📄 m64.lst
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__start:
__text_start:
5A EFCF LDI R28,0xFF
5B E1D0 LDI R29,0x10
5C BFCD OUT 0x3D,R28
5D BFDE OUT 0x3E,R29
5E 51CE SUBI R28,0x1E
5F 40D0 SBCI R29,0
60 EA0A LDI R16,0xAA
61 8308 STD Y+0,R16
62 2400 CLR R0
63 E2E8 LDI R30,0x28
64 E0F1 LDI R31,1
65 E011 LDI R17,1
66 32E8 CPI R30,0x28
67 07F1 CPC R31,R17
68 F011 BEQ 0x006B
69 9201 ST R0,Z+
6A CFFB RJMP 0x0066
6B 8300 STD Z+0,R16
6C E8EC LDI R30,0x8C
6D E0F0 LDI R31,0
6E E0A0 LDI R26,0
6F E0B1 LDI R27,1
70 E010 LDI R17,0
71 E000 LDI R16,0
72 BF0B OUT 0x3B,R16
73 3BE4 CPI R30,0xB4
74 07F1 CPC R31,R17
75 F021 BEQ 0x007A
76 95C8 LPM
77 9631 ADIW R30,1
78 920D ST R0,X+
79 CFF9 RJMP 0x0073
7A 940E 0506 CALL _main
_exit:
7C CFFF RJMP _exit
FILE: C:\DOCUME~1\ZDH\桌面\JOHU_2~1.180\digital_duoji\main.c
(0001) //////////////////////////////
(0002) ////////////////////////////// 61493为近似180度
(0003)
(0004) #include <iom64v.h>
(0005) #include <macros.h>
(0006)
(0007) #define PREVSONG BIT(2)
(0008) #define NEXTSONG BIT(3)
(0009) #define VOLDOWN BIT(4)
(0010) #define VOLUP BIT(5)
(0011) #define STOP BIT(6)
(0012)
(0013) #define R_pwm0 BIT(4)
(0014) #define R_pwm1 BIT(5)
(0015) #define L_pwm0 BIT(6)
(0016) #define L_pwm1 BIT(7)
(0017)
(0018)
(0019) long ADCjohu=0;
(0020) int ms=0;
(0021) long xx=0;
(0022) int adc=0;
(0023)
(0024) #define REF 483
(0025) unsigned char lvbo=0;
(0026) long lvbo_num=0;
(0027)
(0028) unsigned char pwm_pingjun=100;//平均速度
(0029) unsigned char Rpwm0=0;
(0030) unsigned char Rpwm1=0;
(0031) unsigned char Lpwm0=0;
(0032) unsigned char Lpwm1=0;
(0033) unsigned char all=0, a=0,b=0,c=0,d=0,e=0,f=0;
(0034) #define CIR 1
(0035) #define LINE 2
(0036) long jiaodu=0,juli=0;
(0037) int time=0;
(0038) unsigned char sec=0;
(0039)
(0040)
(0041)
(0042) void port_init(void)
(0043) {
(0044) PORTA = 0x00;
_port_init:
7D 2422 CLR R2
7E BA2B OUT 0x1B,R2
(0045) DDRA = 0x00;
7F BA2A OUT 0x1A,R2
(0046) PORTB = 0x00;
80 BA28 OUT 0x18,R2
(0047) DDRB = 0x00;
81 BA27 OUT 0x17,R2
(0048) PORTC = 0x00; //m103 output only
82 BA25 OUT 0x15,R2
(0049) DDRC = 0x00;
83 BA24 OUT 0x14,R2
(0050) PORTD = 0x00;
84 BA22 OUT 0x12,R2
(0051) DDRD = 0x00;
85 BA21 OUT 0x11,R2
(0052) PORTE = 0x00;
86 B823 OUT 0x03,R2
(0053) DDRE = 0x00;
87 B822 OUT 0x02,R2
(0054) PORTF = 0x00;
88 9220 0062 STS 0x0062,R2
(0055) DDRF = 0x00;
8A 9220 0061 STS 0x0061,R2
(0056) PORTG = 0x00;
8C 9220 0065 STS 0x0065,R2
(0057) DDRG = 0x00;
