?? diy0206_4.s

?? 雙龍的積木式智能機器人C源程序
?? S
?? 第 1 頁 / 共 5 頁
字號:
	ldi R30,0
	cpc R21,R30
	breq L151
	rjmp L146
L154:
	cpi R20,64
	ldi R30,0
	cpc R21,R30
	breq L150
	cpi R20,64
	ldi R30,0
	cpc R21,R30
	brlt L146
L155:
	cpi R20,128
	ldi R30,0
	cpc R21,R30
	breq L152
	rjmp L146
X15:
	.dbline 356
;       	 {//檢測遙控器是否有鍵按下
L149:
	.dbline 358
;           case 0x20:  // < A >
; 			  sound_add=0;
	clr R2
	clr R3
	sts _sound_add+1,R3
	sts _sound_add,R2
	.dbline 359
; 			  sound_1 = 0x11;
	ldi R24,17
	sts _sound_1,R24
	.dbline 360
;       	    break;
	rjmp L147
L150:
	.dbline 362
;           case 0x40:  // < B >
; 			  sound_add=0;
	clr R2
	clr R3
	sts _sound_add+1,R3
	sts _sound_add,R2
	.dbline 363
; 			  sound_1 = 0x22;
	ldi R24,34
	sts _sound_1,R24
	.dbline 364
;       	    break;
	rjmp L147
L151:
	.dbline 366
;           case 0x10:  // < C >
; 			  sound_add=0;
	clr R2
	clr R3
	sts _sound_add+1,R3
	sts _sound_add,R2
	.dbline 367
; 			  sound_1 = 0x33;
	ldi R24,51
	sts _sound_1,R24
	.dbline 368
;       	    break;
	rjmp L147
L152:
	.dbline 370
;           case 0x80:  // < D >
; 			  sound_add=0;
	clr R2
	clr R3
	sts _sound_add+1,R3
	sts _sound_add,R2
	.dbline 371
; 			  sound_1 = 0x44;
	ldi R24,68
	sts _sound_1,R24
	.dbline 372
;       	    break;
L146:
L147:
	.dbline 374
;       	 }
;       if(sound_1 == 0x11)
	lds R24,_sound_1
	cpi R24,17
	brne L156
	.dbline 375
; 	    {
	.dbline 376
; 		 temp1 = music_11[sound_add];
	ldi R24,<_music_11
	ldi R25,>_music_11
	lds R2,_sound_add
	lds R3,_sound_add+1
	add R2,R24
	adc R3,R25
	mov R30,R2
	mov R31,R3
	lpm
	sts _temp1,R0
	.dbline 377
; 		}
L156:
	.dbline 378
;       if(sound_1 == 0x22)
	lds R24,_sound_1
	cpi R24,34
	brne L158
	.dbline 379
; 	    {
	.dbline 380
; 		 temp1 = music_22[sound_add];
	ldi R24,<_music_22
	ldi R25,>_music_22
	lds R2,_sound_add
	lds R3,_sound_add+1
	add R2,R24
	adc R3,R25
	mov R30,R2
	mov R31,R3
	lpm
	sts _temp1,R0
	.dbline 381
; 		}
L158:
	.dbline 382
;       if(sound_1 == 0x33)
	lds R24,_sound_1
	cpi R24,51
	brne L160
	.dbline 383
; 	    {
	.dbline 384
; 		 temp1 = music_33[sound_add];
	ldi R24,<_music_33
	ldi R25,>_music_33
	lds R2,_sound_add
	lds R3,_sound_add+1
	add R2,R24
	adc R3,R25
	mov R30,R2
	mov R31,R3
	lpm
	sts _temp1,R0
	.dbline 385
; 		}
L160:
	.dbline 386
;       if(sound_1 == 0x44)
	lds R24,_sound_1
	cpi R24,68
	brne L162
	.dbline 387
; 	    {
	.dbline 388
; 		 temp1 = music_44[sound_add];
	ldi R24,<_music_44
	ldi R25,>_music_44
	lds R2,_sound_add
	lds R3,_sound_add+1
	add R2,R24
	adc R3,R25
	mov R30,R2
	mov R31,R3
	lpm
	sts _temp1,R0
	.dbline 389
; 		}
L162:
	.dbline 390
;       if(sound_1 == 0x88)
	lds R24,_sound_1
	cpi R24,136
	brne L164
	.dbline 391
; 	    {
	.dbline 392
; 		 temp1=EEPROMread((int)&sound[sound_add]);
	ldi R24,<_sound
	ldi R25,>_sound
	lds R16,_sound_add
	lds R17,_sound_add+1
	add R16,R24
	adc R17,R25
	rcall _EEPROMread
	sts _temp1,R16
	.dbline 393
; 		}
L164:
	.dbline 394
