📄 pheng.lst
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C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 1
C51 COMPILER V7.07, COMPILATION OF MODULE PHENG
OBJECT MODULE PLACED IN pheng.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE pheng.c BROWSE DEBUG OBJECTEXTEND
stmt level source
1 #include<reg51.h>
2 #include<xunji.c>
*** ERROR C202 IN LINE 4 OF XUNJI.C: 'b': undefined identifier
*** ERROR C202 IN LINE 5 OF XUNJI.C: 'p1_0': undefined identifier
*** ERROR C202 IN LINE 6 OF XUNJI.C: 'p1_1': undefined identifier
*** ERROR C202 IN LINE 7 OF XUNJI.C: 'p1_3': undefined identifier
*** ERROR C202 IN LINE 8 OF XUNJI.C: 'p1_4': undefined identifier
*** ERROR C202 IN LINE 9 OF XUNJI.C: 'a': undefined identifier
*** ERROR C202 IN LINE 14 OF XUNJI.C: 'b': undefined identifier
*** ERROR C202 IN LINE 15 OF XUNJI.C: 'p1_0': undefined identifier
*** ERROR C202 IN LINE 16 OF XUNJI.C: 'p1_1': undefined identifier
*** ERROR C202 IN LINE 17 OF XUNJI.C: 'p1_3': undefined identifier
*** ERROR C202 IN LINE 18 OF XUNJI.C: 'p1_4': undefined identifier
*** ERROR C202 IN LINE 19 OF XUNJI.C: 'a': undefined identifier
*** ERROR C202 IN LINE 25 OF XUNJI.C: 'b': undefined identifier
*** ERROR C202 IN LINE 26 OF XUNJI.C: 'p1_0': undefined identifier
*** ERROR C202 IN LINE 27 OF XUNJI.C: 'p1_1': undefined identifier
*** ERROR C202 IN LINE 28 OF XUNJI.C: 'p1_3': undefined identifier
*** ERROR C202 IN LINE 29 OF XUNJI.C: 'p1_4': undefined identifier
*** ERROR C202 IN LINE 30 OF XUNJI.C: 'a': undefined identifier
*** ERROR C202 IN LINE 34 OF XUNJI.C: 'b': undefined identifier
*** ERROR C202 IN LINE 35 OF XUNJI.C: 'p1_0': undefined identifier
*** ERROR C202 IN LINE 36 OF XUNJI.C: 'p1_1': undefined identifier
*** ERROR C202 IN LINE 37 OF XUNJI.C: 'p1_3': undefined identifier
*** ERROR C202 IN LINE 38 OF XUNJI.C: 'p1_4': undefined identifier
*** ERROR C202 IN LINE 39 OF XUNJI.C: 'a': undefined identifier
*** ERROR C202 IN LINE 43 OF XUNJI.C: 'p2_0': undefined identifier
*** ERROR C202 IN LINE 44 OF XUNJI.C: 'p2_0': undefined identifier
*** ERROR C202 IN LINE 46 OF XUNJI.C: 'p2_0': undefined identifier
*** ERROR C202 IN LINE 51 OF XUNJI.C: 'p2_2': undefined identifier
*** ERROR C202 IN LINE 52 OF XUNJI.C: 'p2_2': undefined identifier
*** ERROR C202 IN LINE 54 OF XUNJI.C: 'p2_0': undefined identifier
*** ERROR C202 IN LINE 59 OF XUNJI.C: 'p2_1': undefined identifier
*** ERROR C202 IN LINE 64 OF XUNJI.C: 'p2_0': undefined identifier
*** ERROR C202 IN LINE 66 OF XUNJI.C: 'a': undefined identifier
3
4 void pheng()
5 {if(phzt==0)