8E 9220 0064 STS 0x0064,R2
90 9508 RET
(0058) }
(0059)
(0060) //TIMER2 initialize - prescale:64
(0061) // WGM: Normal
(0062) // desired value: 1mSec
(0063) // actual value: 1.000mSec (0.0%)
(0064) void timer2_init(void)
(0065) {
(0066) TCCR2 = 0x00; //stop
_timer2_init:
91 2422 CLR R2
92 BC25 OUT 0x25,R2
(0067) TCNT2 = 0x83; //setup
93 E883 LDI R24,0x83
94 BD84 OUT 0x24,R24
(0068) OCR2 = 0x7D;
95 E78D LDI R24,0x7D
96 BD83 OUT 0x23,R24
(0069) TCCR2 = 0x03; //start
97 E083 LDI R24,3
98 BD85 OUT 0x25,R24
99 9508 RET
_timer0_ovf_isr:
9A 920A ST R0,-Y
9B 921A ST R1,-Y
9C 922A ST R2,-Y
9D 923A ST R3,-Y
9E 924A ST R4,-Y
9F 925A ST R5,-Y
A0 926A ST R6,-Y
A1 927A ST R7,-Y
A2 928A ST R8,-Y
A3 929A ST R9,-Y
A4 930A ST R16,-Y
A5 931A ST R17,-Y
A6 932A ST R18,-Y
A7 933A ST R19,-Y
A8 938A ST R24,-Y
A9 939A ST R25,-Y
AA B60F IN R0,0x3F
AB 920A ST R0,-Y
AC 940E 077C CALL push_xgsetF00C
(0070) }
(0071)
(0072)
(0073) #pragma interrupt_handler timer0_ovf_isr:11
(0074) void timer0_ovf_isr(void)
(0075) {
(0076) TCNT0 = 0x83; //reload counter value
AE E883 LDI R24,0x83
AF BF82 OUT 0x32,R24
(0077) if (time>500){sec++;time=0;}
B0 EF84 LDI R24,0xF4
B1 E091 LDI R25,1
B2 9020 0125 LDS R2,time
B4 9030 0126 LDS R3,time+1
B6 1582 CP R24,R2
B7 0593 CPC R25,R3
B8 F45C BGE 0x00C4
B9 9180 0127 LDS R24,sec
BB 5F8F SUBI R24,0xFF
BC 9380 0127 STS sec,R24
BE 2422 CLR R2
BF 2433 CLR R3
C0 9230 0126 STS time+1,R3
C2 9220 0125 STS time,R2
(0078) time++;
C4 9180 0125 LDS R24,time
C6 9190 0126 LDS R25,time+1
C8 9601 ADIW R24,1
C9 9390 0126 STS time+1,R25
CB 9380 0125 STS time,R24
(0079) ADCjohu=ADCL;
CD B024 IN R2,0x04
CE 2433 CLR R3
CF 2444 CLR R4
D0 2455 CLR R5
D1 9230 0101 STS ADCjohu+1,R3
D3 9220 0100 STS ADCjohu,R2
D5 9250 0103 STS ADCjohu+3,R5
D7 9240 0102 STS ADCjohu+2,R4
(0080) ADCjohu|=ADCH << 8;
D9 B025 IN R2,0x05
DA 2433 CLR R3
DB 2C32 MOV R3,R2
DC 2422 CLR R2
DD 2444 CLR R4
DE FC37 SBRC R3,7
DF 9440 COM R4
E0 2455 CLR R5
E1 FC47 SBRC R4,7
E2 9450 COM R5
E3 9080 0102 LDS R8,ADCjohu+2
E5 9090 0103 LDS R9,ADCjohu+3
E7 9060 0100 LDS R6,ADCjohu
E9 9070 0101 LDS R7,ADCjohu+1
EB 2862 OR R6,R2
EC 2873 OR R7,R3
ED 2884 OR R8,R4
EE 2895 OR R9,R5
EF 9270 0101 STS ADCjohu+1,R7
F1 9260 0100 STS ADCjohu,R6
F3 9290 0103 STS ADCjohu+3,R9
F5 9280 0102 STS ADCjohu+2,R8
(0081) ///////////////////////////////////////////////////////////////////平均值滤波 1毫秒采样滤波，10毫秒输出
(0082) if (lvbo==0) {lvbo_num=ADCjohu/2;lvbo++;return;}
