 1537 ; 317 if(BAT_POWER>BATLOW_VOL)//主电失电,可以检测电压低是否恢复 1539 0063 9c rvf 1540 0064 ae2328 ldw x,#9000 1541 0067 cd0000 call c_itof 1543 006a 96 ldw x,sp 1544 006b 1c0001 addw x,#OFST-3 1545 006e cd0000 call c_rtol 1548 0071 ae0004 ldw x,#_voltage+4 1549 0074 cd0000 call c_ltor 1551 0077 96 ldw x,sp 1552 0078 1c0001 addw x,#OFST-3 1553 007b cd0000 call c_fcmp 1555 007e 2d18 jrsle L554 1556 ; 319 if((IED.Err&MAIN_POWER_ERROR)==MAIN_POWER_ERROR) 1558 0080 c60004 ld a,_IED+4 1559 0083 97 ld xl,a 1560 0084 c60005 ld a,_IED+5 1561 0087 a404 and a,#4 1562 0089 5f clrw x 1563 008a 02 rlwa x,a 1564 008b a30004 cpw x,#4 1565 008e 2608 jrne L554 1566 ; 322 IED.Bat_Low_Cnt = 0; 1568 0090 725f001a clr _IED+26 1569 ; 323 IED.Err &= ~BAT_LOW_ERR; 1571 0094 72170005 bres _IED+5,#3 1572 0098 L554: 1573 ; 327 } 1576 0098 5b04 addw sp,#4 1577 009a 81 ret 1580 switch .data 1581 0003 _charegeState: 1582 0003 0000 dc.w 0 1583 0005 _chargeRunCnt: 1584 0005 0000 dc.w 0 1615 ; 335 void TaskChargeBat(void) 1615 ; 336 { 1616 .text: section .text,new 1617 0000 _TaskChargeBat: 1619 0000 5204 subw sp,#4 1620 00000004 OFST: set 4 1623 ; 337 chargeRunCnt++; 1625 0002 ce0005 ldw x,_chargeRunCnt 1626 0005 1c0001 addw x,#1 1627 0008 cf0005 ldw _chargeRunCnt,x 1628 ; 338 GetVoltage(); 1630 000b cd0000 call _GetVoltage 1632 ; 339 BatCheck(); 1634 000e cd0000 call _BatCheck 1636 ; 340 switch (charegeState) 1638 0011 ce0003 ldw x,_charegeState 1640 ; 470 default: 1640 ; 471 break; 1641 0014 5d tnzw x 1642 0015 272b jreq L164 1643 0017 5a decw x 1644 0018 277c jreq L364 1645 001a 5a decw x 1646 001b 2603 jrne L26 1647 001d cc00d7 jp L564 1648 0020 L26: 1649 0020 5a decw x 1650 0021 2603 jrne L46 1651 0023 cc00f5 jp L764 1652 0026 L46: 1653 0026 5a decw x 1654 0027 2603 jrne L66 1655 0029 cc012e jp L174 1656 002c L66: 1657 002c 5a decw x 1658 002d 2603 jrne L07 1659 002f cc014c jp L374 1660 0032 L07: 1661 0032 5a decw x 1662 0033 2603 jrne L27 1663 0035 cc01b0 jp L574 1664 0038 L27: 1665 0038 5a decw x 1666 0039 2603 jrne L47 1667 003b cc01e0 jp L774 1668 003e L47: 1669 003e ac010201 jpf L515 1670 0042 L164: 1671 ; 342 case CHARGE_INIT: 1671 ; 343 //主电OK 1671 ; 344 if((IED.Err&(MAIN_POWER_ERROR))==0) //主 电正常充电 1673 0042 c60005 ld a,_IED+5 1674 0045 a504 bcp a,#4 1675 0047 263b jrne L715 1676 ; 346 if(BAT_POWER>BATSHORT_VOL) 1678 0049 9c rvf 1679 004a ae03e8 ldw x,#1000 1680 004d cd0000 call c_itof 1682 0050 96 ldw x,sp 1683 0051 1c0001 addw x,#OFST-3 1684 0054 cd0000 call c_rtol 1687 0057 ae0004 ldw x,#_voltage+4 1688 005a cd0000 call c_ltor 1690 005d 96 ldw x,sp 1691 005e 1c0001 addw x,#OFST-3 1692 0061 cd0000 call c_fcmp 1694 0064 2d16 jrsle L125 1695 ; 348 EnableBattary(); 1697 0066 cd0000 call _EnableBattary 1699 ; 349 chargeRunCnt = 0; 1701 0069 5f clrw x 1702 006a cf0005 ldw _chargeRunCnt,x 1703 ; 350 ChargeBat(TRUE); 1705 006d a601 ld a,#1 1706 006f cd0000 call _ChargeBat 1708 ; 351 charegeState = PRE_ENCHARGE; 1710 0072 ae0001 ldw x,#1 1711 0075 cf0003 ldw _charegeState,x 1713 0078 ac010201 jpf L515 1714 007c L125: 1715 ; 358 IED.Err |=BAT_SHORT ; 1717 007c 721a0005 bset _IED+5,#5 1718 0080 ac010201 jpf L515 1719 0084 L715: 1720 ; 363 charegeState = CHARGE_WAIT2; 1722 0084 ae0005 ldw x,#5 1723 0087 cf0003 ldw _charegeState,x 1724 ; 364 ChargeBat(FALSE); 1726 008a 4f clr a 1727 008b cd0000 call _ChargeBat 1729 ; 365 DeChargeBat(FALSE); 1731 008e 4f clr a 1732 008f cd0000 call _DeChargeBat 1734 0092 ac010201 jpf L515 1735 0096 L364: 1736 ; 368 case PRE_ENCHARGE: 1736 ; 369 if(chargeRunCnt>0) 1738 0096 9c rvf 1739 0097 ce0005 ldw x,_chargeRunCnt 1740 009a 2d3b jrsle L564 1741 ; 372 if(BAT_POWER 20) 1789 00d7 9c rvf 1790 00d8 ce0005 ldw x,_chargeRunCnt 1791 00db a30015 cpw x,#21 1792 00de 2e03 jrsge L67 1793 00e0 cc0201 jp L515 1794 00e3 L67: 1795 ; 392 ChargeBat(FALSE); 1797 00e3 4f clr a 1798 00e4 cd0000 call _ChargeBat 1800 ; 393 charegeState = CHARGE_WAIT1; 1802 00e7 ae0003 ldw x,#3 1803 00ea cf0003 ldw _charegeState,x 1804 ; 394 chargeRunCnt = 0; 1806 00ed 5f clrw x 1807 00ee cf0005 ldw _chargeRunCnt,x 1808 00f1 ac010201 jpf L515 1809 00f5 L764: 1810 ; 397 case CHARGE_WAIT1: 1810 ; 398 if(chargeRunCnt>0) //100ms等待 1812 00f5 9c rvf 1813 00f6 ce0005 ldw x,_chargeRunCnt 1814 00f9 2c03 jrsgt L001 1815 00fb cc0201 jp L515 1816 00fe L001: 1817 ; 404 if(BAT_POWER>BATLOW_VOL) 1819 00fe 9c rvf 1820 00ff ae2328 ldw x,#9000 1821 0102 cd0000 call c_itof 1823 0105 96 ldw x,sp 1824 0106 1c0001 addw x,#OFST-3 1825 0109 cd0000 call c_rtol 1828 010c ae0004 ldw x,#_voltage+4 1829 010f cd0000 call c_ltor 1831 0112 96 ldw x,sp 1832 0113 1c0001 addw x,#OFST-3 1833 0116 cd0000 call c_fcmp 1835 0119 2d05 jrsle L145 1836 ; 405 DeChargeBat(TRUE); 1838 011b a601 ld a,#1 1839 011d cd0000 call _DeChargeBat 1841 0120 L145: 1842 ; 406 charegeState = DECHARGE; 1844 0120 ae0004 ldw x,#4 1845 0123 cf0003 ldw _charegeState,x 1846 ; 407 chargeRunCnt = 0; 1848 0126 5f clrw x 1849 0127 cf0005 ldw _chargeRunCnt,x 1850 012a ac010201 jpf L515 1851 012e L174: 1852 ; 410 case DECHARGE: 1852 ; 411 if(chargeRunCnt>=2) //0.2s放电 1854 012e 9c rvf 1855 012f ce0005 ldw x,_chargeRunCnt 1856 0132 a30002 cpw x,#2 1857 0135 2e03 jrsge L201 1858 0137 cc0201 jp L515 1859 013a L201: 1860 ; 413 DeChargeBat(FALSE); 1862 013a 4f clr a 1863 013b cd0000 call _DeChargeBat 1865 ; 414 charegeState = CHARGE_WAIT2; 1867 013e ae0005 ldw x,#5 1868 0141 cf0003 ldw _charegeState,x 1869 ; 415 chargeRunCnt = 0; 1871 0144 5f clrw x 1872 0145 cf0005 ldw _chargeRunCnt,x 1873 0148 ac010201 jpf L515 1874 014c L374: 1875 ; 421 case CHARGE_WAIT2: 1875 ; 422 if(chargeRunCnt>10) //1s稳定 1877 014c 9c rvf 1878 014d ce0005 ldw x,_chargeRunCnt 1879 0150 a3000b cpw x,#11 1880 0153 2e03 jrsge L401 1881 0155 cc0201 jp L515 1882 0158 L401: 1883 ; 424 charegeState = CHECKVOL; 1885 0158 ae0006 ldw x,#6 1886 015b cf0003 ldw _charegeState,x 1887 ; 425 chargeRunCnt = 0; 1889 015e 5f clrw x 1890 015f cf0005 ldw _chargeRunCnt,x 1891 ; 426 if(BAT_POWER >BATOVER_VOL) 1893 0162 9c rvf 1894 0163 ae3138 ldw x,#12600 1895 0166 cd0000 call c_itof 1897 0169 96 ldw x,sp 1898 016a 1c0001 addw x,#OFST-3 1899 016d cd0000 call c_rtol 1902 0170 ae0004 ldw x,#_voltage+4 1903 0173 cd0000 call c_ltor 1905 0176 96 ldw x,sp 1906 0177 1c0001 addw x,#OFST-3 1907 017a cd0000 call c_fcmp 1909 017d 2d06 jrsle L745 1910 ; 429 IED.Err |= BAT_OVER_ERROR; 1912 017f 72180005 bset _IED+5,#4 1914 0183 2004 jra L155 1915 0185 L745: 1916 ; 433 IED.Err &= ~BAT_OVER_ERROR; 1918 0185 72190005 bres _IED+5,#4 1919 0189 L155: 1920 ; 436 if(BAT_POWER >BATLOW_VOL) //备电电压低 1922 0189 9c rvf 1923 018a ae2328 ldw x,#9000 1924 018d cd0000 call c_itof 1926 0190 96 ldw x,sp 1927 0191 1c0001 addw x,#OFST-3 1928 0194 cd0000 call c_rtol 1931 0197 ae0004 ldw x,#_voltage+4 1932 019a cd0000 call c_ltor 1934 019d 96 ldw x,sp 1935 019e 1c0001 addw x,#OFST-3 1936 01a1 cd0000 call c_fcmp 1938 01a4 2d5b jrsle L515 1939 ; 438 IED.Bat_Low_Cnt = 0; 1941 01a6 725f001a clr _IED+26 1942 ; 439 IED.Err &= ~BAT_LOW_ERR; 1944 01aa 72170005 bres _IED+5,#3 1945 01ae 2051 jra L515 1946 01b0 L574: 1947 ; 443 case CHECKVOL: 1947 ; 444 _nop_(); 1950 01b0 9d nop 1952 ; 445 if(BAT_POWER>BATFULL_VOL) 1954 01b1 9c rvf 1955 01b2 ae3070 ldw x,#12400 1956 01b5 cd0000 call c_itof 1958 01b8 96 ldw x,sp 1959 01b9 1c0001 addw x,#OFST-3 1960 01bc cd0000 call c_rtol 1963 01bf ae0004 ldw x,#_voltage+4 1964 01c2 cd0000 call c_ltor 1966 01c5 96 ldw x,sp 1967 01c6 1c0001 addw x,#OFST-3 1968 01c9 cd0000 call c_fcmp 1970 01cc 2d0c jrsle L555 1971 ; 450 charegeState = CHARGEEND; 1973 01ce ae0007 ldw x,#7 1974 01d1 cf0003 ldw _charegeState,x 1975 ; 451 ChargeBat(FALSE); 1977 01d4 4f clr a 1978 01d5 cd0000 call _ChargeBat 1981 01d8 2027 jra L515 1982 01da L555: 1983 ; 455 charegeState = CHARGE_INIT; 1985 01da 5f clrw x 1986 01db cf0003 ldw _charegeState,x 1987 01de 2021 jra L515 1988 01e0 L774: 1989 ; 459 case CHARGEEND: 1989 ; 460 if(BAT_POWER40) 2204 0000 9c rvf 2205 0001 ce0007 ldw x,_MotorLineCnt 2206 0004 a30029 cpw x,#41 2207 0007 2f06 jrslt L566 2208 ; 506 IED.Err|=ERR_MOTOR_LINE; 2210 0009 72180004 bset _IED+4,#4 2212 000d 2004 jra L766 2213 000f L566: 2214 ; 510 IED.Err&=(~ERR_MOTOR_LINE); 2216 000f 72190004 bres _IED+4,#4 2217 0013 L766: 2218 ; 512 MotorLineCnt = 0; 2220 0013 5f clrw x 2221 0014 cf0007 ldw _MotorLineCnt,x 2222 ; 514 } 2225 0017 81 ret 2251 ; 515 void TaskFREQMotor(void) 2251 ; 516 { 2252 .text: section .text,new 2253 0000 _TaskFREQMotor: 2257 ; 517 if(DOORCHECK!