.module _單管尋跡.c
	.area text(rom, con, rel)
	.dbfile D:\afish\工作內(nèi)容\DIY-08-16\M16\DIY-08-16\單管尋跡\單管尋跡.c
	.dbfunc e delay_1ms _delay_1ms fV
;              i -> R16,R17
	.even
_delay_1ms::
	.dbline -1
	.dbline 18
; /*******************************************************************/
; /*                     廣州雙龍電子
;                        WWW.SL.COM.CN
;    接線方法:
;         光電管安裝在小車前方中間，PC.6控制信號線
;    功能:
;         單個紅光電對管尋跡
;         LED4~5是前進指示燈；LED1~3是左轉(zhuǎn)彎指示燈;LED6~8是右轉(zhuǎn)彎指示燈
;    Chip type       :   ATMEGA16 
;    Clock frequency :   8MHz
; 
; */
; /********************************************************************/
; #include <iom16v.h>
; #include <macros.h>
; #define xtal 8
; void delay_1ms(void)   //1ms延時
;   {
	.dbline 20
;   unsigned int i;
;   for(i=1;i<(unsigned int)(xtal*143-2);i++) 
	ldi R16,1
	ldi R17,0
	xjmp L5
L2:
	.dbline 21
L3:
	.dbline 20
	subi R16,255  ; offset = 1
	sbci R17,255
L5:
	.dbline 20
	cpi R16,118
	ldi R30,4
	cpc R17,R30
	brlo L2
	.dbline -2
L1:
	.dbline 0 ; func end
	ret
	.dbsym r i 16 i
	.dbend
	.dbfunc e delay _delay fV
;              i -> R20,R21
;              n -> R22,R23
	.even
_delay::
	xcall push_gset2
	movw R22,R16
	.dbline -1
	.dbline 24
;   ;
;   }
; void delay(unsigned int n)
;   {
	.dbline 26
;   unsigned int i;
;   for(i=0;i<n;i++)
	clr R20
	clr R21
	xjmp L10
L7:
	.dbline 27
	xcall _delay_1ms
L8:
	.dbline 26
	subi R20,255  ; offset = 1
	sbci R21,255
L10:
	.dbline 26
	cp R20,R22
	cpc R21,R23
	brlo L7
	.dbline -2
L6:
	xcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r i 20 i
	.dbsym r n 22 i
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 30
;   delay_1ms();
;   }  
; void main(void)
; {
	.dbline 31
; DDRA=0xff;      //初始化端口
	ldi R24,255
	out 0x1a,R24
	.dbline 32
; PORTA=0xff;    
	out 0x1b,R24
	.dbline 33
; DDRD=0xf0;
	ldi R24,240
	out 0x11,R24
	.dbline 34
; PORTD=0x0f;    
	ldi R24,15
	out 0x12,R24
	.dbline 35
; DDRC=0x00;
	clr R2
	out 0x14,R2
	.dbline 36
; PORTC=0xff; 
	ldi R24,255
	out 0x15,R24
	.dbline 37
; for(;;)
L12:
	.dbline 38
;   {
	.dbline 39
;   if (PINC&=0x40)
	in R24,0x13
	andi R24,64
	out 0x13,R24
	tst R24
	breq L16
	.dbline 40
;     {
	.dbline 41
;     PORTD=0xAF;    //直行
	ldi R24,175
	out 0x12,R24
	.dbline 42
;     PORTA=0xE7;    //點亮LED4,LED5
	ldi R24,231
	out 0x1b,R24
	.dbline 43
;     delay(1);       //延時1微秒
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 44
;     }
	xjmp L17
L16:
	.dbline 46
;   else  
;     {
	.dbline 47
;     PORTD=0x60;    //左轉(zhuǎn)
	ldi R24,96
	out 0x12,R24
	.dbline 48
;     PORTA=0x1F;    //點亮左邊LED
	ldi R24,31
	out 0x1b,R24
	.dbline 49
;     delay(1);       //延時1微秒
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 50
;     }
L17:
	.dbline 51
;   if (PINC&=0x40)
	in R24,0x13
	andi R24,64
	out 0x13,R24
	tst R24
	breq L18
	.dbline 52
;     {
	.dbline 53
; 	PORTD=0xAF;    //直行
	ldi R24,175
	out 0x12,R24
	.dbline 54
;     PORTA=0x00;    //點亮LED4,LED5
	clr R2
	out 0x1b,R2
	.dbline 55
; 	delay(1);       //延時1微秒
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 56
; 	}
	xjmp L12
L18:
	.dbline 58
	.dbline 59
	ldi R24,144
	out 0x12,R24
	.dbline 60
	ldi R24,248
	out 0x1b,R24
	.dbline 61
	ldi R16,2
	ldi R17,0
	xcall _delay
	.dbline 62
	.dbline 63
	.dbline 37
	.dbline 37
	xjmp L12
X0:
	.dbline -2
L11:
	.dbline 0 ; func end
	ret
	.dbend