📄 text1.lst
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__start:
__text_start:
002A E5CF LDI R28,0x5F
002B E0D4 LDI R29,4
002C BFCD OUT 0x3D,R28
002D BFDE OUT 0x3E,R29
002E 51C0 SUBI R28,0x10
002F 40D0 SBCI R29,0
0030 EA0A LDI R16,0xAA
0031 8308 STD Y+0,R16
0032 2400 CLR R0
0033 E6E0 LDI R30,0x60
0034 E0F0 LDI R31,0
0035 E010 LDI R17,0
0036 36E0 CPI R30,0x60
0037 07F1 CPC R31,R17
0038 F011 BEQ 0x003B
0039 9201 ST R0,Z+
003A CFFB RJMP 0x0036
003B 8300 STD Z+0,R16
003C E5E4 LDI R30,0x54
003D E0F0 LDI R31,0
003E E6A0 LDI R26,0x60
003F E0B0 LDI R27,0
0040 E010 LDI R17,0
0041 35E4 CPI R30,0x54
0042 07F1 CPC R31,R17
0043 F021 BEQ 0x0048
0044 95C8 LPM
0045 9631 ADIW R30,1
0046 920D ST R0,X+
0047 CFF9 RJMP 0x0041
0048 940E0064 CALL _main
_exit:
004A CFFF RJMP _exit
FILE: D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\单管寻迹\单管寻迹.c
(0001) /*******************************************************************/
(0002) /* 广州双龙电子
(0003) WWW.SL.COM.CN
(0004) 接线方法:
(0005) 光电管安装在小车前方中间，PC.6控制信号线
(0006) 功能:
(0007) 单个红光电对管寻迹
(0008) LED4~5是前进指示灯；LED1~3是左转弯指示灯;LED6~8是右转弯指示灯
(0009) Chip type : ATMEGA16
(0010) Clock frequency : 8MHz
(0011)
(0012) */
(0013) /********************************************************************/
(0014) #include <iom16v.h>
(0015) #include <macros.h>
(0016) #define xtal 8
(0017) void delay_1ms(void) //1ms延时
(0018) {
(0019) unsigned int i;
(0020) for(i=1;i<(unsigned int)(xtal*143-2);i++)
_delay_1ms:
i --> R16
004B E001 LDI R16,1
004C E010 LDI R17,0
004D C002 RJMP 0x0050
004E 5F0F SUBI R16,0xFF
004F 4F1F SBCI R17,0xFF
0050 3706 CPI R16,0x76
0051 E0E4 LDI R30,4
0052 071E CPC R17,R30
0053 F3D0 BCS 0x004E
0054 9508 RET
_delay:
i --> R20
n --> R22
0055 940E00A2 CALL push_gset2
0057 01B8 MOVW R22,R16
(0021) ;
(0022) }
(0023) void delay(unsigned int n)
(0024) {
(0025) unsigned int i;
(0026) for(i=0;i<n;i++)
0058 2744 CLR R20
0059 2755 CLR R21
005A C003 RJMP 0x005E
(0027) delay_1ms();
005B DFEF RCALL _delay_1ms
005C 5F4F SUBI R20,0xFF
005D 4F5F SBCI R21,0xFF
005E 1746 CP R20,R22
005F 0757 CPC R21,R23
0060 F3D0 BCS 0x005B
0061 940E0099 CALL pop_gset2
0063 9508 RET
(0028) }
(0029) void main(void)
(0030) {
(0031) DDRA=0xff; //初始化端口
_main:
0064 EF8F LDI R24,0xFF
0065 BB8A OUT 0x1A,R24
(0032) PORTA=0xff;
0066 BB8B OUT 0x1B,R24
(0033) DDRD=0xf0;
0067 EF80 LDI R24,0xF0
0068 BB81 OUT 0x11,R24
(0034) PORTD=0x0f;
