Tutorial,programming and anything......By Alzuhe: Program Motor Stepper Bipolar

Subroutin programnya dalam bahasa assembler :

;CodeVisionAVR C Compiler V2.04.4a Advanced

; Test Motor stepper Bepoalar

;Chip type : ATmega16

;Program type : Application

;Clock frequency : 11.059200 MHz

;Memory model : Small

;Optimize for : Size

;(s)printf features : int, width

;(s)scanf features : int, width

;External RAM size : 0

;Data Stack size : 256 byte(s)

;Heap size : 0 byte(s)

;Promote 'char' to 'int' : Yes

;'char' is unsigned : Yes

;8 bit enums : Yes

;global 'const' stored in FLASH: No

;Enhanced core instructions : On

;Smart register allocation : On

;Automatic register allocation : On

#pragma AVRPART ADMIN PART_NAME ATmega16

#pragma AVRPART MEMORY PROG_FLASH 16384

#pragma AVRPART MEMORY EEPROM 512

#pragma AVRPART MEMORY INT_SRAM SIZE 1024

#pragma AVRPART MEMORY INT_SRAM START_ADDR 0x60

.LISTMAC

.EQU UDRE=0x5

.EQU RXC=0x7

.EQU USR=0xB

.EQU UDR=0xC

.EQU SPSR=0xE

.EQU SPDR=0xF

.EQU EERE=0x0

.EQU EEWE=0x1

.EQU EEMWE=0x2

.EQU EECR=0x1C

.EQU EEDR=0x1D

.EQU EEARL=0x1E

.EQU EEARH=0x1F

.EQU WDTCR=0x21

.EQU MCUCR=0x35

.EQU GICR=0x3B

.EQU SPL=0x3D

.EQU SPH=0x3E

.EQU SREG=0x3F

.DEF R0X0=R0

.DEF R0X1=R1

.DEF R0X2=R2

.DEF R0X3=R3

.DEF R0X4=R4

.DEF R0X5=R5

.DEF R0X6=R6

.DEF R0X7=R7

.DEF R0X8=R8

.DEF R0X9=R9

.DEF R0XA=R10

.DEF R0XB=R11

.DEF R0XC=R12

.DEF R0XD=R13

.DEF R0XE=R14

.DEF R0XF=R15

.DEF R0X10=R16

.DEF R0X11=R17

.DEF R0X12=R18

.DEF R0X13=R19

.DEF R0X14=R20

.DEF R0X15=R21

.DEF R0X16=R22

.DEF R0X17=R23

.DEF R0X18=R24

.DEF R0X19=R25

.DEF R0X1A=R26

.DEF R0X1B=R27

.DEF R0X1C=R28

.DEF R0X1D=R29

.DEF R0X1E=R30

.DEF R0X1F=R31

.MACRO __CPD1N

CPI R30,LOW(@0)

LDI R26,HIGH(@0)

CPC R31,R26

LDI R26,BYTE3(@0)

CPC R22,R26

LDI R26,BYTE4(@0)

CPC R23,R26

.ENDM

.MACRO __CPD2N

CPI R26,LOW(@0)

LDI R30,HIGH(@0)

CPC R27,R30

LDI R30,BYTE3(@0)

CPC R24,R30

LDI R30,BYTE4(@0)

CPC R25,R30

.ENDM

.MACRO __CPWRR

CP R@0,R@2

CPC R@1,R@3

.ENDM

.MACRO __CPWRN

CPI R@0,LOW(@2)

LDI R30,HIGH(@2)

CPC R@1,R30

.ENDM

.MACRO __ADDB1MN

SUBI R30,LOW(-@0-(@1))

.ENDM

.MACRO __ADDB2MN

SUBI R26,LOW(-@0-(@1))

.ENDM

.MACRO __ADDW1MN

SUBI R30,LOW(-@0-(@1))

SBCI R31,HIGH(-@0-(@1))

.ENDM

.MACRO __ADDW2MN

SUBI R26,LOW(-@0-(@1))

SBCI R27,HIGH(-@0-(@1))

.ENDM

.MACRO __ADDW1FN

SUBI R30,LOW(-2*@0-(@1))

SBCI R31,HIGH(-2*@0-(@1))

.ENDM

.MACRO __ADDD1FN

SUBI R30,LOW(-2*@0-(@1))

SBCI R31,HIGH(-2*@0-(@1))

SBCI R22,BYTE3(-2*@0-(@1))

.ENDM

.MACRO __ADDD1N

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

SBCI R22,BYTE3(-@0)

SBCI R23,BYTE4(-@0)

.ENDM

.MACRO __ADDD2N

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

SBCI R24,BYTE3(-@0)

SBCI R25,BYTE4(-@0)

.ENDM

.MACRO __SUBD1N

SUBI R30,LOW(@0)

