.module _三管.c
	.area text(rom, con, rel)
	.dbfile D:\afish\工作內容\DIY-08-16\M16\DIY-08-16\三管尋跡\三管.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
;          	   
;    PC.7，PC.6，PC.5分別檢測左中右三個光電管
;    功能:
;         三個紅光電對管尋跡
;         LED4~5是前進指示燈；LED1~3是左轉指示燈;LED6~8右轉指示燈
;    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
;   switch(PINC&0xe0)
	in R20,0x13
	clr R21
	andi R20,224
	andi R21,0
	cpi R20,96
	ldi R30,0
	cpc R21,R30
	brne X3
	xjmp L22
X3:
	ldi R24,96
	ldi R25,0
	cp R24,R20
	cpc R25,R21
	brlt L28
L27:
	cpi R20,32
	ldi R30,0
	cpc R21,R30
	brne X4
	xjmp L20
X4:
	ldi R24,32
	ldi R25,0
	cp R24,R20
	cpc R25,R21
	brlt L30
L29:
	cpi R20,0
	cpc R20,R21
	breq L19
X0:
	xjmp L12
L30:
	cpi R20,64
	ldi R30,0
	cpc R21,R30
	brne X5
	xjmp L21
X5:
	xjmp L12
L28:
	cpi R20,160
	ldi R30,0
	cpc R21,R30
	brne X6
	xjmp L24
X6:
	ldi R24,160
	ldi R25,0
	cp R24,R20
	cpc R25,R21
	brlt L32
L31:
	cpi R20,128
	ldi R30,0
	cpc R21,R30
	brne X7
	xjmp L23
X7:
	xjmp L12
L32:
	cpi R20,192
	ldi R30,0
	cpc R21,R30
	brne X8
	xjmp L25
X8:
	cpi R20,192
	ldi R30,0
	cpc R21,R30
	brge X9
	xjmp L12
X9:
L33:
	cpi R20,224
	ldi R30,0
	cpc R21,R30
	brne X10
	xjmp L26
X10:
	xjmp L12
X1:
	.dbline 40
;     {
L19:
	.dbline 41
; 	case 0x00:PORTD=0x5F ;PORTA=0xff; delay(1);break;      //出界,后退探測，熄滅全部LED
	ldi R24,95
	out 0x12,R24
	.dbline 41
	ldi R24,255
	out 0x1b,R24
	.dbline 41
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 41
	xjmp L12
L20:
	.dbline 42
; 	case 0x20:PORTD=0x90 ;PORTA=0xf8; delay(1);break;        //轉右，點亮右轉指示燈
	ldi R24,144
	out 0x12,R24
	.dbline 42
	ldi R24,248
	out 0x1b,R24
	.dbline 42
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 42
	xjmp L12
L21:
	.dbline 43
; 	case 0x40:PORTD=0xaf ;PORTA=0xe7; delay(1);break;       // 前進，點亮前進指示燈
	ldi R24,175
	out 0x12,R24
	.dbline 43
	ldi R24,231
	out 0x1b,R24
	.dbline 43
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 43
	xjmp L12
L22:
	.dbline 44
; 	case 0x60:PORTD=0xaf ;PORTA=0xe7; delay(1);break;        //前進，點亮前進指示燈
	ldi R24,175
	out 0x12,R24
	.dbline 44
	ldi R24,231
	out 0x1b,R24
	.dbline 44
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 44
	xjmp L12
L23:
	.dbline 45
; 	case 0x80:PORTD=0x60 ;PORTA=0x1f; delay(1);break;       //轉左，點亮左轉指示燈
	ldi R24,96
	out 0x12,R24
	.dbline 45
	ldi R24,31
	out 0x1b,R24
	.dbline 45
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 45
	xjmp L12
L24:
	.dbline 46
; 	case 0xa0:PORTD=0xaf ;PORTA=0xe7; delay(1);break;       //直行，點亮前進指示燈
	ldi R24,175
	out 0x12,R24
	.dbline 46
	ldi R24,231
	out 0x1b,R24
	.dbline 46
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 46
	xjmp L12
L25:
	.dbline 47
; 	case 0xc0:PORTD=0xaf ;PORTA=0x0e7; delay(1);break;        //前進，點亮前進指示燈
	ldi R24,175
	out 0x12,R24
	.dbline 47
	ldi R24,231
	out 0x1b,R24
	.dbline 47
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 47
	xjmp L12
L26:
	.dbline 48
	ldi R24,144
	out 0x12,R24
	.dbline 48
	ldi R24,31
	out 0x1b,R24
	.dbline 48
	ldi R16,1
	ldi R17,0
	xcall _delay
	.dbline 48
	.dbline 50
	.dbline 37
	.dbline 37
	xjmp L12
X2:
	.dbline -2
L11:
	.dbline 0 ; func end
	ret
	.dbend