?? robbot.s
字號(hào):
.module Robbot.c
.area data(ram, con, rel)
_sflag::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e sflag _sflag c
_crossflag::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e crossflag _crossflag c
_forflag::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e forflag _forflag c
_EkA_1::
.blkb 4
.area idata
.word 0x0,0x0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e EkA_1 _EkA_1 D
_EkA_2::
.blkb 4
.area idata
.word 0x0,0x0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e EkA_2 _EkA_2 D
_EkB_1::
.blkb 4
.area idata
.word 0x0,0x0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e EkB_1 _EkB_1 D
_EkB_2::
.blkb 4
.area idata
.word 0x0,0x0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e EkB_2 _EkB_2 D
_flage::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e flage _flage c
_a::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e a _a c
_c::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e c _c c
_desireV::
.blkb 2
.area idata
.word 10
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e desireV _desireV I
_b::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e b _b c
_time::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e time _time c
_fob::
.blkb 1
.area idata
.byte 0
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e fob _fob c
_Task::
.blkb 2
.area idata
.byte 55,39
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.blkb 2
.area idata
.byte 27,41
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.blkb 2
.area idata
.byte 35,27
.area data(ram, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbsym e Task _Task A[6:6]c
.area text(rom, con, rel)
.dbfile H:\第八章源程序\Robbot.c
.dbfunc e Timer1Init _Timer1Init fV
; sreg -> R20
; temptccrB -> y+2
; temptccrA -> R18,R19
; temptimsk -> R16,R17
.even
_Timer1Init::
rcall push_gset1
.dbline -1
.dbline 42
; //***************************FileName:Robbot.c***********************//
; //***************************ICCAVR6.30編譯**************************//
;
; #include <io8535v.h>
; #include <macros.h>
;
; //****************************宏定義********************************//
; #define Aa 0.5 //PID參數(shù)
; #define Ba -0.5 //PID參數(shù)
; #define Ca 0 //PID參數(shù)
; #define Ab 0.09 //PID參數(shù)
; #define Bb -0.1 //PID參數(shù)
; #define Cb 0 //PID參數(shù)
; #define U1 12 //PID參數(shù)
; #define MaxSpeed 0x40 //最大速度
; #define MidSpeed 0x18 //中速,用于轉(zhuǎn)彎
; #define Size 6 //任務(wù)數(shù)組大小
;
; //*****************************全局變量定義**************************//
; char sflag=0x00; //記錄上一次校偏狀態(tài)
; char crossflag = 0; //過線標(biāo)志，用于判斷是否過線
; char forflag=0; //記錄上一次機(jī)器人行進(jìn)狀態(tài)
; char forlight; //記錄上一次A口光電傳感器的狀態(tài)
; float EkA; //本次左邊電機(jī)速度誤差
; float EkA_1=0; //上次左邊電機(jī)速度誤差
; float EkA_2=0; //上上次左邊電機(jī)速度誤差
; float EkB; //本次左邊電機(jī)速度誤差
; float EkB_1=0; //上次左邊電機(jī)速度誤差
; float EkB_2=0; //上上次左邊電機(jī)速度誤差
; char flage=0;
; char a=0; //溢出次數(shù)，控制PID窗口時(shí)間
; char c=0; //控制尋線頻率
; int desireV=10;
; char b=0;
; char time=0; //機(jī)器人行走步數(shù)
; char fob=0; //=1后退，=0前進(jìn)
; char Task[Size]={0x37,0x27,0x1B,0x29,0x23,0x1B};//任務(wù)數(shù)據(jù)數(shù)組
;
;
; //******************************定時(shí)器1初始化*************************//
; void Timer1Init(int temptimsk,int temptccrA,int temptccrB)
; {unsigned char sreg;
.dbline 43
; TIMSK = temptimsk;
out 0x39,R16
.dbline 44
; sreg = SREG; //保存全局中斷標(biāo)志
in R20,0x3f
.dbline 45
; _CLI(); //屏蔽所有中斷
cli
.dbline 46
; TCCR1A = temptccrA;
out 0x2f,R18
.dbline 47
; TCCR1B = temptccrB;
ldd R2,y+2
ldd R3,y+3
out 0x2e,R2
.dbline 48
; SREG = sreg; //恢復(fù)全局中斷標(biāo)志
out 0x3f,R20
.dbline -2
.dbline 49
; }
L1:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r sreg 20 c
.dbsym l temptccrB 2 I
.dbsym r temptccrA 18 I
.dbsym r temptimsk 16 I
.dbend
.dbfunc e SetOutputComReg1A _SetOutputComReg1A fV
; sreg -> R20
; tempocr -> R16,R17
.even
_SetOutputComReg1A::
rcall push_gset1
.dbline -1
.dbline 53
;
; //******************************寫OCR1A寄存器**************************//
; void SetOutputComReg1A(int tempocr)
; {unsigned char sreg;
.dbline 54
; sreg = SREG;
in R20,0x3f
.dbline 55
; _CLI();
cli
.dbline 56
; OCR1A = tempocr;
out 0x2b,R17
out 0x2a,R16
.dbline 57
; SREG = sreg;
out 0x3f,R20
.dbline -2
.dbline 58
; }
L2:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r sreg 20 c
.dbsym r tempocr 16 I
.dbend
.dbfunc e SetOutputComReg1B _SetOutputComReg1B fV
; sreg -> R20
; tempocr -> R16,R17
.even
_SetOutputComReg1B::
rcall push_gset1
.dbline -1
.dbline 63
;
;
; //******************************寫OCR1B寄存器**************************//
; void SetOutputComReg1B(int tempocr)
; {unsigned char sreg;
.dbline 64
; sreg = SREG;
in R20,0x3f
.dbline 65
; _CLI();
cli
.dbline 66
; OCR1B = tempocr;
out 0x29,R17
out 0x28,R16
.dbline 67
; SREG = sreg;
out 0x3f,R20
.dbline -2
.dbline 68
; }
L3:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r sreg 20 c
.dbsym r tempocr 16 I
.dbend
.dbfunc e GetOutputComReg1A _GetOutputComReg1A fI
; temp -> R16,R17
.even
_GetOutputComReg1A::
.dbline -1
.dbline 73
;
;
; //******************************讀OCR1A寄存器**************************//
; int GetOutputComReg1A()
; {int temp;
.dbline 74
; temp = OCR1A;
in R16,0x2a
in R17,0x2b
.dbline 75
; return(temp);
.dbline -2
L4:
.dbline 0 ; func end
ret
.dbsym r temp 16 I
.dbend
.dbfunc e GetOutputComReg1B _GetOutputComReg1B fI
; temp -> R16,R17
.even
_GetOutputComReg1B::
.dbline -1
.dbline 80
; }
;
; //******************************讀OCR1B寄存器**************************//
; int GetOutputComReg1B()
; {int temp;
.dbline 81
; temp = OCR1B;
in R16,0x28
in R17,0x29
.dbline 82
; return(temp);
.dbline -2
L5:
.dbline 0 ; func end
ret
.dbsym r temp 16 I
.dbend
.dbfunc e DELAY _DELAY fV
; i -> R20,R21
; j -> R22,R23
; delaytime -> R16,R17
.even
_DELAY::
rcall push_gset2
.dbline -1
.dbline 87
; }
;
; //******************************長延時(shí)函數(shù)***************************//
; void DELAY(int delaytime)
; {int i,j;
.dbline 88
; for(i=0;i<=delaytime;i++)
clr R20
clr R21
rjmp L10
L7:
.dbline 89
.dbline 89
clr R22
clr R23
rjmp L14
L11:
.dbline 89
L12:
.dbline 89
subi R22,255 ; offset = 1
sbci R23,255
L14:
.dbline 89
ldi R24,65534
ldi R25,255
cp R24,R22
cpc R25,R23
brsh L11
.dbline 89
L8:
.dbline 88
subi R20,255 ; offset = 1
sbci R21,255
L10:
.dbline 88
cp R16,R20
cpc R17,R21
brge L7
.dbline -2
.dbline 90
; {for (j=0;j<=0xFFFE;j++) ;}
; }
L6:
rcall pop_gset2
