📄 sl3010_3.lis
字号:
.module sl3010_3.c
.area text(rom, con, rel)
0000 .dbfile E:/icc/include/sl3010.c
0000 .dbfunc e port_init _port_init fV
.even
0000 _port_init::
0000 .dbline -1
0000 .dbline 83
0000 ; /*******************************************/
0000 ; /* 广州天河双龙电子公司 */
0000 ; /* http://www.sl.com.cn */
0000 ; /* 020-85510191,87578852,87578872 */
0000 ; /* nikko@sl.com.cn */
0000 ; /*******************************************/
0000 ;
0000 ; //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
0000 ; //机器人运行霓虹灯程序。
0000 ;
0000 ; //将 pd0 接低电平，pd3,pd2,pd1 保持高电平，只连接pd0的短路块
0000 ; // 或按下遥控器<A>(保持 0.5s) 进入遥控机器人运行环境
0000 ;
0000 ; //将 pd1 接低电平，pd3,pd2,pd0 保持高电平，只连接pd1的短路块
0000 ; // 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
0000 ;
0000 ; //将 pd2 接低电平，pd3,pd1,pd0 保持高电平，只连接pd2的短路块
0000 ; // 或按下遥控器<C>(保持 0.5s) 机器人避障碍、避悬崖行进
0000 ;
0000 ; //将 pd3 接低电平，pd2,pd1,pd0 保持高电平，只连接pd3的短路块
0000 ; // 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
0000 ;
0000 ; //程序等待声控起动运行。
0000 ;
0000 ; //将 sl3010.c 文件拷贝到 icc avr 安装目录的<include>文件夹
0000 ; //sl3010.c 是sl3010机器人板的子函数库
0000 ; //程序中调用此文件后 #include <sl3010.c>
0000 ; //可直接调用里面的函数和变量
0000 ;
0000 ; #include <io8515v.h>
0000 ; #include <macros.h>
0000 ; #include <sl3010.c>
0000 ; #include <eeprom.h>
0000 ;
0000 ; #define xuanya_delayms 300
0000 ; #define cny_delayms 50
0000 ; #define light_delay 100
0000 ;
0000 ; /* 音乐数据 */
0000 ; /* 四分之一拍为0x10, 二分之一拍为0x20, 一拍为0x40*/
0000 ; /* 低1-1 2-2 3-3 4-4 5-5 6-6 7-7 */
0000 ; /* 中1-8 2-9 3-A 4-B 5-C 6-D 7-E */
0000 ; /* 高1-F*/
0000 ; #pragma data:eeprom
0000 ; unsigned char sound[]={
0000 ; //走进新时代
0000 ; 0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
0000 ; 0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x45,0x68,
0000 ; 0x29,0x29,0x28,0x26,0x25,0x46,0x46,0x46,0x25,0x26,0x29,0x43,
0000 ; 0x25,0x22,0x23,0x22,0x21,0x42,0x42,0x42,0x42,0x63,0x25,0x26,
0000 ; 0x25,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x23,0x25,0x28,0x28,
0000 ; 0x28,0x28,0x29,0x2a,0x2a,0x29,0x46,0x46,0x46,0x46,0x46,0x29,
0000 ; 0x2a,0x28,0x28,0x26,0x25,0x26,0x26,0x25,0x43,0x43,0x22,0x42,
0000 ; 0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x41,
0000 ;
0000 ; 0x00,0x00
0000 ; };
0000 ; #pragma data:data
0000 ; /* 音阶表 */
0000 ; const unsigned int TONETABLE[15]={DO,RE,MI,FA,SO,LA,TI,DO_H,
0000 ; RE_H,MI_H,FA_H,SO_H,LA_H,TI_H,DO_HH};
0000 ; /* 音阶重装常数 */
0000 ; unsigned int toneconst;
0000 ; unsigned int sound_add=0;
0000 ; unsigned int delay_time1,delay_time2,led_delayms=600;
0000 ; unsigned char temp,temp1;
0000 ; unsigned char pa,pb,pc,pd,remote_in,timers,cny_in,cny_times,rst_time,cds,pd_select,remote_select;
0000 ; unsigned char gzsl,t0_times;
