📄 totelimprove.lst
字号:
C51 COMPILER V8.02 TOTELIMPROVE 09/05/2007 21:06:37 PAGE 1
C51 COMPILER V8.02, COMPILATION OF MODULE TOTELIMPROVE
OBJECT MODULE PLACED IN totelimprove.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE totelimprove.c BROWSE DEBUG OBJECTEXTEND
line level source
1 /////////////////////////////////////
2 // COPYRIGHT RERVERED BY BUANDXIAHU //
3 /////////////////////////////////////
4
5 #include "c8051F020.h"
6 #include "intrins.h"
7 #include "CH452CMD.H" // 定义常用命令码及外部子程序
8 #include "pin.h"
9 #include "math.h"
10 #include "key_display.h"
11
12
13 //定义端口
14 sbit LEDG = P3^4;
15 sbit BACK = P0^4;
16 sbit START = P0^5;
17 sbit SPOKER = P0^6;
18 sbit IN0 = P1^1;//左
19 sbit IN1 = P1^3;//中
20 sbit IN2 = P1^0;//右
21 //sbit IN3 = P1^5;//斜右
22 //sbit IN4 = P1^2;//斜左
23 sbit IN5 = P1^2;//正面左
24 sbit IN6 = P1^6;//正面右
25 sbit LASTS = P1^4;
26 sbit LASTB = P1^5;
27
28 //定义全局变量
29 ulong xdata data0[15]; //存储AD进来的数再进行运算
30 ulong avge=0,avge0=0; //avge为每30次的AD平均值 avge0为一开始的标准值
31 uchar time1=0,time2=0,counter1=0,counter2=0; //定时器0，1的标志位
32 uchar a,bb,c,d,e,f,g,right,left; //各红外传感器的输入值
33 uchar forward=0,black=0,keykey=0,backward=0,xianshi=1; //各段程序的标志位
34 uchar T0_OF=0,min=0,sec=0; //T0_OF时T0溢出次数 ,t_n=0
35 uchar stage_sec=0,stage_clk_flag=0; //stage_clk_flag为1是阶段计时标志位.不用stage_min
36 uchar transform=1; //1，2两程序互换
37 uchar chazhi; //键盘控制差值
38 // Peripheral specific initialization functions,
39 // Called from the Init_Device() function
40
41
42 void Port_IO_Init()
43 {
44 1 // P0.0 - CEX0 (PCA), Open-Drain, Digital
45 1 // P0.1 - CEX1 (PCA), Open-Drain, Digital
46 1 XBR0 = 0x10; /*CEX0-->P0.0,CEX1-->P0.1*/
47 1 XBR2 = 0x40;
48 1 }
49
50 void Interrupts_Init()
51 {
52 1
53 1 IE = 0x0A; //使能定时器1中断//使能定时器0中断
54 1 IP = 0x02; //使定时器1,0优先级高
55 1 EIE1 = 0x08; //使能PCA0中断
C51 COMPILER V8.02 TOTELIMPROVE 09/05/2007 21:06:37 PAGE 2
56 1 EIE2 = 0x20; //使能外部键盘中断
57 1 EIP2 = 0x20; //使外部键盘优先级高
58 1
59 1 }
60
61 // Initialization function for device,
62 // Call Init_Device() from your main program
63 void Init_Device(void)
64 {
65 1 Reset_Sources_Init();
66 1 ADC_Init();
67 1 PCA_Init();
68 1 Timer_Init();
69 1 Oscillator_Init();
70 1 Voltage_Reference_Init();
71 1 Port_IO_Init();
72 1 Interrupts_Init();
73 1 }
74 void speedchange(uchar duty,uchar i)
75 {
76 1 if(i==0) PCA0CPH0 =(uchar)((100-duty)*2.56); //把duty值转换，赋值给控制占空比的寄存器
77 1 if(i==1) PCA0CPH1=(uchar)((100-duty)*2.56);
78 1 }
79 ulong pingjun (void)
80 { uchar i;
81 1 ulong avgad1=0,avgad=0,state=0;
82 1 state=AD_IN();
83 1 for(i=0;i<15;i++)
84 1 {
85 2 data0[i]=state;
86 2 avgad+=data0[i];
87 2 }
88 1 avgad=avgad/15;
89 1 for(i=0;i<15;i++)
90 1 {
91 2 data0[i]=state;
92 2 avgad1+=data0[i];
93 2 }
94 1 avgad1=avgad1/15;
95 1 avge=(avgad+avgad1)/4;
96 1 return(avge);
97 1 }
98 void stage_clk_start()
99 {
100 1 CH452_Write(CH452_TWINKLE);
101 1 DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;DELAY_1US;
102 1 stage_clk_flag=1;
103 1 stage_sec=0;
104 1 CH452_Write(CH452_DIG4);
105 1 CH452_Write(CH452_DIG5 | 16);
106 1 }
107 /****精确秒延时****/
108 void delay_s(uchar n)
