?? robbot.s
字號:
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 140
; temp1=GetOutputComReg1B();
rcall _GetOutputComReg1B
mov R10,R16
mov R11,R17
.dbline 141
; temp1=temp1+z;
add R10,R12
adc R11,R13
.dbline 142
; SetOutputComReg1B(temp1);
mov R16,R10
mov R17,R11
rcall _SetOutputComReg1B
.dbline 143
; EkB_2=EkB_1;
lds R4,_EkB_1+2
lds R5,_EkB_1+2+1
lds R2,_EkB_1
lds R3,_EkB_1+1
sts _EkB_2+1,R3
sts _EkB_2,R2
sts _EkB_2+2+1,R5
sts _EkB_2+2,R4
.dbline 144
; EkB_1=EkB;}
lds R4,_EkB+2
lds R5,_EkB+2+1
lds R2,_EkB
lds R3,_EkB+1
sts _EkB_1+1,R3
sts _EkB_1,R2
sts _EkB_1+2+1,R5
sts _EkB_1+2,R4
.dbline 144
L30:
.dbline 145
; TCNT2=0x00;
clr R2
out 0x24,R2
.dbline -2
.dbline 146
; }
L28:
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 Talone _Talone fc
.even
_Talone::
.dbline -1
.dbline 150
;
; //***************************尋線處理函數1***************************//
; char Talone()
; {if ((forlight&0x09)==0) //3單獨亮
.dbline 150
lds R24,_forlight
andi R24,9
brne L34
.dbline 151
; return(0);
clr R16
rjmp L33
L34:
.dbline 153
; else
; return(1); //返回為校偏狀態值
ldi R16,1
.dbline -2
L33:
.dbline 0 ; func end
ret
.dbend
.dbfunc e FUalone _FUalone fc
.even
_FUalone::
.dbline -1
.dbline 158
; }
;
; //***************************尋線處理函數2***************************//
; char FUalone() //4單獨亮
; {if ((forlight&0x05)==0)
.dbline 158
lds R24,_forlight
andi R24,5
brne L37
.dbline 159
; return(0);
clr R16
rjmp L36
L37:
.dbline 161
; else
; return(2);
ldi R16,2
.dbline -2
L36:
.dbline 0 ; func end
ret
.dbend
.dbfunc e FIalone _FIalone fc
.even
_FIalone::
.dbline -1
.dbline 166
; }
;
; //***************************尋線處理函數3***************************//
; char FIalone() //5單獨亮
; {if ((forlight&0x22)==0)
.dbline 166
lds R24,_forlight
andi R24,34
brne L40
.dbline 167
; return(0);
clr R16
rjmp L39
L40:
.dbline 169
; else
; return(1);
ldi R16,1
.dbline -2
L39:
.dbline 0 ; func end
ret
.dbend
.dbfunc e Salone _Salone fc
.even
_Salone::
.dbline -1
.dbline 174
; }
;
; //***************************尋線處理函數4***************************//
; char Salone() //6單獨亮
; {if ((forlight&0x12)==0)
.dbline 174
lds R24,_forlight
andi R24,18
brne L43
.dbline 175
; return(0);
clr R16
rjmp L42
L43:
.dbline 177
; else
; return(2);
ldi R16,2
.dbline -2
L42:
.dbline 0 ; func end
ret
.dbend
.dbfunc e InLine1 _InLine1 fc
; discrepancy -> R16
; l2 -> R16
.even
_InLine1::
.dbline -1
.dbline 182
; }
;
; //***************************尋線處理函數5****************************//
; char InLine1(void) //線上偏離判斷
; {char discrepancy; //行進狀態
.dbline 184
; char l2; //傳感器狀態
; l2=0xFF^PINA;
ldi R24,255
ldi R25,0
in R16,0x19
clr R17
eor R16,R24
eor R17,R25
.dbline 185
; l2=0x3C&l2;
andi R16,60
.dbline 186
; l2=l2>>2;
lsr R16
lsr R16
.dbline 187
; switch(l2)
clr R17
cpi R16,0
