serial.lst

蛇形机器人程序

C51 COMPILER V7.09   SERIAL                                                                06/03/2004 19:30:55 PAGE 1   


C51 COMPILER V7.09, COMPILATION OF MODULE SERIAL
OBJECT MODULE PLACED IN Serial.OBJ
COMPILER INVOKED BY: D:\Keil\C51\BIN\C51.EXE Serial.c OMF2 ROM(COMPACT) OPTIMIZE(SIZE) REGFILE(.\FollowLine.ORC) BROWSE 
                    -DEBUG

line level    source

   1          #include<reg52.h>
   2          #include<FollowLine.h>
   3          #include<intrins.h>
   4          
   5          //
   6          const unsigned char Baud12 = 0xCC;      //24M baudrate 1202
   7          
   8          //~~~~~Function Declaration~~~~~~
   9          extern void SensorSta(void);
  10          extern void MotorLeft(char Speed,bit Direction);
  11          extern void MotorRight(char Speed,bit Direction);
  12          extern void Stop(void);
  13          void SerialOut(unsigned char Command);
  14          
  15          void Serial() interrupt 4 
  16          {
  17   1              
  18   1              char Command;
  19   1              IE = 0xD0; //1101 1000 close T0 INT0 INT1
  20   1              if(RI)
  21   1              {
  22   2                      RI = 0 ;
  23   2                      Command = SBUF;
  24   2                      switch(Command)
  25   2                      {
  26   3                              case 's':        //stop
  27   3                              {       
  28   4                                      Stop();
  29   4                                      StopFlag = 1;
  30   4                                      break; 
  31   4                              }
  32   3      
  33   3                              case 'm':
  34   3                              {
  35   4                                      StopFlag = 0;
  36   4                                      break;  
  37   4                              }//stop
  38   3                              
  39   3                              case 'M':
  40   3                              {
  41   4                                      StopFlag = 0;
  42   4                                      FrontFlag = 1;
  43   4                                      break;
  44   4                              }
  45   3                              case 'r':       //resume
  46   3                              {
  47   4                              //      TR0=1;  SBUF='O'
  48   4                                      ;break;
  49   4                              }
  50   3                              
  51   3                              default:        //not received exactly
  52   3                              { 
  53   4                              //      SBUF='n';
  54   4                                      break;
C51 COMPILER V7.09   SERIAL                                                                06/03/2004 19:30:55 PAGE 2   

  55   4                              }
  56   3              }
  57   2              }
  58   1              else TI=0;
  59   1              IE = 0xD2;; // 1101 1100 forbiden other interrupt
  60   1                                      // Depends on the value in Initial
  61   1      }
  62          //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  63          void SerialOut(unsigned char Command) 
  64          {       
  65   1      
  66   1              _nop_();
  67   1              SBUF = Command;
  68   1      
  69   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =     68    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      1    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
   EDATA SIZE       =   ----    ----
   HDATA SIZE       =   ----    ----
   XDATA CONST SIZE =   ----    ----
   FAR CONST SIZE   =   ----    ----
END OF MODULE INFORMATION.


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