📄 xuanya.lis
字号:
01CC 9E07 cpc R25,R30
01CE 09F0 breq X9
01D0 42C0 xjmp L51
01D2 X9:
01D2 .dbline 267
01D2 ; }
01D2 .dbline 267
01D2 84E6 ldi R24,100
01D4 90E0 ldi R25,0
01D6 90930500 sts _delay_time2+1,R25
01DA 80930400 sts _delay_time2,R24
01DE .dbline 267
01DE .dbline 268
01DE ; }
01DE 3BC0 xjmp L51
01E0 L56:
01E0 .dbline 270
01E0 ; }
01E0 ; }
01E0 80910600 lds R24,_delay_time1
01E4 90910700 lds R25,_delay_time1+1
01E8 C296 adiw R24,50
01EA 90930700 sts _delay_time1+1,R25
01EE 80930600 sts _delay_time1,R24
01F2 .dbline 271
01F2 ; }
01F2 8230 cpi R24,2
01F4 E8E0 ldi R30,8
01F6 9E07 cpc R25,R30
01F8 71F5 brne L51
01FA .dbline 272
01FA ; }
01FA .dbline 272
01FA 80ED ldi R24,2000
01FC 97E0 ldi R25,7
01FE 90930700 sts _delay_time1+1,R25
0202 80930600 sts _delay_time1,R24
0206 .dbline 272
0206 .dbline 273
0206 ; }
0206 27C0 xjmp L51
0208 L59:
0208 .dbline 275
0208 ; }
0208 ; }
0208 80910600 lds R24,_delay_time1
020C 90910700 lds R25,_delay_time1+1
0210 C297 sbiw R24,50
0212 90930700 sts _delay_time1+1,R25
0216 80930600 sts _delay_time1,R24
021A .dbline 276
021A ; }
021A 8233 cpi R24,50
021C E0E0 ldi R30,0
021E 9E07 cpc R25,R30
0220 D1F4 brne L51
0222 .dbline 277
0222 ; }
0222 .dbline 277
0222 84E6 ldi R24,100
0224 90E0 ldi R25,0
0226 90930700 sts _delay_time1+1,R25
022A 80930600 sts _delay_time1,R24
022E .dbline 277
022E .dbline 278
022E ; }
022E 13C0 xjmp L51
0230 L62:
0230 .dbline 280
0230 ; }
0230 ; }
0230 80910400 lds R24,_delay_time2
0234 90910500 lds R25,_delay_time2+1
0238 C296 adiw R24,50
023A 90930500 sts _delay_time2+1,R25
023E 80930400 sts _delay_time2,R24
0242 .dbline 281
0242 ; }
0242 8230 cpi R24,2
0244 E8E0 ldi R30,8
0246 9E07 cpc R25,R30
0248 31F4 brne L51
024A .dbline 282
024A ; }
024A .dbline 282
024A 80ED ldi R24,2000
024C 97E0 ldi R25,7
024E 90930500 sts _delay_time2+1,R25
0252 80930400 sts _delay_time2,R24
0256 .dbline 282
0256 .dbline 283
0256 ; }
0256 .dbline 285
0256 ; }
0256 ; }
0256 L50:
0256 L51:
0256 .dbline -2
0256 L49:
0256 .dbline 0 ; func end
0256 0895 ret
0258 .dbsym r remote_in 16 c
0258 .dbend
0258 .dbfile D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\避悬崖障碍\xuanya.c
0258 .dbfunc e xuanya_car _xuanya_car fV
.even
0258 _xuanya_car::
0258 0E940000 xcall push_gset1
025C .dbline -1
025C .dbline 35
025C .dbline 36
025C D1DE xcall _port_init
025E .dbline 38
025E 7ADF xcall _mic_startup
0260 87C0 xjmp L72
0262 L71:
0262 .dbline 41
0262 .dbline 43
0262 46B3 in R20,0x16
0264 5527 clr R21
0266 4B70 andi R20,11
0268 5070 andi R21,0
026A 4230 cpi R20,2
026C E0E0 ldi R30,0
026E 5E07 cpc R21,R30
0270 61F1 breq L80
0272 4330 cpi R20,3
0274 E0E0 ldi R30,0
0276 5E07 cpc R21,R30
0278 F9F0 breq L79
027A 4230 cpi R20,2
027C E0E0 ldi R30,0
027E 5E07 cpc R21,R30
0280 44F1 brlt L74
0282 L81:
0282 4930 cpi R20,9
0284 E0E0 ldi R30,0
0286 5E07 cpc R21,R30
0288 29F0 breq L77
028A 4A30 cpi R20,10
028C E0E0 ldi R30,0
028E 5E07 cpc R21,R30
0290 51F0 breq L78
0292 1FC0 xjmp L74
0294 X10:
0294 .dbline 44
0294 L77:
0294 .dbline 45
0294 F4DE xcall _forward
0296 .dbline 45
0296 0AEF ldi R16,250
0298 10E0 ldi R17,0
029A C9DE xcall _delay_ms
029C .dbline 45
029C DCDE xcall _turn_left
029E .dbline 45
029E 0AEF ldi R16,250
02A0 10E0 ldi R17,0
02A2 C5DE xcall _delay_ms
02A4 .dbline 45
02A4 16C0 xjmp L75
02A6 L78:
02A6 .dbline 48
02A6 E6DE xcall _backward
02A8 .dbline 48
02A8 0AEF ldi R16,250
02AA 10E0 ldi R17,0
02AC C0DE xcall _delay_ms
02AE .dbline 48
02AE D3DE xcall _turn_left
02B0 .dbline 48
02B0 0AEF ldi R16,250
02B2 10E0 ldi R17,0
02B4 BCDE xcall _delay_ms
02B6 .dbline 48
02B6 0DC0 xjmp L75
02B8 L79:
02B8 .dbline 51
02B8 DDDE xcall _backward
02BA .dbline 51
02BA 0AEF ldi R16,250
02BC 10E0 ldi R17,0
02BE B7DE xcall _delay_ms
02C0 .dbline 51
02C0 CADE xcall _turn_left
02C2 .dbline 51
02C2 0AEF ldi R16,250
02C4 10E0 ldi R17,0
02C6 B3DE xcall _delay_ms
02C8 .dbline 51
02C8 04C0 xjmp L75
02CA L80:
02CA .dbline 54
02CA DEDE xcall _stop
02CC .dbline 54
02CC 08EE ldi R16,1000
02CE 13E0 ldi R17,3
02D0 AEDE xcall _delay_ms
02D2 .dbline 54
02D2 L74:
02D2 L75:
02D2 .dbline 57
02D2 83B3 in R24,0x13
02D4 807E andi R24,224
02D6 80930100 sts _pc,R24
02DA .dbline 58
02DA 8034 cpi R24,64
02DC 41F4 brne L82
02DE .dbline 59
02DE .dbline 60
02DE CADE xcall _backward
02E0 .dbline 61
02E0 0CE2 ldi R16,300
02E2 11E0 ldi R17,1
02E4 A4DE xcall _delay_ms
02E6 .dbline 62
02E6 B7DE xcall _turn_left
02E8 .dbline 63
02E8 06E9 ldi R16,150
02EA 10E0 ldi R17,0
02EC A0DE xcall _delay_ms
02EE .dbline 64
02EE L82:
02EE .dbline 65
02EE 80910100 lds R24,_pc
02F2 8038 cpi R24,128
02F4 41F4 brne L84
02F6 .dbline 66
02F6 .dbline 67
02F6 BEDE xcall _backward
02F8 .dbline 68
02F8 0CE2 ldi R16,300
02FA 11E0 ldi R17,1
02FC 98DE xcall _delay_ms
02FE .dbline 69
02FE ABDE xcall _turn_left
0300 .dbline 70
0300 06E9 ldi R16,150
0302 10E0 ldi R17,0
0304 94DE xcall _delay_ms
0306 .dbline 71
0306 L84:
0306 .dbline 72
0306 80910100 lds R24,_pc
030A 8032 cpi R24,32
030C 41F4 brne L86
030E .dbline 73
030E .dbline 74
030E B2DE xcall _backward
0310 .dbline 75
0310 0CE2 ldi R16,300
0312 11E0 ldi R17,1
0314 8CDE xcall _delay_ms
0316 .dbline 76
0316 9FDE xcall _turn_left
0318 .dbline 77
0318 06E9 ldi R16,150
031A 10E0 ldi R17,0
031C 88DE xcall _delay_ms
031E .dbline 78
031E L86:
031E .dbline 79
031E 80910100 lds R24,_pc
0322 803C cpi R24,192
0324 41F4 brne L88
0326 .dbline 80
0326 .dbline 81
0326 A6DE xcall _backward
0328 .dbline 82
0328 0CE2 ldi R16,300
032A 11E0 ldi R17,1
032C 80DE xcall _delay_ms
032E .dbline 83
032E 93DE xcall _turn_left
0330 .dbline 84
0330 06E9 ldi R16,150
0332 10E0 ldi R17,0
0334 7CDE xcall _delay_ms
0336 .dbline 85
0336 L88:
0336 .dbline 86
0336 80910100 lds R24,_pc
033A 8036 cpi R24,96
033C 41F4 brne L90
033E .dbline 87
033E .dbline 88
033E 9ADE xcall _backward
0340 .dbline 89
0340 0CE2 ldi R16,300
0342 11E0 ldi R17,1
0344 74DE xcall _delay_ms
0346 .dbline 90
0346 87DE xcall _turn_left
0348 .dbline 91
0348 06E9 ldi R16,150
034A 10E0 ldi R17,0
034C 70DE xcall _delay_ms
034E .dbline 92
034E L90:
034E .dbline 93
034E 80910100 lds R24,_pc
0352 803E cpi R24,224
0354 61F4 brne L92
0356 .dbline 94
0356 .dbline 96
0356 98DE xcall _stop
0358 .dbline 97
0358 8CE3 ldi R24,60
035A 8BBB out 0x1b,R24
035C .dbline 98
035C 0CE2 ldi R16,300
035E 11E0 ldi R17,1
0360 66DE xcall _delay_ms
0362 .dbline 99
0362 83EC ldi R24,195
0364 8BBB out 0x1b,R24
0366 .dbline 100
0366 0CE2 ldi R16,300
0368 11E0 ldi R17,1
036A 61DE xcall _delay_ms
036C .dbline 101
036C 01C0 xjmp L93
036E L92:
036E .dbline 103
036E .dbline 104
036E 87DE xcall _forward
0370 .dbline 105
0370 L93:
0370 .dbline 106
0370 L72:
0370 .dbline 40
0370 78CF xjmp L71
0372 X11:
0372 .dbline -2
0372 L70:
0372 0E940000 xcall pop_gset1
0376 .dbline 0 ; func end
0376 0895 ret
0378 .dbend
0378 .dbfunc e main _main fV
.even
0378 _main::
0378 .dbline -1
0378 .dbline 110
0378 .dbline 111
0378 6FDF xcall _xuanya_car
037A .dbline -2
037A L94:
037A .dbline 0 ; func end
037A 0895 ret
037C .dbend
.area bss(ram, con, rel)
0000 .dbfile D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\避悬崖障碍\xuanya.c
0000 _pd::
0000 .blkb 1
0001 .dbsym e pd _pd c
0001 _pc::
0001 .blkb 1
0002 .dbsym e pc _pc c
0002 _pb::
0002 .blkb 1
0003 .dbsym e pb _pb c
0003 _pa::
0003 .blkb 1
0004 .dbsym e pa _pa c
0004 _delay_time2::
0004 .blkb 2
0006 .dbfile D:/icc/include/diy0206.c
0006 .dbsym e delay_time2 _delay_time2 i
0006 _delay_time1::
0006 .blkb 2
0008 .dbsym e delay_time1 _delay_time1 i
0008 _work_status::
0008 .blkb 1
0009 .dbsym e work_status _work_status c
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