sl3010_3.s

单片机开发资料光盘-双龙-686M.zip

	.module sl3010_3.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
; /*******************************************/
; /*            广州天河双龙电子公司         */
; /*            http://www.sl.com.cn         */
; /*     020-85510191,87578852,87578872      */
; /*              [e-mail]            */
; /*******************************************/
; 
; //遥控器没有按键或者 pd3,pd2,pd1,pd0 短路块全部不接上，全为高电平
; //机器人运行霓虹灯程序。     
; 
; //将 pd0 接低电平，pd3,pd2,pd1 保持高电平，只连接pd0的短路块
; //       或按下遥控器<A>(保持 0.5s)        进入遥控机器人运行环境 
; 
; //将 pd1 接低电平，pd3,pd2,pd0 保持高电平，只连接pd1的短路块
; //       或按下遥控器<B>(保持 0.5s)        寻迹机器人，探测白底黑线，沿黑线行进 
; 
; //将 pd2 接低电平，pd3,pd1,pd0 保持高电平，只连接pd2的短路块
; //       或按下遥控器<C>(保持 0.5s)        机器人避障碍、避悬崖行进 
; 
; //将 pd3 接低电平，pd2,pd1,pd0 保持高电平，只连接pd3的短路块
; //       或按下遥控器<D>(保持 0.5s)        机器人按程序设定路线行走，走四方形，同时演奏音乐 
; 
; //程序等待声控起动运行。
; 
; //将 sl3010.c 文件拷贝到 icc avr 安装目录的<include>文件夹
; //sl3010.c 是sl3010机器人板的子函数库
; //程序中调用此文件后 #include <sl3010.c>
; //可直接调用里面的函数和变量
; 
; #include <io8515v.h>
; #include <macros.h>
; #include <sl3010.c>
; #include <eeprom.h>
; 
; #define xuanya_delayms  300
; #define cny_delayms 50
; #define light_delay 100
; 
; /* 		  音乐数据  	  */
; /* 四分之一拍为0x10, 二分之一拍为0x20, 一拍为0x40*/
; /* 低1-1 2-2 3-3 4-4 5-5 6-6 7-7 */
; /* 中1-8 2-9 3-A 4-B 5-C 6-D 7-E */
; /* 高1-F*/								  	
; #pragma data:eeprom
; unsigned char sound[]={ 
; //走进新时代
; 0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
; 0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x45,0x68,
; 0x29,0x29,0x28,0x26,0x25,0x46,0x46,0x46,0x25,0x26,0x29,0x43,
; 0x25,0x22,0x23,0x22,0x21,0x42,0x42,0x42,0x42,0x63,0x25,0x26,
; 0x25,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x23,0x25,0x28,0x28,
; 0x28,0x28,0x29,0x2a,0x2a,0x29,0x46,0x46,0x46,0x46,0x46,0x29,
; 0x2a,0x28,0x28,0x26,0x25,0x26,0x26,0x25,0x43,0x43,0x22,0x42,
; 0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x41,
; 						
; 			0x00,0x00
; 					  };
; #pragma data:data							  		  						  
; /*	  		    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;
; 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
	.dbline 84
;     };
	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
; //TIMER0 initialisation - prescale:1024
	ldi R24,1
	out 0x14,R24
	.dbline 86
	ldi R24,255
	out 0x15,R24
	.dbline 87
; // desired value: 25mSec
	ldi R24,240
	out 0x11,R24
	.dbline 87
	ldi R24,255
	out 0x12,R24
	.dbline -2
	.dbline 88
; // actual value: 24.960mSec (0.2%)
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 91
; void timer0_init(void)
; {
;  TCCR0 = 0x00; //stop timer
L3:
	.dbline 93
;  TCNT0 = 0x3D; //set count value
;  TCCR0 = 0x05; //start timer
	.dbline 94
; }
	subi R16,1
	sbci R17,0
	.dbline 95
; 
L4:
	.dbline 96
; #pragma interrupt_handler timer0_ovf_isr:8
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
	.dbline 97
; void timer0_ovf_isr(void)
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
; {
;  TCNT0 = 0x3D; //reload counter value
;  t0_times++;
	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
;  if(gzsl == 0x88)
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
	.dbline 106
;    {
;     if(t0_times == 10)
;       {
; 	   timers++;
; 	   t0_times = 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
;       }
;    }
;  if(gzsl == 0x11)
	.dbline 110
;    {
	ldi R24,96
	out 0x12,R24
	.dbline 111
; 	if(t0_times == delay_time1)  //delay_time1*25ms
	ldi R24,204
	out 0x1b,R24
	.dbline -2
	.dbline 112
; 	  {
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 115
; 	   t0_times = 0;
; 	   gzsl = 0x22;
; 	   forward();
	.dbline 116
; 	  }
	ldi R24,144
	out 0x12,R24
	.dbline 117
;    } 
	ldi R24,51
	out 0x1b,R24
	.dbline -2
	.dbline 118
;  if(gzsl == 0x22)
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 120
