📄 followline.m51
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BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 1
BL51 BANKED LINKER/LOCATER V5.03, INVOKED BY:
E:\TOOL\KEIL\C51\BIN\BL51.EXE InitialSen.obj, FollowLine.obj, pwm_gen.obj, Sensor2.obj, Main.obj, Turn.obj, Serial.obj,
>> TwoScoreMid.obj, STARTUP.obj TO FollowLine REGFILE (.\FollowLine.ORC) RAMSIZE (256)
MEMORY MODEL: SMALL
INPUT MODULES INCLUDED:
InitialSen.obj (INITIALSEN)
FollowLine.obj (FOLLOWLINE)
pwm_gen.obj (PWM_GEN)
Sensor2.obj (SENSOR2)
Main.obj (MAIN)
Turn.obj (TURN)
Serial.obj (SERIAL)
TwoScoreMid.obj (TWOSCOREMID)
STARTUP.obj (?C_STARTUP)
E:\TOOL\KEIL\C51\LIB\C51S.LIB (?C_INIT)
LINK MAP OF MODULE: FollowLine (INITIALSEN)
TYPE BASE LENGTH RELOCATION SEGMENT NAME
-----------------------------------------------------
* * * * * * * D A T A M E M O R Y * * * * * * *
REG 0000H 0008H ABSOLUTE "REG BANK 0"
DATA 0008H 0008H UNIT ?DT?FOLLOWLINE
DATA 0010H 0006H UNIT ?DT?SENSOR2
DATA 0016H 0004H UNIT ?DT?PWM_GEN
DATA 001AH 0003H UNIT ?DT?TWOSCOREMID
DATA 001DH 0001H UNIT ?DT?_TURNLEFT?TURN
DATA 001EH 0001H UNIT ?DT?SERIAL
DATA 001FH 0001H UNIT ?DT?_TWOSCOREMIDRIGHT?TWOSCOREMID
DATA 0020H 0002H BIT_ADDR ?BA?FOLLOWLINE
BIT 0022H.0 0000H.6 UNIT ?BI?FOLLOWLINE
BIT 0022H.6 0000H.1 UNIT ?BI?MAIN
BIT 0022H.7 0000H.1 UNIT _BIT_GROUP_
DATA 0023H 0001H UNIT ?DT?_TWOSCORELEFT?TWOSCOREMID
DATA 0024H 0001H UNIT _DATA_GROUP_
IDATA 0025H 0001H UNIT ?STACK
* * * * * * * C O D E M E M O R Y * * * * * * *
CODE 0000H 0003H ABSOLUTE
0003H 0008H *** GAP ***
CODE 000BH 0002H ABSOLUTE
CODE 000DH 01B6H INBLOCK ?PR?_FOLLOWLINE?FOLLOWLINE
CODE 01C3H 01B4H INBLOCK ?PR?_FOLLOWLINEBACK?FOLLOWLINE
CODE 0377H 0153H INBLOCK ?PR?SENSORSTA?SENSOR2
CODE 04CAH 010EH INBLOCK ?PR?MAIN?MAIN
CODE 05D8H 00F5H INBLOCK ?PR?_TWOSCOREMIDRIGHT?TWOSCOREMID
CODE 06CDH 00F0H INBLOCK ?PR?_TWOSCORELEFT?TWOSCOREMID
CODE 07BDH 0025H INBLOCK ?PR?_DELAY?MAIN
CODE 07E2H 001EH INBLOCK ?PR?_MOTORRIGHT?FOLLOWLINE
CODE 0800H 00C8H INBLOCK ?PR?_TURNRIGHT?TURN
CODE 08C8H 0090H INBLOCK ?PR?_TURNLEFT?TURN
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 2
CODE 0958H 008CH UNIT ?C_C51STARTUP
CODE 09E4H 0053H INBLOCK ?PR?PWM?PWM_GEN
CODE 0A37H 004DH UNIT ?C_INITSEG
