├── .gitattributes ├── 51小车代码 ├── main.asm ├── main.c ├── main.hex ├── main.ihx ├── main.lk ├── main.lnk ├── main.lst ├── main.map ├── main.mem ├── main.rel ├── main.rst └── main.sym ├── README.md ├── assets ├── -188369248.jpg ├── -1922141768.jpg ├── -285803105.jpg ├── -498692598.jpg ├── -552525887.jpg ├── -768606370.jpg ├── -864010830.jpg ├── 135100207.jpg ├── 1543232010696.png ├── 1543232017386.png ├── 1754672187.jpg ├── 1857956188.jpg ├── 312207130.jpg ├── 313906772.jpg ├── 923632781.jpg ├── TIM图片20181229091436.jpg └── 仿真图.bmp ├── 控制端代码 ├── cc.lnk └── controler.py └── 简易仿真图 ├── AT89C52 ├── Debug │ ├── Debug │ ├── Debug.cdb │ ├── Debug.hex │ ├── Debug.lnk │ ├── Debug.map │ ├── Debug.mem │ ├── Makefile │ ├── main.adb │ ├── main.asm │ ├── main.lst │ ├── main.rel │ ├── main.rst │ └── main.sym └── main.c ├── Backup Of car.pdsbak ├── Last Loaded car.pdsbak ├── car.pdsprj └── car.pdsprj.BETTERMELENOVO.BETTER ME.workspace /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | -------------------------------------------------------------------------------- /51小车代码/main.c: -------------------------------------------------------------------------------- 1 | #include 2 | // #include //最终没有用到printf() 3 | typedef unsigned int uint; 4 | typedef unsigned char uchar; 5 | 6 | //小车移动 7 | #define FRONT 0x55 8 | #define BACK 0xaa 9 | #define FRONT_LEFT 0x5a 10 | #define FRONT_RIGHT 0xa5 11 | // #define BACK_LEFT 0xa5 12 | // #define BACK_RIGHT 0x5a 13 | #define STOP 0x00 14 | 15 | /*小车引脚定义*/ 16 | #define CAR P0 //P0口输出对车子电机的控制 17 | #define SWITCH_SELF_CONTROL P1_0 //外部中断1触发标志，此中断触发，小车自控 18 | //三个状态指示灯，低电平 19 | #define STOP_RED_LED P1_1 //停止时亮 20 | #define BT_BLUE_LED P1_2 //蓝牙控制时亮 21 | #define SELF_GREEN_LED P1_3 //自己控制的时亮 22 | #define FRONT_SENSER P1_4 //前方避障传感器 23 | #define BACK_SENSER P1_5 //后方避障传感器 24 | #define LEFT_SENSER P1_6 //左方避障传感器 25 | #define RIGHT_SENSER P1_7 //右方避障传感器 26 | #define SEG P2 //共阳七段数码管，显示超声波测得的距离 27 | #define STEER_PWM P3_2 //舵机pwm控制信号输出 28 | #define ECHO P3_4 //超声波模块回响信号口，ECHO 29 | #define TRIG P3_5 //超声波模块触发信号口，TRIG 30 | #define M_PWM P3_6 //电机速度控制pwm信号 31 | #define STBY P3_7 //置1控制电机，0无法控制电机 32 | /*常量定义*/ 33 | #define __nop __asm nop __endasm //延迟一个机器周期 34 | #define M_PWM_CYCLE 10 //pwm信号的周期 35 | #define CMD_TIME 400 //执行蓝牙指令的时间，400 * 0.1 = 40ms‘ 36 | #define OBS_DIS 15 //障碍物允许距离自己的距离 37 | 38 | #define NO_OPERATE 0x00 //无操作 39 | #define BT_OPERATE 0x01 //主函数执行蓝牙控制 40 | #define STEER_OPERATE 0x02 //舵机转动角度 41 | #define SR04_OPERATE 0x03 //超声波测距 42 | #define SELF_OPERATE 0x04 //自己控制原理障碍物 43 | 44 | #define STEER_S 0x05 //舵机归位 45 | #define STEER_P45 0x06 //舵机顺时针转动45° 46 | #define STEER_P90 0x07 //舵机顺时针转动90° 47 | #define STEER_N45 0x08 //舵机逆时针转动45° 48 | #define STEER_N90 0x09 //舵机逆时针转动90° 49 | 50 | void delay(uint n); 51 | // void _putchar(char c); 52 | void sensorTrigger(); 53 | void ledStatus(uchar s); 54 | void setTurnAngle(uchar a); 55 | void steerTurn(); 56 | void workSR04(); 57 | int calculate(); 58 | __bit isHaveObs(uchar dir); 59 | void setObsFlag(__bit fof, __bit bof, __bit lof, __bit rof); 60 | void selfControl(); 61 | void btControl(uchar cmd); 62 | void initInterrupt(); 63 | void initTimer0(); 64 | void initSerial(); 65 | void initTimer2(); 66 | void setup(); 67 | void loop(); 68 | 69 | uchar operate = 0; 70 | //数码管数字0~F 71 | uchar __code seg[] = {0xc0, 0xf9, 0xa4, 0xb0, 72 | 0x99, 0x92, 0x82, 0xf8, 73 | 0x80, 0x90, 0x88, 0x83, 74 | 0xc6, 0xa1, 0x86, 0x8e}; 75 | uchar speed = 8; //小车速度 76 | uint t0InterruptTimes; //t0计时器当前溢出次数 77 | uint t2InterruptTimes; //t0计时器当前溢出次数 78 | uchar angle; //舵机转动角度 79 | __bit isOverStep = 0; //定时器0是否溢出标志，溢出距离过远，超出测量范围 80 | __bit isFirst = 1; 81 | __bit fObsFlag = 0; //前面障碍物标志 82 | __bit bObsFlag = 0; //后面障碍物标志 83 | __bit lObsFlag = 0; //左面障碍物标志 84 | __bit rObsFlag = 0; //右面障碍物标志 85 | 86 | 87 | //延迟函数，11.0592MHz n= 1,大约延迟1ms 88 | void delay(uint n){ 89 | uint i,j; 90 | for(i=n;i>0;i--){ 91 | for(j=112;j>0;j--); 92 | } 93 | } 94 | 95 | // 向串口输出,自动调用 96 | void putcharToSer(char c) { 97 | SBUF = c; 98 | while(!TI); 99 | TI = 0; 100 | } 101 | 102 | // 传感器触发 103 | void sensorTrigger() { 104 | if(!(BACK_SENSER & FRONT_SENSER & LEFT_SENSER & RIGHT_SENSER)) { 105 | SWITCH_SELF_CONTROL = 0; 106 | // IE1 = 1; 107 | }else { 108 | SWITCH_SELF_CONTROL = 1; 109 | } 110 | } 111 | 112 | //设置障碍物存在与否标志,前后左右 113 | void setObsFlag(__bit fof, __bit bof, __bit lof, __bit rof) { 114 | fObsFlag = fof; 115 | bObsFlag = bof; 116 | lObsFlag = lof; 117 | rObsFlag = rof; 118 | } 119 | 120 | //各种状态指示灯情况 121 | //0:停止 1：自动 2:蓝牙 122 | void ledStatus(uchar s) { 123 | switch(s) { 124 | case(0): 125 | STOP_RED_LED = 0; //停止指示灯亮 126 | BT_BLUE_LED = 1; 127 | SELF_GREEN_LED = 1; 128 | break; 129 | case(1): 130 | STOP_RED_LED = 1; 131 | BT_BLUE_LED = 1; 132 | SELF_GREEN_LED = 0; //自控指示灯亮 133 | break; 134 | case(2): 135 | STOP_RED_LED = 1; 136 | SELF_GREEN_LED = 1; 137 | BT_BLUE_LED = 0; //蓝牙控制指示灯亮 138 | break; 139 | } 140 | } 141 | 142 | //舵机转动 angle:转动的角度 143 | void setTurnAngle(uchar a) { 144 | 145 | switch(a) { 146 | //逆90° 147 | case(STEER_N90):angle = 1; break; 148 | //逆45° 149 | case(STEER_N45):angle = 2; break; 150 | //归位 151 | case(STEER_S):angle = 3; break; 152 | //顺45° 153 | case(STEER_P45):angle = 4; break; 154 | //顺90° 155 | case(STEER_P90):angle = 5; break; 156 | } 157 | } 158 | 159 | //舵机转动 160 | void steerTurn() { 161 | 162 | char a; 163 | t0InterruptTimes++; 164 | a = t0InterruptTimes % 5; 165 | if (t0InterruptTimes == 200) { //舵机转动到指定角度后,停止定时器0计时,时间太短的话，舵机左右转动是无法到指定位置的。 166 | t0InterruptTimes = 0; 167 | STEER_PWM = 0; 168 | TR0 = 0; 169 | } 170 | // printf("%d", t0InterruptTimes); 171 | if (a < angle) { 172 | STEER_PWM = 1; 173 | }else { 174 | STEER_PWM = 0; 175 | } 176 | } 177 | 178 | //启动超声波模块 179 | void workSR04() { 180 | 181 | TRIG = 1; 182 | // 高点平持续10us以上 183 | __nop; __nop; __nop; __nop; __nop; 184 | __nop; __nop; __nop; __nop; __nop; 185 | __nop; __nop; __nop; __nop; __nop; 186 | __nop; __nop; __nop; __nop; __nop; 187 | TRIG = 0; 188 | while(!ECHO); 189 | TR0 = 1; 190 | while(ECHO); 191 | TR0 = 0; 192 | } 193 | 194 | //超声波测距 195 | int calculate() { 196 | 197 | int distance, time; //用char会溢出，导致测量结果有误 198 | // 读取定时器的值 199 | time = TH0 * 256 + TL0; 200 | // 重置定时器初值 201 | TH0 = 0; 202 | TL0 = 0; 203 | time *= 1.085; 204 | // 音速 = 340m/s = 0.34m/ms = 0.00034m/us = 0.034cm/us 205 | // 距离 = 高电平时间 * 音速 / 2 206 | distance = (time * 0.017); 207 | if(isOverStep) { 208 | isOverStep = 0; 209 | SEG = 0xff; 210 | //越界返回-1 211 | return -1; 212 | // printf("overstep\n"); 213 | }else { 214 | SEG = seg[distance]; 215 | // printf("distance = %dcm\n", distance); 216 | // putcharToSer(distance); 217 | return distance; 218 | } 219 | } 220 | 221 | //判断dir方向上是否有障碍物 222 | __bit isHaveObs(uchar dir) { 223 | 224 | int distance; 225 | __bit sensor_flag = 1; //0表示存在障碍物 226 | switch(dir) { 227 | case(STEER_S): 228 | sensor_flag = FRONT_SENSER; 229 | break; 230 | case(STEER_N45): 231 | sensor_flag = LEFT_SENSER; 232 | break; 233 | case(STEER_P45): 234 | sensor_flag = RIGHT_SENSER; 235 | break; 236 | } 237 | 238 | ET2 = 0; //禁止定时器2中断，以免对舵机的PWM波形产生影响 239 | setTurnAngle(dir); 240 | operate = STEER_OPERATE; 241 | initTimer0(); 242 | delay(5); //不设延迟会导致舵机无法转动 243 | /** 244 | * 这里执行定时器0的中断，控制舵机转动到指定位置，执行完中断后回到此处 245 | **/ 246 | operate = SR04_OPERATE; 247 | initTimer0(); 248 | workSR04(); //超声波模块工作 249 | distance = calculate(); 250 | // ET2 = 1; //定时器0使用完毕，恢复定时器2中断允许 251 | if ((distance > OBS_DIS | distance == -1) && sensor_flag == 1) { //距离大于允许的距离或者超出测量范围，且对应传感器没有被触发，则算没有障碍物 252 | return 0; 253 | }else { 254 | return 1; 255 | } 256 | } 257 | 258 | 259 | //自己控制远离障碍物 260 | void selfControl() { 261 | 262 | uchar sensor_state = 0xf0 & P1; //获取传感器的情况，屏蔽P1低4位 263 | uchar a = 0; 264 | switch(sensor_state) { 265 | case(0x20): //前左右 266 | // SEG = seg[0]; 267 | setObsFlag(1, 0, 1, 1); 268 | while(lObsFlag & rObsFlag & fObsFlag) { 269 | CAR = BACK; 270 | // delay(5); //加延迟会导致反应迟钝 271 | CAR = STOP; 272 | if (a == 0) { 273 | lObsFlag = isHaveObs(STEER_N45); 274 | } else if (a == 1) { 275 | fObsFlag = isHaveObs(STEER_S); 276 | } else { 277 | rObsFlag = isHaveObs(STEER_P45); 278 | } 279 | CAR = BACK; 280 | delay(25); 281 | a++; 282 | if (a == 3) { 283 | a = 0; 284 | } 285 | } 286 | break; 287 | case(0x30): //左右 288 | // SEG = seg[1]; 289 | setObsFlag(0, 0, 1, 1); 290 | while(rObsFlag & fObsFlag) { 291 | CAR = BACK; 292 | CAR = STOP; 293 | if (a == 0) { 294 | lObsFlag = isHaveObs(STEER_N45); 295 | } else { 296 | rObsFlag = isHaveObs(STEER_P45); 297 | } 298 | CAR = BACK; 299 | delay(25); 300 | a++; 301 | if (a == 2) { 302 | a = 0; 303 | } 304 | } 305 | break; 306 | case(0xe0): //只有前 307 | // SEG = seg[2]; 308 | setObsFlag(1, 0, 0, 0); 309 | while(fObsFlag) { 310 | CAR = BACK; 311 | CAR = STOP; 312 | fObsFlag = isHaveObs(STEER_S); 313 | CAR = BACK; 314 | delay(25); 315 | } 316 | break; 317 | case(0xd0): //只有后 318 | while(!BACK_SENSER) { 319 | CAR = FRONT; 320 | } 321 | break; 322 | case(0x60): //右前 323 | // SEG = seg[3]; 324 | setObsFlag(1, 0, 0, 1); 325 | while(rObsFlag & fObsFlag) { 326 | CAR = BACK; 327 | // delay(5); 328 | CAR = STOP; 329 | if (a == 0) { 330 | rObsFlag = isHaveObs(STEER_P45); 331 | } else { 332 | fObsFlag = isHaveObs(STEER_S); 333 | } 334 | CAR = BACK; 335 | delay(25); 336 | a++; 337 | if (a == 2) { 338 | a = 0; 339 | } 340 | } 341 | CAR = FRONT_LEFT; 342 | delay(100); 343 | break; 344 | case(0xa0): //左前 345 | // SEG = seg[4]; 346 | setObsFlag(1, 0, 1, 0); 347 | while(lObsFlag & fObsFlag) { 348 | CAR = BACK; 349 | CAR = STOP; 350 | if (a == 0) { 351 | lObsFlag = isHaveObs(STEER_N45); 352 | } else { 353 | fObsFlag = isHaveObs(STEER_S); 354 | } 355 | CAR = BACK; 356 | delay(25); 357 | a++; 358 | if (a == 2) { 359 | a = 0; 360 | } 361 | } 362 | CAR = FRONT_RIGHT; 363 | delay(100); 364 | break; 365 | case(0xb0): //只有左 366 | // SEG = seg[5]; 367 | setObsFlag(0, 0, 1, 0); 368 | while(lObsFlag) { 369 | CAR = BACK; 370 | CAR = STOP; 371 | lObsFlag = isHaveObs(STEER_N45); 372 | CAR = BACK; 373 | delay(25); 374 | } 375 | CAR = FRONT_RIGHT; 376 | delay(100); 377 | break; 378 | case(0x70): //只有右 379 | // SEG = seg[6]; 380 | setObsFlag(0, 0, 0, 1); 381 | while(rObsFlag) { 382 | CAR = BACK; 383 | CAR = STOP; 384 | rObsFlag = isHaveObs(STEER_P45); 385 | CAR = BACK; 386 | delay(25); 387 | } 388 | CAR = FRONT_LEFT; 389 | delay(100); 390 | break; 391 | default: 392 | CAR = STOP; 393 | break; 394 | } 395 | } 396 | 397 | //蓝牙控制小车 398 | void btControl(uchar cmd) { 399 | 400 | switch(cmd) { 401 | case('f'): CAR = FRONT; break; 402 | case('b'): CAR = BACK; break; 403 | case('l'): CAR = FRONT_LEFT; break; 404 | case('r'): CAR = FRONT_RIGHT; break; 405 | case('s'): CAR = STOP; break; 406 | case('a'): 407 | if (speed < M_PWM_CYCLE) { 408 | speed++; 409 | }; 410 | break; 411 | case('d'): 412 | if (speed != 0) { 413 | speed--; 414 | } 415 | break; 416 | default:CAR = STOP; break; 417 | } 418 | } 419 | 420 | //初始化中断 421 | void initInterrupt() { 422 | 423 | EA = 1; //允许总中断 424 | ES = 1; //允许串行口中断 425 | ET0 = 1; //允许定时器0中断 426 | ET2 = 1; //允许定时器2中断 427 | EX1 = 1; //允许外部中断1中断 428 | IT1 = 1; //低跳沿触发 429 | } 430 | 431 | //初始化定时器0 432 | void initTimer0() { 433 | 434 | TMOD |= 0x01; //工作方式1 435 | if (operate == STEER_OPERATE) { //为舵机转动 436 | TH0 = 0xFE; //中断时间0.5ms 437 | TL0 = 0x33; 438 | TR0 = 1; //开启定时器0 439 | }else if (operate == SR04_OPERATE) { //为超声波 440 | TH0 = 0; 441 | TL0 = 0; 442 | } 443 | } 444 | 445 | //初始化串口 446 | void initSerial() { 447 | 448 | SCON = 0x50; //串行口工作模式1 449 | PCON = 0x00; 450 | RI = 0; //接受中断标志清零 451 | 452 | TMOD |= 0x20; //定时器T1方式2 453 | TL1 = 0xfd; 454 | TH1 = 0xfd; 455 | TR1 = 1; //定时器开始计数 456 | } 457 | 458 | 459 | //初始化定时器2 460 | void initTimer2() { 461 | 462 | T2CON = 0x00; 463 | T2MOD = 0x00; 464 | TH2 = RCAP2H = 0xff; //中断0.1ms 465 | TL2 = RCAP2L = 0xa4; 466 | TR2 = 1; //开启定时器2 467 | } 468 | 469 | void timer0() __interrupt 1 __using 0 { 470 | 471 | if (operate == STEER_OPERATE) { 472 | // SEG = seg[2]; 473 | TH0 = 0xFE; //中断时间0.5ms 474 | TL0 = 0x33; 475 | steerTurn(); 476 | } else if (operate == SR04_OPERATE) { 477 | TH0 = 0; 478 | TL0 = 0; 479 | isOverStep = 1; 480 | } 481 | } 482 | 483 | //外部中断1 484 | void int1() __interrupt 2 __using 1 { 485 | operate = SELF_OPERATE; 486 | SWITCH_SELF_CONTROL = 1; //置高电平为下一次低跳沿产生做准备 487 | } 488 | 489 | //串行口中断 490 | void serial() __interrupt 4 __using 2 { 491 | RI = 0; 492 | if (operate == NO_OPERATE) { 493 | operate = BT_OPERATE; 494 | } 495 | } 496 | 497 | //定时器2中断 498 | void timer2() __interrupt 5 __using 3 { 499 | 500 | uchar a; 501 | t2InterruptTimes++; 502 | a = t2InterruptTimes % M_PWM_CYCLE; 503 | if (t2InterruptTimes == CMD_TIME) { 504 | t2InterruptTimes = 0; 505 | CAR = STOP; 506 | TR2 = 0; //溢出400次，说明执行了蓝牙发送的指令40ms了，停止计数器2计数，停止执行指令，等待蓝牙发送新的指令 