📄 car_prevent.lss
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car_ahead(); // 小车启动
2f0: 0e 94 85 01 call 0x30a ; 0x30a <car_ahead>
while(1)
{
car_prevent();
2f4: 0e 94 71 00 call 0xe2 ; 0xe2 <car_prevent>
2f8: fd cf rjmp .-6 ; 0x2f4 <main+0x1a>
000002fa <car_init>:
#include "avr/io.h"
#include "util/delay.h"
void car_init(void)
{
DDRD |= _BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5);
2fa: 81 b3 in r24, 0x11 ; 17
2fc: 8c 63 ori r24, 0x3C ; 60
2fe: 81 bb out 0x11, r24 ; 17
}
300: 08 95 ret
00000302 <car_stop>:
void car_stop(void) // 刹车
{
PORTD |= _BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5);
302: 82 b3 in r24, 0x12 ; 18
304: 8c 63 ori r24, 0x3C ; 60
306: 82 bb out 0x12, r24 ; 18
}
308: 08 95 ret
0000030a <car_ahead>:
void car_ahead(void) // 前进
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
30a: 82 b3 in r24, 0x12 ; 18
30c: 83 7c andi r24, 0xC3 ; 195
30e: 82 bb out 0x12, r24 ; 18
310: 80 e0 ldi r24, 0x00 ; 0
312: 94 e2 ldi r25, 0x24 ; 36
314: 01 97 sbiw r24, 0x01 ; 1
316: f1 f7 brne .-4 ; 0x314 <car_ahead+0xa>
_delay_ms(5);
PORTD |= _BV(PD2) | _BV(PD4);
318: 82 b3 in r24, 0x12 ; 18
31a: 84 61 ori r24, 0x14 ; 20
31c: 82 bb out 0x12, r24 ; 18
}
31e: 08 95 ret
00000320 <car_backward>:
void car_backward(void) // 后退
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
320: 82 b3 in r24, 0x12 ; 18
322: 83 7c andi r24, 0xC3 ; 195
324: 82 bb out 0x12, r24 ; 18
326: 80 e0 ldi r24, 0x00 ; 0
328: 94 e2 ldi r25, 0x24 ; 36
32a: 01 97 sbiw r24, 0x01 ; 1
32c: f1 f7 brne .-4 ; 0x32a <car_backward+0xa>
_delay_ms(5);
PORTD |= _BV(PD3) | _BV(PD5);
32e: 82 b3 in r24, 0x12 ; 18
330: 88 62 ori r24, 0x28 ; 40
332: 82 bb out 0x12, r24 ; 18
}
334: 08 95 ret
00000336 <car_left_Circle>:
void car_left_Circle(void) // 原地左转
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
336: 82 b3 in r24, 0x12 ; 18
338: 83 7c andi r24, 0xC3 ; 195
33a: 82 bb out 0x12, r24 ; 18
33c: 80 e0 ldi r24, 0x00 ; 0
33e: 94 e2 ldi r25, 0x24 ; 36
340: 01 97 sbiw r24, 0x01 ; 1
342: f1 f7 brne .-4 ; 0x340 <car_left_Circle+0xa>
_delay_ms(5);
PORTD |= _BV(PD3) | _BV(PD4);
344: 82 b3 in r24, 0x12 ; 18
346: 88 61 ori r24, 0x18 ; 24
348: 82 bb out 0x12, r24 ; 18
}
34a: 08 95 ret
0000034c <car_right_Circle>:
void car_right_Circle(void) // 原地右转
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
34c: 82 b3 in r24, 0x12 ; 18
34e: 83 7c andi r24, 0xC3 ; 195
350: 82 bb out 0x12, r24 ; 18
352: 80 e0 ldi r24, 0x00 ; 0
354: 94 e2 ldi r25, 0x24 ; 36
356: 01 97 sbiw r24, 0x01 ; 1
358: f1 f7 brne .-4 ; 0x356 <car_right_Circle+0xa>
