RB-101机器人主板蜂鸣器测试

最新推荐文章于 2024-04-19 15:19:13 发布

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最新推荐文章于 2024-04-19 15:19:13 发布

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这是从MCS51转到AVR后的第二个单片机程序，该程序是控制RB-101 机器人主板上的蜂鸣器连续发声。

1 // RB-101 机器人蜂鸣器测试程序
2 // 2005年6月25日  彭斌
3
4 #include < mega8515.h > // 头文件
5 #include < delay.h >      // 延时头程序调用，该文件已经存在于CodeVisionAVR里，安装后就有。
6 #include < stdio.h >      // 一些常用函数的头文件调用
7
8 // 自定义蜂鸣器蜂鸣函数（自定义函数必须放在入口函数前面，否则编译时会出错，这个可能是该软件识别造成的，不是一种程序设计规范）
9 void buzzer( void )
10 {
11      // 定义一个变量
12     unsigned char i = 0xff ;
13      // 循环
14      for (;i -- ;)
15     {
16          // 蜂鸣器占用PORTB.3引脚
17         PORTB. 3 =! PORTB. 3 ;    // 取反
18         delay_us( 500 );      // 延时500微秒，调节该延时值将改变蜂鸣器的音调高低
19     }
20 }
21
22 // 主函数入口
23 void main( void )
24 {
25      // DDRxn 定义引脚方向，“1” 为输出，“0”为输入。
26
27     DDRB. 3 = 1 ;     // 蜂鸣器引脚方向设置
28
29      // 执行一个死循环,使数码管连续的全亮
30      while ( 1 )
31     {
32         buzzer();    // 调用自定义蜂鸣函数
33         delay_ms( 1000 );   // 延时1000毫秒，也就是1S   ，调节该延时长短可以使蜂鸣节奏变化
34         buzzer();    // 调用自定义蜂鸣函数
35         delay_ms( 1000 );   // 延时1000毫秒，也就是1S
36     }
37
38 }
39
40

编译软件使用：CodeVisionAVR C Compiler
编译后产生如下汇编代码：

;Chip type : ATmega8515L

;Program type : Application

;Clock frequency : 4.096000 MHz

;Memory model : Small

;Optimize for : Size

;(s)printf features : int

;(s)scanf features : int, width

;External SRAM size : 0

;Data Stack size : 128

;Promote char to int : No

;char is unsigned : Yes

;8 bit enums : No

;Enhanced core instructions : On

;Automatic register allocation : On

.LISTMAC

.EQU UDRE=0x5

.EQU RXC=0x7

.EQU USR=0xB

.EQU UDR=0xC

.EQU EERE=0x0

.EQU EEWE=0x1

.EQU EEMWE=0x2

.EQU SPSR=0xE

.EQU SPDR=0xF

.EQU EECR=0x1C

.EQU EEDR=0x1D

.EQU EEARL=0x1E

.EQU EEARH=0x1F

.EQU WDTCR=0x21

.EQU MCUCSR=0x34

.EQU MCUCR=0x35

.EQU EMCUCR=0x36

.EQU GICR=0x3B

.EQU SPL=0x3D

.EQU SPH=0x3E

.EQU SREG=0x3F

.DEF R0X0=R0

.DEF R0X1=R1

.DEF R0X2=R2

.DEF R0X3=R3

.DEF R0X4=R4

.DEF R0X5=R5

.DEF R0X6=R6

.DEF R0X7=R7

.DEF R0X8=R8

.DEF R0X9=R9

.DEF R0XA=R10

.DEF R0XB=R11

.DEF R0XC=R12

.DEF R0XD=R13

.DEF R0XE=R14

.DEF R0XF=R15

.DEF R0X10=R16

.DEF R0X11=R17

.DEF R0X12=R18

.DEF R0X13=R19

.DEF R0X14=R20

.DEF R0X15=R21

.DEF R0X16=R22

.DEF R0X17=R23

.DEF R0X18=R24

.DEF R0X19=R25

.DEF R0X1A=R26

.DEF R0X1B=R27

.DEF R0X1C=R28

.DEF R0X1D=R29

.DEF R0X1E=R30

.DEF R0X1F=R31

.EQU __se_bit=0x20

.MACRO __CPD1N

CPI R30,LOW(@0)

