motor.lst

步进电机驱动程序,MCU:AT89C51,硬件L297,L298.

C51 COMPILER V7.06   MOTOR                                                                 04/23/2005 22:12:30 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.c ROM(SMALL) BROWSE DEBUG OBJECTEXTEND

stmt level    source

   1          //------12M Hz,AT89C51-----
   2          #include <at89x51.h>
   3          #include <motor.h>
   4          void init_ports()
   5          {
   6   1       P0=0x07;
   7   1       P1=0x00;
   8   1       P2=0x00;
   9   1       P3=0x00;
  10   1      }
  11          void init_297()
  12          {
  13   1       DR1=CCW;
  14   1       DR2=CCW;
  15   1       RST1=1;
  16   1       RST2=1; 
  17   1       RST1=0;
  18   1       RST2=0;
  19   1       Clk_Delay();
  20   1       RST1=1;
  21   1       RST2=1; 
  22   1       EN1=DISABLE;
  23   1       EN2=DISABLE;
  24   1       HF1=1;
  25   1       HF2=1;
  26   1       M1_BUSY=0;
  27   1       M2_BUSY=0;
  28   1      }
  29          void init_device()
  30          {
  31   1       EA=0;
  32   1       init_ports();
  33   1       init_297();
  34   1       TMOD=0x22;//timer,auto-reload mode.
  35   1       TL0=0x9B;
  36   1       TH0=0x9B;
  37   1       TL1=0x9B;
  38   1       TH1=0x9B; 
  39   1       ET0=1;
  40   1       ET1=1;
  41   1       TR0=1;
  42   1       TR1=1;
  43   1       EA=1; 
  44   1      }
  45          void int_t0(void) interrupt TF0_VECTOR using 1
  46          {
  47   1        if(step_count1==0)
  48   1            {
  49   2                 M1_BUSY=0;
  50   2                 motor1_stop();
  51   2                 return;
  52   2                 }   
  53   1         else
  54   1            {
  55   2              M1_BUSY=1;
C51 COMPILER V7.06   MOTOR                                                                 04/23/2005 22:12:30 PAGE 2   

  56   2                }   
  57   1        speed_count1++;
  58   1        if(speed_count1>=speed_set1)
  59   1        {   
  60   2         speed_count1=0;
  61   2         CLK1_CLR;
  62   2         Clk_Delay();
  63   2         CLK1_SET;
  64   2         if(speed_set1!=FOREVER_RUN)
  65   2            {
  66   3            step_count1--;
  67   3                }
  68   2         } 
  69   1      }
  70          void int_t1(void) interrupt TF1_VECTOR using 2
  71          {
  72   1        if(step_count2==0)
  73   1            {
  74   2                 M2_BUSY=0;
  75   2                 motor2_stop();
  76   2                 return;
  77   2                 }   
  78   1         else
  79   1            {
  80   2              M2_BUSY=1;
  81   2                } 
  82   1       
  83   1       speed_count2++;
  84   1        if(speed_count2>=speed_set2)
  85   1        {
  86   2         speed_count2=0;  
  87   2         CLK2_CLR;
  88   2         Clk_Delay();
  89   2         CLK2_SET;
  90   2         if(speed_set2!=FOREVER_RUN)
  91   2         step_count2--; 
  92   2         }
  93   1      }
  94          void motor_run(bit Motor_Select,bit Direction,uint speed,uint step)
  95          {
  96   1       if(!Motor_Select)
  97   1          {
  98   2               if(M1_BUSY){return;}
  99   2               EN1=ENABLE;
 100   2               DR1=Direction;
 101   2               speed_set1=speed;
 102   2               step_count1=step;
 103   2               //return TURE;
 104   2               }
 105   1       else
 106   1          {
 107   2               if(M2_BUSY){return;}
 108   2               EN2=ENABLE;
 109   2               DR2=Direction;
 110   2               speed_set2=speed;
 111   2               step_count2=step;
 112   2               //return TURE;
 113   2              }
 114   1      }
 115          void motor1_stop()
 116          {
 117   1       M1_BUSY=0;
C51 COMPILER V7.06   MOTOR                                                                 04/23/2005 22:12:30 PAGE 3   

 118   1       EN1=DISABLE;
 119   1       step_count1=0;
 120   1      }
 121          void motor2_stop()
 122          {
 123   1       M2_BUSY=0;
 124   1       EN2=DISABLE;
 125   1       step_count2=0;
 126   1      }
 127          void motor_status()
 128          {
 129   1       if(M1_BUSY)
 130   1          LED_M1=0;
 131   1       else
 132   1          LED_M1=1;
 133   1       if(M2_BUSY)
 134   1          LED_M2=0;
 135   1       else
 136   1          LED_M2=1;
 137   1      }
 138          main()
 139          {
 140   1       init_device();
 141   1       motor_run(M1,CW,5000,2000);
 142   1       motor_run(M2,CCW,500,2000);
 143   1       while(1)
 144   1       {
 145   2        motor_status();
 146   2       };
 147   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    376    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =     12       4
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      2       2
END OF MODULE INFORMATION.


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