remote.s

AVR单片机应用开发指南及实例,包含许多实例,挺不错

	.module remote.c
	.area text(rom, con, rel)
	.dbfile D:/icc/include/diy0206.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 81
; /*******************************************/
; /*               广州天河双龙电子公司         
;                  http://www.sl.com.cn 
; 
;   
;  
;     功能:
;            遥控机器人 
;            通过无线遥控调节机器人行走路线
; 		   按下A键：机器人右转
; 	       按下B键：机器人后退
; 		   按下C键：停止运动
; 		   按下D键：机器人左转
; */
; /********************************************/
; #include <iom16v.h>
; #include <macros.h>
; #include <diy0206.c>
; 
; unsigned char remote_in;
; 
; void remote_car()
; {//遥控车程序
;  
;  port_init();//调用端口初始化函数
;  PORTA = 0xFF;
;  mic_startup();//等待声控启动函数
;  PORTA = 0x00;
;  delay_ms(20);
;  while(1)
;      {	  
; 	  remote_in = PINB & 0xF0;
;       switch (remote_in)
;       	{//检测遥控器是否有键按下
;       case 0x00:
; 		 forward();           //前行
; 		 delay_ms(10);
;       	break;
;       case 0x20:  // < A >
; 		 turn_right();        //右转
; 		 delay_ms(10);
;       	break;
;       case 0x40:  // < B >
; 		 backward();          //后退
; 		 delay_ms(10);
;       	break;
;       case 0x10:  // < C >
; 		stop();              //停止运动
; 		 delay_ms(10);
;       	break;
;       case 0x80:  // < D >
;          turn_left();         //左转
; 		 delay_ms(10);
;       	break;
;       	}
; 	  
; 	 
; 	 }
; }
; 
; void main()
; {
;  remote_car();
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 82
; }
	ldi R24,255
	out 0x1a,R24
	.dbline 82
	out 0x1b,R24
	.dbline 84
; }
; }
	clr R2
	out 0x17,R2
	.dbline 84
	out 0x18,R24
	.dbline 86
; }
; }
	ldi R24,1
	out 0x14,R24
	.dbline 86
	ldi R24,255
	out 0x15,R24
	.dbline 88
; }
; }
	ldi R24,240
	out 0x11,R24
	.dbline 88
	ldi R24,255
	out 0x12,R24
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 93
; }
; }
; }
; }
; }
L3:
	.dbline 95
; }
; }
	.dbline 96
; }
	subi R16,1
	sbci R17,0
	.dbline 97
; }
L4:
	.dbline 98
; }
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
L2:
	.dbline 0 ; func end
	ret
	.dbsym r time 16 I
	.dbend
	.dbfunc e delay_ms _delay_ms fV
;           time -> R20,R21
	.even
_delay_ms::
	xcall push_gset1
	movw R20,R16
	.dbline -1
	.dbline 102
; }
; }
; }
; }
	xjmp L8
L7:
	.dbline 104
	.dbline 105
	ldi R16,1000
	ldi R17,3
	xcall _delay_us
	.dbline 106
	subi R20,1
	sbci R21,0
	.dbline 107
L8:
	.dbline 103
; }
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
L6:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r time 20 i
	.dbend
	.dbfunc e turn_right _turn_right fV
	.even
_turn_right::
	.dbline -1
	.dbline 111
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 112
; }
	ldi R24,144
	out 0x12,R24
	.dbline 113
; }
	ldi R24,204
	out 0x1b,R24
	.dbline -2
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 117
; }
; }
; }
; }
	.dbline 118
; }
	ldi R24,96
	out 0x12,R24
	.dbline 119
; }
	ldi R24,51
	out 0x1b,R24
	.dbline -2
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 122
; }
; }
; }
	.dbline 123
; }
	ldi R24,128
	out 0x12,R24
	.dbline 124
; }
	ldi R24,207
	out 0x1b,R24
	.dbline -2
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 128
; }
; }
; }
; }
	.dbline 129
; }
	ldi R24,32
	out 0x12,R24
	.dbline 130
; }
	ldi R24,243
	out 0x1b,R24
	.dbline -2
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 134
; }
; }
; }
; }
	.dbline 135
; }
	ldi R24,80
	out 0x12,R24
	.dbline 136
; }
	ldi R24,60
	out 0x1b,R24
	.dbline -2
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 140
; }
; }
; }
; }
	.dbline 141
; }
	ldi R24,160
	out 0x12,R24
	.dbline 142
; }
	ldi R24,195
	out 0x1b,R24
	.dbline -2
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 146
; }
; }
; }
; }
	.dbline 147
; }
	ldi R24,255
	out 0x12,R24
	.dbline 148
; }
	out 0x1b,R24
	.dbline -2
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
;          sw_in -> R20
;      remote_in -> R22
	.even
_sw_touch::
	xcall push_gset2
	.dbline -1
	.dbline 165
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 167
; }
; }
	in R20,0x13
	andi R20,16
	.dbline 168
; }
	brne L18
	.dbline 169
; }
	.dbline 170
; }
	xcall _backward
	.dbline 171
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 173
; }
; }
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 174
; }
	.dbline 175
; }
	xcall _stop
	xjmp L23
L22:
	.dbline 177
	.dbline 178
	ldi R24,85
	out 0x1b,R24
	.dbline 179
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 180
	ldi R24,170
	out 0x1b,R24
	.dbline 181
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 182
L23:
	.dbline 176
; }
	xjmp L22
X1:
	.dbline 183
; }
; }
; }
; }
; }
; }
; }
L20:
	.dbline 185
; }
; }
	xcall _turn_left
	.dbline 186
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 187
; }
L18:
	.dbline 189
; }
; }
	in R20,0x16
	andi R20,11
	.dbline 190
; }
	cpi R20,9
	brne L25
	.dbline 191
; }
	.dbline 192
; }
	xcall _forward
	.dbline 193
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 195
; }
; }
	xcall _turn_left
	.dbline 196
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 197
; }
L25:
	.dbline 198
; }
	cpi R20,10
	brne L27
	.dbline 199
; }
	.dbline 200
; }
	xcall _backward
	.dbline 201
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 203
; }
; }
	xcall _turn_left
	.dbline 204
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 205
; }
L27:
	.dbline 206
; }
	cpi R20,3
	brne L29
	.dbline 207
; }
	.dbline 208
; }
	xcall _backward
	.dbline 209
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 211
; }
; }
	xcall _turn_left
	.dbline 212
; }
	ldi R16,250
	ldi R17,0
	xcall _delay_ms
	.dbline 213
; }
L29:
	.dbline 214
; }
	cpi R20,2
	brne L31
	.dbline 215
; }
	.dbline 216
; }
	xcall _stop
	.dbline 217
; }
	ldi R16,1000
	ldi R17,3
	xcall _delay_ms
	xjmp L34
L33:
	.dbline 219
; }
; }
	.dbline 220
; }
	in R20,0x13
	andi R20,16
	.dbline 221
; }
	brne L36
	.dbline 222
; }
	.dbline 222
	xjmp L35
L36:
	.dbline 223
; }
	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\遥控车\remote.c
	.dbfunc e remote_car _remote_car fV
	.even
_remote_car::
	xcall push_gset1
	.dbline -1
	.dbline 23
	.dbline 25
	xcall _port_init
	.dbline 26
	ldi R24,255
	out 0x1b,R24
	.dbline 27
	xcall _mic_startup
	.dbline 28
	clr R2
	out 0x1b,R2
	.dbline 29
	ldi R16,20
	ldi R17,0
	xcall _delay_ms
	xjmp L72
L71:
	.dbline 31
	.dbline 32
	in R24,0x16
	andi R24,240
	sts _remote_in,R24
	.dbline 33
	mov R20,R24
	clr R21
	cpi R20,32
	ldi R30,0
	cpc R21,R30
	breq L78
	ldi R24,32
	ldi R25,0
	cp R24,R20
	cpc R25,R21
	brlt L83
L82:
	cpi R20,0
	cpc R20,R21
	breq L77
X10:
	cpi R20,0
	ldi R30,0
	cpc R21,R30
	brlt L74
L84:
	cpi R20,16
	ldi R30,0
	cpc R21,R30
	breq L80
	xjmp L74
L83:
	cpi R20,64
	ldi R30,0
	cpc R21,R30
	breq L79
	cpi R20,64
	ldi R30,0
	cpc R21,R30
	brlt L74
L85:
	cpi R20,128
	ldi R30,0
	cpc R21,R30
	breq L81
	xjmp L74
X11:
	.dbline 34
L77:
	.dbline 36
	xcall _forward
	.dbline 37
	ldi R16,10
	ldi R17,0
	xcall _delay_ms
	.dbline 38
	xjmp L75
L78:
	.dbline 40
	xcall _turn_right
	.dbline 41
	ldi R16,10
	ldi R17,0
	xcall _delay_ms
	.dbline 42
	xjmp L75
L79:
	.dbline 44
	xcall _backward
	.dbline 45
	ldi R16,10
	ldi R17,0
	xcall _delay_ms
	.dbline 46
	xjmp L75
L80:
	.dbline 48
	xcall _stop
	.dbline 49
	ldi R16,10
	ldi R17,0
	xcall _delay_ms
	.dbline 50
	xjmp L75
L81:
	.dbline 52
	xcall _turn_left
	.dbline 53
	ldi R16,10
	ldi R17,0
	xcall _delay_ms
	.dbline 54
L74:
L75:
	.dbline 58
L72:
	.dbline 30
	xjmp L71
X12:
	.dbline -2
L70:
	xcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 62
	.dbline 63
	xcall _remote_car
	.dbline -2
L86:
	.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\遥控车\remote.c
_remote_in::
	.blkb 1
	.dbsym e remote_in _remote_in 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