;       }
L144:
	.dbline 395
L142:
	.dbline -2
	.dbline 396
;    }
; }
L72:
	rcall pop_gset1
	rcall pop_lset
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e stop_timer0 _stop_timer0 fV
	.even
_stop_timer0::
	.dbline -1
	.dbline 399
; 
; void stop_timer0()
; {
	.dbline 400
; 	CLI();
	cli
	.dbline 401
; 	TCCR0 = 0x00;//停止timer0
	clr R2
	out 0x33,R2
	.dbline 402
; 	MCUCR = 0x00;
	out 0x35,R2
	.dbline 403
;     GIMSK = 0x00;
	out 0x3b,R2
	.dbline 404
;     TIMSK = 0x00;
	out 0x39,R2
	.dbline 405
;     SEI();
	sei
	.dbline -2
	.dbline 406
; }
L166:
	.dbline 0 ; func end
	ret
	.dbend
	.area vector(rom, abs)
	.org 12
	rjmp _timer1_ovf_isr
	.area text(rom, con, rel)
	.dbfile E:\icc\iccavr\diy02-6\8515\diy0206_4\diy0206_4.c
	.dbfunc e timer1_ovf_isr _timer1_ovf_isr fV
	.even
_timer1_ovf_isr::
	st -y,R2
	st -y,R3
	st -y,R24
	in R2,0x3f
	st -y,R2
	.dbline -1
	.dbline 421
; 
; /*******************************************/
; /*              電子音樂演示程序           */
; /*******************************************/
; //使用說明：音樂輸出端口：PORTC.0,音樂數(shù)據(jù)存放
; //于AT90S8515 的EEPROM存貯器中。
; // 可以用并口下載軟件寫入新的音樂文件
; 
; //聲控起動音樂機器人程序，未起動時，PA口的8 LED 呈廣告燈效果（霓虹燈）
; //聲控起動后，機器人開始演奏音樂
; //按遙控器上不同的鍵后可改變機器人演奏的樂曲。
; 
; #pragma interrupt_handler timer1_ovf_isr:iv_TIMER1_OVF
; void timer1_ovf_isr(void)
; 	 {
	.dbline 422
; 	  TCNT1=toneconst;
	lds R2,_toneconst
	lds R3,_toneconst+1
	sts 76+1,R3
	sts 76,R2
	.dbline 423
; 	  PORTC^=1;
	ldi R24,1
	in R2,0x15
	eor R2,R24
	out 0x15,R2
	.dbline -2
	.dbline 424
; 	 }	 	 
L167:
	ld R2,y+
	out 0x3f,R2
	ld R24,y+
	ld R3,y+
	ld R2,y+
	.dbline 0 ; func end
	reti
	.dbend
	.dbfunc e music_car _music_car fV
	.even
_music_car::
	.dbline -1
	.dbline 427
; 
; void music_car(void)
;  	 {
	.dbline 428
; 	  TCCR1A = 0x00;
	clr R2
	out 0x2f,R2
	.dbline 429
; 	  TCCR1B =(1<<CS11);//8分頻
	ldi R24,2
	out 0x2e,R24
	.dbline 430
; 	  temp1=EEPROMread((int)&sound[sound_add]);
	ldi R24,<_sound
	ldi R25,>_sound
	lds R16,_sound_add
	lds R17,_sound_add+1
	add R16,R24
	adc R17,R25
	rcall _EEPROMread
	sts _temp1,R16
	rjmp L170
L169:
	.dbline 432
; 	  while(temp1!=0)
;  	  		{
	.dbline 433
; 			temp=temp1; 
	lds R2,_temp1
	sts _temp,R2
	.dbline 434
; 			temp&=0x0f;
	mov R24,R2
	andi R24,15
	sts _temp,R24
	.dbline 435
; 			if(temp!=0)
	mov R2,R24
	tst R24
	breq L172
	.dbline 436
; 			  {
	.dbline 437
; 			   TIMSK|=(1<<TOIE1);//根據(jù)SOUNDTABLE中數(shù)據(jù)的低四位選擇音調(diào)頻率
	in R24,0x39
	ori R24,128
	out 0x39,R24
	.dbline 438
; 			   temp--;			   
	mov R24,R2
	subi R24,1
	sts _temp,R24
	.dbline 439
;         	   toneconst=TONETABLE[temp];
	ldi R24,<_TONETABLE
	ldi R25,>_TONETABLE
	lds R16,_temp
	clr R17
	lsl R16
	rol R17
	add R16,R24
	adc R17,R25
	rcall lpm16
	sts _toneconst+1,R17
	sts _toneconst,R16
	.dbline 440
; 			   TCNT1=toneconst;
	mov R2,R16
	mov R3,R17
	sts 76+1,R3
	sts 76,R2
	.dbline 441
;  			  }
L172:
	.dbline 442
	lds R2,_temp1
	sts _temp,R2
	.dbline 443
	mov R24,R2