507 | } 508 | if (a <= speed) { 509 | M_PWM = 1; 510 | }else { 511 | M_PWM = 0; 512 | } 513 | // TF2 = 0; //溢出清0 514 | } 515 | 516 | //初始化，只运行一次 517 | void setup() { 518 | initInterrupt(); 519 | initSerial(); 520 | initTimer2(); 521 | operate = NO_OPERATE; 522 | STBY = 1; 523 | } 524 | 525 | //循环执行 526 | void loop() { 527 | 528 | sensorTrigger(); 529 | if (SWITCH_SELF_CONTROL) { 530 | ledStatus(0); 531 | } 532 | if (operate == BT_OPERATE) { 533 | ledStatus(2); 534 | btControl(SBUF); 535 | } else if (operate == SELF_OPERATE) { 536 | ES = 0; //禁止串口中断，防止蓝牙依然能够控制小车 537 | ledStatus(1); 538 | selfControl(); 539 | ES = 1; 540 | ET2 = 1; //退出自己控制，恢复定时器2中断允许 541 | } 542 | operate = NO_OPERATE; 543 | } 544 | 545 | void main() { 546 | 547 | if (isFirst) { 548 | setup(); 549 | isFirst = 0; 550 | } 551 | while(1) { 552 | loop(); 553 | } 554 | } -------------------------------------------------------------------------------- /51小车代码/main.hex: -------------------------------------------------------------------------------- 1 | :040000000200313297 2 | 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:2008BF0012091EC3749E95824039790012093030D126E9F42401F582EAF43400F583EBF4AE 87 | :2008DF003400F5F0ECF43400700AE582458345F0700122E430E70F22EC20E71489828A8310 88 | :1B08FF008BF02230D10AE4F582F583F5F074802274FFF582F583F5F0747F220C 89 | :04091A0075820022C0 90 | :12091E00AA82AB83A2F73392D1F5826002D2F7ACF022DE 91 | :200930006040F82582500274FFF582E824F8501ECCCBCAF9E4CC24F85014CBCAF9E4CB24CF 92 | :20095000F8500BCAF9E4CA24F8500379002224086010F8C3EC13FCEB13FBEA13FAE913F982 93 | :03097000D8F12299 94 | :00000001FF 95 | -------------------------------------------------------------------------------- /51小车代码/main.lk: -------------------------------------------------------------------------------- 1 | -muwx 2 | -i main.ihx 3 | -M 4 | -Y 5 | -b HOME = 0x0000 6 | -b XSEG = 0x0001 7 | -b PSEG = 0x0001 8 | -b ISEG = 0x0000 9 | -b BSEG = 0x0000 10 | -k D:\Program Files (x86)\SDCC\bin\..\lib\small 11 | -l mcs51 12 | -l libsdcc 13 | -l libint 14 | -l liblong 15 | -l libfloat 16 | main.rel 17 | 18 | -e 19 | -------------------------------------------------------------------------------- /51小车代码/main.lnk: -------------------------------------------------------------------------------- 1 | -myux 2 | -i main.ihx 3 | -Y 4 | -b HOME = 0x0000 5 | -b ISEG = 0x0000 6 | -b BSEG = 0x0000 7 | -k D:\Program Files (x86)\SDCC\bin\..\lib\small 8 | -l mcs51 9 | -l libsdcc 10 | -l libint 11 | -l liblong 12 | -l libfloat 13 | main.rel 14 | 15 | -e 16 | -------------------------------------------------------------------------------- /51小车代码/main.map: -------------------------------------------------------------------------------- 1 | ASxxxx Linker V03.00 + NoICE + sdld, page 1. 2 | Hexadecimal [32-Bits] 3 | 4 | Area Addr Size Decimal Bytes (Attributes) 5 | -------------------------------- ---- ---- ------- ----- ------------ 6 | CABS 00000000 00000000 = 0. bytes (ABS,CON,CODE) 7 | 8 | Value Global Global Defined In Module 9 | ----- -------------------------------- ------------------------ 10 | C: 00000000 l_CABS 11 | C: 00000000 l_GSINIT1 12 | C: 00000000 l_GSINIT5 13 | C: 00000000 l_IABS 14 | C: 00000000 l_ISEG 15 | C: 00000000 l_PSEG 16 | C: 00000000 l_RSEG 17 | C: 00000000 l_RSEG0 18 | C: 00000000 l_RSEG1 19 | C: 00000000 l_XABS 20 | C: 00000000 l_XINIT 21 | C: 00000000 l_XISEG 22 | C: 00000000 l_XSEG 23 | C: 00000000 l__CODE 24 | C: 00000000 s_BSEG 25 | C: 00000000 s_CABS 26 | C: 00000000 s_DSEG 27 | C: 00000000 s_HOME 28 | C: 00000000 s_IABS 29 | C: 00000000 s_ISEG 30 | C: 00000000 s_REG_BANK_0 31 | C: 00000000 s_RSEG 32 | C: 00000000 s_RSEG0 33 | C: 00000000 s_RSEG1 34 | C: 00000000 s_XABS 35 | C: 00000001 l_BIT_BANK 36 | C: 00000001 s_PSEG 37 | C: 00000001 s_XISEG 38 | C: 00000001 s_XSEG 39 | C: 00000002 l_BSEG_BYTES 40 | C: 00000002 l_OSEG 41 | C: 00000003 l_GSFINAL 42 | C: 00000003 l_GSINIT0 43 | C: 00000008 l_REG_BANK_0 44 | C: 00000008 l_REG_BANK_1 45 | C: 00000008 l_REG_BANK_2 46 | C: 00000008 l_REG_BANK_3 47 | C: 00000008 s_REG_BANK_1 48 | C: 0000000A l_BSEG 49 | C: 0000000A l_GSINIT2 50 | C: 00000010 l_CONST 51 | C: 00000010 s_REG_BANK_2 52 | C: 00000012 l_GSINIT 53 | C: 00000018 s_REG_BANK_3 54 | C: 00000020 s_BSEG_BYTES 55 | C: 00000020 s__CODE 56 | C: 00000022 l_GSINIT3 57 | C: 00000022 s_BIT_BANK 58 | C: 0000002A l_GSINIT4 59 | C: 0000002A s_OSEG 60 | ASxxxx Linker V03.00 + NoICE + sdld, page 2. 61 | Hexadecimal [32-Bits] 62 | 63 | Area Addr Size Decimal Bytes (Attributes) 64 | -------------------------------- ---- ---- ------- ----- ------------ 65 | CABS 00000000 00000000 = 0. bytes (ABS,CON,CODE) 66 | 67 | Value Global Global Defined In Module 68 | ----- -------------------------------- ------------------------ 69 | C: 0000002C s_SSEG 70 | C: 00000031 l_HOME 71 | C: 00000031 s_GSINIT0 72 | C: 00000034 s_GSINIT1 73 | C: 00000034 s_GSINIT2 74 | C: 0000003E s_GSINIT3 75 | C: 00000060 s_GSINIT4 76 | C: 00000080 l_DSEG 77 | C: 0000008A s_GSINIT 78 | C: 0000008A s_GSINIT5 79 | C: 0000009C s_GSFINAL 80 | C: 0000009F s_CSEG 81 | C: 000000D4 l_SSEG 82 | C: 00000100 l_IRAM 83 | C: 000008D4 l_CSEG 84 | C: 00000973 s_CONST 85 | C: 00000983 s_XINIT 86 | 87 | ASxxxx Linker V03.00 + NoICE + sdld, page 3. 88 | Hexadecimal [32-Bits] 89 | 90 | Area Addr Size Decimal Bytes (Attributes) 91 | -------------------------------- ---- ---- ------- ----- ------------ 92 | . .ABS. 00000000 00000000 = 0. bytes (ABS,CON) 93 | 94 | Value Global Global Defined In Module 95 | ----- -------------------------------- ------------------------ 96 | 00000000 .__.ABS. _fsrshift 97 | 00000080 _P0 main 98 | 00000080 _P0_0 main 99 | 00000081 _P0_1 main 100 | 00000081 _SP main 101 | 00000082 _DPL main 102 | 00000082 _P0_2 main 103 | 00000083 _DPH main 104 | 00000083 _P0_3 main 105 | 00000084 _P0_4 main 106 | 00000085 _P0_5 main 107 | 00000086 _P0_6 main 108 | 00000087 _P0_7 main 109 | 00000087 _PCON main 110 | 00000088 _IT0 main 111 | 00000088 _TCON main 112 | 00000089 _IE0 main 113 | 00000089 _TMOD main 114 | 0000008A _IT1 main 115 | 0000008A _TL0 main 116 | 0000008B _IE1 main 117 | 0000008B _TL1 main 118 | 0000008C _TH0 main 119 | 0000008C _TR0 main 120 | 0000008D _TF0 main 121 | 0000008D _TH1 main 122 | 0000008E _TR1 main 123 | 0000008F _TF1 main 124 | 00000090 _P1 main 125 | 00000090 _P1_0 main 126 | 00000090 _T2 main 127 | 00000091 _P1_1 main 128 | 00000091 _T2EX main 129 | 00000092 _P1_2 main 130 | 00000093 _P1_3 main 131 | 00000094 _P1_4 main 132 | 00000095 _P1_5 main 133 | 00000096 _P1_6 main 134 | 00000097 _P1_7 main 135 | 00000098 _RI main 136 | 00000098 _SCON main 137 | 00000099 _SBUF main 138 | 00000099 _TI main 139 | 0000009A _RB8 main 140 | 0000009B _TB8 main 141 | 0000009C _REN main 142 | 0000009D _SM2 main 143 | 0000009E _SM1 main 144 | 0000009F _SM0 main 145 | 000000A0 _P2 main 146 | ASxxxx Linker V03.00 + NoICE + sdld, page 4. 147 | Hexadecimal [32-Bits] 148 | 149 | Area Addr Size Decimal Bytes (Attributes) 150 | -------------------------------- ---- ---- ------- ----- ------------ 151 | . .ABS. 00000000 00000000 = 0. bytes (ABS,CON) 152 | 153 | Value Global Global Defined In Module 154 | ----- -------------------------------- ------------------------ 155 | 000000A0 _P2_0 main 156 | 000000A0 __XPAGE 157 | 000000A1 _P2_1 main 158 | 000000A2 _P2_2 main 159 | 000000A3 _P2_3 main 160 | 000000A4 _P2_4 main 161 | 000000A5 _P2_5 main 162 | 000000A6 _P2_6 main 163 | 000000A7 _P2_7 main 164 | 000000A8 _EX0 main 165 | 000000A8 _IE main 166 | 000000A9 _ET0 main 167 | 000000AA _EX1 main 168 | 000000AB _ET1 main 169 | 000000AC _ES main 170 | 000000AD _ET2 main 171 | 000000AF _EA main 172 | 000000B0 _P3 main 173 | 000000B0 _P3_0 main 174 | 000000B0 _RXD main 175 | 000000B1 _P3_1 main 176 | 000000B1 _TXD main 177 | 000000B2 _INT0 main 178 | 000000B2 _P3_2 main 179 | 000000B3 _INT1 main 180 | 000000B3 _P3_3 main 181 | 000000B4 _P3_4 main 182 | 000000B4 _T0 main 183 | 000000B5 _P3_5 main 184 | 000000B5 _T1 main 185 | 000000B6 _P3_6 main 186 | 000000B6 _WR main 187 | 000000B7 _P3_7 main 188 | 000000B7 _RD main 189 | 000000B8 _IP main 190 | 000000B8 _PX0 main 191 | 000000B9 _PT0 main 192 | 000000BA _PX1 main 193 | 000000BB _PT1 main 194 | 000000BC _PS main 195 | 000000BD _PT2 main 196 | 000000C8 _CP_RL2 main 197 | 000000C8 _T2CON main 198 | 000000C8 _T2CON_0 main 199 | 000000C9 _C_T2 main 200 | 000000C9 _T2CON_1 main 201 | 000000C9 _T2MOD main 202 | 000000CA _RCAP2L main 203 | 000000CA _T2CON_2 main 204 | 000000CA _TR2 main 205 | 000000CB _EXEN2 main 206 | ASxxxx Linker V03.00 + NoICE + sdld, page 5. 207 | Hexadecimal [32-Bits] 208 | 209 | Area Addr Size Decimal Bytes (Attributes) 210 | -------------------------------- ---- ---- ------- ----- ------------ 211 | . .ABS. 00000000 00000000 = 0. bytes (ABS,CON) 212 | 213 | Value Global Global Defined In Module 214 | ----- -------------------------------- ------------------------ 215 | 000000CB _RCAP2H main 216 | 000000CB _T2CON_3 main 217 | 000000CC _T2CON_4 main 218 | 000000CC _TCLK main 219 | 000000CC _TL2 main 220 | 000000CD _RCLK main 221 | 000000CD _T2CON_5 main 222 | 000000CD _TH2 main 223 | 000000CE _EXF2 main 224 | 000000CE _T2CON_6 main 225 | 000000CF _T2CON_7 main 226 | 000000CF _TF2 main 227 | 000000D0 _P main 228 | 000000D0 _PSW main 229 | 000000D1 _FL main 230 | 000000D2 _OV main 231 | 000000D3 _RS0 main 232 | 000000D4 _RS1 main 233 | 000000D5 _F0 main 234 | 000000D6 _AC main 235 | 000000D7 _CY main 236 | 000000E0 _A main 237 | 000000E0 _ACC main 238 | 000000F0 _B main 239 | 240 | ASxxxx Linker V03.00 + NoICE + sdld, page 6. 241 | Hexadecimal [32-Bits] 242 | 243 | Area Addr Size Decimal Bytes (Attributes) 244 | -------------------------------- ---- ---- ------- ----- ------------ 245 | BSEG_BYTES 00000020 00000002 = 2. bytes (REL,CON) 246 | 247 | Value Global Global Defined In Module 248 | ----- -------------------------------- ------------------------ 249 | ASxxxx Linker V03.00 + NoICE + sdld, page 7. 250 | Hexadecimal [32-Bits] 251 | 252 | Area Addr Size Decimal Bytes (Attributes) 253 | -------------------------------- ---- ---- ------- ----- ------------ 254 | REG_BANK_0 00000000 00000008 = 8. bytes (REL,OVR) 255 | 256 | Value Global Global Defined In Module 257 | ----- -------------------------------- ------------------------ 258 | ASxxxx Linker V03.00 + NoICE + sdld, page 8. 259 | Hexadecimal [32-Bits] 260 | 261 | Area Addr Size Decimal Bytes (Attributes) 262 | -------------------------------- ---- ---- ------- ----- ------------ 263 | REG_BANK_1 00000008 00000008 = 8. bytes (REL,OVR) 264 | 265 | Value Global Global Defined In Module 266 | ----- -------------------------------- ------------------------ 267 | ASxxxx Linker V03.00 + NoICE + sdld, page 9. 268 | Hexadecimal [32-Bits] 269 | 270 | Area Addr Size Decimal Bytes (Attributes) 271 | -------------------------------- ---- ---- ------- ----- ------------ 272 | REG_BANK_2 00000010 00000008 = 8. bytes (REL,OVR) 273 | 274 | Value Global Global Defined In Module 275 | ----- -------------------------------- ------------------------ 276 | ASxxxx Linker V03.00 + NoICE + sdld, page 10. 277 | Hexadecimal [32-Bits] 278 | 279 | Area Addr Size Decimal Bytes (Attributes) 280 | -------------------------------- ---- ---- ------- ----- ------------ 281 | REG_BANK_3 00000018 00000008 = 8. bytes (REL,OVR) 282 | 283 | Value Global Global Defined In Module 284 | ----- -------------------------------- ------------------------ 285 | ASxxxx Linker V03.00 + NoICE + sdld, page 11. 286 | Hexadecimal [32-Bits] 287 | 288 | Area Addr Size Decimal Bytes (Attributes) 289 | -------------------------------- ---- ---- ------- ----- ------------ 290 | BIT_BANK 00000022 00000001 = 1. bytes (REL,OVR) 291 | 292 | Value Global Global Defined In Module 293 | ----- -------------------------------- ------------------------ 294 | ASxxxx Linker V03.00 + NoICE + sdld, page 12. 295 | Hexadecimal [32-Bits] 296 | 297 | Area Addr Size Decimal Bytes (Attributes) 298 | -------------------------------- ---- ---- ------- ----- ------------ 299 | DSEG 00000000 00000080 = 128. bytes (REL,CON) 300 | 301 | Value Global Global Defined In Module 302 | ----- -------------------------------- ------------------------ 303 | 00000023 _operate main 304 | 00000024 _speed main 305 | 00000025 _t0InterruptTimes main 306 | 00000027 _t2InterruptTimes main 307 | 00000029 _angle main 308 | 309 | ASxxxx Linker V03.00 + NoICE + sdld, page 13. 310 | Hexadecimal [32-Bits] 311 | 312 | Area Addr Size Decimal Bytes (Attributes) 313 | -------------------------------- ---- ---- ------- ----- ------------ 314 | OSEG 0000002A 00000002 = 2. bytes (REL,OVR) 315 | 316 | Value Global Global Defined In Module 317 | ----- -------------------------------- ------------------------ 318 | 0000002A __modsint_PARM_2 _moduint 319 | 0000002A __moduint_PARM_2 _moduint 320 | 321 | ASxxxx Linker V03.00 + NoICE + sdld, page 14. 322 | Hexadecimal [32-Bits] 323 | 324 | Area Addr Size Decimal Bytes (Attributes) 325 | -------------------------------- ---- ---- ------- ----- ------------ 326 | SSEG 0000002C 000000D4 = 212. bytes (REL,OVR) 327 | 328 | Value Global Global Defined In Module 329 | ----- -------------------------------- ------------------------ 330 | 0000002C __start__stack main 331 | 332 | ASxxxx Linker V03.00 + NoICE + sdld, page 15. 333 | Hexadecimal [32-Bits] 334 | 335 | Area Addr Size Decimal Bytes (Attributes) 336 | -------------------------------- ---- ---- ------- ----- ------------ 337 | HOME 00000000 00000031 = 49. bytes (REL,CON,CODE) 338 | 339 | Value Global Global Defined In Module 340 | ----- -------------------------------- ------------------------ 341 | C: 0000002E __sdcc_program_startup main 342 | 343 | ASxxxx Linker V03.00 + NoICE + sdld, page 16. 344 | Hexadecimal [32-Bits] 345 | 346 | Area Addr Size Decimal Bytes (Attributes) 347 | -------------------------------- ---- ---- ------- ----- ------------ 348 | GSINIT0 00000031 00000003 = 3. bytes (REL,CON,CODE) 349 | 350 | Value Global Global Defined In Module 351 | ----- -------------------------------- ------------------------ 352 | C: 00000031 __sdcc_gsinit_startup 353 | 354 | ASxxxx Linker V03.00 + NoICE + sdld, page 17. 355 | Hexadecimal [32-Bits] 356 | 357 | Area Addr Size Decimal Bytes (Attributes) 358 | -------------------------------- ---- ---- ------- ----- ------------ 359 | GSINIT2 00000034 0000000A = 10. bytes (REL,CON,CODE) 360 | 361 | Value Global Global Defined In Module 362 | ----- -------------------------------- ------------------------ 363 | ASxxxx Linker V03.00 + NoICE + sdld, page 18. 364 | Hexadecimal [32-Bits] 365 | 366 | Area Addr Size Decimal Bytes (Attributes) 367 | -------------------------------- ---- ---- ------- ----- ------------ 368 | GSINIT3 0000003E 00000022 = 34. bytes (REL,CON,CODE) 369 | 370 | Value Global Global Defined In Module 371 | ----- -------------------------------- ------------------------ 372 | C: 0000003E __mcs51_genXINIT 373 | 374 | ASxxxx Linker V03.00 + NoICE + sdld, page 19. 375 | Hexadecimal [32-Bits] 376 | 377 | Area Addr Size Decimal Bytes (Attributes) 378 | -------------------------------- ---- ---- ------- ----- ------------ 379 | GSINIT4 00000060 0000002A = 42. bytes (REL,CON,CODE) 380 | 381 | Value Global Global Defined In Module 382 | ----- -------------------------------- ------------------------ 383 | C: 00000060 __mcs51_genRAMCLEAR 384 | C: 00000066 __mcs51_genXRAMCLEAR 385 | 386 | ASxxxx Linker V03.00 + NoICE + sdld, page 20. 387 | Hexadecimal [32-Bits] 388 | 389 | Area Addr Size Decimal Bytes (Attributes) 390 | -------------------------------- ---- ---- ------- ----- ------------ 391 | GSINIT 0000008A 00000012 = 18. bytes (REL,CON,CODE) 392 | 393 | Value Global Global Defined In Module 394 | ----- -------------------------------- ------------------------ 395 | ASxxxx Linker V03.00 + NoICE + sdld, page 21. 396 | Hexadecimal [32-Bits] 397 | 398 | Area Addr Size Decimal Bytes (Attributes) 399 | -------------------------------- ---- ---- ------- ----- ------------ 400 | GSFINAL 0000009C 00000003 = 3. bytes (REL,CON,CODE) 401 | 402 | Value Global Global Defined In Module 403 | ----- -------------------------------- ------------------------ 404 | ASxxxx Linker V03.00 + NoICE + sdld, page 22. 405 | Hexadecimal [32-Bits] 406 | 407 | Area Addr Size Decimal Bytes (Attributes) 408 | -------------------------------- ---- ---- ------- ----- ------------ 409 | CSEG 0000009F 000008D4 = 2260. bytes (REL,CON,CODE) 410 | 411 | Value Global Global Defined In Module 412 | ----- -------------------------------- ------------------------ 413 | C: 0000009F _delay main 414 | C: 000000C3 _putcharToSer main 415 | C: 000000CC _sensorTrigger main 416 | C: 000000DC _setObsFlag main 417 | C: 000000ED _ledStatus main 418 | C: 00000113 _setTurnAngle main 419 | C: 00000140 _steerTurn main 420 | C: 0000017D _workSR04 main 421 | C: 000001A0 _calculate main 422 | C: 0000023F _isHaveObs main 423 | C: 000002AE _selfControl main 424 | C: 000004D7 _btControl main 425 | C: 00000524 _initInterrupt main 426 | C: 00000531 _initTimer0 main 427 | C: 0000054E _initSerial main 428 | C: 00000562 _initTimer2 main 429 | C: 00000577 _timer0 main 430 | C: 000005D0 _int1 main 431 | C: 000005D6 _serial main 432 | C: 000005E4 _timer2 main 433 | C: 0000065E _setup main 434 | C: 0000066D _loop main 435 | C: 000006A4 _main main 436 | C: 000006B1 ___fsmul _fsmul 437 | C: 00000754 fsgetargs _fsget2args 438 | C: 00000782 fs_normalize_a _fsnormalize 439 | C: 000007B5 __moduint _moduint 440 | C: 00000802 ___sint2fs _sint2fs 441 | C: 0000080F ___fs2sint _fs2sint 442 | C: 00000843 fs_round_and_return _fsreturnval 443 | C: 0000085B fs_zerocheck_return _fsreturnval 444 | C: 00000864 fs_return_zero _fsreturnval 445 | C: 0000086C fs_direct_return _fsreturnval 446 | C: 0000087A fs_return_inf _fsreturnval 447 | C: 00000887 fs_return_nan _fsreturnval 448 | C: 00000892 ___slong2fs _slong2fs 449 | C: 0000089B slong2fs_doit _slong2fs 450 | C: 000008BF ___fs2slong _fs2slong 451 | C: 0000091A __sdcc_external_startup _startup 452 | C: 0000091E fsgetarg _fsget1arg 453 | C: 00000930 fs_rshift_a _fsrshift 454 | 455 | ASxxxx Linker V03.00 + NoICE + sdld, page 23. 456 | Hexadecimal [32-Bits] 457 | 458 | Area Addr Size Decimal Bytes (Attributes) 459 | -------------------------------- ---- ---- ------- ----- ------------ 460 | CONST 00000973 00000010 = 16. bytes (REL,CON,CODE) 461 | 462 | Value Global Global Defined In Module 463 | ----- -------------------------------- ------------------------ 464 | C: 00000973 _seg main 465 | 466 | ASxxxx Linker V03.00 + NoICE + sdld, page 24. 467 | 468 | Files Linked [ module(s) ] 469 | 470 | main.rel [ ] 471 | 472 | 473 | Libraries Linked [ object file ] 474 | 475 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 476 | [ _fsmul.rel ] 477 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 478 | [ _fsget2args.rel ] 479 | D:\Program Files (x86)\SDCC\bin\..\lib\small/mcs51.lib 480 | [ crtclear.rel ] 481 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 482 | [ _fsnormalize.rel ] 483 | D:\Program Files (x86)\SDCC\bin\..\lib\small/mcs51.lib 484 | [ crtxinit.rel ] 485 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libint.lib 486 | [ _moduint.rel ] 487 | D:\Program Files (x86)\SDCC\bin\..\lib\small/mcs51.lib 488 | [ crtxclear.rel ] 489 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 490 | [ _sint2fs.rel ] 491 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 492 | [ _fs2sint.rel ] 493 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 494 | [ _fsreturnval.rel ] 495 | D:\Program Files (x86)\SDCC\bin\..\lib\small/mcs51.lib 496 | [ crtpagesfr.rel ] 497 | D:\Program Files (x86)\SDCC\bin\..\lib\small/mcs51.lib 498 | [ crtstart.rel ] 499 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 500 | [ _slong2fs.rel ] 501 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 502 | [ _fs2slong.rel ] 503 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libsdcc.lib 504 | [ _startup.rel ] 505 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 506 | [ _fsget1arg.rel ] 507 | D:\Program Files (x86)\SDCC\bin\..\lib\small/libfloat.lib 508 | [ _fsrshift.rel ] 509 | 510 | ASxxxx Linker V03.00 + NoICE + sdld, page 25. 511 | 512 | User Base Address Definitions 513 | 514 | HOME = 0x0000 515 | XSEG = 0x0001 516 | PSEG = 0x0001 517 | ISEG = 0x0000 518 | BSEG = 0x0000 519 | 520 | -------------------------------------------------------------------------------- /51小车代码/main.mem: -------------------------------------------------------------------------------- 1 | Internal RAM layout: 2 | 0 1 2 3 4 5 6 7 8 9 A B C D E F 3 | 0x00:|0|0|0|0|0|0|0|0|1|1|1|1|1|1|1|1| 4 | 0x10:|2|2|2|2|2|2|2|2|3|3|3|3|3|3|3|3| 5 | 0x20:|B|B|T|a|a|a|a|a|a|a|Q|Q|S|S|S|S| 6 | 0x30:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 7 | 0x40:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 8 | 0x50:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 9 | 0x60:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 10 | 0x70:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 11 | 0x80:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 12 | 0x90:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 13 | 0xa0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 14 | 0xb0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 15 | 0xc0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 16 | 0xd0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 17 | 0xe0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 18 | 0xf0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 19 | 0-3:Reg Banks, T:Bit regs, a-z:Data, B:Bits, Q:Overlay, I:iData, S:Stack, A:Absolute 20 | 21 | Stack starts at: 0x2c (sp set to 0x2b) with 212 bytes available. 22 | No spare internal RAM space left. 23 | 24 | Other memory: 25 | Name Start End Size Max 26 | ---------------- -------- -------- -------- -------- 27 | PAGED EXT. RAM 0 256 28 | EXTERNAL RAM 0 65536 29 | ROM/EPROM/FLASH 0x0000 0x0982 2435 65536 30 | -------------------------------------------------------------------------------- /51小车代码/main.rel: -------------------------------------------------------------------------------- 1 | XH3 2 | H 20 areas AE global symbols 3 | M main 4 | O -mmcs51 --model-small 5 | S _EXEN2 Def0000CB 6 | S _SP Def000081 7 | S _T2EX Def000091 8 | S _PS Def0000BC 9 | S _RCAP2L Def0000CA 10 | S ___fsmul Ref000000 11 | S _REN Def00009C 12 | S _OV Def0000D2 13 | S _T2CON Def0000C8 14 | S _T2MOD Def0000C9 15 | S __mcs51_genRAMCLEAR Ref000000 16 | S _C_T2 Def0000C9 17 | S _WR Def0000B6 18 | S _RCLK Def0000CD 19 | S __mcs51_genXINIT Ref000000 20 | S _RXD Def0000B0 21 | S _TCLK Def0000CC 22 | S _PCON Def000087 23 | S _SBUF Def000099 24 | S _TXD Def0000B1 25 | S _SCON Def000098 26 | S _TCON Def000088 27 | S _TMOD Def000089 28 | S _T2CON_0 Def0000C8 29 | S _T2CON_1 Def0000C9 30 | S _F0 Def0000D5 31 | S _T2CON_2 Def0000CA 32 | S _T2CON_3 Def0000CB 33 | S _T2CON_4 Def0000CC 34 | S _PSW Def0000D0 35 | S _T2CON_5 Def0000CD 36 | S _T2CON_6 Def0000CE 37 | S _T2CON_7 Def0000CF 38 | S _IE0 Def000089 39 | S __moduint_PARM_2 Ref000000 40 | S _IE1 Def00008B 41 | S .__.ABS. Def000000 42 | S __mcs51_genXRAMCLEAR Ref000000 43 | S _P0 Def000080 44 | S _P1 Def000090 45 | S _A Def0000E0 46 | S _P2 Def0000A0 47 | S _B Def0000F0 48 | S _CP_RL2 Def0000C8 49 | S _P3 Def0000B0 50 | S _T0 Def0000B4 51 | S _AC Def0000D6 52 | S _T1 Def0000B5 53 | S _T2 Def000090 54 | S _EA Def0000AF 55 | S ___fs2sint Ref000000 56 | S ___sint2fs Ref000000 57 | S _ACC Def0000E0 58 | S _ET0 Def0000A9 59 | S _TF0 Def00008D 60 | S _ET1 Def0000AB 61 | S _TF1 Def00008F 62 | S _ET2 Def0000AD 63 | S _TH0 Def00008C 64 | S _RB8 Def00009A 65 | S _TF2 Def0000CF 66 | S _TH1 Def00008D 67 | S _IT0 Def000088 68 | S _EX0 Def0000A8 69 | S _IE Def0000A8 70 | S _TH2 Def0000CD 71 | S _IT1 Def00008A 72 | S _TB8 Def00009B 73 | S _EX1 Def0000AA 74 | S _P0_0 Def000080 75 | S _TL0 Def00008A 76 | S _P0_1 Def000081 77 | S _P1_0 Def000090 78 | S _SM0 Def00009F 79 | S _P Def0000D0 80 | S _TL1 Def00008B 81 | S _P0_2 Def000082 82 | S _P1_1 Def000091 83 | S _SM1 Def00009E 84 | S _P2_0 Def0000A0 85 | S _TL2 Def0000CC 86 | S _P0_3 Def000083 87 | S _P1_2 Def000092 88 | S _SM2 Def00009D 89 | S _P2_1 Def0000A1 90 | S _P3_0 Def0000B0 91 | S _FL Def0000D1 92 | S _P0_4 Def000084 93 | S _P1_3 Def000093 94 | S _P2_2 Def0000A2 95 | S _P3_1 Def0000B1 96 | S _P0_5 Def000085 97 | S _P1_4 Def000094 98 | S _P2_3 Def0000A3 99 | S _P3_2 Def0000B2 100 | S _PT0 Def0000B9 101 | S _P0_6 Def000086 102 | S _P1_5 Def000095 103 | S _P2_4 Def0000A4 104 | S _P3_3 Def0000B3 105 | S _PT1 Def0000BB 106 | S _EXF2 Def0000CE 107 | S _RS0 Def0000D3 108 | S _P0_7 Def000087 109 | S _TR0 Def00008C 110 | S _P1_6 Def000096 111 | S _P2_5 Def0000A5 112 | S _P3_4 Def0000B4 113 | S _RD Def0000B7 114 | S _PT2 Def0000BD 115 | S _RS1 Def0000D4 116 | S _TR1 Def00008E 117 | S _P1_7 Def000097 118 | S _P2_6 Def0000A6 119 | S _P3_5 Def0000B5 120 | S _P2_7 Def0000A7 121 | S _ES Def0000AC 122 | S _P3_6 Def0000B6 123 | S _PX0 Def0000B8 124 | S _TR2 Def0000CA 125 | S _IP Def0000B8 126 | S _P3_7 Def0000B7 127 | S _PX1 Def0000BA 128 | S __sdcc_gsinit_startup Ref000000 129 | S _RI Def000098 130 | S _INT0 Def0000B2 131 | S _DPH Def000083 132 | S _INT1 Def0000B3 133 | S _CY Def0000D7 134 | S _TI Def000099 135 | S __moduint Ref000000 136 | S _DPL Def000082 137 | S _RCAP2H Def0000CB 138 | A _CODE size 0 flags 0 addr 0 139 | A RSEG size 0 flags 8 addr 