.module trace_light.c
	.area text(rom, con, rel)
	.dbfile e:/ICC/include/sl3010.c
	.dbfunc e port_init _port_init fV
	.even
_port_init::
	.dbline -1
	.dbline 81
; //追光機器人
; 
; #include <io8515v.h>
; #include <macros.h>
; #include <sl3010.c>  //調用sl3010小車的子函數庫
; 
; #define light_delay 100
; 
; unsigned char cds;
; 
; void trace_light()
; {
;  port_init();         //PA,PB,PC,PD 初始化
;  
;  work_status = 0x70;  //置對應的工作狀態標志
;  
;  mic_startup();       //等待聲控啟動
;  
;  while(1)
;     {
; 	 sw_touch();          //檢測輕觸開關
; 	
; 	 cds = PINC & 0x06; //0b0000,0110
; 
; 	 if(cds == 0x00)    //左右兩側都感測到光
; 	   {//直行
; 	    forward();
; 		delay_ms(light_delay);  //延時
; 	   } 
; 	 if(cds == 0x02)    //0b0000,0010___pc2(右側)感測到光
; 	   {//慢速右轉
; 	    turn_right_s();
; 		delay_ms(light_delay);  //延時
; 	   }
; 	 if(cds == 0x04)    //0b0000,0100___pc1(左側)感測到光
; 	   {//慢速左轉
; 	    turn_left_s();
; 		delay_ms(light_delay);  //延時
; 	   }
; 	 if(cds == 0x06)
; 	   {//停止動作
; 	    PORTA = 0x55;   //延時后停止動作,等待光照重新動作
; 		delay_ms(light_delay*2);
; 		stop();
; 	   }
; 	}
; }
; 
; void main()
; {
;  trace_light();
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 82
; }
	ldi R24,255
	out 0x1a,R24
	.dbline 82
	out 0x1b,R24
	.dbline 83
; }
	ldi R24,128
	out 0x17,R24
	.dbline 83
	ldi R24,255
	out 0x18,R24
	.dbline 84
; }
	ldi R24,1
	out 0x14,R24
	.dbline 84
	ldi R24,255
	out 0x15,R24
	.dbline 85
; }
	ldi R24,240
	out 0x11,R24
	.dbline 85
	ldi R24,255
	out 0x12,R24
	.dbline -2
	.dbline 86
; }
L1:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e delay_us _delay_us fV
;           time -> R16,R17
	.even
_delay_us::
	.dbline -1
	.dbline 89
; }
; }
; }
L3:
	.dbline 91
; }
; }
	.dbline 92
; }
	subi R16,1
	sbci R17,0
	.dbline 93
; }
L4:
	.dbline 94
; }
	ldi R24,1
	ldi R25,0
	cp R24,R16
	cpc R25,R17
	brlt L3
	.dbline -2
	.dbline 95
; }
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 98
; }
; }
; }
	rjmp L8
L7:
	.dbline 100
	.dbline 101
	ldi R16,1000
	ldi R17,3
	rcall _delay_us
	.dbline 102
	subi R20,1
	sbci R21,0
	.dbline 103
L8:
	.dbline 99
; }
	cpi R20,0
	cpc R20,R21
	brne L7
X0:
	.dbline -2
	.dbline 104
; }
; }
; }
; }
; }
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 107
; }
; }
; }
	.dbline 108
; }
	ldi R24,96
	out 0x12,R24
	.dbline 109
; }
	ldi R24,204
	out 0x1b,R24
	.dbline -2
	.dbline 110
; }
L10:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left _turn_left fV
	.even
_turn_left::
	.dbline -1
	.dbline 113
; }
; }
; }
	.dbline 114
; }
	ldi R24,144
	out 0x12,R24
	.dbline 115
; }
	ldi R24,51
	out 0x1b,R24
	.dbline -2
	.dbline 116
; }
L11:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_right_s _turn_right_s fV
	.even
_turn_right_s::
	.dbline -1
	.dbline 118
; }
; }
	.dbline 119
; }
	ldi R24,32
	out 0x12,R24
	.dbline 120
; }
	ldi R24,207
	out 0x1b,R24
	.dbline -2
	.dbline 121
; }
L12:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e turn_left_s _turn_left_s fV
	.even
_turn_left_s::
	.dbline -1
	.dbline 124
; }
; }
; }
	.dbline 125
; }
	ldi R24,128
	out 0x12,R24
	.dbline 126
; }
	ldi R24,243
	out 0x1b,R24
	.dbline -2
	.dbline 127
; }
L13:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e backward _backward fV
	.even
_backward::
	.dbline -1
	.dbline 130
; }
; }
; }
	.dbline 131
; }
	ldi R24,80
	out 0x12,R24
	.dbline 132
; }
	ldi R24,60
	out 0x1b,R24
	.dbline -2
	.dbline 133
; }
L14:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e forward _forward fV
	.even
_forward::
	.dbline -1
	.dbline 136
; }
; }
; }
	.dbline 137
; }
	ldi R24,160
	out 0x12,R24
	.dbline 138
; }
	ldi R24,195
	out 0x1b,R24
	.dbline -2
	.dbline 139
; }