.dbline 0 ; func end
ret
.dbsym r i 20 I
.dbsym r j 22 I
.dbsym r delaytime 16 I
.dbend
.dbfunc e delay _delay fV
; j -> R20,R21
; i -> R16,R17
.even
_delay::
rcall push_gset1
.dbline -1
.dbline 94
;
; //******************************短延時(shí)函數(shù)***************************//
; void delay(int i)
; {int j;
.dbline 95
clr R20
clr R21
rjmp L19
L16:
.dbline 95
L17:
.dbline 95
subi R20,255 ; offset = 1
sbci R21,255
L19:
.dbline 95
; for(j=0;j<=i;j++) ;
cp R16,R20
cpc R17,R21
brge L16
.dbline -2
.dbline 96
; }
L15:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r j 20 I
.dbsym r i 16 I
.dbend
.dbfunc e PIDA _PIDA fV
; z -> R12,R13
; u -> y+0
; y -> R10
; temp1 -> R10,R11
.even
_PIDA::
rcall push_gset4
sbiw R28,4
.dbline -1
.dbline 100
;
; //******************************PID調(diào)節(jié):左電機(jī)***********************//
; void PIDA()
; {char y; //本次采樣速度值
.dbline 104
; float u; //電壓差值
; int z; //本次輸出增量
; int temp1; //臨時(shí)記錄值
; y = TCNT1;
in R10,0x2c
.dbline 105
; EkA=y-desireV;
lds R2,_desireV
lds R3,_desireV+1
mov R16,R10
clr R17
sub R16,R2
sbc R17,R3
rcall int2fp
sts _EkA+1,R17
sts _EkA,R16
sts _EkA+2+1,R19
sts _EkA+2,R18
.dbline 106
; if (EkA==(0-desireV)) //當(dāng)Ek大于某一值時(shí)直接加最大
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R2,_desireV
lds R3,_desireV+1
clr R16
clr R17
sub R16,R2
sbc R17,R3
rcall int2fp
st -y,R19
st -y,R18
st -y,R17
st -y,R16
rcall cmp32f
brne L21
.dbline 107
; {temp1=0x0000;
.dbline 107
clr R10
clr R11
.dbline 108
; SetOutputComReg1A(temp1);}
mov R16,R10
mov R17,R11
rcall _SetOutputComReg1A
.dbline 108
rjmp L22
L21:
.dbline 110
; else
; {EkA=Aa*EkA;
.dbline 110
ldi R16,<L23
ldi R17,>L23
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkA+2
lds R5,_EkA+2+1
lds R2,_EkA
lds R3,_EkA+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkA+1,R17
sts _EkA,R16
sts _EkA+2+1,R19
sts _EkA+2,R18
.dbline 111
; EkA_1=Ba*EkA_1;
ldi R16,<L24
ldi R17,>L24
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkA_1+2
lds R5,_EkA_1+2+1
lds R2,_EkA_1
lds R3,_EkA_1+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkA_1+1,R17
sts _EkA_1,R16
sts _EkA_1+2+1,R19
sts _EkA_1+2,R18
.dbline 112
; EkA_2=Ca*EkA_2;
ldi R16,<L25
ldi R17,>L25
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkA_2+2
lds R5,_EkA_2+2+1
lds R2,_EkA_2
lds R3,_EkA_2+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkA_2+1,R17
sts _EkA_2,R16
sts _EkA_2+2+1,R19
sts _EkA_2+2,R18
.dbline 113
; u=EkA+EkA_1+EkA_2;
lds R4,_EkA+2
lds R5,_EkA+2+1
lds R2,_EkA
lds R3,_EkA+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
lds R4,_EkA_1+2
lds R5,_EkA_1+2+1
lds R2,_EkA_1
lds R3,_EkA_1+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall add32fs
lds R4,_EkA_2+2
lds R5,_EkA_2+2+1
lds R2,_EkA_2
lds R3,_EkA_2+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall add32f
mov R30,R28
mov R31,R29
std z+0,R16
std z+1,R17
std z+2,R18
std z+3,R19
.dbline 114
; z=u/U1*0x03FF;
ldi R16,<L26
ldi R17,>L26
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
mov R30,R28
mov R31,R29
; stack offset 4
ldd R2,z+4
ldd R3,z+5
ldd R4,z+6
ldd R5,z+7
st -y,R5
st -y,R4
st -y,R3
st -y,R2
ldi R16,<L27
ldi R17,>L27
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