0 140 | A RSEG0 size 0 flags 8 addr 0 141 | A RSEG1 size 0 flags 8 addr 0 142 | A REG_BANK_0 size 8 flags 4 addr 0 143 | A REG_BANK_1 size 8 flags 4 addr 0 144 | A REG_BANK_2 size 8 flags 4 addr 0 145 | A REG_BANK_3 size 8 flags 4 addr 0 146 | A BIT_BANK size 1 flags 4 addr 0 147 | A DSEG size 7 flags 0 addr 0 148 | S _operate Def000000 149 | S _t0InterruptTimes Def000002 150 | S _t2InterruptTimes Def000004 151 | S _angle Def000006 152 | S _speed Def000001 153 | A OSEG size 0 flags 4 addr 0 154 | A SSEG size 1 flags 0 addr 0 155 | S __start__stack Def000000 156 | A ISEG size 0 flags 0 addr 0 157 | A IABS size 0 flags 8 addr 0 158 | A BSEG size A flags 80 addr 0 159 | S _isFirst Def000001 160 | S _bObsFlag Def000003 161 | S _fObsFlag Def000002 162 | S _setObsFlag_PARM_1 Def000006 163 | S _lObsFlag Def000004 164 | S _setObsFlag_PARM_2 Def000007 165 | S _setObsFlag_PARM_3 Def000008 166 | S _setObsFlag_PARM_4 Def000009 167 | S _rObsFlag Def000005 168 | S _isOverStep Def000000 169 | A PSEG size 0 flags 50 addr 0 170 | A XSEG size 0 flags 40 addr 0 171 | A XABS size 0 flags 48 addr 0 172 | A XISEG size 0 flags 40 addr 0 173 | A HOME size 31 flags 20 addr 0 174 | S __sdcc_program_startup Def00002E 175 | A GSINIT0 size 0 flags 20 addr 0 176 | A GSINIT1 size 0 flags 20 addr 0 177 | A GSINIT2 size 0 flags 20 addr 0 178 | A GSINIT3 size 0 flags 20 addr 0 179 | A GSINIT4 size 0 flags 20 addr 0 180 | A GSINIT5 size 0 flags 20 addr 0 181 | A GSINIT size 12 flags 20 addr 0 182 | A GSFINAL size 3 flags 20 addr 0 183 | A CSEG size 612 flags 20 addr 0 184 | S _putcharToSer Def000024 185 | S _initTimer0 Def000492 186 | S _main Def000605 187 | S _initTimer2 Def0004C3 188 | S _setObsFlag Def00003D 189 | S _calculate Def000101 190 | S _sensorTrigger Def00002D 191 | S _setup Def0005BF 192 | S _btControl Def000438 193 | S _ledStatus Def00004E 194 | S _loop Def0005CE 195 | S _int1 Def000531 196 | S _serial Def000537 197 | S _initInterrupt Def000485 198 | S _isHaveObs Def0001A0 199 | S _selfControl Def00020F 200 | S _workSR04 Def0000DE 201 | S _steerTurn Def0000A1 202 | S _delay Def000000 203 | S _timer0 Def0004D8 204 | S _timer2 Def000545 205 | S _initSerial Def0004AF 206 | S _setTurnAngle Def000074 207 | A CONST size 10 flags 20 addr 0 208 | S _seg Def000000 209 | A XINIT size 0 flags 20 addr 0 210 | A CABS size 0 flags 28 addr 0 211 | T 00 00 00 212 | R 00 00 00 02 213 | T 00 00 00 214 | R 00 00 00 03 215 | T 00 00 00 216 | R 00 00 00 04 217 | T 00 00 00 218 | R 00 00 00 05 219 | T 00 00 00 220 | R 00 00 00 06 221 | T 00 00 00 222 | R 00 00 00 07 223 | T 00 00 00 224 | R 00 00 00 08 225 | T 00 00 00 226 | R 00 00 00 08 227 | T 00 00 00 228 | R 00 00 00 09 229 | T 00 00 00 230 | R 00 00 00 09 231 | T 00 00 01 232 | R 00 00 00 09 233 | T 00 00 01 234 | R 00 00 00 09 235 | T 00 00 02 236 | R 00 00 00 09 237 | T 00 00 02 238 | R 00 00 00 09 239 | T 00 00 04 240 | R 00 00 00 09 241 | T 00 00 04 242 | R 00 00 00 09 243 | T 00 00 06 244 | R 00 00 00 09 245 | T 00 00 06 246 | R 00 00 00 09 247 | T 00 00 00 248 | R 00 00 00 0B 249 | T 00 00 00 250 | R 00 00 00 0B 251 | T 00 00 00 252 | R 00 00 00 0E 253 | T 00 00 00 254 | R 00 00 00 0E 255 | T 00 00 01 256 | R 00 00 00 0E 257 | T 00 00 01 258 | R 00 00 00 0E 259 | T 00 00 02 260 | R 00 00 00 0E 261 | T 00 00 02 262 | R 00 00 00 0E 263 | T 00 00 03 264 | R 00 00 00 0E 265 | T 00 00 03 266 | R 00 00 00 0E 267 | T 00 00 04 268 | R 00 00 00 0E 269 | T 00 00 04 270 | R 00 00 00 0E 271 | T 00 00 05 272 | R 00 00 00 0E 273 | T 00 00 05 274 | R 00 00 00 0E 275 | T 00 00 06 276 | R 00 00 00 0E 277 | T 00 00 06 278 | R 00 00 00 0E 279 | T 00 00 07 280 | R 00 00 00 0E 281 | T 00 00 07 282 | R 00 00 00 0E 283 | T 00 00 08 284 | R 00 00 00 0E 285 | T 00 00 08 286 | R 00 00 00 0E 287 | T 00 00 09 288 | R 00 00 00 0E 289 | T 00 00 09 290 | R 00 00 00 0E 291 | T 00 00 00 292 | R 00 00 00 13 293 | T 00 00 00 02 00 00 32 294 | R 00 00 00 13 02 04 00 7B 295 | T 00 00 04 296 | R 00 00 00 13 297 | T 00 00 0B 02 04 D8 298 | R 00 00 00 13 00 04 00 1C 299 | T 00 00 0E 300 | R 00 00 00 13 301 | T 00 00 13 02 05 31 302 | R 00 00 00 13 00 04 00 1C 303 | T 00 00 16 304 | R 00 00 00 13 305 | T 00 00 1B 32 306 | R 00 00 00 13 307 | T 00 00 1C 308 | R 00 00 00 13 309 | T 00 00 23 02 05 37 310 | R 00 00 00 13 00 04 00 1C 311 | T 00 00 26 312 | R 00 00 00 13 313 | T 00 00 2B 02 05 45 314 | R 00 00 00 13 00 04 00 1C 315 | T 00 00 00 75 00 00 00 00 75 00 00 01 08 C2 316 | R 00 00 00 1A F1 21 04 00 09 F1 21 09 00 09 317 | T 00 00 07 00 00 00 D2 00 00 01 C2 318 | R 00 00 00 1A F1 21 03 00 0E F1 21 07 00 0E 319 | T 00 00 0B 00 00 02 C2 00 00 03 C2 320 | R 00 00 00 1A F1 21 03 00 0E F1 21 07 00 0E 321 | T 00 00 0F 00 00 04 C2 00 00 05 322 | R 00 00 00 1A F1 21 03 00 0E F1 21 07 00 0E 323 | T 00 00 00 02 00 2E 324 | R 00 00 00 1B 00 04 00 13 325 | T 00 00 2E 326 | R 00 00 00 13 327 | T 00 00 2E 02 06 05 328 | R 00 00 00 13 00 04 00 1C 329 | T 00 00 00 330 | R 00 00 00 1C 331 | T 00 00 00 AE 82 AF 83 332 | R 00 00 00 1C 333 | T 00 00 04 334 | R 00 00 00 1C 335 | T 00 00 04 EE 4F 60 1B 7C 70 7D 00 336 | R 00 00 00 1C 337 | T 00 00 0C 338 | R 00 00 00 1C 339 | T 00 00 0C EC 24 FF FA ED 34 FF FB 8A 04 8B 05 EA 340 | R 00 00 00 1C 341 | T 00 00 19 4B 70 F0 1E BE FF 01 1F 342 | R 00 00 00 1C 343 | T 00 00 21 344 | R 00 00 00 1C 345 | T 00 00 21 80 E1 346 | R 00 00 00 1C 347 | T 00 00 23 348 | R 00 00 00 1C 349 | T 00 00 23 22 350 | R 00 00 00 1C 351 | T 00 00 24 352 | R 00 00 00 1C 353 | T 00 00 24 85 82 99 354 | R 00 00 00 1C 355 | T 00 00 27 356 | R 00 00 00 1C 357 | T 00 00 27 10 99 02 80 FB 358 | R 00 00 00 1C 359 | T 00 00 2C 360 | R 00 00 00 1C 361 | T 00 00 2C 22 362 | R 00 00 00 1C 363 | T 00 00 2D 364 | R 00 00 00 1C 365 | T 00 00 2D A2 95 82 94 82 96 82 97 40 03 C2 90 22 366 | R 00 00 00 1C 367 | T 00 00 3A 368 | R 00 00 00 1C 369 | T 00 00 3A D2 90 22 370 | R 00 00 00 1C 371 | T 00 00 3D 372 | R 00 00 00 1C 373 | T 00 00 3D A2 00 00 06 92 00 00 02 A2 374 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 375 | T 00 00 42 00 00 07 92 00 00 03 A2 376 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 377 | T 00 00 46 00 00 08 92 00 00 04 A2 378 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 379 | T 00 00 4A 00 00 09 92 00 00 05 22 380 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 381 | T 00 00 4E 382 | R 00 00 00 1C 383 | T 00 00 4E AF 82 BF 00 02 80 0A 384 | R 00 00 00 1C 385 | T 00 00 55 386 | R 00 00 00 1C 387 | T 00 00 55 BF 01 02 80 0C 388 | R 00 00 00 1C 389 | T 00 00 5A 390 | R 00 00 00 1C 391 | T 00 00 5A BF 02 16 80 0E 392 | R 00 00 00 1C 393 | T 00 00 5F 394 | R 00 00 00 1C 395 | T 00 00 5F C2 91 D2 92 D2 93 22 396 | R 00 00 00 1C 397 | T 00 00 66 398 | R 00 00 00 1C 399 | T 00 00 66 D2 91 D2 92 C2 93 22 400 | R 00 00 00 1C 401 | T 00 00 6D 402 | R 00 00 00 1C 403 | T 00 00 6D D2 91 D2 93 C2 92 404 | R 00 00 00 1C 405 | T 00 00 73 406 | R 00 00 00 1C 407 | T 00 00 73 22 408 | R 00 00 00 1C 409 | T 00 00 74 410 | R 00 00 00 1C 411 | T 00 00 74 AF 82 BF 05 02 80 1A 412 | R 00 00 00 1C 413 | T 00 00 7B 414 | R 00 00 00 1C 415 | T 00 00 7B BF 06 02 80 19 416 | R 00 00 00 1C 417 | T 00 00 80 418 | R 00 00 00 1C 419 | T 00 00 80 BF 07 02 80 18 420 | R 00 00 00 1C 421 | T 00 00 85 422 | R 00 00 00 1C 423 | T 00 00 85 BF 08 02 80 07 424 | R 00 00 00 1C 425 | T 00 00 8A 426 | R 00 00 00 1C 427 | T 00 00 8A BF 09 13 75 00 00 06 01 22 428 | R 00 00 00 1C F1 21 07 00 09 429 | T 00 00 91 430 | R 00 00 00 1C 431 | T 00 00 91 75 00 00 06 02 22 432 | R 00 00 00 1C F1 21 04 00 09 433 | T 00 00 95 434 | R 00 00 00 1C 435 | T 00 00 95 75 00 00 06 03 22 436 | R 00 00 00 1C F1 21 04 00 09 437 | T 00 00 99 438 | R 00 00 00 1C 439 | T 00 00 99 75 00 00 06 04 22 440 | R 00 00 00 1C F1 21 04 00 09 441 | T 00 00 9D 442 | R 00 00 00 1C 443 | T 00 00 9D 75 00 00 06 05 444 | R 00 00 00 1C F1 21 04 00 09 445 | T 00 00 A0 446 | R 00 00 00 1C 447 | T 00 00 A0 22 448 | R 00 00 00 1C 449 | T 00 00 A1 450 | R 00 00 00 1C 451 | T 00 00 A1 05 00 00 02 E4 B5 00 00 02 02 05 452 | R 00 00 00 1C F1 21 04 00 09 F1 21 09 00 09 453 | T 00 00 A8 00 00 03 454 | R 00 00 00 1C F1 21 03 00 09 455 | T 00 00 A9 456 | R 00 00 00 1C 457 | T 00 00 A9 75 00 00 00 05 75 00 00 01 00 85 458 | R 00 00 00 1C F1 23 04 00 22 F1 23 09 00 22 459 | T 00 00 B0 00 00 02 82 85 00 00 03 83 12 460 | R 00 00 00 1C F1 21 03 00 09 F1 21 08 00 09 461 | T 00 00 B6 00 00 AE 82 AF 83 74 C8 B5 00 00 02 06 462 | R 00 00 00 1C 02 03 00 82 F1 21 0C 00 09 463 | T 00 00 C1 E4 B5 00 00 03 02 80 02 464 | R 00 00 00 1C F1 21 05 00 09 465 | T 00 00 C7 466 | R 00 00 00 1C 467 | T 00 00 C7 80 09 468 | R 00 00 00 1C 469 | T 00 00 C9 470 | R 00 00 00 1C 471 | T 00 00 C9 E4 F5 00 00 02 F5 00 00 03 C2 B2 C2 8C 472 | R 00 00 00 1C F1 21 05 00 09 F1 21 09 00 09 473 | T 00 00 D2 474 | R 00 00 00 1C 475 | T 00 00 D2 C3 EE 95 00 00 06 50 03 D2 B2 22 476 | R 00 00 00 1C F1 21 06 00 09 477 | T 00 00 DB 478 | R 00 00 00 1C 479 | T 00 00 DB C2 B2 22 480 | R 00 00 00 1C 481 | T 00 00 DE 482 | R 00 00 00 1C 483 | T 00 00 DE D2 B5 00 00 00 00 00 00 00 00 00 00 00 484 | R 00 00 00 1C 485 | T 00 00 EB 00 00 00 00 00 00 00 00 00 C2 B5 486 | R 00 00 00 1C 487 | T 00 00 F6 488 | R 00 00 00 1C 489 | T 00 00 F6 30 B4 FD D2 8C 490 | R 00 00 00 1C 491 | T 00 00 FB 492 | R 00 00 00 1C 493 | T 00 00 FB 20 B4 FD C2 8C 22 494 | R 00 00 00 1C 495 | T 00 01 01 496 | R 00 00 00 1C 497 | T 00 01 01 AF 8C 7E 00 AC 8A 7D 00 EC 2E F5 82 ED 498 | R 00 00 00 1C 499 | T 00 01 0E 3F F5 83 8E 8C 8E 8A 12 00 00 AC 82 AD 500 | R 00 00 00 1C 02 0B 00 33 501 | T 00 01 1B 83 AE F0 FF C0 04 C0 05 C0 06 C0 07 90 502 | R 00 00 00 1C 503 | T 00 01 28 E1 48 75 F0 8A 74 3F 12 00 00 AC 82 AD 504 | R 00 00 00 1C 02 0B 00 05 505 | T 00 01 35 83 AE F0 FF E5 81 24 FC F5 81 8C 82 8D 506 | R 00 00 00 1C 507 | T 00 01 42 83 8E F0 EF 12 00 00 12 00 00 AC 82 AD 508 | R 00 00 00 1C 02 08 00 32 02 0B 00 33 509 | T 00 01 4F 83 AE F0 FF C0 04 C0 05 C0 06 C0 07 90 510 | R 00 00 00 1C 511 | T 00 01 5C 43 96 75 F0 8B 74 3C 12 00 00 AC 82 AD 512 | R 00 00 00 1C 02 0B 00 05 513 | T 00 01 69 83 AE F0 FF E5 81 24 FC F5 81 8C 82 8D 514 | R 00 00 00 1C 515 | T 00 01 76 83 8E F0 EF 12 00 00 AE 82 AF 83 10 516 | R 00 00 00 1C 02 08 00 32 517 | T 00 01 82 00 00 00 02 80 07 518 | R 00 00 00 1C F1 21 03 00 0E 519 | T 00 01 86 520 | R 00 00 00 1C 521 | T 00 01 86 75 A0 FF 90 FF FF 22 522 | R 00 00 00 1C 523 | T 00 01 8D 524 | R 00 00 00 1C 525 | T 00 01 8D EE 24 00 00 00 F5 82 EF 34 00 00 00 F5 526 | R 00 00 00 1C F1 01 05 00 1D F1 81 0C 00 1D 527 | T 00 01 96 83 E4 93 F5 A0 8E 82 8F 83 22 528 | R 00 00 00 1C 529 | T 00 01 A0 530 | R 00 00 00 1C 531 | T 00 01 A0 AF 82 7E 01 BF 05 02 80 0A 532 | R 00 00 00 1C 533 | T 00 01 A9 534 | R 00 00 00 1C 535 | T 00 01 A9 BF 06 02 80 13 536 | R 00 00 00 1C 537 | T 00 01 AE 538 | R 00 00 00 1C 539 | T 00 01 AE BF 08 15 80 07 540 | R 00 00 00 1C 541 | T 00 01 B3 542 | R 00 00 00 1C 543 | T 00 01 B3 A2 94 E4 33 FE 80 0C 544 | R 00 00 00 1C 545 | T 00 01 BA 546 | R 00 00 00 1C 547 | T 00 01 BA A2 96 E4 33 FE 80 05 548 | R 00 00 00 1C 549 | T 00 01 C1 550 | R 00 00 00 1C 551 | T 00 01 C1 A2 97 E4 33 FE 552 | R 00 00 00 1C 553 | T 00 01 C6 554 | R 00 00 00 1C 555 | T 00 01 C6 C2 AD 8F 82 C0 06 12 00 74 75 00 00 00 556 | R 00 00 00 1C 00 0A 00 1C F1 21 0D 00 09 557 | T 00 01 D1 02 12 04 92 90 00 05 12 00 00 75 558 | R 00 00 00 1C 00 05 00 1C 00 0B 00 1C 559 | T 00 01 DC 00 00 00 03 12 04 92 12 560 | R 00 00 00 1C F1 21 03 00 09 00 08 00 1C 561 | T 00 01 E2 00 DE 12 01 01 AD 82 AF 83 D0 06 C3 74 562 | R 00 00 00 1C 00 03 00 1C 00 06 00 1C 563 | T 00 01 EF 0F 9D 74 80 8F F0 63 F0 80 95 F0 E4 33 564 | R 00 00 00 1C 565 | T 00 01 FC FC E4 BD FF 04 BF FF 01 04 566 | R 00 00 00 1C 567 | T 00 02 05 568 | R 00 00 00 1C 569 | T 00 02 05 4C 60 05 EE 60 02 C3 22 570 | R 00 00 00 1C 571 | T 00 02 0D 572 | R 00 00 00 1C 573 | T 00 02 0D D3 22 574 | R 00 00 00 1C 575 | T 00 02 0F 576 | R 00 00 00 1C 577 | T 00 02 0F E5 90 54 F0 FF 7E 00 BF 20 02 80 2D 578 | R 00 00 00 1C 579 | T 00 02 1B 580 | R 00 00 00 1C 581 | T 00 02 1B BF 30 03 02 02 A9 582 | R 00 00 00 1C 00 07 00 1C 583 | T 00 02 21 584 | R 00 00 00 1C 585 | T 00 02 21 BF 60 03 02 03 28 586 | R 00 00 00 1C 00 07 00 1C 587 | T 00 02 27 588 | R 00 00 00 1C 589 | T 00 02 27 BF 70 03 02 04 04 590 | R 00 00 00 1C 00 07 00 1C 591 | T 00 02 2D 592 | R 00 00 00 1C 593 | T 00 02 2D BF A0 03 02 03 7E 594 | R 00 00 00 1C 00 07 00 1C 595 | T 00 02 33 596 | R 00 00 00 1C 597 | T 00 02 33 BF B0 03 02 03 D4 598 | R 00 00 00 1C 00 07 00 1C 599 | T 00 02 39 600 | R 00 00 00 1C 601 | T 00 02 39 BF D0 03 02 03 1F 602 | R 00 00 00 1C 00 07 00 1C 603 | T 00 02 3F 604 | R 00 00 00 1C 605 | T 00 02 3F BF E0 03 02 02 F7 606 | R 00 00 00 1C 00 07 00 1C 607 | T 00 02 45 608 | R 00 00 00 1C 