0000 ; const unsigned char led_data[]=
0000 ; {//设置LED广告灯数据表
0000 ; 0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
0000 ; 0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f,0xbf,0xdf,0xef,0xf7,0xfb,0xfd,
0000 ; 0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
0000 ; 0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
0000 ; 0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
0000 ; 0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
0000 ; 0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
0000 ; 0xfe,0xfc,0xf8,0xf0,0xe0,0xc0,0x80,0x00,0x80,0xc0,0xe0,0xf0,0xf8,0xfc,
0000 ; 0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
0000 ; 0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
0000 ; 0xff,0x00,0xff,0x00,0xff,0x00,0xff,0x00,
0000 ;
0000 ; 0x0a,0x0a
0000 .dbline 84
0000 ; };
0000 8FEF ldi R24,255
0002 8ABB out 0x1a,R24
0004 .dbline 84
0004 8BBB out 0x1b,R24
0006 .dbline 85
0006 ;
0006 80E8 ldi R24,128
0008 87BB out 0x17,R24
000A .dbline 85
000A 8FEF ldi R24,255
000C 88BB out 0x18,R24
000E .dbline 86
000E ; //TIMER0 initialisation - prescale:1024
000E 81E0 ldi R24,1
0010 84BB out 0x14,R24
0012 .dbline 86
0012 8FEF ldi R24,255
0014 85BB out 0x15,R24
0016 .dbline 87
0016 ; // desired value: 25mSec
0016 80EF ldi R24,240
0018 81BB out 0x11,R24
001A .dbline 87
001A 8FEF ldi R24,255
001C 82BB out 0x12,R24
001E .dbline -2
001E .dbline 88
001E ; // actual value: 24.960mSec (0.2%)
001E L1:
001E .dbline 0 ; func end
001E 0895 ret
0020 .dbend
0020 .dbfunc e delay_us _delay_us fV
0020 ; time -> R16,R17
.even
0020 _delay_us::
0020 .dbline -1
0020 .dbline 91
0020 ; void timer0_init(void)
0020 ; {
0020 ; TCCR0 = 0x00; //stop timer
0020 L3:
0020 .dbline 93
0020 ; TCNT0 = 0x3D; //set count value
0020 ; TCCR0 = 0x05; //start timer
0020 .dbline 94
0020 ; }
0020 0150 subi R16,1
0022 1040 sbci R17,0
0024 .dbline 95
0024 ;
0024 L4:
0024 .dbline 96
0024 ; #pragma interrupt_handler timer0_ovf_isr:8
0024 81E0 ldi R24,1
0026 90E0 ldi R25,0
0028 8017 cp R24,R16
002A 9107 cpc R25,R17
002C CCF3 brlt L3
002E .dbline -2
002E .dbline 97
002E ; void timer0_ovf_isr(void)
002E L2:
002E .dbline 0 ; func end
002E 0895 ret
0030 .dbsym r time 16 I
0030 .dbend
0030 .dbfunc e delay_ms _delay_ms fV
0030 ; time -> R20,R21
.even
0030 _delay_ms::
0030 00D0 rcall push_gset1
0032 402F mov R20,R16
0034 512F mov R21,R17
0036 .dbline -1
0036 .dbline 100
0036 ; {
0036 ; TCNT0 = 0x3D; //reload counter value
0036 ; t0_times++;
0036 05C0 rjmp L8
0038 L7:
0038 .dbline 102
0038 .dbline 103
0038 08EE ldi R16,1000
003A 13E0 ldi R17,3
003C F1DF rcall _delay_us
003E .dbline 104
003E 4150 subi R20,1
0040 5040 sbci R21,0
0042 .dbline 105
0042 L8:
0042 .dbline 101
