第16页共13页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第16页共13页附：程序清单;PCONEQU87H;***********LCM103LCM101TEST*************;MCS-51:89C2051,89C51,89C52;fo=2.45MHz;/CS=P1.4/WR=P1.3DATA=P1.2*************;RAM20H:COMMANDCODE********************;RAM21H:LCDADDR***;RAM25H:LCDDATA***ORG0000HAJMPMAINORG000BHAJMPwtoORG0013HAJMPPINT1ORG0030HMAIN:;ACALLSTOPCLRP3.0MOVP2,#0F0Hacallqlacallstart;ACALLDELAY;ACALLLLL;ACALLRDNBYT;MOV31H,41H;MOV32H,42H;MOV33H,43H;MOV2FH,#08H;ACALLWRNBYT;ACALLDELAY1;ACALLSTARTmain2:MOVSP,#5FHMOVTMOD,#52HMOVTL0,#06HMOVTH0,#06HMOVIE,#82HSETBIT1MAIN3:ACALLKEY1;按键控制，前进，清零翻页;============CLRP2.0SETBP2.1ACALLCHUAN1ZHI:MOVA,TL1;直道行驶CLRCSUBBA,#30;230=S=(TH1,TL1)*14/6JNCWANACALLKUAIAJMPZHI;===========================;弯道行驶;=============================WAN:SETB20H.2;弯道标志位;CLRP2.3;SETBP2.2CLRP2.1SETBP2.0MOV5DH,#02HDJNZ5DH,$CLRP2.0SETBP2.1ACALLMAN;到达弯道JB20H.3,ZHANGajmpwan;====================;障碍物行驶;===================ZHANG:mov20h,#00hclrp2.3setbp2.2CLRP2.1SETBP2.0MOV5EH,#50S50:MOV5DH,#0FFHDJNZ5DH,$DJNZ5EH,S50CLRP2.0SETBP3.0mov3fh,#05;定时器5秒程序ffdd:jnb20h.0,$clr20h.0CPLP3.0第17页共13页第16页共13页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第17页共13页djnz3fh,FFDDclrp2.3SETBp2.2clrp2.0setbp2.1setbEX1;启用/INT1MOV5BH,#0FFHDTDT:MOV5AH,#0FFHDJNZ5AH,$DJNZ5BH,DTDTOK:mOVA,P0ANLA,#7FHcjnea,#7FH,K2LZGAJMPSTOP2k2lzg:JBP2.6,KKLZGACALLLZHUANAJMPOKKKLZG:ACALLRZHUANAJMPOKSTOP2:MOVP2,#00HMOVIE,#00Hsetbp3.0clrtr0CLRP2.1setbp2.0ACALLDELAY1ACALLDELAY1ACALLDELAY1nopCLRP2.0CLRP3.0LKLK:ACALLAAAACALLKEY1ACALLAAAAJMPLKLKSJMP$;======================;外部中断1;=====================PINT1:CLREX1PUSHACCPUSHPSWQQ:CLRP2.0;前CPLP2.1CLRP2.3SETBP2.2SETBP2.1NOPNOPJNBP3.3,QQSETBP2.1SETBEX1POPPSWPOPACCRETI;=====================;慢速前进;======================MAN:CLRP2.0;前进SETBP2.1MOV5AH,#01HCHU11:JB20H.3,OUTI2ACALLCHUAN2CLRP2.1;SETBP2.0ACALLCHUAN2CLRP2.0SETBP2.1ACALLCHUAN2DJNZ5AH,CHU11CLRP2.1;停MOV5BH,#9FHCHU12:JB20H.3,OUTICPLP2.1ACALLCHUAN2DJNZ5BH,CHU12CLRP2.0SETBP2.1NOPNOPNOPNOPouti2:RET;============================;快速前进;==========================第18页共13页第17页共13页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第18页共13页KUAI:CLRP2.0;前进SETBP2.1MOV5AH,#01HCHU1:JB20H.3,OUTIACALLCHUAN2DJNZ5AH,CHU1CLRP2.1;停MOV5BH,#0FFHCHU2:JB20H.3,OUTICLRP2.1ACALLCHUAN2DJNZ5BH,CHU2NOPouti:RET;=====================;光电传感器检测子程序;=====================CHUAN1:MOVA,P0ANLA,#7FHCJNEA,#00H,GGHAJMPCHUAN1GGH:SETBTR1;启动计数器AJMPCHUAN2OUTOUT2:AJMPOUTOUT;============CHUAN2:JB20H.3,OUTOUT2JBP0.7,GGGOOOJB20H.1,GGGO3JB20H.2,OUTOUT2INC35HMOVA,35HCJNEA,#01,QQ23MOV51H,TH1MOV50H,TL1QQ23:MOVA,35HCJNEA,#02,QQ3MOV53H,TH1MOV52H,TL1QQ3:MOVA,35HCJNEA,#03,QQQQQMOV55H,TH1MOV54H,TL1QQQQQ:SETB20H.1;ACALLAJMPCHUAN2RETGGGOOO:CLR20H.1GGGO3:MOVA,P0ANLA,#03HCJNEA,#03H,GGGOO1AJMPLZHUANGGGOO1:MOVA,P0ANLA,#60HCJNEA,#60H,GGGOO2AJMPRZHUANGGGOO2:MOVA,P0ANLA,#07HCJNEA,#00H,RZHUANMOVA,P0ANLA,#78HCJNEA,#00H,LZHUANGOOUT:CLRP2.2CLRP2.3RETLZHUAN:CLRP2.3;左转NOPSETBP2.2MOV5AH,#30HDJNZ5AH,$CLRP2.1NOPNOPNOPNOPSETBP2.1CLRP2.2RETRZHUAN:CLRP2.2;右转SETBP2.3SETBP2.1MOV5AH,#30HDJNZ5AH,$CLRP2.1NOP第19页共13页第18页共13页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第19页共13页NOPNOPNOPNOPNOPSETBP2.1CLRP2.3RETQIAN:CLRP2.0;前进SETBP2.1RETNOPNOPNOPNOPNO...
