📄 jidong.lst
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(0096) else if( small_tmp == d ) return 3;
17F 810C LDD R16,Y+4
180 811D LDD R17,Y+5
181 812E LDD R18,Y+6
182 813F LDD R19,Y+7
183 01CE MOVW R24,R28
184 968C ADIW R24,0x2C
185 939A ST R25,-Y
186 938A ST R24,-Y
187 940E 0BB3 CALL fpcmp1
189 F411 BNE 0x018C
18A E003 LDI R16,3
18B C00E RJMP 0x019A
(0097) else if( small_tmp == e ) return 4;
18C 810C LDD R16,Y+4
18D 811D LDD R17,Y+5
18E 812E LDD R18,Y+6
18F 813F LDD R19,Y+7
190 01CE MOVW R24,R28
191 96C0 ADIW R24,0x30
192 939A ST R25,-Y
193 938A ST R24,-Y
194 940E 0BB3 CALL fpcmp1
196 F411 BNE 0x0199
197 E004 LDI R16,4
198 C001 RJMP 0x019A
(0098) else return 1;
199 E001 LDI R16,1
19A 96A4 ADIW R28,0x24
19B 9508 RET
_car_xunguang:
s_flag --> R10
19C 940E 090A CALL push_xgset300C
19E 2EA0 MOV R10,R16
(0099) }
(0100)
(0101) //完成相应动作
(0102) void car_xunguang( uchar s_flag )
(0103) {
(0104) switch( s_flag )
19F 2D4A MOV R20,R10
1A0 2755 CLR R21
1A1 3040 CPI R20,0
1A2 0745 CPC R20,R21
1A3 F089 BEQ 0x01B5
1A4 3041 CPI R20,1
1A5 E0E0 LDI R30,0
1A6 075E CPC R21,R30
1A7 F079 BEQ 0x01B7
1A8 3042 CPI R20,2
1A9 E0E0 LDI R30,0
1AA 075E CPC R21,R30
1AB F069 BEQ 0x01B9
1AC 3043 CPI R20,3
1AD E0E0 LDI R30,0
1AE 075E CPC R21,R30
1AF F059 BEQ 0x01BB
1B0 3044 CPI R20,4
1B1 E0E0 LDI R30,0
1B2 075E CPC R21,R30
1B3 F049 BEQ 0x01BD
1B4 C009 RJMP 0x01BE
(0105) {
(0106) case 0: turn_l(); break;
1B5 DEC5 RCALL _turn_l
1B6 C007 RJMP 0x01BE
(0107) case 1: go_ahead(); break;
1B7 DEB5 RCALL _go_ahead
1B8 C005 RJMP 0x01BE
(0108) case 2: turn_r(); break;
1B9 DEC8 RCALL _turn_r
1BA C003 RJMP 0x01BE
(0109) case 3: turn_l(); break;
1BB DEBF RCALL _turn_l
1BC C001 RJMP 0x01BE
(0110) case 4: turn_r(); break;
1BD DEC4 RCALL _turn_r
1BE 940C 090F JMP pop_xgset300C
(0111) }
(0112) }
(0113)
(0114) //使用ADC
(0115) void ADC_start( void )
(0116) {
(0117) ADCSRA |= ( 1 << ADEN ) | ( 1 << ADIE ) | ( 1 << ADSC ) ; //ADC使能位, 中断位置位
_ADC_start:
1C0 B186 IN R24,0x06
1C1 6C88 ORI R24,0xC8
1C2 B986 OUT 0x06,R24
1C3 9508 RET
(0118) }
(0119)
(0120) //禁用ADC
(0121) void ADC_stop( void )
(0122) {
(0123) ADCSRA &=~ ( 1 << ADEN ) | ( 1 << ADIE ) | ( 1 << ADSC ) ; //ADC使能位, 中断位清零
_ADC_stop:
1C4 9837 CBI 0x06,7
1C5 9508 RET
(0124) }
(0125)
(0126) //ADC采样端口初始化
(0127) void ADC_port_init( void )
(0128) {
(0129) ADC0_in; //定义PAD0为输入，高阻态
_ADC_port_init:
1C6 B38A IN R24,0x1A
1C7 7F8E ANDI R24,0xFE
1C8 BB8A OUT 0x1A,R24
1C9 9AD8 SBI 0x1B,0
(0130) ADC1_in;
1CA B38A IN R24,0x1A
1CB 7F8D ANDI R24,0xFD
1CC BB8A OUT 0x1A,R24
1CD 9AD9 SBI 0x1B,1
(0131) ADC2_in;
1CE B38A IN R24,0x1A
1CF 7F8B ANDI R24,0xFB
1D0 BB8A OUT 0x1A,R24
1D1 9ADA SBI 0x1B,2
(0132) ADC3_in;
