【正文】 Include“” ；ATmega8535器件配置文件頭Include“”org $000 ；復(fù)位地址 rjmp resetl ；跳過中斷區(qū)org $030 ；主程序首址resetl:ldi r17, $02 ；置棧指針，8535的內(nèi)建值為$025fldi r16, $5fout sph, r17our spl, r16shiyanl: ；I/O口初始化 ldi r16, $ff out ddra, r16 out porta, r16 out ddrb, r16 out portb, r16 out ddrc, r16 out portc, r16 out ddrd, r16 out portd, r16 ldi r22,249 ldi r17,$Af ；（0b 1 0 1 0 1111=0xaf）機器人直行 ；（0b 0 1 0 1 1111=0x5f）機器人倒退 ；（0b 1 0 1 1 1111=0xbf）機器人以右輪為中心順時針轉(zhuǎn) ；（0b 1 1 1 0 1111=0xef）機器人以左輪為中心逆時針轉(zhuǎn) ；（0b 1 0 0 1 1111=0x9f）機器人以原地順時針轉(zhuǎn) ；（0b 0 1 1 0 1111=0x6f）機器人以原地逆時針轉(zhuǎn) out portd, r17 rcall delay ；調(diào)用延時子程序 ldi r17,$ff ；（0b 1111 1111）電機停 out portd, r17startl: rjmp startl ；等待delay: push r22dell: push22del2: push22del3: decr22 brne del3 pop r22 dec r22brne del2pop r22dec r22brne el1pop r22ret[實驗二] 測試機器人前進、倒退循環(huán)include“”include“” ；ATmega8535器件配置文件頭org $000 ；復(fù)位地址 rjmp reset1 ；跳過中斷區(qū)org $030 ；主程序首址resdt1: ldi r17,$02 ；置棧指針，8535的內(nèi)建值為$025f ldi r16,$5f out sph,r17 out spl,r16shiyan1: ；I/O口初始化 ldi r16,$ff out ddra,r16 out porta,r16 out ddrb,r16 out portb,r16 out ddrc,r16 out portc,r16 out ddrd,r16 out portd,r16 ldi r22,249start1: ldi r17,$af ；（0b 1 0 1 0 1111=0xaf）機器人直行 ；（0b 0 1 0 1 1111=0x5f）機器人倒退 out portd,r17 ；機器人前進運動 rcall delay ；調(diào)用延時子程序 out portd,r16 ；停，為了轉(zhuǎn)換減速，保護電機驅(qū)動電路 rcall delay ；調(diào)用延時子程序 ldi r17,$5f out portd,r17 ；機器人倒退 rcall delay ；調(diào)用延時子程序 out portd,r16 ；停，為了轉(zhuǎn)換減速，保護電機驅(qū)動電路 rcall delay ；調(diào)用延時子程序 rjmp start1 ；循環(huán)附錄2懸崖機器人的總程序:.include “e\program\include\” ；器件配置文件；.include “e:program\include\” ；器件配置文件.equ toneconst = $60；. equ toneconst + 1 = $61 .equ sound_add = $62；.equ sound_add +1 = $63.equ rst_time = $6c；.equ rst_time +1 = $6d.equ work_status = $70.equ gzsl = $71.equ t0_times = $72.equ sw_in = $73.equ remote_in = $74.equ mic_in = $75.equ timers = $76.equ pa_value = $79.equ pc_value = $7b.equ temp = $80.equ temp1 = $81；*********************************************.eseg.org $001sound: ；/樂曲數(shù)據(jù)表.db 0x25,0x28,0x2A,0x4A,0x29,ox28,0x48,0x28.db 0x26,0x46,0x28,0x45,0x25,ox28,0x2A,0x4A.db 0x29,0x28,0x48,0x28,0x29,ox49,0X2A,0x49.db 0x40,0x2A,0x4A,0x2B,0x4c,ox40,0x3D,0x1D.db 0x2D,0x2D,0x4C,0x40,0x2A,ox4A,0x2C,0X48.db 