model.dbg

移动机器人（小车）的物理坐标和逻辑坐标的转换源码

IMAGECRAFT DEBUG FORMAT
VERSION 1.2
CPU AVR
FRAMEPOINTER Y
DIR E:\单片机\ROOBCO~1\全向定位系统\坐标转换模块\相对定位模块测试版\Relative_Locate_Module\
FILE RD_UseCooperatingMiniOs.c
STRUCT 3 Process
FIELD 0 Proc pfc
FIELD 2 IfProcAlive c
STRUCTEND
FUNC NULL_PROC 132 fc
BLOCK 89 132
LINE 89 132
LINE 90 132
BLOCKEND 0 134
FUNCEND 134
FUNC CMOS_INIT 136 fV
BLOCK 111 138
DEFREG Reg1 10 S
DEFREG n1 20 c
LINE 111 138
LINE 112 138
LINE 114 138
LINE 115 13C
LINE 119 13C
LINE 120 154
LINE 121 162
LINE 114 162
LINE 114 164
LINE 123 168
BLOCKEND 0 16A
FUNCEND 16A
FUNC Process_Task 16C fV
BLOCK 133 170
LINE 133 170
LINE 136 170
LINE 137 188
LINE 138 188
LINE 139 1B8
LINE 141 1B8
LINE 142 1C2
LINE 143 1CA
LINE 144 1CA
LINE 145 1D0
LINE 146 1E8
BLOCKEND 0 1E8
FUNCEND 1E8
DEFSTATIC n 102 c
DEFGLOBAL ProcPCB 169 A[12:4]S[Process]
FILE RD_UseSerialBuff.c
FUNC UARTgetDataFromRxBuff 1EE fc
BLOCK 139 1F0
DEFREG cflags0 10 c
DEFREG Data 16 pc
LINE 139 1F0
LINE 140 1F0
LINE 140 1F0
LINE 140 1F2
LINE 140 1F4
LINE 140 21A
LINE 140 21A
LINE 140 21C
LINE 140 220
LINE 140 244
LINE 140 256
LINE 140 266
LINE 140 266
LINE 140 272
LINE 140 272
LINE 140 272
LINE 140 274
LINE 157 274
BLOCKEND 0 276
FUNCEND 276
FUNC UARTPeekDataFromRxBuff 27A fc
BLOCK 167 27C
DEFREG cflags0 10 c
DEFREG pData 16 pc
LINE 167 27C
LINE 168 27C
LINE 168 27C
LINE 168 27E
LINE 168 280
LINE 168 2A6
LINE 168 2A6
LINE 168 2A8
LINE 168 2AC
LINE 168 2C2
LINE 168 2C2
LINE 168 2C4
LINE 178 2C4
BLOCKEND 0 2C6
FUNCEND 2C6
FUNC UARTaddDataToRxBuff 2CA fc
BLOCK 188 2CC
DEFREG cflags0 10 c
DEFREG Data 16 c
LINE 188 2CC
LINE 189 2CC
LINE 189 2CC
LINE 189 2CE
LINE 189 2D0
LINE 189 2F6
LINE 189 2F6
LINE 189 2F8
LINE 189 2FC
LINE 189 31C
LINE 189 32E
LINE 189 33E
LINE 189 33E
LINE 189 34A
LINE 189 34A
LINE 189 34A
LINE 189 34C
LINE 206 34C
BLOCKEND 0 34E
FUNCEND 34E
FUNC UARTgetDataFromTxBuff 352 fc
BLOCK 218 354
DEFREG cflags0 10 c
DEFREG Data 16 pc
LINE 218 354
LINE 220 354
LINE 220 354
LINE 220 356
LINE 220 358
LINE 220 37E
LINE 220 37E
LINE 220 380
LINE 220 384
LINE 220 3A8
LINE 220 3BA
LINE 220 3CA
LINE 220 3CA
LINE 220 3D6
LINE 220 3D6
LINE 220 3D6
LINE 220 3D8
LINE 237 3D8
BLOCKEND 0 3DA
FUNCEND 3DA
FUNC UARTPeekDataFromTxBuff 3DE fc
BLOCK 247 3E0
DEFREG cflags0 10 c
DEFREG pData 16 pc
LINE 247 3E0
LINE 248 3E0
LINE 248 3E0
LINE 248 3E2
LINE 248 3E4
LINE 248 40A
LINE 248 40A
LINE 248 40C
LINE 248 410
LINE 248 426
LINE 248 426
LINE 248 428
LINE 258 428
BLOCKEND 0 42A
FUNCEND 42A
FUNC UARTaddDataToTxBuff 42E fc
BLOCK 268 430
DEFREG cflags0 10 c
DEFREG Data 16 c
LINE 268 430
LINE 270 430
LINE 270 430
LINE 270 432
LINE 270 434
LINE 270 45A
LINE 270 45A
LINE 270 45C
LINE 270 460
LINE 270 480
LINE 270 492
LINE 270 4A2
LINE 270 4A2
LINE 270 4AE
LINE 270 4AE
LINE 270 4AE
LINE 270 4B0
LINE 287 4B0
BLOCKEND 0 4B2
FUNCEND 4B2
FUNC PROC_Serial_Transmitter 4B6 fc
BLOCK 298 4BA
DEFREG cflags0 10 c
DEFLOCAL cTransmitByte 0 c
LINE 298 4BA
LINE 299 4BA
LINE 301 4BE
LINE 301 4BE
LINE 301 4C0
LINE 301 4C2
LINE 301 4CA
LINE 301 4CA
LINE 301 4D2
LINE 301 4D2
LINE 301 4D4
LINE 301 4D8
LINE 301 4D8
LINE 301 4D8
LINE 301 4DE
LINE 301 4E4
LINE 301 4E4
LINE 301 4E4
LINE 301 4E6
LINE 321 4E6
BLOCKEND 0 4E8
FUNCEND 4E8
DEFSTATIC UARTTxBuff 175 A[64:64]c
DEFSTATIC UARTRxBuff 1B5 A[32:32]c
FILE LIB_Config.c
FUNC LIB_INIT 4EE fV
BLOCK 75 4EE
LINE 75 4EE
LINE 76 4EE
LINE 78 4F0
BLOCKEND 0 4F0
FUNCEND 4F0
FILE RD_LCD1602B.c
FUNC LCDDelay 4F2 fV
BLOCK 211 4F6
DEFREG TimeCounter1 20 i
DEFREG Time 10 i
LINE 211 4F6
LINE 212 4F6
LINE 214 4F6
LINE 215 4FC
LINE 216 4FC
LINE 217 502
LINE 214 502
LINE 214 506
BLOCKEND 0 50C
FUNCEND 50C
FUNC LCDDelayUs 50E fV
BLOCK 227 512
DEFREG TimeCounter1 20 i
DEFREG Time 16 i
LINE 227 512
LINE 228 512
LINE 229 512
LINE 230 518
LINE 231 518
LINE 232 51A
LINE 229 51A
LINE 229 51E
BLOCKEND 0 524
FUNCEND 524
FUNC LCDInit 52A fV
BLOCK 243 52A
LINE 243 52A
LINE 244 52A
LINE 247 530
LINE 251 534
LINE 252 536
LINE 253 53A
LINE 254 53C
LINE 255 540
LINE 256 546
LINE 257 54A
LINE 258 54C
BLOCKEND 0 54E
FUNCEND 54E
FUNC LCDSendCommand 550 fV
BLOCK 270 550
DEFREG Command 16 c
LINE 270 550
LINE 271 550
LINE 271 556
LINE 271 55C
LINE 271 55E
LINE 271 55E
LINE 271 564
LINE 272 564
LINE 272 56A
LINE 274 56A
LINE 275 56A
LINE 275 570
LINE 275 57C
LINE 276 57C
LINE 277 582
LINE 278 588
LINE 279 588
LINE 280 588
LINE 280 58E
LINE 280 59E
LINE 281 59E
LINE 282 5A4
LINE 283 5AA
LINE 289 5AA
LINE 289 5B0
LINE 289 5B6
LINE 289 5B8
LINE 289 5B8
LINE 289 5BE
LINE 290 5BE
LINE 290 5C4
BLOCKEND 0 5C4
FUNCEND 5C4
FUNC LCDSendData 5C6 fV
BLOCK 300 5C6
DEFREG Data 16 c
LINE 300 5C6