LDI R26,HIGH(@0)

CPC R31,R26

LDI R26,BYTE3(@0)

CPC R22,R26

LDI R26,BYTE4(@0)

CPC R23,R26

.ENDM

.MACRO __CPD2N

CPI R26,LOW(@0)

LDI R30,HIGH(@0)

CPC R27,R30

LDI R30,BYTE3(@0)

CPC R24,R30

LDI R30,BYTE4(@0)

CPC R25,R30

.ENDM

.MACRO __CPWRR

CP R@0,R@2

CPC R@1,R@3

.ENDM

.MACRO __CPWRN

CPI R@0,LOW(@2)

LDI R30,HIGH(@2)

CPC R@1,R30

.ENDM

.MACRO __ADDD1N

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

SBCI R22,BYTE3(-@0)

SBCI R23,BYTE4(-@0)

.ENDM

.MACRO __ADDD2N

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

SBCI R24,BYTE3(-@0)

SBCI R25,BYTE4(-@0)

.ENDM

.MACRO __SUBD1N

SUBI R30,LOW(@0)

SBCI R31,HIGH(@0)

SBCI R22,BYTE3(@0)

SBCI R23,BYTE4(@0)

.ENDM

.MACRO __SUBD2N

SUBI R26,LOW(@0)

SBCI R27,HIGH(@0)

SBCI R24,BYTE3(@0)

SBCI R25,BYTE4(@0)

.ENDM

.MACRO __ANDD1N

ANDI R30,LOW(@0)

ANDI R31,HIGH(@0)

ANDI R22,BYTE3(@0)

ANDI R23,BYTE4(@0)

.ENDM

.MACRO __ORD1N

ORI R30,LOW(@0)

ORI R31,HIGH(@0)

ORI R22,BYTE3(@0)

ORI R23,BYTE4(@0)

.ENDM

.MACRO __DELAY_USB

LDI R24,LOW(@0)

__DELAY_USB_LOOP:

DEC R24

BRNE __DELAY_USB_LOOP

.ENDM

.MACRO __DELAY_USW

LDI R24,LOW(@0)

LDI R25,HIGH(@0)

__DELAY_USW_LOOP:

SBIW R24,1

BRNE __DELAY_USW_LOOP

.ENDM

.MACRO __CLRD1S

CLR R30

STD Y+@0,R30

STD Y+@0+1,R30

STD Y+@0+2,R30

STD Y+@0+3,R30

.ENDM

.MACRO __GETD1S

LDD R30,Y+@0

LDD R31,Y+@0+1

LDD R22,Y+@0+2

LDD R23,Y+@0+3

.ENDM

.MACRO __PUTD1S

STD Y+@0,R30

STD Y+@0+1,R31

STD Y+@0+2,R22

STD Y+@0+3,R23

.ENDM

.MACRO __POINTB1MN

LDI R30,LOW(@0+@1)

.ENDM

.MACRO __POINTW1MN

LDI R30,LOW(@0+@1)

LDI R31,HIGH(@0+@1)

.ENDM

.MACRO __POINTW1FN

LDI R30,LOW(2*@0+@1)

LDI R31,HIGH(2*@0+@1)

.ENDM

.MACRO __POINTB2MN

LDI R26,LOW(@0+@1)

.ENDM

.MACRO __POINTW2MN

LDI R26,LOW(@0+@1)

LDI R27,HIGH(@0+@1)

.ENDM

.MACRO __GETD1N

LDI R30,LOW(@0)

LDI R31,HIGH(@0)

LDI R22,BYTE3(@0)

LDI R23,BYTE4(@0)

.ENDM

.MACRO __GETD2N

LDI R26,LOW(@0)

LDI R27,HIGH(@0)

LDI R24,BYTE3(@0)

LDI R25,BYTE4(@0)