CODE 0A84H 004CH INBLOCK ?PR?UPDATESTATUS?SENSOR2
CODE 0AD0H 0022H INBLOCK ?PR?_MOTORLEFT?FOLLOWLINE
CODE 0AF2H 0018H INBLOCK ?PR?INITIAL?INITIALSEN
CODE 0B0AH 0018H INBLOCK ?PR?_SERIALOUT?SERIAL
CODE 0B22H 0012H INBLOCK ?PR?STOP?FOLLOWLINE
OVERLAY MAP OF MODULE: FollowLine (INITIALSEN)
SEGMENT BIT_GROUP DATA_GROUP
+--> CALLED SEGMENT START LENGTH START LENGTH
-----------------------------------------------------------------------------
?C_C51STARTUP ----- ----- ----- -----
+--> ?PR?MAIN?MAIN
+--> ?C_INITSEG
?PR?MAIN?MAIN ----- ----- ----- -----
+--> ?PR?_DELAY?MAIN
+--> ?PR?INITIAL?INITIALSEN
+--> ?PR?STOP?FOLLOWLINE
+--> ?PR?SENSORSTA?SENSOR2
+--> ?PR?_FOLLOWLINE?FOLLOWLINE
+--> ?PR?_TURNRIGHT?TURN
+--> ?PR?_SERIALOUT?SERIAL
+--> ?PR?_MOTORLEFT?FOLLOWLINE
+--> ?PR?_MOTORRIGHT?FOLLOWLINE
?PR?SENSORSTA?SENSOR2 ----- ----- ----- -----
+--> ?PR?UPDATESTATUS?SENSOR2
?PR?_FOLLOWLINE?FOLLOWLINE ----- ----- ----- -----
+--> ?PR?STOP?FOLLOWLINE
+--> ?PR?_DELAY?MAIN
+--> ?PR?_MOTORLEFT?FOLLOWLINE
+--> ?PR?_MOTORRIGHT?FOLLOWLINE
?PR?_MOTORLEFT?FOLLOWLINE 0022H.7 0000H.1 ----- -----
?PR?_MOTORRIGHT?FOLLOWLINE 0022H.7 0000H.1 ----- -----
?PR?_TURNRIGHT?TURN ----- ----- 0024H 0001H
+--> ?PR?_DELAY?MAIN
+--> ?PR?STOP?FOLLOWLINE
+--> ?PR?_MOTORLEFT?FOLLOWLINE
+--> ?PR?_MOTORRIGHT?FOLLOWLINE
+--> ?PR?UPDATESTATUS?SENSOR2
+--> ?PR?SENSORSTA?SENSOR2
+--> ?PR?_FOLLOWLINE?FOLLOWLINE
SYMBOL TABLE OF MODULE: FollowLine (INITIALSEN)
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 3
VALUE TYPE NAME
----------------------------------
------- MODULE INITIALSEN
C:0000H SYMBOL _ICE_DUMMY_
D:0080H PUBLIC P0
D:0090H PUBLIC P1
D:00B0H PUBLIC P3
D:00A8H PUBLIC IE
D:00B8H PUBLIC IP
B:00B8H.4 PUBLIC PS
D:0087H PUBLIC PCON
D:0098H PUBLIC SCON
D:0089H PUBLIC TMOD
D:0088H PUBLIC TCON
D:008CH PUBLIC TH0
D:008DH PUBLIC TH1
D:008AH PUBLIC TL0
D:008BH PUBLIC TL1
D:00C8H PUBLIC T2CON
C:0AF2H PUBLIC initial
D:00D0H PUBLIC PSW
------- PROC INITIAL
C:0AF2H LINE# 6
C:0AF2H LINE# 7
C:0AF2H LINE# 8
C:0AF5H LINE# 9
C:0AF7H LINE# 13
C:0AFAH LINE# 15
C:0AFDH LINE# 17
C:0B00H LINE# 18
C:0B03H LINE# 20
C:0B06H LINE# 21
C:0B09H LINE# 22
------- ENDPROC INITIAL
------- ENDMOD INITIALSEN
------- MODULE FOLLOWLINE
