main.lst

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C51 COMPILER V8.02   MAIN                                                                  03/20/2008 16:13:36 PAGE 1   


C51 COMPILER V8.02, COMPILATION OF MODULE MAIN
OBJECT MODULE PLACED IN main.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE main.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          #include "P89v51rx2.H"
   2          #include "delay.h"
   3          #include "lcd.h"
   4          #include "motor.h"
   5          #include "io_assign.h"
   6          #include "IR_sensor.h"
   7          
   8          //-------------变量定义----------------------
   9          uchar min=0,sec=0,count_T=0;
  10          uchar buf_scom=0;               //串口接收缓存
  11          uchar height=0,angle=0; //臂高和张角
  12          uchar motor_status=0;
  13          uchar rolls_status=0;
  14          
  15          //-------------函数声明----------------------
  16          void key_on_off(uchar b);       //按键开关
  17          
  18          //======================主函数=========================
  19          void main()
  20          {
  21   1              LCM1602_Init();
  22   1              LCM1602_clear();
  23   1              delay_ms(30);
  24   1              
  25   1              IP0=0x10;               //中断优先级设置，串行口最高
  26   1              IP0H=0x10;              
  27   1              
  28   1              EA=1;                   //开全局中断
  29   1              
  30   1              SCON = 0x50;    //串行口工作方式1
  31   1              REN=1;                  //允许接收
  32   1      //    ES=1;                     //串行中断允许
  33   1              
  34   1              TMOD=0x20;              //T1工作于自动装载模式
  35   1              TH1=0xFD;               //T1产生串口波特率9600
  36   1              TL1=0xFD;               
  37   1              TR1=1;                  //启动T1
  38   1              
  39   1              ET2=1;                  //使能T2        
  40   1              TL2=0x2B;               //装载T2脉宽调速初值
  41   1              TH2=0xFE;
  42   1              RCAP2L=0x2B;    //T2自动重装值  
  43   1              RCAP2H=0xFE;    
  44   1              T2CON=0x04;             //启动T2 
  45   1              PWM_Init();
  46   1              
  47   1              key_on_off(1);
  48   1              
  49   1      //      IR_head_roll_on_off(1);
  50   1      
  51   1              while(1)
  52   1              {       
  53   2                      key_on_off(0);
  54   2                      delay_ms(1);                                    
  55   2                      LCM1602_clear();
C51 COMPILER V8.02   MAIN                                                                  03/20/2008 16:13:36 PAGE 2   

  56   2                      LCM1602_write_string(0,0,"L:");
  57   2                      num(0,2,wheelCountLeft);
  58   2                      LCM1602_write_string(1,0,"R:");
  59   2                      num(1,2,wheelCountRight);
  60   2                      key_on_off(1);
  61   2                      delay_ms(10);
  62   2                      if(KEY_1==0)
  63   2                      {
  64   3                              delay_ms(30);
  65   3                              if(KEY_1==0)
  66   3                              {
  67   4                                      GO(7);
  68   4                                      delay_ms(2000);
  69   4                                      BACK(15);
  70   4                                      delay_ms(2000);
  71   4                                      GOLEFT(16);
  72   4                                      delay_ms(2000);
  73   4                                      GORIGHT(10);
  74   4                                      delay_ms(2000);
  75   4                                      GO(7);
  76   4                                      motor_status=1;                 
  77   4                              }
  78   3                      }
  79   2                      if(KEY_2==0)
  80   2                      {
  81   3                              delay_ms(20);
  82   3                              if(KEY_2==0)
  83   3                              {
  84   4                                      STOP(17);
  85   4                                      delay_ms(300);
  86   4                                      motor_status=0; 
  87   4                              }
  88   3                      }
  89   2              }
  90   1      }
  91          
  92          /*===================================================
  93                                          串口中断
  94          =====================================================*/
  95          void scom(void) interrupt 4
  96          {
  97   1              if(RI)
  98   1              {
  99   2                      RI=0;
 100   2                      buf_scom=SBUF;          //读走数据
 101   2              }
 102   1      }
 103          
 104          /****************************************
 105          功能：按键开关
 106          入口参数：b     1：开按键，0：关按键
 107          *****************************************/
 108          void key_on_off(uchar b)
 109          {
 110   1              if(b==1)
 111   1              {
 112   2                      KEY_1=1;
 113   2                      KEY_2=1;
 114   2                      ADD_D0=1;
 115   2                      ADD_D1=0;
 116   2                      ADD_D2=0;       
 117   2              }
C51 COMPILER V8.02   MAIN                                                                  03/20/2008 16:13:36 PAGE 3   

 118   1              else if(b==0)
 119   1              {
 120   2                      KEY_1=1;
 121   2                      KEY_2=1;
 122   2                      ADD_D0=0;
 123   2                      ADD_D1=0;
 124   2                      ADD_D2=0;       
 125   2              }
 126   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =   1446    ----
   CONSTANT SIZE    =      6    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =     42      10
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


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