prog37a.asm

主要是8051源代码

;  PROG37A - Reading an TV IR Remote Control and Running the
;   61Bot Motors
;
;
;  This Application will Read the Incoming I/R Commands.
;
;  A Sony TV Remote Control is Used.  
;
;
;  I/R Data (Repeated Every 45 msec):
;
;  -------+              +----+        +----+    +----+
;         |              |    |        |    |    |    |
;         |              |    |        |    |    |       o  o  o    
;         +--------------+    +--------+    +----+
;
;         |              |    |        |    |    |
;         |  Start Bit   |    |"0" Bit |    |"1" |
;         |   < 3 msec   |    | 1 msec |    |<1  |
;                        |High| > 1.5  |    |msec|
;                        |<0.5| msec   |
;                        |msec|
;
;  I/R Values:
IR2     EQU 017EFh              ;  "2" on Remote Control
IR4     EQU 013EFh              ;  "4" on Remote Control
IR6     EQU 015EFh              ;  "6" on Remote Control
IR8     EQU 011EFh              ;  "0" on Remote Control
IRPower EQU 0156Fh              ;  "Power" Key on Remote Control
;
;  Myke Predko
;  98.03.25
;
;  Hardware Notes:
;  AT89C2051 is used as the Microcontroller
;   - Oscillator Speed is 20 MHz
;  Wheel PWM Control is at P1.3
;  Left Motor Control 1 is at P1.6
;  Left Motor Control 2 is at P1.2
;  Right Motor Control 1 is at P1.7
;  Right Motor Control 2 is at P1.4
;  LED Control is at P1.5
;
;  Left I/R Receiver At P3.2 (_Int0)
;  Right I/R Receiver At P3.3 (_Int1)

;  Constant Declarations

;  Variable Declarations
Flags      EQU 020h             ;  Current Operation Flags 
IRState    EQU 0                ;  Set When Reading I/R Data
IRComplete EQU 1                ;  Set When Finished with I/R Read

IRButton   EQU 030h             ;  Value Read In (2 Bytes) 
IRCount    EQU 032h             ;  Number of Bits to Read


;  Macros


;  Mainline
 org 0                          ;  Execution Starts Here

  ajmp    MainLine              ;  Jump Over to the Mainline

 org 003h                       ;  Interrupt Pin 0 - Left I/R Receiver

  mov     IE,#%10000011         ;  Just Int 0 For Incoming Data

  ajmp    IRInt

 org 00Bh                       ;  Timer 0

  clr     IRState               ;  Don't Have Anything to Do Here
  mov     IE,#%10000101         ;  Just Leave Buttons Ready for Interrupts

  clr     P1.3                  ;  Turn Off the Motors

  reti

 org 013h                       ;  Interrupt Pin 1 - Right I/R Receiver

  mov     IE,#%10000110         ;  Just Int 1 For Incoming Data

  ajmp    IRInt

 org 01Bh                       ;  Timer 1 


IRInt:                          ;  Handle the Button Interrupt

  jb      IRState,IRRead        ;  If IRState Set, Then Executing Interrupt

;  Else, Have to Set up for a New Interrupt

  setb    IRState               ;  Set the IR State Interrupt
  clr     IRComplete            ;  Don't Have a Valid Value

  mov     IRButton,#0           ;  Clear the I/R Button
  mov     IRButton+1,#0

  mov     IRCount,#12           ;  Going to Read 12 Going Lows

  mov     TL0,#0                ;  Going to Delay 4 msec for End of Start Pulse
  mov     TH0,#LOW(256 - 26)              

  clr     TCON.5                ;  Clear the Tmr0 Overflow Flag

  reti                          ;  Return to Mainline
  

IRRead:                         ;  Now, Read the Value

  push    ACC                   ;  Save the Accumulator

  clr     C
  mov     A,TH0                 ;  Load the Timer Value and Set According to Time Remaining
  subb    A,#(256 - 4)          ;  Have we Waited 8 or 11 Cycles?
  mov     A,IRButton            
  rlc     A               
  mov     IRButton,A
  mov     A,IRButton+1          ;  Remember it is a 16 Bit Value
  rlc     A
  mov     IRButton+1,A

  mov     TL0,#0                ;  Wait Up to 2 msec for the Next Delay
  mov     TH0,#LOW(256 - 13)             

  dec     IRCount               ;  Decrement the Bit Count

  mov     A,IRCount             ;  Is it equal to Zero?
  jz      IRDone

  pop     ACC                   ;  Restore the Accumulator

  reti                          ;  Return to Executing

IRDone:                         ;  Have Read the IR Value

  setb    C                     ;  Put in the Last Set Bit
  mov     A,IRButton
  rlc     A
  mov     IRButton,A
  mov     A,IRButton+1
  rlc     A
  mov     IRButton+1,A

  clr     IRState               ;  Have Finished with the Code
  setb    IRComplete            ;  Indicate that the Button is Ready

  mov     TL0,#0                ;  Run for 1/10th of a Second
  mov     TH0,#0

  pop     ACC

  reti                          ;  Return to the Mainline



MainLine:                       ;  Mainline of the Program

  clr     P1.3                  ;  Turn Off the Motors Initially

  clr     IRState               ;  Clear the Flags Variables
  clr     IRComplete

  mov     TMOD,#%00000001       ;  Timer0 - Uses Internal Clock
                                ;         - Run in Mode 1
  mov     TCON,#%00010101       ;  Start Timer0 running
                                ;   Make Edge Triggered Interrupts

  mov     IE,#%10000101         ;  Enable Int 0 & 1 Pin Interrupts

Loop:                           ;  Loop Around Here

  jnb     IRComplete,Loop       ;  Nothing to Handle

  mov     A,IRButton            ;  Now, Do we Have the Number "2"?
  cjne    A,#LOW(IR2),Test4     ;  
  mov     A,IRButton+1
  cjne    A,#HIGH(IR2),Test4

  acall   Forward               ;  Go Forward

  ajmp    Loop

Test4:                          ;  Check for "4" Pressed (and Turn Left)

  mov     A,IRButton            ;  Now, Do we Have the Number "2"?
  cjne    A,#LOW(IR4),Test6     ;  
  mov     A,IRButton+1
  cjne    A,#HIGH(IR4),Test6

  acall   Left                  ;  Turn Left

  ajmp    Loop

Test6:                          ;  Check for "6" Pressed (and Turn Right)

  mov     A,IRButton            ;  Now, Do we Have the Number "2"?
  cjne    A,#LOW(IR6),Test8     ;  
  mov     A,IRButton+1
  cjne    A,#HIGH(IR6),Test8

  acall   Right                 ;  Turn Right

  ajmp    Loop

Test8:                          ;  Check for "8" Pressed (and Go Backwards)

  mov     A,IRButton            ;  Now, Do we Have the Number "2"?
  cjne    A,#LOW(IR8),Loop      ;   - If Not Pressed, Go Back  
  mov     A,IRButton+1
  cjne    A,#HIGH(IR8),Loop

  acall   Backward              ;  Go Backwards

  ajmp    Loop


Stop:                           ;  Stop the Motors

  clr     P1.3                  ;  Turn Off the Motors

  ret

Left:                           ;  Turn Left

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%11001000          ;  Enable the Robot to Go Forwards
  mov     P1,A

  ret

Right:                          ;  Turn Right

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%00011100          ;  Enable the Robot to Go Forwards
  mov     P1,A

  ret

Backward:                       ;  Go Backwards

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%01011000          ;  Enable the Robot to Turn Right
  mov     P1,A

  ret

Forward:                        ;  Go Forward

  mov     A,#%00100011          ;  Clear the P1 Bits NOT Doing Motion
  anl     A,P1                  
  orl     A,#%10001100          ;  Enable the Robot to Turn Right
  mov     P1,A

  ret


LED_ON:                         ;  Turn On the LED

  clr     P1.5                  ;  Clear the LED Bit

  ret

LED_OFF:                        ;  Turn OFF the LED

  setb    P1.5

  ret