pwm_motor_test.lst

多路舵机控制

C51 COMPILER V8.02   PWM_MOTOR_TEST                                                        08/15/2007 22:47:36 PAGE 1   


C51 COMPILER V8.02, COMPILATION OF MODULE PWM_MOTOR_TEST
OBJECT MODULE PLACED IN PWM_motor_test.OBJ
COMPILER INVOKED BY: C:\Program Files\keil\C51\BIN\C51.EXE PWM_motor_test.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1            /*用PWM控制电机脉冲频率应控制在25HZ～35HZ之间*/
   2            /*定时1ms,1个周期30ms,脉冲频率为33HZ             */                   
   3            /*                                                                               */
   4              
   5          #include   <reg51.h>   
   6            typedef   unsigned   char   uchar;   
   7            sbit   P0_0=P0^0;
   8            sbit   P0_1=P0^1; 
   9            sbit   P0_2=P0^2;
  10            sbit   P0_3=P0^3;
  11            sbit   P0_4=P0^4;
  12            sbit   P2_0=P2^0;
  13            sbit   P2_1=P2^1;
  14            sbit   P2_2=P2^2;
  15            sbit   P2_3=P2^3;
  16            sbit   P2_4=P2^4;
  17            sbit   P3_4=P3^4;   
  18           
  19            uchar   time=0;   
  20            uchar   period=30;   
  21            uchar   high=10; 
  22            uchar   th0=0;
  23            uchar   tl0=1;
  24            bit    dir;
  25            
  26              
  27            void dealy()
  28            {
  29   1         uchar i;
  30   1         for(i=0;i<100;i++);
  31   1      
  32   1        }
  33          
  34          
  35            
  36            void   timer0()   interrupt   1   using   1   
  37            {   
  38   1                  TH0=0xfc;     /*定时器初值重装载*/   
  39   1                  TL0=0x18;
  40   1                  
  41   1                  time++; 
  42   1                              P3_4=~P3_4;  
  43   1            if(dir==1)
  44   1                {
  45   2                              
  46   2                              if(time==high)   /*高电平持续时间结束，变低*/   
  47   2                     P2_0=th0;                 /*经过反相器反相*/
  48   2                                  
  49   2                                  
  50   2                  else   if(time==period)     /*周期时间到，变高*/   
  51   2                            {   time=0;   
  52   3                                P2_0=tl0;             /*经过反相器反相*/
  53   3                                                        
  54   3                                                         
  55   3                            }   
C51 COMPILER V8.02   PWM_MOTOR_TEST                                                        08/15/2007 22:47:36 PAGE 2   

  56   2                        
  57   2                      }
  58   1                       else     if(time==high)   /*高电平持续时间结束，变低*/   
  59   1                  
  60   1                                 P2_1=th0;             /*经过反相器反相*/
  61   1                                  
  62   1                                 
  63   1                        else   if(time==period)     /*周期时间到，变高*/   
  64   1                            {   time=0;   
  65   2                                P2_1=tl0;             /*经过反相器反相*/
  66   2                                                        
  67   2                            }
  68   1          
  69   1              
  70   1      } 
  71          
  72          
  73          
  74           void   main()   
  75            {   
  76   1      
  77   1                      P0=0x00;
  78   1                      P2=0x00;
  79   1      
  80   1              TMOD=0x01;   /*定时器0方式1*/   
  81   1              TH0=0xfc;     /*定时器装载初值，设置脉冲信号的占空比为1／5*/   
  82   1              TL0=0x18; 
  83   1                      
  84   1               
  85   1              ET0=1;   /*开定时器0中断*/   
  86   1              TR0=1;    /*启动定时器0*/ 
  87   1              
  88   1              
  89   1              
  90   1      
  91   1              while(1)    
  92   1              {
  93   2                              if(P0_0==1)
  94   2                      EA=1;     /*开CPU中断*/
  95   2      
  96   2                              if(P0_1==1)
  97   2                              EA=0;    /*关CPU中断*/
  98   2      
  99   2                              if(P0_2==1)
 100   2                              {
 101   3                              dir=~dir;  /*转向控制*/
 102   3                              while(P0_2!=0)
 103   3                              {};
 104   3      
 105   3                              }
 106   2      
 107   2                              if(P0_3==1)
 108   2                              {
 109   3      
 110   3                               high++;
 111   3                               if(high==30)
 112   3                               high=0;
 113   3                              while(P0_3!=0)
 114   3                              {};
 115   3                               }
 116   2                       }   
 117   1          
C51 COMPILER V8.02   PWM_MOTOR_TEST                                                        08/15/2007 22:47:36 PAGE 3   

 118   1      
 119   1      }       
 120             
 121          


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    131    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      5    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      1    ----
END OF MODULE INFORMATION.


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