	swap R24
	andi R24,#0x0F
	sts _temp,R24
	.dbline 444
	andi R24,15
	sts _temp,R24
	.dbline 445
	mov R18,R24
	clr R19
	ldi R16,129
	ldi R17,0
	rcall mpy16s
	rcall _delay_ms
	.dbline 446
	in R24,0x39
	andi R24,127
	out 0x39,R24
	.dbline 447
	lds R24,_sound_add
	lds R25,_sound_add+1
	adiw R24,1
	sts _sound_add+1,R25
	sts _sound_add,R24
	.dbline 448
	ldi R24,<_sound
	ldi R25,>_sound
	lds R16,_sound_add
	lds R17,_sound_add+1
	add R16,R24
	adc R17,R25
	rcall _EEPROMread
	sts _temp1,R16
	.dbline 449
L170:
	.dbline 431
	lds R2,_temp1
	tst R2
	breq X25
	rjmp L169
X25:
	.dbline 450
; 			temp=temp1;
; 			temp>>=4;
; 			temp&=0x0f;
; 			delay_ms(temp*129);//根據(jù)SOUNDTABLE中數(shù)據(jù)的高四位*5后，為音調(diào)持續(xù)時間
; 			TIMSK&=~(1<<TOIE1);
; 			sound_add++;
; 			temp1=EEPROMread((int)&sound[sound_add]); 
; 			}
; 		delay_ms(1000);	                                         	
	ldi R16,1000
	ldi R17,3
	.dbline -2
	.dbline 451
; 	 }	 	 	 	 
L168:
	.dbline 0 ; func end
	rjmp _delay_ms
	.dbend
	.dbfunc e xuanya_car _xuanya_car fV
	.even
_xuanya_car::
	.dbline -1
	.dbline 465
; 	  
; //  電機驅(qū)動信號                       led燈指示電機狀態(tài) 
; //PORTD = 0xA0;//前行    //1010 0000//PORTA = 0xC3;//1100,0011
; //PORTD = 0x60;//快速左轉(zhuǎn)//0110 0000//PORTA = 0x33;//0011,0011
; //PORTD = 0x20;//慢速左轉(zhuǎn)//0010 0000//PORTA = 0xF3;//1111,0011
; //PORTD = 0x90;//快速右轉(zhuǎn)//1001 0000//PORTA = 0xCC;//1100,1100
; //PORTD = 0x80;//慢速右轉(zhuǎn)//1000 0000//PORTA = 0xCF;//1100,1111
; //PORTD = 0x50;//后退    //0101 0000//PORTA = 0x3C;//0011,1100
; 
; //PB2聲控啟動
; //  用PD7~PD4來作為電機驅(qū)動端
; 
; void xuanya_car(void)
; {
	.dbline 466
;  port_init();         //PA,PB,PC,PD 初始化
	rcall _port_init
	.dbline 467
;  PORTA = 0xa5;//1010,0101
	ldi R24,165
	out 0x1b,R24
	.dbline 468
;  delay_ms(1000);
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	.dbline 469
;  work_status = 0x20;//置對應(yīng)的工作狀態(tài)標(biāo)志
	ldi R24,32
	sts _work_status,R24
	.dbline 472
; 
; 
;   gzsl=0x88;timers=0;t0_times=0;
	ldi R24,136
	sts _gzsl,R24
	.dbline 472
	clr R2
	sts _timers,R2
	.dbline 472
	sts _t0_times,R2
	.dbline 473
;   CLI(); //disable all interrupts
	cli
	.dbline 474
;   timer0_init();
	rcall _timer0_init
	.dbline 476
; 
;   MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 477
;   GIMSK = 0x00;
	out 0x3b,R2
	.dbline 478
;   TIMSK|=(1<<TOIE0);
	in R24,0x39
	ori R24,2
	out 0x39,R24
	.dbline 479
;   SEI(); //re-enable interrupts
	sei
	.dbline 481
;  
;  mic_startup();//等待聲控啟動函數(shù)
	rcall _mic_startup
	.dbline 483
; 
;   	  gzsl=0x44;t0_times=0;
	ldi R24,68
	sts _gzsl,R24
	.dbline 483
	clr R2
	sts _t0_times,R2
	.dbline 484
; 	  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 485
; 	  TCCR1B =(1<<CS11);//8分頻
	ldi R24,2
	out 0x2e,R24
L175:
	.dbline 487
; xuanya_car_rst: 
;     temp=temp1 = 0;
	clr R2
	sts _temp1,R2
	sts _temp,R2
	.dbline 488
;     sound_add = 0;	  
	clr R3
	sts _sound_add+1,R3
	sts _sound_add,R2
	rjmp L177
L176:
	.dbline 490
; 	  while(temp1!=0)
;   	    {
	.dbline 491
; 			temp=temp1; 
	lds R2,_temp1
	sts _temp,R2
	.dbline 492
; 			temp&=0x0f;
	mov R24,R2
	andi R24,15
	sts _temp,R24
	.dbline 493
; 			if(temp!=0)
	mov R2,R24
	tst R24
	breq L179
	.dbline 494
; 			  {
	.dbline 495
; 			   TIMSK|=(1<<TOIE1);//根據(jù)SOUNDTABLE中數(shù)據(jù)的低四位選擇音調(diào)頻率
	in R24,0x39
	ori R24,128
	out 0x39,R24
	.dbline 496
; 			   temp--;			   
	mov R24,R2
	subi R24,1
	sts _temp,R24
	.dbline 497
;         	   toneconst=TONETABLE[temp];
	ldi R24,<_TONETABLE
	ldi R25,>_TONETABLE
	lds R16,_temp
	clr R17
	lsl R16
	rol R17
	add R16,R24
	adc R17,R25
	rcall lpm16
	sts _toneconst+1,R17
	sts _toneconst,R16
	.dbline 498
; 			   TCNT1=toneconst;
	mov R2,R16
	mov R3,R17
	sts 76+1,R3
	sts 76,R2
	.dbline 499
;  			  }
L179:
	.dbline 500
	lds R2,_temp1
	sts _temp,R2
	.dbline 501
	mov R24,R2
	swap R24
	andi R24,#0x0F
	sts _temp,R24
	.dbline 502
	andi R24,15
	sts _temp,R24
	.dbline 503
	mov R18,R24
	clr R19
	ldi R16,129
	ldi R17,0
	rcall mpy16s
	rcall _delay_ms
	.dbline 504
	in R24,0x39
	andi R24,127
	out 0x39,R24
	.dbline 505
	lds R24,_sound_add
	lds R25,_sound_add+1
	adiw R24,1
	sts _sound_add+1,R25
	sts _sound_add,R24
	.dbline 506
L177:
	.dbline 489
	lds R2,_temp1
	tst R2
	breq X27
	rjmp L176
X27:
	.dbline 507
	rjmp L175
X26:
	.dbline -2
L174:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e remote_car _remote_car fV
	.even
_remote_car::
	.dbline -1
	.dbline 511
; 			temp=temp1;
; 			temp>>=4;
; 			temp&=0x0f;
; 			delay_ms(temp*129);//根據(jù)SOUNDTABLE中數(shù)據(jù)的高四位*5后，為音調(diào)持續(xù)時間
; 			TIMSK&=~(1<<TOIE1);
; 			sound_add++;
; 		}
; 	goto xuanya_car_rst;
; }
; 
; void remote_car()
; {//遙控車程序
	.dbline 513
;  
;  port_init();//調(diào)用端口初始化函數(shù)
	rcall _port_init
	.dbline 515
;  
;  work_status = 0x60;//置對應(yīng)的工作狀態(tài)標(biāo)志
	ldi R24,96
	sts _work_status,R24
L182:
	.dbline 518
; 
; remote_rst: 
;  PORTA = 0x0F;
	ldi R24,15
	out 0x1b,R24
	.dbline 519
;  delay_ms(1000);
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	.dbline 521
; 
;   gzsl=0x88;timers=0;t0_times=0;
	ldi R24,136
	sts _gzsl,R24
	.dbline 521
	clr R2
	sts _timers,R2
	.dbline 521
	sts _t0_times,R2
	.dbline 522
;   CLI(); //disable all interrupts
	cli
	.dbline 523
;   timer0_init();
	rcall _timer0_init
	.dbline 525
; 
;   MCUCR = 0x00;
	clr R2
	out 0x35,R2
	.dbline 526
;   GIMSK = 0x00;
	out 0x3b,R2
	.dbline 527
;   TIMSK|=(1<<TOIE0);
	in R24,0x39
	ori R24,2
	out 0x39,R24
	.dbline 528
;   SEI(); //re-enable interrupts
	sei
	.dbline 530
;  
;  mic_startup();//等待聲控啟動函數(shù)
	rcall _mic_startup
	.dbline 532
; 
;   gzsl=0x33;t0_times=0;
	ldi R24,51
	sts _gzsl,R24
	.dbline 532
	clr R2
	sts _t0_times,R2
	.dbline 533
; 	  TCCR1A = 0x00;
	out 0x2f,R2
	.dbline 534
; 	  TCCR1B =(1<<CS11);//8分頻
	ldi R24,2
	out 0x2e,R24
L183:
	.dbline 536
?? 文件大小 1459 K
?? 上傳用戶 dongchenxi2
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