.ENDM

.MACRO __GETD2S

LDD R26,Y+@0

LDD R27,Y+@0+1

LDD R24,Y+@0+2

LDD R25,Y+@0+3

.ENDM

.MACRO __GETB1MN

LDS R30,@0+@1

.ENDM

.MACRO __GETW1MN

LDS R30,@0+@1

LDS R31,@0+@1+1

.ENDM

.MACRO __GETD1MN

LDS R30,@0+@1

LDS R31,@0+@1+1

LDS R22,@0+@1+2

LDS R23,@0+@1+3

.ENDM

.MACRO __GETBRMN

LDS R@2,@0+@1

.ENDM

.MACRO __GETWRMN

LDS R@2,@0+@1

LDS R@3,@0+@1+1

.ENDM

.MACRO __GETB2MN

LDS R26,@0+@1

.ENDM

.MACRO __GETW2MN

LDS R26,@0+@1

LDS R27,@0+@1+1

.ENDM

.MACRO __GETD2MN

LDS R26,@0+@1

LDS R27,@0+@1+1

LDS R24,@0+@1+2

LDS R25,@0+@1+3

.ENDM

.MACRO __PUTB1MN

STS @0+@1,R30

.ENDM

.MACRO __PUTW1MN

STS @0+@1,R30

STS @0+@1+1,R31

.ENDM

.MACRO __PUTD1MN

STS @0+@1,R30

STS @0+@1+1,R31

STS @0+@1+2,R22

STS @0+@1+3,R23

.ENDM

.MACRO __PUTBMRN

STS @0+@1,R@2

.ENDM

.MACRO __PUTWMRN

STS @0+@1,R@2

STS @0+@1+1,R@3

.ENDM

.MACRO __GETW1R

MOV R30,R@0

MOV R31,R@1

.ENDM

.MACRO __GETW2R

MOV R26,R@0

MOV R27,R@1

.ENDM

.MACRO __GETWRN

LDI R@0,LOW(@2)

LDI R@1,HIGH(@2)

.ENDM

.MACRO __PUTW1R

MOV R@0,R30

MOV R@1,R31

.ENDM

.MACRO __PUTW2R

MOV R@0,R26

MOV R@1,R27

.ENDM

.MACRO __ADDWRN

SUBI R@0,LOW(-@2)

SBCI R@1,HIGH(-@2)

.ENDM

.MACRO __ADDWRR

ADD R@0,R@2

ADC R@1,R@3

.ENDM

.MACRO __SUBWRN

SUBI R@0,LOW(@2)

SBCI R@1,HIGH(@2)

.ENDM

.MACRO __SUBWRR

SUB R@0,R@2

SBC R@1,R@3

.ENDM

.MACRO __ANDWRN

ANDI R@0,LOW(@2)

ANDI R@1,HIGH(@2)

.ENDM

.MACRO __ANDWRR

AND R@0,R@2

AND R@1,R@3

.ENDM

.MACRO __ORWRN

ORI R@0,LOW(@2)

ORI R@1,HIGH(@2)

