单片机小车调速程序(共8页)

1、精选优质文档-倾情为你奉上;/* 伪指令 */按键控制小车调速ORG0000HSJMPMAIN1ORG0013HLJMPZDORG0030HMAIN1:LCALLPWMMAIN:SETBEASETBEX1SETBIT1SJMP$ZD:PUSHACCPUSH04HPUSH05HPUSH06HMOVA,P2ANLA,#0F0HCJNEA,#70H,PD1LCALLQJSJMPJSPD1:CJNEA,#0B0H,PD2LCALLHTSJMPJSPD2:CJNEA,#0D0H,PD3LCALLZZSJMPJSPD3:CJNEA,#0E0H,JSLCALLYZJS:POP06HPOP05HPOP04HP

2、OPACCRETIDEL05S:MOVR4,#10D3:MOVR5,#200D4:MOVR6,#124DJNZR6,$DJNZR5,D4DJNZR4,D3RETPWM:MOVCMOD,#04HMOVTMOD,#02HMOVTH0,#130MOVTL0,#130SETBTR0RETTZ:MOVCCON,#00HSETBP1.4SETBP1.5SETBP1.6SETBP1.7MOVCCAPM1,#00HMOVCCAPM2,#00HMOVCCAPM3,#00HMOVCCAPM4,#00HRETQJ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42HMOVCCAP2H,#100MO

3、VCCAP4H,#100MOVCCON,#40HRETZZ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42HMOVCCAP2H,#50MOVCCAP4H,#100MOVCCON,#40HRETYZ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42HMOVCCAP2H,#100MOVCCAP4H,#50MOVCCON,#40HRETHT:LCALLTZMOVCCAPM1,#42HMOVCCAPM3,#42HMOVCCAP1H,#100MOVCCAP3H,#100MOVCCON,#40HRETEND拍手控制小车调速ORG0000HSJMPMAIN1ORG0

4、003HLJMPZDORG0030HMAIN1:LCALLPWMMAIN:SETBEASETBEX0SETBIT0CF:MOVR7,#0L:CJNER7,#0,PD1LCALLTZSJMPLPD1:CJNER7,#1,PD2LCALLQJSJMPLPD2:CJNER7,#2,PD3LCALLZZSJMPLPD3:CJNER7,#3,PD4LCALLYZSJMPLPD4:CJNER7,#4,PD5LCALLHTSJMPLPD5:CJNER7,#5,LSJMPCFZD:INCR7RETIDEL05S:MOVR4,#10D3:MOVR5,#200D4:MOVR6,#124DJNZR6,$DJNZR5

5、,D4DJNZR4,D3RETPWM:MOVCMOD,#04HMOVTMOD,#02HMOVTH0,#130MOVTL0,#130SETBTR0RETTZ:MOVCCON,#00HSETBP1.4SETBP1.5SETBP1.6SETBP1.7MOVCCAPM1,#00HMOVCCAPM2,#00HMOVCCAPM3,#00HMOVCCAPM4,#00HRETQJ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42HMOVCCAP2H,#100MOVCCAP4H,#100MOVCCON,#40HRETZZ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42H

6、MOVCCAP2H,#50MOVCCAP4H,#100MOVCCON,#40HRETYZ:LCALLTZMOVCCAPM2,#42HMOVCCAPM4,#42HMOVCCAP2H,#100MOVCCAP4H,#50MOVCCON,#40HRETHT:LCALLTZMOVCCAPM1,#42HMOVCCAPM3,#42HMOVCCAP1H,#100MOVCCAP3H,#100MOVCCON,#40HRETEND定时器控制ORG0000HSJMPMAINORG0003HSJMPZD1ORG001BHSJMPZD2ORG0030HMAIN:CLRF0CLRP1.0MOVR7,#60MOVTH1,#6