109 { unsigned char i,j;
110 1 for(i=0;i<200;i++)
111 1 for(j=0;j<25*n;j++)
112 1 {
113 2 DELAY_10US;
114 2 DELAY_10US;
115 2 DELAY_10US;
116 2 DELAY_10US;
117 2 DELAY_10US;
C51 COMPILER V8.02 TOTELIMPROVE 09/05/2007 21:06:37 PAGE 3
118 2 DELAY_10US;
119 2 DELAY_10US;
120 2 DELAY_10US;
121 2 DELAY_10US;
122 2 DELAY_10US; //100us
123 2 }
124 1
125 1
126 1 }
127 void judgement (uchar modi,uchar modi1,uchar dem)
128 {
129 1 uchar i;
130 1 if((a&&bb==0&&c==0)||(a&&bb&&c==0))
131 1 { left=1;
132 2 right=0;
133 2 speedchange(modi1,1);
134 2 speedchange(modi,0);
135 2 delayms(dem);
136 2 }
137 1 else if((a==0&&bb==0&&c)||(a==0&&bb&&c))
138 1 {
139 2 left=0;
140 2 right=1;
141 2 speedchange(modi1,0);
142 2 speedchange(modi,1);
143 2 delayms(dem);
144 2 }
145 1 else if(a==0&&bb&&c==0)
146 1 {
147 2 left=0;
148 2 right=0;
149 2 speedchange(modi,0);
150 2 speedchange(modi,1);
151 2 delayms(dem);
152 2 }
153 1 else if(a&&bb&&c) //停止&&(d||e)
154 1 {
155 2
156 2 START=0;
157 2 LASTS=1;
158 2 forward=0;
159 2 stage_clk_flag=0;//stage_clk_stop();显示平衡后前进的时间
160 2 CH452_Write(CH452_DIG0|11);
161 2 CH452_Write(CH452_TWINKLE | 0x31);
162 2 for(i=5;i>0;i--)
163 2 {
164 3 CH452_Write(CH452_DIG7 | i);
165 3 SPOKER=1;
166 3 delay_s(1);
167 3 SPOKER=0;
168 3 delay_s(1);
169 3 }
170 2 CH452_Write(CH452_DIG7);
171 2 stage_clk_start();
172 2 CH452_Write((CH452_DIG0)|16);
173 2 if(transform==1)
174 2 {
175 3 forward=0;
176 3 black=0;
177 3 keykey=0;
178 3 xianshi=0;
179 3 backward=1;
C51 COMPILER V8.02 TOTELIMPROVE 09/05/2007 21:06:37 PAGE 4
180 3 }
181 2 }
182 1 else //if (a==0&&bb==0&&c==0)
183 1 {
184 2 if(left==1)
185 2 {
186 3 speedchange(modi1,0);
187 3 speedchange(modi,1); }
188 2 else if(right==1)
189 2 {
190 3 speedchange(modi,0);
191 3 speedchange(modi1,1);}
192 2 else
193 2 {
194 3 speedchange(modi,0);
195 3 speedchange(modi,1);}
196 2 delayms(dem);
197 2 }
198 1 }
199 void judgementback (uchar modi,uchar modi1,uchar dem)
200 {
201 1 if(stage_sec>32)
202 1 {
203 2 START=0;
204 2 LASTS=1;
205 2 stage_clk_flag=0;//stage_clk_stop();
206 2 CH452_Write(CH452_DIG0|10);
207 2 CH452_Write(CH452_TWINKLE | 0x31);
208 2 TR0=0;
209 2 forward=0;
210 2 black=0;
211 2 keykey=0;
212 2 backward=0;
213 2 xianshi=0;
214 2 }
215 1 if(f==1&&g==0)
216 1 {
217 2 speedchange(modi1,1);
218 2 speedchange(modi,0);
219 2
220 2 }
221 1 else if(f==0&&g==1)
222 1 {
223 2 speedchange(modi,1);
224 2 speedchange(modi1,0);
225 2
226 2 }
227 1 else //if(f==0&&g==0)
228 1 {
229 2 speedchange(modi,1);
230 2 speedchange(modi,0);
231 2 }
232 1
233 1 delayms(dem);
234 1 }
235
236
237 void main(void)
238 {
239 1 uchar chazhi1;
240 1 Init_Device();
241 1 CH452_Init(); /* CH452初始化 */
C51 COMPILER V8.02 TOTELIMPROVE 09/05/2007 21:06:37 PAGE 5
242 1 LEDG=0;
243 1 SPOKER=0;
244 1 forward=0,
245 1 black=0,
246 1 keykey=0,
247 1 backward=0,
248 1 xianshi=1;
249 1 IN0=1;
250 1 IN1=1;
251 1 IN2=1;
252 1 //IN3=1;
253 1 //IN4=1;
254 1 IN5=1;
255 1 IN6=1;
256 1 START=0;
257 1 LASTS=1;
258 1 LASTB=0;
259 1 time1=1;
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -