motorturn.s

用m16驱动的l298n直流电机转向程序

	.module motorturn.c
	.area text(rom, con, rel)
	.dbfile F:\avr编程\电机转向程序\motorturn.c
	.dbfunc e Delay_1ms _Delay_1ms fV
;              i -> R16,R17
	.even
_Delay_1ms::
	.dbline -1
	.dbline 9
; #include <iom16v.h>		
; #include <macros.h>
; #define uchar unsigned char	
; #define uint unsigned int
; #include "m16io.c"
; #define xtal  8
; //to为左轮控制，t2为右轮控制
; void Delay_1ms(void)		//1mS延时子函数
; { uint i;
	.dbline 10
;  for(i=1;i<(uint)(xtal*143-2);i++)
	ldi R16,1
	ldi R17,0
	xjmp L5
L2:
	.dbline 11
;     ;
L3:
	.dbline 10
	subi R16,255  ; offset = 1
	sbci R17,255
L5:
	.dbline 10
	ldi R24,1142
	ldi R25,4
	cp R16,R24
	cpc R17,R25
	brlo L2
X0:
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbsym r i 16 i
	.dbend
	.dbfunc e Delay_nms _Delay_nms fV
;              i -> R20,R21
;              n -> R10,R11
	.even
_Delay_nms::
	xcall push_xgset300C
	movw R10,R16
	.dbline -1
	.dbline 15
; }
; //====================================
; void Delay_nms(uint n)		//n*1mS延时子函数
; {
	.dbline 16
;  uint i=0;
	clr R20
	clr R21
	xjmp L8
L7:
	.dbline 18
;    while(i<n)
;    {Delay_1ms();
	.dbline 18
	xcall _Delay_1ms
	.dbline 19
;     i++;
	subi R20,255  ; offset = 1
	sbci R21,255
	.dbline 20
;    }
L8:
	.dbline 17
	cp R20,R10
	cpc R21,R11
	brlo L7
X1:
	.dbline -2
L6:
	.dbline 0 ; func end
	xjmp pop_xgset300C
	.dbsym r i 20 i
	.dbsym r n 10 i
	.dbend
	.dbfunc e xpwm0 _xpwm0 fV
;             f0 -> R16
	.even
_xpwm0::
	.dbline -1
	.dbline 23
; }
; void xpwm0(uchar f0)
; {
	.dbline 25
;       //DPB31;
;  	TCCR0=0X2B;//64分频，上升匹配清零。下降匹配置1，top越大占空比越大。，
	ldi R24,43
	out 0x33,R24
	.dbline 27
; 	  //占空比为