📄 sl06.lst
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AVRASM ver. 1.54 C:\My Documents\AVR studio\智能小车\sl06.asm Wed May 08 10:58:36 2002
;**********************************************
;*AUTDCAR按钮(PC4)控制智能小车走8字路线。
;*请你修改程序小车走S形程序,或走其它路线。
;*AT90S8515 8MHz
;*双龙电子 www.sl.com.cn
;* liqing 2002.05.08
;**********************************************
.include "8515def.inc"
;***************************************************************************
;* A P P L I C A T I O N N O T E F O R T H E A V R F A M I L Y
;*
;* Number :AVR000
;* File Name :"8515def.inc"
;* Title :Register/Bit Definitions for the AT90S8515
;* Date :99.01.28
;* Version :1.30
;* Support telephone :+47 72 88 43 88 (ATMEL Norway)
;* Support fax :+47 72 88 43 99 (ATMEL Norway)
;* Support E-mail :avr@atmel.com
;* Target MCU :AT90S8515
;*
;* DESCRIPTION
;* When including this file in the assembly program file, all I/O register
;* names and I/O register bit names appearing in the data book can be used.
;* In addition, the six registers forming the three data pointers X, Y and
;* Z have been assigned names XL - ZH. Highest RAM address for Internal
;* SRAM is also defined
;*
;* The Register names are represented by their hexadecimal address.
;*
;* The Register Bit names are represented by their bit number (0-7).
;*
;* Please observe the difference in using the bit names with instructions
;* such as "sbr"/"cbr" (set/clear bit in register) and "sbrs"/"sbrc"
;* (skip if bit in register set/cleared). The following example illustrates
;* this:
;*
;* in r16,PORTB ;read PORTB latch
;* sbr r16,(1<<PB6)+(1<<PB5) ;set PB6 and PB5 (use masks, not bit#)
;* out PORTB,r16 ;output to PORTB
;*
;* in r16,TIFR ;read the Timer Interrupt Flag Register
;* sbrc r16,TOV0 ;test the overflow flag (use bit#)
;* rjmp TOV0_is_set ;jump if set
;* ... ;otherwise do something else
;***************************************************************************
;***** Specify Device
.device AT90S8515
;***** I/O Register Definitions
.equ SREG =$3f
.equ SPH =$3e
.equ SPL =$3d
.equ GIMSK =$3b
.equ GIFR =$3a
.equ TIMSK =$39
.equ TIFR =$38
.equ MCUCR =$35
.equ TCCR0 =$33
.equ TCNT0 =$32
.equ TCCR1A =$2f
.equ TCCR1B =$2e
.equ TCNT1H =$2d
.equ TCNT1L =$2c
.equ OCR1AH =$2b
.equ OCR1AL =$2a
.equ OCR1BH =$29
.equ OCR1BL =$28
.equ ICR1H =$25
.equ ICR1L =$24
.equ WDTCR =$21
.equ EEARH =$1f
.equ EEARL =$1e
.equ EEDR =$1d
.equ EECR =$1c
.equ PORTA =$1b
.equ DDRA =$1a
.equ PINA =$19
.equ PORTB =$18
.equ DDRB =$17
.equ PINB =$16
.equ PORTC =$15
.equ DDRC =$14
.equ PINC =$13
