remote_car.s

单片机开发资料光盘-双龙-686M.zip

	.module remote_car.c
	.area text(rom, con, rel)
	.dbfile e:/ICC/include/sl3010.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 83
; #include <io8515v.h>
; #include <macros.h>
; #include <sl3010.c>
; 
; //声控起动遥控车程序，未起动时，PA口的8 LED 呈广告灯效果（霓虹灯）
; //声控起动后，机器人开始动作
; //遥控器无按键，机器人直行
; //按住 < A > 键，机器人右转，同时演奏右转指示音乐；
; //按住 < B > 键，机器人后退，同时演奏后退指示音乐；
; //按住 < C > 键，机器人停止，同时演奏停止指示音乐；
; //按住 < D > 键，机器人左转，同时演奏左转指示音乐；
; //释放遥控器按键，音乐停止
; //连续 按住 < C > 键时间超过 10s，遥控机器人复位，等待声控重新起动
; 
; /*	  		    音阶表				*/	
; const unsigned int TONETABLE[15]={DO,RE,MI,FA,SO,LA,TI,DO_H,
; 			    	 	RE_H,MI_H,FA_H,SO_H,LA_H,TI_H,DO_HH};
; /*			  音阶重装常数			*/						
; unsigned int toneconst;								  							   						 				 	 	 
; unsigned int sound_add=0;
; unsigned int delay_time1,delay_time2,led_delayms=600;
; unsigned char temp,temp1;
; unsigned char pa,pb,pc,pd,remote_in,timers,cny_in,cny_times,rst_time,cds,pd_select,remote_select;
; unsigned char gzsl,t0_times;
; unsigned char sound_1,sound_2;
; 
; const unsigned char led_data[]=
;     {//设置LED广告灯数据表
;      0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
;      0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
;      0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
;      0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
;      0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
;      0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
;      0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
;      0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
;      0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
;      0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
;      0xff,0x00,0xff,0x00,0xff,0x00,0xff,0x00,
; 	 
;      0x0a,0x0a
;     };
; 
; const unsigned char sound_none[]={0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,
; 	  		   0x28,0x48,0x48,0x28,0x27,0x36,0x16,0x45,0x27,0x26,0x46,0x46,0x46,0x46,0x46,0x46,0x00,0x00};
; const unsigned char sound_right[]={0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
; 	  		   0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x00,0x00};
; const unsigned char sound_back[]={0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,
; 	  		   0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x00,0x00};
; const unsigned char sound_stop[]={0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
; 	  		   0x48,0x23,0x25,0x45,0x40,0x40,0x00,0x00};
; const unsigned char sound_left[]={0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
; 	  		   0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x00,0x00};
; 
; //TIMER0 initialisation - prescale:1024
; // desired value: 25mSec
; // actual value: 24.960mSec (0.2%)
; void timer0_init(void)
; {
;  TCCR0 = 0x00; //stop timer
;  TCNT0 = 0x3D; //set count value
;  TCCR0 = 0x05; //start timer
; }
; 
; #pragma interrupt_handler timer0_ovf_isr:iv_TIMER0_OVF
; void timer0_ovf_isr(void)
; {
;  TCNT0 = 0x3D; //reload counter value
;  t0_times++;
;  if(gzsl == 0x88)
;    {
;     if(t0_times == 10)
;       {
; 	   timers++;
; 	   t0_times = 0;
; 	   pa = led_data[timers];
; 	   if(pa==0x0a){timers=0;}
; 	   PORTA = pa;	   
;       }
;    }
;  if(gzsl == 0x33)
;    {
;     sw_touch();
	.dbline 84
; 	if(t0_times == 8)     //8*25ms=200ms
	ldi R24,255
	out 0x1a,R24
	.dbline 84
	out 0x1b,R24
	.dbline 85
;       {
	ldi R24,128
	out 0x17,R24
	.dbline 85
	ldi R24,255
	out 0x18,R24
	.dbline 86
; 	   t0_times = 0;
	ldi R24,1
	out 0x14,R24
	.dbline 86
	ldi R24,255
	out 0x15,R24
	.dbline 87
; 	   remote_in = PINB & 0x0F;
	ldi R24,240
	out 0x11,R24
	.dbline 87
	ldi R24,255
	out 0x12,R24
	.dbline -2
	.dbline 88
; 	   sound_1 = remote_in;
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 91
;        if(sound_2 != sound_1)
; 	     {sound_add=0;sound_2 = sound_1;}
; 	   switch (remote_in)
L3:
	.dbline 93
;       	 {//检测遥控器是否有键按下
;           case 0x00:
	.dbline 94
; 		      forward();           //前行
	subi R16,1
	sbci R17,0
	.dbline 95
; 		      rst_time=0;
L4:
	.dbline 96
; 			  sound_add=0x00;
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
	.dbline 97
; 			  temp1=0x00;
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::
	rcall push_gset1
	mov R20,R16
	mov R21,R17
	.dbline -1
	.dbline 100
;       	    break;
;           case 0x04:  // < A >
; 		      turn_right();        //右转
	rjmp L8
L7:
	.dbline 102
	.dbline 103
	ldi R16,1000
	ldi R17,3
	rcall _delay_us
	.dbline 104
	subi R20,1
	sbci R21,0
	.dbline 105
L8:
	.dbline 101
; 		      rst_time=0;
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
	.dbline 106
; 			  temp1=sound_right[sound_add];
;       	    break;
;           case 0x02:  // < B >
; 		      backward();          //后退
; 		      rst_time=0;
L6:
	rcall 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 109
; 			  temp1=sound_back[sound_add];
;       	    break;
;           case 0x08:  // < C >
	.dbline 110
; 		      stop();              //停止运动
	ldi R24,96
	out 0x12,R24
	.dbline 111
; 		      rst_time++;
	ldi R24,204
	out 0x1b,R24
	.dbline -2
	.dbline 112
; 			  temp1=sound_stop[sound_add];
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 115
;       	    break;
;           case 0x01:  // < D >
;               turn_left();         //左转
	.dbline 116
; 		      rst_time=0;
	ldi R24,144
	out 0x12,R24
	.dbline 117
; 			  temp1=sound_left[sound_add];
	ldi R24,51
	out 0x1b,R24
	.dbline -2
	.dbline 118
;       	    break;
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 120
;       	}
;       }
	.dbline 121
;    }
	ldi R24,32
	out 0x12,R24
	.dbline 122
; }
	ldi R24,207
	out 0x1b,R24
	.dbline -2
	.dbline 123
; 
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 126
; void stop_timer0()
; {
; 	CLI();
	.dbline 127
; 	TCCR0 = 0x00;//停止timer0
	ldi R24,128
	out 0x12,R24
	.dbline 128
; 	MCUCR = 0x00;
	ldi R24,243
	out 0x1b,R24
	.dbline -2
	.dbline 129
;     GIMSK = 0x00;
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 132
;     TIMSK = 0x00;
;     SEI();
; }
	.dbline 133
; 
	ldi R24,80
	out 0x12,R24
	.dbline 134
; #pragma interrupt_handler timer1_ovf_isr:iv_TIMER1_OVF
	ldi R24,60
	out 0x1b,R24
	.dbline -2
	.dbline 135
; void timer1_ovf_isr(void)
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 138
; 	 {
; 	    {
; 		 TCNT1=toneconst;
	.dbline 139
; 	     PORTC^=1;
	ldi R24,160
	out 0x12,R24
	.dbline 140
; 		}
	ldi R24,195
	out 0x1b,R24
	.dbline -2
	.dbline 141
; 	 }	 	 
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 144
; 	 
; void remote_car()
; {//遥控车程序
	.dbline 145
;  
	ldi R24,255
	out 0x12,R24
	.dbline 146
;  port_init();//调用端口初始化函数
	out 0x1b,R24
	.dbline -2
	.dbline 147
;  
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
	.even
_sw_touch::
	.dbline -1
	.dbline 163
;  work_status = 0x60;//置对应的工作状态标志
; 
; remote_rst: 
;  PORTA = 0x0F;
; 
;   gzsl=0x88;timers=0;t0_times=0;
;   CLI(); //disable all interrupts
;   timer0_init();
; 
;   MCUCR = 0x00;
;   GIMSK = 0x00;
;   TIMSK|=(1<<TOIE0);
;   SEI(); //re-enable interrupts
;  
;  mic_startup();//等待声控启动函数
; 
	.dbline 164
;   gzsl=0x33;t0_times=0;
	in R24,0x13
	andi R24,16
	sts _sw_in,R24
	.dbline 165
; 	  TCCR1A = 0x00;
	tst R24
	brne L18
	.dbline 166
; 	  TCCR1B =(1<<CS11);//8分频
	.dbline 167
; n01:
	rcall _backward
	.dbline 168
;   temp=temp1 = 0;
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 170
;   sound_add = 0;	  
; 	  while(temp1!=0)
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 171
;   	    {
	.dbline 172
; 			temp=temp1; 
	rcall _stop
	rjmp L23
L22:
	.dbline 174
	.dbline 175
	ldi R24,85
	out 0x1b,R24
	.dbline 176
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 177
	ldi R24,170
	out 0x1b,R24
	.dbline 178
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 179
L23:
	.dbline 173
; 			temp&=0x0f;
	rjmp L22
X1:
	.dbline 180
; 			if(temp!=0)
; 			  {
; 			   TIMSK|=(1<<TOIE1);//根据SOUNDTABLE中数据的低四位选择音调频率
; 			   temp--;			   
;         	   toneconst=TONETABLE[temp];
; 			   TCNT1=toneconst;
;  			  }
L20:
	.dbline 182
; 			temp=temp1;
; 			temp>>=4;
	rcall _turn_left
	.dbline 183
; 			temp&=0x0f;
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 184
; 			delay_ms(temp*129);//根据SOUNDTABLE中数据的高四位*5后，为音调持续时间
L18:
	.dbline 186
; 			TIMSK&=~(1<<TOIE1);
; 			sound_add++;
	in R24,0x16
	andi R24,112
	sts _sw_in,R24
	.dbline 187
; 
	cpi R24,80
	brne L25
	.dbline 188
; 	     if(rst_time > 40)
	.dbline 189
; 	       {//当按住< C > 键的持续时间超过10S，遥控机器人复位，等待声控重起运行
	rcall _forward
	.dbline 190
; 		    rst_time=0;
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 192
; 			stop_timer0();
; 			PORTA = 0x0f;
	rcall _turn_left
	.dbline 193
; 			delay_ms(1000);
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 194
; 		    goto remote_rst;
L25:
	.dbline 195
; 	       }
	lds R24,_sw_in
	cpi R24,48
	brne L27
	.dbline 196
; 	   }
	.dbline 197
; 	goto n01;
	rcall _backward
	.dbline 198
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 200
; 
; void main()
	rcall _turn_left
	.dbline 201
; {
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 202
;  remote_car();
L27:
	.dbline 203
; }
	lds R24,_sw_in
	cpi R24,96
	brne L29
	.dbline 204
; }
	.dbline 205
; }
	rcall _backward
	.dbline 206
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 208
; }
; }
	rcall _turn_left
	.dbline 209
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 210
; }
L29:
	.dbline 211
; }
	lds R24,_sw_in
	cpi R24,32
	brne L31
	.dbline 212
; }
	.dbline 213
; }
	rcall _stop
	.dbline 214
; }
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	rjmp L34
L33:
	.dbline 216
; }
; }
	.dbline 217
; }
	in R24,0x13
	andi R24,16
	sts _sw_in,R24
	.dbline 218
; }
	tst R24
	brne L36
	.dbline 219
; }
	.dbline 219
	rjmp L35
L36:
	.dbline 220
; }
	ldi R24,85
	out 0x1b,R24
	.dbline 221
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 222
; }
	ldi R24,170
	out 0x1b,R24
	.dbline 223
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 224
; }
	in R24,0x16
	andi R24,15
	sts _remote_in,R24
	.dbline 225
; }
	tst R24
	breq L38
	.dbline 226
; }
	.dbline 226
	rjmp L35
L38:
	.dbline 227
L34:
	.dbline 215
	rjmp L33
L35:
	.dbline 228
L31:
	.dbline -2
	.dbline 229
; }
; }
; }
L17:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e mic_startup _mic_startup fV
	.even
_mic_startup::
	.dbline -1
	.dbline 232
; }
; }
; }
	rjmp L42
L41:
	.dbline 235
; }
; }
; }
	.dbline 236
; }
	in R24,0x13
	andi R24,8
	sts _mic_in,R24
	.dbline 237
; }
	tst R24
	brne L44
	.dbline 237
	.dbline 237
	rjmp L43
L44:
	.dbline 238
L42:
	.dbline 234
	rjmp L41
L43:
	.dbline -2
	.dbline 239
; }
; }
L40:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
	.even
_remote_auto_time::
	.dbline -1
	.dbline 254
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 255
; }
	in R24,0x16
	andi R24,15
	sts _remote_in,R24
	.dbline 256
; }
	mov R16,R24
	clr R17
	cpi R16,0
	cpc R16,R17
	brne X4
	rjmp L48
X4:
X2:
	cpi R16,1
	ldi R30,0
	cpc R17,R30
	brne X5
	rjmp L59
X5:
	cpi R16,2
	ldi R30,0
	cpc R17,R30
	breq L53
	cpi R16,4
	ldi R30,0
	cpc R17,R30
	breq L50
	cpi R16,8
	ldi R30,0
	cpc R17,R30
	breq L56
	rjmp L47
X3:
	.dbline 257
; }
L50:
	.dbline 259
; }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	sbiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 260
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	breq X6
	rjmp L48
X6:
	.dbline 261
; }
	.dbline 261
	ldi R24,100
	ldi R25,0
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 261
	.dbline 262
; }
	rjmp L48
L53:
	.dbline 264
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	adiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 265
; }
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 266
; }
	.dbline 266
	ldi R24,2000
	ldi R25,7
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 266
	.dbline 267
; }
	rjmp L48
L56:
	.dbline 269
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	sbiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 270
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	brne L48
	.dbline 271
; }
	.dbline 271