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📄 boat.s

📁 AVR单片机开发的键盘处理程序C源代码希望对单片机初学选手有点帮助
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123 
	.module boat.c
	.area text(rom, con, rel)
	.dbfile G:\汽艇\source\key_board\boat.c
	.dbfunc e delay_ms _delay_ms fV
;           time -> R16,R17
	.even
_delay_ms::
	.dbline -1
	.dbline 69
; // Last modify time: 2004-8-16 15:18:53
; // Target : M16
; // Crystal: 8.0000Mhz
; 
; #include <iom16v.h>
; #include <macros.h>
; 
; #define uchar unsigned char
; #define uint  unsigned int
; /*调速模块预定义*/
; #define MAX_SPEED 510
; #define MIN_SPEED -510
; #define L_ACCE_COUNT 2
; #define L_DECE_COUNT 2
; #define L_STEP 1
; #define R_ACCE_COUNT 2
; #define R_DECE_COUNT 2
; #define R_STEP 1
; #define SPEED_INC 5
; 
; #define SET_L_DIR 	( PORTB |= BIT(PB0) )	//电机方向控制I/O定义
; #define RST_L_DIR	( PORTB &= ~BIT(PB0) )
; #define SET_R_DIR	( PORTB |= BIT(PB1) )
; #define RST_R_DIR	( PORTB &= ~BIT(PB1) )
; 
; typedef struct _trap{	int   des_speed;
; 						int   real_speed;
; 						uint  acce_count;
; 						uint  dece_count;
; 						uint  counter;
; 						int   step;			//必须用int型，因为速度控制接口函数trap_ctrler的代码结构
; 					 }trap;
; trap  l_trap, r_trap;
; uint  l_temp_speed, r_temp_speed;
; uint  delay_counter;
; /*串口通讯模块预定义*/
; #define SCOM_BUF_LEN 20
; uchar tbuf[SCOM_BUF_LEN];
; uchar rbuf[SCOM_BUF_LEN];
; uint key_status;
; /*键盘模块预定义*/
; #define L_ACCE_KEY		0
; #define L_DECE_KEY 		4
; #define L_RESUME_KEY	8
; #define L_STOP_KEY 		12
; #define R_ACCE_KEY		3
; #define R_DECE_KEY		7
; #define R_RESUME_KEY	11
; #define R_STOP_KEY		15
; //
; #define L_ACCE_KEY_PRESS	7
; #define L_DECE_KEY_PRESS	6
; #define L_RESUME_KEY_PRESS	5
; #define L_STOP_KEY_PRESS	4
; #define R_ACCE_KEY_PRESS	3
; #define R_DECE_KEY_PRESS	2
; #define R_RESUME_KEY_PRESS	1
; #define R_STOP_KEY_PRESS	0
; uchar key_prev_status;
; 
; void delay_ms( uint time );
; void rst_ctrl( void );
; void pwm_ctrler( trap *pt_l, trap *pt_r );
; void trap_ctrler( int l_des_speed, int r_des_speed );
; void key_process( uint key_buf );
; 
; /**************************** 公共底层函数 ********************************/
; void delay_ms( uint time )	//毫秒级延时函数，占用系统时钟TIMER2
; {
	.dbline 70
	clr R2
	clr R3
	sts _delay_counter+1,R3
	sts _delay_counter,R2
	xjmp L5
L2:
	.dbline 70
	wdr
L3:
	.dbline 70
L5:
	.dbline 70
; 	for( delay_counter = 0; delay_counter < time; ) WDR();
	lds R2,_delay_counter
	lds R3,_delay_counter+1
	cp R2,R16
	cpc R3,R17
	brlo L2
	.dbline -2
	.dbline 71
; }
L1:
	.dbline 0 ; func end
	ret
	.dbsym r time 16 i
	.dbend
	.dbfunc e rst_ctrl _rst_ctrl fV
	.even
_rst_ctrl::
	.dbline -1
	.dbline 74
; 
; void rst_ctrl( void )
; {
	.dbline 75
; 	l_trap.des_speed = 0;
	clr R2
	clr R3
	sts _l_trap+1,R3
	sts _l_trap,R2
	.dbline 76
; 	l_trap.real_speed = 0;
	sts _l_trap+2+1,R3
	sts _l_trap+2,R2
	.dbline 77
; 	l_trap.acce_count = 0;
	sts _l_trap+4+1,R3
	sts _l_trap+4,R2
	.dbline 78
; 	l_trap.dece_count = 0;
	sts _l_trap+6+1,R3
	sts _l_trap+6,R2
	.dbline 79
; 	l_trap.counter = 0;
	sts _l_trap+8+1,R3
	sts _l_trap+8,R2
	.dbline 80
; 	l_trap.step = 4;
	ldi R24,4
	ldi R25,0
	sts _l_trap+10+1,R25
	sts _l_trap+10,R24
	.dbline 81
; 	l_temp_speed = 0;
	sts _l_temp_speed+1,R3
	sts _l_temp_speed,R2
	.dbline 82
; 	r_trap.des_speed = 0;
	sts _r_trap+1,R3
	sts _r_trap,R2
	.dbline 83
; 	r_trap.real_speed = 0;
	sts _r_trap+2+1,R3
	sts _r_trap+2,R2
	.dbline 84
; 	r_trap.acce_count = 0;
	sts _r_trap+4+1,R3
	sts _r_trap+4,R2
	.dbline 85
; 	r_trap.dece_count = 0;
	sts _r_trap+6+1,R3
	sts _r_trap+6,R2
	.dbline 86
; 	r_trap.counter = 0;
	sts _r_trap+8+1,R3
	sts _r_trap+8,R2
	.dbline 87
; 	r_trap.step = 4;
	sts _r_trap+10+1,R25
	sts _r_trap+10,R24
	.dbline 88
; 	r_temp_speed = 0;
	sts _r_temp_speed+1,R3
	sts _r_temp_speed,R2
	.dbline 89
; 	delay_counter = 0;
	sts _delay_counter+1,R3
	sts _delay_counter,R2
	.dbline 90
; 	key_status = 0;
	sts _key_status+1,R3
	sts _key_status,R2
	.dbline 91
; 	key_prev_status = 0;
	sts _key_prev_status,R2
	.dbline -2
	.dbline 92
; }
L6:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 95
; 
; void port_init(void)
; {
	.dbline 96
;  PORTA = 0xFF;
	ldi R24,255
	out 0x1b,R24
	.dbline 97
;  DDRA  = 0x00;
	clr R2
	out 0x1a,R2
	.dbline 98
;  PORTB = 0xFF;
	out 0x18,R24
	.dbline 99
;  DDRB  = 0x03;
	ldi R24,3
	out 0x17,R24
	.dbline 100
;  PORTC = 0xFF; //m103 output only
	ldi R24,255
	out 0x15,R24
	.dbline 101
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 102
;  PORTD = 0xFF;
	out 0x12,R24
	.dbline 103
;  DDRD  = 0x30;
	ldi R24,48
	out 0x11,R24
	.dbline -2
	.dbline 104
; }
L17:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 111
; 
; //TIMER1 initialisation - prescale:1
; // WGM: 6) PWM 9bit fast, TOP=0x01FF
; // desired value: 1Hz
; // actual value: 15625.000Hz (100.0%)
; void timer1_init(void)
; {
	.dbline 112
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 113
;  TCNT1H = 0xFE; //setup
	ldi R24,254
	out 0x2d,R24
	.dbline 114
;  TCNT1L = 0x01;
	ldi R24,1
	out 0x2c,R24
	.dbline 115
;  OCR1AH = 0x00;
	out 0x2b,R2
	.dbline 116
;  OCR1AL = 0x00;
	out 0x2a,R2
	.dbline 117
;  OCR1BH = 0x00;
	out 0x29,R2
	.dbline 118
;  OCR1BL = 0x00;
	out 0x28,R2
	.dbline 119
;  TCCR1A = 0xF2;
	ldi R24,242
	out 0x2f,R24
	.dbline 120
;  TCCR1B = 0x09; //start Timer
	ldi R24,9
	out 0x2e,R24
	.dbline -2
	.dbline 121
; }
L18:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer2_init _timer2_init fV
	.even
_timer2_init::
	.dbline -1
	.dbline 128
; 
; //TIMER2 initialisation - prescale:64
; // WGM: Normal
; // desired value: 1mSec
; // actual value:  1.000mSec (0.0%)
; void timer2_init(void)
; {
	.dbline 129
; 	TCCR2 = 0x00; //stop
	clr R2
	out 0x25,R2
	.dbline 130
; 	ASSR  = 0x00; //set async mode
	out 0x22,R2
	.dbline 131
; 	TCNT2 = 0x83; //setup
	ldi R24,131
	out 0x24,R24
	.dbline 132
; 	OCR2  = 0x7D;
	ldi R24,125
	out 0x23,R24
	.dbline 133
; 	TCCR2 = 0x04; //start
	ldi R24,4
	out 0x25,R24
	.dbline -2
	.dbline 134
; }
L19:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e uart0_init _uart0_init fV
	.even
_uart0_init::
	.dbline -1
	.dbline 142
; 
; //UART0 initialisation
; // desired baud rate: 9600
; // actual: baud rate:9615 (0.2%)
; // char size: 8 bit
; // parity: Disabled
; void uart0_init(void)
; {
	.dbline 143
;  UCSRB = 0x00; //disable while setting baud rate
	clr R2
	out 0xa,R2
	.dbline 144
;  UCSRA = 0x00;
	out 0xb,R2
	.dbline 145
;  UCSRC = 0x86;
	ldi R24,134
	out 0x20,R24
	.dbline 146
;  UBRRL = 0x00; //set baud rate lo
	out 0x9,R2
	.dbline 147
;  UBRRH = 0x00; //set baud rate hi
	out 0x20,R2
	.dbline 148
;  UCSRB = 0x98;
	ldi R24,152
	out 0xa,R24
	.dbline -2
	.dbline 149
; }
L20:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 16
	jmp _timer2_ovf_isr
	.area text(rom, con, rel)
	.dbfile G:\汽艇\source\key_board\boat.c
	.dbfunc e timer2_ovf_isr _timer2_ovf_isr fV
	.even
_timer2_ovf_isr::
	xcall push_lset
	.dbline -1
	.dbline 153
; 
; #pragma interrupt_handler timer2_ovf_isr:5
; void timer2_ovf_isr(void)
; {
	.dbline 154
; 	TCNT2 = 0x83; //reload counter value
	ldi R24,131
	out 0x24,R24
	.dbline 155
; 	delay_counter ++;	//用于毫秒级延时
	lds R24,_delay_counter
	lds R25,_delay_counter+1
	adiw R24,1
	sts _delay_counter+1,R25
	sts _delay_counter,R24
	.dbline 157
; 	
; 	pwm_ctrler( &l_trap, &r_trap );
	ldi R18,<_r_trap
	ldi R19,>_r_trap
	ldi R16,<_l_trap
	ldi R17,>_l_trap
	xcall _pwm_ctrler
	.dbline -2
	.dbline 158
; }
L21:
	xcall pop_lset
	.dbline 0 ; func end
	reti
	.dbend
	.area vector(rom, abs)
	.org 44
	jmp _uart0_rx_isr
	.area text(rom, con, rel)
	.dbfile G:\汽艇\source\key_board\boat.c
	.dbfunc e uart0_rx_isr _uart0_rx_isr fV
;        command -> R10
;        dataLen -> R20
;              i -> R22
	.even
_uart0_rx_isr::
	xcall push_lset
	xcall push_gset3
	.dbline -1
	.dbline 162
; 
; #pragma interrupt_handler uart0_rx_isr:12
; void uart0_rx_isr(void)
; {
	.dbline 165
; 	uchar command,dataLen;
; 	uchar i;
; 	CLI();
	cli
	.dbline 166
; 	command = UDR;
	in R10,0xc
	.dbline 167
; 	if ( command== 0x01 ){
	mov R24,R10
	cpi R24,1
	brne L23
	.dbline 167
L25:
	.dbline 168
L26:
	.dbline 168
; 		while( !( UCSRA & BIT( RXC ) ) );
	sbis 0xb,7
	rjmp L25
	.dbline 169
; 		dataLen = UDR;
	in R20,0xc
	.dbline 170
	clr R22
	xjmp L31
X0:
	.dbline 170
; 		for( i = 0; i < dataLen; i ++ ){
L32:
	.dbline 171
L33:
	.dbline 171
	sbis 0xb,7
	rjmp L32
	.dbline 172
	ldi R24,<_rbuf
	ldi R25,>_rbuf
	mov R30,R22
	clr R31
	add R30,R24
	adc R31,R25
	in R2,0xc
	std z+0,R2
	.dbline 173
L29:
	.dbline 170
	inc R22
L31:
	.dbline 170
	cp R22,R20
	brlo L33
	.dbline 175
; 			while( !( UCSRA & BIT( RXC ) ) );
; 			rbuf[i] = UDR;
; 		}
;   		//------------接收数据实时处理区--------------
; 			key_status = 0;
	clr R2
	clr R3
	sts _key_status+1,R3
	sts _key_status,R2
	.dbline 176
; 			key_status &= rbuf[0];
	lds R2,_rbuf
	clr R3
	lds R4,_key_status
	lds R5,_key_status+1
	and R4,R2
	and R5,R3
	sts _key_status+1,R5
	sts _key_status,R4
	.dbline 177
; 			key_status &= rbuf[1] << 8;
	lds R2,_rbuf+1
	clr R3
	mov R3,R2
	clr R2
	and R4,R2
	and R5,R3
	sts _key_status+1,R5
	sts _key_status,R4
	.dbline 178
; 			key_process( key_status );
	movw R16,R4
	xcall _key_process
	.dbline 180
	xjmp L24
L23:
	.dbline 180
;   		//--------------------------------------------
; 	} else if ( command == 0x02 ){
	mov R24,R10
	cpi R24,2
	breq X2
	xjmp L36
X2:
	.dbline 180
	.dbline 182
; 		//----------发送实时处理区---------
; 			if ( l_trap.real_speed < 0 )	tbuf[0] = 1;
	lds R24,_l_trap+2
	lds R25,_l_trap+2+1
	cpi R24,0
	ldi R30,0
	cpc R25,R30
	brge L38
	.dbline 182
	ldi R24,1
	sts _tbuf,R24
	xjmp L39
L38:
	.dbline 183
; 			else tbuf[0] = 0;
	clr R2
	sts _tbuf,R2
L39:
	.dbline 184
; 			tbuf[1] = (uchar)( l_trap.real_speed & 0x00FF );
	lds R24,_l_trap+2
	lds R25,_l_trap+2+1
	andi R25,0
	sts _tbuf+1,R24
	.dbline 185
; 			tbuf[2] = (uchar)( l_trap.real_speed >> 8 );
	lds R2,_l_trap+2
	lds R3,_l_trap+2+1
	mov R2,R3
	clr R3
	sbrc R2,7
	com R3
	sts _tbuf+2,R2
	.dbline 186
; 			if ( r_trap.real_speed < 0 )	tbuf[3] = 1;
	lds R24,_r_trap+2
	lds R25,_r_trap+2+1
	cpi R24,0
	ldi R30,0
	cpc R25,R30
	brge L45
	.dbline 186
	ldi R24,1
	sts _tbuf+3,R24
	xjmp L46
L45:
	.dbline 187
; 			else tbuf[3] = 0;
	clr R2
	sts _tbuf+3,R2
L46:
	.dbline 188
; 			tbuf[4] = (uchar)( r_trap.real_speed & 0x00FF );
	lds R24,_r_trap+2
	lds R25,_r_trap+2+1
	andi R25,0
	sts _tbuf+4,R24
	.dbline 189
; 			tbuf[5] = (uchar)( r_trap.real_speed >> 8 ); 
	lds R2,_r_trap+2
	lds R3,_r_trap+2+1
	mov R2,R3
	clr R3
	sbrc R2,7
	com R3
	sts _tbuf+5,R2
L54:
	.dbline 191
L55:
	.dbline 191
; 		//---------------------------------
; 		while( !( UCSRA & BIT( RXC ) ) );
	sbis 0xb,7
	rjmp L54
	.dbline 192
; 		dataLen = UDR;
	in R20,0xc
	.dbline 193
	clr R22
	xjmp L60
X1:
	.dbline 193
; 		for( i = 0; i < dataLen; i ++ ){
L61:
	.dbline 194
123

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