1D2 B38A IN R24,0x1A
1D3 7F87 ANDI R24,0xF7
1D4 BB8A OUT 0x1A,R24
1D5 9ADB SBI 0x1B,3
(0133) ADC4_in;
1D6 B38A IN R24,0x1A
1D7 7E8F ANDI R24,0xEF
1D8 BB8A OUT 0x1A,R24
1D9 9ADC SBI 0x1B,4
1DA 9508 RET
(0134) }
(0135)
(0136) //ADC寄存器初始化
(0137) void ADC_REG_init( void )
(0138) {
(0139) ADCSRA = 0X00; //ADC控制器清零，不启动ADC转换
_ADC_REG_init:
1DB 2422 CLR R2
1DC B826 OUT 0x06,R2
(0140) AD_mux( ad_m ); //选择内部电压,初始时使用ADC0通道做为单通道输入
1DD 9180 0068 LDS R24,ad_m
1DF 6C80 ORI R24,0xC0
1E0 B987 OUT 0x07,R24
(0141) SFIOR = 0X00; //定义为连续自由转换
1E1 BE20 OUT 0x30,R2
(0142) ADCSRA = 0B11101101; //启动ADC转换1110 1101, 开启ADC中断允许, 32分频(比较合适）
1E2 EE8D LDI R24,0xED
1E3 B986 OUT 0x06,R24
1E4 9508 RET
(0143) }
(0144)
(0145) //ADC采样, 不利用中断完成的采样
(0146) float ADC_convert( void )
(0147) {
(0148) while( !ADIF ); //等待ADC转换完成 ,ADC转换完成后，ADIF = 1
(0149) adcl = ( uint )ADCL; //定义的为右对齐， 取ADCL的值
_ADC_convert:
1E5 B024 IN R2,0x04
1E6 2433 CLR R3
1E7 9230 0063 STS adcl+1,R3
1E9 9220 0062 STS adcl,R2
(0150) adch = ( uint )ADCH; //取ADCH的值
1EB B025 IN R2,0x05
1EC 2433 CLR R3
1ED 9230 0065 STS adch+1,R3
1EF 9220 0064 STS adch,R2
(0151) adcvalue = adcl + ( adch << 8 ); //取10位ADC的值
1F1 2C32 MOV R3,R2
1F2 2422 CLR R2
1F3 9040 0062 LDS R4,adcl
1F5 9050 0063 LDS R5,adcl+1
1F7 0C42 ADD R4,R2
1F8 1C53 ADC R5,R3
1F9 9250 0067 STS adcvalue+1,R5
1FB 9240 0066 STS adcvalue,R4
(0152) return adcvalue * Vref / 1024; //将ADC的值比较Vref转化为浮点数
1FD E508 LDI R16,0x58
1FE E010 LDI R17,0
1FF 940E 094B CALL lpm32
201 0118 MOVW R2,R16
202 0129 MOVW R4,R18
203 9100 0066 LDS R16,adcvalue
205 9110 0067 LDS R17,adcvalue+1
207 940E 09F3 CALL uint2fp
209 933A ST R19,-Y
20A 932A ST R18,-Y
20B 931A ST R17,-Y
20C 930A ST R16,-Y
20D 0181 MOVW R16,R2
20E 0192 MOVW R18,R4
20F 940E 0B9B CALL fpmule2
211 0118 MOVW R2,R16
212 0129 MOVW R4,R18
213 E504 LDI R16,0x54
214 E010 LDI R17,0
215 940E 094B CALL lpm32
217 933A ST R19,-Y
218 932A ST R18,-Y
219 931A ST R17,-Y
21A 930A ST R16,-Y
21B 0181 MOVW R16,R2
21C 0192 MOVW R18,R4
21D 940E 0A1C CALL fpdiv2
21F 9508 RET
_adc_isr:
220 920A ST R0,-Y
221 921A ST R1,-Y
222 922A ST R2,-Y
223 923A ST R3,-Y
224 924A ST R4,-Y
225 925A ST R5,-Y
226 926A ST R6,-Y
227 927A ST R7,-Y
228 928A ST R8,-Y
229 929A ST R9,-Y
22A 930A ST R16,-Y
22B 931A ST R17,-Y
22C 932A ST R18,-Y
22D 933A ST R19,-Y
22E 938A ST R24,-Y
22F 939A ST R25,-Y
230 93AA ST R26,-Y
231 93BA ST R27,-Y
232 93EA ST R30,-Y
233 93FA ST R31,-Y
234 B60F IN R0,0x3F
235 920A ST R0,-Y
236 940E 090A CALL push_xgset300C
238 9760 SBIW R28,0x10
(0153) }
(0154)
(0155) //ADC值转换完成初始化
(0156) #pragma interrupt_handler adc_isr:iv_ADC
(0157) void adc_isr(void)
(0158) {
(0159) //conversion complete, read value (int) using...
