📄 bi_zhang.lst
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C51 COMPILER V6.02 BI_ZHANG 09/14/2006 10:36:01 PAGE 1
C51 COMPILER V6.02, COMPILATION OF MODULE BI_ZHANG
OBJECT MODULE PLACED IN E:\STUDY\WAVEWO~1\CAR\CAR_AD\避障\BI_ZHANG.OBJ
COMPILER INVOKED BY: C:\COMP51\C51.EXE E:\STUDY\WAVEWO~1\CAR\CAR_AD\避障\BI_ZHANG.C DB SB OE
stmt level source
1 #include <intrins.h>//这个头文件中有_nop_();
2 #include <reg52.h>
3 #include<stdio.h>
4 #define uchar unsigned char
5 #define uint unsigned int
6 sbit lun=P1^6;
7 int tim=0,send=0; //--进中断次数100为一个周期
8 uint speedleft,speedright,tt=0;//--左右轮转速控制
9 char flag=0x70;
10 bit cs=0;
11 //----------------------------------------------------------------------------------------------------
12 sbit left=P1^0; //左电机使能
13 sbit right=P1^1;//右电机使能
14 sbit clk=P2^1;
15 sbit oe=P2^3; //---取值允许
16 sbit lef=P0^4;
17 sbit mod=P0^5;
18 sbit rig=P0^6;
19 sbit p32=P3^2;
20 //-------------------------------------------------------
21 void cotor_car(void);//--控制小车
22 void Forward(char speed);//前进 293用到的程序
23 void Reverse(char speed);//speed--速度,dely--时间,r--左(右)
24 void TurnRight(uint dey);//右拐
25 void TurnLeft(uint dey);//左拐
26 void delay(unsigned int time);//--延时
27 void stop(void);//---停止
28 void delay(uint e);//--延时
29 void clk_send(void);
30 void jie_shou(void);
31 void start(void);
32 void ctrl_car(void);
33 //------------------------
34 //---------------------------延时程序-------------------------------------------------------------
35 void delay(uint e)
36 {
37 1 while(e--)
38 1 {
39 2 _nop_();_nop_();_nop_();
40 2 _nop_();_nop_();}
41 1 }
42 //-----------------------前进程序----------------------------------------------------------------
43 void Forward(char speed)
44 {
45 1 P1=0x1b;lun=1;
46 1 speedleft=speed;
47 1 speedright=speed+4;
48 1 TR0=1;
49 1 delay(15);
50 1 TR0=0;
51 1 }
52 //----------------------左转程序-------------------------------------------------------------------
53 void TurnLeft(uint dey)
54 {
55 1 P1=0x2b;lun=1;
C51 COMPILER V6.02 BI_ZHANG 09/14/2006 10:36:01 PAGE 2
56 1 speedleft=dey-10;
57 1 speedright=dey*10;
58 1 TR0=1;
59 1 delay(3000);
60 1 TR0=0;
61 1 }
62 //----------------------右转程序-------------------------------------------------------------------
63 void TurnRight(uint dey)
64 {
65 1 P1=0x17; lun=0;
66 1 speedleft=dey*10;
67 1 speedright=dey-10;
68 1 TR0=1;
69 1 delay(3000);
70 1 TR0=0;
71 1
72 1 }
73 //--------------------------------------------------
74 void main(void)
75 {
76 1 uint k=10,s=5;
77 1 start();
78 1 while(1)
79 1 {
80 2 ctrl_car();
81 2 delay(5);
82 2 }
83 1 }
84 //--------------------------------------------------------------------------------------
85 void ctrl_car(void)
86 {
87 1 oe=0;
88 1 flag=P0;
89 1 flag&=0x70;
90 1 if(flag!=0x70)
91 1 {
92 2 delay(10);
93 2 flag=P0&0x70;
94 2 if(flag!=0x70)
95 2 {
96 3 switch(flag)
97 3 {
98 4 case 0x80:Forward(2);break;
99 4 case 0x30:TurnRight(10);delay(50);break;
100 4 case 0x60:TurnLeft(10);delay(50);break;
101 4 case 0x50:Reverse(70);delay(50);break;
102 4 default:Forward(2);
103 4 }
104 3 }
105 2 }
106 1 delay(10); flag=0xff; Forward(2);
107 1 }
108 //----------------------------------后退程序----------------------------------------------------
109 void Reverse(char speed)
110 {
111 1 P1=0x27;lun=0;
112 1 speedleft=speed;
113 1 speedright=speed+10;
114 1 TR0=1;
115 1 delay(1000);
116 1 TR0=0;
117 1 }
C51 COMPILER V6.02 BI_ZHANG 09/14/2006 10:36:01 PAGE 3
118 /*-----------------------------------停止程序---------------------------------------
119 void stop(void)
120 {
121 TR0=0;right=0;left=0;
122 } */
123 //-------------------------------------------------------------------------------
124 void start(void)
125 {
126 1 EA=1; ET0=1;ET1=1;PT0=1;//-----开中断-----------
127 1 TMOD=0x22; //方式二
128 1 TH1=0xf2; // f3
129 1 TL1=0xf2;
130 1 TR0=1;
131 1 TR1=1;
132 1 }
133 //------------------------------------------------------------------------------------------------
134 void time0(void) interrupt 1 using 2 /*电机定时中断*/
135 {
136 1 // TR1=!TR1;
137 1 if(tim<=speedright)
138 1 right=1;
139 1 else
140 1 right=0;
141 1 if(tim<=speedleft)
142 1 left=1;
143 1 else
144 1 left=0;
145 1 tim++;
146 1 if(tim>=100)
147 1 tim=0;
148 1 }
149 //-----------------------------------------------------------------------------------------
150 void snd(void) interrupt 3 using 1
151 {
152 1 clk=!clk;
153 1 }
C51 COMPILER V6.02 BI_ZHANG 09/14/2006 10:36:01 PAGE 4
NAME CLASS MSPACE TYPE OFFSET SIZE
==== ===== ====== ==== ====== ====
P0 . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 0080H 1
P1 . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 0090H 1
P2 . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00A0H 1
P3 . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00B0H 1
T0 . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B4H 1
AC . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D6H 1
T1 . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B5H 1
T2 . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0090H 1
EA . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00AFH 1
_TurnRight . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
dey. . . . . . . . . . . . . . . . . * REG * DATA U_INT 0002H 2
IE . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00A8H 1
size_t . . . . . . . . . . . . . . . . TYPEDEF ----- U_INT ----- 2
EXF2 . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CEH 1
RD . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B7H 1
ES . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00ACH 1
_TurnLeft. . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
dey. . . . . . . . . . . . . . . . . * REG * DATA U_INT 0006H 2
IP . . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00B8H 1
RI . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0098H 1
flag . . . . . . . . . . . . . . . . . PUBLIC DATA CHAR 0000H 1
INT0 . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B2H 1
CY . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D7H 1
TI . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0099H 1
INT1 . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B3H 1
right. . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0091H 1
PS . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00BCH 1
T2EX . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0091H 1
OV . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D2H 1
main . . . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
k. . . . . . . . . . . . . . . . . . AUTO DATA U_INT 0000H 2
s. . . . . . . . . . . . . . . . . . AUTO DATA U_INT 0002H 2
C_T2 . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00C9H 1
WR . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B6H 1
send . . . . . . . . . . . . . . . . . PUBLIC DATA INT 0001H 2
left . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0090H 1
RCLK . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CDH 1
TCLK . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CCH 1
start. . . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
SCON . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 0098H 1
TMOD . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 0089H 1
TCON . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 0088H 1
speedright . . . . . . . . . . . . . . PUBLIC DATA U_INT 0003H 2
lef. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0084H 1
_Forward . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
speed. . . . . . . . . . . . . . . . * REG * DATA CHAR 0007H 1
clk. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00A1H 1
IE0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0089H 1
IE1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008BH 1
_Reverse . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
speed. . . . . . . . . . . . . . . . * REG * DATA CHAR 0007H 1
mod. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0085H 1
speedleft. . . . . . . . . . . . . . . PUBLIC DATA U_INT 0005H 2
rig. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0086H 1
CP_RL2 . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00C8H 1
snd. . . . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
ET0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00A9H 1
C51 COMPILER V6.02 BI_ZHANG 09/14/2006 10:36:01 PAGE 5
NAME CLASS MSPACE TYPE OFFSET SIZE
==== ===== ====== ==== ====== ====
ET1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00ABH 1
TF0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008DH 1
tim. . . . . . . . . . . . . . . . . . PUBLIC DATA INT 0007H 2
ET2. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00ADH 1
TF1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008FH 1
TF2. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CFH 1
RB8. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009AH 1
EX0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00A8H 1
IT0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0088H 1
TH1. . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 008DH 1
TB8. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009BH 1
EX1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00AAH 1
IT1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008AH 1
ctrl_car . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
P. . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D0H 1
lun. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 0096H 1
SM0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009FH 1
SM1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009EH 1
TL1. . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 008BH 1
SM2. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009DH 1
oe . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00A3H 1
PT0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B9H 1
p32. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B2H 1
PT1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00BBH 1
RS0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D3H 1
cs . . . . . . . . . . . . . . . . . . PUBLIC DATA BIT 0000H 1
PT2. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00BDH 1
TR0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008CH 1
RS1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D4H 1
TR1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 008EH 1
TR2. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CAH 1
PX0. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B8H 1
PX1. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00BAH 1
time0. . . . . . . . . . . . . . . . . PUBLIC CODE PROC 0000H -----
EXEN2. . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00CBH 1
REN. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 009CH 1
T2CON. . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00C8H 1
tt . . . . . . . . . . . . . . . . . . PUBLIC DATA U_INT 0009H 2
RXD. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B0H 1
TXD. . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00B1H 1
_delay . . . . . . . . . . . . . . . . PUBLIC CODE PROC 0004H -----
e. . . . . . . . . . . . . . . . . . * REG * DATA U_INT 0006H 2
F0 . . . . . . . . . . . . . . . . . . ABSBIT ----- BIT 00D5H 1
PSW. . . . . . . . . . . . . . . . . . SFR DATA U_CHAR 00D0H 1
MODULE INFORMATION: STATIC OVERLAYABLE
CODE SIZE = 416 ----
CONSTANT SIZE = ---- ----
XDATA SIZE = ---- ----
PDATA SIZE = ---- ----
DATA SIZE = 11 4
IDATA SIZE = ---- ----
BIT SIZE = 1 ----
END OF MODULE INFORMATION.
C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
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