F7 9020 010C LDS R2,lvbo
F9 2022 TST R2
FA F4D1 BNE 0x0115
FB E042 LDI R20,2
FC E050 LDI R21,0
FD E060 LDI R22,0
FE E070 LDI R23,0
FF 0183 MOVW R16,R6
100 0194 MOVW R18,R8
101 937A ST R23,-Y
102 936A ST R22,-Y
103 935A ST R21,-Y
104 934A ST R20,-Y
105 940E 0708 CALL div32s
107 9310 010E STS lvbo_num+1,R17
109 9300 010D STS lvbo_num,R16
10B 9330 0110 STS lvbo_num+3,R19
10D 9320 010F STS lvbo_num+2,R18
10F 9180 010C LDS R24,lvbo
111 5F8F SUBI R24,0xFF
112 9380 010C STS lvbo,R24
114 C077 RJMP 0x018C
(0083) if (lvbo<10) {lvbo_num+=ADCjohu/2;lvbo++;return;}
115 9180 010C LDS R24,lvbo
117 308A CPI R24,0xA
118 F560 BCC 0x0145
119 E042 LDI R20,2
11A E050 LDI R21,0
11B E060 LDI R22,0
11C E070 LDI R23,0
11D 9120 0102 LDS R18,ADCjohu+2
11F 9130 0103 LDS R19,ADCjohu+3
121 9100 0100 LDS R16,ADCjohu
123 9110 0101 LDS R17,ADCjohu+1
125 937A ST R23,-Y
126 936A ST R22,-Y
127 935A ST R21,-Y
128 934A ST R20,-Y
129 940E 0708 CALL div32s
12B 9040 010F LDS R4,lvbo_num+2
12D 9050 0110 LDS R5,lvbo_num+3
12F 9020 010D LDS R2,lvbo_num
131 9030 010E LDS R3,lvbo_num+1
133 0E20 ADD R2,R16
134 1E31 ADC R3,R17
135 1E42 ADC R4,R18
136 1E53 ADC R5,R19
137 9230 010E STS lvbo_num+1,R3
139 9220 010D STS lvbo_num,R2
13B 9250 0110 STS lvbo_num+3,R5
13D 9240 010F STS lvbo_num+2,R4
13F 9180 010C LDS R24,lvbo
141 5F8F SUBI R24,0xFF
142 9380 010C STS lvbo,R24
144 C047 RJMP 0x018C
(0084) else lvbo=0;/**/
145 2422 CLR R2
146 9220 010C STS lvbo,R2
(0085) //////////////////////////////////////////////////////////////////////////////
(0086) if ( (ADCjohu<REF-6) || (ADCjohu>REF+6))
148 ED4D LDI R20,0xDD
149 E051 LDI R21,1
14A E060 LDI R22,0
14B E070 LDI R23,0
14C 9040 0102 LDS R4,ADCjohu+2
14E 9050 0103 LDS R5,ADCjohu+3
150 9020 0100 LDS R2,ADCjohu
152 9030 0101 LDS R3,ADCjohu+1
154 1624 CP R2,R20
155 0635 CPC R3,R21
156 0646 CPC R4,R22
157 0657 CPC R5,R23
158 F04C BLT 0x0162
159 EE49 LDI R20,0xE9
15A E051 LDI R21,1
15B E060 LDI R22,0
15C E070 LDI R23,0
15D 1542 CP R20,R2
15E 0553 CPC R21,R3
15F 0564 CPC R22,R4
160 0575 CPC R23,R5
161 F524 BGE 0x0186
(0087) {
(0088) //ADCjohu-=511-10;//-511+31-3.27371 -10
(0089) xx=xx+ADCjohu-REF;//
162 9040 0102 LDS R4,ADCjohu+2
164 9050 0103 LDS R5,ADCjohu+3
166 9020 0100 LDS R2,ADCjohu
168 9030 0101 LDS R3,ADCjohu+1
16A 9080 0108 LDS R8,xx+2
16C 9090 0109 LDS R9,xx+3
16E 9060 0106 LDS R6,xx
170 9070 0107 LDS R7,xx+1
172 0C62 ADD R6,R2
173 1C73 ADC R7,R3
174 1C84 ADC R8,R4
175 1C95 ADC R9,R5
176 EE43 LDI R20,0xE3
