music_car.lst

单片机开发资料光盘-双龙-686M.zip

__text_start:
__start:
    0168 E5CF      LDI	R28,0x5F
    0169 E0D2      LDI	R29,2
    016A BFCD      OUT	0x3D,R28
    016B BFDE      OUT	0x3E,R29
    016C 51C0      SUBI	R28,0x10
    016D 40D0      SBCI	R29,0
    016E EA0A      LDI	R16,0xAA
    016F 8308      STD	Y+0,R16
    0170 2400      CLR	R0
    0171 E6E4      LDI	R30,0x64
    0172 E0F0      LDI	R31,0
    0173 E010      LDI	R17,0
    0174 38E0      CPI	R30,0x80
    0175 07F1      CPC	R31,R17
    0176 F011      BEQ	0x0179
    0177 9201      ST	R0,Z+
    0178 CFFB      RJMP	0x0174
    0179 8300      STD	Z+0,R16
    017A ECEC      LDI	R30,0xCC
    017B E0F2      LDI	R31,2
    017C E6A0      LDI	R26,0x60
    017D E0B0      LDI	R27,0
    017E E012      LDI	R17,2
    017F 3DE0      CPI	R30,0xD0
    0180 07F1      CPC	R31,R17
    0181 F021      BEQ	0x0186
    0182 95C8      LPM
    0183 9631      ADIW	R30,1
    0184 920D      ST	R0,X+
    0185 CFF9      RJMP	0x017F
    0186 D2FF      RCALL	_main
_exit:
    0187 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:
    0188 EF8F      LDI	R24,0xFF
    0189 BB8A      OUT	0x1A,R24
    018A 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）
    018B E880      LDI	R24,0x80
    018C BB87      OUT	0x17,R24
    018D EF8F      LDI	R24,0xFF
    018E BB88      OUT	0x18,R24
(0086)  DDRC  = 0x01;PORTC = 0xFF;  //PC0蜂鸣器输出，PC7~PC1检测信号输入端
    018F E081      LDI	R24,1
    0190 BB84      OUT	0x14,R24
    0191 EF8F      LDI	R24,0xFF
    0192 BB85      OUT	0x15,R24
(0087)  DDRD  = 0xF0;PORTD = 0xFF;  //PD7~PD4输出驱动电机，PD3~PD0输入
    0193 EF80      LDI	R24,0xF0
    0194 BB81      OUT	0x11,R24
    0195 EF8F      LDI	R24,0xFF
    0196 BB82      OUT	0x12,R24
(0088) }
    0197 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
    0198 5001      SUBI	R16,1
    0199 4010      SBCI	R17,0
(0095)  }	
(0096)   while (time>1);
    019A E081      LDI	R24,1
    019B E090      LDI	R25,0
    019C 1780      CP	R24,R16
    019D 0791      CPC	R25,R17
    019E F3CC      BLT	0x0198
(0097) }	  
    019F 9508      RET
_delay_ms:
  time                 --> R20
    01A0 D2E6      RCALL	push_gset1
    01A1 2F40      MOV	R20,R16
    01A2 2F51      MOV	R21,R17
(0098) 
(0099) void delay_ms(unsigned int time)
(0100) {//毫秒级延时程序
    01A3 C005      RJMP	0x01A9
(0101)  while(time!=0)
(0102)  {		
(0103)   delay_us(1000);
    01A4 EE08      LDI	R16,0xE8
    01A5 E013      LDI	R17,3
    01A6 DFF1      RCALL	_delay_us
(0104)   time--;
    01A7 5041      SUBI	R20,1
    01A8 4050      SBCI	R21,0
    01A9 3040      CPI	R20,0
    01AA 0745      CPC	R20,R21
    01AB F7C1      BNE	0x01A4
(0105)  }
(0106) }		
    01AC D2DD      RCALL	pop_gset1
    01AD 9508      RET
(0107) 
(0108) void turn_right()//右转
(0109)     {
(0110) 		 PORTD = 0x60;   //右转//0110 0000   
_turn_right:
    01AE E680      LDI	R24,0x60
    01AF BB82      OUT	0x12,R24
(0111) 		 PORTA = 0xCC;     //1100,1100 指示灯
    01B0 EC8C      LDI	R24,0xCC
    01B1 BB8B      OUT	0x1B,R24
(0112)     }
    01B2 9508      RET
(0113) 
(0114) void turn_left()//左转
(0115)     {
(0116)          PORTD = 0x90;   //左转//1001 0000   
_turn_left:
    01B3 E980      LDI	R24,0x90
    01B4 BB82      OUT	0x12,R24
(0117) 		 PORTA = 0x33;     //0011,0011 指示灯
    01B5 E383      LDI	R24,0x33
    01B6 BB8B      OUT	0x1B,R24
(0118)     }
    01B7 9508      RET
(0119) void turn_right_s()      //慢速右转
(0120)     {
(0121)          PORTD = 0x20;   //慢速右转//0010 0000
_turn_right_s:
    01B8 E280      LDI	R24,0x20
    01B9 BB82      OUT	0x12,R24
(0122) 		 PORTA = 0xCF;   //1100,1111
    01BA EC8F      LDI	R24,0xCF
    01BB BB8B      OUT	0x1B,R24
(0123)     }
    01BC 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:
    01BD E880      LDI	R24,0x80
    01BE BB82      OUT	0x12,R24
(0128) 		 PORTA = 0xF3;     //1111,0011
    01BF EF83      LDI	R24,0xF3
    01C0 BB8B      OUT	0x1B,R24
(0129)     }
    01C1 9508      RET
(0130) 
(0131) void backward()//后退
(0132)     {
(0133) 		 PORTD = 0x50;   //后退//0101 0000   
_backward:
    01C2 E580      LDI	R24,0x50
    01C3 BB82      OUT	0x12,R24
(0134) 		 PORTA = 0x3C;     //0011,1100 指示灯
    01C4 E38C      LDI	R24,0x3C
    01C5 BB8B      OUT	0x1B,R24
(0135)     }
    01C6 9508      RET
(0136) 
(0137) void forward()//前行
(0138)     {
(0139) 		 PORTD = 0xA0;   //前行//1010 0000   
_forward:
    01C7 EA80      LDI	R24,0xA0
    01C8 BB82      OUT	0x12,R24
(0140) 		 PORTA = 0xC3;     //1100,0011
    01C9 EC83      LDI	R24,0xC3
    01CA BB8B      OUT	0x1B,R24
(0141)     }
    01CB 9508      RET
(0142) 	
(0143) void stop()//停止运动
(0144)     {
(0145) 		 PORTD = 0xff;   //停止   
_stop:
    01CC EF8F      LDI	R24,0xFF
    01CD BB82      OUT	0x12,R24
(0146) 		 PORTA = 0xff;     //
    01CE BB8B      OUT	0x1B,R24
(0147) 	}
    01CF 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:
    01D0 B383      IN	R24,0x13
    01D1 7180      ANDI	R24,0x10
    01D2 9380007E  STS	_sw_in,R24
(0165)  if(sw_in == 0x00)
    01D4 2388      TST	R24
    01D5 F4C9      BNE	0x01EF
(0166)    {//后退，左转                   首部开关接触
(0167)        backward();          //后退
    01D6 DFEB      RCALL	_backward
(0168)        delay_ms(touch_time);
    01D7 EF0A      LDI	R16,0xFA
    01D8 E010      LDI	R17,0
    01D9 DFC6      RCALL	_delay_ms
(0169) 	   
(0170) 	   if(work_status == 0x70)
    01DA 9180007F  LDS	R24,_work_status
    01DC 3780      CPI	R24,0x70
    01DD F469      BNE	0x01EB
(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();
    01DE DFED      RCALL	_stop
    01DF C00A      RJMP	0x01EA
(0173) 		  while(1)
(0174) 		    {
(0175) 			 PORTA = 0x55;
    01E0 E585      LDI	R24,0x55
    01E1 BB8B      OUT	0x1B,R24
(0176) 		     delay_ms(250);
    01E2 EF0A      LDI	R16,0xFA
    01E3 E010      LDI	R17,0
    01E4 DFBB      RCALL	_delay_ms
(0177) 		     PORTA = 0xAA;
    01E5 EA8A      LDI	R24,0xAA
    01E6 BB8B      OUT	0x1B,R24
(0178) 		     delay_ms(250);
    01E7 EF0A      LDI	R16,0xFA
    01E8 E010      LDI	R17,0
    01E9 DFB6      RCALL	_delay_ms
    01EA CFF5      RJMP	0x01E0
(0179) 			}
(0180) 		 }
(0181) 	   
(0182)        turn_left();         //左转
    01EB DFC7      RCALL	_turn_left
(0183)        delay_ms(touch_time);
    01EC EF0A      LDI	R16,0xFA
    01ED E010      LDI	R17,0
    01EE DFB1      RCALL	_delay_ms
(0184)    }
(0185)  
(0186)  sw_in = PINB & 0x70;
    01EF B386      IN	R24,0x16
    01F0 7780      ANDI	R24,0x70
    01F1 9380007E  STS	_sw_in,R24
(0187)  if(sw_in == 0x50)// 0b 0101,0000  尾部开关接触 
    01F3 3580      CPI	R24,0x50
    01F4 F441      BNE	0x01FD
(0188)    {//前行，左转
(0189) 	   forward();           //前行
    01F5 DFD1      RCALL	_forward
(0190)        delay_ms(touch_time);
    01F6 EF0A      LDI	R16,0xFA
    01F7 E010      LDI	R17,0
    01F8 DFA7      RCALL	_delay_ms
(0191)        
(0192) 	   turn_left();         //左转
    01F9 DFB9      RCALL	_turn_left