.module diy0206_4.c
	.area text(rom, con, rel)
	.dbfile E:/icc/include/diy0206.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 81
; /*******************************************/
; /*            廣州天河雙龍電子公司         */
; /*            http://www.sl.com.cn         */
; /*     020-85510191,87578852,87578872      */
; /*              nikko@sl.com.cn            */
; /*******************************************/
; 
; //遙控器沒有按鍵或者 pd3,pd2,pd1,pd0 短路塊全部接上，全為高電平
; //機器人運行音樂機器人程序。     
; 	//PA口為音樂燈，當不同的音樂節(jié)奏，點亮不同的燈。
;     //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，同時PA口LED燈根據(jù)音樂節(jié)拍閃爍
;     //按遙控器上不同的鍵后可改變機器人演奏的樂曲。
; 
; //將 pd0 接低電平，pd3,pd2,pd1 保持高電平
; //       或按下遙控器<A>(保持 0.5s)        進入遙控機器人運行環(huán)境 
;          //聲控起動遙控車程序，未起動時，PA口的8 LED 呈廣告燈效果（霓虹燈）
;          //聲控起動后，機器人開始動作
;          //遙控器無按鍵，機器人直行
;          //按住 < A > 鍵，機器人右轉，同時演奏右轉指示音樂；
;          //按住 < B > 鍵，機器人后退，同時演奏后退指示音樂；
;          //按住 < C > 鍵，機器人停止，同時演奏停止指示音樂；
;          //按住 < D > 鍵，機器人左轉，同時演奏左轉指示音樂；
;          //釋放遙控器按鍵，音樂停止
; 
; //將 pd1 接低電平，pd3,pd2,pd0 保持高電平
; //       或按下遙控器<B>(保持 0.5s)        尋跡機器人，探測白底黑線，沿黑線行進 
;          //聲控起動尋跡機器人程序，未起動時，PA口的 8 LED 呈廣告燈效果（霓虹燈）
;          //聲控起動后，機器人開始動作，PA口的 8 LED 指示運動狀態(tài)
; 
; //將 pd2 接低電平，pd3,pd1,pd0 保持高電平，只連接pd2的短路塊
; //       或按下遙控器<C>(保持 0.5s)        機器人避障礙、避懸崖行進 
;          //聲控起動避懸崖，壁障礙運行程序，未起動時，PA口的8 LED 呈廣告燈效果（霓虹燈）
;          //聲控起動后，機器人開始動作，PA口的 8 LED 指示運動狀態(tài)
;          //探測到邊緣，后退、轉彎，并以伴有音樂提示。
; 
; //將 pd3 接低電平，pd2,pd1,pd0 保持高電平
; //       或按下遙控器<D>(保持 0.5s)        機器人按程序設定路線行走，走四方形，同時演奏音樂 
;          //自走車   機器人走四方形路線，遙控器調節(jié)行走路線
;          //聲控起動機器人按設定路線行走，未起動時，PA口的 8 LED 呈廣告燈效果（霓虹燈）
;          //聲控起動后，機器人開始動作，PA口的 8 LED 指示運動狀態(tài)
; 
; //程序等待聲控起動運行，未啟動運行時機器人運行霓虹車程序。
; //連續(xù)按住遙控器 < C > 鍵超過 10s 起動看門狗，再過 1s 系統(tǒng)復位
; 
; //將 diy0206.c 文件拷貝到 icc avr 安裝目錄的<include>文件夾
; //diy0206.c 是diy0206機器人板的子函數(shù)庫
; //程序中調用此文件后 #include <diy0206.c>
; //可直接調用里面的函數(shù)和變量
; 
; //  最后更新：2003.04.17
; 
; #include <io8515v.h>
; #include <macros.h>
; #include <diy0206.c>
; #include <eeprom.h>
; 
; #define xuanya_delayms  300
; #define cny_delayms 50
; #define light_delay 100
; 
; /* 		  音樂數(shù)據(jù)  	  */
; /* 四分之一拍為0x10, 二分之一拍為0x20, 一拍為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[]={ //樂曲數(shù)據(jù)表
; //情非得以 
; 0x20,0x1c,0x1d,0x4c,0x4c,0x4c,0x4c,0x20,0x2d,0x19,0x1a,0x19,0x18,0x48,0x48,0x48,
; 0x48,0x47,0x47,0x46,0x46,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0x45,
; 
; 0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
; 0x48,0x23,0x25,0x45,0x40,0x40,0x21,0x21,0x42,0x21,0x21,0x41,0x20,0x28,0x47,0x26,
; 0x17,0x16,0x15,0x45,0x40,0x31,0x11,0x21,0x21,0x21,0x22,0x42,0x40,0x20,0x23,0x23,
; 0x24,0x25,0x24,0x23,0x24,0x25,0x26,0x23,0x23,0x42,0x42,0x40,0x23,0x22,0x21,0x41,
; 0x28,0x28,0x28,0x23,0x25,0x45,0x45,0x40,0x20,0x25,0x46,0x28,0x28,0x48,0x20,0x29,
; 0x47,0x26,0x17,0x16,0x15,0x45,0x25,0x25,0x26,0x28,0x18,0x16,0x26,0x28,0x26,0x28,
; 0x19,0x19,0x49,0x49,0x20,0x25,0x2a,0x18,0x19,0x29,0x28,0x16,0x17,0x16,0x15,0x25,
; 0x25,0x28,0x29,0x2a,0x29,0x48,0x28,0x48,0x2c,0x4c,0x4c,0x40,0x2a,0x2c,0x1c,0x1a,
; 0x2a,0x2a,0x29,0x4a,0x2b,0x2a,0x4a,0x4a,0x40,0x2a,0x29,0x29,0x28,0x28,0x26,0x48,
	.dbline 82
; 0x29,0x26,0x45,0x45,0x40,0x25,0x25,0x26,0x21,0x18,0x16,0x26,0x28,0x26,0x28,0x29,
	ldi R24,255
	out 0x1a,R24
	.dbline 82
	out 0x1b,R24
	.dbline 84
; 0x49,0x49,0x20,0x25,0x28,0x29,0x2a,0x29,0x49,0x28,0x48,0x2c,0x4c,0x4c,0x40,0x2a,
; 0x2c,0x15,0x1a,0x2a,0x2a,0x29,0x4a,0x2b,0x2a,0x4a,0x4a,0x40,0x2a,0x29,0x29,0x28,
	clr R2
	out 0x17,R2
	.dbline 84
	out 0x18,R24
	.dbline 86
; 0x28,0x26,0x28,0x28,0x29,0x26,0x45,0x45,0x40,0x25,0x25,0x26,0x28,0x28,0x26,0x2a,
; 0x19,0x18,0x28,0x18,0x19,0x48,0x48,0x40,0x40,0x40,0x40,0x28,0x48,0x29,0x28,0x28,
	ldi R24,1
	out 0x14,R24
	.dbline 86
	ldi R24,255
	out 0x15,R24
	.dbline 88
; 0x2a,0x1a,0x1a,0x1a,0x18,0x40,0x20,0x26,0x28,0x28,0x28,0x26,0x28,0x48,0x26,0x25,
; 0x45,0x45,0x40,0x40,0x40,0x28,0x48,0x28,0x28,0x1c,0x1d,0x2d,0x2c,0x28,0x28,0x28,
	ldi R24,240
	out 0x11,R24
	.dbline 88
	ldi R24,255
	out 0x12,R24
	.dbline -2
	.dbline 90
; 0x20,0x26,0x19,0x1a,0x29,0x19,0x18,0x28,0x28,0x26,0x21,0x29,0x49,0x49,0x40,0x20,
; 0x28,0x29,0x2a,0x4a,0x4a,0x20,0x25,0x28,0x29,0x48,0x48,0x48,0x25,0x25,0x26,0x28,
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 93
; 0x28,0x26,0x2a,0x19,0x18,0x28,0x18,0x19,0x49,0x49,0x40,0x40,
; 
; 		0x00,0x00
L3:
	.dbline 95
; 						};
; #pragma data:data						
	.dbline 96
; /*	  		    音階表				*/	
	subi R16,1
	sbci R17,0
	.dbline 97
; const unsigned int TONETABLE[15]={DO,RE,MI,FA,SO,LA,TI,DO_H,
L4:
	.dbline 98
; 			    	 	RE_H,MI_H,FA_H,SO_H,LA_H,TI_H,DO_HH};
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
	.dbline 99
; /*			  音階重裝常數(shù)			*/						
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 102
; unsigned int toneconst;								  							   						 				 	 	 
; unsigned int sound_add=0;
; unsigned int rst_time,delay_time1,delay_time2,led_delayms=600;
	rjmp L8
L7:
	.dbline 104
	.dbline 105
	ldi R16,1000
	ldi R17,3
	rcall _delay_us
	.dbline 106
	subi R20,1
	sbci R21,0
	.dbline 107
L8:
	.dbline 103
; unsigned char temp,temp1;
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
	.dbline 108
; unsigned char pa,pb,pc,pd,remote_in,timers,cny_in,cny_times,cds,pd_select,remote_select;
; unsigned char gzsl,t0_times;
; unsigned char sound_1,sound_2;
; 
; const unsigned char led_data[]=
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 111
;     {//設置LED廣告燈數(shù)據(jù)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,
	.dbline 112
;      0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
	ldi R24,144
	out 0x12,R24
	.dbline 113
;      0x00,0x18,0x3c,0x7e,0xff,0x7e,0x3c,0x18,
	ldi R24,204
	out 0x1b,R24
	.dbline -2
	.dbline 114
;      0xf8,0xf1,0xe3,0xc7,0x8f,0x1f,0x8f,0xc7,0xe3,0xf1,
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 117
;      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,
	.dbline 118
;      0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
	ldi R24,96
	out 0x12,R24
	.dbline 119
;      0xff,0xe7,0xdb,0xbd,0x7e,0xbd,0xdb,0xe7,
	ldi R24,51
	out 0x1b,R24
	.dbline -2
	.dbline 120
;      0xff,0x00,0xff,0x00,0xff,0x00,0xff,0x00,
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 122
; 	 
;      0x0a,0x0a
	.dbline 123
;     };
	ldi R24,128
	out 0x12,R24
	.dbline 124
; 
	ldi R24,207
	out 0x1b,R24
	.dbline -2
	.dbline 125
; const unsigned char music_11[]=
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 128
; {//七子之歌
;     0x45,0x23,0x25,0x23,0x65,0x26,0x25,0x23,0x26,0x45,0x45,0x41,
;     0x21,0x22,0x43,0x25,0x23,0x42,0x20,0x23,0x45,0x45,0x25,0x25,
	.dbline 129
;     0x26,0x25,0x23,0x45,0x25,0x26,0x25,0x28,0x26,0x45,0x45,0x41,
	ldi R24,32
	out 0x12,R24
	.dbline 130
;     0x25,0x23,0x22,0x21,0x42,0x23,0x65,0x25,0x22,0x43,0x41,0x41,
	ldi R24,243
	out 0x1b,R24
	.dbline -2
	.dbline 131
;     0x41,0x41,0x45,0x23,0x25,0x23,0x65,0x26,0x25,0x23,0x26,0x45,
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 134
;     0x45,0x41,0x21,0x22,0x43,0x25,0x23,0x42,0x20,0x23,0x45,0x45,
;     0x25,0x25,0x26,0x25,0x23,0x45,0x25,0x26,0x25,0x28,0x26,0x45,
;     0x45,0x41,0x25,0x23,0x22,0x21,0x42,0x23,0x65,0x25,0x22,0x43,
	.dbline 135
;     0x41,0x41,0x41,0x20,0x25,0x4a,0x29,0x28,0x26,0x25,0x45,0x26,
	ldi R24,80
	out 0x12,R24
	.dbline 136
;     0x46,0x25,0x36,0x18,0x2a,0x28,0x49,0x49,0x49,0x20,0x25,0x4a,
	ldi R24,60
	out 0x1b,R24
	.dbline -2
	.dbline 137
;     0x39,0x18,0x26,0x25,0x45,0x26,0x46,0x25,0x46,0x2a,0x29,0x49,
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 140
;     0x49,0x49,0x49,0x4a,0x39,0x18,0x26,0x25,0x45,0x48,0x26,0x25,
;     0x23,0x22,0x41,0x40,0x22,0x23,0x45,0x45,0x45,0x45,0x40,0x25,
; 	0x26,0x48,0x48,0x48,
	.dbline 141
; 	0x00,0x00
	ldi R24,160
	out 0x12,R24
	.dbline 142
; };
	ldi R24,195
	out 0x1b,R24
