xuanya.s

AVR单片机应用开发指南及实例,包含许多实例,挺不错

	ldi R24,85
	out 0x1b,R24
	.dbline 224
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 225
; }
	ldi R24,170
	out 0x1b,R24
	.dbline 226
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 227
; }
	in R22,0x16
	andi R22,240
	.dbline 228
; }
	cpi R22,16
	breq L42
	cpi R22,32
	breq L42
	cpi R22,64
	breq L42
	cpi R22,128
	brne L38
L42:
	.dbline 229
; }
	.dbline 229
	xjmp L35
L38:
	.dbline 230
L34:
	.dbline 218
	xjmp L33
L35:
	.dbline 231
L31:
	.dbline -2
L17:
	xcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r sw_in 20 c
	.dbsym r remote_in 22 c
	.dbend
	.dbfunc e mic_startup _mic_startup fV
;         mic_in -> R16
	.even
_mic_startup::
	.dbline -1
	.dbline 235
; }
; }
; }
; }
; }
; }
	xjmp L45
L44:
	.dbline 238
; }
; }
; }
	.dbline 239
; }
	in R16,0x16
	andi R16,4
	.dbline 240
; }
	brne L47
	.dbline 240
	.dbline 240
	xjmp L46
L47:
	.dbline 241
L45:
	.dbline 237
	xjmp L44
L46:
	.dbline -2
L43:
	.dbline 0 ; func end
	ret
	.dbsym r mic_in 16 c
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
;      remote_in -> R16
	.even
_remote_auto_time::
	.dbline -1
	.dbline 259
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 261
; }
; }
	in R16,0x16
	andi R16,240
	.dbline 262
; }
	clr R17
	cpi R16,32
	ldi R30,0
	cpc R17,R30
	breq L53
	ldi R24,32
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L67
L66:
	cpi R16,0
	cpc R16,R17
	brne X4
	xjmp L51
X4:
X2:
	cpi R16,0
	ldi R30,0
	cpc R17,R30
	brge X5
	xjmp L50
X5:
L68:
	cpi R16,16
	ldi R30,0
	cpc R17,R30
	brne X6
	xjmp L59
X6:
	xjmp L50
L67:
	cpi R16,64
	ldi R30,0
	cpc R17,R30
	breq L56
	cpi R16,64
	ldi R30,0
	cpc R17,R30
	brge X7
	xjmp L50
X7:
L69:
	cpi R16,128
	ldi R30,0
	cpc R17,R30
	brne X8
	xjmp L62
X8:
	xjmp L50
X3:
	.dbline 263
; }
L53:
	.dbline 265
; }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	sbiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 266
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	breq X9
	xjmp L51
X9:
	.dbline 267
; }
	.dbline 267
	ldi R24,100
	ldi R25,0
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 267
	.dbline 268
; }
	xjmp L51
L56:
	.dbline 270
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	adiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 271
; }
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L51
	.dbline 272
; }
	.dbline 272
	ldi R24,2000
	ldi R25,7
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 272
	.dbline 273
; }
	xjmp L51
L59:
	.dbline 275
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	sbiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 276
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	brne L51
	.dbline 277
; }
	.dbline 277
	ldi R24,100
	ldi R25,0
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 277
	.dbline 278
; }
	xjmp L51
L62:
	.dbline 280
; }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	adiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 281
; }
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L51
	.dbline 282
; }
	.dbline 282
	ldi R24,2000
	ldi R25,7
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 282
	.dbline 283
; }
	.dbline 285
; }
; }
L50:
L51:
	.dbline -2
L49:
	.dbline 0 ; func end
	ret
	.dbsym r remote_in 16 c
	.dbend
	.dbfile D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\避悬崖障碍\xuanya.c
	.dbfunc e xuanya_car _xuanya_car fV
	.even
_xuanya_car::
	xcall push_gset1
	.dbline -1
	.dbline 35
