单片机小车调速程序.docx

单片机小车调速程序.docx

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单片机小车调速程序

;/********伪指令********/按键控制小车调速

ORG0000H

SJMPMAIN1

ORG0013H

LJMPZD

ORG0030H

MAIN1:

LCALLPWM

MAIN:

SETBEA

SETBEX1

SETBIT1

SJMP$

ZD:

PUSHACC

PUSH04H

PUSH05H

PUSH06H

MOVA,P2

ANLA,#0F0H

CJNEA,#70H,PD1

LCALLQJ

SJMPJS

PD1:

CJNEA,#0B0H,PD2

LCALLHT

SJMPJS

PD2:

CJNEA,#0D0H,PD3

LCALLZZ

SJMPJS

PD3:

CJNEA,#0E0H,JS

LCALLYZ

JS:

POP06H

POP05H

POP04H

POPACC

RETI

DEL05S:

MOVR4,#10

D3:

MOVR5,#200

D4:

MOVR6,#124

DJNZR6,$

DJNZR5,D4

DJNZR4,D3

RET

PWM:

MOVCMOD,#04H

MOVTMOD,#02H

MOVTH0,#130

MOVTL0,#130

SETBTR0

RET

TZ:

MOVCCON,#00H

SETBP1.4

SETBP1.5

SETBP1.6

SETBP1.7

MOVCCAPM1,#00H

MOVCCAPM2,#00H

MOVCCAPM3,#00H

MOVCCAPM4,#00H

RET

QJ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#100

MOVCCAP4H,#100

MOVCCON,#40H

RET

ZZ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#50

MOVCCAP4H,#100

MOVCCON,#40H

RET

YZ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#100

MOVCCAP4H,#50

MOVCCON,#40H

RET

HT:

LCALLTZ

MOVCCAPM1,#42H

MOVCCAPM3,#42H

MOVCCAP1H,#100

MOVCCAP3H,#100

MOVCCON,#40H

RET

END

拍手控制小车调速

ORG0000H

SJMPMAIN1

ORG0003H

LJMPZD

ORG0030H

MAIN1:

LCALLPWM

MAIN:

SETBEA

SETBEX0

SETBIT0

CF:

MOVR7,#0

L:

CJNER7,#0,PD1

LCALLTZ

SJMPL

PD1:

CJNER7,#1,PD2

LCALLQJ

SJMPL

PD2:

CJNER7,#2,PD3

LCALLZZ

SJMPL

PD3:

CJNER7,#3,PD4

LCALLYZ

SJMPL

PD4:

CJNER7,#4,PD5

LCALLHT

SJMPL

PD5:

CJNER7,#5,L

SJMPCF

ZD:

INCR7

RETI

DEL05S:

MOVR4,#10

D3:

MOVR5,#200

D4:

MOVR6,#124

DJNZR6,$

DJNZR5,D4

DJNZR4,D3

RET

PWM:

MOVCMOD,#04H

MOVTMOD,#02H

MOVTH0,#130

MOVTL0,#130

SETBTR0

RET

TZ:

MOVCCON,#00H

SETBP1.4

SETBP1.5

SETBP1.6

SETBP1.7

MOVCCAPM1,#00H

MOVCCAPM2,#00H

MOVCCAPM3,#00H

MOVCCAPM4,#00H

RET

QJ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#100

MOVCCAP4H,#100

MOVCCON,#40H

RET

ZZ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#50

MOVCCAP4H,#100

MOVCCON,#40H

RET

YZ:

LCALLTZ

MOVCCAPM2,#42H

MOVCCAPM4,#42H

MOVCCAP2H,#100

MOVCCAP4H,#50

MOVCCON,#40H

RET

HT:

LCALLTZ

MOVCCAPM1,#42H

MOVCCAPM3,#42H

MOVCCAP1H,#100

MOVCCAP3H,#100

MOVCCON,#40H

RET

END

定时器控制

ORG0000H

SJMPMAIN

ORG0003H

SJMPZD1

ORG001BH

SJMPZD2

ORG0030H

MAIN:

CLRF0

CLRP1.0

MOVR7,#60

MOVTH1,#60

MOVTL1,#176

MOVTMOD,#10H

SETBIT0

SETBEX0

SETBEA

SETBET1

SETBTR1

SJMP$

ZD2:

MOVTH1,#60

MOVTL1,#176

JBF0,L

LCALLSSZXZ

DJNZR7,JS

CPLF0

MOVR7,#100

RETI

L:

LCALLNSZXZ

DJNZR7,JS

CPLF0

MOVR7,#60

JS:

RETI

ZD1:

SETBP1.4

SETBP1.5

SETBP1.6

SETBP1.7

SJMP$

RETI

SSZXZ:

SETBP1.4

SETBP1.7

MOVP0,#03H

CLRP1.5

CLRP1.6

RET

NSZXZ:

SETBP1.5

SETBP1.6

MOVP0,#9FH

CLRP1.4

CLRP1.7

RET

END

秒表ORG0000H

MAIN:

MOVDPTR,#TAB

MOV30H,#00H

MOVR0,#60

NEXT:

MOV42H,30H

LCALLSZZH

MOV41H,43H

MOVR1,#100

PCH:

LCALLXS

DJNZR1,PCH;刷100次，10ms=1S

INC30H

DJNZR0,NEXT

SJMPMAIN

XS:

MOVA,30H

ANLA,#0FH

MOVCA,@A+DPTR

SETBP1.0

CLRP1.1

MOVP0,A

LCALLDEL

MOVP0,#0FFH

MOVA,30H

SWAPA;十位个位想换

ANLA,#0FH

MOVCA,@A+DPTR

SETBP1.1

CLRP1.0

MOVP0,A

LCALLDEL

MOVP0,#0FFH

RET

SZZH:

MOVA,42H

MOVR2,A

JZEXIT

CLRA

CLRC

XH:

INCA

DAA

DJNZR2,XH

EXIT:

MOV43H,A

RET

TAB:

DB03H,9FH,25H,0DH,99H,49H,41H,1FH

DB01H,09H,11H,0C1H,63H,85H,61H,71H

DEL:

MOVR7,#1;5ms

DEL2:

MOVR6,#20

DEL1:

MOVR5,#123

DEL0:

DJNZR5,DEL0

DJNZR6,DEL1

DJNZR7,DEL2

RET

END

小车障碍物检测

ORG0000H

MAIN:

;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

DJNZR0,FS/*判断10个脉冲是否发送完毕*/

CJNER1,#6,PCH

PCH:

JCZH

SETB00H;左前有障碍物

RET

ZH:

CLR00H;左前没有障碍物

RET

YB:

MOVR2,#10;右边检测子程序

MOVR3,#0

FS1:

SETBP3.7

LCALLDEL600us

JBP3.3,GB1

INCR3

GB1:

CLRP3.7

LCALLDEL600us

DJNZR2,FS1

CJNER3,#6,PCH1

PCH1:

JCZH1

SETB01H;右前有障碍物

RET

ZH1:

CLR01H;右前没有障碍物

RET

PJ:

CLRP1.0

MOVA,20H;判决子程序，，把20H单元的内容给A

ANLA,#03H;A与03H相与

CJNEA,#00H,ZQ;A等于00H吗？

不相等跳转到左边判决

MOVP0,#03H

SETBP1.4

SETBP1.6

LCALLDEL05S

CLRP1.5

CLRP1.7;给P0端送段码，障碍物没有

RET

ZQ:

CJNEA,#01H,YQ;A等于01H吗？

不相等跳转到右边判决

MOVP0,#9FH

SETBP1.4

SETBP1.5

SETBP1.7;送断码，障碍物在左前

LCALLDEL05S

CLRP1.6

RET

YQ:

CJNEA,#02H,ZQ1;A等于02H吗？

不相等跳转到正前

MOVP0,#25H

SETBP1.5

SETBP1.6

SETBP1.7;送断码，障碍物在右前

LCALLDEL05S

CLRP1.4

RET

ZQ1:

MOVP0,#0DH

SETBP1.5

SETBP1.7;送断码，障碍物在正前

LCALLDEL05S

CLRP1.6

CLRP1.4

RET

DEL600us:

MOVR4,#200/*延时600us*/

DEL4:

NOP

DJNZR4,DEL4

RET

DEL05S:

MOVR5,#10

DEL2:

MOVR6,200

DEL1:

MOVR7,123

DEL0:

NOP

DJNZR7,DEL0

DJNZR6,DEL1

DJNZR5,DEL2

RET

END