双管寻迹.s

AVR单片机应用开发指南及实例,包含许多实例,挺不错

	.module _双管寻迹.c
	.area text(rom, con, rel)
	.dbfile D:\afish\工作内容\DIY-08-16\M16\DIY-08-16\双管寻迹\双管寻迹.c
	.dbfunc e delay_1ms _delay_1ms fV
;              i -> R16,R17
	.even
_delay_1ms::
	.dbline -1
	.dbline 19
; /********************************************************************************/
; /*
;                      广州双龙电子
;                      WWW.SL.COM.CN
; 	 接线方法:
;           两个光电管并排在小车前方中间，即PC.7，PC.5控制信号线
;      功能:
;           两个红光电对管寻迹
;           LED4~5是前进指示灯；LED1~3是左转指示灯;LED6~8右转指示灯
;     Chip type       :  ATMEGA16  
;     Clock frequency :  8MHz
; */
; /*******************************************************************************/
; 
; #include <iom16v.h>
; #include <macros.h>
; #define xtal 8
; void delay_1ms(void)   //1ms延时
;   {
	.dbline 21
;   unsigned int i;
;   for(i=1;i<(unsigned int)(xtal*143-2);i++) 
	ldi R16,1
	ldi R17,0
	xjmp L5
L2:
	.dbline 22
L3:
	.dbline 21
	subi R16,255  ; offset = 1
	sbci R17,255
L5:
	.dbline 21
	cpi R16,118
	ldi R30,4
	cpc R17,R30
	brlo L2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbsym r i 16 i
	.dbend
	.dbfunc e delay _delay fV
;              i -> R20,R21
;              n -> R22,R23
	.even
_delay::
	xcall push_gset2
	movw R22,R16
	.dbline -1
	.dbline 25
;   ;
;   }
; void delay(unsigned int n)
;   {
	.dbline 27
;   unsigned int i;
;   for(i=0;i<n;i++)
	clr R20
	clr R21
	xjmp L10
L7:
	.dbline 28
	xcall _delay_1ms
L8:
	.dbline 27
	subi R20,255  ; offset = 1
	sbci R21,255
L10:
	.dbline 27
	cp R20,R22
	cpc R21,R23
	brlo L7
	.dbline -2
L6:
	xcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r i 20 i
	.dbsym r n 22 i
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 31
;   delay_1ms();
;   }  
; void main(void)
; {
	.dbline 32
; DDRA=0xff;      //初始化端口
	ldi R24,255
	out 0x1a,R24
	.dbline 33
; PORTA=0xff;    
	out 0x1b,R24
	.dbline 34
; DDRD=0xf0;
	ldi R24,240
	out 0x11,R24
	.dbline 35
; PORTD=0x0f;    
	ldi R24,15
	out 0x12,R24
	.dbline 36
; DDRC=0x00;
	clr R2
	out 0x14,R2
	.dbline 37
; PORTC=0xff; 
	ldi R24,255
	out 0x15,R24
	.dbline 38
; for(;;)
L12:
	.dbline 39
;   {
	.dbline 40
;   switch(PINC&0xA0)
	in R20,0x13
	clr R21
	andi R20,160
	andi R21,0
	cpi R20,32
	ldi R30,0
	cpc R21,R30
	breq L21
	ldi R24,32
	ldi R25,0
	cp R24,R20
	cpc R25,R21
	brlt L24
L23:
	cpi R20,0
	cpc R20,R21
	breq L22
X0:
	xjmp L12
L24:
	cpi R20,128
	ldi R30,0
	cpc R21,R30
	breq L20
	cpi R20,128
	ldi R30,0
	cpc R21,R30
	brlt L12
L25:
	cpi R20,160
	ldi R30,0
	cpc R21,R30
	breq L19
	xjmp L12
X1:
	.dbline 41
;     {
L19:
	.dbline 42
; 	case 0xA0:PORTD=0xAF ;PORTA=0xE7; delay(1);break;       //直行，点亮前进指示灯
	ldi R24,175
	out 0x12,R24
	.dbline 42
	ldi R24,231
	out 0x1b,R24
	.dbline 42
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 42
	xjmp L12
L20:
	.dbline 43
; 	case 0x80:PORTD=0x60 ;PORTA=0x1F; delay(1);break;       //转左，点亮左转指示灯
	ldi R24,96
	out 0x12,R24
	.dbline 43
	ldi R24,31
	out 0x1b,R24
	.dbline 43
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 43
	xjmp L12
L21:
	.dbline 44
; 	case 0x20:PORTD=0x90 ;PORTA=0xF8; delay(1);break;       //转右，点亮右转指示灯
	ldi R24,144
	out 0x12,R24
	.dbline 44
	ldi R24,248
	out 0x1b,R24
	.dbline 44
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 44
	xjmp L12
L22:
	.dbline 45
	ldi R24,175
	out 0x12,R24
	.dbline 45
	ldi R24,255
	out 0x1b,R24
	.dbline 45
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 45
	.dbline 47
	.dbline 38
	.dbline 38
	xjmp L12
X2:
	.dbline -2
L11:
	.dbline 0 ; func end
	ret
	.dbend