caculatetime.asm

这是一个在凌阳单片机上实现一个具有时钟显示和播报、播放音乐并跳舞、对机器人前进计时、避障等功能的机器人的程序

.include hardware.inc
.include s480.inc
.include bsrSD.inc
.external _BSR_FIQ_Routine
.external F_FIQ_Service_SACM_S480
//.include hardware.h
.DEFINE		P_INT_CTRL1	        	0x7010
.DEFINE 	P_INT_CTRL_NEW1      	0x702D
.DEFINE		P_INT_CLEAR	        	0x7011
//.DEFINE		P_Watchdog_Clear1		0x7012
.define     c_time1                 0x04a0
.define     c_time2                 0x04a1//0.01s
.define     c_time3                 0x04a2//0.1s
//.DEFINE		P_Watchdog_Clear		0x7012;
.code

.text
.public _IRQ4
_IRQ4:
      push r1,r5 to [sp]
       R1 = 0x0010      
      [P_INT_CLEAR] = R1
      int off 
      r1=1
      [0x7012]=r1
      r1=[c_time1]
      r1=r1+1
      cmp r1,10
      jb _case1
      jmp _case2
_case1:
      [c_time1]=r1
      jmp _m2
_case2:
      r1=0
      [c_time1]=r1
      r1=[c_time2]            
      r1+=1
      cmp r1,10
      jb _a0
      jmp _case3
_a0:
      [c_time2]=r1
      jmp m1
      
_case3:
      r1=0
      [c_time2]=r1
      r1=[c_time3]      
      r1+=1
      cmp r1,10
      jb _a1
      jmp _s1
_a1:
      [c_time3]=r1
      jmp m1            
_s1:
      r1=0
      [c_time3]=r1
      r1=[0x049f]
      r1+=1
      cmp r1,10
      je c4
      [0x049f]=r1
      jmp m1
_m2:  jmp m1
c4:
      r1=0
      [0x049f]=r1
      r1=[0x049e]
      r1+=1     
      cmp r1,6
      je c3
      [0x049e]=r1
      jmp m1
c3:
       r1=0
      [0x049e]=r1
      r1=[0x049d]
      r1+=1
      cmp r1,10
      je c2
      [0x049d]=r1
      jmp m1
c2:
      r1=0
      [0x049d]=r1
      r1=[0x049c]
      r1+=1
      cmp r1,6
      je c1
      [0x049c]=r1
m1:      jmp exit
c1:
      r1=[0x049a]
      cmp r1,0
      je b0
      r1=[0x049b]
      r1+=1
      cmp r1,3
      je b1
      [0x049b]=r1
      jmp exit
b0:
      r1=[0x049b]
      r1+=1
      cmp r1,10
      je b1
      [0x049b]=r1
      jmp exit
b1:

      r1=0
      [0x049b]=r1
      r1=[0x049a]
      r1+=1
      cmp r1,2
      je b2
      [0x049a]=r1
      jmp exit
b2:
      r1=0
      [0x049a]=r1
exit:  
      int fiq,irq
       pop r1,r5 from [sp]
reti