📄 motor.lst
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C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 1
C51 COMPILER V7.06, COMPILATION OF MODULE MOTOR
OBJECT MODULE PLACED IN .\img\motor.obj
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE motor.c BROWSE DEBUG OBJECTEXTEND OBJECT(.\img\motor.obj)
stmt level source
1 #include <reg52.h>
2 #include<absacc.h>
3 #include <intrins.h>
4 #include <math.h>
5
6 #include <stdio.h> /* prototype declarations for I/O functions */
7
8
9
10 sbit cflag=ACC^7;
11
12 sbit L297_L_CW=P1^0;
13 sbit L297_L_CLK=P1^1;
14 sbit L297_L_HALF=P1^2;
15 sbit L297_L_RST=P1^3;
16 sbit L297_L_CTL=P1^4;
17 sbit L297_L_EN=P1^5;
18
19 sbit L297_R_CW=P1^6;
20 sbit L297_R_CLK=P1^7;
21 sbit L297_R_HALF=P3^0;
22 sbit L297_R_RST=P3^1;
23 sbit L297_R_CTL=P3^2;
24 sbit L297_R_EN=P3^4;
25
26
27
28 #define uchar unsigned char
29 #define uint unsigned int
30
31 #define STEP 26
32
33 #define SPEED 5
34
35 #define ctrl8279 XBYTE[0X0100]
36 #define data8279 XBYTE[0X0000]
37
38
39
40
41
42 uchar x0,y0;
43 unsigned int i,j;
44 uchar k,eol;
45 float mmx,mmy;
46 float mx,my;
47 int cr=25;
48 int cx0=40,cy0=50;
49
50
51 /*********************************/
52
53 void msec(unsigned int x){
54 1 uchar j;
55 1 while(x--){
C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 2
56 2 for(j=0;j<125;j++)
57 2 {;}
58 2 }
59 1 }
60
61 /*************************/
62 uchar code table[]={0x0fc,0x60,0x0da,0x0f2,0x66,0x0b6,0x0be,0x0e0,0x0fe,0x0f6,0x8e,0x02};
63 /****************************/
64 void wdat_8279(uchar d){
65 1 msec(1);
66 1 do
67 1 {ACC=ctrl8279;}
68 1 while (cflag==1);
69 1 data8279=d;
70 1 }
71
72
73 /*******************************************/
74
75 void wcom_8279(uchar c){
76 1 msec(1);
77 1 do
78 1 {ACC=ctrl8279;}
79 1 while (cflag==1);
80 1 ctrl8279=c;
81 1 }
82 /********************/
83
84 void init8279()
85 {
86 1 //unsigned char i;
87 1 ctrl8279=0x32; //biancheng minglin shizhong :ale 18 fenping 00110010
88 1 ctrl8279=0x00; //8zifuxianshi you ru kou ,bianma sao miao jianpan,shuang jian suo
89 1 ctrl8279=0xd0; //xianshi ram qing 0,quan zhi 1;
90 1
91 1
92 1 }
93 /******************/
94
95
96
97 void display_xy(int x, int y , uchar ch){
98 1
99 1 if (y<1) y=1;
100 1 if (y>2) y=2;
101 1 if (x<1) x=1;
102 1 if (x>4) x=4;
103 1 if (ch<0) ch=0;
104 1 if (ch>15) ch=15;
105 1 if (y==1) {
106 2 switch (x) {
107 3 case 1: wcom_8279(0x87);
108 3 wdat_8279(table[ch]);
109 3 break;
110 3 case 2: wcom_8279(0x83);
111 3 wdat_8279(table[ch]);
112 3 break;
113 3 case 3: wcom_8279(0x85);
114 3 wdat_8279(table[ch]);
115 3 break;
116 3 case 4: wcom_8279(0x81);
117 3 wdat_8279(table[ch]);
C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 3
118 3 break;
119 3 }
120 2
121 2 }else {
122 2 switch (x) {
123 3 case 1: wcom_8279(0x86);
124 3 wdat_8279(table[ch]);
125 3 break;
126 3 case 2: wcom_8279(0x82);
127 3 wdat_8279(table[ch]);
128 3 break;
129 3 case 3: wcom_8279(0x84);
130 3 wdat_8279(table[ch]);
131 3 break;
132 3 case 4: wcom_8279(0x80);
133 3 wdat_8279(table[ch]);
134 3 break;
135 3 }
136 2
137 2 }
138 1
139 1 }
