remote_car.lst

单片机开发资料光盘-双龙-686M.zip

__text_start:
__start:
    0099 E5CF      LDI	R28,0x5F
    009A E0D2      LDI	R29,2
    009B BFCD      OUT	0x3D,R28
    009C BFDE      OUT	0x3E,R29
    009D 51C0      SUBI	R28,0x10
    009E 40D0      SBCI	R29,0
    009F EA0A      LDI	R16,0xAA
    00A0 8308      STD	Y+0,R16
    00A1 2400      CLR	R0
    00A2 E6E4      LDI	R30,0x64
    00A3 E0F0      LDI	R31,0
    00A4 E010      LDI	R17,0
    00A5 37EF      CPI	R30,0x7F
    00A6 07F1      CPC	R31,R17
    00A7 F011      BEQ	0x00AA
    00A8 9201      ST	R0,Z+
    00A9 CFFB      RJMP	0x00A5
    00AA 8300      STD	Z+0,R16
    00AB E2EE      LDI	R30,0x2E
    00AC E0F1      LDI	R31,1
    00AD E6A0      LDI	R26,0x60
    00AE E0B0      LDI	R27,0
    00AF E011      LDI	R17,1
    00B0 33E2      CPI	R30,0x32
    00B1 07F1      CPC	R31,R17
    00B2 F021      BEQ	0x00B7
    00B3 95C8      LPM
    00B4 9631      ADIW	R30,1
    00B5 920D      ST	R0,X+
    00B6 CFF9      RJMP	0x00B0
    00B7 D28F      RCALL	_main
_exit:
    00B8 CFFF      RJMP	_exit
FILE: e:\ICC\include\sl3010.c
(0001) //sl3010.c    sl3010机器人常用函数库
(0002) //#include <io8515v.h>
(0003) 
(0004) // 更新日期： 2003.03.18
(0005) 
(0006) /*
(0007) void port_init();         //PA,PB,PC,PD 初始化
(0008) void delay_us(int time);  //微妙级延时
(0009) void delay_ms(unsigned int time);//毫秒级延时
(0010) void sw_touch();          //检测轻触开关
(0011) void mic_startup();       //等待声控启动
(0012) void remote_auto_time();  //遥控器控制直行和转弯时间
(0013) void turn_right();        //右转
(0014) void turn_left();         //左转
(0015) void turn_right_s();      //慢速右转
(0016) void turn_left_s();       //慢速左转
(0017) void backward();          //后退
(0018) void forward();           //前行
(0019) void stop();              //停止运动
(0020) */
(0021) /*
(0022) sl-3010 运行不同的程序其对应的工作状态由 work_status 变量指示
(0023) 对应数据表如下：
(0024)   程序名            程序功能简介        work_status 值
(0025) cny_car 程序    白底黑线，探黑线行走        0x10
(0026) xuanya_car      走悬崖，避障碍              0x20
(0027) music_car       音乐车                      0x30
(0028) led_car         霓虹灯                      0x40
(0029) auto_car1       自走车                      0x51
(0030) auto_car8       走<8>字                     0x50
(0031) remote_car      智能遥控机器人              0x60
(0032) trace_light     追光行进机器人              0x70
(0033) remote_light    遥控和追光                  0x67
(0034) ……  
(0035) */
(0036) //  电机驱动信号                       led灯指示电机状态 
(0037) //PORTD = 0xA0;//前行    //1010 0000//PORTA = 0xC3;//1100,0011
(0038) //PORTD = 0x90;//快速左转//1001 0000//PORTA = 0x33;//0011,0011
(0039) //PORTD = 0x80;//慢速左转//1000 0000//PORTA = 0xF3;//1111,0011
(0040) //PORTD = 0x60;//快速右转//0110 0000//PORTA = 0xCC;//1100,1100
(0041) //PORTD = 0x20;//慢速右转//0010 0000//PORTA = 0xCF;//1100,1111
(0042) //PORTD = 0x50;//后退    //0101 0000//PORTA = 0x3C;//0011,1100
(0043) 
(0044) //#define A 0x04      //0b0000,0100
(0045) //#define B 0x02      //0b0000,0010
(0046) //#define C 0x08      //0b0000,1000
(0047) //#define D 0x01      //0b0000,0001
(0048) 
(0049) 
(0050) /*		 音阶常数=65536-8000000/8/2/f	  */
(0051) #define DO	64580	//523
(0052) #define RE	64684	//587
(0053) #define	MI	64777	//659
(0054) #define FA	64820	//698
(0055) #define	SO	64898	//784
(0056) #define LA	64968	//880
(0057) #define	TI	65030	//988                	                        	
(0058) #define DO_H	65058	//1046
(0059) #define RE_H	65110	//1174
(0060) #define MI_H	65157	//1318
(0061) #define FA_H	65178	//1397
(0062) #define SO_H	65217	//1568
(0063) #define LA_H	65252	//1760
(0064) #define TI_H	65283	//1976
(0065) #define DO_HH	65297	//2093
(0066) /*		 		 位操作宏  				*/
(0067) #define set_bit(x,y)	(x|=(1<<y))
(0068) #define clr_bit(x,y)	(x&=~(1<<y))
(0069) #define get_bit(x,y)	(x&(1<<y))
(0070) 
(0071) #define fosc 8000000
(0072) #define baud 19200
(0073) #define device 0x38
(0074) #define touch_time 250
(0075) 
(0076) unsigned char work_status;
(0077) unsigned char sw_in,remote_in;
(0078) unsigned char mic_in;
(0079) unsigned int delay_time1,delay_time2;
(0080) unsigned char remote_in;
(0081)  
(0082) void port_init(void)
(0083) {//PA,PB,PC,PD 初始化
(0084)  DDRA  = 0xFF;PORTA = 0xFF;  //PA口输出，接8路LED指示灯
_port_init:
    00B9 EF8F      LDI	R24,0xFF
    00BA BB8A      OUT	0x1A,R24
    00BB BB8B      OUT	0x1B,R24
(0085)  DDRB  = 0x80;PORTB = 0xFF;  //PB7输出口，PB6~PB4输入（轻触开关）PB4~PB0输入（遥控器）
    00BC E880      LDI	R24,0x80
    00BD BB87      OUT	0x17,R24
    00BE EF8F      LDI	R24,0xFF
    00BF BB88      OUT	0x18,R24
(0086)  DDRC  = 0x01;PORTC = 0xFF;  //PC0蜂鸣器输出，PC7~PC1检测信号输入端
    00C0 E081      LDI	R24,1
    00C1 BB84      OUT	0x14,R24
    00C2 EF8F      LDI	R24,0xFF
    00C3 BB85      OUT	0x15,R24
(0087)  DDRD  = 0xF0;PORTD = 0xFF;  //PD7~PD4输出驱动电机，PD3~PD0输入
    00C4 EF80      LDI	R24,0xF0
    00C5 BB81      OUT	0x11,R24
    00C6 EF8F      LDI	R24,0xFF
    00C7 BB82      OUT	0x12,R24
(0088) }
    00C8 9508      RET
(0089)  
(0090) void delay_us(int time)
(0091) {//微秒级延时程序     
(0092)  do
(0093)  {
(0094)   time--;
_delay_us:
  time                 --> R16
    00C9 5001      SUBI	R16,1
    00CA 4010      SBCI	R17,0
(0095)  }	
(0096)   while (time>1);
    00CB E081      LDI	R24,1
    00CC E090      LDI	R25,0
    00CD 1780      CP	R24,R16
    00CE 0791      CPC	R25,R17
    00CF F3CC      BLT	0x00C9
(0097) }	  
    00D0 9508      RET
_delay_ms:
  time                 --> R20
    00D1 D276      RCALL	push_gset1
    00D2 2F40      MOV	R20,R16
    00D3 2F51      MOV	R21,R17
(0098) 
(0099) void delay_ms(unsigned int time)
(0100) {//毫秒级延时程序
    00D4 C005      RJMP	0x00DA
(0101)  while(time!=0)
(0102)  {		
(0103)   delay_us(1000);
    00D5 EE08      LDI	R16,0xE8
    00D6 E013      LDI	R17,3
    00D7 DFF1      RCALL	_delay_us
(0104)   time--;
    00D8 5041      SUBI	R20,1
    00D9 4050      SBCI	R21,0
    00DA 3040      CPI	R20,0
    00DB 0745      CPC	R20,R21
    00DC F7C1      BNE	0x00D5
(0105)  }
(0106) }		
    00DD D26D      RCALL	pop_gset1
    00DE 9508      RET
(0107) 
(0108) void turn_right()//右转
(0109)     {
(0110) 		 PORTD = 0x60;   //右转//0110 0000   
_turn_right:
    00DF E680      LDI	R24,0x60
    00E0 BB82      OUT	0x12,R24
(0111) 		 PORTA = 0xCC;     //1100,1100 指示灯
    00E1 EC8C      LDI	R24,0xCC
    00E2 BB8B      OUT	0x1B,R24
(0112)     }
    00E3 9508      RET
(0113) 
(0114) void turn_left()//左转
(0115)     {
(0116)          PORTD = 0x90;   //左转//1001 0000   
_turn_left:
    00E4 E980      LDI	R24,0x90
    00E5 BB82      OUT	0x12,R24
(0117) 		 PORTA = 0x33;     //0011,0011 指示灯
    00E6 E383      LDI	R24,0x33
    00E7 BB8B      OUT	0x1B,R24
(0118)     }
    00E8 9508      RET
(0119) void turn_right_s()      //慢速右转
(0120)     {
(0121)          PORTD = 0x20;   //慢速右转//0010 0000
_turn_right_s:
    00E9 E280      LDI	R24,0x20
    00EA BB82      OUT	0x12,R24
(0122) 		 PORTA = 0xCF;   //1100,1111
    00EB EC8F      LDI	R24,0xCF
    00EC BB8B      OUT	0x1B,R24
(0123)     }
    00ED 9508      RET
(0124) 
(0125) void turn_left_s()       //慢速左转
(0126)     {
(0127)          PORTD = 0x80;   //慢速左转//1000 0000
_turn_left_s:
    00EE E880      LDI	R24,0x80
    00EF BB82      OUT	0x12,R24
(0128) 		 PORTA = 0xF3;     //1111,0011
    00F0 EF83      LDI	R24,0xF3
    00F1 BB8B      OUT	0x1B,R24
(0129)     }
    00F2 9508      RET
(0130) 
(0131) void backward()//后退
(0132)     {
(0133) 		 PORTD = 0x50;   //后退//0101 0000   
_backward:
    00F3 E580      LDI	R24,0x50
    00F4 BB82      OUT	0x12,R24
(0134) 		 PORTA = 0x3C;     //0011,1100 指示灯
    00F5 E38C      LDI	R24,0x3C
    00F6 BB8B      OUT	0x1B,R24
(0135)     }
    00F7 9508      RET
(0136) 
(0137) void forward()//前行
(0138)     {
(0139) 		 PORTD = 0xA0;   //前行//1010 0000   
_forward:
    00F8 EA80      LDI	R24,0xA0
    00F9 BB82      OUT	0x12,R24
(0140) 		 PORTA = 0xC3;     //1100,0011
    00FA EC83      LDI	R24,0xC3
    00FB BB8B      OUT	0x1B,R24
(0141)     }
    00FC 9508      RET
(0142) 	
(0143) void stop()//停止运动
(0144)     {
(0145) 		 PORTD = 0xff;   //停止   
_stop:
    00FD EF8F      LDI	R24,0xFF
    00FE BB82      OUT	0x12,R24
(0146) 		 PORTA = 0xff;     //
    00FF BB8B      OUT	0x1B,R24
(0147) 	}
    0100 9508      RET
(0148) 
(0149) //左边       X PC4 X       右边
(0150) //        X X X X X X X
(0151) //       8 7 6 5 4 3 2 1
(0152) //     PB4  X X X X X  PB6 
(0153) //         | X  X  X | 
(0154) //         | X  X  X | 
(0155) //         | X  X  X |   
(0156) //     |$||- X  X  X -||$|
(0157) //     |$|| XXXXXXXXX ||$|
(0158) //    #|$||XXXXXXXXXXX||$|#
(0159) //     |$||XXX     XXX||$|
(0160) //     |$||___ PB5 ___||$|
(0161) 
(0162) void sw_touch()
(0163) {
(0164)  sw_in = PINC & 0x10;
_sw_touch:
    0101 B383      IN	R24,0x13
    0102 7180      ANDI	R24,0x10
    0103 9380007D  STS	_sw_in,R24
(0165)  if(sw_in == 0x00)
    0105 2388      TST	R24
    0106 F4C9      BNE	0x0120
(0166)    {//后退，左转                   首部开关接触
(0167)        backward();          //后退
    0107 DFEB      RCALL	_backward
(0168)        delay_ms(touch_time);
    0108 EF0A      LDI	R16,0xFA
    0109 E010      LDI	R17,0
    010A DFC6      RCALL	_delay_ms
(0169) 	   
(0170) 	   if(work_status == 0x70)
    010B 9180007E  LDS	R24,_work_status
    010D 3780      CPI	R24,0x70
    010E F469      BNE	0x011C
(0171) 	     {//追光机器人，首部开关接触，停止运动，PA 口led 流动闪烁
(0172) 		  stop();
    010F DFED      RCALL	_stop
    0110 C00A      RJMP	0x011B
(0173) 		  while(1)
(0174) 		    {
(0175) 			 PORTA = 0x55;
    0111 E585      LDI	R24,0x55
    0112 BB8B      OUT	0x1B,R24
(0176) 		     delay_ms(250);
    0113 EF0A      LDI	R16,0xFA
    0114 E010      LDI	R17,0
    0115 DFBB      RCALL	_delay_ms
(0177) 		     PORTA = 0xAA;
    0116 EA8A      LDI	R24,0xAA
    0117 BB8B      OUT	0x1B,R24
(0178) 		     delay_ms(250);
    0118 EF0A      LDI	R16,0xFA
    0119 E010      LDI	R17,0
    011A DFB6      RCALL	_delay_ms
    011B CFF5      RJMP	0x0111
(0179) 			}
(0180) 		 }
(0181) 	   
(0182)        turn_left();         //左转
    011C DFC7      RCALL	_turn_left
(0183)        delay_ms(touch_time);
    011D EF0A      LDI	R16,0xFA
    011E E010      LDI	R17,0
    011F DFB1      RCALL	_delay_ms
(0184)    }
(0185)  
(0186)  sw_in = PINB & 0x70;
    0120 B386      IN	R24,0x16
    0121 7780      ANDI	R24,0x70
    0122 9380007D  STS	_sw_in,R24
(0187)  if(sw_in == 0x50)// 0b 0101,0000  尾部开关接触 
    0124 3580      CPI	R24,0x50
    0125 F441      BNE	0x012E
(0188)    {//前行，左转
(0189) 	   forward();           //前行
    0126 DFD1      RCALL	_forward
(0190)        delay_ms(touch_time);
    0127 EF0A      LDI	R16,0xFA
    0128 E010      LDI	R17,0
    0129 DFA7      RCALL	_delay_ms
(0191)        
(0192) 	   turn_left();         //左转
    012A DFB9      RCALL	_turn_left
(0193)        delay_ms(touch_time);
    012B EF0A      LDI	R16,0xFA
    012C E010      LDI	R17,0
    012D DFA3      RCALL	_delay_ms
(0194)    }
(0195)  if(sw_in == 0x30)// 0b 0011,0000  右侧开关接触
    012E 9180007D  LDS	R24,_sw_in
    0130 3380      CPI	R24,0x30
    0131 F441      BNE	0x013A
(0196)    {//后退，左转
(0197)        backward();          //后退
    0132 DFC0      RCALL	_backward
(0198)        delay_ms(touch_time);
    0133 EF0A      LDI	R16,0xFA
    0134 E010      LDI	R17,0
    0135 DF9B      RCALL	_delay_ms
(0199)        
(0200) 	   turn_left();         //左转
    0136 DFAD      RCALL	_turn_left
(0201)        delay_ms(touch_time);
    0137 EF0A      LDI	R16,0xFA
    0138 E010      LDI	R17,0
    0139 DF97      RCALL	_delay_ms
(0202)    }  
(0203)  if(sw_in == 0x60)// 0b 0110,0000  左侧开关接触
    013A 9180007D  LDS	R24,_sw_in
    013C 3680      CPI	R24,0x60
    013D F441      BNE	0x0146
(0204)    {//后退，左转
(0205)        backward();          //后退
    013E DFB4      RCALL	_backward
(0206)        delay_ms(touch_time);
    013F EF0A      LDI	R16,0xFA
    0140 E010      LDI	R17,0
    0141 DF8F      RCALL	_delay_ms
(0207)        
(0208) 	   turn_left();         //左转
    0142 DFA1      RCALL	_turn_left
(0209)        delay_ms(touch_time);
    0143 EF0A      LDI	R16,0xFA
    0144 E010      LDI	R17,0
    0145 DF8B      RCALL	_delay_ms
(0210)    }
(0211)  if(sw_in == 0x20)// 0b 0010,0000  两侧开关同时接触，停止运动
    0146 9180007D  LDS	R24,_sw_in
    0148 3280      CPI	R24,0x20
    0149 F4F1      BNE	0x0168
(0212)    {
(0213) 	stop();       //停止运动,熄灭指示灯