.equ PORTD =$12
.equ DDRD =$11
.equ PIND =$10
.equ SPDR =$0f
.equ SPSR =$0e
.equ SPCR =$0d
.equ UDR =$0c
.equ USR =$0b
.equ UCR =$0a
.equ UBRR =$09
.equ ACSR =$08
;***** Bit Definitions
;GIMSK
.equ INT1 =7
.equ INT0 =6
;GIFR
.equ INTF1 =7
.equ INTF0 =6
;TIMSK
.equ TOIE1 =7
.equ OCIE1A =6
.equ OCIE1B =5
.equ TICIE1 =3
.equ TOIE0 =1
;TIFR
.equ TOV1 =7
.equ OCF1A =6
.equ OCF1B =5
.equ ICF1 =3
.equ TOV0 =1
;MCUCR
.equ SRE =7
.equ SRW =6
.equ SE =5
.equ SM =4
.equ ISC11 =3
.equ ISC10 =2
.equ ISC01 =1
.equ ISC00 =0
;TCCR0
.equ CS02 =2
.equ CS01 =1
.equ CS00 =0
;TCCR1A
.equ COM1A1 =7
.equ COM1A0 =6
.equ COM1B1 =5
.equ COM1B0 =4
.equ PWM11 =1
.equ PWM10 =0
;TCCR1B
.equ ICNC1 =7
.equ ICES1 =6
.equ CTC1 =3
.equ CS12 =2
.equ CS11 =1
.equ CS10 =0
;WDTCR
.equ WDTOE =4
.equ WDE =3
.equ WDP2 =2
.equ WDP1 =1
.equ WDP0 =0
;EECR
.equ EEMWE =2
.equ EEWE =1
.equ EERE =0
;PORTA
.equ PA7 =7
.equ PA6 =6
.equ PA5 =5
.equ PA4 =4
.equ PA3 =3
.equ PA2 =2
.equ PA1 =1
.equ PA0 =0
;DDRA
.equ DDA7 =7
.equ DDA6 =6
.equ DDA5 =5
.equ DDA4 =4
.equ DDA3 =3
.equ DDA2 =2
.equ DDA1 =1
.equ DDA0 =0
;PINA
.equ PINA7 =7
.equ PINA6 =6
.equ PINA5 =5
.equ PINA4 =4
.equ PINA3 =3
.equ PINA2 =2
.equ PINA1 =1
.equ PINA0 =0
;PORTB
.equ PB7 =7
.equ PB6 =6
.equ PB5 =5
.equ PB4 =4
.equ PB3 =3
.equ PB2 =2
.equ PB1 =1
.equ PB0 =0
;DDRB
.equ DDB7 =7
.equ DDB6 =6
.equ DDB5 =5
.equ DDB4 =4
.equ DDB3 =3
.equ DDB2 =2
.equ DDB1 =1
.equ DDB0 =0
;PINB
.equ PINB7 =7
.equ PINB6 =6
.equ PINB5 =5
.equ PINB4 =4
.equ PINB3 =3
.equ PINB2 =2
.equ PINB1 =1
.equ PINB0 =0
;PORTC
.equ PC7 =7
.equ PC6 =6
.equ PC5 =5
.equ PC4 =4
.equ PC3 =3
.equ PC2 =2
.equ PC1 =1
.equ PC0 =0
;DDRC
.equ DDC7 =7
.equ DDC6 =6
.equ DDC5 =5
.equ DDC4 =4
.equ DDC3 =3
.equ DDC2 =2
.equ DDC1 =1
.equ DDC0 =0
;PINC
.equ PINC7 =7
.equ PINC6 =6
.equ PINC5 =5
.equ PINC4 =4
.equ PINC3 =3
.equ PINC2 =2
.equ PINC1 =1
.equ PINC0 =0
;PORTD
.equ PD7 =7
.equ PD6 =6
.equ PD5 =5
.equ PD4 =4
.equ PD3 =3
.equ PD2 =2
.equ PD1 =1
.equ PD0 =0
;DDRD
.equ DDD7 =7
.equ DDD6 =6
.equ DDD5 =5
.equ DDD4 =4
.equ DDD3 =3
.equ DDD2 =2
.equ DDD1 =1
.equ DDD0 =0
;PIND
.equ PIND7 =7
.equ PIND6 =6
.equ PIND5 =5
.equ PIND4 =4
.equ PIND3 =3
.equ PIND2 =2
.equ PIND1 =1
.equ PIND0 =0
;SPCR
.equ SPIE =7
.equ SPE =6
.equ DORD =5
.equ MSTR =4
.equ CPOL =3
.equ CPHA =2
.equ SPR1 =1
.equ SPR0 =0
;SPSR
.equ SPIF =7
.equ WCOL =6
;USR
.equ RXC =7
.equ TXC =6
.equ UDRE =5
.equ FE =4
.equ OR =3
;UCR
.equ RXCIE =7
.equ TXCIE =6
.equ UDRIE =5
.equ RXEN =4
.equ TXEN =3
.equ CHR9 =2
.equ RXB8 =1
.equ TXB8 =0
;ACSR
.equ ACD =7
.equ ACO =5
