main.lst

j dadshafdsaf dfdsafdfdsafdsafdsfd

C51 COMPILER V7.50   MAIN                                                                  12/10/2007 17:35:30 PAGE 1   


C51 COMPILER V7.50, COMPILATION OF MODULE MAIN
OBJECT MODULE PLACED IN main.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE main.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          /*
   2                  FILENAME:               main.c (selftest)
   3                  VERSION:                1.0.0.0
   4                  AUTHOR:                 Tony Huang ([e-mail])
   5                  RELEASE DATE:   Nov 28, 2007
   6                  DESCRIPTION:    The selftest program for the motor part of the wireless car
   7          */
   8          
   9          #include <regx51.h>
  10          #include <absacc.h>
  11          
  12          #include "timer.h"
  13          #include "pwm.h"
  14          #include "motor.h"
  15          #include "serial.h"
  16          
  17          #define CAR_ADDRESS     3
  18          
  19          sbit led = P3^5;
  20          
  21          int cnt = 5000;
  22          unsigned char seconds = 0;
  23          
  24          bit flag;
  25          
  26          void system_init(void);
  27          void wait(unsigned char sec);
  28          void self_test(void);
  29          
  30          unsigned char cmd ;
  31          signed char parameter;
  32          
  33          void main(void)
  34          {
  35   1              system_init();
  36   1      
  37   1              drv_motor_set_speed(0, 0);
  38   1              drv_motor_set_speed(1, 0);
  39   1      
  40   1              led = 1;
  41   1      
  42   1              self_test();
  43   1      
  44   1              while(1)
  45   1                      ;
  46   1      }
  47          
  48          void self_test(void)
  49          {
  50   1              // full speed move forward
  51   1              drv_motor_set_speed(0, 100);
  52   1              drv_motor_set_speed(1, 100);
  53   1              
  54   1              wait(2);
  55   1              
C51 COMPILER V7.50   MAIN                                                                  12/10/2007 17:35:30 PAGE 2   

  56   1              // full speed move backward
  57   1              drv_motor_set_speed(0, -100);
  58   1              drv_motor_set_speed(1, -100);
  59   1              
  60   1              wait(2);
  61   1              
  62   1              // half speed move forward
  63   1              drv_motor_set_speed(0, 50);
  64   1              drv_motor_set_speed(1, 50);
  65   1      
  66   1              wait(2);
  67   1      
  68   1              // half sp0eed move backward
  69   1              drv_motor_set_speed(0, -50);
  70   1              drv_motor_set_speed(1, -50);
  71   1      
  72   1              wait(2);
  73   1      
  74   1              // turn right
  75   1              drv_motor_set_speed(0, -100);
  76   1              drv_motor_set_speed(1, 100);
  77   1      
  78   1              wait(2);
  79   1      
  80   1              // turn left
  81   1              drv_motor_set_speed(0, 100);
  82   1              drv_motor_set_speed(1, -100);
  83   1      
  84   1              wait(2);
  85   1      
  86   1              drv_motor_set_speed(0, 0);
  87   1              drv_motor_set_speed(1, 0);
  88   1      
  89   1              led = !led;
  90   1      }
  91          
  92          void system_init(void)
  93          {
  94   1              drv_timer_init(0,0,2,0,0,2);
  95   1      
  96   1              TH0 = 0xec;
  97   1              TL0 = 0xec;
  98   1              TH1 = 0xe8;
  99   1              TL1 = 0xe8;
 100   1      
 101   1              drv_timer_enable(0);
 102   1              drv_timer_enable(1);
 103   1      
 104   1              SM0 = 1;
 105   1              SM1 = 1;
 106   1      
 107   1              PCON = 0;
 108   1      
 109   1              REN = 1;
 110   1      
 111   1              ET0 = 1;
 112   1              EA = 1;
 113   1      }
 114          
 115          void timer0_int(void) interrupt 1 using 1
 116          {
 117   1              drv_pwm_on_timer();
C51 COMPILER V7.50   MAIN                                                                  12/10/2007 17:35:30 PAGE 3   

 118   1      
 119   1              if(cnt > 0)
 120   1              {
 121   2                      cnt --;
 122   2                      return;
 123   2              }
 124   1              else
 125   1              {
 126   2                      seconds++;
 127   2              }
 128   1      
 129   1              cnt = 5000;
 130   1      }
 131          
 132          void wait(unsigned char sec)
 133          {
 134   1              unsigned int expire = seconds + sec * 5;
 135   1      
 136   1              while(expire > seconds)
 137   1                      ;
 138   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    314    ----
   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)