duoji.lst

51单片机控制产生4路标准舵机PWM（周期20ms

C51 COMPILER V7.50   DUOJI                                                                 04/07/2007 22:30:50 PAGE 1   


C51 COMPILER V7.50, COMPILATION OF MODULE DUOJI
OBJECT MODULE PLACED IN duoji.OBJ
COMPILER INVOKED BY: C:\Program Files\keil\C51\BIN\C51.EXE duoji.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          /************************************************************
   2          douji.h
   3          shaowei
   4          2006/10/20
   5          use:timer0,timer1,1k code ,61bytes data;
   6          
   7          *************************************************************/
   8          
   9          
  10          
  11          #include <REG51F.H>
  12          
  13          unsigned int tbuf[8][2];
  14          unsigned int plus[8];
  15          static unsigned char inc,i;
  16          void INIT_duoji()
  17          {
  18   1      TMOD=0x11;
  19   1      IP=0x08;
  20   1      IE|=0x0a;
  21   1      EA=1;
  22   1      i=0;
  23   1      inc=0;
  24   1      TR0=1;TR1=1;
  25   1      }
  26          void setit(unsigned char num,unsigned char degree)
  27          { num=num%7;
  28   1      degree=degree%180;
  29   1       tbuf[num][0]=65535-(5.12*degree+912.6);
  30   1         tbuf[num][1]=65535-(2000-5.12*degree-912.6);//2304
  31   1         plus[num]=1000; //give plus for 2 seconds
  32   1                
  33   1      }
  34          void int1() interrupt 1 
  35          { 
  36   1      TF0=0;
  37   1              i=i%8;
  38   1                      TH0=tbuf[i][inc]>>8;
  39   1                      TL0=tbuf[i][inc];
  40   1                      if(plus[i]){
  41   2                      
  42   2                              if(!inc)
  43   2                              {P1=P1|(0x01<<i);}                      
  44   2                              else 
  45   2                              {P1=P1&(0xff-(0x01<<i));plus[i]--;}
  46   2                              
  47   2                      }
  48   1              
  49   1                      if(inc==1){i++;inc=0;}
  50   1                      else inc=1;
  51   1                      
  52   1              
  53   1      }
  54          void int3() interrupt 3
  55          {
C51 COMPILER V7.50   DUOJI                                                                 04/07/2007 22:30:50 PAGE 2   

  56   1      
  57   1      TF1=0;
  58   1      
  59   1      TH1=0xb8;//47104>>8
  60   1      TL1=0x00;
  61   1      P1=0x00;
  62   1      i=0;
  63   1      inc=0;
  64   1      TF0=1;
  65   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    330    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =     50       2
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)