LINE 301 5C6
LINE 301 5CC
LINE 301 5D2
LINE 301 5D4
LINE 301 5D4
LINE 301 5DA
LINE 302 5DA
LINE 302 5E0
LINE 304 5E0
LINE 305 5E0
LINE 305 5E6
LINE 305 5F2
LINE 306 5F2
LINE 307 5F8
LINE 308 5FE
LINE 310 5FE
LINE 311 5FE
LINE 311 604
LINE 311 614
LINE 312 614
LINE 313 61A
LINE 314 620
LINE 320 620
LINE 320 626
LINE 320 62C
LINE 320 62E
LINE 320 62E
LINE 320 634
LINE 321 634
LINE 321 63A
BLOCKEND 0 63A
FUNCEND 63A
FUNC LCDWaitForReady 63C fV
BLOCK 331 63C
LINE 331 63C
LINE 336 63C
LINE 336 642
LINE 336 648
LINE 336 64A
LINE 336 64A
LINE 336 650
LINE 337 650
LINE 337 656
LINE 339 656
LINE 340 65C
LINE 340 65C
LINE 341 670
BLOCKEND 0 676
FUNCEND 676
FUNC LCDSetXY 678 fV
BLOCK 423 67E
DEFREG Address0 20 c
DEFREG Y 10 c
DEFREG X 22 c
LINE 423 67E
LINE 425 67E
LINE 426 682
LINE 427 682
LINE 428 686
LINE 430 688
LINE 431 688
LINE 432 68C
LINE 434 68C
LINE 435 68E
BLOCKEND 0 692
FUNCEND 692
FUNC LCDDisplayString 694 fV
BLOCK 445 69A
DEFREG String 20 pc
LINE 445 69A
LINE 447 69C
LINE 448 69C
LINE 449 69E
LINE 450 6A4
LINE 451 6A8
LINE 446 6A8
BLOCKEND 0 6B0
FUNCEND 6B0
FUNC LCDDisplayNum 6B6 fV
BLOCK 461 6BA
DEFREG a1 20 c
DEFLOCAL BitCount 5 c
DEFLOCAL Num 1 l
LINE 461 6BA
LINE 462 6BA
LINE 463 6BA
LINE 464 6C2
LINE 465 6C2
LINE 466 6F0
LINE 463 6F0
LINE 463 6F2
BLOCKEND 0 6F6
FUNCEND 6F6
FUNC RunString 6FC fV
BLOCK 477 6FC
LINE 477 6FC
BLOCKEND 0 6FC
FUNCEND 6FC
FUNC StringLength 6FE fc
BLOCK 523 700
DEFREG n0 10 c
DEFREG String 16 pc
LINE 523 700
LINE 524 700
LINE 526 704
LINE 527 704
LINE 528 706
LINE 529 70A
LINE 525 70A
LINE 531 712
BLOCKEND 0 714
FUNCEND 714
FUNC PrintD 718 fV
BLOCK 612 720
DEFLOCAL cTempBuff 5 A[10:10]c
DEFREG n3 10 c
DEFREG bIfFindFirstNoneZeroNumber1 22 c
DEFREG n1 22 c
DEFLOCAL wTempNumber0 1 l
DEFREG chCounter 20 c
DEFLOCAL nNumber 25 L
LINE 612 720
LINE 613 720
LINE 614 736
LINE 615 736
LINE 616 780
LINE 618 780
LINE 619 79A
LINE 620 79A
LINE 621 7A0
LINE 624 7A0
LINE 625 7A4
LINE 626 7A4
LINE 627 7CC
LINE 628 7EE
LINE 624 7EE
LINE 624 7F0
LINE 630 7F4
LINE 631 7F8
LINE 632 7F8
LINE 633 7FA
LINE 635 7FC
LINE 636 7FC
LINE 637 7FE
LINE 638 800
LINE 640 800
LINE 642 812
LINE 643 81A
LINE 644 81A
LINE 645 82C
LINE 646 82C
LINE 646 846
LINE 648 846
LINE 649 848
LINE 650 84A
LINE 651 84E
LINE 652 84E
LINE 652 868
LINE 654 868
LINE 655 868
LINE 642 868
LINE 642 86A
LINE 657 872
LINE 658 876
LINE 659 876
LINE 659 882
LINE 660 882
BLOCKEND 0 882
FUNCEND 882
FILE HD_Support.c
FUNC Device_INIT 88A fV
BLOCK 111 88A
LINE 111 88A
LINE 112 88A
LINE 113 88C
LINE 114 88E
LINE 115 890
LINE 116 892
LINE 118 894
BLOCKEND 0 89A
FUNCEND 89A
FUNC Port_INIT 89C fV
BLOCK 128 89C
LINE 128 89C
LINE 130 89C
LINE 130 8A2
LINE 131 8A8
LINE 131 8AE
LINE 134 8B4
LINE 134 8BA
LINE 135 8C0
LINE 135 8C6
LINE 138 8CC
LINE 138 8D2
LINE 139 8D8
LINE 139 8DE
LINE 142 8E4
LINE 142 8EA
LINE 143 8F0
LINE 143 8F6
LINE 150 8FC
LINE 150 902
LINE 151 908
LINE 151 90E
LINE 152 914
LINE 152 91A
LINE 154 920
LINE 155 926
BLOCKEND 0 92C
FUNCEND 92C
FUNC Timer0_INIT 92E fV
BLOCK 165 92E
LINE 165 92E
LINE 166 92E
LINE 167 932
LINE 168 936
LINE 169 938
BLOCKEND 0 93C
FUNCEND 93C
FUNC Timer0_OVF_ISR 93E fV
BLOCK 179 96A
LINE 179 96A
LINE 180 96A
LINE 181 96E
LINE 181 970
BLOCKEND 0 972
FUNCEND 972
FUNC USART0_INIT 9A0 fV
BLOCK 194 9A0
LINE 194 9A0
LINE 195 9A0
LINE 196 9A6
LINE 197 9AA
LINE 198 9B0
LINE 199 9B6
LINE 200 9BA
BLOCKEND 0 9C0
FUNCEND 9C0
FUNC USART0_RX_ISR 9C2 fV
BLOCK 210 9F0
DEFREG cTempUDR0 10 c
LINE 210 9F0
LINE 212 9F0
LINE 215 9F4
LINE 215 9F6
LINE 215 9FA
BLOCKEND 0 9FA
FUNCEND 9FA
FUNC USART0_TX_ISR A2A fV
BLOCK 225 A58
DEFLOCAL cTransmitByte 0 c
LINE 225 A58
LINE 226 A58
LINE 226 A5A
LINE 226 A5A
LINE 226 A5E
LINE 226 A66
LINE 226 A66
LINE 226 A6C
LINE 226 A6E
LINE 226 A6E
LINE 226 A74
LINE 226 A7A
LINE 226 A7A
LINE 226 A7A
BLOCKEND 0 A7A
FUNCEND A7A
FUNC SPI_INIT AAA fV
BLOCK 236 AAA
LINE 236 AAA
LINE 237 AAA
LINE 238 AAE
BLOCKEND 0 AB2
FUNCEND AB2
FUNC SPI_STC_ISR AB4 fV
BLOCK 248 AC4
DEFREG chTempData0 16 c
LINE 248 AC4
LINE 249 AC4
LINE 249 AC4
LINE 249 AC6
LINE 249 AD6
LINE 249 AE4
LINE 249 AE4
LINE 249 AEE
LINE 249 AEE
LINE 249 AF8
BLOCKEND 0 AF8
FUNCEND AF8
FUNC PCINT_INIT B0A fV
BLOCK 259 B0A
LINE 259 B0A
LINE 260 B0A
LINE 261 B14
LINE 262 B1A
BLOCKEND 0 B20
FUNCEND B20
FUNC PCINT0_ISR B22 fV
BLOCK 272 B38
LINE 272 B38
LINE 273 B38
LINE 273 B3A
LINE 273 B3A
LINE 273 B3E
LINE 273 B3E
LINE 273 B46
LINE 273 B46
LINE 273 B62
LINE 273 B7E
LINE 273 B9A
LINE 273 BA0
LINE 273 BA0
LINE 273 BA6
LINE 273 BA8
LINE 273 BA8
LINE 273 BAE
LINE 273 BAE
BLOCKEND 0 BAE
FUNCEND BAE
FUNC PCINT1_ISR BC6 fV
BLOCK 283 BD0