.equ ACI =4
.equ ACIE =3
.equ ACIC =2
.equ ACIS1 =1
.equ ACIS0 =0
.def XL =r26
.def XH =r27
.def YL =r28
.def YH =r29
.def ZL =r30
.def ZH =r31
.equ RAMEND =$25F ;Last On-Chip SRAM Location
.equ XRAMEND =$FFFF
.equ E2END =$1FF
.equ FLASHEND=$FFF
.equ INT0addr=$001 ;External Interrupt0 Vector Address
.equ INT1addr=$002 ;External Interrupt1 Vector Address
.equ ICP1addr=$003 ;Input Capture1 Interrupt Vector Address
.equ OC1Aaddr=$004 ;Output Compare1A Interrupt Vector Address
.equ OC1Baddr=$005 ;Output Compare1B Interrupt Vector Address
.equ OVF1addr=$006 ;Overflow1 Interrupt Vector Address
.equ OVF0addr=$007 ;Overflow0 Interrupt Vector Address
.equ SPIaddr =$008 ;SPI Interrupt Vector Address
.equ URXCaddr=$009 ;UART Receive Complete Interrupt Vector Address
.equ UDREaddr=$00a ;UART Data Register Empty Interrupt Vector Address
.equ UTXCaddr=$00b ;UART Transmit Complete Interrupt Vector Address
.equ ACIaddr =$00c ;Analog Comparator Interrupt Vector Address
.org $000
000000 c01f rjmp sl06
.org $020
sl06:
000020 e012 ldi r17,$02 ;栈指针置初值SP=0x025F
000021 e50f ldi r16,$5f
000022 bf1e out sph,r17
000023 bf0d out spl,r16
000024 2700 clr r16
000025 ef1f ldi r17,$ff
000026 bb04 out ddrc,r16 ;PC口输入，内部上拉，接按钮开关
000027 bb17 out ddrb,r17 ;PB口输出
000028 bb11 out ddrd,r17 ;PD口输出
000029 bb15 out portc,r17
00002a bb18 out portb,r17
00002b bb12 out portd,r17
start6: ;检测程序
00002c b303 in r16,pinc ;读PC口管脚的状态
00002d ff04 sbrs r16,4 ;判断PC4的状态
00002e c001 rjmp autocar ;键按下，调用自走车程序
00002f cffc rjmp start6 ;无键按下，循环检测
autocar:
000030 ee07 ldi r16,$e7 ;直行
000031 bb08 out portb,r16 ;点亮中间两LED灯
000032 ef03 ldi r16,$f3
000033 bb02 out portd,r16 ;驱动两电机
000034 e360 ldi r22,$30
000035 d013 rcall delay
000036 e10f ldi r16,$1f ;往左转
000037 bb08 out portb,r16
000038 ef0b ldi r16,$fb
000039 bb02 out portd,r16
00003a e269 ldi r22,$29
00003b d00d rcall delay
00003c ee07 ldi r16,$e7 ;直行
00003d bb08 out portb,r16
00003e ef03 ldi r16,$f3
00003f bb02 out portd,r16
000040 e360 ldi r22,$30
000041 d007 rcall delay
000042 ef08 ldi r16,$f8 ;往右转
000043 bb08 out portb,r16
000044 ef07 ldi r16,$f7
000045 bb02 out portd,r16
000046 e269 ldi r22,$29
000047 d001 rcall delay
000048 cfe7 rjmp autocar
delay: ;延时
000049 e07a t1: ldi r23,10
00004a e580 t2: ldi r24,80
00004b e79d t3: ldi r25,125
00004c 959a t4: dec r25
00004d f7f1 brne t4
00004e 958a dec r24
00004f f7d9 brne t3
000050 957a dec r23
000051 f7c1 brne t2
000052 956a dec r22
000053 f7a9 brne t1
000054 9508 ret
Assembly complete with no errors.
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