0069 E08F LDI R24,0xF
006A BB82 OUT 0x12,R24
(0035) DDRC=0x00;
006B 2422 CLR R2
006C BA24 OUT 0x14,R2
(0036) PORTC=0xff;
006D EF8F LDI R24,0xFF
006E BB85 OUT 0x15,R24
(0037) for(;;)
(0038) {
(0039) if (PINC&=0x40)
006F B383 IN R24,0x13
0070 7480 ANDI R24,0x40
0071 BB83 OUT 0x13,R24
0072 2388 TST R24
0073 F041 BEQ 0x007C
(0040) {
(0041) PORTD=0xAF; //直行
0074 EA8F LDI R24,0xAF
0075 BB82 OUT 0x12,R24
(0042) PORTA=0xE7; //点亮LED4,LED5
0076 EE87 LDI R24,0xE7
0077 BB8B OUT 0x1B,R24
(0043) delay(1); //延时1微秒
0078 E001 LDI R16,1
0079 E010 LDI R17,0
007A DFDA RCALL _delay
(0044) }
007B C007 RJMP 0x0083
(0045) else
(0046) {
(0047) PORTD=0x60; //左转
007C E680 LDI R24,0x60
007D BB82 OUT 0x12,R24
(0048) PORTA=0x1F; //点亮左边LED
007E E18F LDI R24,0x1F
007F BB8B OUT 0x1B,R24
(0049) delay(1); //延时1微秒
0080 E001 LDI R16,1
0081 E010 LDI R17,0
0082 DFD2 RCALL _delay
(0050) }
(0051) if (PINC&=0x40)
0083 B383 IN R24,0x13
0084 7480 ANDI R24,0x40
0085 BB83 OUT 0x13,R24
0086 2388 TST R24
0087 F041 BEQ 0x0090
(0052) {
(0053) PORTD=0xAF; //直行
0088 EA8F LDI R24,0xAF
0089 BB82 OUT 0x12,R24
(0054) PORTA=0x00; //点亮LED4,LED5
008A 2422 CLR R2
008B BA2B OUT 0x1B,R2
(0055) delay(1); //延时1微秒
008C E001 LDI R16,1
008D E010 LDI R17,0
008E DFC6 RCALL _delay
(0056) }
008F CFDF RJMP 0x006F
(0057) else
(0058) {
(0059) PORTD=0x90; //右转
0090 E980 LDI R24,0x90
0091 BB82 OUT 0x12,R24
(0060) PORTA=0xF8; //点亮右边LED
0092 EF88 LDI R24,0xF8
0093 BB8B OUT 0x1B,R24
(0061) delay(2); //延时2微秒
FILE: <library>
0094 E002 LDI R16,2
0095 E010 LDI R17,0
0096 DFBE RCALL _delay
0097 CFD7 RJMP 0x006F
0098 9508 RET
pop_gset2:
0099 E0E2 LDI R30,2
009A 940C00A8 JMP pop
push_gset5:
009C 92FA ST R15,-Y
009D 92EA ST R14,-Y
push_gset4:
009E 92DA ST R13,-Y
009F 92CA ST R12,-Y
push_gset3:
00A0 92BA ST R11,-Y
00A1 92AA ST R10,-Y
push_gset2:
00A2 937A ST R23,-Y
00A3 936A ST R22,-Y
push_gset1:
00A4 935A ST R21,-Y
00A5 934A ST R20,-Y
00A6 9508 RET
pop_gset1:
00A7 E0E1 LDI R30,1
pop:
00A8 9149 LD R20,Y+
00A9 9159 LD R21,Y+
00AA FDE0 SBRC R30,0
00AB 9508 RET
00AC 9169 LD R22,Y+
00AD 9179 LD R23,Y+
00AE FDE1 SBRC R30,1
00AF 9508 RET
00B0 90A9 LD R10,Y+
00B1 90B9 LD R11,Y+
00B2 FDE2 SBRC R30,2
00B3 9508 RET
00B4 90C9 LD R12,Y+
00B5 90D9 LD R13,Y+
00B6 FDE3 SBRC R30,3
00B7 9508 RET
00B8 90E9 LD R14,Y+
00B9 90F9 LD R15,Y+
00BA 9508 RET
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