motor.lst

串口控制8路舵机程序,本程序适用于III型实验板

C51 COMPILER V7.06   MOTOR                                                                 08/10/2007 13:26:45 PAGE 1   


C51 COMPILER V7.06, COMPILATION OF MODULE MOTOR
OBJECT MODULE PLACED IN Motor.obj
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE Motor\Motor.c BROWSE DEBUG OBJECTEXTEND PRINT(.\Motor.lst) OBJECT(Motor.obj
                    -)

stmt level    source

   1          #include "at89x52.h"
   2          #include "Sound\Sound.h"
   3          #include "Series\Series.h"
   4          #include "Motor.h"
   5          
   6          //8个舵机转动度数
   7          uint MotorAngle[8]={0xf524,0xf524,0xf524,0xf524,0xf524,0xf524,0xf524,0xf524};
   8          
   9          //接收到的舵机控制数组 分别为位选，度数高字节，度数低字节,转动脉冲周期数
  10          uchar MotorCtrl[4]={0x00,0xf5,0x53,0x11}; 
  11          
  12          //舵机角度数据最大最小值
  13          #define MaxAngleValue 0xfc48
  14          #define MinAngleValue 0xee00
  15          
  16          /********************************************************************************
  17          名称：void SetMotorCtrl(uchar MotorCtrlInfo[4])
  18          功能：设置控制舵机信息
  19          ********************************************************************************/
  20          void SetMotorCtrl(void)
  21          {
  22   1              uint MotorAngleTmp=0x0000;
  23   1              MotorAngleTmp=MotorCtrl[1];
  24   1              MotorAngleTmp<<=8;
  25   1              MotorAngleTmp+=MotorCtrl[2];
  26   1          if((MotorAngleTmp>MaxAngleValue)||(MotorAngleTmp<MinAngleValue)||(MotorCtrl[0]>0x07))
  27   1              {
  28   2                  //CommSendString("Data Error!\n");
  29   2              Sound();
  30   2              }
  31   1              else
  32   1              {
  33   2                      MotorAngle[MotorCtrl[0]]=MotorAngleTmp;//保存舵机控制信息
  34   2                      //CommSendString("Data Right!\n"); //发送测试成功字符串
  35   2              }
  36   1      }
  37          
  38          /********************************************************************************
  39          名称：long MotorCtrlInfoToL(uchar MotorCtrlInfo[4])
  40          功能：把舵机控制信息组合成long型数据,用于数码管显示
  41          ********************************************************************************/
  42          long MotorCtrlInfoToL(void)
  43          {       
  44   1          long ComTmp=0x00000000;
  45   1              uchar InfoIndex=0x00;
  46   1              for(InfoIndex=0x00;InfoIndex<0x03;InfoIndex++)
  47   1              {
  48   2              ComTmp+=MotorCtrl[InfoIndex];
  49   2                      ComTmp<<=8;
  50   2              }
  51   1              ComTmp+=MotorCtrl[InfoIndex];
  52   1              return ComTmp;
  53   1      }

C51 COMPILER V7.06   MOTOR                                                                 08/10/2007 13:26:45 PAGE 2   


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    171    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =     20       6
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


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