SBCI R31,HIGH(@0)

SBCI R22,BYTE3(@0)

SBCI R23,BYTE4(@0)

.ENDM

.MACRO __SUBD2N

SUBI R26,LOW(@0)

SBCI R27,HIGH(@0)

SBCI R24,BYTE3(@0)

SBCI R25,BYTE4(@0)

.ENDM

.MACRO __ANDBMNN

LDS R30,@0+(@1)

ANDI R30,LOW(@2)

STS @0+(@1),R30

.ENDM

.MACRO __ANDWMNN

LDS R30,@0+(@1)

ANDI R30,LOW(@2)

STS @0+(@1),R30

LDS R30,@0+(@1)+1

ANDI R30,HIGH(@2)

STS @0+(@1)+1,R30

.ENDM

.MACRO __ANDD1N

ANDI R30,LOW(@0)

ANDI R31,HIGH(@0)

ANDI R22,BYTE3(@0)

ANDI R23,BYTE4(@0)

.ENDM

.MACRO __ANDD2N

ANDI R26,LOW(@0)

ANDI R27,HIGH(@0)

ANDI R24,BYTE3(@0)

ANDI R25,BYTE4(@0)

.ENDM

.MACRO __ORBMNN

LDS R30,@0+(@1)

ORI R30,LOW(@2)

STS @0+(@1),R30

.ENDM

.MACRO __ORWMNN

LDS R30,@0+(@1)

ORI R30,LOW(@2)

STS @0+(@1),R30

LDS R30,@0+(@1)+1

ORI R30,HIGH(@2)

STS @0+(@1)+1,R30

.ENDM

.MACRO __ORD1N

ORI R30,LOW(@0)

ORI R31,HIGH(@0)

ORI R22,BYTE3(@0)

ORI R23,BYTE4(@0)

.ENDM

.MACRO __ORD2N

ORI R26,LOW(@0)

ORI R27,HIGH(@0)

ORI R24,BYTE3(@0)

ORI R25,BYTE4(@0)

.ENDM

.MACRO __DELAY_USB

LDI R24,LOW(@0)

__DELAY_USB_LOOP:

DEC R24

BRNE __DELAY_USB_LOOP

.ENDM

.MACRO __DELAY_USW

LDI R24,LOW(@0)

LDI R25,HIGH(@0)

__DELAY_USW_LOOP:

SBIW R24,1

BRNE __DELAY_USW_LOOP

.ENDM

.MACRO __GETD1S

LDD R30,Y+@0

LDD R31,Y+@0+1

LDD R22,Y+@0+2

LDD R23,Y+@0+3

.ENDM

.MACRO __GETD2S

LDD R26,Y+@0

LDD R27,Y+@0+1

LDD R24,Y+@0+2

LDD R25,Y+@0+3

.ENDM

.MACRO __PUTD1S

STD Y+@0,R30

STD Y+@0+1,R31

STD Y+@0+2,R22

STD Y+@0+3,R23

.ENDM

.MACRO __PUTD2S

STD Y+@0,R26

STD Y+@0+1,R27

STD Y+@0+2,R24

STD Y+@0+3,R25

.ENDM

.MACRO __PUTDZ2

STD Z+@0,R26

STD Z+@0+1,R27

STD Z+@0+2,R24

STD Z+@0+3,R25

.ENDM

.MACRO __CLRD1S

STD Y+@0,R30

STD Y+@0+1,R30

STD Y+@0+2,R30

STD Y+@0+3,R30

.ENDM

.MACRO __POINTB1MN

LDI R30,LOW(@0+(@1))

.ENDM

.MACRO __POINTW1MN

LDI R30,LOW(@0+(@1))

LDI R31,HIGH(@0+(@1))

.ENDM

.MACRO __POINTD1M

LDI R30,LOW(@0)

LDI R31,HIGH(@0)

LDI R22,BYTE3(@0)

LDI R23,BYTE4(@0)

.ENDM

.MACRO __POINTW1FN

LDI R30,LOW(2*@0+(@1))

LDI R31,HIGH(2*@0+(@1))

.ENDM

.MACRO __POINTD1FN

LDI R30,LOW(2*@0+(@1))

LDI R31,HIGH(2*@0+(@1))

LDI R22,BYTE3(2*@0+(@1))

LDI R23,BYTE4(2*@0+(@1))

.ENDM

.MACRO __POINTB2MN

LDI R26,LOW(@0+(@1))

.ENDM

.MACRO __POINTW2MN

LDI R26,LOW(@0+(@1))

LDI R27,HIGH(@0+(@1))

.ENDM

.MACRO __POINTBRM

LDI R@0,LOW(@1)

.ENDM

.MACRO __POINTWRM

LDI R@0,LOW(@2)

LDI R@1,HIGH(@2)

.ENDM

.MACRO __POINTBRMN

LDI R@0,LOW(@1+(@2))

.ENDM

.MACRO __POINTWRMN

LDI R@0,LOW(@2+(@3))

LDI R@1,HIGH(@2+(@3))

.ENDM

.MACRO __POINTWRFN

LDI R@0,LOW(@2*2+(@3))

LDI R@1,HIGH(@2*2+(@3))

.ENDM

.MACRO __GETD1N

LDI R30,LOW(@0)

LDI R31,HIGH(@0)

LDI R22,BYTE3(@0)

LDI R23,BYTE4(@0)

.ENDM

.MACRO __GETD2N

LDI R26,LOW(@0)

LDI R27,HIGH(@0)

LDI R24,BYTE3(@0)

LDI R25,BYTE4(@0)

.ENDM

.MACRO __GETB1MN

LDS R30,@0+(@1)

.ENDM

.MACRO __GETB1HMN

LDS R31,@0+(@1)

.ENDM

.MACRO __GETW1MN

LDS R30,@0+(@1)

LDS R31,@0+(@1)+1

.ENDM

.MACRO __GETD1MN

LDS R30,@0+(@1)

LDS R31,@0+(@1)+1

LDS R22,@0+(@1)+2

LDS R23,@0+(@1)+3

.ENDM

.MACRO __GETBRMN

LDS R@0,@1+(@2)

.ENDM

.MACRO __GETWRMN

LDS R@0,@2+(@3)

LDS R@1,@2+(@3)+1

.ENDM

.MACRO __GETWRZ

LDD R@0,Z+@2

LDD R@1,Z+@2+1

.ENDM

.MACRO __GETD2Z

LDD R26,Z+@0

LDD R27,Z+@0+1

LDD R24,Z+@0+2

LDD R25,Z+@0+3

.ENDM

.MACRO __GETB2MN

LDS R26,@0+(@1)

.ENDM

.MACRO __GETW2MN

LDS R26,@0+(@1)

LDS R27,@0+(@1)+1

.ENDM

.MACRO __GETD2MN

LDS R26,@0+(@1)

LDS R27,@0+(@1)+1

LDS R24,@0+(@1)+2

LDS R25,@0+(@1)+3

.ENDM

.MACRO __PUTB1MN

STS @0+(@1),R30

.ENDM

.MACRO __PUTW1MN

STS @0+(@1),R30

STS @0+(@1)+1,R31

.ENDM

.MACRO __PUTD1MN

STS @0+(@1),R30

STS @0+(@1)+1,R31

STS @0+(@1)+2,R22

STS @0+(@1)+3,R23

.ENDM

.MACRO __PUTB1EN

LDI R26,LOW(@0+(@1))

LDI R27,HIGH(@0+(@1))

CALL __EEPROMWRB

.ENDM

.MACRO __PUTW1EN

LDI R26,LOW(@0+(@1))

LDI R27,HIGH(@0+(@1))

CALL __EEPROMWRW

.ENDM

.MACRO __PUTD1EN

LDI R26,LOW(@0+(@1))

LDI R27,HIGH(@0+(@1))

CALL __EEPROMWRD

.ENDM

.MACRO __PUTBR0MN

STS @0+(@1),R0

.ENDM

.MACRO __PUTBMRN

STS @0+(@1),R@2

.ENDM

.MACRO __PUTWMRN

STS @0+(@1),R@2

STS @0+(@1)+1,R@3

.ENDM

.MACRO __PUTBZR

STD Z+@1,R@0

.ENDM

.MACRO __PUTWZR

STD Z+@2,R@0

STD Z+@2+1,R@1

.ENDM

.MACRO __GETW1R

MOV R30,R@0

MOV R31,R@1

.ENDM

.MACRO __GETW2R

MOV R26,R@0

MOV R27,R@1

.ENDM

.MACRO __GETWRN

LDI R@0,LOW(@2)

LDI R@1,HIGH(@2)

.ENDM

.MACRO __PUTW1R

MOV R@0,R30

MOV R@1,R31

.ENDM

.MACRO __PUTW2R

MOV R@0,R26

MOV R@1,R27

.ENDM

.MACRO __ADDWRN

SUBI R@0,LOW(-@2)

SBCI R@1,HIGH(-@2)

.ENDM

.MACRO __ADDWRR

ADD R@0,R@2

ADC R@1,R@3

.ENDM

.MACRO __SUBWRN

SUBI R@0,LOW(@2)

SBCI R@1,HIGH(@2)

.ENDM

.MACRO __SUBWRR

SUB R@0,R@2

SBC R@1,R@3

.ENDM

.MACRO __ANDWRN

ANDI R@0,LOW(@2)

ANDI R@1,HIGH(@2)

.ENDM

.MACRO __ANDWRR

AND R@0,R@2

AND R@1,R@3

.ENDM

.MACRO __ORWRN

ORI R@0,LOW(@2)

ORI R@1,HIGH(@2)

.ENDM

.MACRO __ORWRR

OR R@0,R@2

OR R@1,R@3

.ENDM

.MACRO __EORWRR

EOR R@0,R@2

EOR R@1,R@3

.ENDM

.MACRO __GETWRS

LDD R@0,Y+@2

LDD R@1,Y+@2+1

.ENDM

.MACRO __PUTBSR

STD Y+@1,R@0

.ENDM

.MACRO __PUTWSR

STD Y+@2,R@0

STD Y+@2+1,R@1

.ENDM

.MACRO __MOVEWRR

MOV R@0,R@2

MOV R@1,R@3

.ENDM

.MACRO __INWR

IN R@0,@2

IN R@1,@2+1

.ENDM

.MACRO __OUTWR

OUT @2+1,R@1

OUT @2,R@0

.ENDM

.MACRO __CALL1MN

LDS R30,@0+(@1)

LDS R31,@0+(@1)+1

ICALL

.ENDM

.MACRO __CALL1FN

LDI R30,LOW(2*@0+(@1))

LDI R31,HIGH(2*@0+(@1))

CALL __GETW1PF

ICALL

.ENDM

.MACRO __CALL2EN

LDI R26,LOW(@0+(@1))

LDI R27,HIGH(@0+(@1))

CALL __EEPROMRDW

ICALL

.ENDM

.MACRO __GETW1STACK

IN R26,SPL

IN R27,SPH

ADIW R26,@0+1

LD R30,X+

LD R31,X

.ENDM

.MACRO __GETD1STACK

IN R26,SPL

IN R27,SPH

ADIW R26,@0+1

LD R30,X+

LD R31,X+

LD R22,X

.ENDM

.MACRO __NBST

BST R@0,@1

IN R30,SREG

LDI R31,0x40

EOR R30,R31

OUT SREG,R30

.ENDM

.MACRO __PUTB1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

CALL __PUTDP1

.ENDM

.MACRO __PUTB1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

ST X,R30

.ENDM

.MACRO __PUTW1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

CALL __PUTDP1

.ENDM

.MACRO __PUTB1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

CALL __PUTDP1

.ENDM

.MACRO __PUTB1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

ST X,R30

.ENDM

.MACRO __PUTW1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

CALL __PUTDP1

.ENDM

.MACRO __PUTB1RN

MOVW R26,R@0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1RN

MOVW R26,R@0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1RN

MOVW R26,R@0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

CALL __PUTDP1

.ENDM

.MACRO __PUTB1RNS

MOVW R26,R@0

ADIW R26,@1

ST X,R30

.ENDM

.MACRO __PUTW1RNS

MOVW R26,R@0

ADIW R26,@1

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1RNS

MOVW R26,R@0

ADIW R26,@1

CALL __PUTDP1

.ENDM

.MACRO __PUTB1RON

MOV R26,R@0

MOV R27,R@1

SUBI R26,LOW(-@2)

SBCI R27,HIGH(-@2)

ST X,R30

.ENDM

.MACRO __PUTW1RON

MOV R26,R@0

MOV R27,R@1

SUBI R26,LOW(-@2)

SBCI R27,HIGH(-@2)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1RON

MOV R26,R@0

MOV R27,R@1

SUBI R26,LOW(-@2)

SBCI R27,HIGH(-@2)

CALL __PUTDP1

.ENDM

.MACRO __PUTB1RONS

MOV R26,R@0

MOV R27,R@1

ADIW R26,@2

ST X,R30

.ENDM

.MACRO __PUTW1RONS

MOV R26,R@0

MOV R27,R@1

ADIW R26,@2

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1RONS

MOV R26,R@0

MOV R27,R@1

ADIW R26,@2

CALL __PUTDP1

.ENDM

.MACRO __GETB1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R30,Z

.ENDM

.MACRO __GETB1HSX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R31,Z

.ENDM

.MACRO __GETW1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R0,Z+

LD R31,Z

MOV R30,R0

.ENDM

.MACRO __GETD1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R0,Z+

LD R1,Z+

LD R22,Z+

LD R23,Z

MOVW R30,R0

.ENDM

.MACRO __GETB2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R26,X

.ENDM

.MACRO __GETW2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

.ENDM

.MACRO __GETD2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R1,X+

LD R24,X+

LD R25,X

MOVW R26,R0

.ENDM

.MACRO __GETBRSX

MOVW R30,R28

SUBI R30,LOW(-@1)

SBCI R31,HIGH(-@1)

LD R@0,Z

.ENDM

.MACRO __GETWRSX

MOVW R30,R28

SUBI R30,LOW(-@2)

SBCI R31,HIGH(-@2)

