宝贝机器人.s

基于atmel公司的mega16单片机做的机器人控制程序

	.module _宝贝机器人.c
	.area data(ram, con, rel)
_turn_state0::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.dbsym e turn_state0 _turn_state0 c
_turn_state1::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.dbsym e turn_state1 _turn_state1 c
_minute::
	.blkb 1
	.area idata
	.byte 0
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.dbsym e minute _minute c
_number::
	.blkb 2
	.area idata
	.byte 136,187
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.blkb 2
	.area idata
	.byte 193,145
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.blkb 2
	.area idata
	.byte 178,148
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.blkb 2
	.area idata
	.byte 132,185
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.blkb 2
	.area idata
	.byte 128,144
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.blkb 2
	.area idata
	.byte 0,255
	.area data(ram, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.dbsym e number _number A[12:12]c
	.area text(rom, con, rel)
	.dbfile C:\DOCUME~1\eda\桌面\宝贝机器人.c
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 13
; //电机在第一次使用之前,都得先调零,即调用stop()子程序旋转调整螺丝直到其转速为零
; //PD6\7分别控制左、右电机为白线。红黑先分别接电源和地
; //电机转速通过脉冲信号控制，
; //1.5ms停转、1.3ms正转、1.7ms为反转（都为高电平）中间插入20ms的低电平
; //PC3,4控制显示,PC3传送数据,PC4为时钟信号线
; // PC0 1分别为探测光源的左 右端口，
; //创建时间：2005年7月28日19：44~8。10
; #include "iom16v.h"
; #include "macros.h"
; unsigned char  turn_state0=0,turn_state1=0,sec,second,mini,minute=0,minisecond,number[12]={0x88,0xbb,0xc1,0x91,0xb2,0x94,0x84,0xb9,0x80,0x90,0x00,0xff};
; unsigned int left,right,zhong,interval;
; void delay_us(unsigned int  time)
; {//微秒级延时程序     
L2:
	.dbline 15
;  do
;  {
	.dbline 16
;   time--;
	subi R16,1
	sbci R17,0
	.dbline 17
;  }	
L3:
	.dbline 18
;   while (time>1);
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlo L2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbsym r time 16 i
	.dbend
	.dbfunc e delay_ms _delay_ms fV
;           time -> R20,R21
	.even
_delay_ms::
	xcall push_gset1
	movw R20,R16
	.dbline -1
	.dbline 22
; }	
; 
; void delay_ms(unsigned int time)
; {//毫秒级延时程序
	xjmp L7
L6:
	.dbline 24
	.dbline 25
	ldi R16,1000
	ldi R17,3
	xcall _delay_us
	.dbline 26
	subi R20,1
	sbci R21,0
	.dbline 27
L7:
	.dbline 23
;  while(time!=0)
	cpi R20,0
	cpc R20,R21
	brne L6
X0:
	.dbline -2
L5:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 i
	.dbend
	.dbfunc e delay_20ms _delay_20ms fV
;           time -> R20
	.even
_delay_20ms::
	xcall push_gset1
	.dbline -1
	.dbline 33
;    {		
;     delay_us(1000);
;       time--;
;    }
;  }  
; 
; 
; /////////////////小车运动////////////////////////////////////////
; void delay_20ms()//延时20ms，用于插入低电平
; {//毫秒级延时程序
	.dbline 34
; unsigned char time=20;
	ldi R20,20
	xjmp L11
L10:
	.dbline 36
	.dbline 37
	ldi R16,126
	ldi R17,0
	xcall _delay_us
	.dbline 38
	dec R20
	.dbline 39
L11:
	.dbline 35
;  while(time!=0)
	tst R20
	brne L10
	.dbline -2
L9:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e delay_stop _delay_stop fV
;           time -> R20
	.even
_delay_stop::
	xcall push_gset1
	.dbline -1
	.dbline 42
;  {		
;   delay_us(126);
;   time--;
;  }
;  }
;  void delay_stop()//延时1.5m，用于停转
; {//毫秒级延时程序
	.dbline 43
; unsigned char time=1;
	ldi R20,1
	xjmp L15
L14:
	.dbline 45
	.dbline 46
	ldi R16,183