= PreMotorLine) 2259 0000 c60004 ld a,_SPIIO+4 2260 0003 44 srl a 2261 0004 a401 and a,#1 2262 0006 5f clrw x 2263 0007 02 rlwa x,a 2264 0008 c30009 cpw x,_PreMotorLine 2265 000b 2717 jreq L107 2266 ; 519 MotorLineCnt++; 2268 000d ce0007 ldw x,_MotorLineCnt 2269 0010 1c0001 addw x,#1 2270 0013 cf0007 ldw _MotorLineCnt,x 2271 ; 520 PreMotorLine = DOORCHECK; 2273 0016 c60004 ld a,_SPIIO+4 2274 0019 44 srl a 2275 001a a401 and a,#1 2276 001c 5f clrw x 2277 001d c7000a ld _PreMotorLine+1,a 2278 0020 9f ld a,xl 2279 0021 c70009 ld _PreMotorLine,a 2280 0024 L107: 2281 ; 522 } 2284 0024 81 ret 2310 ; 523 void TaskCheckBrakeCoil(void) 2310 ; 524 { 2311 .text: section .text,new 2312 0000 _TaskCheckBrakeCoil: 2316 ; 525 if(!BRAKECHECK) 2318 0000 c60003 ld a,_SPIIO+3 2319 0003 a502 bcp a,#2 2320 0005 2632 jrne L317 2321 ; 527 if(COILVOL>VOLTAGEBreakVOL) //线圈断开 2323 0007 9c rvf 2324 0008 ae0014 ldw x,#_voltage+20 2325 000b cd0000 call c_ltor 2327 000e ae000c ldw x,#L327 2328 0011 cd0000 call c_fcmp 2330 0014 2d06 jrsle L517 2331 ; 529 IED.Err|=COIL_BREAK_ERR ; 2333 0016 721e0005 bset _IED+5,#7 2335 001a 2004 jra L727 2336 001c L517: 2337 ; 533 IED.Err&=(~COIL_BREAK_ERR); 2339 001c 721f0005 bres _IED+5,#7 2340 0020 L727: 2341 ; 536 if(COILVOL50)|| 2489 ; 591 ((IED.cDCCovert==0)&&(FailCnt1>20)))//逆变的时候 2491 0017 c6000c ld a,L767_FailCnt1 2492 001a a133 cp a,#51 2493 001c 240d jruge L5101 2495 001e 725d0012 tnz _IED+18 2496 0022 2622 jrne L7001 2498 0024 c6000c ld a,L767_FailCnt1 2499 0027 a115 cp a,#21 2500 0029 251b jrult L7001 2501 002b L5101: 2502 ; 593 IED.Err|=ERR_BRAKE_POWER_FAIL; 2504 002b 721c0004 bset _IED+4,#6 2505 ; 594 LockAllMotor(); 2507 002f cd0000 call _LockAllMotor 2509 0032 2012 jra L7001 2510 0034 L1101: 2511 ; 599 FailCnt1>0?--FailCnt1:0; 2513 0034 725d000c tnz L767_FailCnt1 2514 0038 270b jreq L421 2515 003a 725a000c dec L767_FailCnt1 2516 003e c6000c ld a,L767_FailCnt1 2517 0041 5f clrw x 2518 0042 97 ld xl,a 2519 0043 2001 jra L621 2520 0045 L421: 2521 0045 5f clrw x 2522 0046 L621: 2523 0046 L7001: 2524 ; 603 } 2527 0046 84 pop a 2528 0047 81 ret 2553 ; 604 void TaskCheckSensor(void) 2553 ; 605 { 2554 .text: section .text,new 2555 0000 _TaskCheckSensor: 2559 ; 606 if((SENSOR_HEAT>=1500.0f)||(SENSOR_SMOKE>=1500.0f)) 2561 0000 9c rvf 2562 0001 ae0008 ldw x,#_voltage+8 2563 0004 cd0000 call c_ltor 2565 0007 ae0004 ldw x,#L1401 2566 000a cd0000 call c_fcmp 2568 000d 2e0f jrsge L3301 2570 000f 9c rvf 2571 0010 ae000c ldw