.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
; //追光机器人
;
; #include
; #include
; #include //调用sl3010小车的子函数库
;
; #define light_delay 100
;
; unsigned char cds;
;
; void trace_light()
; {
; port_init(); //PA,PB,PC,PD 初始化
;
; work_status = 0x70; //置对应的工作状态标志
;
; mic_startup(); //等待声控启动
;
; while(1)
; {
; sw_touch(); //检测轻触开关
;
; cds = PINC & 0x06; //0b0000,0110
;
; if(cds == 0x00) //左右两侧都感测到光
; {//直行
; forward();
; delay_ms(light_delay); //延时
; }
; if(cds == 0x02) //0b0000,0010___pc2(右侧)感测到光
; {//慢速右转
; turn_right_s();
; delay_ms(light_delay); //延时
; }
; if(cds == 0x04) //0b0000,0100___pc1(左侧)感测到光
; {//慢速左转
; turn_left_s();
; delay_ms(light_delay); //延时
; }
; if(cds == 0x06)
; {//停止动作
; PORTA = 0x55; //延时后停止动作,等待光照重新动作
; 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