7、0MOVTL1,#176MOVTMOD,#10HSETBIT0SETBEX0SETBEASETBET1SETBTR1SJMP$ZD2:MOVTH1,#60MOVTL1,#176JBF0,LLCALLSSZXZDJNZR7,JSCPLF0MOVR7,#100RETIL:LCALLNSZXZDJNZR7,JSCPLF0MOVR7,#60JS:RETIZD1:SETBP1.4SETBP1.5SETBP1.6SETBP1.7SJMP$RETISSZXZ:SETBP1.4SETBP1.7MOVP0,#03HCLRP1.5CLRP1.6RETNSZXZ:SETBP1.5SETBP1.6MOVP0,#9FH

8、CLRP1.4CLRP1.7RET END专心-专注-专业秒表ORG0000H MAIN:MOVDPTR,#TABMOV30H,#00H MOVR0,#60NEXT:MOV42H,30HLCALLSZZHMOV41H,43HMOVR1,#100PCH:LCALLXSDJNZR1,PCH ;刷100次，10ms=1SINC30HDJNZR0,NEXTSJMPMAINXS:MOVA,30HANLA,#0FHMOVCA,A+DPTRSETBP1.0CLRP1.1MOVP0,ALCALLDELMOVP0,#0FFHMOVA,30HSWAPA;十位个位想换ANLA,#0FHMOVCA,A+DPTRSET

9、BP1.1CLRP1.0MOVP0,ALCALLDELMOVP0,#0FFHRETSZZH:MOVA,42HMOVR2,AJZEXITCLRACLRC XH:INCA DAADJNZR2,XHEXIT:MOV43H,ARETTAB:DB 03H,9FH,25H,0DH,99H,49H,41H,1FH DB 01H,09H,11H,0C1H,63H,85H,61H,71HDEL:MOVR7,#1;5ms DEL2:MOVR6,#20 DEL1:MOVR5,#123 DEL0:DJNZR5,DEL0DJNZR6,DEL1DJNZR7,DEL2RETEND小车障碍物检测 ORG0000HMAIN:;

10、CLRP1.0 ;位选CLRP2.2 ;关闭左发CLRP3.7 ;关闭右发LCALLZB ;呼叫左边检测子程序CLRP2.2 ;关闭左发LCALLYB ;呼叫左边检测子程序CLRP3.7 ;关闭右发LCALLPJ ;呼叫判决子程序SJMPMAIN ;跳转到开始ZB:MOVR0,#10 /*设定10个脉冲*/MOVR1,#0 /*给寄存器清0*/FS:SETBP2.2 /*发射红外线*/LCALLDEL600us /*延时600us*/JBP2.3,GB /*判断接收端是否是低电平*/INCR1 /*脉冲R1自加1*/GB:CLRP2.2 /*关闭发射红外*/LCALLDEL600us DJNZ

11、R0,FS /*判断10个脉冲是否发送完毕*/CJNER1,#6,PCHPCH:JCZH SETB00H ; 左前有障碍物RETZH:CLR00H ;左前没有障碍物RETYB:MOVR2,#10 ;右边检测子程序MOVR3,#0FS1:SETBP3.7LCALLDEL600usJBP3.3,GB1INCR3GB1:CLRP3.7LCALLDEL600usDJNZR2,FS1CJNER3,#6,PCH1PCH1:JCZH1SETB01H ;右前有障碍物RETZH1:CLR01H ;右前没有障碍物RETPJ:CLRP1.0MOVA,20H ;判决子程序，把20H单元的内容给AANLA,#03H ;

12、A与03H相与CJNEA,#00H,ZQ ; A等于00H吗？不相等跳转到左边判决MOVP0,#03HSETBP1.4SETBP1.6LCALLDEL05SCLRP1.5CLRP1.7 ; 给P0端送段码，障碍物没有RETZQ:CJNEA,#01H,YQ ; A等于01H吗？不相等跳转到右边判决MOVP0,#9FHSETBP1.4SETBP1.5SETBP1.7 ; 送断码，障碍物在左前LCALLDEL05SCLRP1.6RETYQ:CJNEA,#02H,ZQ1 ; A等于02H吗？不相等跳转到正前MOVP0,#25HSETBP1.5SETBP1.6SETBP1.7 ; 送断码，障碍物在右前LCALLDEL05SCLRP1.4RET ZQ1:MOVP0,#0DHSETBP1.5SETBP