cpc R16,R17
breq L49
X0:
cpi R16,1
ldi R30,0
cpc R17,R30
breq L50
cpi R16,2
ldi R30,0
cpc R17,R30
breq L51
cpi R16,4
ldi R30,0
cpc R17,R30
breq L52
cpi R16,5
ldi R30,0
cpc R17,R30
breq L53
cpi R16,6
ldi R30,0
cpc R17,R30
breq L54
cpi R16,8
ldi R30,0
cpc R17,R30
breq L55
cpi R16,9
ldi R30,0
cpc R17,R30
breq L56
cpi R16,10
ldi R30,0
cpc R17,R30
breq L57
rjmp L46
X1:
.dbline 188
L49:
.dbline 188
; {case 0x00: discrepancy=0; break; //0000b未偏
clr R16
.dbline 188
rjmp L47
L50:
.dbline 189
; case 0x01: discrepancy=0; break;
clr R16
.dbline 189
rjmp L47
L51:
.dbline 190
; case 0x02: discrepancy=0; break;
clr R16
.dbline 190
rjmp L47
L52:
.dbline 191
; case 0x04: discrepancy=2; break; //0010b左偏
ldi R16,2
.dbline 191
rjmp L47
L53:
.dbline 192
; case 0x05: discrepancy=2; break;
ldi R16,2
.dbline 192
rjmp L47
L54:
.dbline 193
; case 0x06: discrepancy=2; break;
ldi R16,2
.dbline 193
rjmp L47
L55:
.dbline 194
; case 0x08: discrepancy=1; break; //0001b右偏
ldi R16,1
.dbline 194
rjmp L47
L56:
.dbline 195
; case 0x09: discrepancy=1; break;
ldi R16,1
.dbline 195
rjmp L47
L57:
.dbline 196
; case 0x0A: discrepancy=1; break;}
ldi R16,1
.dbline 196
L46:
L47:
.dbline 197
; return(discrepancy);
.dbline -2
L45:
.dbline 0 ; func end
ret
.dbsym r discrepancy 16 c
.dbsym r l2 16 c
.dbend
.dbfunc e InLine2 _InLine2 fc
; discrepancy -> R16
; l2 -> R16
.even
_InLine2::
.dbline -1
.dbline 202
; }
;
; //***************************尋線處理函數6****************************//
; char InLine2(void) //線上偏離判斷
; {char discrepancy;
.dbline 204
; char l2;
; l2=0xFF^PINA;
ldi R24,255
ldi R25,0
in R16,0x19
clr R17
eor R16,R24
eor R17,R25
.dbline 205
; l2=0x3C&l2;//3,4,5,6燈
andi R16,60
.dbline 206
; l2=l2>>2;
lsr R16
lsr R16
.dbline 207
; switch(l2)
clr R17
cpi R16,0
cpc R16,R17
breq L62
X2:
cpi R16,1
ldi R30,0
cpc R17,R30
breq L63
cpi R16,2
ldi R30,0
cpc R17,R30
breq L64
cpi R16,4
ldi R30,0
cpc R17,R30
breq L65
cpi R16,5
ldi R30,0
cpc R17,R30
breq L66
cpi R16,6
ldi R30,0
cpc R17,R30
breq L67
cpi R16,8
ldi R30,0
cpc R17,R30
breq L68
cpi R16,9
ldi R30,0
cpc R17,R30
breq L69
cpi R16,10
ldi R30,0
cpc R17,R30
breq L70
rjmp L59
X3:
.dbline 208
L62:
.dbline 208
; {case 0x00: discrepancy=0; break; //0000b//未偏
clr R16
.dbline 208
rjmp L60
L63:
.dbline 209
; case 0x01: discrepancy=1; break; //0001b右偏
ldi R16,1
.dbline 209
rjmp L60
L64:
.dbline 210
; case 0x02: discrepancy=2; break; //0010b左偏
ldi R16,2
.dbline 210
rjmp L60
L65:
.dbline 211
; case 0x04: discrepancy=0; break;
clr R16
.dbline 211
rjmp L60
L66:
.dbline 212
; case 0x05: discrepancy=1; break;
ldi R16,1
.dbline 212
rjmp L60
L67:
.dbline 213
; case 0x06: discrepancy=2; break;
ldi R16,2
.dbline 213
rjmp L60
L68:
.dbline 214
; case 0x08: discrepancy=0; break;
clr R16
.dbline 214