L15:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e stop _stop fV
	.even
_stop::
	.dbline -1
	.dbline 142
; }
; }
; }
	.dbline 143
; }
	ldi R24,255
	out 0x12,R24
	.dbline 144
; }
	out 0x1b,R24
	.dbline -2
	.dbline 145
; }
L16:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e sw_touch _sw_touch fV
;      remote_in -> R22
;          sw_in -> R20
	.even
_sw_touch::
	rcall push_gset2
	.dbline -1
	.dbline 161
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 163
; }
; }
	ldi R24,1
	out 0x14,R24
	.dbline 163
	ldi R24,255
	out 0x15,R24
	.dbline 164
; }
	ldi R24,128
	out 0x17,R24
	.dbline 164
	ldi R24,255
	out 0x18,R24
	.dbline 166
; }
; }
	in R20,0x13
	andi R20,16
	.dbline 167
; }
	brne L18
	.dbline 168
; }
	.dbline 169
; }
	rcall _backward
	.dbline 170
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 172
; }
; }
	lds R24,_work_status
	cpi R24,112
	brne L20
	.dbline 173
; }
	.dbline 174
; }
	rcall _stop
	rjmp L23
L22:
	.dbline 176
	.dbline 177
	ldi R24,85
	out 0x1b,R24
	.dbline 178
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 179
	ldi R24,170
	out 0x1b,R24
	.dbline 180
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 181
L23:
	.dbline 175
; }
	rjmp L22
X1:
	.dbline 182
; }
; }
; }
; }
; }
; }
; }
L20:
	.dbline 184
; }
; }
	rcall _turn_left
	.dbline 185
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 186
; }
L18:
	.dbline 188
; }
; }
	in R20,0x16
	andi R20,112
	.dbline 189
; }
	cpi R20,80
	brne L25
	.dbline 190
; }
	.dbline 191
; }
	rcall _forward
	.dbline 192
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 194
; }
; }
	rcall _turn_left
	.dbline 195
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 196
; }
L25:
	.dbline 197
; }
	cpi R20,48
	brne L27
	.dbline 198
; }
	.dbline 199
; }
	rcall _backward
	.dbline 200
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 202
; }
; }
	rcall _turn_left
	.dbline 203
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 204
; }
L27:
	.dbline 205
; }
	cpi R20,96
	brne L29
	.dbline 206
; }
	.dbline 207
; }
	rcall _backward
	.dbline 208
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 210
; }
; }
	rcall _turn_left
	.dbline 211
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 212
; }
L29:
	.dbline 213
; }
	cpi R20,32
	brne L31
	.dbline 214
; }
	.dbline 215
; }
	rcall _stop
	.dbline 216
; }
	ldi R16,1000
	ldi R17,3
	rcall _delay_ms
	rjmp L34
L33:
	.dbline 218
; }
; }
	.dbline 219
; }
	in R20,0x13
	andi R20,16
	.dbline 220
; }
	brne L36
	.dbline 221
; }
	.dbline 221
	rjmp L35
L36:
	.dbline 222
; }
	ldi R24,85
	out 0x1b,R24
	.dbline 223
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 224
; }
	ldi R24,170
	out 0x1b,R24
	.dbline 225
; }
	ldi R16,250
	ldi R17,0
	rcall _delay_ms
	.dbline 226
; }
	in R22,0x16
	andi R22,15
	.dbline 227
; }
	breq L38
	.dbline 228
; }
	.dbline 228
	rjmp L35
L38:
	.dbline 229
L34:
	.dbline 217
	rjmp L33
L35:
	.dbline 230
L31:
	.dbline -2
	.dbline 231
; }
; }
; }
L17:
	rcall pop_gset2
	.dbline 0 ; func end
	ret
	.dbsym r remote_in 22 c
	.dbsym r sw_in 20 c
	.dbend
	.dbfunc e mic_startup _mic_startup fV
;         mic_in -> R20
	.even
_mic_startup::
	rcall push_gset1
	.dbline -1
	.dbline 234
; }
; }
; }
	.dbline 236
; }
; }
	ldi R24,1
	out 0x14,R24
	.dbline 236
	ldi R24,255
	out 0x15,R24
	.dbline 237
; }
	ldi R16,1
	ldi R17,0
	rcall _delay_us
	rjmp L42
L41:
	.dbline 239
; }
; }
	.dbline 240
; }
	in R20,0x13
	andi R20,8
	.dbline 241
; }
	brne L44
	.dbline 241
	.dbline 241
	rjmp L43
L44:
	.dbline 242
L42:
	.dbline 238
	rjmp L41
L43:
	.dbline -2
	.dbline 243
; }
; }
L40:
	rcall pop_gset1
	.dbline 0 ; func end
	ret
	.dbsym r mic_in 20 c