(0160) // value=ADCL; //Read 8 low bits first (important)
(0161) // value|=(int)ADCH << 8; //read 2 high bits and shift into top byte
(0162) ADCSRA &=~ ( 1 << ADIE ) | ( 1 << ADIF ); //禁止转换中断
239 9833 CBI 0x06,3
(0163)
(0164) switch( ad_m )
23A 9140 0068 LDS R20,ad_m
23C 2755 CLR R21
23D 3040 CPI R20,0
23E 0745 CPC R20,R21
23F F089 BEQ 0x0251
240 3041 CPI R20,1
241 E0E0 LDI R30,0
242 075E CPC R21,R30
243 F0D1 BEQ 0x025E
244 3042 CPI R20,2
245 E0E0 LDI R30,0
246 075E CPC R21,R30
247 F119 BEQ 0x026B
248 3043 CPI R20,3
249 E0E0 LDI R30,0
24A 075E CPC R21,R30
24B F161 BEQ 0x0278
24C 3044 CPI R20,4
24D E0E0 LDI R30,0
24E 075E CPC R21,R30
24F F1A9 BEQ 0x0285
250 C07A RJMP 0x02CB
(0165) {
(0166) case 0:
(0167) {
(0168) ad0_tmp = ADC_convert();
251 DF93 RCALL _ADC_convert
252 9310 006A STS ad0_tmp+1,R17
254 9300 0069 STS ad0_tmp,R16
256 9330 006C STS ad0_tmp+3,R19
258 9320 006B STS ad0_tmp+2,R18
(0169) ad_m = 1; //转换通道
25A E081 LDI R24,1
25B 9380 0068 STS ad_m,R24
(0170) }break;
25D C06D RJMP 0x02CB
(0171)
(0172) case 1:
(0173) {
(0174) ad1_tmp = ADC_convert();
25E DF86 RCALL _ADC_convert
25F 9310 006E STS ad1_tmp+1,R17
261 9300 006D STS ad1_tmp,R16
263 9330 0070 STS ad1_tmp+3,R19
265 9320 006F STS ad1_tmp+2,R18
(0175) ad_m = 2; //转换通道
267 E082 LDI R24,2
268 9380 0068 STS ad_m,R24
(0176) }break;
26A C060 RJMP 0x02CB
(0177)
(0178) case 2:
(0179) {
(0180) ad2_tmp = ADC_convert();
26B DF79 RCALL _ADC_convert
26C 9310 0072 STS ad2_tmp+1,R17
26E 9300 0071 STS ad2_tmp,R16
270 9330 0074 STS ad2_tmp+3,R19
272 9320 0073 STS ad2_tmp+2,R18
(0181) ad_m = 3; //转换通道
274 E083 LDI R24,3
275 9380 0068 STS ad_m,R24
(0182) }break;
277 C053 RJMP 0x02CB
(0183)
(0184) case 3:
(0185) {
(0186) ad3_tmp = ADC_convert();
278 DF6C RCALL _ADC_convert
279 9310 0076 STS ad3_tmp+1,R17
27B 9300 0075 STS ad3_tmp,R16
27D 9330 0078 STS ad3_tmp+3,R19
27F 9320 0077 STS ad3_tmp+2,R18
(0187) ad_m = 4; //转换通道
281 E084 LDI R24,4
282 9380 0068 STS ad_m,R24
(0188) }break;
284 C046 RJMP 0x02CB
(0189)
(0190) case 4:
(0191) {
(0192) ad4_tmp = ADC_convert();
285 DF5F RCALL _ADC_convert
286 9310 007A STS ad4_tmp+1,R17
288 9300 0079 STS ad4_tmp,R16
28A 9330 007C STS ad4_tmp+3,R19
28C 9320 007B STS ad4_tmp+2,R18
