init_device.s

小车自动寻迹代码,可以进行电子设计,设计电动小车

	.module init_device.c
	.area text(rom, con, rel)
	.dbfile C:\DOCUME~1\Administrator.1B4135EF7FF9405\桌面\小车寻迹\init_device.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 7
; //ICC-AVR application builder : 2006-9-7 0:27:10
; // Target : M32
; // Crystal: 7.3728Mhz
; #include "config.h"
; 
; void port_init(void)
; {
	.dbline 8
;  PORTA = 0x00;
	clr R2
	out 0x1b,R2
	.dbline 9
;  DDRA  = 0x00;
	out 0x1a,R2
	.dbline 10
;  PORTB = 0x00;
	out 0x18,R2
	.dbline 11
;  DDRB  = 0xFF;
	ldi R24,255
	out 0x17,R24
	.dbline 12
;  PORTC = 0x00;
	out 0x15,R2
	.dbline 13
;  DDRC  = 0x00;
	out 0x14,R2
	.dbline 14
;  PORTD = 0x00;
	out 0x12,R2
	.dbline 15
;  DDRD  = 0x80;
	ldi R24,128
	out 0x11,R24
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer0_init _timer0_init fV
	.even
_timer0_init::
	.dbline -1
	.dbline 23
; }
; 
; //＝＝＝＝＝＝＝＝＝＝＝＝timer1 PWM输出＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝//
; //TIMER0 initialize - prescale:1024
; // desired value: 25mSec
; // actual value: 25.000mSec (0.0%)
; void timer0_init(void)
; {
	.dbline 24
;  TCCR0 = 0x00;  //stop
	clr R2
	out 0x33,R2
	.dbline 25
;  TCNT0= 0x01;  //set count
	ldi R24,1
	out 0x32,R24
	.dbline 26
;  OCR0 = 0x66;  //set compare
	ldi R24,102
	out 0x3c,R24
	.dbline 27
;  TCCR0 = (1<<WGM00)|(1<<WGM01)|(1<<COM01)|0x04;//0x04 0100B 代表256预分频
	ldi R24,108
	out 0x33,R24
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer1_init _timer1_init fV
	.even
_timer1_init::
	.dbline -1
	.dbline 34
; }
; 
; //TIMER1 initialize - prescale:8
; // desired value: 50mSec
; // actual value:  50mSec (0.0%)
; void timer1_init(void) 
; {
	.dbline 35
;  TCCR1B = 0x00; //stop
	clr R2
	out 0x2e,R2
	.dbline 36
;  TCNT1H = 0x4C; //setup
	ldi R24,76
	out 0x2d,R24
	.dbline 37
;  TCNT1L = 0x01;
	ldi R24,1
	out 0x2c,R24
	.dbline 38
;  OCR1AH = 0xB3;
	ldi R24,179
	out 0x2b,R24
	.dbline 39
;  OCR1AL = 0xFF;
	ldi R24,255
	out 0x2a,R24
	.dbline 40
;  OCR1BH = 0xB3;
	ldi R24,179
	out 0x29,R24
	.dbline 41
;  OCR1BL = 0xFF;
	ldi R24,255
	out 0x28,R24
	.dbline 42
;  ICR1H  = 0xB3;
	ldi R24,179
	out 0x27,R24
	.dbline 43
;  ICR1L  = 0xFF;
	ldi R24,255
	out 0x26,R24
	.dbline 44
;  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 45
;  TCCR1B = 0x02; //start Timer
	ldi R24,2
	out 0x2e,R24
	.dbline -2
L3:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e timer2_init _timer2_init fV
	.even
_timer2_init::
	.dbline -1
	.dbline 50
; }
; /**************************timer2 PWM输出***********************/
; // PWM频率 = 系统时钟频率/（分频系数*2*计数器上限值）） 
; void timer2_init(void)
; {
	.dbline 51
;  TCCR2 = 0x00;  //stop
	clr R2
	out 0x25,R2
	.dbline 52
;  TCNT2= 0x01;  //set count
	ldi R24,1
	out 0x24,R24
	.dbline 53
;  OCR2 = 0x66;  //set compare
	ldi R24,102
	out 0x23,R24
	.dbline 54
;  TCCR2 = (1<<WGM20)|(1<<WGM21)|(1<<COM21)|0x06; //  start timer 快速pwm模式，匹配清零，溢出置位 256分频
	ldi R24,110
	out 0x25,R24
	.dbline -2
L4:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e init_devices _init_devices fV
	.even
_init_devices::
	.dbline -1
	.dbline 61
; //高比低为：(OCR2-0X55)/(0XFF-OCR2)    OX55++++++(0X77)__________OXFF
; //即OCR2越大，输出越大
; }
; 
; //call this routine to initialize all peripherals
; void init_devices(void)
; {
	.dbline 63
;  //stop errant interrupts until set up
;  CLI(); //disable all interrupts
	cli
	.dbline 64
;  port_init();
	xcall _port_init
	.dbline 65
;  timer2_init();
	xcall _timer2_init
	.dbline 67
; // timer1_init();
;  timer0_init();
	xcall _timer0_init
	.dbline 68
;  MCUCR |= (1<<ISC01);    // INT0,INT1 下降沿产生中断请求
	in R24,0x35
	ori R24,2
	out 0x35,R24
	.dbline 70
;  //MCUCSR |= (1<<ISC2);             //INT2上升沿产生中断请求
;  GICR |= (1<<INT0)|(1<<INT1);
	in R24,0x3b
	ori R24,192
	out 0x3b,R24
	.dbline 71
;  TIMSK = (1<<TOIE0)|(1<<TOIE2)|(1<<OCIE0)|(0<<OCIE2); //timer interrupt sources
	ldi R24,67
	out 0x39,R24
	.dbline 72
;  SEI(); //re-enable interrupts
	sei
	.dbline -2
L5:
	.dbline 0 ; func end
	ret
	.dbend