rjmp L60
L69:
.dbline 215
; case 0x09: discrepancy=1; break;
ldi R16,1
.dbline 215
rjmp L60
L70:
.dbline 216
; case 0x0A: discrepancy=2; break;}
ldi R16,2
.dbline 216
L59:
L60:
.dbline 217
; return(discrepancy);
.dbline -2
L58:
.dbline 0 ; func end
ret
.dbsym r discrepancy 16 c
.dbsym r l2 16 c
.dbend
.dbfunc e OutLine _OutLine fc
; discrepancy -> R20
; l2 -> R20
.even
_OutLine::
rcall push_gset1
.dbline -1
.dbline 222
; }
;
; //***************************尋線處理函數7****************************//
; char OutLine(void) //線外偏離判斷
; {char discrepancy;
.dbline 224
; char l2;
; l2=PINA^0xFF;
ldi R24,255
ldi R25,0
in R20,0x19
clr R21
eor R20,R24
eor R21,R25
.dbline 225
; l2=0x3C&l2; //00111100b
andi R20,60
.dbline 226
; l2=l2>>2;
lsr R20
lsr R20
.dbline 227
; switch(l2)
clr R21
cpi R20,0
cpc R20,R21
breq L75
X4:
cpi R20,1
ldi R30,0
cpc R21,R30
breq L76
cpi R20,2
ldi R30,0
cpc R21,R30
breq L77
cpi R20,4
ldi R30,0
cpc R21,R30
breq L78
cpi R20,5
ldi R30,0
cpc R21,R30
breq L79
cpi R20,6
ldi R30,0
cpc R21,R30
breq L80
cpi R20,8
ldi R30,0
cpc R21,R30
breq L81
cpi R20,9
ldi R30,0
cpc R21,R30
breq L82
cpi R20,10
ldi R30,0
cpc R21,R30
breq L83
cpi R20,15
ldi R30,0
cpc R21,R30
breq L84
rjmp L72
X5:
.dbline 228
L75:
.dbline 228
; {case 0x00: discrepancy=forflag; break; //0000b
lds R20,_forflag
.dbline 228
rjmp L73
L76:
.dbline 229
; case 0x01: discrepancy=Talone(); break; //0001b
rcall _Talone
mov R20,R16
.dbline 229
rjmp L73
L77:
.dbline 230
; case 0x02: discrepancy=FUalone(); break; //0010b
rcall _FUalone
mov R20,R16
.dbline 230
rjmp L73
L78:
.dbline 231
; case 0x04: discrepancy=FIalone(); break; //0100b
rcall _FIalone
mov R20,R16
.dbline 231
rjmp L73
L79:
.dbline 232
; case 0x05: discrepancy=0; break; //0101b
clr R20
.dbline 232
rjmp L73
L80:
.dbline 233
; case 0x06: discrepancy=0; break; //0110b
clr R20
.dbline 233
rjmp L73
L81:
.dbline 234
; case 0x08: discrepancy=Salone(); break; //1000b
rcall _Salone
mov R20,R16
.dbline 234
rjmp L73
L82:
.dbline 235
; case 0x09: discrepancy=0; break; //1001b
clr R20
.dbline 235
rjmp L73
L83:
.dbline 236
; case 0x0A: discrepancy=0; break; //1010b
clr R20
.dbline 236
rjmp L73
L84:
.dbline 237
; case 0x0F: discrepancy=0; break; //1111b
clr R20
.dbline 237
L72:
L73:
.dbline 239
; }
; return(discrepancy);
mov R16,R20
.dbline -2
L71:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r discrepancy 20 c
.dbsym r l2 20 c
.dbend
.dbfunc e Revise _Revise fV
; discrepancy -> R20
.even
_Revise::
rcall push_gset1
mov R20,R16
.dbline -1
.dbline 244
; }
;
; //***************************校偏函數********************************//
; void Revise(char discrepancy)
; {if(discrepancy==0)
.dbline 244
tst R20
brne L86
.dbline 245
; {forflag=0;
.dbline 245
clr R2
sts _forflag,R2
.dbline 246