(0193) ad_m = 0; //转换通道
28E 2422 CLR R2
28F 9220 0068 STS ad_m,R2
(0194)
(0195)
(0196) //显示三个AD光度采样的值
(0197) //LCD_write_datafloat( 2, 1, ad0_tmp, 100, 2);
(0198) //LCD_write_datafloat( 2, 6, ad1_tmp, 100, 2);
(0199) //LCD_write_datafloat( 2, 11, ad2_tmp, 100, 2);
(0200) small_flag = get_5small( ad0_tmp, ad1_tmp, ad2_tmp, ad3_tmp, ad4_tmp ); //获取三点中最亮的一点
291 0118 MOVW R2,R16
292 0129 MOVW R4,R18
293 862C STD Y+12,R2
294 863D STD Y+13,R3
295 864E STD Y+14,R4
296 865F STD Y+15,R5
297 9040 0077 LDS R4,ad3_tmp+2
299 9050 0078 LDS R5,ad3_tmp+3
29B 9020 0075 LDS R2,ad3_tmp
29D 9030 0076 LDS R3,ad3_tmp+1
29F 8628 STD Y+8,R2
2A0 8639 STD Y+9,R3
2A1 864A STD Y+10,R4
2A2 865B STD Y+11,R5
2A3 9040 0073 LDS R4,ad2_tmp+2
2A5 9050 0074 LDS R5,ad2_tmp+3
2A7 9020 0071 LDS R2,ad2_tmp
2A9 9030 0072 LDS R3,ad2_tmp+1
2AB 822C STD Y+4,R2
2AC 823D STD Y+5,R3
2AD 824E STD Y+6,R4
2AE 825F STD Y+7,R5
2AF 9040 006F LDS R4,ad1_tmp+2
2B1 9050 0070 LDS R5,ad1_tmp+3
2B3 9020 006D LDS R2,ad1_tmp
2B5 9030 006E LDS R3,ad1_tmp+1
2B7 8228 STD Y+0,R2
2B8 8239 STD Y+1,R3
2B9 824A STD Y+2,R4
2BA 825B STD Y+3,R5
2BB 9120 006B LDS R18,ad0_tmp+2
2BD 9130 006C LDS R19,ad0_tmp+3
2BF 9100 0069 LDS R16,ad0_tmp
2C1 9110 006A LDS R17,ad0_tmp+1
2C3 DDC9 RCALL _get_5small
2C4 2E20 MOV R2,R16
2C5 2433 CLR R3
2C6 9230 0061 STS small_flag+1,R3
2C8 9220 0060 STS small_flag,R2
(0201) car_xunguang( small_flag );
2CA DED1 RCALL _car_xunguang
(0202)
(0203) }break;
(0204)
(0205) }
(0206)
(0207) AD_mux( ad_m ); //重新启动ADC， 重新选择基准电压和输入通道.此算法适用于多通道.
2CB 9180 0068 LDS R24,ad_m
2CD 6C80 ORI R24,0xC0
2CE B987 OUT 0x07,R24
(0208) ADCSRA |= ( 1 << ADSC ) | ( 1 << ADIE ); //开中断, 重新启动
2CF B186 IN R24,0x06
2D0 6488 ORI R24,0x48
2D1 B986 OUT 0x06,R24
(0209) delay_nms( 1 ); //一定要这个延时, 否则转换通道会出错
2D2 E001 LDI R16,1
2D3 E010 LDI R17,0
2D4 940E 05C4 CALL _delay_nms
(0210)
(0211) if( ad_m == 0 ) ADC_stop();
2D6 9020 0068 LDS R2,ad_m
2D8 2022 TST R2
2D9 F409 BNE 0x02DB
2DA DEE9 RCALL _ADC_stop
(0212) delay_nms( 2 );
2DB E002 LDI R16,2
2DC E010 LDI R17,0
2DD 940E 05C4 CALL _delay_nms
2DF 9660 ADIW R28,0x10
2E0 940E 090F CALL pop_xgset300C
2E2 9009 LD R0,Y+
2E3 BE0F OUT 0x3F,R0
2E4 91F9 LD R31,Y+
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