	.dbline -2
	.dbline 143
; const unsigned char music_22[]=
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 146
; {//走進新時代
; 0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
; 0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x45,0x68,
	.dbline 147
; 0x29,0x29,0x28,0x26,0x25,0x46,0x46,0x46,0x25,0x26,
	ldi R24,255
	out 0x12,R24
	.dbline 148
; 0x29,0x43,0x25,0x22,0x23,0x22,0x21,0x42,0x42,0x42,0x42,0x63,
	out 0x1b,R24
	.dbline -2
	.dbline 149
; 0x25,0x26,0x25,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x23,0x25,
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
;          sw_in -> R20
;      remote_in -> R22
	.even
_sw_touch::
	rcall push_gset2
	.dbline -1
	.dbline 165
; 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
; };
; const unsigned char music_33[]=
; {
; //星語心愿
; 0x36,0x18,0x27,0x26,0x25,0x26,0x43,0x43,0x43,0x26,0x25,0x36,0x18,0x27,0x18,0x17,
; 0x26,0x27,0x48,0x48,0x48,0x28,0x29,0x2a,0x2a,0x2a,0x2a,0x49,0x49,0x28,0x27,0x26,
; 0x27,0x45,0x45,0x46,0x48,0x47,0x26,0x25,0x46,0x46,0x46,0x40,0x40,0x40,0x40,0x40,
; 0x36,0x18,0x27,0x26,0x25,0x26,0x26,0x26,0x46,0x46,0x26,0x25,0x36,0x18,0x27,0x18,
; 0x17,0x26,0x27,0x48,0x48,0x48,0x28,0x29,0x2a,0x2a,0x2a,0x2a,0x49,0x49,0x28,0x27,
; 0x26,0x27,0x45,0x45,0x46,0x26,0x28,0x47,0x45,0x40,0x26,0x28,0x47,0x45,0x46,0x46,
; 0x46,0x46,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
; 0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,
	.dbline 167
; 0x28,0x48,0x48,0x28,0x27,0x36,0x16,0x45,0x27,0x26,0x46,0x46,0x46,0x46,0x46,0x46,
; 0x00,0x00
	in R20,0x13
	andi R20,16
	.dbline 168
; };
	brne L18
	.dbline 169
; const unsigned char music_44[]=
	.dbline 170
; {
	rcall _backward
	.dbline 171
; //上海灘
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 173
; 0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,
; 0x2d,0x4f,0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x29,0x2a,
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 174
; 0x4c,0x4c,0x4c,0x29,0x2a,0x29,0x26,0x4d,0x4d,0x4d,0x26,0x28,
	.dbline 175
; 0x39,0x1a,0x29,0x27,0x26,0x28,0x45,0x45,0x45,0x2a,0x2c,0x4d,
	rcall _stop
	rjmp L23
L22:
	.dbline 177
	.dbline 178
	ldi R24,85
	out 0x1b,R24
	.dbline 179
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 180
	ldi R24,170
	out 0x1b,R24
	.dbline 181
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 182
L23:
	.dbline 176
; 0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,0x2d,
	rjmp L22
X1:
	.dbline 183
; 0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x29,0x2a,0x4c,0x4c,0x4c,
; 0x29,0x2a,0x29,0x26,0x4d,0x4d,0x4d,0x26,0x28,0x39,0x1a,0x29,