C:0000H SYMBOL _ICE_DUMMY_
D:0008H PUBLIC LoopLostLine2
D:0080H PUBLIC P0
B:0022H.0 PUBLIC BackAdjFlag
D:0090H PUBLIC P1
C:0AD4H PUBLIC _MotorLeft
D:00B0H PUBLIC P3
B:0020H.6 PUBLIC PreStaLineSensor1
D:00A8H PUBLIC IE
B:0020H.7 PUBLIC PreStaLineSensor2
B:0021H.6 PUBLIC CurStaLineSensor1
B:0021H.7 PUBLIC CurStaLineSensor2
D:00B8H PUBLIC IP
D:0009H PUBLIC PreRightSpeed
B:0020H.0 PUBLIC PreStaMidSensor1
B:0020H.1 PUBLIC PreStaMidSensor2
B:0021H.0 PUBLIC CurStaMidSensor1
B:0021H.1 PUBLIC CurStaMidSensor2
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 4
B:0080H.0 PUBLIC BackSensor1
B:0080H.1 PUBLIC BackSensor2
C:0B22H PUBLIC Stop
B:0022H.1 PUBLIC DirectionRight
D:000AH PUBLIC PreLeftSpeed
D:0098H PUBLIC SCON
B:0022H.2 PUBLIC DirectionLeft
D:0088H PUBLIC TCON
B:0020H.2 PUBLIC PreStaHozSensor1
B:0020H.3 PUBLIC PreStaHozSensor2
B:0021H.2 PUBLIC CurStaHozSensor1
B:0021H.3 PUBLIC CurStaHozSensor2
D:0020H PUBLIC LinePreStatus
D:000BH PUBLIC iLostLoopTime
D:0021H PUBLIC LineCurStatus
D:000CH PUBLIC LineCounterP
B:00B0H.4 PUBLIC MidSensor1
B:00B0H.5 PUBLIC MidSensor2
B:0022H.3 PUBLIC PreRightDirection
C:01C3H PUBLIC _FollowLineBack
B:0088H.4 PUBLIC TR0
B:0022H.4 PUBLIC PreLeftDirection
C:000DH PUBLIC _FollowLine
B:0022H.5 PUBLIC CounterFlag
D:00C8H PUBLIC T2CON
B:0090H.6 PUBLIC DriveRightMo1
B:0090H.7 PUBLIC DriveRightMo2
C:07E2H PUBLIC _MotorRight
B:0020H.4 PUBLIC PreStaBackSensor1
B:0020H.5 PUBLIC PreStaBackSensor2
B:0021H.4 PUBLIC CurStaBackSensor1
B:0090H.4 PUBLIC DriveLeftMo1
B:0021H.5 PUBLIC CurStaBackSensor2
B:0090H.5 PUBLIC DriveLeftMo2
D:00D0H PUBLIC PSW
D:000DH PUBLIC LoopLostLine1
D:000EH PUBLIC iFollowLineTime
C:0AD0H SYMBOL L?0075
------- PROC L?0074
------- ENDPROC L?0074
C:0AD0H SYMBOL L?0075
------- PROC _MOTORLEFT
D:0007H SYMBOL Speed
B:0022H.7 SYMBOL Direction
C:0AD4H LINE# 73
C:0AD4H LINE# 74
C:0AD4H LINE# 75
C:0AE0H LINE# 76
C:0AE0H LINE# 77
C:0AE4H LINE# 78
C:0AE8H LINE# 79
C:0AEAH LINE# 80
C:0AECH LINE# 81
C:0AEFH LINE# 82
C:0AEFH LINE# 83
C:0AF1H LINE# 85
------- ENDPROC _MOTORLEFT
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 5
------- PROC _MOTORRIGHT
D:0007H SYMBOL Speed
B:0022H.7 SYMBOL Direction
C:07E2H LINE# 86
C:07E2H LINE# 87
C:07E2H LINE# 88
C:07EEH LINE# 89