; if(fob==1)
lds R24,_fob
cpi R24,1
brne L88
.dbline 247
; {PORTB=0x00;
.dbline 247
out 0x18,R2
.dbline 248
; return;}
rjmp L85
L88:
.dbline 249
; PORTB=0x0C;
ldi R24,12
out 0x18,R24
.dbline 250
; return;}
rjmp L85
L86:
.dbline 251
; if(discrepancy==1)
cpi R20,1
brne L90
.dbline 252
; {PORTB=0x08; //A為左邊電機
.dbline 252
ldi R24,8
out 0x18,R24
.dbline 253
; delay(0x0100);
ldi R16,256
ldi R17,1
rcall _delay
.dbline 254
; PORTB=0x0C;
ldi R24,12
out 0x18,R24
.dbline 255
; forflag=1;
ldi R24,1
sts _forflag,R24
.dbline 256
; return;}
rjmp L85
L90:
.dbline 257
; if(discrepancy==2) //B為右邊電機
cpi R20,2
brne L92
.dbline 258
; {forflag=2;
.dbline 258
ldi R24,2
sts _forflag,R24
.dbline 259
; PORTB=0x04;
ldi R24,4
out 0x18,R24
.dbline 260
; delay(0x0100);
ldi R16,256
ldi R17,1
rcall _delay
.dbline 261
; PORTB=0x0C;
ldi R24,12
out 0x18,R24
.dbline 262
; return;}
rjmp L85
L92:
.dbline 263
; if(discrepancy==3)
cpi R20,3
brne L94
.dbline 264
; {PORTB=0x08; //A為左邊電機
.dbline 264
ldi R24,8
out 0x18,R24
.dbline 265
; forflag=1;
ldi R24,1
sts _forflag,R24
.dbline 266
; return;}
rjmp L85
L94:
.dbline 267
cpi R20,4
brne L96
.dbline 268
.dbline 268
ldi R24,2
sts _forflag,R24
.dbline 269
ldi R24,4
out 0x18,R24
.dbline 270
L96:
.dbline -2
.dbline 271
; if(discrepancy==4)
; {forflag=2;
; PORTB=0x04;
; return;}
; }
L85:
rcall pop_gset1
.dbline 0 ; func end
ret
.dbsym r discrepancy 20 c
.dbend
.dbfunc e SearchLine _SearchLine fV
; y -> R10
; online -> R20
; l78 -> R22
.even
_SearchLine::
rcall push_gset3
.dbline -1
.dbline 275
;
; //***************************尋線函數********************************//
; void SearchLine()
; {char online; //測點狀態寄存器
.dbline 277
; char l78; //7，8號測點狀態寄存器
; char y=0;
clr R10
.dbline 278
; online=PINA^0xFF;
ldi R24,255
ldi R25,0
in R20,0x19
clr R21
eor R20,R24
eor R21,R25
.dbline 279
; forlight=online;
sts _forlight,R20
.dbline 280
; l78=online&0xC0;
mov R22,R20
andi R22,192
.dbline 281
; l78=l78>>6;
lsr R22
lsr R22
lsr R22
lsr R22
lsr R22
lsr R22
.dbline 282
; if(l78==0x03) //7，8同時亮無偏
cpi R22,3
brne L99
.dbline 283
; Revise(0);
clr R16
rcall _Revise
L99:
.dbline 284
; if((online&0x0D)==0x0D) //1，3，4都亮，直走
mov R24,R20
andi R24,13
cpi R24,13
brne L101
.dbline 285
; {Revise(0); //校偏函數
.dbline 285
clr R16
rcall _Revise
.dbline 286
; y=1;}
clr R10
inc R10
.dbline 286
L101:
.dbline 287
; if(y==0)
tst R10
brne L103
.dbline 288
; {if(l78==0x01)
.dbline 288
cpi R22,1
brne L105
.dbline 289
; Revise(3); //3為大右偏
ldi R16,3
rcall _Revise
L105:
.dbline 290
; if(l78==0x02)
cpi R22,2
brne L107
.dbline 291
; Revise(4); //4為大左偏
ldi R16,4
rcall _Revise
L107:
.dbline 292
; if(l78==0x00)
tst R22
brne L109
.dbline 293
; {online=0x03&online;
.dbline 293
andi R20,3
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