_delay_ms(5);
PORTD |= _BV(PD2) | _BV(PD5);
35a: 82 b3 in r24, 0x12 ; 18
35c: 84 62 ori r24, 0x24 ; 36
35e: 82 bb out 0x12, r24 ; 18
}
360: 08 95 ret
00000362 <car_left_stop>:
void car_left_stop(void) // 左转，左轮不动
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
362: 82 b3 in r24, 0x12 ; 18
364: 83 7c andi r24, 0xC3 ; 195
366: 82 bb out 0x12, r24 ; 18
368: 80 e0 ldi r24, 0x00 ; 0
36a: 94 e2 ldi r25, 0x24 ; 36
36c: 01 97 sbiw r24, 0x01 ; 1
36e: f1 f7 brne .-4 ; 0x36c <car_left_stop+0xa>
_delay_ms(5);
PORTD |= _BV(PD2) | _BV(PD3) | _BV(PD4);
370: 82 b3 in r24, 0x12 ; 18
372: 8c 61 ori r24, 0x1C ; 28
374: 82 bb out 0x12, r24 ; 18
}
376: 08 95 ret
00000378 <car_right_stop>:
void car_right_stop(void) // 右转，右轮不动
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
378: 82 b3 in r24, 0x12 ; 18
37a: 83 7c andi r24, 0xC3 ; 195
37c: 82 bb out 0x12, r24 ; 18
37e: 80 e0 ldi r24, 0x00 ; 0
380: 94 e2 ldi r25, 0x24 ; 36
382: 01 97 sbiw r24, 0x01 ; 1
384: f1 f7 brne .-4 ; 0x382 <car_right_stop+0xa>
_delay_ms(5);
PORTD |= _BV(PD2) | _BV(PD4) | _BV(PD5);
386: 82 b3 in r24, 0x12 ; 18
388: 84 63 ori r24, 0x34 ; 52
38a: 82 bb out 0x12, r24 ; 18
}
38c: 08 95 ret
0000038e <car_left>:
void car_left(void) // 左转
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
38e: 82 b3 in r24, 0x12 ; 18
390: 83 7c andi r24, 0xC3 ; 195
392: 82 bb out 0x12, r24 ; 18
394: 80 e0 ldi r24, 0x00 ; 0
396: 94 e2 ldi r25, 0x24 ; 36
398: 01 97 sbiw r24, 0x01 ; 1
39a: f1 f7 brne .-4 ; 0x398 <car_left+0xa>
_delay_ms(5);
PORTD |= _BV(PD4);
39c: 94 9a sbi 0x12, 4 ; 18
}
39e: 08 95 ret
000003a0 <car_right>:
void car_right(void) // 右转
{
PORTD &= ~(_BV(PD2) | _BV(PD3) | _BV(PD4) | _BV(PD5));
3a0: 82 b3 in r24, 0x12 ; 18
3a2: 83 7c andi r24, 0xC3 ; 195
3a4: 82 bb out 0x12, r24 ; 18
3a6: 80 e0 ldi r24, 0x00 ; 0
3a8: 94 e2 ldi r25, 0x24 ; 36
3aa: 01 97 sbiw r24, 0x01 ; 1
3ac: f1 f7 brne .-4 ; 0x3aa <car_right+0xa>
_delay_ms(5);
PORTD |= _BV(PD2);
3ae: 92 9a sbi 0x12, 2 ; 18
}
3b0: 08 95 ret
000003b2 <Key_Init>:
// 入口参数： 无
// 返回 值： 无
//======================================================================
void Key_Init(void)
{
P_Key_Dir &= ~(/*_BV(0) | _BV(1) | _BV(2) | */_BV(3));
3b2: d3 98 cbi 0x1a, 3 ; 26
P_Key_Port |= /*_BV(0) | _BV(1) | _BV(2) | */_BV(3); // 设置按键为上拉电阻
3b4: db 9a sbi 0x1b, 3 ; 27
ScanCnt = 0; // 初始化变量
3b6: 10 92 62 00 sts 0x0062, r1
KeyCode = 0;
3ba: 10 92 61 00 sts 0x0061, r1
KeyUp = 1;
3be: 81 e0 ldi r24, 0x01 ; 1
3c0: 80 93 63 00 sts 0x0063, r24
TCNT0 = 0;
3c4: 12 be out 0x32, r1 ; 50
TCCR0 = _BV(CS02) | _BV(CS00); // 预分频256