.ENDM

.MACRO __ORWRR

OR R@0,R@2

OR R@1,R@3

.ENDM

.MACRO __EORWRR

EOR R@0,R@2

EOR R@1,R@3

.ENDM

.MACRO __GETWRS

LDD R@0,Y+@2

LDD R@1,Y+@2+1

.ENDM

.MACRO __PUTWSR

STD Y+@2,R@0

STD Y+@2+1,R@1

.ENDM

.MACRO __MOVEWRR

MOV R@0,R@2

MOV R@1,R@3

.ENDM

.MACRO __INWR

IN R@0,@2

IN R@1,@2+1

.ENDM

.MACRO __OUTWR

OUT @2+1,R@1

OUT @2,R@0

.ENDM

.MACRO __CALL1MN

LDS R30,@0+@1

LDS R31,@0+@1+1

ICALL

.ENDM

.MACRO __NBST

BST R@0,@1

IN R30,SREG

LDI R31,0x40

EOR R30,R31

OUT SREG,R30

.ENDM

.MACRO __PUTB1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SN

LDD R26,Y+@0

LDD R27,Y+@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

RCALL __PUTDP1

.ENDM

.MACRO __PUTB1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

ST X,R30

.ENDM

.MACRO __PUTW1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SNS

LDD R26,Y+@0

LDD R27,Y+@0+1

ADIW R26,@1

RCALL __PUTDP1

.ENDM

.MACRO __PUTB1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1PMN

LDS R26,@0

LDS R27,@0+1

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

RCALL __PUTDP1

.ENDM

.MACRO __PUTB1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

ST X,R30

.ENDM

.MACRO __PUTW1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1PMNS

LDS R26,@0

LDS R27,@0+1

ADIW R26,@1

RCALL __PUTDP1

.ENDM

.MACRO __GETB1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R30,Z

.ENDM

.MACRO __GETW1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R0,Z+

LD R31,Z

MOV R30,R0

.ENDM

.MACRO __GETD1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R0,Z+

LD R1,Z+

LD R22,Z+

LD R23,Z

MOVW R30,R0

.ENDM

.MACRO __GETB2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R26,X

.ENDM

.MACRO __GETW2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

.ENDM

.MACRO __GETD2SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R1,X+

LD R24,X+

LD R25,X

MOVW R26,R0

.ENDM

.MACRO __GETBRSX

MOVW R30,R28

SUBI R30,LOW(-@1)

SBCI R31,HIGH(-@1)

LD R@0,Z

.ENDM

.MACRO __GETWRSX

MOVW R30,R28

SUBI R30,LOW(-@2)

SBCI R31,HIGH(-@2)

LD R@0,Z+

LD R@1,Z

.ENDM

.MACRO __LSLW8SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

LD R31,Z

CLR R30

.ENDM

.MACRO __PUTB1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X,R30

.ENDM

.MACRO __PUTW1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

ST X+,R30

ST X+,R31

ST X+,R22

ST X,R23

.ENDM

.MACRO __CLRW1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

CLR R0

ST Z+,R0

ST Z,R0

.ENDM

.MACRO __CLRD1SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

CLR R0

ST Z+,R0

ST Z,R0

.ENDM

.MACRO __PUTB2SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z,R26

.ENDM

.MACRO __PUTW2SX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z+,R26

ST Z,R27

.ENDM

.MACRO __PUTBSRX

MOVW R30,R28

SUBI R30,LOW(-@0)

SBCI R31,HIGH(-@0)

ST Z,R@1

.ENDM

.MACRO __PUTWSRX

MOVW R30,R28

SUBI R30,LOW(-@2)

SBCI R31,HIGH(-@2)

ST Z+,R@0

ST Z,R@1

.ENDM

.MACRO __PUTB1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X,R30

.ENDM

.MACRO __PUTW1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X,R31

.ENDM

.MACRO __PUTD1SNX

MOVW R26,R28

SUBI R26,LOW(-@0)

SBCI R27,HIGH(-@0)

LD R0,X+

LD R27,X

MOV R26,R0

SUBI R26,LOW(-@1)

SBCI R27,HIGH(-@1)

ST X+,R30

ST X+,R31

ST X+,R22

ST X,R23

.ENDM

.MACRO __MULBRR

MULS R@0,R@1

MOV R30,R0

.ENDM

.MACRO __MULBRRU

MUL R@0,R@1

MOV R30,R0

.ENDM

.CSEG

.ORG 0

.INCLUDE "main.vec"

.INCLUDE "main.inc"

__RESET:

CLI

CLR R30

OUT EECR,R30

;INTERRUPT VECTORS ARE PLACED

;AT THE START OF FLASH

LDI R31,1

OUT GICR,R31

OUT GICR,R30

OUT MCUCR,R30

OUT EMCUCR,R30

;DISABLE WATCHDOG

LDI R31,0x18

OUT WDTCR,R31

LDI R31,0x10

OUT WDTCR,R31

;CLEAR R2-R14

LDI R24,13

LDI R26,2

CLR R27

__CLEAR_REG:

ST X+,R30

DEC R24

BRNE __CLEAR_REG

;CLEAR SRAM

LDI R24,LOW(0x200)

LDI R25,HIGH(0x200)

LDI R26,0x60

__CLEAR_SRAM:

ST X+,R30

SBIW R24,1

BRNE __CLEAR_SRAM

;GLOBAL VARIABLES INITIALIZATION

LDI R30,LOW(__GLOBAL_INI_TBL*2)

LDI R31,HIGH(__GLOBAL_INI_TBL*2)

