sl3010_1.lst

单片机开发资料光盘-双龙-686M.zip

__start:
__text_start:
    0058 E5CF      LDI	R28,0x5F
    0059 E0D2      LDI	R29,2
    005A BFCD      OUT	0x3D,R28
    005B BFDE      OUT	0x3E,R29
    005C 51C0      SUBI	R28,0x10
    005D 40D0      SBCI	R29,0
    005E EA0A      LDI	R16,0xAA
    005F 8308      STD	Y+0,R16
    0060 2400      CLR	R0
    0061 EDE8      LDI	R30,0xD8
    0062 E0F0      LDI	R31,0
    0063 E010      LDI	R17,0
    0064 3EE7      CPI	R30,0xE7
    0065 07F1      CPC	R31,R17
    0066 F011      BEQ	0x0069
    0067 9201      ST	R0,Z+
    0068 CFFB      RJMP	0x0064
    0069 8300      STD	Z+0,R16
    006A E3E8      LDI	R30,0x38
    006B E0F0      LDI	R31,0
    006C E6A0      LDI	R26,0x60
    006D E0B0      LDI	R27,0
    006E E010      LDI	R17,0
    006F 3BE0      CPI	R30,0xB0
    0070 07F1      CPC	R31,R17
    0071 F021      BEQ	0x0076
    0072 95C8      LPM
    0073 9631      ADIW	R30,1
    0074 920D      ST	R0,X+
    0075 CFF9      RJMP	0x006F
    0076 D471      RCALL	_main
_exit:
    0077 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:
    0078 EF8F      LDI	R24,0xFF
    0079 BB8A      OUT	0x1A,R24
    007A 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）
    007B E880      LDI	R24,0x80
    007C BB87      OUT	0x17,R24
    007D EF8F      LDI	R24,0xFF
    007E BB88      OUT	0x18,R24
(0086)  DDRC  = 0x01;PORTC = 0xFF;  //PC0蜂鸣器输出，PC7~PC1检测信号输入端
    007F E081      LDI	R24,1
    0080 BB84      OUT	0x14,R24
    0081 EF8F      LDI	R24,0xFF
    0082 BB85      OUT	0x15,R24
(0087)  DDRD  = 0xF0;PORTD = 0xFF;  //PD7~PD4输出驱动电机，PD3~PD0输入
    0083 EF80      LDI	R24,0xF0
    0084 BB81      OUT	0x11,R24
    0085 EF8F      LDI	R24,0xFF
    0086 BB82      OUT	0x12,R24
(0088) }
    0087 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
    0088 5001      SUBI	R16,1
    0089 4010      SBCI	R17,0
(0095)  }	
(0096)   while (time>1);
    008A E081      LDI	R24,1
    008B E090      LDI	R25,0
    008C 1780      CP	R24,R16
    008D 0791      CPC	R25,R17
    008E F3CC      BLT	0x0088
(0097) }	  
    008F 9508      RET
_delay_ms:
  time                 --> R20
    0090 D4C8      RCALL	push_gset1
    0091 2F40      MOV	R20,R16
    0092 2F51      MOV	R21,R17
(0098) 
(0099) void delay_ms(unsigned int time)
(0100) {//毫秒级延时程序
    0093 C005      RJMP	0x0099
(0101)  while(time!=0)
(0102)  {		
(0103)   delay_us(1000);
    0094 EE08      LDI	R16,0xE8
    0095 E013      LDI	R17,3
    0096 DFF1      RCALL	_delay_us
(0104)   time--;
    0097 5041      SUBI	R20,1
    0098 4050      SBCI	R21,0
    0099 3040      CPI	R20,0
    009A 0745      CPC	R20,R21
    009B F7C1      BNE	0x0094
(0105)  }
(0106) }		
    009C D4BF      RCALL	pop_gset1
    009D 9508      RET
(0107) 
(0108) void turn_right()//右转
(0109)     {
(0110) 		 PORTD = 0x60;   //右转//0110 0000   
_turn_right:
    009E E680      LDI	R24,0x60
    009F BB82      OUT	0x12,R24
(0111) 		 PORTA = 0xCC;     //1100,1100 指示灯
    00A0 EC8C      LDI	R24,0xCC
    00A1 BB8B      OUT	0x1B,R24
(0112)     }
    00A2 9508      RET
(0113) 
(0114) void turn_left()//左转
(0115)     {
(0116)          PORTD = 0x90;   //左转//1001 0000   
_turn_left:
    00A3 E980      LDI	R24,0x90
    00A4 BB82      OUT	0x12,R24
(0117) 		 PORTA = 0x33;     //0011,0011 指示灯
    00A5 E383      LDI	R24,0x33
    00A6 BB8B      OUT	0x1B,R24
(0118)     }
    00A7 9508      RET
(0119) void turn_right_s()      //慢速右转
(0120)     {
(0121)          PORTD = 0x20;   //慢速右转//0010 0000
_turn_right_s:
    00A8 E280      LDI	R24,0x20
    00A9 BB82      OUT	0x12,R24
(0122) 		 PORTA = 0xCF;   //1100,1111
    00AA EC8F      LDI	R24,0xCF
    00AB BB8B      OUT	0x1B,R24
(0123)     }
    00AC 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:
    00AD E880      LDI	R24,0x80
    00AE BB82      OUT	0x12,R24
(0128) 		 PORTA = 0xF3;     //1111,0011
    00AF EF83      LDI	R24,0xF3
    00B0 BB8B      OUT	0x1B,R24
(0129)     }
    00B1 9508      RET
(0130) 
(0131) void backward()//后退
(0132)     {
(0133) 		 PORTD = 0x50;   //后退//0101 0000   
_backward:
    00B2 E580      LDI	R24,0x50
    00B3 BB82      OUT	0x12,R24
(0134) 		 PORTA = 0x3C;     //0011,1100 指示灯
    00B4 E38C      LDI	R24,0x3C
    00B5 BB8B      OUT	0x1B,R24
(0135)     }
    00B6 9508      RET
(0136) 
(0137) void forward()//前行
(0138)     {
(0139) 		 PORTD = 0xA0;   //前行//1010 0000   
_forward:
    00B7 EA80      LDI	R24,0xA0
    00B8 BB82      OUT	0x12,R24
(0140) 		 PORTA = 0xC3;     //1100,0011
    00B9 EC83      LDI	R24,0xC3
    00BA BB8B      OUT	0x1B,R24
(0141)     }
    00BB 9508      RET
(0142) 	
(0143) void stop()//停止运动
(0144)     {
(0145) 		 PORTD = 0xff;   //停止   
_stop:
    00BC EF8F      LDI	R24,0xFF
    00BD BB82      OUT	0x12,R24
(0146) 		 PORTA = 0xff;     //
    00BE BB8B      OUT	0x1B,R24
(0147) 	}
    00BF 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:
    00C0 B383      IN	R24,0x13
    00C1 7180      ANDI	R24,0x10
    00C2 938000E5  STS	_sw_in,R24
(0165)  if(sw_in == 0x00)
    00C4 2388      TST	R24
    00C5 F4C9      BNE	0x00DF
(0166)    {//后退，左转                   首部开关接触
(0167)        backward();          //后退
    00C6 DFEB      RCALL	_backward
(0168)        delay_ms(touch_time);
    00C7 EF0A      LDI	R16,0xFA
    00C8 E010      LDI	R17,0
    00C9 DFC6      RCALL	_delay_ms
(0169) 	   
(0170) 	   if(work_status == 0x70)
    00CA 918000E6  LDS	R24,_work_status
    00CC 3780      CPI	R24,0x70
    00CD F469      BNE	0x00DB
(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();
    00CE DFED      RCALL	_stop
    00CF C00A      RJMP	0x00DA
(0173) 		  while(1)
(0174) 		    {
(0175) 			 PORTA = 0x55;
    00D0 E585      LDI	R24,0x55
    00D1 BB8B      OUT	0x1B,R24
(0176) 		     delay_ms(250);
    00D2 EF0A      LDI	R16,0xFA
    00D3 E010      LDI	R17,0
    00D4 DFBB      RCALL	_delay_ms
(0177) 		     PORTA = 0xAA;
    00D5 EA8A      LDI	R24,0xAA
    00D6 BB8B      OUT	0x1B,R24
(0178) 		     delay_ms(250);
    00D7 EF0A      LDI	R16,0xFA
    00D8 E010      LDI	R17,0
    00D9 DFB6      RCALL	_delay_ms
    00DA CFF5      RJMP	0x00D0
(0179) 			}
(0180) 		 }
(0181) 	   
(0182)        turn_left();         //左转
    00DB DFC7      RCALL	_turn_left
(0183)        delay_ms(touch_time);
    00DC EF0A      LDI	R16,0xFA
    00DD E010      LDI	R17,0
    00DE DFB1      RCALL	_delay_ms
(0184)    }
(0185)  
(0186)  sw_in = PINB & 0x70;
    00DF B386      IN	R24,0x16
    00E0 7780      ANDI	R24,0x70
    00E1 938000E5  STS	_sw_in,R24
(0187)  if(sw_in == 0x50)// 0b 0101,0000  尾部开关接触 
    00E3 3580      CPI	R24,0x50
    00E4 F441      BNE	0x00ED
(0188)    {//前行，左转
(0189) 	   forward();           //前行
    00E5 DFD1      RCALL	_forward
(0190)        delay_ms(touch_time);
    00E6 EF0A      LDI	R16,0xFA
    00E7 E010      LDI	R17,0
    00E8 DFA7      RCALL	_delay_ms
(0191)        
(0192) 	   turn_left();         //左转
    00E9 DFB9      RCALL	_turn_left
(0193)        delay_ms(touch_time);
    00EA EF0A      LDI	R16,0xFA
    00EB E010      LDI	R17,0
    00EC DFA3      RCALL	_delay_ms
(0194)    }
(0195)  if(sw_in == 0x30)// 0b 0011,0000  右侧开关接触
    00ED 918000E5  LDS	R24,_sw_in
    00EF 3380      CPI	R24,0x30
    00F0 F441      BNE	0x00F9
(0196)    {//后退，左转
(0197)        backward();          //后退
    00F1 DFC0      RCALL	_backward
(0198)        delay_ms(touch_time);
    00F2 EF0A      LDI	R16,0xFA
    00F3 E010      LDI	R17,0
    00F4 DF9B      RCALL	_delay_ms
(0199)        
(0200) 	   turn_left();         //左转
    00F5 DFAD      RCALL	_turn_left
(0201)        delay_ms(touch_time);
    00F6 EF0A      LDI	R16,0xFA
    00F7 E010      LDI	R17,0
    00F8 DF97      RCALL	_delay_ms
(0202)    }  
(0203)  if(sw_in == 0x60)// 0b 0110,0000  左侧开关接触
    00F9 918000E5  LDS	R24,_sw_in
    00FB 3680      CPI	R24,0x60
    00FC F441      BNE	0x0105
(0204)    {//后退，左转
(0205)        backward();          //后退
    00FD DFB4      RCALL	_backward
(0206)        delay_ms(touch_time);
    00FE EF0A      LDI	R16,0xFA
    00FF E010      LDI	R17,0
    0100 DF8F      RCALL	_delay_ms
(0207)        
(0208) 	   turn_left();         //左转
    0101 DFA1      RCALL	_turn_left
(0209)        delay_ms(touch_time);
    0102 EF0A      LDI	R16,0xFA
    0103 E010      LDI	R17,0
    0104 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
    0105 918000E5  LDS	R24,_sw_in