C:07EEH LINE# 90
C:07F2H LINE# 91
C:07F6H LINE# 92
C:07F8H LINE# 93
C:07FAH LINE# 94
C:07FDH LINE# 95
C:07FDH LINE# 96
C:07FFH LINE# 98
------- ENDPROC _MOTORRIGHT
------- PROC STOP
C:0B22H LINE# 100
C:0B22H LINE# 101
C:0B22H LINE# 102
C:0B24H LINE# 103
C:0B26H LINE# 104
C:0B28H LINE# 105
C:0B2AH LINE# 106
C:0B2CH LINE# 107
C:0B2DH LINE# 108
C:0B2EH LINE# 109
C:0B31H LINE# 110
C:0B33H LINE# 111
------- ENDPROC STOP
------- PROC _FOLLOWLINE
D:0002H SYMBOL Speed
------- DO
D:0001H SYMBOL iLostLoopTime
------- ENDDO
C:000DH LINE# 114
C:000FH LINE# 115
C:000FH LINE# 116
C:0011H LINE# 117
C:001CH LINE# 118
C:001CH LINE# 119
C:001EH LINE# 120
C:0024H LINE# 121
C:002CH LINE# 122
C:002DH LINE# 123
C:0035H LINE# 124
C:0036H LINE# 125
C:003CH LINE# 126
C:003EH LINE# 127
C:0044H LINE# 128
C:0049H LINE# 129
C:0049H LINE# 130
C:0055H LINE# 132
C:0055H LINE# 133
C:0056H LINE# 134
C:0056H LINE# 138
C:005CH LINE# 141
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 6
C:005CH LINE# 142
C:0063H LINE# 143
C:0064H LINE# 144
C:0066H LINE# 145
C:0066H LINE# 147
C:0068H LINE# 148
C:006EH LINE# 150
C:006EH LINE# 151
C:0076H LINE# 152
C:0077H LINE# 153
C:007AH LINE# 154
C:007AH LINE# 156
C:007CH LINE# 157
C:0082H LINE# 159
C:0082H LINE# 160
C:008AH LINE# 162
C:008BH LINE# 163
C:0091H LINE# 164
C:0091H LINE# 166
C:0093H LINE# 168
C:0093H LINE# 169
C:0095H LINE# 171
C:009AH LINE# 172
C:009AH LINE# 173
C:009DH LINE# 174
C:009DH LINE# 175
C:00A5H LINE# 176
C:00A6H LINE# 177
C:00AEH LINE# 178
C:00AFH LINE# 179
C:00B1H LINE# 181
C:00B1H LINE# 188
C:00BAH LINE# 192
C:00BAH LINE# 194
C:00BDH LINE# 195
C:00BEH LINE# 196
C:00C2H LINE# 197
C:00C3H LINE# 198
C:00C4H LINE# 199
C:00C5H LINE# 200
C:00CBH LINE# 202
C:00CDH LINE# 203
C:00D0H LINE# 204
C:00D0H LINE# 205
C:00D2H LINE# 206
C:00D8H LINE# 207
C:00DEH LINE# 208
C:00DFH LINE# 209
C:00E3H LINE# 210
C:00E4H LINE# 211
C:00EAH LINE# 212
C:00EFH LINE# 213
C:00EFH LINE# 214
C:00F5H LINE# 215
C:00F6H LINE# 216
C:00FAH LINE# 217
C:00FBH LINE# 218
BL51 BANKED LINKER/LOCATER V5.03 05/11/2004 14:49:46 PAGE 7
C:00FDH LINE# 219
C:00FDH LINE# 223
C:00FDH LINE# 224
C:0103H LINE# 225
C:0104H LINE# 226
C:0108H LINE# 227
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