	ldi R17,0
	xcall _delay_us
	.dbline 47
	dec R20
	.dbline 48
L15:
	.dbline 44
;  while(time!=0)
	tst R20
	brne L14
	.dbline -2
L13:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e delay_conver _delay_conver fV
;           time -> R20
	.even
_delay_conver::
	xcall push_gset1
	.dbline -1
	.dbline 51
;  {		
;   delay_us(183);
;   time--;
;  }
;  }
;  void delay_conver()//延时0.4ms,用于正反转变换
; {//毫秒级延时程序
	.dbline 52
; unsigned char time=1;
	ldi R20,1
	xjmp L19
L18:
	.dbline 54
	.dbline 55
	ldi R16,43
	ldi R17,0
	xcall _delay_us
	.dbline 56
	dec R20
	.dbline 57
L19:
	.dbline 53
;  while(time!=0)
	tst R20
	brne L18
	.dbline -2
L17:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e delay_turn _delay_turn fV
;           time -> R20
	.even
_delay_turn::
	xcall push_gset1
	.dbline -1
	.dbline 60
;  {		
;   delay_us(43);
;   time--;
;  }
;  }
;  void delay_turn()//延时0.2ms，用于转向
; {//毫秒级延时程序
	.dbline 61
; unsigned char time=1;
	ldi R20,1
	xjmp L23
L22:
	.dbline 63
	.dbline 64
	ldi R16,20
	ldi R17,0
	xcall _delay_us
	.dbline 65
	dec R20
	.dbline 66
L23:
	.dbline 62
;  while(time!=0)
	tst R20
	brne L22
	.dbline -2
L21:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e delay_run _delay_run fV
;           time -> R20
	.even
_delay_run::
	xcall push_gset1
	.dbline -1
	.dbline 69
;  {		
;   delay_us(20);
;   time--;
;  }
;  }
;  void delay_run()//延时1.3m，用于正转
; {//毫秒级延时程序
	.dbline 70
; unsigned char time=1;
	ldi R20,1
	xjmp L27
L26:
	.dbline 72
	.dbline 73
	ldi R16,156
	ldi R17,0
	xcall _delay_us
	.dbline 74
	dec R20
	.dbline 75
L27:
	.dbline 71
;  while(time!=0)
	tst R20
	brne L26
	.dbline -2
L25:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e delay_back _delay_back fV
;           time -> R20
	.even
_delay_back::
	xcall push_gset1
	.dbline -1
	.dbline 78
;  {		
;   delay_us(156);
;   time--;
;  }
;  }
;  void delay_back()//延时1.7m，用于反转
; {//毫秒级延时程序
	.dbline 79
;  unsigned char time=1;
	ldi R20,1
	xjmp L31
L30:
	.dbline 81
	.dbline 82
	ldi R16,206
	ldi R17,0
	xcall _delay_us
	.dbline 83
	dec R20
	.dbline 84
L31:
	.dbline 80
;  while(time!=0)
	tst R20
	brne L30
	.dbline -2
L29:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 c
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 87
;  {		
;   delay_us(206);
;   time--;
;  }
;  }
; void stop(void)
; {
	.dbline 88
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 89
;  delay_20ms();
	xcall _delay_20ms
	.dbline 90
;  PORTD|=0xc0;
	in R24,0x12
	ori R24,192
	out 0x12,R24
	.dbline 91
;  delay_stop();
	xcall _delay_stop
	.dbline -2
L33:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e run _run fV
	.even
_run::
	.dbline -1
	.dbline 94
; }
; void run(void)
; {
	.dbline 95
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 96
;  delay_20ms();
	xcall _delay_20ms
	.dbline 98
; 
;  PORTD|=0x80;
	sbi 0x12,7
	.dbline 99
;  delay_run();
	xcall _delay_run
	.dbline 100
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 103
; 
; 
;  PORTD|=0x40;
	sbi 0x12,6
	.dbline 104
;  delay_back();
	xcall _delay_back
	.dbline 105
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 109
; 
; 
; 
;  delay_conver();
	xcall _delay_conver
	.dbline -2
L34:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e run_back _run_back fV
	.even
_run_back::
	.dbline -1
	.dbline 113
; 
; }