LD R@0,Z+

LD R@1,Z

.ENDM

.MACRO __GETBRSX2

MOVW R26,R28

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

LD R@0,X

.ENDM

.MACRO __GETWRSX2

MOVW R26,R28

SUBI R26,LOW(-@2)

SBCI R27,HIGH(-@2)

LD R@0,X+

LD R@1,X

.ENDM

.MACRO __LSLW8SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R31,Z

CLR R30

.ENDM

.MACRO __PUTB1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X,R30

.ENDM

.MACRO __PUTW1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X+,R31

ST X+,R22

ST X,R23

.ENDM

.MACRO __CLRW1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X,R30

.ENDM

.MACRO __CLRD1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X,R30

.ENDM

.MACRO __PUTB2SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z,R26

.ENDM

.MACRO __PUTW2SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z+,R26

ST Z,R27

.ENDM

.MACRO __PUTD2SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z+,R26

ST Z+,R27

ST Z+,R24

ST Z,R25

.ENDM

.MACRO __PUTBSRX

MOVW R30,R28

SUBI R30,LOW(-@1)

SBCI R31,HIGH(-@1)

ST Z,R@0

.ENDM

.MACRO __PUTWSRX

MOVW R30,R28

SUBI R30,LOW(-@2)

SBCI R31,HIGH(-@2)

ST Z+,R@0

ST Z,R@1

.ENDM

.MACRO __PUTB1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X+,R31

ST X+,R22

ST X,R23

.ENDM

.MACRO __MULBRR

MULS R@0,R@1

MOVW R30,R0

.ENDM

.MACRO __MULBRRU

MUL R@0,R@1

MOVW R30,R0

.ENDM

.MACRO __MULBRR0

MULS R@0,R@1

.ENDM

.MACRO __MULBRRU0

MUL R@0,R@1

.ENDM

.MACRO __MULBNWRU

LDI R26,@2

MUL R26,R@0

MOVW R30,R0

MUL R26,R@1

ADD R31,R0

.ENDM

;NAME DEFINITIONS FOR GLOBAL VARIABLES ALLOCATED TO REGISTERS

.DEF __lcd_x=R5

.DEF __lcd_y=R4

.DEF __lcd_maxx=R7

.CSEG

.ORG 0x00

;INTERRUPT VECTORS

JMP __RESET

JMP 0x00

_0x0:

.DB 0x20,0x4D,0x4F,0x54,0x4F,0x52,0x20,0x2D

.DB 0x53,0x54,0x45,0x50,0x50,0x45,0x52,0x20

.DB 0X20,0x20,0x43,0x2D,0x43,0x4C,0x4F,0x43

.DB 0x4B,0x57,0x49,0x53,0x45,0x20,0x20,0x20

.DB 0x20,0x20,0x43,0x4C,0x4F,0x43,0x4B,0x57

.DB 0x49,0x53,0x45,0x00,0x0

;.DB 0x20,0x4D,0x4F,0x54,0x4F,0x52,0x2D,0x53

;.DB 0x54,0x45,0x50,0x50,0x45,0x52,0x00,0x20

;.DB 0X20,0x20,0X20,0X20,0x43,0x4C,0x4F,0x43

;.DB 0x4B,0x57,0x49,0x53,0x45,0x20,0X20,0X20

;.DB 0X20,0x43,0x2D,0x43,0x4C,0x4F,0x43,0x4B

;.DB 0x57,0x49,0x53,0x45,0x00,0x00,0x00,0x00

_0x2000003:

.DB 0x80,0xC0

__GLOBAL_INI_TBL:

.DW 0x02

.DW __base_y_G100

.DW _0x2000003*2

_0xFFFFFFFF:

.DW 0

__RESET:

CLI

CLR R30

OUT EECR,R30

;INTERRUPT VECTORS ARE PLACED

;AT THE START OF FLASH

LDI R31,1

OUT GICR,R31

OUT GICR,R30

OUT MCUCR,R30

;DISABLE WATCHDOG

LDI R31,0x18

OUT WDTCR,R31

OUT WDTCR,R30

;CLEAR R2-R14

LDI R24,(14-2)+1

LDI R26,2

CLR R27

__CLEAR_REG:

ST X+,R30

DEC R24

BRNE __CLEAR_REG

;CLEAR SRAM

LDI R24,LOW(0x400)

LDI R25,HIGH(0x400)

LDI R26,0x60

__CLEAR_SRAM:

ST X+,R30

SBIW R24,1

BRNE __CLEAR_SRAM

;GLOBAL VARIABLES INITIALIZATION

LDI R30,LOW(__GLOBAL_INI_TBL*2)

LDI R31,HIGH(__GLOBAL_INI_TBL*2)