609 | T 00 02 45 02 04 34 610 | R 00 00 00 1C 00 04 00 1C 611 | T 00 02 48 612 | R 00 00 00 1C 613 | T 00 02 48 D2 00 00 06 C2 00 00 07 D2 614 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 615 | T 00 02 4D 00 00 08 D2 00 00 09 C0 06 12 616 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 617 | T 00 02 53 00 3D D0 06 618 | R 00 00 00 1C 00 03 00 1C 619 | T 00 02 57 620 | R 00 00 00 1C 621 | T 00 02 57 A2 00 00 04 82 00 00 05 82 622 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 623 | T 00 02 5C 00 00 02 40 01 22 624 | R 00 00 00 1C F1 21 03 00 0E 625 | T 00 02 60 626 | R 00 00 00 1C 627 | T 00 02 60 75 80 AA 75 80 00 EE 70 0E 75 82 08 C0 628 | R 00 00 00 1C 629 | T 00 02 6D 06 12 01 A0 92 00 00 04 D0 06 80 1D 630 | R 00 00 00 1C 00 05 00 1C F1 21 08 00 0E 631 | T 00 02 77 632 | R 00 00 00 1C 633 | T 00 02 77 BE 01 0E 75 82 05 C0 06 12 01 A0 92 634 | R 00 00 00 1C 00 0C 00 1C 635 | T 00 02 83 00 00 02 D0 06 80 0C 636 | R 00 00 00 1C F1 21 03 00 0E 637 | T 00 02 88 638 | R 00 00 00 1C 639 | T 00 02 88 75 82 06 C0 06 12 01 A0 92 00 00 05 D0 640 | R 00 00 00 1C 00 09 00 1C F1 21 0C 00 0E 641 | T 00 02 93 06 642 | R 00 00 00 1C 643 | T 00 02 94 644 | R 00 00 00 1C 645 | T 00 02 94 75 80 AA 90 00 19 C0 06 12 00 00 D0 06 646 | R 00 00 00 1C 00 0C 00 1C 647 | T 00 02 A1 0E BE 03 B2 7E 00 80 AE 648 | R 00 00 00 1C 649 | T 00 02 A9 650 | R 00 00 00 1C 651 | T 00 02 A9 C2 00 00 06 C2 00 00 07 D2 652 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 653 | T 00 02 AE 00 00 08 D2 00 00 09 C0 06 12 654 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 655 | T 00 02 B4 00 3D D0 06 656 | R 00 00 00 1C 00 03 00 1C 657 | T 00 02 B8 658 | R 00 00 00 1C 659 | T 00 02 B8 A2 00 00 05 82 00 00 02 40 01 22 660 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 661 | T 00 02 BF 662 | R 00 00 00 1C 663 | T 00 02 BF 75 80 AA 75 80 00 EE 70 0E 75 82 08 C0 664 | R 00 00 00 1C 665 | T 00 02 CC 06 12 01 A0 92 00 00 04 D0 06 80 0C 666 | R 00 00 00 1C 00 05 00 1C F1 21 08 00 0E 667 | T 00 02 D6 668 | R 00 00 00 1C 669 | T 00 02 D6 75 82 06 C0 06 12 01 A0 92 00 00 05 D0 670 | R 00 00 00 1C 00 09 00 1C F1 21 0C 00 0E 671 | T 00 02 E1 06 672 | R 00 00 00 1C 673 | T 00 02 E2 674 | R 00 00 00 1C 675 | T 00 02 E2 75 80 AA 90 00 19 C0 06 12 00 00 D0 06 676 | R 00 00 00 1C 00 0C 00 1C 677 | T 00 02 EF 0E BE 02 C5 7E 00 80 C1 678 | R 00 00 00 1C 679 | T 00 02 F7 680 | R 00 00 00 1C 681 | T 00 02 F7 D2 00 00 06 C2 00 00 07 C2 682 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 683 | T 00 02 FC 00 00 08 C2 00 00 09 12 684 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 685 | T 00 03 00 00 3D 686 | R 00 00 00 1C 00 03 00 1C 687 | T 00 03 02 688 | R 00 00 00 1C 689 | T 00 03 02 20 00 00 02 01 22 690 | R 00 00 00 1C F1 21 04 00 0E 691 | T 00 03 06 692 | R 00 00 00 1C 693 | T 00 03 06 75 80 AA 75 80 00 75 82 05 12 01 A0 92 694 | R 00 00 00 1C 00 0D 00 1C 695 | T 00 03 13 00 00 02 75 80 AA 90 00 19 12 00 00 80 696 | R 00 00 00 1C F1 21 03 00 0E 00 0D 00 1C 697 | T 00 03 1E E3 698 | R 00 00 00 1C 699 | T 00 03 1F 700 | R 00 00 00 1C 701 | T 00 03 1F 30 95 01 22 702 | R 00 00 00 1C 703 | T 00 03 23 704 | R 00 00 00 1C 705 | T 00 03 23 75 80 55 80 F7 706 | R 00 00 00 1C 707 | T 00 03 28 708 | R 00 00 00 1C 709 | T 00 03 28 D2 00 00 06 C2 00 00 07 C2 710 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 711 | T 00 03 2D 00 00 08 D2 00 00 09 C0 06 12 712 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 713 | T 00 03 33 00 3D D0 06 714 | R 00 00 00 1C 00 03 00 1C 715 | T 00 03 37 716 | R 00 00 00 1C 717 | T 00 03 37 A2 00 00 05 82 00 00 02 50 38 75 80 AA 718 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 719 | T 00 03 40 75 80 00 EE 70 0E 75 82 06 C0 06 12 720 | R 00 00 00 1C 721 | T 00 03 4C 01 A0 92 00 00 05 D0 06 80 0C 722 | R 00 00 00 1C 00 03 00 1C F1 21 06 00 0E 723 | T 00 03 54 724 | R 00 00 00 1C 725 | T 00 03 54 75 82 05 C0 06 12 01 A0 92 00 00 02 D0 726 | R 00 00 00 1C 00 09 00 1C F1 21 0C 00 0E 727 | T 00 03 5F 06 728 | R 00 00 00 1C 729 | T 00 03 60 730 | R 00 00 00 1C 731 | T 00 03 60 75 80 AA 90 00 19 C0 06 12 00 00 D0 06 732 | R 00 00 00 1C 00 0C 00 1C 733 | T 00 03 6D 0E BE 02 C6 7E 00 80 C2 734 | R 00 00 00 1C 735 | T 00 03 75 736 | R 00 00 00 1C 737 | T 00 03 75 75 80 5A 90 00 64 02 00 00 738 | R 00 00 00 1C 00 0A 00 1C 739 | T 00 03 7E 740 | R 00 00 00 1C 741 | T 00 03 7E D2 00 00 06 C2 00 00 07 D2 742 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 743 | T 00 03 83 00 00 08 C2 00 00 09 C0 06 12 744 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 745 | T 00 03 89 00 3D D0 06 746 | R 00 00 00 1C 00 03 00 1C 747 | T 00 03 8D 748 | R 00 00 00 1C 749 | T 00 03 8D A2 00 00 04 82 00 00 02 50 38 75 80 AA 750 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 751 | T 00 03 96 75 80 00 EE 70 0E 75 82 08 C0 06 12 752 | R 00 00 00 1C 753 | T 00 03 A2 01 A0 92 00 00 04 D0 06 80 0C 754 | R 00 00 00 1C 00 03 00 1C F1 21 06 00 0E 755 | T 00 03 AA 756 | R 00 00 00 1C 757 | T 00 03 AA 75 82 05 C0 06 12 01 A0 92 00 00 02 D0 758 | R 00 00 00 1C 00 09 00 1C F1 21 0C 00 0E 759 | T 00 03 B5 06 760 | R 00 00 00 1C 761 | T 00 03 B6 762 | R 00 00 00 1C 763 | T 00 03 B6 75 80 AA 90 00 19 C0 06 12 00 00 D0 06 764 | R 00 00 00 1C 00 0C 00 1C 765 | T 00 03 C3 0E BE 02 C6 7E 00 80 C2 766 | R 00 00 00 1C 767 | T 00 03 CB 768 | R 00 00 00 1C 769 | T 00 03 CB 75 80 A5 90 00 64 02 00 00 770 | R 00 00 00 1C 00 0A 00 1C 771 | T 00 03 D4 772 | R 00 00 00 1C 773 | T 00 03 D4 C2 00 00 06 C2 00 00 07 D2 774 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 775 | T 00 03 D9 00 00 08 C2 00 00 09 12 776 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 777 | T 00 03 DD 00 3D 778 | R 00 00 00 1C 00 03 00 1C 779 | T 00 03 DF 780 | R 00 00 00 1C 781 | T 00 03 DF 30 00 00 04 19 75 80 AA 75 80 00 75 82 782 | R 00 00 00 1C F1 21 04 00 0E 783 | T 00 03 EA 08 12 01 A0 92 00 00 04 75 80 AA 90 784 | R 00 00 00 1C 00 05 00 1C F1 21 08 00 0E 785 | T 00 03 F4 00 19 12 00 00 80 E4 786 | R 00 00 00 1C 00 06 00 1C 787 | T 00 03 FB 788 | R 00 00 00 1C 789 | T 00 03 FB 75 80 A5 90 00 64 02 00 00 790 | R 00 00 00 1C 00 0A 00 1C 791 | T 00 04 04 792 | R 00 00 00 1C 793 | T 00 04 04 C2 00 00 06 C2 00 00 07 C2 794 | R 00 00 00 1C F1 21 04 00 0E F1 21 08 00 0E 795 | T 00 04 09 00 00 08 D2 00 00 09 12 796 | R 00 00 00 1C F1 21 03 00 0E F1 21 07 00 0E 797 | T 00 04 0D 00 3D 798 | R 00 00 00 1C 00 03 00 1C 799 | T 00 04 0F 800 | R 00 00 00 1C 801 | T 00 04 0F 30 00 00 05 19 75 80 AA 75 80 00 75 82 802 | R 00 00 00 1C F1 21 04 00 0E 803 | T 00 04 1A 06 12 01 A0 92 00 00 05 75 80 AA 90 804 | R 00 00 00 1C 00 05 00 1C F1 21 08 00 0E 805 | T 00 04 24 00 19 12 00 00 80 E4 806 | R 00 00 00 1C 00 06 00 1C 807 | T 00 04 2B 808 | R 00 00 00 1C 809 | T 00 04 2B 75 80 5A 90 00 64 02 00 00 810 | R 00 00 00 1C 00 0A 00 1C 811 | T 00 04 34 812 | R 00 00 00 1C 813 | T 00 04 34 75 80 00 22 814 | R 00 00 00 1C 815 | T 00 04 38 816 | R 00 00 00 1C 817 | T 00 04 38 AF 82 BF 61 02 80 32 818 | R 00 00 00 1C 819 | T 00 04 3F 820 | R 00 00 00 1C 821 | T 00 04 3F BF 62 02 80 1D 822 | R 00 00 00 1C 823 | T 00 04 44 824 | R 00 00 00 1C 825 | T 00 04 44 BF 64 02 80 31 826 | R 00 00 00 1C 827 | T 00 04 49 828 | R 00 00 00 1C 829 | T 00 04 49 BF 66 02 80 0F 830 | R 00 00 00 1C 831 | T 00 04 4E 832 | R 00 00 00 1C 833 | T 00 04 4E BF 6C 02 80 12 834 | R 00 00 00 1C 835 | T 00 04 53 836 | R 00 00 00 1C 837 | T 00 04 53 BF 72 02 80 11 838 | R 00 00 00 1C 839 | T 00 04 58 840 | R 00 00 00 1C 841 | T 00 04 58 BF 73 26 80 10 842 | R 00 00 00 1C 843 | T 00 04 5D 844 | R 00 00 00 1C 845 | T 00 04 5D 75 80 55 22 846 | R 00 00 00 1C 847 | T 00 04 61 848 | R 00 00 00 1C 849 | T 00 04 61 75 80 AA 22 850 | R 00 00 00 1C 851 | T 00 04 65 852 | R 00 00 00 1C 853 | T 00 04 65 75 80 5A 22 854 | R 00 00 00 1C 855 | T 00 04 69 856 | R 00 00 00 1C 857 | T 00 04 69 75 80 A5 22 858 | R 00 00 00 1C 859 | T 00 04 6D 860 | R 00 00 00 1C 861 | T 00 04 6D 75 80 00 22 862 | R 00 00 00 1C 863 | T 00 04 71 864 | R 00 00 00 1C 865 | T 00 04 71 74 F6 25 00 00 01 40 0D 05 00 00 01 22 866 | R 00 00 00 1C F1 21 06 00 09 F1 21 0C 00 09 867 | T 00 04 7A 868 | R 00 00 00 1C 869 | T 00 04 7A E5 00 00 01 60 06 15 00 00 01 22 870 | R 00 00 00 1C F1 21 04 00 09 F1 21 0A 00 09 871 | T 00 04 81 872 | R 00 00 00 1C 873 | T 00 04 81 75 80 00 874 | R 00 00 00 1C 875 | T 00 04 84 876 | R 00 00 00 1C 877 | T 00 04 84 22 878 | R 00 00 00 1C 879 | T 00 04 85 880 | R 00 00 00 1C 881 | T 00 04 85 D2 AF D2 AC D2 A9 D2 AD D2 AA D2 8A 22 882 | R 00 00 00 1C 883 | T 00 04 92 884 | R 00 00 00 1C 885 | T 00 04 92 43 89 01 74 02 B5 00 00 00 09 75 8C FE 886 | R 00 00 00 1C F1 21 09 00 09 887 | T 00 04 9D 75 8A 33 D2 8C 22 888 | R 00 00 00 1C 889 | T 00 04 A3 890 | R 00 00 00 1C 891 | T 00 04 A3 74 03 B5 00 00 00 06 75 8C 00 75 8A 00 892 | R 00 00 00 1C F1 21 06 00 09 893 | T 00 04 AE 894 | R 00 00 00 1C 895 | T 00 04 AE 22 896 | R 00 00 00 1C 897 | T 00 04 AF 898 | R 00 00 00 1C 899 | T 00 04 AF 75 98 50 75 87 00 C2 98 43 89 20 75 8B 900 | R 00 00 00 1C 901 | T 00 04 BC FD 75 8D FD D2 8E 22 902 | R 00 00 00 1C 903 | T 00 04 C3 904 | R 00 00 00 1C 905 | T 00 04 C3 75 C8 00 75 C9 00 75 CB FF 75 CD FF 75 906 | R 00 00 00 1C 907 | T 00 04 D0 CA A4 75 CC A4 D2 CA 22 908 | R 00 00 00 1C 909 | T 00 04 D8 910 | R 00 00 00 1C 911 | T 00 04 D8 C0 00 00 00 C0 E0 C0 F0 C0 82 C0 83 C0 912 | R 00 00 00 1C F1 21 04 00 08 913 | T 00 04 E3 07 C0 06 C0 05 C0 04 C0 03 C0 02 C0 01 914 | R 00 00 00 1C 915 | T 00 04 F0 C0 00 C0 D0 75 D0 00 74 02 B5 00 00 00 916 | R 00 00 00 1C F1 21 0D 00 09 917 | T 00 04 FB 0B 75 8C FE 75 8A 33 12 00 A1 80 0D 918 | R 00 00 00 1C 00 0B 00 1C 919 | T 00 05 07 920 | R 00 00 00 1C 921 | T 00 05 07 74 03 B5 00 00 00 08 75 8C 00 75 8A 00 922 | R 00 00 00 1C F1 21 06 00 09 923 | T 00 05 12 D2 00 00 00 924 | R 00 00 00 1C F1 21 04 00 0E 925 | T 00 05 14 926 | R 00 00 00 1C 927 | T 00 05 14 D0 D0 D0 00 D0 01 D0 02 D0 03 D0 04 D0 928 | R 00 00 00 1C 929 | T 00 05 21 05 D0 06 D0 07 D0 83 D0 82 D0 F0 D0 E0 930 | R 00 00 00 1C 931 | T 00 05 2E D0 00 00 00 32 932 | R 00 00 00 1C F1 21 04 00 08 933 | T 00 05 31 934 | R 00 00 00 1C 935 | T 00 05 31 75 00 00 00 04 D2 90 32 936 | R 00 00 00 1C F1 21 04 00 09 937 | T 00 05 37 938 | R 00 00 00 1C 939 | T 00 05 37 C0 E0 C2 98 E5 00 00 00 70 03 75 940 | R 00 00 00 1C F1 21 08 00 09 941 | T 00 05 40 00 00 00 01 942 | R 00 00 00 1C F1 21 03 00 09 943 | T 00 05 42 944 | R 00 00 00 1C 945 | T 00 05 42 D0 E0 32 946 | R 00 00 00 1C 947 | T 00 05 45 948 | R 00 00 00 1C 949 | T 00 05 45 C0 00 00 00 C0 E0 C0 F0 C0 82 C0 83 C0 950 | R 00 00 00 1C F1 21 04 00 08 951 | T 00 05 50 07 C0 06 C0 05 C0 04 C0 03 C0 02 C0 01 952 | R 00 00 00 1C 953 | T 00 05 5D C0 00 C0 D0 75 D0 18 05 00 00 04 E4 B5 954 | R 00 00 00 1C F1 21 0B 00 09 955 | T 00 05 68 00 00 04 02 05 00 00 05 956 | R 00 00 00 1C F1 21 03 00 09 F1 21 08 00 09 957 | T 00 05 6C 958 | R 00 00 00 1C 959 | T 00 05 6C 75 00 00 00 0A 75 00 00 01 00 85 960 | R 00 00 00 1C F1 23 04 00 22 F1 23 09 00 22 961 | T 00 05 73 00 00 04 82 85 00 00 05 83 75 D0 00 12 962 | R 00 00 00 1C F1 21 03 00 09 F1 21 08 00 09 963 | T 00 05 7C 00 00 75 D0 18 AE 82 74 90 B5 00 00 04 964 | R 00 00 00 1C 02 03 00 82 F1 21 0D 00 09 965 | T 00 05 87 0E 74 01 B5 00 00 05 09 E4 F5 00 00 04 966 | R 00 00 00 1C F1 21 07 00 09 F1 21 0D 00 09 967 | T 00 05 90 F5 00 00 05 F5 80 C2 CA 968 | R 00 00 00 1C F1 21 04 00 09 969 | T 00 05 96 970 | R 00 00 00 1C 971 | T 00 05 96 C3 E5 00 00 01 9E 40 04 D2 B6 80 02 972 | R 00 00 00 1C F1 21 05 00 09 973 | T 00 05 A0 974 | R 00 00 00 1C 975 | T 00 05 A0 C2 B6 976 | R 00 00 00 1C 977 | T 00 05 A2 978 | R 00 00 00 1C 979 | T 00 05 A2 D0 D0 D0 00 D0 01 D0 02 D0 03 D0 04 D0 980 | R 00 00 00 1C 981 | T 00 05 AF 05 D0 06 D0 07 D0 83 D0 82 D0 F0 D0 E0 982 | R 00 00 00 1C 983 | T 00 05 BC D0 00 00 00 32 984 | R 00 00 00 1C F1 21 04 00 08 985 | T 00 05 BF 986 | R 00 00 00 1C 987 | T 00 05 BF 12 04 85 12 04 AF 12 988 | R 00 00 00 1C 00 04 00 1C 00 07 00 1C 989 | T 00 05 C6 04 C3 75 00 00 00 00 D2 B7 22 990 | R 00 00 00 1C 00 03 00 1C F1 21 06 00 09 991 | T 00 05 CE 992 | R 00 00 00 1C 993 | T 00 05 CE 12 00 2D 30 90 06 75 82 00 12 00 4E 994 | R 00 00 00 1C 00 04 00 1C 00 0D 00 1C 995 | T 00 05 DA 996 | R 00 00 00 1C 997 | T 00 05 DA 74 01 B5 00 00 00 0E 75 82 02 12 00 4E 998 | R 00 00 00 1C F1 21 06 00 09 00 0E 00 1C 999 | T 00 05 E5 85 99 82 12 04 38 80 14 1000 | R 00 00 00 1C 00 07 00 1C 1001 | T 00 05 ED 1002 | R 00 00 00 1C 1003 | T 00 05 ED 74 04 B5 00 00 00 0F C2 AC 75 82 01 12 1004 | R 00 00 00 1C F1 21 06 00 09 1005 | T 00 05 F8 00 4E 12 02 0F D2 AC D2 AD 1006 | R 00 00 00 1C 00 03 00 1C 00 06 00 1C 1007 | T 00 06 01 1008 | R 00 00 00 1C 1009 | T 00 06 01 75 00 00 00 00 22 1010 | R 00 00 00 1C F1 21 04 00 09 1011 | T 00 06 05 1012 | R 00 00 00 1C 1013 | T 00 06 05 30 00 00 01 05 12 05 BF C2 1014 | R 00 00 00 1C F1 21 04 00 0E 00 09 00 1C 1015 | T 00 06 0C 00 00 01 1016 | R 00 00 00 1C F1 21 03 00 0E 1017 | T 00 06 0D 1018 | R 00 00 00 1C 1019 | T 00 06 0D 12 05 CE 80 FB 1020 | R 00 00 00 1C 00 04 00 1C 1021 | T 00 00 00 1022 | R 00 00 00 1D 1023 | T 00 00 00 C0 F9 A4 B0 99 92 82 F8 80 90 88 83 C6 1024 | R 00 00 00 1D 1025 | T 00 00 0D A1 86 8E 1026 | R 00 00 00 1D 1027 | -------------------------------------------------------------------------------- /51小车代码/main.sym: -------------------------------------------------------------------------------- 1 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 1. 