; void run_back(void)
; {
	.dbline 114
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 115
;  delay_20ms();
	xcall _delay_20ms
	.dbline 118
; 
;  
;  PORTD|=0x80;
	sbi 0x12,7
	.dbline 119
;  delay_back();
	xcall _delay_back
	.dbline 120
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 123
; 
; 
;  PORTD|=0x40;
	sbi 0x12,6
	.dbline 124
;  delay_run();
	xcall _delay_run
	.dbline 125
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 127
; 
;  delay_conver();
	xcall _delay_conver
	.dbline -2
L35:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 130
; }
; void turn_left(void)
; {
	.dbline 131
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 132
;  delay_20ms();
	xcall _delay_20ms
	.dbline 133
;  PORTD|=0x80;
	sbi 0x12,7
	.dbline 134
;  delay_run();
	xcall _delay_run
	.dbline 135
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline -2
L36:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right _turn_right fV
	.even
_turn_right::
	.dbline -1
	.dbline 139
;  //delay_turn();
; }
; void turn_right(void)
; {
	.dbline 140
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline 141
;  delay_20ms();
	xcall _delay_20ms
	.dbline 142
;  PORTD|=0x40;
	sbi 0x12,6
	.dbline 143
;  delay_run();
	xcall _delay_run
	.dbline 144
;  PORTD&=0x3f;
	in R24,0x12
	andi R24,63
	out 0x12,R24
	.dbline -2
L37:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e display_time _display_time fV
;              j -> R20
;        display -> R22
;          point -> R12
;         second -> R10
;         minute -> R14
;             n1 -> R20
	.even
_display_time::
	xcall push_gset5
	mov R14,R18
	mov R20,R16
	ldd R10,y+10
	ldd R12,y+12
	.dbline -1
	.dbline 157
;  //delay_turn();
; }
; /////////////////小车运动////////////////////////////////////////
; 
; 
; /////////////液晶屏显示函数/////////////////////////////////////
;  
;  
;  void display_time(unsigned char n1,unsigned char minute,unsigned char second,unsigned char  point)
; //参数n1为控制是否显示冒号,11为不显示,10为显示.
; //minute\second为两个最大为99的整数
; //point为控制是否显示小数点,0为不显示,1为显示.
; {
	.dbline 159
; 	unsigned char j,display;
; 	 display=number[n1];
	ldi R24,<_number
	ldi R25,>_number
	mov R30,R20
	clr R31
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	.dbline 160
;     for(j=0;j<8;j++)
	clr R20
	xjmp L42
L39:
	.dbline 161
	.dbline 162
	sbi 0x15,4
	.dbline 163
	in R24,0x15
	andi R24,247
	out 0x15,R24
	.dbline 163
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 164
	mov R24,R22
	andi R24,1
	lsl R24
	lsl R24
	lsl R24
	in R2,0x15
	or R2,R24
	out 0x15,R2
	.dbline 164
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 165
	in R24,0x15
	andi R24,239
	out 0x15,R24
	.dbline 165
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 166
	lsr R22
	.dbline 167
L40:
	.dbline 160
	inc R20
L42:
	.dbline 160
	cpi R20,8
	brlo L39
	.dbline 168
;      {
;        PORTC|=0x10;
;        PORTC&=0xf7;delay_us(5);
;        PORTC|=((display&0x01)<<3);delay_us(5);
;        PORTC&=0xef;delay_us(5);
;         display>>=1;
;      }
;   display=number[minute/10];
	ldi R18,10
	ldi R19,0
	mov R16,R14
	clr R17
	xcall div16s
	movw R30,R16
	ldi R24,<_number
	ldi R25,>_number
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	.dbline 169
;   for(j=0;j<8;j++)
	clr R20
	xjmp L46
L43:
	.dbline 170
	.dbline 171
	sbi 0x15,4