; 0x27,0x26,0x25,0x48,0x48,0x20,0x2f,0x2f,0x2d,0x4f,0x4f,0x20,
; 0x2d,0x2f,0x2d,0x4c,0x4c,0x4c,0x2c,0x2a,0x6d,0x2c,0x48,0x19,
; 0x18,0x28,0x4a,0x4a,0x20,0x2a,0x2a,0x29,0x4a,0x4a,0x20,0x2f,
; 0x2f,0x2e,0x4d,0x4d,0x4d,0x2a,0x2a,0x69,0x2a,0x2f,0x2e,0x2d,
; 0x2a,0x4c,0x4c,0x4c,
L20:
	.dbline 185
; 0x00,0x00
; };
	rcall _turn_left
	.dbline 186
; const unsigned char sound_none[]={0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x23,0x25,0x46,0x4a,0x39,0x18,0x27,
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 187
; 	  		   0x28,0x48,0x48,0x28,0x27,0x36,0x16,0x45,0x27,0x26,0x46,0x46,0x46,0x46,0x46,0x46,0x00,0x00};
L18:
	.dbline 189
; const unsigned char sound_right[]={0x23,0x25,0x46,0x4a,0x39,0x18,0x27,0x28,0x48,0x48,0x48,
; 	  		   0x28,0x27,0x36,0x16,0x45,0x47,0x46,0x46,0x46,0x00,0x00};
	in R20,0x16
	andi R20,11
	.dbline 190
; const unsigned char sound_back[]={0x2a,0x2c,0x4d,0x4d,0x4d,0x2a,0x2c,0x49,0x49,0x49,0x2a,0x2c,0x2d,0x4f,
	cpi R20,9
	brne L25
	.dbline 191
; 	  		   0x2d,0x4c,0x1d,0x18,0x2a,0x49,0x49,0x49,0x00,0x00};
	.dbline 192
; const unsigned char sound_stop[]={0x23,0x24,0x25,0x44,0x45,0x24,0x23,0x22,0x42,0x40,0x40,0x23,0x22,0x21,0x41,0x28,
	rcall _forward
	.dbline 193
; 	  		   0x48,0x23,0x25,0x45,0x40,0x40,0x00,0x00};
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 195
; const unsigned char sound_left[]={0x68,0x26,0x25,0x23,0x22,0x13,0x12,0x41,0x41,0x41,0x23,0x25,
; 	  		   0x28,0x48,0x28,0x29,0x2a,0x29,0x26,0x45,0x45,0x45,0x00,0x00};
	rcall _turn_left
	.dbline 196
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 197
; //Watchdog initialisation
L25:
	.dbline 198
; // prescale: 1024K cycles
	cpi R20,10
	brne L27
	.dbline 199
; void watchdog_init(void)
	.dbline 200
; {
	rcall _backward
	.dbline 201
;  WDR(); //this prevents a timout on enabling
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 203
;  WDTCR = 0x0E; //WATCHDOG ENABLED - dont forget WDR
; }
	rcall _turn_left
	.dbline 204
; 
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 205
; //TIMER0 initialisation - prescale:1024
L27:
	.dbline 206
; // desired value: 25mSec
	cpi R20,3
	brne L29
	.dbline 207
; // actual value: 24.960mSec (0.2%)
	.dbline 208
; void timer0_init(void)
	rcall _backward
	.dbline 209
; {
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 211
;  TCCR0 = 0x00; //stop timer
;  TCNT0 = 0x3D; //set count value
	rcall _turn_left
	.dbline 212
;  TCCR0 = 0x05; //start timer
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 213
; }
L29:
	.dbline 214
; 
	cpi R20,2
	brne L31
	.dbline 215
; #pragma interrupt_handler timer0_ovf_isr:iv_TIMER0_OVF
	.dbline 216
