cny_car.s

单片机开发资料光盘-双龙-686M.zip

	.module cny_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 80
; //cny_car   探测白底黑线，沿着黑线运动
; #include <io8515v.h>
; #include <macros.h>
; #include <sl3010.c>
; 
; unsigned char cny_in;
; 
; #define cny_delayms 50
; 
; void cny_car()
; {
;  unsigned char cny_times;
;  port_init();
; start_up: 
;  mic_startup();
;  
;  while(1)
;       {
; //	   sw_touch();
; 	   
; 	   cny_in = PINC & 0xe0;
; 	   if(cny_in == 0x00 || cny_in == 0x40 || cny_in == 0xa0)
; 	     {//前行
; 	      forward();   //前行
; 		  cny_times = 0x00;
; 		 }
; 	   if(cny_in == 0x20 || cny_in == 0x60)
; 	     {//慢速右转
; 		  turn_right_s();   //慢速右转
; 		  delay_ms(cny_delayms);
; 		  cny_times = 0x00;
; 		 }
; 	   if(cny_in == 0x80 || cny_in == 0xc0)
; 	     {//慢速左转
;           turn_left_s();    //慢速左转
;           delay_ms(cny_delayms);
; 		  cny_times = 0x00;
;  		 }
; 	   if(cny_in == 0xe0)
; 	     {//前行--探测多次都为 0xe0 ,停止运行
; 		  forward();
; 		  cny_times++;
; 		  delay_ms(10);
; 		  if(cny_times == 0x64)
; 			{
; 			 stop();   //停止运动//熄灭指示灯   
;              goto start_up;
; 			}
; 		 }
; 	  }
; }
; 
; void main()
; {
;  cny_car();
; }
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
	.dbline 81
; 
	ldi R24,255
	out 0x1a,R24
	.dbline 81
	out 0x1b,R24
	.dbline 82
; 
	ldi R24,128
	out 0x17,R24
	.dbline 82
	ldi R24,255
	out 0x18,R24
	.dbline 83
; 
	ldi R24,1
	out 0x14,R24
	.dbline 83
	ldi R24,255
	out 0x15,R24
	.dbline 84
; 
	ldi R24,240
	out 0x11,R24
	.dbline 84
	ldi R24,255
	out 0x12,R24
	.dbline -2
	.dbline 85
; 
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 88
; 
; 
; 
L3:
	.dbline 90
; 
; 
	.dbline 91
; 
	subi R16,1
	sbci R17,0
	.dbline 92
; 
L4:
	.dbline 93
; 
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
	.dbline 94
; 
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 97
; 
; 
; 
	rjmp L8
L7:
	.dbline 99
	.dbline 100
	ldi R16,1000
	ldi R17,3
	rcall _delay_us
	.dbline 101
	subi R20,1
	sbci R21,0
	.dbline 102
L8:
	.dbline 98
; 
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
	.dbline 103
; 
; 
; 
; 
; 
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 106
; 
; 
; 
	.dbline 107
; 
	ldi R24,96
	out 0x12,R24
	.dbline 108
; 
	ldi R24,204
	out 0x1b,R24
	.dbline -2
	.dbline 109
; 
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 112
; 
; 
; 
	.dbline 113
; 
	ldi R24,144
	out 0x12,R24
	.dbline 114
; 
	ldi R24,51
	out 0x1b,R24
	.dbline -2
	.dbline 115
; 
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 117
; 
; 
	.dbline 118
; 
	ldi R24,32
	out 0x12,R24
	.dbline 119
; 
	ldi R24,207
	out 0x1b,R24
	.dbline -2
	.dbline 120
; 
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 123
; 
; 
; 
	.dbline 124
; 
	ldi R24,128
	out 0x12,R24
	.dbline 125
; 
	ldi R24,243
	out 0x1b,R24
	.dbline -2
	.dbline 126
; 
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 129
; 
; 
; 
	.dbline 130
; 
	ldi R24,80
	out 0x12,R24
	.dbline 131
; 
	ldi R24,60
	out 0x1b,R24
	.dbline -2
	.dbline 132
; 
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 135
; 
; 
; 
	.dbline 136
; 
	ldi R24,160
	out 0x12,R24
	.dbline 137
; 
	ldi R24,195
	out 0x1b,R24
	.dbline -2
	.dbline 138
; 
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 141
; 
; 
; 
	.dbline 142
; 
	ldi R24,255
	out 0x12,R24