*** ERROR C202 IN LINE 5 OF PHENG.C: 'phzt': undefined identifier
6 1 if(p2_4==0||(p2_3&&p2_5))//平衡了
*** ERROR C202 IN LINE 6 OF PHENG.C: 'p2_4': undefined identifier
7 1 { TC=1; //准备电机运行
*** ERROR C202 IN LINE 7 OF PHENG.C: 'TC': undefined identifier
8 2 if(cf)
*** ERROR C202 IN LINE 8 OF PHENG.C: 'cf': undefined identifier
9 2 cfsj=cfsj+3;
*** ERROR C202 IN LINE 9 OF PHENG.C: 'cfsj': undefined identifier
10 2 tz++; //停止状态次数累加
*** ERROR C202 IN LINE 10 OF PHENG.C: 'tz': undefined identifier
11 2 fy=0; //可能进入平衡态,不需电机转动,反应参数清零
*** ERROR C202 IN LINE 11 OF PHENG.C: 'fy': undefined identifier
12 2
13 2 if(cf==0&&tz>=100)//若无冲锋信号,平衡状态>100,跷跷板翻滚次数置到最大
*** ERROR C202 IN LINE 13 OF PHENG.C: 'cf': undefined identifier
14 2 cs=8; //直接进入微调
C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 2
*** ERROR C202 IN LINE 14 OF PHENG.C: 'cs': undefined identifier
15 2 if(cf==0&&tz>=5)//若无冲锋号,则可以进入平衡状态
*** ERROR C202 IN LINE 15 OF PHENG.C: 'cf': undefined identifier
16 2 { if(tz>=300)
*** ERROR C202 IN LINE 16 OF PHENG.C: 'tz': undefined identifier
17 3 tz=300; //停止态标志置到最大
*** ERROR C202 IN LINE 17 OF PHENG.C: 'tz': undefined identifier
18 3 ph++; //平衡态系数自加1
*** ERROR C202 IN LINE 18 OF PHENG.C: 'ph': undefined identifier
19 3 if(tz>=100)
*** ERROR C202 IN LINE 19 OF PHENG.C: 'tz': undefined identifier
20 3 {qj=10;ht=10;
*** ERROR C202 IN LINE 20 OF PHENG.C: 'qj': undefined identifier
*** ERROR C202 IN LINE 20 OF PHENG.C: 'ht': undefined identifier
21 4 }
22 3 if(ph>=3)
*** ERROR C202 IN LINE 22 OF PHENG.C: 'ph': undefined identifier
23 3 bc=0;
*** ERROR C202 IN LINE 23 OF PHENG.C: 'bc': undefined identifier
24 3 if(ph>=12&&setnumber>4)//若平衡态系数>=10,则前进、后退系数初值置为10,使其判断时间加长
*** ERROR C202 IN LINE 24 OF PHENG.C: 'ph': undefined identifier
25 3 {tz=tz+10;
*** ERROR C202 IN LINE 25 OF PHENG.C: 'tz': undefined identifier
26 4 ph=0;
*** ERROR C202 IN LINE 26 OF PHENG.C: 'ph': undefined identifier
27 4 setnumber--;}
*** ERROR C202 IN LINE 27 OF PHENG.C: 'setnumber': undefined identifier
28 3 if(ph>=500)//若平衡系数>=500,已经平衡.关闭中断,显示当前时间
*** ERROR C202 IN LINE 28 OF PHENG.C: 'ph': undefined identifier
29 3 phzt=1;
*** ERROR C202 IN LINE 29 OF PHENG.C: 'phzt': undefined identifier
30 3 if(ph>=2&&fdd<=30)
*** ERROR C202 IN LINE 30 OF PHENG.C: 'ph': undefined identifier
31 3 //防抖动参数,逐渐增加,加长判断时间
32 3 fdd=fdd+1;
*** ERROR C202 IN LINE 32 OF PHENG.C: 'fdd': undefined identifier
33 3 }//增大防抖动参数
34 2 TC=0;//关闭电机
*** ERROR C202 IN LINE 34 OF PHENG.C: 'TC': undefined identifier
35 2 fx=0;//方向为无
*** ERROR C202 IN LINE 35 OF PHENG.C: 'fx': undefined identifier
36 2 p1_2=1;//关闭电机使能