x,#_voltage+12 2572 0013 cd0000 call c_ltor 2574 0016 ae0004 ldw x,#L1401 2575 0019 cd0000 call c_fcmp 2577 001c 2f0c jrslt L1301 2578 001e L3301: 2579 ; 608 if(IED.b_warning==0) 2581 001e 725d0003 tnz _IED+3 2582 0022 260a jrne L7401 2583 ; 610 IED.b_warning=1; 2585 0024 35010003 mov _IED+3,#1 2586 0028 2004 jra L7401 2587 002a L1301: 2588 ; 616 IED.b_warning=0; 2590 002a 725f0003 clr _IED+3 2591 002e L7401: 2592 ; 619 } 2595 002e 81 ret 2665 xdef _PreMotorLine 2666 xdef _MotorLineCnt 2667 xdef _chargeRunCnt 2668 xdef _charegeState 2669 xdef _ChargeBat 2670 xdef _DC2AC_CTRL 2671 xdef f_TIM3_CAP_COM_IRQHandler 2672 xdef _CCR2_Val 2673 switch .bss 2674 0000 _voltage: 2675 0000 000000000000 ds.b 28 2676 xdef _voltage 2677 xref _Warning_flag 2678 xref _StopTimer 2679 xref _StartTimer 2680 xref _SuspendTask 2681 xref _ActiveTask 2682 xref _GetCurretPos 2683 xref _ErrStopMotor 2684 xref _Beep 2685 xref _IED 2686 xref _SPIIO 2687 xdef _TaskCheckSensor 2688 xdef _Task_Power_Check 2689 xdef _CheckBrakePower 2690 xdef _CheckRelay 2691 xdef _Task_Check_Motor 2692 xdef _TaskFREQMotor 2693 xdef _TaskCheckBrakeCoil 2694 xdef _StartDC2ACConvert 2695 xdef _BotCheck 2696 xdef _GetVoltage 2697 xdef _BatCheck 2698 xdef _TaskChargeBat 2699 xdef _DeChargeBat 2700 xdef _DisableBattary 2701 xdef _EnableBattary 2702 xdef _StartCheckBrake 2703 xdef _EnableBrakPower 2704 xdef _SetWarningFreq 2705 xdef _StopDC2ACConvert 2706 xdef _StopInvert 2707 xdef _InitInvert 2708 xdef _DeInitDC2AC 2709 xdef _StartPulse 2710 xdef _InitDC2AC 2711 xdef _UNLockAllMotor 2712 xdef _LockAllMotor 2713 xref _AD_Value 2714 xref _TIM3_ITConfig 2715 xref _TIM3_Cmd 2716 xref _TIM3_OC2Init 2717 xref _TIM3_TimeBaseInit 2718 xref _TIM3_DeInit 2719 xref _TIM1_OC3PreloadConfig 2720 xref _TIM1_OC2PreloadConfig 2721 xref _TIM1_OC1PreloadConfig 2722 xref _TIM1_ForcedOC3Config 2723 xref _TIM1_ForcedOC2Config 2724 xref _TIM1_ForcedOC1Config 2725 xref _TIM1_CtrlPWMOutputs 2726 xref _TIM1_Cmd 2727 xref _TIM1_OC3Init 2728 xref _TIM1_OC2Init 2729 xref _TIM1_OC1Init 2730 xref _TIM1_TimeBaseInit 2731 xref _TIM1_DeInit 2732 switch .const 2733 0004 L1401: 2734 0004 44bb8000 dc.w 17595,-32768 2735 0008 L737: 2736 0008 44228000 dc.w 17442,-32768 2737 000c L327: 2738 000c 4571e000 dc.w 17777,-8192 2739 0010 L156: 2740 0010 40b66666 dc.w 16566,26214 2741 0014 L146: 2742 0014 410b3333 dc.w 16651,13107 2743 0018 L136: 2744 0018 3f800000 dc.w 16256,0 2745 001c L126: 2746 001c 40c00000 dc.w 16576,0 2747 0020 L116: 2748 0020 41300000 dc.w 16688,0 2749 xref.b c_lreg 2750 xref.b c_x 2751 xref.b c_y 2771 xref c_fgmul 2772 xref c_ultof 2773 xref c_umul 2774 xref c_fcmp 2775 xref c_itof 2776 xref c_ltor 2777 xref c_ludv 2778 xref c_rtol 2779 xref c_uitolx 2780 end