0042 ; if(gzsl == 0x88)
0042 4030 cpi R20,0
0044 4507 cpc R20,R21
0046 C1F7 brne L7
0048 X0:
0048 .dbline -2
0048 .dbline 106
0048 ; {
0048 ; if(t0_times == 10)
0048 ; {
0048 ; timers++;
0048 ; t0_times = 0;
0048 L6:
0048 00D0 rcall pop_gset1
004A .dbline 0 ; func end
004A 0895 ret
004C .dbsym r time 20 i
004C .dbend
004C .dbfunc e turn_right _turn_right fV
.even
004C _turn_right::
004C .dbline -1
004C .dbline 109
004C ; }
004C ; }
004C ; if(gzsl == 0x11)
004C .dbline 110
004C ; {
004C 80E6 ldi R24,96
004E 82BB out 0x12,R24
0050 .dbline 111
0050 ; if(t0_times == delay_time1) //delay_time1*25ms
0050 8CEC ldi R24,204
0052 8BBB out 0x1b,R24
0054 .dbline -2
0054 .dbline 112
0054 ; {
0054 L10:
0054 .dbline 0 ; func end
0054 0895 ret
0056 .dbend
0056 .dbfunc e turn_left _turn_left fV
.even
0056 _turn_left::
0056 .dbline -1
0056 .dbline 115
0056 ; t0_times = 0;
0056 ; gzsl = 0x22;
0056 ; forward();
0056 .dbline 116
0056 ; }
0056 80E9 ldi R24,144
0058 82BB out 0x12,R24
005A .dbline 117
005A ; }
005A 83E3 ldi R24,51
005C 8BBB out 0x1b,R24
005E .dbline -2
005E .dbline 118
005E ; if(gzsl == 0x22)
005E L11:
005E .dbline 0 ; func end
005E 0895 ret
0060 .dbend
0060 .dbfunc e turn_right_s _turn_right_s fV
.even
0060 _turn_right_s::
0060 .dbline -1
0060 .dbline 120
0060 ; {
0060 ; if(t0_times == delay_time2) //delay_time2*25ms
0060 .dbline 121
0060 ; {
0060 80E2 ldi R24,32
0062 82BB out 0x12,R24
0064 .dbline 122
0064 ; t0_times = 0;
0064 8FEC ldi R24,207
0066 8BBB out 0x1b,R24
0068 .dbline -2
0068 .dbline 123
0068 ; gzsl = 0x11;
0068 L12:
0068 .dbline 0 ; func end
0068 0895 ret
006A .dbend
006A .dbfunc e turn_left_s _turn_left_s fV
.even
006A _turn_left_s::
006A .dbline -1
006A .dbline 126
006A ; turn_right();
006A ; }
006A ; }
006A .dbline 127
006A ; }
006A 80E8 ldi R24,128
006C 82BB out 0x12,R24
006E .dbline 128
006E ;
006E 83EF ldi R24,243
0070 8BBB out 0x1b,R24
0072 .dbline -2
0072 .dbline 129
0072 ; void stop_timer0()
0072 L13:
0072 .dbline 0 ; func end
0072 0895 ret
0074 .dbend
0074 .dbfunc e backward _backward fV
.even
0074 _backward::
0074 .dbline -1
0074 .dbline 132
0074 ; {
0074 ; CLI();
0074 ; TCCR0 = 0x00;//停止timer0
0074 .dbline 133
0074 ; MCUCR = 0x00;
0074 80E5 ldi R24,80
0076 82BB out 0x12,R24
0078 .dbline 134
0078 ; GIMSK = 0x00;
0078 8CE3 ldi R24,60
007A 8BBB out 0x1b,R24
007C .dbline -2
007C .dbline 135
007C ; TIMSK = 0x00;
007C L14:
007C .dbline 0 ; func end
007C 0895 ret
007E .dbend
007E .dbfunc e forward _forward fV
.even
007E _forward::
007E .dbline -1
007E .dbline 138
007E ; SEI();
007E ; }
007E ;
007E .dbline 139
007E ; /*******************************************/
007E 80EA ldi R24,160
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