*** ERROR C202 IN LINE 36 OF PHENG.C: 'p1_2': undefined identifier
37 2 p1_5=1;//关闭电机使能
*** ERROR C202 IN LINE 37 OF PHENG.C: 'p1_5': undefined identifier
38 2 }
39 1
40 1 else if((p2_3==0||phzt==4)&&phzt!=2)//前倾了
*** ERROR C202 IN LINE 40 OF PHENG.C: 'p2_3': undefined identifier
41 1
42 1 { if(cf)
*** ERROR C202 IN LINE 42 OF PHENG.C: 'cf': undefined identifier
43 2 cfsj=cfsj+4;
*** ERROR C202 IN LINE 43 OF PHENG.C: 'cfsj': undefined identifier
44 2 fy++; //反应系数自加一
*** ERROR C202 IN LINE 44 OF PHENG.C: 'fy': undefined identifier
45 2 if(phzt==4)
*** ERROR C202 IN LINE 45 OF PHENG.C: 'phzt': undefined identifier
46 2 ht=fdd*qj; /****************还需要加程序********************/////////////////////////////////////////
*** ERROR C202 IN LINE 46 OF PHENG.C: 'ht': undefined identifier
47 2 if(fy>=50&&cf)//若在冲锋,等待反应系数到100时,自动退出冲锋状态
*** ERROR C202 IN LINE 47 OF PHENG.C: 'fy': undefined identifier
C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 3
48 2 { cf=0;
*** ERROR C202 IN LINE 48 OF PHENG.C: 'cf': undefined identifier
49 3 fy=0;
*** ERROR C202 IN LINE 49 OF PHENG.C: 'fy': undefined identifier
50 3 bc=1;
*** ERROR C202 IN LINE 50 OF PHENG.C: 'bc': undefined identifier
51 3 setnumber=5; //通过PWM调节前进的速度
*** ERROR C202 IN LINE 51 OF PHENG.C: 'setnumber': undefined identifier
52 3 }
53 2 else if(!cf&&bc==0)//若没有冲锋,当防抖动系数<=15时,直接使后退参数满足后退条件
*** ERROR C202 IN LINE 53 OF PHENG.C: 'cf': undefined identifier
54 2 ht=fdd*qj;
*** ERROR C202 IN LINE 54 OF PHENG.C: 'ht': undefined identifier
55 2 ht++; //后退（前倾）参数自加一。
*** ERROR C202 IN LINE 55 OF PHENG.C: 'ht': undefined identifier
56 2 TC=1; //打开电电机
*** ERROR C202 IN LINE 56 OF PHENG.C: 'TC': undefined identifier
57 2 if(fy>=250)//若反应参数到200则自动对前进后退参数,自动置一
*** ERROR C202 IN LINE 57 OF PHENG.C: 'fy': undefined identifier
58 2 {fy=0;
*** ERROR C202 IN LINE 58 OF PHENG.C: 'fy': undefined identifier
59 3 qj=1;
*** ERROR C202 IN LINE 59 OF PHENG.C: 'qj': undefined identifier
60 3 ht=1;}
*** ERROR C202 IN LINE 60 OF PHENG.C: 'ht': undefined identifier
61 2 if(fy>=333&&tz<=4)
*** ERROR C202 IN LINE 61 OF PHENG.C: 'fy': undefined identifier
62 2 tz=0;
*** ERROR C202 IN LINE 62 OF PHENG.C: 'tz': undefined identifier
63 2 if(ht>=fdd*qj&&(tz>=10)&&cf==0)//防平衡器抖动；
*** ERROR C202 IN LINE 63 OF PHENG.C: 'ht': undefined identifier
64 2 { ph=0;//电机启动,平衡态系数,自动归零
*** ERROR C202 IN LINE 64 OF PHENG.C: 'ph': undefined identifier
65 3 fx=1;//方向为后
*** ERROR C202 IN LINE 65 OF PHENG.C: 'fx': undefined identifier
66 3 for(i=0;i<=bf;i++)
*** ERROR C202 IN LINE 66 OF PHENG.C: 'i': undefined identifier
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