LINE 283 BD0
LINE 284 BD0
LINE 284 BD2
LINE 284 BD2
LINE 284 BE0
LINE 284 BE0
LINE 284 BF2
LINE 284 BF4
LINE 284 BF4
LINE 284 C06
LINE 284 C06
LINE 284 C18
BLOCKEND 0 C18
FUNCEND C18
FILE EX_Support.c
FUNC Driver_INIT C24 fV
BLOCK 119 C24
LINE 119 C24
BLOCKEND 0 C24
FUNCEND C24
FUNC fMod C26 fD
BLOCK 131 C28
DEFLOCAL fNumberB 4 D
DEFLOCAL fNumberA 0 D
LINE 131 C28
LINE 132 C28
LINE 133 C48
LINE 134 C48
LINE 135 C66
LINE 137 C68
LINE 138 C68
LINE 139 C82
LINE 136 C82
LINE 141 C96
LINE 143 CA0
LINE 144 CB0
LINE 146 CB2
LINE 147 CB2
LINE 148 CCC
LINE 145 CCC
LINE 150 CEA
LINE 153 CF4
LINE 154 CF4
LINE 157 CFC
LINE 158 D10
LINE 159 D10
LINE 160 D2E
LINE 162 D30
LINE 163 D30
LINE 164 D4A
LINE 161 D4A
LINE 166 D68
LINE 168 D72
LINE 169 D82
LINE 171 D84
LINE 172 D84
LINE 173 D9E
LINE 170 D9E
LINE 175 DB0
LINE 178 DBA
LINE 179 DBA
LINE 183 DC2
LINE 184 DC2
BLOCKEND 0 DC8
FUNCEND DC8
FUNC PROC_Get_Relative_Location DCC fc
BLOCK 196 DD2
DEFREG cflags0 10 c
DEFLOCAL fTempY0 8 D
DEFLOCAL fTempX0 4 D
DEFLOCAL fTempAngle0 0 D
LINE 196 DD2
LINE 199 DD2
LINE 199 DD2
LINE 199 DD4
LINE 199 DD6
LINE 199 DEE
LINE 199 E06
LINE 199 E1E
LINE 199 E1E
LINE 199 E20
LINE 206 E20
LINE 207 E5A
LINE 208 E96
LINE 210 ED2
BLOCKEND 0 ED4
FUNCEND ED4
FUNC Delay_MS EDC fV
BLOCK 220 EDC
DEFREG wTime 16 i
LINE 220 EDC
LINE 221 EDC
LINE 223 EE4
LINE 223 EE4
BLOCKEND 0 EF4
FUNCEND EF4
FUNC Insert_Timer0_OVF_ISR_Code EF6 fV
BLOCK 233 EF6
LINE 233 EF6
LINE 234 EF6
LINE 236 F08
LINE 237 F18
LINE 238 F18
LINE 239 F24
LINE 241 F24
LINE 242 F34
LINE 243 F34
LINE 244 F3C
BLOCKEND 0 F3C
FUNCEND F3C
DEFGLOBAL g_chDataBuffer 127 A[17:17]c
FILE PF_Config.c
FUNC Platform_INIT F3E fV
BLOCK 71 F3E
LINE 71 F3E
LINE 72 F3E
LINE 74 F40
LINE 75 F42
LINE 79 F44
BLOCKEND 0 F46
FUNCEND F46
FILE PROC_Config.c
FUNC PROC_Register F48 fV
BLOCK 56 F48
LINE 56 F48
LINE 57 F48
LINE 57 F48
LINE 57 F62
LINE 57 F78
LINE 57 F82
LINE 57 F82
LINE 58 F82
LINE 58 F82
LINE 58 F9C
LINE 58 FB2
LINE 58 FBC
LINE 58 FBC
BLOCKEND 0 FBC
FUNCEND FBC
FILE System.c
FUNC System_INIT FBE fV
BLOCK 61 FBE
LINE 61 FBE
LINE 62 FBE
LINE 63 FC0
BLOCKEND 0 FC0
FUNCEND FC0
FUNC main FC2 fV
BLOCK 73 FC4
LINE 73 FC4
LINE 74 FC4
LINE 76 FC8
LINE 78 FC8
LINE 78 FCE
LINE 80 FCE
LINE 89 100A
LINE 90 100C
LINE 75 100C
BLOCKEND 0 100E
FUNCEND 100E
START 00EE