	.dbline 143
; 
	out 0x1b,R24
	.dbline -2
	.dbline 144
; 
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
;      remote_in -> R22
;          sw_in -> R20
	.even
_sw_touch::
	rcall push_gset2
	.dbline -1
	.dbline 160
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
	.dbline 163
; 
; 
; 
	in R20,0x13
	andi R20,16
	.dbline 164
; 
	brne L18
	.dbline 165
; 
	.dbline 166
; 
	rcall _backward
	.dbline 167
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 169
; 
; 
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 170
; 
	.dbline 171
; 
	rcall _stop
	rjmp L23
L22:
	.dbline 173
	.dbline 174
	ldi R24,85
	out 0x1b,R24
	.dbline 175
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 176
	ldi R24,170
	out 0x1b,R24
	.dbline 177
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 178
L23:
	.dbline 172
; 
	rjmp L22
X1:
	.dbline 179
; 
; 
; 
; 
; 
; 
; 
L20:
	.dbline 181
; 
; 
	rcall _turn_left
	.dbline 182
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 183
; 
L18:
	.dbline 185
; 
; 
	in R20,0x16
	andi R20,112
	.dbline 186
; 
	cpi R20,80
	brne L25
	.dbline 187
; 
	.dbline 188
; 
	rcall _forward
	.dbline 189
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 191
; 
; 
	rcall _turn_left
	.dbline 192
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 193
; 
L25:
	.dbline 194
; 
	cpi R20,48
	brne L27
	.dbline 195
; 
	.dbline 196
; 
	rcall _backward
	.dbline 197
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 199
; 
; 
	rcall _turn_left
	.dbline 200
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 201
; 
L27:
	.dbline 202
; 
	cpi R20,96
	brne L29
	.dbline 203
; 
	.dbline 204
; 
	rcall _backward
	.dbline 205
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 207
; 
; 
	rcall _turn_left
	.dbline 208
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 209
; 
L29:
	.dbline 210
; 
	cpi R20,32
	brne L31
	.dbline 211
; 
	.dbline 212
; 
	rcall _stop
	.dbline 213
; 
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	rjmp L34
L33:
	.dbline 215
; 
; 
	.dbline 216
; 
	in R20,0x13
	andi R20,16
	.dbline 217
; 
	brne L36
	.dbline 218
; 
	.dbline 218
	rjmp L35
L36:
	.dbline 219
; 
	ldi R24,85
	out 0x1b,R24
	.dbline 220
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 221
; 
	ldi R24,170
	out 0x1b,R24
	.dbline 222
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 223
; 
	in R22,0x16
	andi R22,15
	.dbline 224
; 
	breq L38
	.dbline 225
; 
	.dbline 225
	rjmp L35
L38:
	.dbline 226
L34:
	.dbline 214
	rjmp L33
L35:
	.dbline 227
L31:
	.dbline -2
	.dbline 228
; 
; 
; 
L17:
	rcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r remote_in 22 c
	.dbsym r sw_in 20 c
	.dbend
	.dbfunc e mic_startup _mic_startup fV
;         mic_in -> R16
	.even
_mic_startup::
	.dbline -1
	.dbline 231
; 
; 
; 
	rjmp L42
L41:
	.dbline 235
; 
; 
; 
; 
	.dbline 236
; 
	in R16,0x13
	andi R16,8
	.dbline 237
; 
	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
	.dbsym r mic_in 16 c
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
;      remote_in -> R16
	.even
_remote_auto_time::
	.dbline -1
	.dbline 256
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
; 
	.dbline 258
; 
; 
	in R16,0x16
	andi R16,15
	.dbline 259
; 
	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 260
; 
L50:
	.dbline 262
; 
; 
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	sbiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 263
; 
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	breq X6
	rjmp L48
X6:
	.dbline 264
; 
	.dbline 264
	ldi R24,100
	ldi R25,0
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 264
	.dbline 265
; 
	rjmp L48
L53:
	.dbline 267
; 
; 
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	adiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 268
; 
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 269
; 
	.dbline 269
	ldi R24,2000
	ldi R25,7
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 269
	.dbline 270
; 
	rjmp L48
L56:
	.dbline 272
; 
; 
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	sbiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 273
; 
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	brne L48
	.dbline 274
; 
	.dbline 274
	ldi R24,100
	ldi R25,0
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 274
	.dbline 275
; 
	rjmp L48
L59:
	.dbline 277
; 
; 
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	adiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 278
; 
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 279
; 
	.dbline 279
	ldi R24,2000
	ldi R25,7
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 279
	.dbline 280
; 
	.dbline 282
; 
; 
L47:
L48:
	.dbline -2
	.dbline 284
; 
; 
L46:
	.dbline 0 ; func end
	ret
	.dbsym r remote_in 16 c
	.dbend
	.dbfile E:\icc\iccavr\sl3010\cny_car\cny_car.c
	.dbfunc e cny_car _cny_car fV
;      cny_times -> R20
	.even
_cny_car::
	rcall push_gset1
	.dbline -1
	.dbline 11
	.dbline 13
	rcall _port_init
L64:
	.dbline 15
	rcall _mic_startup
	rjmp L66
L65:
	.dbline 18
	.dbline 21
	in R24,0x13
	andi R24,224
	sts _cny_in,R24
	.dbline 22
	tst R24
	breq L71
	cpi R24,64
	breq L71
	cpi R24,160
	brne L68
L71:
	.dbline 23
	.dbline 24
	rcall _forward
	.dbline 25
	clr R20
	.dbline 26
L68:
	.dbline 27
	lds R24,_cny_in
	cpi R24,32
	breq L74
	cpi R24,96
	brne L72
L74:
	.dbline 28
	.dbline 29
	rcall _turn_right_s
	.dbline 30
	ldi R16,50
	ldi R17,0
	rcall _delay_ms
	.dbline 31
	clr R20
	.dbline 32
L72:
	.dbline 33
	lds R24,_cny_in
	cpi R24,128
	breq L77
	cpi R24,192
	brne L75
L77:
	.dbline 34
	.dbline 35
	rcall _turn_left_s
	.dbline 36
	ldi R16,50
	ldi R17,0
	rcall _delay_ms
	.dbline 37
	clr R20
	.dbline 38
L75:
	.dbline 39
	lds R24,_cny_in
	cpi R24,224
	brne L78
	.dbline 40
	.dbline 41
	rcall _forward
	.dbline 42
	inc R20
	.dbline 43
	ldi R16,10
	ldi R17,0
	rcall _delay_ms
	.dbline 44
	cpi R20,100
	brne L80
	.dbline 45
	.dbline 46
	rcall _stop
	.dbline 47
	rjmp L64
L80:
	.dbline 49
L78:
	.dbline 50
L66:
	.dbline 17
	rjmp L65
X7:
	.dbline -2
	.dbline 51
L63:
	rcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r cny_times 20 c
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 54
	.dbline 55
	.dbline -2
	.dbline 56
L82:
	.dbline 0 ; func end
	rjmp _cny_car
	.dbend
	.area bss(ram, con, rel)
	.dbfile E:\icc\iccavr\sl3010\cny_car\cny_car.c
_cny_in::
	.blkb 1
	.dbsym e cny_in _cny_in c
_delay_time2::
	.blkb 2
	.dbfile e:/ICC/include/sl3010.c
	.dbsym e delay_time2 _delay_time2 i
_delay_time1::
	.blkb 2
	.dbsym e delay_time1 _delay_time1 i
_work_status::
	.blkb 1
	.dbsym e work_status _work_status c