177 E051 LDI R21,1
178 E060 LDI R22,0
179 E070 LDI R23,0
17A 1A64 SUB R6,R20
17B 0A75 SBC R7,R21
17C 0A86 SBC R8,R22
17D 0A97 SBC R9,R23
17E 9270 0107 STS xx+1,R7
180 9260 0106 STS xx,R6
182 9290 0109 STS xx+3,R9
184 9280 0108 STS xx+2,R8
(0090) }
(0091) ms=1;
186 E081 LDI R24,1
187 E090 LDI R25,0
188 9390 0105 STS ms+1,R25
18A 9380 0104 STS ms,R24
18C 940E 0783 CALL pop_xgsetF00C
18E 9009 LD R0,Y+
18F BE0F OUT 0x3F,R0
190 9199 LD R25,Y+
191 9189 LD R24,Y+
192 9139 LD R19,Y+
193 9129 LD R18,Y+
194 9119 LD R17,Y+
195 9109 LD R16,Y+
196 9099 LD R9,Y+
197 9089 LD R8,Y+
198 9079 LD R7,Y+
199 9069 LD R6,Y+
19A 9059 LD R5,Y+
19B 9049 LD R4,Y+
19C 9039 LD R3,Y+
19D 9029 LD R2,Y+
19E 9019 LD R1,Y+
19F 9009 LD R0,Y+
1A0 9518 RETI
(0092) //ADCjohu==ADCL;
(0093) //PORTD=ADCjohu;
(0094) }
(0095)
(0096) //ADC initialize
(0097) // Conversion time: 3uS
(0098) void adc_init(void)
(0099) {
(0100) ADCSRA = 0x00; //disable adc
_adc_init:
1A1 2422 CLR R2
1A2 B826 OUT 0x06,R2
(0101) ADMUX = 0x01; //select adc input 0
1A3 E081 LDI R24,1
1A4 B987 OUT 0x07,R24
(0102) ACSR = 0x80;
1A5 E880 LDI R24,0x80
1A6 B988 OUT 0x08,R24
(0103) // ADCSRB = 0x00;
(0104) ADCSRA = 0xEf;
1A7 EE8F LDI R24,0xEF
1A8 B986 OUT 0x06,R24
1A9 9508 RET
_adc_isr:
1AA 922A ST R2,-Y
1AB B62F IN R2,0x3F
1AC 922A ST R2,-Y
(0105) }
(0106)
(0107) #pragma interrupt_handler adc_isr:22
(0108) void adc_isr(void)
(0109) {
(0110) //conversion complete, read value (int) using...
(0111) // value=ADCL; //Read 8 low bits first (important)
(0112) // value|=(int)ADCH << 8; //read 2 high bits and shift into top byte
(0113) //ADCjohu==ADCL;
(0114) //ADCjohu|=(int)ADCH << 8;
(0115) //PORTD=ADCjohu;
(0116) //adc=1;
(0117) PORTA=ADCL;
1AD B024 IN R2,0x04
1AE BA2B OUT 0x1B,R2
1AF 9029 LD R2,Y+
1B0 BE2F OUT 0x3F,R2
1B1 9029 LD R2,Y+
1B2 9518 RETI
(0118)
(0119) }
(0120)
(0121) //call this routine to initialize all peripherals
(0122) void init_devices(void)
(0123) {
(0124) //stop errant interrupts until set up
(0125) CLI(); //disable all interrupts
_init_devices:
1B3 94F8 BCLR 7
(0126) XDIV = 0x00; //xtal divider
1B4 2422 CLR R2
1B5 BE2C OUT 0x3C,R2
(0127) XMCRA = 0x00; //external memory
1B6 9220 006D STS 0x006D,R2
(0128) port_init();
1B8 DEC4 RCALL _port_init
(0129) timer2_init();
1B9 DED7 RCALL _timer2_init
(0130)
(0131) adc_init();uart1_init();
1BA DFE6 RCALL _adc_init
1BB D00C RCALL _uart1_init
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