飛思卡爾智能車(chē)-西北工業(yè)大學(xué)一隊(duì)技術(shù)報(bào)告-資料下載頁(yè)
2025-04-11 23:05本頁(yè)面
【正文】 NORMAL NORMAL LDAA CHECKR ADDA $08 STAA CHECKR BLANK LDAA $FF LDX BKM_P STAA X LDX BKM_P INX STX BKM_P LDD LINE_P SUBD $40 STD LINE_P LDAA $00 STAA CHECKL STAA PNUM LDAA $3F STAA CHECKR JMP NEXT_LINE。舵機(jī)，電機(jī)控制BKM_FINISH LDAA $42 STAA PWMDTY7 LDD $291A STD BKM_P LDX BKM_PJUDGE LDAB X CMPB $FF BNE EFFECT INC BLANKCNT LDAA $19 CMPA BLANKCNT LBEQ AGAIN DEX BRA JUDGE EFFECT 。 INCB LDAA $2F MUL STD RESULT LDD $1774 SUBD RESULT STAA PWMDTY0 STAB PWMDTY CPD $10A9 BLO NOA CPD $127F BHI NOA LDAA $44 STAA PWMDTY7 JMP AGAIN NOA CPD $0CCE BLO AVERAGE CPD $165A BHI AVERAGE LDAA $42 STAA PWMDTY7AVERAGE LDAA $42 STAA PWMDTY7 JMP AGAIN 。****************************************************************************** 中斷程序 。******************************************************************************。*********************************************** TIMER0 中斷程序 TC0INT LDAA $00 STAA TIE LDAA $FF STAA TFLG1 LDAA $40 STAA PIFJ LDAA $40 STAA PIEJ RTI 。*****************************************************XINT HSINT LDAA $00 STAA PIEJ INC L_CNT STD TC1 LDAA $02 STAA TIE JMP NOF HFULL LDAA $01 STAA FINISH LDAA $00 STAA L_CNT 。 NOF RTI 。***************************************************TIMER1 中斷程序 TC1INT LDAA $00 STAA TIE LDAA $FF STAA TFLG1 LDX SEC_PSAMPLE LDAA PORTA ANDA $01 STAA X INX INC P_CNT LDAA P_CNT CMPA $40 BNE SAMPLE LDD SEC_P ADDD $0040 STD SEC_P LDD TCNT ADDD $0480 STD TC2 LDAA $04 STAA TIE RTI 。***************************************************TIMER2中斷程序 TC2INT LDAA $00 STAA TIE LDAA $FF STAA TFLG1 LDAA $40 STAA PIFJ LDAA $40 STAA PIEJ RTI。************************************************************** Interrupt Vectors 。************************************************************** ORG $EFEE fdb TC0INT 。 timer0 ORG $EFCE fdb HSINT 。 PORT J ORG $EFEC fdb TC1INT 。 timer1 ORG $EFEA fdb TC2INT 。timer2 ORG $EFFE fdb ENTRY 。 Reset
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鄂ICP備17016276號(hào)-1