2 | Hexadecimal [24-Bits] 3 | 4 | Symbol Table 5 | 6 | .__.$$$. = 002710 L 7 | .__.ABS. = 000000 G 8 | .__.CPU. = 000000 L 9 | .__.H$L. = 000001 L 10 | A = 0000E0 L 11 | A.0 = 0000E0 L 12 | A.1 = 0000E1 L 13 | A.2 = 0000E2 L 14 | A.3 = 0000E3 L 15 | A.4 = 0000E4 L 16 | A.5 = 0000E5 L 17 | A.6 = 0000E6 L 18 | A.7 = 0000E7 L 19 | AC = 0000D6 L 20 | ACC = 0000E0 L 21 | ACC.0 = 0000E0 L 22 | ACC.1 = 0000E1 L 23 | ACC.2 = 0000E2 L 24 | ACC.3 = 0000E3 L 25 | ACC.4 = 0000E4 L 26 | ACC.5 = 0000E5 L 27 | ACC.6 = 0000E6 L 28 | ACC.7 = 0000E7 L 29 | B = 0000F0 L 30 | B.0 = 0000F0 L 31 | B.1 = 0000F1 L 32 | B.2 = 0000F2 L 33 | B.3 = 0000F3 L 34 | B.4 = 0000F4 L 35 | B.5 = 0000F5 L 36 | B.6 = 0000F6 L 37 | B.7 = 0000F7 L 38 | CPRL2 = 0000C8 L 39 | CT2 = 0000C9 L 40 | CY = 0000D7 L 41 | DPH = 000083 L 42 | DPL = 000082 L 43 | EA = 0000AF L 44 | ES = 0000AC L 45 | ET0 = 0000A9 L 46 | ET1 = 0000AB L 47 | ET2 = 0000AD L 48 | EX0 = 0000A8 L 49 | EX1 = 0000AA L 50 | EXEN2 = 0000CB L 51 | EXF2 = 0000CE L 52 | F0 = 0000D5 L 53 | IE = 0000A8 L 54 | IE.0 = 0000A8 L 55 | IE.1 = 0000A9 L 56 | IE.2 = 0000AA L 57 | IE.3 = 0000AB L 58 | IE.4 = 0000AC L 59 | IE.5 = 0000AD L 60 | IE.7 = 0000AF L 61 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 2. 62 | Hexadecimal [24-Bits] 63 | 64 | Symbol Table 65 | 66 | IE0 = 000089 L 67 | IE1 = 00008B L 68 | INT0 = 0000B2 L 69 | INT1 = 0000B3 L 70 | IP = 0000B8 L 71 | IP.0 = 0000B8 L 72 | IP.1 = 0000B9 L 73 | IP.2 = 0000BA L 74 | IP.3 = 0000BB L 75 | IP.4 = 0000BC L 76 | IP.5 = 0000BD L 77 | IT0 = 000088 L 78 | IT1 = 00008A L 79 | OV = 0000D2 L 80 | P = 0000D0 L 81 | P0 = 000080 L 82 | P0.0 = 000080 L 83 | P0.1 = 000081 L 84 | P0.2 = 000082 L 85 | P0.3 = 000083 L 86 | P0.4 = 000084 L 87 | P0.5 = 000085 L 88 | P0.6 = 000086 L 89 | P0.7 = 000087 L 90 | P1 = 000090 L 91 | P1.0 = 000090 L 92 | P1.1 = 000091 L 93 | P1.2 = 000092 L 94 | P1.3 = 000093 L 95 | P1.4 = 000094 L 96 | P1.5 = 000095 L 97 | P1.6 = 000096 L 98 | P1.7 = 000097 L 99 | P2 = 0000A0 L 100 | P2.0 = 0000A0 L 101 | P2.1 = 0000A1 L 102 | P2.2 = 0000A2 L 103 | P2.3 = 0000A3 L 104 | P2.4 = 0000A4 L 105 | P2.5 = 0000A5 L 106 | P2.6 = 0000A6 L 107 | P2.7 = 0000A7 L 108 | P3 = 0000B0 L 109 | P3.0 = 0000B0 L 110 | P3.1 = 0000B1 L 111 | P3.2 = 0000B2 L 112 | P3.3 = 0000B3 L 113 | P3.4 = 0000B4 L 114 | P3.5 = 0000B5 L 115 | P3.6 = 0000B6 L 116 | P3.7 = 0000B7 L 117 | PCON = 000087 L 118 | PS = 0000BC L 119 | PSW = 0000D0 L 120 | PSW.0 = 0000D0 L 121 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 3. 122 | Hexadecimal [24-Bits] 123 | 124 | Symbol Table 125 | 126 | PSW.1 = 0000D1 L 127 | PSW.2 = 0000D2 L 128 | PSW.3 = 0000D3 L 129 | PSW.4 = 0000D4 L 130 | PSW.5 = 0000D5 L 131 | PSW.6 = 0000D6 L 132 | PSW.7 = 0000D7 L 133 | PT0 = 0000B9 L 134 | PT1 = 0000BB L 135 | PT2 = 0000BD L 136 | PX0 = 0000B8 L 137 | PX1 = 0000BA L 138 | RB8 = 00009A L 139 | RCAP2H = 0000CB L 140 | RCAP2L = 0000CA L 141 | RCLK = 0000CD L 142 | REN = 00009C L 143 | RI = 000098 L 144 | RS0 = 0000D3 L 145 | RS1 = 0000D4 L 146 | RXD = 0000B0 L 147 | SBUF = 000099 L 148 | SCON = 000098 L 149 | SCON.0 = 000098 L 150 | SCON.1 = 000099 L 151 | SCON.2 = 00009A L 152 | SCON.3 = 00009B L 153 | SCON.4 = 00009C L 154 | SCON.5 = 00009D L 155 | SCON.6 = 00009E L 156 | SCON.7 = 00009F L 157 | SM0 = 00009F L 158 | SM1 = 00009E L 159 | SM2 = 00009D L 160 | SP = 000081 L 161 | T2CON = 0000C8 L 162 | T2CON.0 = 0000C8 L 163 | T2CON.1 = 0000C9 L 164 | T2CON.2 = 0000CA L 165 | T2CON.3 = 0000CB L 166 | T2CON.4 = 0000CC L 167 | T2CON.5 = 0000CD L 168 | T2CON.6 = 0000CE L 169 | T2CON.7 = 0000CF L 170 | TB8 = 00009B L 171 | TCLK = 0000CC L 172 | TCON = 000088 L 173 | TCON.0 = 000088 L 174 | TCON.1 = 000089 L 175 | TCON.2 = 00008A L 176 | TCON.3 = 00008B L 177 | TCON.4 = 00008C L 178 | TCON.5 = 00008D L 179 | TCON.6 = 00008E L 180 | TCON.7 = 00008F L 181 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 4. 182 | Hexadecimal [24-Bits] 183 | 184 | Symbol Table 185 | 186 | TF0 = 00008D L 187 | TF1 = 00008F L 188 | TF2 = 0000CF L 189 | TH0 = 00008C L 190 | TH1 = 00008D L 191 | TH2 = 0000CD L 192 | TI = 000099 L 193 | TL0 = 00008A L 194 | TL1 = 00008B L 195 | TL2 = 0000CC L 196 | TMOD = 000089 L 197 | TR0 = 00008C L 198 | TR1 = 00008E L 199 | TR2 = 0000CA L 200 | TXD = 0000B1 L 201 | _A = 0000E0 G 202 | _AC = 0000D6 G 203 | _ACC = 0000E0 G 204 | _B = 0000F0 G 205 | _CP_RL2 = 0000C8 G 206 | _CY = 0000D7 G 207 | _C_T2 = 0000C9 G 208 | _DPH = 000083 G 209 | _DPL = 000082 G 210 | _EA = 0000AF G 211 | _ES = 0000AC G 212 | _ET0 = 0000A9 G 213 | _ET1 = 0000AB G 214 | _ET2 = 0000AD G 215 | _EX0 = 0000A8 G 216 | _EX1 = 0000AA G 217 | _EXEN2 = 0000CB G 218 | _EXF2 = 0000CE G 219 | _F0 = 0000D5 G 220 | _FL = 0000D1 G 221 | _IE = 0000A8 G 222 | _IE0 = 000089 G 223 | _IE1 = 00008B G 224 | _INT0 = 0000B2 G 225 | _INT1 = 0000B3 G 226 | _IP = 0000B8 G 227 | _IT0 = 000088 G 228 | _IT1 = 00008A G 229 | _OV = 0000D2 G 230 | _P = 0000D0 G 231 | _P0 = 000080 G 232 | _P0_0 = 000080 G 233 | _P0_1 = 000081 G 234 | _P0_2 = 000082 G 235 | _P0_3 = 000083 G 236 | _P0_4 = 000084 G 237 | _P0_5 = 000085 G 238 | _P0_6 = 000086 G 239 | _P0_7 = 000087 G 240 | _P1 = 000090 G 241 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 5. 242 | Hexadecimal [24-Bits] 243 | 244 | Symbol Table 245 | 246 | _P1_0 = 000090 G 247 | _P1_1 = 000091 G 248 | _P1_2 = 000092 G 249 | _P1_3 = 000093 G 250 | _P1_4 = 000094 G 251 | _P1_5 = 000095 G 252 | _P1_6 = 000096 G 253 | _P1_7 = 000097 G 254 | _P2 = 0000A0 G 255 | _P2_0 = 0000A0 G 256 | _P2_1 = 0000A1 G 257 | _P2_2 = 0000A2 G 258 | _P2_3 = 0000A3 G 259 | _P2_4 = 0000A4 G 260 | _P2_5 = 0000A5 G 261 | _P2_6 = 0000A6 G 262 | _P2_7 = 0000A7 G 263 | _P3 = 0000B0 G 264 | _P3_0 = 0000B0 G 265 | _P3_1 = 0000B1 G 266 | _P3_2 = 0000B2 G 267 | _P3_3 = 0000B3 G 268 | _P3_4 = 0000B4 G 269 | _P3_5 = 0000B5 G 270 | _P3_6 = 0000B6 G 271 | _P3_7 = 0000B7 G 272 | _PCON = 000087 G 273 | _PS = 0000BC G 274 | _PSW = 0000D0 G 275 | _PT0 = 0000B9 G 276 | _PT1 = 0000BB G 277 | _PT2 = 0000BD G 278 | _PX0 = 0000B8 G 279 | _PX1 = 0000BA G 280 | _RB8 = 00009A G 281 | _RCAP2H = 0000CB G 282 | _RCAP2L = 0000CA G 283 | _RCLK = 0000CD G 284 | _RD = 0000B7 G 285 | _REN = 00009C G 286 | _RI = 000098 G 287 | _RS0 = 0000D3 G 288 | _RS1 = 0000D4 G 289 | _RXD = 0000B0 G 290 | _SBUF = 000099 G 291 | _SCON = 000098 G 292 | _SM0 = 00009F G 293 | _SM1 = 00009E G 294 | _SM2 = 00009D G 295 | _SP = 000081 G 296 | _T0 = 0000B4 G 297 | _T1 = 0000B5 G 298 | _T2 = 000090 G 299 | _T2CON = 0000C8 G 300 | _T2CON_0 = 0000C8 G 301 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 6. 302 | Hexadecimal [24-Bits] 303 | 304 | Symbol Table 305 | 306 | _T2CON_1 = 0000C9 G 307 | _T2CON_2 = 0000CA G 308 | _T2CON_3 = 0000CB G 309 | _T2CON_4 = 0000CC G 310 | _T2CON_5 = 0000CD G 311 | _T2CON_6 = 0000CE G 312 | _T2CON_7 = 0000CF G 313 | _T2EX = 000091 G 314 | _T2MOD = 0000C9 G 315 | _TB8 = 00009B G 316 | _TCLK = 0000CC G 317 | _TCON = 000088 G 318 | _TF0 = 00008D G 319 | _TF1 = 00008F G 320 | _TF2 = 0000CF G 321 | _TH0 = 00008C G 322 | _TH1 = 00008D G 323 | _TH2 = 0000CD G 324 | _TI = 000099 G 325 | _TL0 = 00008A G 326 | _TL1 = 00008B G 327 | _TL2 = 0000CC G 328 | _TMOD = 000089 G 329 | _TR0 = 00008C G 330 | _TR1 = 00008E G 331 | _TR2 = 0000CA G 332 | _TXD = 0000B1 G 333 | _WR = 0000B6 G 334 | ___fs2sint ****** GX 335 | ___fsmul ****** GX 336 | ___sint2fs ****** GX 337 | 13 __interrupt_vect 000000 R 338 | __mcs51_genRAMCLEAR ****** GX 339 | __mcs51_genXINIT ****** GX 340 | __mcs51_genXRAMCLEAR ****** GX 341 | __moduint ****** GX 342 | __moduint_PARM_2 ****** GX 343 | __sdcc_gsinit_startup ****** GX 344 | 13 __sdcc_program_startup 00002E GR 345 | B __start__stack 000000 GR 346 | 9 _angle 000006 GR 347 | E _bObsFlag 000003 GR 348 | 1C _btControl 000438 GR 349 | 1C _calculate 000101 GR 350 | 1C _delay 000000 GR 351 | E _fObsFlag 000002 GR 352 | 1C _initInterrupt 000485 GR 353 | 1C _initSerial 0004AF GR 354 | 1C _initTimer0 000492 GR 355 | 1C _initTimer2 0004C3 GR 356 | 1C _int1 000531 GR 357 | E _isFirst 000001 GR 358 | 1C _isHaveObs 0001A0 GR 359 | E _isOverStep 000000 GR 360 | E _lObsFlag 000004 GR 361 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 7. 362 | Hexadecimal [24-Bits] 363 | 364 | Symbol Table 365 | 366 | 1C _ledStatus 00004E GR 367 | 1C _loop 0005CE GR 368 | 1C _main 000605 GR 369 | 9 _operate 000000 GR 370 | 1C _putcharToSer 000024 GR 371 | E _rObsFlag 000005 GR 372 | 1D _seg 000000 GR 373 | 1C _selfControl 00020F GR 374 | 1C _sensorTrigger 00002D GR 375 | 1C _serial 000537 GR 376 | 1C _setObsFlag 00003D GR 377 | E _setObsFlag_PARM_1 000006 GR 378 | E _setObsFlag_PARM_2 000007 GR 379 | E _setObsFlag_PARM_3 000008 GR 380 | E _setObsFlag_PARM_4 000009 GR 381 | 1C _setTurnAngle 000074 GR 382 | 1C _setup 0005BF GR 383 | 9 _speed 000001 GR 384 | 1C _steerTurn 0000A1 GR 385 | 9 _t0InterruptTimes 000002 GR 386 | 9 _t2InterruptTimes 000004 GR 387 | 1C _timer0 0004D8 GR 388 | 1C _timer2 000545 GR 389 | 1C _workSR04 0000DE GR 390 | a = 0000E0 L 391 | a.0 = 0000E0 L 392 | a.1 = 0000E1 L 393 | a.2 = 0000E2 L 394 | a.3 = 0000E3 L 395 | a.4 = 0000E4 L 396 | a.5 = 0000E5 L 397 | a.6 = 0000E6 L 398 | a.7 = 0000E7 L 399 | ac = 0000D6 L 400 | acc = 0000E0 L 401 | acc.0 = 0000E0 L 402 | acc.1 = 0000E1 L 403 | acc.2 = 0000E2 L 404 | acc.3 = 0000E3 L 405 | acc.4 = 0000E4 L 406 | acc.5 = 0000E5 L 407 | acc.6 = 0000E6 L 408 | acc.7 = 0000E7 L 409 | ar0 = 000000 410 | ar1 = 000001 411 | ar2 = 000002 412 | ar3 = 000003 413 | ar4 = 000004 414 | ar5 = 000005 415 | ar6 = 000006 416 | ar7 = 000007 417 | b = 0000F0 L 418 | b.0 = 0000F0 L 419 | b.1 = 0000F1 L 420 | b.2 = 0000F2 L 421 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 8. 422 | Hexadecimal [24-Bits] 423 | 424 | Symbol Table 425 | 426 | b.3 = 0000F3 L 427 | b.4 = 0000F4 L 428 | b.5 = 0000F5 L 429 | b.6 = 0000F6 L 430 | b.7 = 0000F7 L 431 | 8 b0 = 008000 R 432 | 8 b1 = 008100 R 433 | 8 b2 = 008200 R 434 | 8 b3 = 008300 R 435 | 8 b4 = 008400 R 436 | 8 b5 = 008500 R 437 | 8 b6 = 008600 R 438 | 8 b7 = 008700 R 439 | 8 bits 000000 R 440 | cprl2 = 0000C8 L 441 | ct2 = 0000C9 L 442 | cy = 0000D7 L 443 | dph = 000083 L 444 | dpl = 000082 L 445 | ea = 0000AF L 446 | es = 0000AC L 447 | et0 = 0000A9 L 448 | et1 = 0000AB L 449 | et2 = 0000AD L 450 | ex0 = 0000A8 L 451 | ex1 = 0000AA L 452 | exen2 = 0000CB L 453 | exf2 = 0000CE L 454 | f0 = 0000D5 L 455 | ie = 0000A8 L 456 | ie.0 = 0000A8 L 457 | ie.1 = 0000A9 L 458 | ie.2 = 0000AA L 459 | ie.3 = 0000AB L 460 | ie.4 = 0000AC L 461 | ie.5 = 0000AD L 462 | ie.7 = 0000AF L 463 | ie0 = 000089 L 464 | ie1 = 00008B L 465 | int0 = 0000B2 L 466 | int1 = 0000B3 L 467 | ip = 0000B8 L 468 | ip.0 = 0000B8 L 469 | ip.1 = 0000B9 L 470 | ip.2 = 0000BA L 471 | ip.3 = 0000BB L 472 | ip.4 = 0000BC L 473 | ip.5 = 0000BD L 474 | it0 = 000088 L 475 | it1 = 00008A L 476 | ov = 0000D2 L 477 | p = 0000D0 L 478 | p0 = 000080 L 479 | p0.0 = 000080 L 480 | p0.1 = 000081 L 481 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 9. 482 | Hexadecimal [24-Bits] 483 | 484 | Symbol Table 485 | 486 | p0.2 = 000082 L 487 | p0.3 = 000083 L 488 | p0.4 = 000084 L 489 | p0.5 = 000085 L 490 | p0.6 = 000086 L 491 | p0.7 = 000087 L 492 | p1 = 000090 L 493 | p1.0 = 000090 L 494 | p1.1 = 000091 L 495 | p1.2 = 000092 L 496 | p1.3 = 000093 L 497 | p1.4 = 000094 L 498 | p1.5 = 000095 L 499 | p1.6 = 000096 L 500 | p1.7 = 000097 L 501 | p2 = 0000A0 L 502 | p2.0 = 0000A0 L 503 | p2.1 = 0000A1 L 504 | p2.2 = 0000A2 L 505 | p2.3 = 0000A3 L 506 | p2.4 = 0000A4 L 507 | p2.5 = 0000A5 L 508 | p2.6 = 0000A6 L 509 | p2.7 = 0000A7 L 510 | p3 = 0000B0 L 511 | p3.0 = 0000B0 L 512 | p3.1 = 0000B1 L 513 | p3.2 = 0000B2 L 514 | p3.3 = 0000B3 L 515 | p3.4 = 0000B4 L 516 | p3.5 = 0000B5 L 517 | p3.6 = 0000B6 L 518 | p3.7 = 0000B7 L 519 | pcon = 000087 L 520 | ps = 0000BC L 521 | psw = 0000D0 L 522 | psw.0 = 0000D0 L 523 | psw.1 = 0000D1 L 524 | psw.2 = 0000D2 L 525 | psw.3 = 0000D3 L 526 | psw.4 = 0000D4 L 527 | psw.5 = 0000D5 L 528 | psw.6 = 0000D6 L 529 | psw.7 = 0000D7 L 530 | pt0 = 0000B9 L 531 | pt1 = 0000BB L 532 | pt2 = 0000BD L 533 | px0 = 0000B8 L 534 | px1 = 0000BA L 535 | rb8 = 00009A L 536 | rcap2h = 0000CB L 537 | rcap2l = 0000CA L 538 | rclk = 0000CD L 539 | ren = 00009C L 540 | ri = 000098 L 541 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 10. 