	.dbline 36
	xcall _port_init
	.dbline 38
	xcall _mic_startup
	xjmp L72
L71:
	.dbline 41
	.dbline 43
	in R20,0x16
	clr R21
	andi R20,11
	andi R21,0
	cpi R20,2
	ldi R30,0
	cpc R21,R30
	breq L80
	cpi R20,3
	ldi R30,0
	cpc R21,R30
	breq L79
	cpi R20,2
	ldi R30,0
	cpc R21,R30
	brlt L74
L81:
	cpi R20,9
	ldi R30,0
	cpc R21,R30
	breq L77
	cpi R20,10
	ldi R30,0
	cpc R21,R30
	breq L78
	xjmp L74
X10:
	.dbline 44
L77:
	.dbline 45
	xcall _forward
	.dbline 45
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 45
	xcall _turn_left
	.dbline 45
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 45
	xjmp L75
L78:
	.dbline 48
	xcall _backward
	.dbline 48
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 48
	xcall _turn_left
	.dbline 48
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 48
	xjmp L75
L79:
	.dbline 51
	xcall _backward
	.dbline 51
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 51
	xcall _turn_left
	.dbline 51
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 51
	xjmp L75
L80:
	.dbline 54
	xcall _stop
	.dbline 54
	ldi R16,1000
	ldi R17,3
	xcall _delay_ms
	.dbline 54
L74:
L75:
	.dbline 57
	in R24,0x13
	andi R24,224
	sts _pc,R24
	.dbline 58
	cpi R24,64
	brne L82
	.dbline 59
	.dbline 60
	xcall _backward
	.dbline 61
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 62
	xcall _turn_left
	.dbline 63
	ldi R16,150
	ldi R17,0
	xcall _delay_ms
	.dbline 64
L82:
	.dbline 65
	lds R24,_pc
	cpi R24,128
	brne L84
	.dbline 66
	.dbline 67
	xcall _backward
	.dbline 68
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 69
	xcall _turn_left
	.dbline 70
	ldi R16,150
	ldi R17,0
	xcall _delay_ms
	.dbline 71
L84:
	.dbline 72
	lds R24,_pc
	cpi R24,32
	brne L86
	.dbline 73
	.dbline 74
	xcall _backward
	.dbline 75
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 76
	xcall _turn_left
	.dbline 77
	ldi R16,150
	ldi R17,0
	xcall _delay_ms
	.dbline 78
L86:
	.dbline 79
	lds R24,_pc
	cpi R24,192
	brne L88
	.dbline 80
	.dbline 81
	xcall _backward
	.dbline 82
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 83
	xcall _turn_left
	.dbline 84
	ldi R16,150
	ldi R17,0
	xcall _delay_ms
	.dbline 85
L88:
	.dbline 86
	lds R24,_pc
	cpi R24,96
	brne L90
	.dbline 87
	.dbline 88
	xcall _backward
	.dbline 89
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 90
	xcall _turn_left
	.dbline 91
	ldi R16,150
	ldi R17,0
	xcall _delay_ms
	.dbline 92
L90:
	.dbline 93
	lds R24,_pc
	cpi R24,224
	brne L92
	.dbline 94
	.dbline 96
	xcall _stop
	.dbline 97
	ldi R24,60
	out 0x1b,R24
	.dbline 98
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 99
	ldi R24,195
	out 0x1b,R24
	.dbline 100
	ldi R16,300
	ldi R17,1
	xcall _delay_ms
	.dbline 101
	xjmp L93
L92:
	.dbline 103
	.dbline 104
	xcall _forward
	.dbline 105
L93:
	.dbline 106
L72:
	.dbline 40
	xjmp L71
X11:
	.dbline -2
L70:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 110
	.dbline 111
	xcall _xuanya_car
	.dbline -2
L94:
	.dbline 0 ; func end
	ret
	.dbend
	.area bss(ram, con, rel)
	.dbfile D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\避悬崖障碍\xuanya.c
_pd::
	.blkb 1
	.dbsym e pd _pd c
_pc::
	.blkb 1
	.dbsym e pc _pc c
_pb::
	.blkb 1
	.dbsym e pb _pb c
_pa::
	.blkb 1
	.dbsym e pa _pa c
_delay_time2::
	.blkb 2
	.dbfile D:/icc/include/diy0206.c
	.dbsym e delay_time2 _delay_time2 i
_delay_time1::
	.blkb 2
	.dbsym e delay_time1 _delay_time1 i
_work_status::
	.blkb 1
	.dbsym e work_status _work_status c