;    {
; 	if(t0_times == delay_time2)  //delay_time2*25ms
	.dbline 121
; 	  {
	ldi R24,32
	out 0x12,R24
	.dbline 122
; 	   t0_times = 0;
	ldi R24,207
	out 0x1b,R24
	.dbline -2
	.dbline 123
; 	   gzsl = 0x11;
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 126
; 	   turn_right();
; 	  }
;    } 
	.dbline 127
; }
	ldi R24,128
	out 0x12,R24
	.dbline 128
; 
	ldi R24,243
	out 0x1b,R24
	.dbline -2
	.dbline 129
; void stop_timer0()
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 132
; {
; 	CLI();
; 	TCCR0 = 0x00;//停止timer0
	.dbline 133
; 	MCUCR = 0x00;
	ldi R24,80
	out 0x12,R24
	.dbline 134
;     GIMSK = 0x00;
	ldi R24,60
	out 0x1b,R24
	.dbline -2
	.dbline 135
;     TIMSK = 0x00;
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 138
;     SEI();
; }
; 
	.dbline 139
; /*******************************************/
	ldi R24,160
	out 0x12,R24
	.dbline 140
; /*              电子音乐演示程序           */
	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
; //使用说明：音乐输出端口：PORTC.0,音乐数据存放
; //于AT90S8515 的EEPROM存贮器中。
; // 可以用并口下载软件写入新的音乐文件
	.dbline 145
; //PA口为音乐灯，当不同的音乐节奏，点亮不同的灯。
	ldi R24,255
	out 0x12,R24
	.dbline 146
; 
	out 0x1b,R24
	.dbline -2
	.dbline 147
; #pragma interrupt_handler timer1_ovf_isr:iv_TIMER1_OVF
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
	.even
_sw_touch::
	.dbline -1
	.dbline 163
; void timer1_ovf_isr(void)
; 	 {
; 	  TCNT1=toneconst;
; 	  PORTC^=1;
; 	 }	 	 
; 
; void music_car(void)
;  	 {
; 	  TCCR1A = 0x00;
; 	  TCCR1B =(1<<CS11);//8分频
; 	  temp1=EEPROMread((int)&sound[sound_add]);
; 	  while(temp1!=0)
;  	  		{
; 			temp=temp1; 
; 			temp&=0x0f;
; /*
	.dbline 164
; 			  //PA口为音乐灯
	in R24,0x13
	andi R24,16
	sts _sw_in,R24
	.dbline 165
; 			  if(temp==1 || temp==2 || temp==3 || temp==4){PORTA = 0xfe;}
	tst R24
	brne L18
	.dbline 166
;               if(temp==5 || temp==6){PORTA = 0xfc;}
	.dbline 167
;               if(temp==7 || temp==8 ){PORTA = 0xf8;}
	rcall _backward
	.dbline 168
;               if(temp==9){PORTA = 0xf0;}
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 170
;               if(temp==10){PORTA = 0xe0;}
;               if(temp==11){PORTA = 0xc0;}
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 171
; 			  if(temp==12){PORTA = 0x80;}
	.dbline 172
;               if(temp==13 || temp==14 || temp==15){PORTA = 0x00;}
	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
; */
	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
; 			temp1=EEPROMread((int)&sound[sound_add]); 
	cpi R24,80
	brne L25
	.dbline 188
; 			}
	.dbline 189
; 		delay_ms(1000);	                                         	
	rcall _forward
	.dbline 190
; 	 }	 	 	 	 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 192
; 	  
; //  电机驱动信号                       led灯指示电机状态 
	rcall _turn_left
	.dbline 193
; //PORTD = 0xA0;//前行//1010 0000        //PORTA = 0xC3;//1100,0011
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 194
; //PORTD = 0x90;//左转//1001 0000快速左转//PORTA = 0x33;//0011,0011
L25:
	.dbline 195
; //PORTD = 0x80;//左转//1000 0000慢速左转//PORTA = 0xF3;//1111,0011
	lds R24,_sw_in
	cpi R24,48
	brne L27
	.dbline 196
; //PORTD = 0x60;//右转//0110 0000快速右转//PORTA = 0xCC;//1100,1100
	.dbline 197
; //PORTD = 0x20;//右转//0010 0000慢速右转//PORTA = 0xCF;//1100,1111
	rcall _backward
	.dbline 198
; //PORTD = 0x50;//后退//0101 0000        //PORTA = 0x3C;//0011,1100
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 200
; 
; //PC3声控启动
	rcall _turn_left
	.dbline 201
; //  用PD7~PD4来作为电机驱动端
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 202
; 
L27:
	.dbline 203
; void xuanya_car(void)
	lds R24,_sw_in
	cpi R24,96
	brne L29
	.dbline 204
; {
	.dbline 205
;  PORTA = 0xa5;//1010,0101
	rcall _backward
	.dbline 206
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 208