140
141
142
143 void display2( int k){
144 1
145 1 uint s=0,a=0,d=0, m=0,f=0,n=0,i;
146 1
147 1
148 1 uint neg=0;
149 1
150 1 if(k>-999&&k<=9999)
151 1 {
152 2 // ctrl8279=0x00;
153 2 if (k<0) {
154 3 k=-k;
155 3 neg=1;
156 3 }
157 2 s=k/1000;
158 2 wcom_8279(0x86);
159 2 wdat_8279(table[s]);
160 2
161 2 a=k%1000;
162 2 d=a/100;
163 2 wcom_8279(0x82);
164 2 i=0x80;
165 2 wdat_8279(table[d]);
166 2 //
167 2 m=a%100;
168 2 f=m/10;
169 2 wcom_8279(0x84);
170 2 i=0x80;
171 2 wdat_8279(table[f]);
172 2
173 2 n=m%10;
174 2
175 2 wcom_8279(0x80);
176 2 wdat_8279(table[n]);
177 2 }
178 1 if (neg) display_xy(1,2,11);
179 1
C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 4
180 1 }
181 void display1( int k)
182 {
183 1 uint s=0,a=0,d=0, m=0,f=0,n=0,i;
184 1
185 1 uint neg=0;
186 1
187 1 if(k>-999&&k<=9999)
188 1 {
189 2 // ctrl8279=0x00;
190 2 if (k<0) {
191 3 k=-k;
192 3 neg=1;
193 3 }
194 2 s=k/1000;
195 2 wcom_8279(0x87);
196 2 wdat_8279(table[s]);
197 2
198 2 a=k%1000;
199 2 d=a/100;
200 2 wcom_8279(0x83);
201 2 i=0x80;
202 2 wdat_8279(table[d]);
203 2 //
204 2 m=a%100;
205 2 f=m/10;
206 2 wcom_8279(0x85);
207 2 i=0x80;
208 2 wdat_8279(table[f]);
209 2
210 2 n=m%10;
211 2
212 2 wcom_8279(0x81);
213 2 wdat_8279(table[n]);
214 2 //
215 2 }
216 1 if (neg) display_xy(1,1,11);
217 1
218 1 }
219 /***********************/
220
221 uchar key_pressed(void) //判断FIFO有键按下函数
222 {uchar k;
223 1 k=ctrl8279;
224 1 return(k&0x0f); //非0,有键按下
225 1 }
226
227
228 uchar keyin(void)
229 {uchar i,k;
230 1 while(key_pressed()==0);
231 1 wcom_8279(0x40); //读FIFO RAM命令
232 1 i=data8279;
233 1 k=0;
234 1 switch(i)
235 1 {
236 2 case 196:
237 2 display1(0);
238 2 k=0;
239 2 break;
240 2 case 228:
241 2 display1(1);
C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 5
242 2 k=1;
243 2 break;
244 2 case 192:
245 2 display1(2);
246 2 k=2;
247 2 break;
248 2 case 224:
249 2 display1(3);
250 2 k=3;
251 2 break;
252 2 case 197:
253 2 display1(4);
254 2 k=4;
255 2 break;
256 2 case 229:
257 2 display1(5);
258 2 k=5;
259 2 break;
260 2 case 193:
261 2 display1(6);
262 2 k=6;
263 2 break;
264 2 case 225:
265 2 display1(7);
266 2 k=7;
267 2 break;
268 2 case 198:
269 2 display1(8);
270 2 k=8;
271 2 break;
272 2 case 230:
273 2 display1(9);
274 2 k=9;
275 2 break;
276 2 case 194:
277 2 display1(10);
278 2 k=10;
279 2 break;
280 2 case 226:
281 2 display1(11);
282 2 k=11;
283 2 break;
284 2 case 199:
285 2 display1(12);
286 2 k=12;
287 2 break;
288 2 case 231:
289 2 display1(13);
290 2 k=13;
291 2 break;
292 2 case 195:
293 2 display1(14);
294 2 k=14;
295 2 break;
296 2 case 227:
297 2 display1(15);
298 2 k=15;
299 2 break;
300 2 }
301 1
302 1 return(k);
303 1
C51 COMPILER V7.06 MOTOR 09/13/2005 19:28:53 PAGE 6
304 1 }
305 /**************************/
306
307
308
309
310 void Rmotor(float L){
311 1 int i,j;
312 1 if (L<0){
313 2 L297_L_CW=1;
314 2 }else {
315 2 L297_L_CW=0;
316 2 }
317 1 j=abs(STEP*L);
318 1 for (i=0;i<j;i++){
319 2 L297_L_CLK=0;
320 2 msec(SPEED);
321 2 L297_L_CLK=1;
322 2 msec(SPEED);
323 2 }
324 1
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