0x28,0x2A,0x29,0x46,ox25,0x48,0x40,0X40.db 0x2a,0x2a,0x4a,0x2a,0x2a,ox4a,0x4a,0x2c,0x28,0x29.db 0x4a,0x4a,0x2b,0x2b,0x2b,ox2b,0x2b,0x2a,0x2a,0x2a.db 0x2a,0x29,0x29,0x28,0x49,ox4c,0x2a,0x2a,0x4a,0x2a.db 0x2a,0x4a,0x2a,0x2c,0x28,ox29,0x4a,0x4a,0x2b,0x2b.db 0x2b,0x2b,0x2b,0x2a,0x2a,ox2a,0x2c,0x2c,0x2b,0x29.db 0x48,0x28.db 0x4a,0x2a,0x29,0x28,0x29,0x28,0x27,0x46,0x46,0x46.db 0x46,0x4b,0x2b,0x2a,0x29,0x28,0x29,0x2b,0x4a,0x4a.db 0x4a,0x4b,0x2b,0x2a,0x49,0x29,0x2b,0x4a,0x2a,0x28.db 0x46,0x48,0x47,0x4a,0x29,0x28,0x27,0x28,0x46,0x46.db 0x46,0x46,0x4a,0x2a,0x29,0x28,0x29,0x28,0x27,0x46 .db 0x46,0x46,0x46,0x4b,0x2b,0x2a,0x29,0x28,0x29,0x2b.db 0x4a,0x4a,0x4a,0x4b,0x2b,0x2a,0x49,0x29,0x2b,0x4a.db 0x2a,0x28,0x46,0x48,0x47,0x4a,0x29,0x28,0x27,0x28.db 0x46,0x46,0x46,0x46 .db 0x43,0x43,0x45,0x49,0x49,0x49,0x48,0x48,0x45,0x44.db 0x44,0x44,0x43,0x43,0x43,0x43,0x44,0x45,0x46,0x46.db 0x46,0x45,0x45,0x45,0x43,0x43,0x45,0x49,0x49,0x49.db 0x48,0x48,0x45,0x44,0x44,0x44,0x43,0x43,0x45,0x45.db 0x46,0x47,0x48,0x48,0x48,0x48,0x48,0x48,0x49,0x49.db 0x45,0x47,0x46,0x45,0x43,0x43,0x45,0x48,0x48,0x48.db 0x46,0x46,0x48,0x49,0x49,0x48,0x47,0x47,0x47,0x45.db 0x45,0x45,0x43,0x43,0x45,0x49,0x49,0x49,0x48,0x48.db 0x45,0x44,0x44,0x44,0x43,0x43,0x45,0x45, 0x46,0x47.db 0x48,0x48,0x48,0x48,0x40,0x40.db 0x45,0x48,0x4a,0x4a,0x4a,0x4a,0x4a,0x4a,0x49,0x4a.db 0x49,0x48,0x48,0x48,0x48,0x48,0x45,0x48,0x4a,0x4a.db 0x48,0x4a,0x4c,0x4c,0x4b,0x48,0x49,0x49,0x49,0x49.db 0x49,0x4c,0x4b,0x4a,0x4a,0x4a,0x49,0x48,0x48,0x49.db 0x4a,0x4c,0x4b,0x4b,0x4b,0x4b,0x4b,0x46,0x46,0x45.db 0x45,u0x45,0x47,0x48,0x49,0x49,0x4a,0x49,0x48,0x48.db 0x48,0x48,0x48,0x48.db 0x00,0x00；**************************.cseg.org $ 000 rjmp main ；跳轉(zhuǎn)主程序.org OVFladdr rjmp timerl_ovf_isr ；定時器1溢出中斷處理程序.org OVFladdr rjmp timer0_ovf_isr ；定時器0溢出中斷處理程序t0_ovf_13: ldi R24,4000 ldi R25,1 lds R2,rst_time lds R3,rst_time+1 cp R24,R2 cpc R25,R3 brsh t0_ovf_15 ；rst_time400 ldi R24,255 ；rst_time400,熄滅PA口的指示燈out PORTA,R24 rcall watchdog_init ；調(diào)用看門狗初始化子程序 t0_ovf_14: rjmp t0_ovf_14 ；等待看門狗復(fù)位t0_ovf_15： lds R24,gzsl ；根據(jù)gzsl的內(nèi)容來判斷執(zhí)行什么程序 cpi R24,136 brne t0_ovf_17 ；gzsl！= 136跳轉(zhuǎn) lds R24,to_times ；gzsl=136時執(zhí)行的程序 cpi R24,10 ；判斷to