3c6: 85 e0 ldi r24, 0x05 ; 5
3c8: 83 bf out 0x33, r24 ; 51
TIMSK |= _BV(TOIE0);
3ca: 89 b7 in r24, 0x39 ; 57
3cc: 81 60 ori r24, 0x01 ; 1
3ce: 89 bf out 0x39, r24 ; 57
sei(); // 使能中断
3d0: 78 94 sei
}
3d2: 08 95 ret
000003d4 <Key_Scan>:
void Key_Scan(void)
{
uint8_t key_t;
// PORTB^=_BV(1); // 调试时用来指示
key_t = ~P_Key_Data; // 获取IO端口状态
3d4: 89 b3 in r24, 0x19 ; 25
3d6: 80 95 com r24
key_t &= Key_ALL; // 判断当前是否有键按下
if(key_t != 0)
3d8: 98 2f mov r25, r24
3da: 98 70 andi r25, 0x08 ; 8
3dc: 83 ff sbrs r24, 3
3de: 11 c0 rjmp .+34 ; 0x402 <Key_Scan+0x2e>
{
KeyUp = 0; // 按键没抬起
3e0: 10 92 63 00 sts 0x0063, r1
if(key_t == KeyCode)
3e4: 80 91 61 00 lds r24, 0x0061
3e8: 98 17 cp r25, r24
3ea: 31 f4 brne .+12 ; 0x3f8 <Key_Scan+0x24>
{
ScanCnt++;
3ec: 80 91 62 00 lds r24, 0x0062
3f0: 8f 5f subi r24, 0xFF ; 255
3f2: 80 93 62 00 sts 0x0062, r24
3f6: 08 95 ret
}
else
{
ScanCnt = 0;
3f8: 10 92 62 00 sts 0x0062, r1
KeyCode = key_t;
3fc: 90 93 61 00 sts 0x0061, r25
400: 08 95 ret
}
}
else
{
KeyUp = 1; // 按键抬起
402: 81 e0 ldi r24, 0x01 ; 1
404: 80 93 63 00 sts 0x0063, r24
408: 08 95 ret
0000040a <Key_Get>:
//======================================================================
uint8_t Key_Get(void)
{
uint8_t key_G;
cli(); // 关中断
40a: f8 94 cli
if((ScanCnt >= Key_Debounce) && (KeyUp == 1))
40c: 80 91 62 00 lds r24, 0x0062
410: 88 23 and r24, r24
412: 61 f0 breq .+24 ; 0x42c <Key_Get+0x22>
414: 80 91 63 00 lds r24, 0x0063
418: 81 30 cpi r24, 0x01 ; 1
41a: 41 f4 brne .+16 ; 0x42c <Key_Get+0x22>
{
key_G = KeyCode;
41c: 90 91 61 00 lds r25, 0x0061
KeyCode = 0;
420: 10 92 61 00 sts 0x0061, r1
ScanCnt = 0;
424: 10 92 62 00 sts 0x0062, r1
sei(); // 开中断
428: 78 94 sei
42a: 15 c0 rjmp .+42 ; 0x456 <Key_Get+0x4c>
return key_G;
}
if((ScanCnt >= Key_TimeOut) && (KeyUp==0))
42c: 80 91 62 00 lds r24, 0x0062
430: 80 31 cpi r24, 0x10 ; 16
432: 78 f0 brcs .+30 ; 0x452 <Key_Get+0x48>
434: 80 91 63 00 lds r24, 0x0063
438: 88 23 and r24, r24
43a: 59 f4 brne .+22 ; 0x452 <Key_Get+0x48>
{
key_G = KeyCode;
43c: 90 91 61 00 lds r25, 0x0061
KeyCode = 0;
440: 10 92 61 00 sts 0x0061, r1
ScanCnt = 0;
444: 10 92 62 00 sts 0x0062, r1
KeyUp = 1;
448: 81 e0 ldi r24, 0x01 ; 1
44a: 80 93 63 00 sts 0x0063, r24
sei(); // 开中断
44e: 78 94 sei
450: 02 c0 rjmp .+4 ; 0x456 <Key_Get+0x4c>
return key_G;
}
sei();
452: 78 94 sei
454: 90 e0 ldi r25, 0x00 ; 0
return 0; // 没有按键
}
456: 89 2f mov r24, r25
458: 08 95 ret
0000045a <_exit>:
45a: f8 94 cli
0000045c <__stop_program>:
45c: ff cf rjmp .-2 ; 0x45c <__stop_program>
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