; void timer0_ovf_isr(void)
	rcall _stop
	.dbline 217
; {
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	rjmp L34
L33:
	.dbline 219
;  TCNT0 = 0x3D; //reload counter value
;  t0_times++;
	.dbline 220
;  	   remote_in = PINB & 0xF0;
	in R20,0x13
	andi R20,16
	.dbline 221
; 	   switch (remote_in)
	brne L36
	.dbline 222
;       	 {//檢測遙控器是否有鍵按下
	.dbline 222
	rjmp L35
L36:
	.dbline 223
;           case 0x00:  // none
	ldi R24,85
	out 0x1b,R24
	.dbline 224
; 			  rst_time=0;
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 225
;       	    break;
	ldi R24,170
	out 0x1b,R24
	.dbline 226
;           case 0x20:  // < A >
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 227
; 			  rst_time=0;
	in R22,0x16
	andi R22,240
	.dbline 228
;       	    break;
	cpi R22,16
	breq L42
	cpi R22,32
	breq L42
	cpi R22,64
	breq L42
	cpi R22,128
	brne L38
L42:
	.dbline 229
;           case 0x40:  // < B >
	.dbline 229
	rjmp L35
L38:
	.dbline 230
L34:
	.dbline 218
	rjmp L33
L35:
	.dbline 231
L31:
	.dbline -2
	.dbline 232
; 		      rst_time=0;
;       	    break;
;           case 0x10:  // < C >
L17:
	rcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r sw_in 20 c
	.dbsym r remote_in 22 c
	.dbend
	.dbfunc e mic_startup _mic_startup fV
;         mic_in -> R16
	.even
_mic_startup::
	.dbline -1
	.dbline 235
; 		      rst_time++;
;       	    break;
;           case 0x80:  // < D >
	rjmp L45
L44:
	.dbline 238
;               rst_time=0;
;       	    break;
;       	 }
	.dbline 239
;  if(rst_time > 400)  // 400*25ms=10s，+1s 看門狗復位  
	in R16,0x16
	andi R16,4
	.dbline 240
;    {
	brne L47
	.dbline 240
	.dbline 240
	rjmp L46
L47:
	.dbline 241
L45:
	.dbline 237
	rjmp L44
L46:
	.dbline -2
	.dbline 242
;     PORTA = 0xff;
; 	watchdog_init();
L43:
	.dbline 0 ; func end
	ret
	.dbsym r mic_in 16 c
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
;      remote_in -> R16
	.even
_remote_auto_time::
	.dbline -1
	.dbline 259
; 	while(1);
;    }
;  if(gzsl == 0x88)
;    {
;     if(t0_times == 10)
;       {
; 	   timers++;
; 	   t0_times = 0;
; 	   pa = led_data[timers];
; 	   if(pa==0x0a){timers=0;}
; 	   PORTA = pa;	   
;       }
;    }
;  if(gzsl == 0x33)
;    {
;     sw_touch();
; 	if(t0_times == 8)     //8*25ms=200ms
	.dbline 261
;       {
; 	   t0_times = 0;
	in R16,0x16
	andi R16,240
	.dbline 262
; 	   remote_in = PINB & 0xF0;
	clr R17
	cpi R16,32
	ldi R30,0
	cpc R17,R30
	breq L53
	ldi R24,32
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L67
L66:
	cpi R16,0
	cpc R16,R17
	brne X4
	rjmp L51
X4:
X2:
	cpi R16,0
	ldi R30,0
	cpc R17,R30
	brge X5
	rjmp L50
X5:
L68: