main.s

设计大赛寻迹小车题目程序

	.module main.c
	.area text(rom, con, rel)
	.dbfile D:\桌面\avr程序设计\循迹小车\main.c
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 9
; /*******************************************************************************
; ** 文件名：main.c   工程主文件
; *******************************************************************************/
; #include "config.h"
; 
; volatile uint8 flag; //小车状态
; //0未偏 1左偏 2右偏 3前出线 4后出线 5脱轨
; void main(void)
; {
	.dbline 10
;  init_devices();
	xcall _init_devices
	.dbline 11
;  straight();
	xcall _straight
	.dbline 13
;  
;  flag_test();  //测试小车状态
	xcall _flag_test
	xjmp L3
L2:
	.dbline 15
;  while(1) //没有脱轨
;  {
	.dbline 16
;   flag_test();
	xcall _flag_test
	.dbline 17
;   switch(flag)
	lds R20,_flag
	clr R21
	cpi R20,0
	cpc R20,R21
	breq L8
X0:
	cpi R20,1
	ldi R30,0
	cpc R21,R30
	breq L9
	cpi R20,2
	ldi R30,0
	cpc R21,R30
	breq L10
	cpi R20,3
	ldi R30,0
	cpc R21,R30
	breq L6
	cpi R20,4
	ldi R30,0
	cpc R21,R30
	breq L6
	cpi R20,5
	ldi R30,0
	cpc R21,R30
	breq L13
	xjmp L6
X1:
	.dbline 18
;   {
L8:
	.dbline 20
;   case 0:      //正常情况将速度设成相等
;     motor_right_speed_set(0xFE);
	ldi R16,254
	xcall _motor_right_speed_set
	.dbline 21
;     motor_left_speed_set(0xFE);
	ldi R16,254
	xcall _motor_left_speed_set
	.dbline 22
;     break;
	xjmp L6
L9:
	.dbline 24
;   case 1:
;    mic_turn_right();
	xcall _mic_turn_right
	.dbline 25
;    break;
	xjmp L6
L10:
	.dbline 27
;   case 2:
;    mic_turn_left();
	xcall _mic_turn_left
	.dbline 28
;    break;
	xjmp L6
X2:
	.dbline 30
;   case 3:
;    break;
	.dbline 32
;   case 4:
;    break;
L13:
	.dbline 34
;   case 5:
;    stop();
	xcall _stop
	.dbline 35
;    break;
	.dbline 37
;   default:
;    break;
L6:
	.dbline 39
L3:
	.dbline 14
	xjmp L2
X3:
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.area bss(ram, con, rel)
	.dbfile D:\桌面\avr程序设计\循迹小车\main.c
_flag::
	.blkb 1
	.dbsym e flag _flag c