;  work_status = 0x20;//置对应的工作状态标志
;  
	rcall _turn_left
	.dbline 209
;  mic_startup();       //等待声控启动
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 210
;  
L29:
	.dbline 211
;  while(1)
	lds R24,_sw_in
	cpi R24,32
	brne L31
	.dbline 212
;    {//左（pc7）  中（pc6）  右（pc5）
	.dbline 213
;     
	rcall _stop
	.dbline 214
; 	sw_touch();          //检测轻触开关
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	rjmp L34
L33:
	.dbline 216
; 	
; 	pc = PINC & 0x10;
	.dbline 217
; 	if(pc == 0x00)
	in R24,0x13
	andi R24,16
	sts _sw_in,R24
	.dbline 218
; 	  {//后退//左转
	tst R24
	brne L36
	.dbline 219
; 	   backward();//后退
	.dbline 219
	rjmp L35
L36:
	.dbline 220
; 	   delay_ms(xuanya_delayms);
	ldi R24,85
	out 0x1b,R24
	.dbline 221
; 	   turn_right();//左转
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 222
; 	   delay_ms(xuanya_delayms/2);
	ldi R24,170
	out 0x1b,R24
	.dbline 223
; 	  }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 224
;     pc = PINC & 0xE0;
	in R24,0x16
	andi R24,15
	sts _remote_in,R24
	.dbline 225
;     if(pc == 0x40)
	tst R24
	breq L38
	.dbline 226
; 	  {//后退//左转
	.dbline 226
	rjmp L35
L38:
	.dbline 227
L34:
	.dbline 215
	rjmp L33
L35:
	.dbline 228
L31:
	.dbline -2
	.dbline 229
; 	   backward();//后退
; 	   delay_ms(xuanya_delayms);
; 	   turn_right();//左转
L17:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e mic_startup _mic_startup fV
	.even
_mic_startup::
	.dbline -1
	.dbline 232
; 	   delay_ms(xuanya_delayms/2);
; 	  }
; 	if(pc == 0x80)
	rjmp L42
L41:
	.dbline 235
; 	  {//后退//左转
; 	   backward();//后退
; 	   delay_ms(xuanya_delayms);
	.dbline 236
; 	   turn_right();//左转
	in R24,0x13
	andi R24,8
	sts _mic_in,R24
	.dbline 237
; 	   delay_ms(xuanya_delayms/2);
	tst R24
	brne L44
	.dbline 237
	.dbline 237
	rjmp L43
L44:
	.dbline 238
L42:
	.dbline 234
	rjmp L41
L43:
	.dbline -2
	.dbline 239
; 	  }
; 	if(pc == 0x20)
L40:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
	.even
_remote_auto_time::
	.dbline -1
	.dbline 254
; 	  {//后退//左转
; 	   backward();//后退
; 	   delay_ms(xuanya_delayms);
; 	   turn_right();//左转
; 	   delay_ms(xuanya_delayms/2);
; 	  }
; 	if(pc == 0xc0)
; 	  {//后退//左转
; 	   backward();//后退
; 	   delay_ms(xuanya_delayms);
; 	   turn_right();//左转
; 	   delay_ms(xuanya_delayms/2);
; 	  }
; 	if(pc == 0x60)
; 	  {//后退//左转
	.dbline 255
; 	   backward();//后退
	in R24,0x16
	andi R24,15
	sts _remote_in,R24
	.dbline 256
; 	   delay_ms(xuanya_delayms);
	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
; 	   turn_right();//左转
L50:
	.dbline 259
; 	   delay_ms(xuanya_delayms/2);
; 	  }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	sbiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 260
; 	if(pc == 0xE0)
	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
;        //刹车 //led灯为流水灯
	rjmp L48
L53:
	.dbline 264
;        stop();
;        PORTA = 0x3C;
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	adiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 265
;        delay_ms(xuanya_delayms);
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 266
; 	   PORTA = 0xC3;
	.dbline 266
	ldi R24,2000
	ldi R25,7
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 266
	.dbline 267
;        delay_ms(xuanya_delayms);
	rjmp L48
L56:
	.dbline 269
; 	  } 
; 	else
	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
; 	    forward();//前行
	.dbline 271
	ldi R24,100
	ldi R25,0
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 271
	.dbline 272
; 	  }
	rjmp L48
L59:
	.dbline 274
;    }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	adiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 275
; 
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 276
; void remote_car()
	.dbline 276
	ldi R24,2000
	ldi R25,7
	sts _delay_time2+1,R25
	sts _delay_time2,R24