📄 motor.m51
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------- ENDDO
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------- ENDPROC MOTOR
------- ENDMOD MOTOR
------- MODULE MAIN_INIT
C:0000H SYMBOL _ICE_DUMMY_
D:0080H PUBLIC P0
D:0090H PUBLIC P1
C:0D48H PUBLIC INIT_SFR
D:00A0H PUBLIC P2
D:00B0H PUBLIC P3
B:0080H.2 PUBLIC BRAKE_L
B:0080H.0 PUBLIC BRAKE_R
D:0089H PUBLIC TMOD
C:0D7BH PUBLIC INIT_COUNTER
C:0C3FH PUBLIC INIT_PARAMETER
D:00D7H PUBLIC PLLCON
D:008CH PUBLIC TH0
D:008DH PUBLIC TH1
D:008AH PUBLIC TL0
D:008BH PUBLIC TL1
B:0088H.4 PUBLIC TR0
D:00AEH PUBLIC PWMCON
B:0088H.6 PUBLIC TR1
D:00B2H PUBLIC PWM0H
D:00B4H PUBLIC PWM1H
D:00AFH PUBLIC CFG842
D:00B1H PUBLIC PWM0L
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D:00B3H PUBLIC PWM1L
------- PROC INIT_SFR
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------- ENDPROC INIT_SFR
------- PROC INIT_COUNTER
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------- ENDPROC INIT_COUNTER
------- PROC INIT_PARAMETER
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------- ENDPROC INIT_PARAMETER
------- ENDMOD MAIN_INIT
------- MODULE FEEDBACK
C:0000H SYMBOL _ICE_DUMMY_
D:0090H PUBLIC P1
D:0021H PUBLIC fb_V_L
D:0023H PUBLIC fb_V_R
D:008CH PUBLIC TH0
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D:008DH PUBLIC TH1
C:0B46H PUBLIC _DELAY
D:008AH PUBLIC TL0
D:008BH PUBLIC TL1
X:0028H PUBLIC rea_all_num_l
B:0088H.4 PUBLIC TR0
B:0088H.6 PUBLIC TR1
X:002CH PUBLIC rea_all_num_r
C:080CH PUBLIC GET_FEEDBACK
B:0090H.6 PUBLIC FB_DIR_L
B:0090H.7 PUBLIC FB_DIR_R
------- PROC _DELAY
D:0007H SYMBOL mode
D:0005H SYMBOL time
------- DO
D:0082H SYMBOL m
D:0002H SYMBOL n
D:0006H SYMBOL k
------- ENDDO
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------- ENDPROC _DELAY
------- PROC GET_FEEDBACK
------- DO
D:0013H SYMBOL speed_num_l
D:0015H SYMBOL speed_num_r
------- ENDDO
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------- ENDPROC GET_FEEDBACK
------- ENDMOD FEEDBACK
------- MODULE PID
C:0000H SYMBOL _ICE_DUMMY_
X:0000H PUBLIC e1_V_R
D:0080H PUBLIC P0
X:0002H PUBLIC beta_V_L
X:0004H PUBLIC beta_V_R
C:0441H PUBLIC MOTOR_V_PID
B:0080H.3 PUBLIC DIR_L
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B:0080H.1 PUBLIC DIR_R
D:0008H PUBLIC aim_V_L
X:0006H PUBLIC d_u_V_L
D:000AH PUBLIC interval_V
D:000CH PUBLIC aim_V_R
X:000AH PUBLIC u_L
X:000EH PUBLIC d_u_V_R
X:0012H PUBLIC u_R
D:000EH PUBLIC tem_V_L
D:0010H PUBLIC tem_V_R
X:0016H PUBLIC tem_data
X:001AH PUBLIC e_V_L
X:001CH PUBLIC e_V_R
X:001EH PUBLIC V_Ki
D:00B2H PUBLIC PWM0H
X:0022H PUBLIC V_Kp
D:00B1H PUBLIC PWM0L
D:0012H PUBLIC dis_V
X:0026H PUBLIC e1_V_L
------- PROC MOTOR_V_PID
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------- ENDPROC MOTOR_V_PID
------- ENDMOD PID
------- MODULE ?C?FPADD
C:000AH PUBLIC ?C?FPADD
C:0006H PUBLIC ?C?FPSUB
------- ENDMOD ?C?FPADD
------- MODULE ?C?FPMUL
C:00FBH PUBLIC ?C?FPMUL
------- ENDMOD ?C?FPMUL
------- MODULE ?C?FPCMP
C:0203H PUBLIC ?C?FPCMP
C:0201H PUBLIC ?C?FPCMP3
------- ENDMOD ?C?FPCMP
------- MODULE ?C?FPNEG
C:026EH PUBLIC ?C?FPNEG
------- ENDMOD ?C?FPNEG
------- MODULE ?C?FCAST
C:0289H PUBLIC ?C?FCASTC
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C:0284H PUBLIC ?C?FCASTI
C:027FH PUBLIC ?C?FCASTL
------- ENDMOD ?C?FCAST
------- MODULE ?C?CASTF
C:02BDH PUBLIC ?C?CASTF
------- ENDMOD ?C?CASTF
------- MODULE ?C?CLDOPTR
C:033EH PUBLIC ?C?CLDOPTR
------- ENDMOD ?C?CLDOPTR
------- MODULE ?C?SIDIV
C:036BH PUBLIC ?C?SIDIV
------- ENDMOD ?C?SIDIV
------- MODULE ?C?LNEG
C:03A1H PUBLIC ?C?LNEG
------- ENDMOD ?C?LNEG
------- MODULE ?C?LSTXDATA
C:03AFH PUBLIC ?C?LSTXDATA
------- ENDMOD ?C?LSTXDATA
------- MODULE ?C?LSTKXDATA
C:03BBH PUBLIC ?C?LSTKXDATA
------- ENDMOD ?C?LSTKXDATA
------- MODULE ?C?UIDIV
C:03ECH PUBLIC ?C?UIDIV
------- ENDMOD ?C?UIDIV
*** WARNING L16: UNCALLED SEGMENT, IGNORED FOR OVERLAY PROCESS
SEGMENT: ?PR?MOTOR?MOTOR
Program Size: data=37.1 xdata=48 code=3497
LINK/LOCATE RUN COMPLETE. 1 WARNING(S), 0 ERROR(S)
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