__GLOBAL_INI_NEXT:

LPM R24,Z+

LPM R25,Z+

SBIW R24,0

BREQ __GLOBAL_INI_END

LPM R26,Z+

LPM R27,Z+

LPM R0,Z+

LPM R1,Z+

MOVW R22,R30

MOVW R30,R0

__GLOBAL_INI_LOOP:

LPM R0,Z+

ST X+,R0

SBIW R24,1

BRNE __GLOBAL_INI_LOOP

MOVW R30,R22

RJMP __GLOBAL_INI_NEXT

__GLOBAL_INI_END:

;STACK POINTER INITIALIZATION

LDI R30,LOW(0x45F)

OUT SPL,R30

LDI R30,HIGH(0x45F)

OUT SPH,R30

;DATA STACK POINTER INITIALIZATION

LDI R28,LOW(0x160)

LDI R29,HIGH(0x160)

JMP _main

.ESEG

.ORG 0

.DSEG

.ORG 0x160

.CSEG

;

;#include <mega16.h>

#ifndef __SLEEP_DEFINED__

#define __SLEEP_DEFINED__

.EQU __se_bit=0x40

.EQU __sm_mask=0xB0

.EQU __sm_powerdown=0x20

.EQU __sm_powersave=0x30

.EQU __sm_standby=0xA0

.EQU __sm_ext_standby=0xB0

.EQU __sm_adc_noise_red=0x10

.SET power_ctrl_reg=mcucr

#endif

;#include <delay.h>

;

;// Alphanumeric LCD Module functions

;#asm

.equ __lcd_port=0x15 ;PORTC

; 0000 000A #endasm

;#include <lcd.h>

;

;// Declare your global variables here

;

;void main(void)

; 0000 0010 {

.CSEG

_main:

; 0000 0011 PORTD = 0X00;

LDI R30,LOW(0)

OUT 0x12,R30

; 0000 0012 DDRD = 0XFF;

LDI R30,LOW(255)

OUT 0x11,R30

; 0000 0013

; 0000 0014 PORTB = 0XFF;

OUT 0x18,R30

; 0000 0015 DDRB = 0X00;

LDI R30,LOW(0)

OUT 0x17,R30

; 0000 0016

; 0000 0017 // LCD module initialization

; 0000 0018 lcd_init(16);

LDI R30,LOW(16)

ST -Y,R30

CALL _lcd_init

; 0000 0019 lcd_gotoxy(1,0);

LDI R30,LOW(1)

ST -Y,R30

LDI R30,LOW(0)

ST -Y,R30

CALL _lcd_gotoxy

; 0000 001A lcd_putsf(" MOTOR -STEPPER ");

__POINTW1FN _0x0,1

CALL SUBOPT_0x0

; 0000 001B

; 0000 001C

; 0000 001D while (1)

_0x3:

; 0000 001E {

; 0000 001F // Place your code here

; 0000 0020 if (PINB.7 == 0)

SBIC 0x16,7

RJMP _0x6

; 0000 0021 {

; 0000 0022 lcd_gotoxy(1,1);

CALL SUBOPT_0x1

; 0000 0023 lcd_putsf(" C-CLOCKWISE ");

__POINTW1FN _0x0,17

CALL SUBOPT_0x0

; 0000 0024

; 0000 0025 PORTD = 0X01;

CALL SUBOPT_0x2

; 0000 0026 delay_ms(10);

; 0000 0027 PORTD = 0X02;

CALL SUBOPT_0x3

; 0000 0028 delay_ms(10);

; 0000 0029 PORTD = 0X04;

CALL SUBOPT_0x4

; 0000 002A delay_ms(10);

; 0000 002B PORTD = 0X08;

CALL SUBOPT_0x5

; 0000 002C delay_ms(10);

; 0000 002D }

; 0000 002E

; 0000 002F

; 0000 0030 if (PINB.6 == 0)

_0x6:

SBIC 0x16,6

RJMP _0x7

; 0000 0031 {

; 0000 0032 lcd_gotoxy(1,1);

CALL SUBOPT_0x1

; 0000 0033 lcd_putsf(" CLOCKWISE ");

__POINTW1FN _0x0,30

CALL SUBOPT_0x0

; 0000 0034 PORTD = 0X08;

CALL SUBOPT_0x5

; 0000 0035 delay_ms(10);

; 0000 0036 PORTD = 0X04;

CALL SUBOPT_0x4

; 0000 0037 delay_ms(10);

; 0000 0038 PORTD = 0X02;

CALL SUBOPT_0x3

; 0000 0039 delay_ms(10);

; 0000 003A PORTD = 0X01;

CALL SUBOPT_0x2

; 0000 003B delay_ms(10);

; 0000 003C

; 0000 003D

; 0000 003E

; 0000 003F }

; 0000 0040

; 0000 0041 };

_0x7:

RJMP _0x3

; 0000 0042 }

_0x8:

RJMP _0x8

.equ __lcd_direction=__lcd_port-1

.equ __lcd_pin=__lcd_port-2

.equ __lcd_rs=0

.equ __lcd_rd=1

.equ __lcd_enable=2

.equ __lcd_busy_flag=7

.DSEG

.CSEG

__lcd_delay_G100:

ldi r31,15

__lcd_delay0:

dec r31

brne __lcd_delay0

RET

__lcd_ready:

in r26,__lcd_direction

andi r26,0xf ;set as input

out __lcd_direction,r26

sbi __lcd_port,__lcd_rd ;RD=1

cbi __lcd_port,__lcd_rs ;RS=0

__lcd_busy:

RCALL __lcd_delay_G100

sbi __lcd_port,__lcd_enable ;EN=1

RCALL __lcd_delay_G100

in r26,__lcd_pin

cbi __lcd_port,__lcd_enable ;EN=0

RCALL __lcd_delay_G100

sbi __lcd_port,__lcd_enable ;EN=1

RCALL __lcd_delay_G100

cbi __lcd_port,__lcd_enable ;EN=0

sbrc r26,__lcd_busy_flag

rjmp __lcd_busy

RET

__lcd_write_nibble_G100:

andi r26,0xf0

or r26,r27

out __lcd_port,r26 ;write

sbi __lcd_port,__lcd_enable ;EN=1

CALL __lcd_delay_G100

cbi __lcd_port,__lcd_enable ;EN=0

CALL __lcd_delay_G100

RET

__lcd_write_data:

cbi __lcd_port,__lcd_rd ;RD=0

in r26,__lcd_direction

ori r26,0xf0 | (1<<__lcd_rs) | (1<<__lcd_rd) | (1<<__lcd_enable) ;set as output

out __lcd_direction,r26

in r27,__lcd_port

andi r27,0xf

ld r26,y

RCALL __lcd_write_nibble_G100

ld r26,y

swap r26

RCALL __lcd_write_nibble_G100

sbi __lcd_port,__lcd_rd ;RD=1

JMP _0x2020001

__lcd_read_nibble_G100:

sbi __lcd_port,__lcd_enable ;EN=1

CALL __lcd_delay_G100

in r30,__lcd_pin ;read

cbi __lcd_port,__lcd_enable ;EN=0

CALL __lcd_delay_G100

andi r30,0xf0

RET

_lcd_read_byte0_G100:

CALL __lcd_delay_G100

RCALL __lcd_read_nibble_G100

mov r26,r30

RCALL __lcd_read_nibble_G100

cbi __lcd_port,__lcd_rd ;RD=0

swap r30

or r30,r26

RET

_lcd_gotoxy:

CALL __lcd_ready

LD R30,Y

LDI R31,0

SUBI R30,LOW(-__base_y_G100)

SBCI R31,HIGH(-__base_y_G100)

LD R30,Z

LDD R26,Y+1

ADD R30,R26

ST -Y,R30

CALL __lcd_write_data

LDD R5,Y+1

LDD R4,Y+0

ADIW R28,2

RET

_lcd_clear:

CALL __lcd_ready

LDI R30,LOW(2)

ST -Y,R30

CALL __lcd_write_data

CALL __lcd_ready

LDI R30,LOW(12)

ST -Y,R30

CALL __lcd_write_data

CALL __lcd_ready

LDI R30,LOW(1)

ST -Y,R30

CALL __lcd_write_data

LDI R30,LOW(0)

MOV R4,R30

MOV R5,R30

RET

_lcd_putchar:

push r30

push r31

ld r26,y

set

cpi r26,10

breq __lcd_putchar1

clt

CP R5,R7

BRLO _0x2000004

__lcd_putchar1:

INC R4

LDI R30,LOW(0)

ST -Y,R30

ST -Y,R4

RCALL _lcd_gotoxy

brts __lcd_putchar0

_0x2000004:

INC R5

rcall __lcd_ready

sbi __lcd_port,__lcd_rs ;RS=1

ld r26,y

st -y,r26

rcall __lcd_write_data

__lcd_putchar0:

pop r31

pop r30

JMP _0x2020001

_lcd_putsf:

ST -Y,R17

_0x2000008:

LDD R30,Y+1

LDD R31,Y+1+1

ADIW R30,1

STD Y+1,R30

STD Y+1+1,R31

SBIW R30,1

LPM R30,Z

MOV R17,R30

CPI R30,0

BREQ _0x200000A

ST -Y,R17

RCALL _lcd_putchar

RJMP _0x2000008

_0x200000A:

LDD R17,Y+0

ADIW R28,3

RET

__long_delay_G100:

clr r26

clr r27

__long_delay0:

sbiw r26,1 ;2 cycles

brne __long_delay0 ;2 cycles

RET

__lcd_init_write_G100:

cbi __lcd_port,__lcd_rd ;RD=0

in r26,__lcd_direction

ori r26,0xf7 ;set as output

out __lcd_direction,r26

in r27,__lcd_port

andi r27,0xf

ld r26,y

CALL __lcd_write_nibble_G100

sbi __lcd_port,__lcd_rd ;RD=1

RJMP _0x2020001

_lcd_init:

cbi __lcd_port,__lcd_enable ;EN=0

cbi __lcd_port,__lcd_rs ;RS=0

LDD R7,Y+0

LD R30,Y

SUBI R30,-LOW(128)

__PUTB1MN __base_y_G100,2

LD R30,Y

SUBI R30,-LOW(192)

__PUTB1MN __base_y_G100,3

RCALL SUBOPT_0x6

RCALL __long_delay_G100

LDI R30,LOW(32)

ST -Y,R30

RCALL __lcd_init_write_G100

RCALL __long_delay_G100

LDI R30,LOW(40)

RCALL SUBOPT_0x7

LDI R30,LOW(4)

RCALL SUBOPT_0x7

LDI R30,LOW(133)

RCALL SUBOPT_0x7

in r26,__lcd_direction

andi r26,0xf ;set as input

out __lcd_direction,r26

sbi __lcd_port,__lcd_rd ;RD=1

CALL _lcd_read_byte0_G100

CPI R30,LOW(0x5)

BREQ _0x200000B

LDI R30,LOW(0)

RJMP _0x2020001

_0x200000B:

CALL __lcd_ready

LDI R30,LOW(6)

ST -Y,R30

CALL __lcd_write_data

CALL _lcd_clear

LDI R30,LOW(1)

_0x2020001:

ADIW R28,1

RET

.DSEG

__base_y_G100:

.BYTE 0x4

.CSEG

;OPTIMIZER ADDED SUBROUTINE, CALLED 3 TIMES, CODE SIZE REDUCTION:1 WORDS

SUBOPT_0x0:

ST -Y,R31

ST -Y,R30

JMP _lcd_putsf

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:1 WORDS

SUBOPT_0x1:

LDI R30,LOW(1)

ST -Y,R30

JMP _lcd_gotoxy

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS ( Half step mode )

;SUBOPT_0x2:

LDI R30,LOW(1)

OUT 0x12,R30

LDI R30,LOW(5)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS ( Half step mode )

;SUBOPT_0x3:

LDI R30,LOW(8)

OUT 0x12,R30

LDI R30,LOW(5)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS ( Half step mode )

;SUBOPT_0x4:

LDI R30,LOW(2)

OUT 0x12,R30

LDI R30,LOW(5)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS ( Half step mode )

;SUBOPT_0x5:

LDI R30,LOW(4)

OUT 0x12,R30

LDI R30,LOW(5)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS (Two-phase-on (normal mode) drive /Fullstep )

SUBOPT_0x2:

LDI R30,LOW(5)

OUT 0x12,R30

LDI R30,LOW(32)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS (Two-phase-on (normal mode) drive /Fullstep )

SUBOPT_0x3:

LDI R30,LOW(9)

OUT 0x12,R30

LDI R30,LOW(32)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS (Two-phase-on (normal mode) drive /Fullstep )

SUBOPT_0x4:

LDI R30,LOW(10)

OUT 0x12,R30

LDI R30,LOW(32)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES, CODE SIZE REDUCTION:3 WORDS (Two-phase-on (normal mode) drive /Fullstep )

SUBOPT_0x5:

LDI R30,LOW(6)

OUT 0x12,R30

LDI R30,LOW(32)

LDI R31,HIGH(10)

ST -Y,R31

ST -Y,R30

JMP _delay_ms

;OPTIMIZER ADDED SUBROUTINE, CALLED 3 TIMES, CODE SIZE REDUCTION:5 WORDS

SUBOPT_0x6:

CALL __long_delay_G100

LDI R30,LOW(48)

ST -Y,R30

RJMP __lcd_init_write_G100

;OPTIMIZER ADDED SUBROUTINE, CALLED 3 TIMES, CODE SIZE REDUCTION:3 WORDS

SUBOPT_0x7:

ST -Y,R30

CALL __lcd_write_data

JMP __long_delay_G100

.CSEG

_delay_ms:

ld r30,y+

ld r31,y+

adiw r30,0

breq __delay_ms1

__delay_ms0:

__DELAY_USW 0xBB8

wdr

sbiw r30,1

brne __delay_ms0

__delay_ms1:

ret

;END OF CODE MARKER

__END_OF_CODE:

Catatan: untuk simulasi menggunakan Proteus Clock pada Atmega16 di rubah ke 11.0592 MHz

Tutorial,programming and anything......By Alzuhe

11/02/2014

Program Motor Stepper Bipolar

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