542 | Hexadecimal [24-Bits] 543 | 544 | Symbol Table 545 | 546 | rs0 = 0000D3 L 547 | rs1 = 0000D4 L 548 | rxd = 0000B0 L 549 | sbuf = 000099 L 550 | scon = 000098 L 551 | scon.0 = 000098 L 552 | scon.1 = 000099 L 553 | scon.2 = 00009A L 554 | scon.3 = 00009B L 555 | scon.4 = 00009C L 556 | scon.5 = 00009D L 557 | scon.6 = 00009E L 558 | scon.7 = 00009F L 559 | sm0 = 00009F L 560 | sm1 = 00009E L 561 | sm2 = 00009D L 562 | sp = 000081 L 563 | t2con = 0000C8 L 564 | t2con.0 = 0000C8 L 565 | t2con.1 = 0000C9 L 566 | t2con.2 = 0000CA L 567 | t2con.3 = 0000CB L 568 | t2con.4 = 0000CC L 569 | t2con.5 = 0000CD L 570 | t2con.6 = 0000CE L 571 | t2con.7 = 0000CF L 572 | tb8 = 00009B L 573 | tclk = 0000CC L 574 | tcon = 000088 L 575 | tcon.0 = 000088 L 576 | tcon.1 = 000089 L 577 | tcon.2 = 00008A L 578 | tcon.3 = 00008B L 579 | tcon.4 = 00008C L 580 | tcon.5 = 00008D L 581 | tcon.6 = 00008E L 582 | tcon.7 = 00008F L 583 | tf0 = 00008D L 584 | tf1 = 00008F L 585 | tf2 = 0000CF L 586 | th0 = 00008C L 587 | th1 = 00008D L 588 | th2 = 0000CD L 589 | ti = 000099 L 590 | tl0 = 00008A L 591 | tl1 = 00008B L 592 | tl2 = 0000CC L 593 | tmod = 000089 L 594 | tr0 = 00008C L 595 | tr1 = 00008E L 596 | tr2 = 0000CA L 597 | txd = 0000B1 L 598 | 599 | 600 | ASxxxx Assembler V02.00 + NoICE + SDCC mods (Intel 8051), page 11. 601 | Hexadecimal [24-Bits] 602 | 603 | Area Table 604 | 605 | 0 _CODE size 0 flags 0 606 | 1 RSEG size 0 flags 8 607 | 2 RSEG0 size 0 flags 8 608 | 3 RSEG1 size 0 flags 8 609 | 4 REG_BANK_0 size 8 flags 4 610 | 5 REG_BANK_1 size 8 flags 4 611 | 6 REG_BANK_2 size 8 flags 4 612 | 7 REG_BANK_3 size 8 flags 4 613 | 8 BIT_BANK size 1 flags 4 614 | 9 DSEG size 7 flags 0 615 | A OSEG size 0 flags 4 616 | B SSEG size 1 flags 0 617 | C ISEG size 0 flags 0 618 | D IABS size 0 flags 8 619 | E BSEG size A flags 80 620 | F PSEG size 0 flags 50 621 | 10 XSEG size 0 flags 40 622 | 11 XABS size 0 flags 48 623 | 12 XISEG size 0 flags 40 624 | 13 HOME size 31 flags 20 625 | 14 GSINIT0 size 0 flags 20 626 | 15 GSINIT1 size 0 flags 20 627 | 16 GSINIT2 size 0 flags 20 628 | 17 GSINIT3 size 0 flags 20 629 | 18 GSINIT4 size 0 flags 20 630 | 19 GSINIT5 size 0 flags 20 631 | 1A GSINIT size 12 flags 20 632 | 1B GSFINAL size 3 flags 20 633 | 1C CSEG size 612 flags 20 634 | 1D CONST size 10 flags 20 635 | 1E XINIT size 0 flags 20 636 | 1F CABS size 0 flags 28 637 | 638 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | ## 51单片机自动避障小车 6 | 7 | 8 | 9 | [TOC] 10 | 11 | ### 预实现功能： 12 | 13 | 1、车子使用蓝牙串口模块与手机或者电脑通信，手机或电脑控制小车移动； 14 | 15 | 2、当小车在移动过程中车的四路避障传感器检测到障碍物时，蓝牙无法控制小车，由小车自己根据传感器测得的数据自动实现避障； 16 | 17 | 3、当小车在前进的过程中遇到障碍物时，由舵机转动超声波模块分别测前方、左方右方45°90°障碍物距离自己的距离，并将这个距离发送给手机或电脑，显示在七段数码管上，小车根据距离选择一个可以通行的方向移动，当小车的传感器检测不到数据时，车子的控制权交给蓝牙； 18 | 19 | 4、小车被蓝牙控制、小车自己控制和小车停下时有对应指示灯亮； 20 | 21 | 5、实现小车转弯时速度减慢和调速？ 22 | 23 | ### 材料清单 24 | 25 | #### STC89C52RC 26 | 27 | ![](assets/-864010830.jpg) 28 | 29 | #### BT08蓝牙串口模块（更推荐HC06） 30 | 31 | ![](assets/-188369248.jpg) 32 | 33 | **TB6612FNG电机驱动板** x2 34 | 35 | ![](assets/-1922141768.jpg) 36 | 37 | #### 红外避障模块x4 38 | 39 | ![](assets/-768606370.jpg) 40 | 41 | #### 智能小车底盘 42 | 43 | ![](assets/-285803105.jpg) 44 | 45 | #### SG90 9g舵机及舵机支架 46 | 47 | ![](assets/312207130.jpg) 48 | 49 | ![](assets/-498692598.jpg) 50 | 51 | #### HC-SR04超声波模块及其支架 52 | 53 | ![](assets/135100207.jpg) 54 | 55 | #### 数显电压表 56 | 57 | ![](assets/313906772.jpg) 58 | 59 | #### 3A降压板 60 | 61 | ![](assets/1754672187.jpg) 62 | 63 | #### 万用板 64 | 65 | ![](assets/-552525887.jpg) 66 | 67 | #### 10K欧排阻 68 | 69 | P0口上拉电阻 70 | 71 | ![](assets/923632781.jpg) 72 | 73 | #### 铜柱，3mm螺丝帽，3mm螺丝 74 | 75 | ![](assets/1857956188.jpg) 76 | 77 | #### 其他 78 | 79 | 18650电池x2、18650电池仓、杜邦线21cm、10cm、排针、排母、共阳七段数码管、LED灯、万用表。 80 | 81 | ### 控制端代码 82 | 83 | 用python写的控制小车移动在终端中运行的一段代码，第一次真正意义上自己用python写东西，代码水平很烂。但python真的很厉害，要是换java或者C#，几十行代码肯定是搞不定。 84 | 85 | ![1543232017386](assets/1543232017386.png) 86 | 87 | ### 仿真图 88 | 89 | ![](assets/仿真图.bmp) 90 | 91 | ### 实物图 92 | 93 | ![](assets/TIM图片20181229091436.jpg) 94 | 95 | ### 功能实现 96 | 97 | 开发环境：windows 10 + SDCC + VS Code + STC ISP 98 | 99 | 由于SDCC可以做到跨平台，故选择了它作为本次课设的编辑环境，安装好SDCC后，只需在终端中使用 100 | 101 | sdcc main.c及pachihx main.ihx > main.hex即可得到对应的16进制文件。 102 | 103 | 由于VS Code友好的代码提示能力，选择VS Code作为本次课设代码的编辑器可以大幅减少书写代码时间，提高效率。 104 | 105 | #### **1）** **单片机驱动电机** 106 | 107 | 由于单片机的IO口电流输出太小，无法直接驱动电机，需要借助L298N或者其他芯片实现对电机的控制。一开始我选择的L298N mini模块，为了实现调速，通过单片机的 一个IO口输出PWM信号给一个MOS管模块以实现对L298N mini模块供电大小的调整，但是最后结果不是我想象的那样，MOS管输出的电压的确根据PWM占空比的改变而改变，但是一旦接到L298N mini模块上，这个电压就会降低到很低，导致电机无法转动。虽然直接在它的对电机控制的IN口上输入PWM信号也能达到调速，但是实现起来很是麻烦。 108 | 109 | 不喜欢传统L298N的大体积，由于TB6612FNG模块具有小体积，可承受大电流，低功耗，有专门的PWM输入口实现调速的优点，故选择了它。 110 | 111 | #### **2**）车速调整 112 | 113 | 小车速度的控制的PWM信号发生应该是优先级最低的，蓝牙控制还是自己避障都应该可以打破这个中断，故选择了52单片机的定时器2用来产生车速控制的PWM信号。 114 | 115 | 通过设置一个全局变量作为车速控制PWM信号的占空比控制，在串口中断中对输入的命令进行判断来增加减少这个全局变量，以实现对PWM占空比的调整。 116 | 117 | #### **3）** **蓝牙命令执行时间控制** 118 | 119 | 通过对T2中断次数的统计，当达到设定值时，关闭T2，并停止小车，将T2中断次数置0.这样，控制端就需要一直发送命令，否则就不能让小车一直运动。 120 | 121 | #### 4）小车避障 122 | 123 | 目前实现避障方法是通过避障模块检测障碍物，当传感器检测到障碍物时，根据不同的传感器是否被触发让小车做出对应的动作。然后再启动舵机带动超声波模块测量对应方向的障碍物距离，并循环测量直至这个距离大于预设的值，且对应方向的传感器未被触发，则认为此方向上没有障碍物。接着做出对应躲避障碍物动作后退出自动控制。 124 | 125 | #### 5） **超声波测距** 126 | 127 | 先给超声波模块提供一个 10uS 以上脉冲触发信号触发，再通过定时器对模块发送回来的高电平计时，根据这个高电平时间利用公式，音速 = 340m/s = 0.34m/ms = 0.00034m/us = 0.034cm/us，距离 = 高电平时间 * 音速 / 2计算距离。 128 | 129 | #### **6**）舵机转动 130 | 131 | 舵机的转动位置是靠控制PWM信号的占空比来实现的，这个PWM信号的周期应该是5*0.5ms = 2.5ms，再控制占空比即可调节舵机转动角度。 132 | 133 | 1/5 ---- 逆90° 134 | 135 | 2/5 ---- 逆45° 136 | 137 | 3/5 ---- 水平（归位） 138 | 139 | 4/5 ---- 顺45° 140 | 141 | 5/5 ---- 逆90° 142 | 143 | ### 已知问题 144 | 145 | 1、避障模块的有效感应距离太短，导致存在无法及时避障的问题 146 | 147 | 解决：换用质量更好更靠谱的避障模块来测试避障功能的可行性； 148 | 149 | 2、 解决避障模块的灵敏度高时导致电机转动时引起避障模块触发 150 | 151 | 解决：电机驱动板和避障模块使用相同的供电导致的。让单独的5V电源对电机驱动板供电或许能解决这个问题。 152 | 153 | -------------------------------------------------------------------------------- /assets/-188369248.jpg: -------------------------------------------------------------------------------- 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/控制端代码/cc.lnk: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/greenhand520/AutomaticObstacleAvoidanceTrolleyWithC51/324ef0d6058092b983768e6fcbb1c6c33a953bb6/控制端代码/cc.lnk -------------------------------------------------------------------------------- /控制端代码/controler.py: -------------------------------------------------------------------------------- 1 | # coding:utf-8 2 | import serial.tools.list_ports 3 | from pynput.keyboard import Controller, Key, Listener 4 | import threading, time 5 | import os 6 | 7 | ser = None 8 | 9 | 10 | class Ser(object): 11 | def __init__(self, port_name): 12 | try: 13 | self.port = serial.Serial(port=port_name, bytesize=8, stopbits=1, timeout=2) 14 | except Exception: 15 | print("failed to open the port.") 16 | os._exit(0) 17 | 18 | def send_cmd(self, cmd): 19 | self.port.write(cmd.encode()) 20 | 21 | 22 | 23 | def print_msg(): 24 | print("ZZ51单片机小车控制端 --by betterme") 25 | print("按住对应按键控制小车") 26 | print("W->前进 S->后退 J->左转 L->右转") 27 | print("I->加速 K->减速 D->停止 C->清屏") 28 | 29 | 30 | def clear(): 31 | os.system("cls") 32 | 33 | def print_rec(ser): 34 | data = ser.port.read_all() 35 | if data != '': 36 | print(data) 37 | 38 | def on_press(key): 39 | """ 40 | 键盘按下函数 41 | :param key: 42 | :return: 没有异常发生时返回按下字符,否则返回空 43 | """ 44 | try: 45 | key_value = format(key.char).lower() 46 | if key_value == 'w': # 前进 47 | ser.send_cmd('f') 48 | elif key_value == 's': # 后退 49 | ser.send_cmd('b') 50 | elif key_value == 'd': # 停止 51 | ser.send_cmd('s') 52 | elif key_value == 'j': # 左转 53 | ser.send_cmd('l') 54 | elif key_value == 'l': # 右转 55 | ser.send_cmd('r') 56 | elif key_value == 'i': # 加速 57 | ser.send_cmd('a') 58 | elif key_value == 'k': # 减速 59 | ser.send_cmd('d') 60 | elif key_value == 'h': # 帮助 61 | print_msg() 62 | elif key_value == 'c': # 清屏 63 | clear() 64 | except AttributeError: 65 | return 66 | 67 | 68 | def start_keyboard_listen(): 69 | """ 70 | 开始键盘监听 71 | """ 72 | with Listener(on_press=on_press, on_release=on_press) as listener: 73 | listener.join() 74 | 75 | 76 | # def start_port_rec_listen(): 77 | # with threading.Thread(target=print_rec(ser)) as t: 78 | # t.start() 79 | # t.join() 80 | 81 | 82 | def main(): 83 | print_msg() 84 | port_list = serial.tools.list_ports.comports() 85 | if len(port_list) <= 0: 86 | print("没有可用的串口") 87 | else: 88 | print("下面的串口可以被打开") 89 | i = 0 90 | for port in port_list: 91 | i += 1 92 | print(str(i) + " :", end='') 93 | print(port) 94 | serial_num = int(input("输入要打开串口的序号：")) 95 | serial_info = port_list[serial_num - 1] 96 | port_name = serial_info[0] 97 | global ser 98 | ser = Ser(port_name) 99 | if (ser.port.isOpen()): 100 | print("succeed to open " + port_name) 101 | kb = Controller() 102 | # start_port_rec_listen() 103 | start_keyboard_listen() 104 | else: 105 | print("failed to open " + port_name) 106 | 107 | 108 | if __name__ == '__main__': 109 | main() 110 | -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/Debug: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/greenhand520/AutomaticObstacleAvoidanceTrolleyWithC51/324ef0d6058092b983768e6fcbb1c6c33a953bb6/简易仿真图/AT89C52/Debug/Debug -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/Debug.cdb: -------------------------------------------------------------------------------- 1 | M:main 2 | F:G$delay$0$0({2}DF,SV:S),C,0,0,0,0,0 3 | F:G$putchar$0$0({2}DF,SV:S),Z,0,0,0,0,0 4 | F:G$sensorTrigger$0$0({2}DF,SV:S),C,0,0,0,0,0 5 | F:G$ledStatus$0$0({2}DF,SV:S),C,0,0,0,0,0 6 | F:G$setTurnAngle$0$0({2}DF,SV:S),C,0,0,0,0,0 7 | F:G$steerTurn$0$0({2}DF,SV:S),C,0,0,0,0,0 8 | F:G$trigger$0$0({2}DF,SV:S),C,0,0,0,0,0 9 | F:G$calculate$0$0({2}DF,SC:U),C,0,0,0,0,0 10 | F:G$startSR04$0$0({2}DF,SV:S),C,0,0,0,0,0 11 | F:G$awayLEFTObs$0$0({2}DF,SV:S),C,0,0,0,0,0 12 | F:G$awayRightObs$0$0({2}DF,SV:S),C,0,0,0,0,0 13 | F:G$awayFrontObs$0$0({2}DF,SV:S),C,0,0,0,0,0 14 | F:G$awayBackObs$0$0({2}DF,SV:S),C,0,0,0,0,0 15 | F:G$selfControl$0$0({2}DF,SV:S),C,0,0,1,2,0 16 | F:G$btControl$0$0({2}DF,SV:S),C,0,0,0,0,0 17 | F:G$initInterrupt$0$0({2}DF,SV:S),C,0,0,0,0,0 18 | F:G$initTimer0$0$0({2}DF,SV:S),C,0,0,0,0,0 19 | F:G$reloadTimer0$0$0({2}DF,SV:S),C,0,0,0,0,0 20 | F:G$initSerial$0$0({2}DF,SV:S),C,0,0,0,0,0 21 | F:G$initTimer2$0$0({2}DF,SV:S),C,0,0,0,0,0 22 | F:G$timer0$0$0({2}DF,SV:S),C,0,0,1,1,0 23 | F:G$serial$0$0({2}DF,SV:S),C,0,0,1,4,1 24 | F:G$timer2$0$0({2}DF,SV:S),C,0,0,1,5,2 25 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 26 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 27 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 28 | S:G$speed$0$0({1}SC:U),E,0,0 29 | S:G$t0InterruptTimes$0$0({1}SC:U),E,0,0 30 | S:G$t2InterruptTimes$0$0({1}SC:U),E,0,0 31 | S:G$angle$0$0({1}SC:U),E,0,0 32 | S:G$timer0For$0$0({1}SC:U),E,0,0 33 | S:Ldelay$n$1$1({2}SI:U),R,0,0,[] 34 | S:Ldelay$i$1$1({2}SI:U),R,0,0,[r2,r3] 35 | S:Ldelay$j$1$1({2}SI:U),R,0,0,[r4,r5] 36 | S:Lputchar$c$1$1({1}SC:S),R,0,0,[] 37 | S:LledStatus$s$1$1({1}SC:U),R,0,0,[r2] 38 | S:LsetTurnAngle$a$1$1({1}SC:U),R,0,0,[r2] 39 | S:Lcalculate$time$1$1({1}SC:U),R,0,0,[r2] 40 | S:Lcalculate$distance$1$1({1}SC:U),R,0,0,[r2] 41 | S:LbtControl$cmd$1$1({1}SC:U),R,0,0,[r2] 42 | S:Ltimer2$a$1$1({1}SC:U),R,0,0,[r2] 43 | S:G$isOverstep$0$0({1}SB0$1:U),H,0,0 44 | S:G$P0$0$0({1}SC:U),I,0,0 45 | S:G$SP$0$0({1}SC:U),I,0,0 46 | S:G$DPL$0$0({1}SC:U),I,0,0 47 | S:G$DPH$0$0({1}SC:U),I,0,0 48 | S:G$PCON$0$0({1}SC:U),I,0,0 49 | S:G$TCON$0$0({1}SC:U),I,0,0 50 | S:G$TMOD$0$0({1}SC:U),I,0,0 51 | S:G$TL0$0$0({1}SC:U),I,0,0 52 | S:G$TL1$0$0({1}SC:U),I,0,0 53 | S:G$TH0$0$0({1}SC:U),I,0,0 54 | S:G$TH1$0$0({1}SC:U),I,0,0 55 | S:G$P1$0$0({1}SC:U),I,0,0 56 | S:G$SCON$0$0({1}SC:U),I,0,0 57 | S:G$SBUF$0$0({1}SC:U),I,0,0 58 | S:G$P2$0$0({1}SC:U),I,0,0 59 | S:G$IE$0$0({1}SC:U),I,0,0 60 | S:G$P3$0$0({1}SC:U),I,0,0 61 | S:G$IP$0$0({1}SC:U),I,0,0 62 | S:G$T2CON$0$0({1}SC:U),I,0,0 63 | S:G$T2MOD$0$0({1}SC:U),I,0,0 64 | S:G$RCAP2L$0$0({1}SC:U),I,0,0 65 | S:G$RCAP2H$0$0({1}SC:U),I,0,0 66 | S:G$TL2$0$0({1}SC:U),I,0,0 67 | S:G$TH2$0$0({1}SC:U),I,0,0 68 | S:G$PSW$0$0({1}SC:U),I,0,0 69 | S:G$ACC$0$0({1}SC:U),I,0,0 70 | S:G$A$0$0({1}SC:U),I,0,0 71 | S:G$B$0$0({1}SC:U),I,0,0 72 | S:G$P0_0$0$0({1}SX:U),J,0,0 73 | S:G$P0_1$0$0({1}SX:U),J,0,0 74 | S:G$P0_2$0$0({1}SX:U),J,0,0 75 | S:G$P0_3$0$0({1}SX:U),J,0,0 76 | S:G$P0_4$0$0({1}SX:U),J,0,0 77 | S:G$P0_5$0$0({1}SX:U),J,0,0 78 | S:G$P0_6$0$0({1}SX:U),J,0,0 79 | S:G$P0_7$0$0({1}SX:U),J,0,0 80 | S:G$IT0$0$0({1}SX:U),J,0,0 81 | S:G$IE0$0$0({1}SX:U),J,0,0 82 | S:G$IT1$0$0({1}SX:U),J,0,0 83 | S:G$IE1$0$0({1}SX:U),J,0,0 84 | S:G$TR0$0$0({1}SX:U),J,0,0 85 | S:G$TF0$0$0({1}SX:U),J,0,0 86 | S:G$TR1$0$0({1}SX:U),J,0,0 87 | S:G$TF1$0$0({1}SX:U),J,0,0 88 | S:G$P1_0$0$0({1}SX:U),J,0,0 89 | S:G$P1_1$0$0({1}SX:U),J,0,0 90 | 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:0E0BFB008D82C003C0041206EAD004D003802D 437 | :010C0900DD0D 438 | :040C0A00EBB537000F 439 | :0A0C0E005008E537C39BF537800757 440 | :050C18007537008002A9 441 | :020C1D008C3712 442 | :020C1F00A838F3 443 | :0A0C21008B041BEC6026B20A200AC7 444 | :0B0C2B000A08E6C4540FFC8C2C800764 445 | :070C36008604740F5CF52C2D 446 | :0C0C3D00852C82C003C000120710D000FC 447 | :040C4900D00380D480 448 | :060C4D00200203020799DA 449 | :020C5300AB37BD 450 | :090C55008B041BEC7003020799EB 451 | :0C0C5E00758220C0031206EAD00380EB70 452 | :080C6A008A821206EA020799D2 453 | :070C7200852D82852E8322EF 454 | :0B0D8C003C4E4F20464C4F41543E00AF 455 | :040C7900AA82AB831D 456 | :080C7D00120C916003A380F842 457 | :0C0C8500C3E5829AF582E5839BF583228B 458 | :0300330075814391 459 | :0A003600120CD3E582600302002ED5 460 | :0E0C910020F71430F6148883A88220F507E6B9 461 | :060C9F00A883758300220A 462 | :030CA500E280F7F3 463 | :030CA800E49322B0 464 | :020CAB00E02245 465 | :0B0CAD00E4AC82FBFAF97486020CC96B 466 | :080CB8007F86120CD9F582229F 467 | :090CC000FCABF0AA83A982749E2A 468 | :020CC900C2D196 469 | :080CCB00F58212062502064E17 470 | :040CD3007582002204 471 | :020CD7007F9EFE 472 | :090CD900120D4130D10302066F37 473 | :0E0CE200C3EF9582500974FFF5F0F583F5829B 474 | :010CF00022E1 475 | :050CF1007900120CFE69 476 | :080CF60089828A838BF0EC2255 477 | :090CFE006040F82582500274FFE9 478 | :0E0D0700F582E824F8501ECCCBCAF9E4CC24C7 479 | :0E0D1500F85014CBCAF9E4CB24F8500BCAF9FD 480 | :090D2300E4CA24F850037900220F 481 | :050D2C0024086010F82E 482 | :0E0D3100C3EC13FCEB13FBEA13FAE913F9D839 483 | :010D3F00F1C2 484 | :010D40002290 485 | :0D0D4100AA82AB83A2F73392D16002D2F7F1 486 | :050D4E00F582ACF0226B 487 | :00000001FF 488 | -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/Debug.lnk: -------------------------------------------------------------------------------- 1 | -myux 2 | -i ./Debug.hex 3 | -Y 4 | -z 5 | -b HOME = 0x0000 6 | -b ISEG = 0x0000 7 | -b BSEG = 0x0000 8 | -u 9 | -k D:\Program Files (x86)\SDCC\bin\..\lib\small 10 | -l mcs51 11 | -l libsdcc 12 | -l libint 13 | -l liblong 14 | -l libfloat 15 | main.rel 16 | 17 | -e 18 | -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/Debug.mem: -------------------------------------------------------------------------------- 1 | Internal RAM layout: 2 | 0 1 2 3 4 5 6 7 8 9 A B C D E F 3 | 0x00:|0|0|0|0|0|0|0|0|1|1|1|1|1|1|1|1| 4 | 0x10:|2|2|2|2|2|2|2|2|a|a|a|a|a|b|d| | 5 | 0x20:|B|B|T|c|c|c|c|c|c|c|c|c|c|c|c|c| 6 | 0x30:|c|c|c|c|c|c|c|c|c|c|c|c|Q|Q|I|I| 7 | 0x40:|I|I|I|I|S|S|S|S|S|S|S|S|S|S|S|S| 8 | 0x50:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 9 | 0x60:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 10 | 0x70:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 11 | 0x80:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 12 | 0x90:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 13 | 0xa0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 14 | 0xb0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 15 | 0xc0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 16 | 0xd0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 17 | 0xe0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 18 | 0xf0:|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S|S| 19 | 0-3:Reg Banks, T:Bit regs, a-z:Data, B:Bits, Q:Overlay, I:iData, S:Stack, A:Absolute 20 | 21 | Stack starts at: 0x44 (sp set to 0x43) with 188 bytes available. 22 | 23 | Other memory: 24 | Name Start End Size Max 25 | ---------------- -------- -------- -------- -------- 26 | PAGED EXT. RAM 0 256 27 | EXTERNAL RAM 0 65536 28 | ROM/EPROM/FLASH 0x0000 0x0d96 3479 65536 29 | -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/greenhand520/AutomaticObstacleAvoidanceTrolleyWithC51/324ef0d6058092b983768e6fcbb1c6c33a953bb6/简易仿真图/AT89C52/Debug/Makefile -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/main.adb: -------------------------------------------------------------------------------- 1 | M:main 2 | F:G$delay$0$0({2}DF,SV:S),C,0,0,0,0,0 3 | F:G$putchar$0$0({2}DF,SV:S),Z,0,0,0,0,0 4 | F:G$sensorTrigger$0$0({2}DF,SV:S),C,0,0,0,0,0 5 | F:G$ledStatus$0$0({2}DF,SV:S),C,0,0,0,0,0 6 | F:G$setTurnAngle$0$0({2}DF,SV:S),C,0,0,0,0,0 7 | F:G$steerTurn$0$0({2}DF,SV:S),C,0,0,0,0,0 8 | F:G$trigger$0$0({2}DF,SV:S),C,0,0,0,0,0 9 | F:G$calculate$0$0({2}DF,SC:U),C,0,0,0,0,0 10 | F:G$startSR04$0$0({2}DF,SV:S),C,0,0,0,0,0 11 | F:G$awayLEFTObs$0$0({2}DF,SV:S),C,0,0,0,0,0 12 | F:G$awayRightObs$0$0({2}DF,SV:S),C,0,0,0,0,0 13 | F:G$awayFrontObs$0$0({2}DF,SV:S),C,0,0,0,0,0 14 | F:G$awayBackObs$0$0({2}DF,SV:S),C,0,0,0,0,0 15 | F:G$selfControl$0$0({2}DF,SV:S),C,0,0,1,2,0 16 | F:G$btControl$0$0({2}DF,SV:S),C,0,0,0,0,0 17 | F:G$initInterrupt$0$0({2}DF,SV:S),C,0,0,0,0,0 18 | F:G$initTimer0$0$0({2}DF,SV:S),C,0,0,0,0,0 19 | F:G$reloadTimer0$0$0({2}DF,SV:S),C,0,0,0,0,0 20 | F:G$initSerial$0$0({2}DF,SV:S),C,0,0,0,0,0 21 | F:G$initTimer2$0$0({2}DF,SV:S),C,0,0,0,0,0 22 | F:G$timer0$0$0({2}DF,SV:S),C,0,0,1,1,0 23 | F:G$serial$0$0({2}DF,SV:S),C,0,0,1,4,1 24 | F:G$timer2$0$0({2}DF,SV:S),C,0,0,1,5,2 25 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 26 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 27 | F:G$main$0$0({2}DF,SV:S),C,0,0,0,0,0 28 | S:G$speed$0$0({1}SC:U),E,0,0 29 | S:G$t0InterruptTimes$0$0({1}SC:U),E,0,0 30 | S:G$t2InterruptTimes$0$0({1}SC:U),E,0,0 31 | S:G$angle$0$0({1}SC:U),E,0,0 32 | S:G$timer0For$0$0({1}SC:U),E,0,0 33 | S:Ldelay$n$1$1({2}SI:U),R,0,0,[] 34 | S:Ldelay$i$1$1({2}SI:U),R,0,0,[r2,r3] 35 | S:Ldelay$j$1$1({2}SI:U),R,0,0,[r4,r5] 36 | S:Lputchar$c$1$1({1}SC:S),R,0,0,[] 37 | S:LledStatus$s$1$1({1}SC:U),R,0,0,[r2] 38 | S:LsetTurnAngle$a$1$1({1}SC:U),R,0,0,[r2] 39 | S:Lcalculate$time$1$1({1}SC:U),R,0,0,[r2] 40 | S:Lcalculate$distance$1$1({1}SC:U),R,0,0,[r2] 41 | S:LbtControl$cmd$1$1({1}SC:U),R,0,0,[r2] 42 | S:Ltimer2$a$1$1({1}SC:U),R,0,0,[r2] 43 | S:G$isOverstep$0$0({1}SB0$1:U),H,0,0 44 | S:G$P0$0$0({1}SC:U),I,0,0 45 | S:G$SP$0$0({1}SC:U),I,0,0 46 | S:G$DPL$0$0({1}SC:U),I,0,0 47 | S:G$DPH$0$0({1}SC:U),I,0,0 48 | S:G$PCON$0$0({1}SC:U),I,0,0 49 | S:G$TCON$0$0({1}SC:U),I,0,0 50 | S:G$TMOD$0$0({1}SC:U),I,0,0 51 | S:G$TL0$0$0({1}SC:U),I,0,0 52 | S:G$TL1$0$0({1}SC:U),I,0,0 53 | S:G$TH0$0$0({1}SC:U),I,0,0 54 | S:G$TH1$0$0({1}SC:U),I,0,0 55 | S:G$P1$0$0({1}SC:U),I,0,0 56 | S:G$SCON$0$0({1}SC:U),I,0,0 57 | S:G$SBUF$0$0({1}SC:U),I,0,0 58 | S:G$P2$0$0({1}SC:U),I,0,0 59 | S:G$IE$0$0({1}SC:U),I,0,0 60 | S:G$P3$0$0({1}SC:U),I,0,0 61 | S:G$IP$0$0({1}SC:U),I,0,0 62 | S:G$T2CON$0$0({1}SC:U),I,0,0 63 | S:G$T2MOD$0$0({1}SC:U),I,0,0 64 | S:G$RCAP2L$0$0({1}SC:U),I,0,0 65 | S:G$RCAP2H$0$0({1}SC:U),I,0,0 66 | S:G$TL2$0$0({1}SC:U),I,0,0 67 | S:G$TH2$0$0({1}SC:U),I,0,0 68 | S:G$PSW$0$0({1}SC:U),I,0,0 69 | S:G$ACC$0$0({1}SC:U),I,0,0 70 | S:G$A$0$0({1}SC:U),I,0,0 71 | S:G$B$0$0({1}SC:U),I,0,0 72 | S:G$P0_0$0$0({1}SX:U),J,0,0 73 | S:G$P0_1$0$0({1}SX:U),J,0,0 74 | S:G$P0_2$0$0({1}SX:U),J,0,0 75 | S:G$P0_3$0$0({1}SX:U),J,0,0 76 | S:G$P0_4$0$0({1}SX:U),J,0,0 77 | S:G$P0_5$0$0({1}SX:U),J,0,0 78 | S:G$P0_6$0$0({1}SX:U),J,0,0 79 | S:G$P0_7$0$0({1}SX:U),J,0,0 80 | S:G$IT0$0$0({1}SX:U),J,0,0 81 | S:G$IE0$0$0({1}SX:U),J,0,0 82 | S:G$IT1$0$0({1}SX:U),J,0,0 83 | S:G$IE1$0$0({1}SX:U),J,0,0 84 | S:G$TR0$0$0({1}SX:U),J,0,0 85 | S:G$TF0$0$0({1}SX:U),J,0,0 86 | S:G$TR1$0$0({1}SX:U),J,0,0 87 | S:G$TF1$0$0({1}SX:U),J,0,0 88 | S:G$P1_0$0$0({1}SX:U),J,0,0 89 | S:G$P1_1$0$0({1}SX:U),J,0,0 90 | S:G$P1_2$0$0({1}SX:U),J,0,0 91 | S:G$P1_3$0$0({1}SX:U),J,0,0 92 | S:G$P1_4$0$0({1}SX:U),J,0,0 93 | S:G$P1_5$0$0({1}SX:U),J,0,0 94 | S:G$P1_6$0$0({1}SX:U),J,0,0 95 | S:G$P1_7$0$0({1}SX:U),J,0,0 96 | S:G$T2$0$0({1}SX:U),J,0,0 97 | S:G$T2EX$0$0({1}SX:U),J,0,0 98 | S:G$RI$0$0({1}SX:U),J,0,0 99 | S:G$TI$0$0({1}SX:U),J,0,0 100 | S:G$RB8$0$0({1}SX:U),J,0,0 101 | S:G$TB8$0$0({1}SX:U),J,0,0 102 | S:G$REN$0$0({1}SX:U),J,0,0 103 | S:G$SM2$0$0({1}SX:U),J,0,0 104 | S:G$SM1$0$0({1}SX:U),J,0,0 105 | S:G$SM0$0$0({1}SX:U),J,0,0 106 | S:G$P2_0$0$0({1}SX:U),J,0,0 107 | S:G$P2_1$0$0({1}SX:U),J,0,0 108 | S:G$P2_2$0$0({1}SX:U),J,0,0 109 | S:G$P2_3$0$0({1}SX:U),J,0,0 110 | S:G$P2_4$0$0({1}SX:U),J,0,0 111 | S:G$P2_5$0$0({1}SX:U),J,0,0 112 | S:G$P2_6$0$0({1}SX:U),J,0,0 113 | S:G$P2_7$0$0({1}SX:U),J,0,0 114 | S:G$EX0$0$0({1}SX:U),J,0,0 115 | S:G$ET0$0$0({1}SX:U),J,0,0 116 | S:G$EX1$0$0({1}SX:U),J,0,0 117 | S:G$ET1$0$0({1}SX:U),J,0,0 118 | S:G$ES$0$0({1}SX:U),J,0,0 119 | S:G$ET2$0$0({1}SX:U),J,0,0 120 | S:G$EA$0$0({1}SX:U),J,0,0 121 | S:G$P3_0$0$0({1}SX:U),J,0,0 122 | S:G$P3_1$0$0({1}SX:U),J,0,0 123 | S:G$P3_2$0$0({1}SX:U),J,0,0 124 | S:G$P3_3$0$0({1}SX:U),J,0,0 125 | S:G$P3_4$0$0({1}SX:U),J,0,0 126 | S:G$P3_5$0$0({1}SX:U),J,0,0 127 | S:G$P3_6$0$0({1}SX:U),J,0,0 128 | S:G$P3_7$0$0({1}SX:U),J,0,0 129 | S:G$RXD$0$0({1}SX:U),J,0,0 130 | S:G$TXD$0$0({1}SX:U),J,0,0 131 | S:G$INT0$0$0({1}SX:U),J,0,0 132 | S:G$INT1$0$0({1}SX:U),J,0,0 133 | S:G$T0$0$0({1}SX:U),J,0,0 134 | S:G$T1$0$0({1}SX:U),J,0,0 135 | S:G$WR$0$0({1}SX:U),J,0,0 136 | S:G$RD$0$0({1}SX:U),J,0,0 137 | S:G$PX0$0$0({1}SX:U),J,0,0 138 | S:G$PT0$0$0({1}SX:U),J,0,0 139 | S:G$PX1$0$0({1}SX:U),J,0,0 140 | S:G$PT1$0$0({1}SX:U),J,0,0 141 | S:G$PS$0$0({1}SX:U),J,0,0 142 | S:G$PT2$0$0({1}SX:U),J,0,0 143 | S:G$T2CON_0$0$0({1}SX:U),J,0,0 144 | S:G$T2CON_1$0$0({1}SX:U),J,0,0 145 | S:G$T2CON_2$0$0({1}SX:U),J,0,0 146 | S:G$T2CON_3$0$0({1}SX:U),J,0,0 147 | S:G$T2CON_4$0$0({1}SX:U),J,0,0 148 | S:G$T2CON_5$0$0({1}SX:U),J,0,0 149 | S:G$T2CON_6$0$0({1}SX:U),J,0,0 150 | S:G$T2CON_7$0$0({1}SX:U),J,0,0 151 | S:G$CP_RL2$0$0({1}SX:U),J,0,0 152 | S:G$C_T2$0$0({1}SX:U),J,0,0 153 | S:G$TR2$0$0({1}SX:U),J,0,0 154 | S:G$EXEN2$0$0({1}SX:U),J,0,0 155 | S:G$TCLK$0$0({1}SX:U),J,0,0 156 | S:G$RCLK$0$0({1}SX:U),J,0,0 157 | S:G$EXF2$0$0({1}SX:U),J,0,0 158 | S:G$TF2$0$0({1}SX:U),J,0,0 159 | S:G$P$0$0({1}SX:U),J,0,0 160 | S:G$FL$0$0({1}SX:U),J,0,0 161 | S:G$OV$0$0({1}SX:U),J,0,0 162 | S:G$RS0$0$0({1}SX:U),J,0,0 163 | S:G$RS1$0$0({1}SX:U),J,0,0 164 | S:G$F0$0$0({1}SX:U),J,0,0 165 | S:G$AC$0$0({1}SX:U),J,0,0 166 | S:G$CY$0$0({1}SX:U),J,0,0 167 | S:G$_print_format$0$0({2}DF,SI:S),C,0,0 168 | S:G$printf_small$0$0({2}DF,SV:S),C,0,0 169 | S:G$printf$0$0({2}DF,SI:S),C,0,0 170 | S:G$vprintf$0$0({2}DF,SI:S),C,0,0 171 | S:G$sprintf$0$0({2}DF,SI:S),C,0,0 172 | S:G$vsprintf$0$0({2}DF,SI:S),C,0,0 173 | S:G$puts$0$0({2}DF,SI:S),C,0,0 174 | S:G$gets$0$0({2}DF,DG,SC:S),C,0,0 175 | S:G$getchar$0$0({2}DF,SC:S),C,0,0 176 | S:G$printf_fast$0$0({2}DF,SV:S),C,0,0 177 | S:G$printf_fast_f$0$0({2}DF,SV:S),C,0,0 178 | S:G$printf_tiny$0$0({2}DF,SV:S),C,0,0 179 | S:G$delay$0$0({2}DF,SV:S),C,0,0 180 | S:G$sensorTrigger$0$0({2}DF,SV:S),C,0,0 181 | S:G$ledStatus$0$0({2}DF,SV:S),C,0,0 182 | S:G$setTurnAngle$0$0({2}DF,SV:S),C,0,0 183 | S:L-null-$initTimer0$1$1({2}DF,SI:S),C,0,0 184 | S:G$steerTurn$0$0({2}DF,SV:S),C,0,0 185 | S:L-null-$startSR04$1$1({2}DF,SI:S),C,0,0 186 | S:G$trigger$0$0({2}DF,SV:S),C,0,0 187 | S:G$calculate$0$0({2}DF,SC:U),C,0,0 188 | S:G$startSR04$0$0({2}DF,SV:S),C,0,0 189 | S:L-null-$initTimer0$1$1({2}DF,SI:S),C,0,0 190 | S:G$awayLEFTObs$0$0({2}DF,SV:S),C,0,0 191 | S:G$awayRightObs$0$0({2}DF,SV:S),C,0,0 192 | S:G$awayFrontObs$0$0({2}DF,SV:S),C,0,0 193 | S:G$awayBackObs$0$0({2}DF,SV:S),C,0,0 194 | S:G$selfControl$0$0({2}DF,SV:S),C,0,0 195 | S:G$btControl$0$0({2}DF,SV:S),C,0,0 196 | S:L-null-$initTimer2$1$1({2}DF,SI:S),C,0,0 197 | S:G$initInterrupt$0$0({2}DF,SV:S),C,0,0 198 | S:G$initTimer0$0$0({2}DF,SV:S),C,0,0 199 | S:G$reloadTimer0$0$0({2}DF,SV:S),C,0,0 200 | S:G$initSerial$0$0({2}DF,SV:S),C,0,0 201 | S:G$initTimer2$0$0({2}DF,SV:S),C,0,0 202 | S:G$timer0$0$0({2}DF,SV:S),C,0,0 203 | S:G$serial$0$0({2}DF,SV:S),C,0,0 204 | S:G$timer2$0$0({2}DF,SV:S),C,0,0 205 | S:G$main$0$0({2}DF,SV:S),C,0,0 206 | S:G$seg$0$0({16}DA16,SC:U),D,0,0 207 | S:Fmain$_str_0$0$0({10}DA10,SC:S),D,0,0 208 | S:Fmain$_str_1$0$0({17}DA17,SC:S),D,0,0 209 | S:Fmain$_str_2$0$0({14}DA14,SC:S),D,0,0 210 | -------------------------------------------------------------------------------- /简易仿真图/AT89C52/Debug/main.asm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/greenhand520/AutomaticObstacleAvoidanceTrolleyWithC51/324ef0d6058092b983768e6fcbb1c6c33a953bb6/简易仿真图/AT89C52/Debug/main.asm 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No 72 | No 73 | Yes 74 | No 75 | 0 76 | 77 | 78 | 79 | 80 | 99 81 | No 82 | Yes 83 | 99 84 | Yes 85 | Yes 86 | No 87 | No 88 | No 89 | 0 90 | 99 91 | 100 92 | 0 93 | 94 | 95 | 96 | 97 | 98 | --------------------------------------------------------------------------------