system.lst

智能巡线绕障小车的设计

C51 COMPILER V6.12  SYSTEM                                                                 04/07/2009 22:39:54 PAGE 1   


C51 COMPILER V6.12, COMPILATION OF MODULE SYSTEM
OBJECT MODULE PLACED IN .\System.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE .\System.c BROWSE DEBUG OBJECTEXTEND

stmt level    source

   1          
   2          #include"Config.h"
   3          #include"IOCfg.c"
   4          #include"TimeDLY.h"
   5          #include"StepMot.h"
   6          #include"Follow.h"
   7          #include"LightDTC.h"
   8          #include"MetalDTC.h"
   9          #include"SegDisp.h"
  10          #include"UltraDTC.h"
  11          
  12          
  13          INT32U  RunTime=0;  //运行时间
  14          INT8U   MetalNum=0; //直道的金属块数目
  15          
  16          void InitIO()
  17          {
  18   1      	LMot_AP=0;LMot_AN=0;LMot_BP=0;LMot_BN=0;
  19   1      	RMot_AP=0;RMot_AN=0;RMot_BP=0;RMot_BN=0;
  20   1      	Follow_L=1;Follow_M=1;Follow_R=1;
  21   1      	Metal_DTC=1;
  22   1      	UltraDTC_TR=0;UltraDTC_RE=1;
  23   1      	LightDTC_L=1;LightDTC_M=1;LightDTC_R=1;
  24   1      	Guide=0;
  25   1      	DS1CS=0;DS0CS=0;P2=0x00;
  26   1      	}
  27          	
  28          void main()
  29          {
  30   1      	INT8U i;
  31   1      	InitIO();
  32   1      	LMotRun(LSPEED);
  33   1      	RMotRun(LSPEED);
  34   1      	TMOD = TMOD | 0x20 ;        //T1 工作在方式2（8位计数器,自动重载）
  35   1      	TH1 = 0x00;
  36   1      	TL1 = 0x9B;
  37   1      	EA  = 1;
  38   1      	ET1 = 1;
  39   1      	TR1 = 1;
  40   1      	while(1)
  41   1      	{
  42   2      		do //直道运行时间小于20秒，实际约为15秒
  43   2      		{
  44   3      			Follow();
  45   3      			if(Metal_Detec()) MetalNum++;
  46   3      			Seg_Disp((INT8U)(RunTime/10000));
  47   3      			}
  48   2      		while(RunTime<200000);
  49   2      		do
  50   2      		{ 
  51   3      			Follow();
  52   3      			Seg_Disp((INT8U)(RunTime/10000));
  53   3      			}
  54   2      		while(Metal_DTC != 1);
  55   2      		//达到C点,停留5s，断续声光指示
C51 COMPILER V6.12  SYSTEM                                                                 04/07/2009 22:39:54 PAGE 2   

  56   2      		LMotStop();
  57   2      		RMotStop();
  58   2      		for(i=0;i<5;i++)
  59   2      		{
  60   3      			Guide = 1;
  61   3      			T0_Delay(5000);
  62   3      			Guide = 0;
  63   3      			T0_Delay(5000);
  64   3      			}
  65   2      		do //进入障碍区
  66   2      		{
  67   3      			Ultra_DTC();
  68   3      			Seg_Disp((INT8U)(RunTime/10000));
  69   3      			}
  70   2      		while(RunTime<500000);
  71   2      		do //进入停车区
  72   2      		{
  73   3      			Light_DTC();
  74   3      			Seg_Disp((INT8U)(RunTime/10000));
  75   3      			}
  76   2      		while(RunTime<800000);
  77   2      			//停车
  78   2      		LMotRun(HSPEED);
  79   2      		RMotRun(HSPEED);
  80   2      		LDelay(20000);
  81   2      		LMotStop();
  82   2      		RMotStop();
  83   2      		for(i=0;i<100;i++)
  84   2      			Seg_Disp((INT8U)(RunTime/10000)); 					
  85   2      		}
  86   1      	}
  87          	
  88          	
  89          void Time1_IT(void) interrupt 3 
  90          {
  91   1      	RunTime ++;
  92   1      	}


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    379    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      5       1
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


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