	.dbend
	.dbfunc e remote_auto_time _remote_auto_time fV
;      remote_in -> R16
	.even
_remote_auto_time::
	.dbline -1
	.dbline 260
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
; }
	.dbline 262
; }
; }
	in R16,0x16
	andi R16,15
	.dbline 263
; }
	clr R17
	cpi R16,0
	cpc R16,R17
	brne X4
	rjmp L48
X4:
X2:
	cpi R16,1
	ldi R30,0
	cpc R17,R30
	brne X5
	rjmp L59
X5:
	cpi R16,2
	ldi R30,0
	cpc R17,R30
	breq L53
	cpi R16,4
	ldi R30,0
	cpc R17,R30
	breq L50
	cpi R16,8
	ldi R30,0
	cpc R17,R30
	breq L56
	rjmp L47
X3:
	.dbline 264
; }
L50:
	.dbline 266
; }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	sbiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 267
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	breq X6
	rjmp L48
X6:
	.dbline 268
; }
	.dbline 268
	ldi R24,100
	ldi R25,0
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 268
	.dbline 269
; }
	rjmp L48
L53:
	.dbline 271
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	adiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 272
; }
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 273
; }
	.dbline 273
	ldi R24,2000
	ldi R25,7
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 273
	.dbline 274
; }
	rjmp L48
L56:
	.dbline 276
; }
; }
	lds R24,_delay_time1
	lds R25,_delay_time1+1
	sbiw R24,50
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 277
; }
	cpi R24,50
	ldi R30,0
	cpc R25,R30
	brne L48
	.dbline 278
; }
	.dbline 278
	ldi R24,100
	ldi R25,0
	sts _delay_time1+1,R25
	sts _delay_time1,R24
	.dbline 278
	.dbline 279
; }
	rjmp L48
L59:
	.dbline 281
; }
; }
	lds R24,_delay_time2
	lds R25,_delay_time2+1
	adiw R24,50
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 282
; }
	cpi R24,2
	ldi R30,8
	cpc R25,R30
	brne L48
	.dbline 283
; }
	.dbline 283
	ldi R24,2000
	ldi R25,7
	sts _delay_time2+1,R25
	sts _delay_time2,R24
	.dbline 283
	.dbline 284
; }
	.dbline 286
; }
; }
L47:
L48:
	.dbline -2
	.dbline 288
; }
; }
L46:
	.dbline 0 ; func end
	ret
	.dbsym r remote_in 16 c
	.dbend
	.dbfile E:\icc\iccavr\sl3010\trace_light\trace_light.c
	.dbfunc e trace_light _trace_light fV
	.even
_trace_light::
	.dbline -1
	.dbline 12
	.dbline 13
	rcall _port_init
	.dbline 15
	ldi R24,112
	sts _work_status,R24
	.dbline 17
	rcall _mic_startup
	rjmp L65
L64:
	.dbline 20
	.dbline 21
	rcall _sw_touch
	.dbline 23
	in R24,0x13
	andi R24,6
	sts _cds,R24
	.dbline 25
	tst R24
	brne L67
	.dbline 26
	.dbline 27
	rcall _forward
	.dbline 28
	ldi R16,100
	ldi R17,0
	rcall _delay_ms
	.dbline 29
L67:
	.dbline 30
	lds R24,_cds
	cpi R24,2
	brne L69
	.dbline 31
	.dbline 32
	rcall _turn_right_s
	.dbline 33
	ldi R16,100
	ldi R17,0
	rcall _delay_ms
	.dbline 34
L69:
	.dbline 35
	lds R24,_cds
	cpi R24,4
	brne L71
	.dbline 36
	.dbline 37
	rcall _turn_left_s
	.dbline 38
	ldi R16,100
	ldi R17,0
	rcall _delay_ms
	.dbline 39
L71:
	.dbline 40
	lds R24,_cds
	cpi R24,6
	brne L73
	.dbline 41
	.dbline 42
	ldi R24,85
	out 0x1b,R24
	.dbline 43
	ldi R16,200
	ldi R17,0
	rcall _delay_ms
	.dbline 44
	rcall _stop
	.dbline 45
L73:
	.dbline 46
L65:
	.dbline 19
	rjmp L64
X7:
	.dbline -2
	.dbline 47
L63:
	.dbline 0 ; func end
	ret
	.dbend
	.dbfunc e main _main fV
	.even
_main::
	.dbline -1
	.dbline 50
	.dbline 51
	.dbline -2
	.dbline 52
L75:
	.dbline 0 ; func end
	rjmp _trace_light
	.dbend
	.area bss(ram, con, rel)
	.dbfile E:\icc\iccavr\sl3010\trace_light\trace_light.c
_cds::
	.blkb 1
	.dbsym e cds _cds c
_delay_time2::
	.blkb 2
	.dbfile e:/ICC/include/sl3010.c
	.dbsym e delay_time2 _delay_time2 i
_delay_time1::
	.blkb 2
	.dbsym e delay_time1 _delay_time1 i
_work_status::
	.blkb 1
	.dbsym e work_status _work_status c