rcall div32fs
rcall mpy32f
rcall fp2int
mov R12,R16
mov R13,R17
.dbline 115
; temp1=GetOutputComReg1A();
rcall _GetOutputComReg1A
mov R10,R16
mov R11,R17
.dbline 116
; temp1=temp1+z;
add R10,R12
adc R11,R13
.dbline 117
; SetOutputComReg1A(temp1);
mov R16,R10
mov R17,R11
rcall _SetOutputComReg1A
.dbline 118
; EkA_2=EkA_1;
lds R4,_EkA_1+2
lds R5,_EkA_1+2+1
lds R2,_EkA_1
lds R3,_EkA_1+1
sts _EkA_2+1,R3
sts _EkA_2,R2
sts _EkA_2+2+1,R5
sts _EkA_2+2,R4
.dbline 119
; EkA_1=EkA;}
lds R4,_EkA+2
lds R5,_EkA+2+1
lds R2,_EkA
lds R3,_EkA+1
sts _EkA_1+1,R3
sts _EkA_1,R2
sts _EkA_1+2+1,R5
sts _EkA_1+2,R4
.dbline 119
L22:
.dbline 120
; TCNT1=0x00;
clr R2
clr R3
out 0x2d,R3
out 0x2c,R2
.dbline -2
.dbline 121
; }
L20:
adiw R28,4
rcall pop_gset4
.dbline 0 ; func end
ret
.dbsym r z 12 I
.dbsym l u 0 D
.dbsym r y 10 c
.dbsym r temp1 10 I
.dbend
.dbfunc e PIDB _PIDB fV
; z -> R12,R13
; u -> y+0
; y -> R10
; temp1 -> R10,R11
.even
_PIDB::
rcall push_gset4
sbiw R28,4
.dbline -1
.dbline 125
;
; //******************************PID調(diào)節(jié):右電機(jī)***********************//
; void PIDB()
; {char y;
.dbline 129
; float u; //電壓差值
; int z;
; y = TCNT2;
in R10,0x24
.dbline 130
; EkB=y-desireV;
lds R2,_desireV
lds R3,_desireV+1
mov R16,R10
clr R17
sub R16,R2
sbc R17,R3
rcall int2fp
sts _EkB+1,R17
sts _EkB,R16
sts _EkB+2+1,R19
sts _EkB+2,R18
.dbline 131
; if(EkB==(0-desireV)) //當(dāng)Ek大于某一值時(shí)直接加最大//
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R2,_desireV
lds R3,_desireV+1
clr R16
clr R17
sub R16,R2
sbc R17,R3
rcall int2fp
st -y,R19
st -y,R18
st -y,R17
st -y,R16
rcall cmp32f
brne L29
.dbline 132
; {temp1=0x0000;
.dbline 132
clr R10
clr R11
.dbline 133
; SetOutputComReg1B(temp1);}
mov R16,R10
mov R17,R11
rcall _SetOutputComReg1B
.dbline 133
rjmp L30
L29:
.dbline 135
; else
; {EkB =Ab*EkB;
.dbline 135
ldi R16,<L31
ldi R17,>L31
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkB+2
lds R5,_EkB+2+1
lds R2,_EkB
lds R3,_EkB+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkB+1,R17
sts _EkB,R16
sts _EkB+2+1,R19
sts _EkB+2,R18
.dbline 136
; EkB_1=Bb*EkB_1;
ldi R16,<L32
ldi R17,>L32
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkB_1+2
lds R5,_EkB_1+2+1
lds R2,_EkB_1
lds R3,_EkB_1+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkB_1+1,R17
sts _EkB_1,R16
sts _EkB_1+2+1,R19
sts _EkB_1+2,R18
.dbline 137
; EkB_2=Cb*EkB_2;
ldi R16,<L25
ldi R17,>L25
rcall lpm32
st -y,R19
st -y,R18
st -y,R17
st -y,R16
lds R4,_EkB_2+2
lds R5,_EkB_2+2+1
lds R2,_EkB_2
lds R3,_EkB_2+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall mpy32f
sts _EkB_2+1,R17
sts _EkB_2,R16
sts _EkB_2+2+1,R19
sts _EkB_2+2,R18
.dbline 138
; u=EkB+EkB_1+EkB_2;
lds R4,_EkB+2
lds R5,_EkB+2+1
lds R2,_EkB
lds R3,_EkB+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
lds R4,_EkB_1+2
lds R5,_EkB_1+2+1
lds R2,_EkB_1
lds R3,_EkB_1+1
st -y,R5
st -y,R3
st -y,R2
rcall add32fs
lds R4,_EkB_2+2
lds R5,_EkB_2+2+1
lds R2,_EkB_2
lds R3,_EkB_2+1
st -y,R5
st -y,R4
st -y,R3
st -y,R2
rcall add32f
mov R30,R28
mov R31,R29
std z+0,R16
std z+1,R17
std z+2,R18
std z+3,R19
.dbline 139
; z=u/U1*0x03FF;
ldi R16,<L26
ldi R17,>L26
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