extern.h

基本完成迷控制算法

debug	macro
	b0bset	p1m.3
	notb	p1.3
	endm
;----------------------------------------------
Open_P00INT	macro
	b0bclr	fp00irq
	b0bset	fp00ien
	endm
Close_P00INT	macro
	b0bclr	fp00irq
	b0bclr	fp00ien
	endm
;----------------------------------------------
;Music Control
Play_Music1	macro		;boot up music
	b0bset	O_Music_Clk
	b0bclr	O_Music_Data0
	b0bclr	O_Music_Data1
;	b0bset	Om_Music_Data0
;	b0bset	Om_Music_Data1
;	b0bset	Om_Music_Clk
	endm
Play_Music2	macro		;drive music
	b0bset	O_Music_Clk
	b0bset	O_Music_Data0
	b0bclr	O_Music_Data1
;	b0bset	Om_Music_Data0
;	b0bset	Om_Music_Data1
;	b0bset	Om_Music_Clk
	endm
Play_Music3	macro		;speedup music
	b0bset	O_Music_Clk
	b0bclr	O_Music_Data0
	b0bset	O_Music_Data1
;	b0bset	Om_Music_Data0
;	b0bset	Om_Music_Data1
;	b0bset	Om_Music_Clk
	endm
Play_Music4	macro		;back car music
	b0bset	O_Music_Clk
	b0bset	O_Music_Data0
	b0bset	O_Music_Data1
;	b0bset	Om_Music_Data0
;	b0bset	Om_Music_Data1
;	b0bset	Om_Music_Clk
	endm
Stop_Music	macro
	b0bclr	O_Music_Clk
;	b0bset	Om_Music_Clk
	endm
;=========================================
;Led Control
Open_leftled	macro
	b0bset	O_left_Led
;	b0bset	Om_left_Led
	endm
Close_leftled	macro
	b0bclr	O_left_Led
;	b0bset	Om_left_Led
	endm
Open_rightled	macro
	b0bset	O_right_Led
;	b0bset	Om_right_Led
	endm
Close_rightled	macro
	b0bclr	O_right_Led
;	b0bset	Om_right_Led
	endm
;=========================================
;Motor Control
forward_run	macro
	b0bset	O_Ctrl00
	b0bclr	O_Ctrl01
;	b0bset	Om_Ctrl00
;	b0bset	Om_Ctrl01
	endm
backward_run	macro
	b0bclr	O_Ctrl00
	b0bset	O_Ctrl01
;	b0bset	Om_Ctrl00
;	b0bset	Om_Ctrl01
	endm
stop_forbackward_run	macro
	b0bclr	O_Ctrl00
	b0bclr	O_Ctrl01
;	b0bset	Om_Ctrl00
;	b0bset	Om_Ctrl01
	endm
leftward_run	macro
	b0bset	O_Ctrl10
	b0bclr	O_Ctrl11
;	b0bset	Om_Ctrl10
;	b0bset	Om_Ctrl11
	endm
rightward_run	macro
	b0bclr	O_Ctrl10
	b0bset	O_Ctrl11
;	b0bset	Om_Ctrl10
;	b0bset	Om_Ctrl11
	endm
stop_leftrigntward_run	macro
	b0bclr	O_Ctrl10
	b0bclr	O_Ctrl11
;	b0bset	Om_Ctrl10
;	b0bset	Om_Ctrl11
	endm
upward_run	macro
	b0bset	O_Ctrl20
	b0bclr	O_Ctrl21
;	b0bset	Om_Ctrl20
;	b0bset	Om_Ctrl21
	endm
downward_run	macro
	b0bclr	O_Ctrl20
	b0bset	O_Ctrl21
;	b0bset	Om_Ctrl20
;	b0bset	Om_Ctrl21
	endm
stop_updownward_run	macro
	b0bclr	O_Ctrl20
	b0bclr	O_Ctrl21
;	b0bset	Om_Ctrl20
;	b0bset	Om_Ctrl21
	endm