	.dbline 171
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 172
	in R24,0x15
	andi R24,247
	out 0x15,R24
	.dbline 172
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 173
	mov R24,R22
	andi R24,1
	lsl R24
	lsl R24
	lsl R24
	in R2,0x15
	or R2,R24
	out 0x15,R2
	.dbline 173
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 174
	in R24,0x15
	andi R24,239
	out 0x15,R24
	.dbline 174
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 175
	lsr R22
	.dbline 176
L44:
	.dbline 169
	inc R20
L46:
	.dbline 169
	cpi R20,8
	brlo L43
	.dbline 177
;     {
;      PORTC|=0x10;delay_us(5);
;      PORTC&=0xf7;delay_us(5);
;      PORTC|=((display&0x01)<<3);delay_us(5);
;      PORTC&=0xef;delay_us(5);
;       display>>=1;
;    }
;   display=number[minute%10];
	ldi R18,10
	ldi R19,0
	mov R16,R14
	clr R17
	xcall mod16s
	movw R30,R16
	ldi R24,<_number
	ldi R25,>_number
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	.dbline 178
;   if(point)  //显示路程时米与厘米之加小数点
	tst R12
	breq L47
	.dbline 179
;   display&=0x7f;
	andi R22,127
L47:
	.dbline 180
;    for(j=0;j<8;j++)
	clr R20
	xjmp L52
L49:
	.dbline 181
	.dbline 182
	sbi 0x15,4
	.dbline 182
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 183
	in R24,0x15
	andi R24,247
	out 0x15,R24
	.dbline 183
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 184
	mov R24,R22
	andi R24,1
	lsl R24
	lsl R24
	lsl R24
	in R2,0x15
	or R2,R24
	out 0x15,R2
	.dbline 184
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 185
	in R24,0x15
	andi R24,239
	out 0x15,R24
	.dbline 185
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 186
	lsr R22
	.dbline 187
L50:
	.dbline 180
	inc R20
L52:
	.dbline 180
	cpi R20,8
	brlo L49
	.dbline 188
;    {
;      PORTC|=0x10;delay_us(5);
;      PORTC&=0xf7;delay_us(5);
;      PORTC|=((display&0x01)<<3);delay_us(5);
;      PORTC&=0xef;delay_us(5);
;     display>>=1;
;   }
;   display=number[second/10];
	ldi R18,10
	ldi R19,0
	mov R16,R10
	clr R17
	xcall div16s
	movw R30,R16
	ldi R24,<_number
	ldi R25,>_number
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	.dbline 189
;   for(j=0;j<8;j++)
	clr R20
	xjmp L56
L53:
	.dbline 190
	.dbline 191
	sbi 0x15,4
	.dbline 191
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 192
	in R24,0x15
	andi R24,247
	out 0x15,R24
	.dbline 192
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 193
	mov R24,R22
	andi R24,1
	lsl R24
	lsl R24
	lsl R24
	in R2,0x15
	or R2,R24
	out 0x15,R2
	.dbline 193
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 194
	in R24,0x15
	andi R24,239
	out 0x15,R24
	.dbline 194
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 195
	lsr R22
	.dbline 196
L54:
	.dbline 189
	inc R20
L56:
	.dbline 189
	cpi R20,8
	brlo L53
	.dbline 197
;   {
;    PORTC|=0x10;delay_us(5);
;    PORTC&=0xf7;delay_us(5);
;    PORTC|=((display&0x01)<<3);delay_us(5);
;    PORTC&=0xef;delay_us(5);
;    display>>=1;
;   }
;   display=number[second%10];
	ldi R18,10
	ldi R19,0
	mov R16,R10
	clr R17
	xcall mod16s
	movw R30,R16
	ldi R24,<_number
	ldi R25,>_number
	add R30,R24
	adc R31,R25
	ldd R22,z+0
	.dbline 198
;   for(j=0;j<8;j++)
	clr R20
	xjmp L60
L57:
	.dbline 199
	.dbline 200
	sbi 0x15,4
	.dbline 200
	ldi R16,5
	ldi R17,0
	xcall _delay_us
	.dbline 201
	in R24,0x15
	andi R24,247
	out 0x15,R24
	.dbline 201
	ldi R16,5