__GLOBAL_INI_NEXT:

LPM R0,Z+

LPM R1,Z+

MOVW R22,R30

MOVW R30,R0

SBIW R30,0

BREQ __GLOBAL_INI_END

LPM R26,Z+

LPM R27,Z+

LPM R24,Z+

LPM R25,Z+

__GLOBAL_INI_LOOP:

LPM R0,Z+

ST X+,R0

SBIW R24,1

BRNE __GLOBAL_INI_LOOP

MOVW R30,R22

RJMP __GLOBAL_INI_NEXT

__GLOBAL_INI_END:

;STACK POINTER INITIALIZATION

LDI R30,LOW(0x25F)

OUT SPL,R30

LDI R30,HIGH(0x25F)

OUT SPH,R30

;DATA STACK POINTER INITIALIZATION

LDI R28,LOW(0xE0)

LDI R29,HIGH(0xE0)

RJMP _main

.ESEG

.ORG 0

.DB 0 ; FIRST EEPROM LOCATION NOT USED, SEE ATMEL ERRATA SHEETS

.DSEG

.ORG 0xE0

; 1

; 2 //RB-101 机器人蜂鸣器测试程序

; 3 //2005年6月25日彭斌

; 4

; 5 #include < mega8515 .h > //头文件

; 6 #include < delay .h > //延时头程序调用，该文件已经存在于CodeVisionAVR里，安装后就有。

; 7 #include < stdio .h > //一些常用函数的头文件调用

; 8

; 9 //自定义蜂鸣器蜂鸣函数（自定义函数必须放在入口函数前面，否则编译时会出错，这个可能是该软件识别造成的，不是一种程序设计规范）

; 10 void buzzer(void)

; 11 {

.CSEG

_buzzer:

; 12 //定义一个变量

; 13 unsigned char i=0xff;

; 14 //循环

; 15 for(;i--;)

ST -Y,R16

; i -> R16

LDI R16,255

_0x10:

MOV R30,R16

SUBI R16,1

CPI R30,0

BREQ _0x11

; 16 {

; 17 //蜂鸣器占用PORTB.3引脚

; 18 PORTB.3=!PORTB.3; //取反

CLT

SBIS 0x18,3

SET

IN R30,0x18

BLD R30,3

OUT 0x18,R30

; 19 delay_us(500); //延时500微秒，改名该延时值将改变蜂鸣器的音调高低

__DELAY_USW 512

; 20 }

RJMP _0x10

_0x11:

; 21 }

LD R16,Y+

RET

; 22

; 23 //主函数入口

; 24 void main(void)

; 25 {

_main:

; 26 //DDRxn 定义引脚方向，“1” 为输出，“0”为输入。

; 27

; 28 DDRB.3 = 1; //蜂鸣器引脚方向设置

SBI 0x17,3

; 29

; 30 //执行一个死循环,使数码管连续的全亮

; 31 while(1)

_0x13:

; 32 {

; 33 buzzer(); //调用自定义蜂鸣函数

RCALL SUBOPT_0x0

; 34 delay_ms(1000); //延时1000毫秒，也就是1S ，调节该延时长短可以使蜂鸣节奏变化

; 35 buzzer(); //调用自定义蜂鸣函数

RCALL SUBOPT_0x0

; 36 delay_ms(1000); //延时1000毫秒，也就是1S

; 37 }

RJMP _0x13

; 38

; 39 }

_0x16:

NOP

RJMP _0x16

; 40

; 41

_getchar:

sbis usr,rxc

rjmp _getchar

in r30,udr

RET

_putchar:

sbis usr,udre

rjmp _putchar

ld r30,y

out udr,r30

ADIW R28,1

RET

;OPTIMIZER ADDED SUBROUTINE, CALLED 2 TIMES

SUBOPT_0x0:

RCALL _buzzer

LDI R30,LOW(1000)

LDI R31,HIGH(1000)

ST -Y,R31

ST -Y,R30

RJMP _delay_ms

_delay_ms:

ld r30,y+

ld r31,y+

adiw r30,0

breq __delay_ms1

__delay_ms0:

__DELAY_USW 0x400

wdr

sbiw r30,1

brne __delay_ms0

__delay_ms1:

ret

weixin_34192816

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