【正文】 3H DEC R0 ；（33H）1 CJNE R0，F(xiàn)FH，POS2 ；無(wú)借位則轉(zhuǎn)向 POS2 INC R0 ；指向34H DEC R0 ；（34H）1 CJNE R0，F(xiàn)FH，POS2 ；無(wú)越界，則轉(zhuǎn)POS2 CLR TR0 ；發(fā)生越界，停定時(shí)器（停電動(dòng)機(jī)） LCALL BAOJING ；調(diào)報(bào)警子程序POS2：MOV R0，35H ；指向步數(shù)低位35H DEC R0 ；步數(shù)減1 CJNE R0，F(xiàn)FH，POS3 ；無(wú)借位則轉(zhuǎn)向 POS3 INC R0 ；指向36H DEC R0 ；（36H）1POS3：SETB EA ；開(kāi)中斷 MOV A，35H ；檢查步數(shù)=0 ORL A，36H JNZ POS4 ；不等于0轉(zhuǎn)向POS4 CLR TR0 ；等于0。電子測(cè)量技術(shù)，2009，31（1）：112115附錄1 系統(tǒng)程序；相關(guān)參數(shù)定義MAICHONG BIT FANGXIANG BIT FINISH BIT JUEDUIMAICHONG_L EQU R5JUEDUIMAICHONG_M EQU R6JUEDUIMAICHONG_H EQU R7DANGQIANWEIZHI_L EQU 30HDANGQIANWEIZHI_M EQU 31HDANGQIANWEIZHI_H EQU 32HSHEDINGWEIZHI_L EQU 33HSHEDINGWEIZHI_M EQU 34HSHEDINGWEIZHI_H EQU 35HJIASU_STEP_L EQU 36HJIASU_STEP_H EQU 37HHENGSU_STEP_L EQU 38HHENGSU_STEP_M EQU 39HHENGSU_STEP_H EQU 3AHJIANSU_STEP_L EQU 3BHJIANSU_STEP_H EQU 3CHDANGQIANSUDU EQU 3DH ORG 0000H AJMP MAIN ORG 000BH ；定時(shí)器0中斷入口 LJMP TIME0_INT ；調(diào)用定時(shí)器0中斷子程序 ORG 0040HMAIN:MOV R0,00H DJNZ R0,$ ；等待系統(tǒng)電源穩(wěn)定 MOV SP,40H ；指定堆棧指針 CLR FINISH ；清除完成標(biāo)記 MOV DANGQIANSUDU,0H ；標(biāo)示當(dāng)前轉(zhuǎn)速；初始化定時(shí)器 MOV TMOD,01H ；定時(shí)器0設(shè)定在工作方式1，最大定時(shí)周期65536uS MOV TH0,3CH MOV TL0,0B0H ；設(shè)定定時(shí)器0最大工作周期50mS MOV IE,82H ；開(kāi)定時(shí)器0中斷INIT_WEIZHI: ；手動(dòng)設(shè)定當(dāng)前位置和預(yù)定位置，模擬實(shí)際工作情況 CLR FINISH MOV DANGQIANWEIZHI_L,80H MOV DANGQIANWEIZHI_M,60H MOV DANGQIANWEIZHI_H,98H MOV SHEDINGWEIZHI_L,80H MOV SHEDINGWEIZHI_M,96H MOV SHEDINGWEIZHI_H,98H LCALL INIT_JUEDUIMAICHONG ；計(jì)算絕對(duì)偏差脈沖數(shù) LCALL INIT_JIAJIANSU ；計(jì)算加，恒，減速脈沖數(shù) SETB TR0 JNB FINISH,$ JMP INIT_WEIZHI ；返回初始化絕對(duì)位置脈沖數(shù)； ORGINIT_JUEDUIMAICHONG: ；計(jì)算絕對(duì)偏差脈沖數(shù) CLR C MOV A,SHEDINGWEIZHI_L SUBB A,DANGQIANWEIZHI_L MOV JUEDUIMAICHONG_L,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,SHEDINGWEIZHI_M SUBB A,DANGQIANWEIZHI_M MOV JUEDUIMAICHONG_M,A ；計(jì)算絕對(duì)偏差脈沖數(shù)中間字節(jié) MOV A,SHEDINGWEIZHI_H SUBB A,DANGQIANWEIZHI_H MOV JUEDUIMAICHONG_H,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最高字節(jié) JC QUFAN SETB FANGXIANG RETQUFAN: CLR C MOV A,JUEDUIMAICHONG_L CPL A ；取反 MOV JUEDUIMAICHONG_L,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,JUEDUIMAICHONG_M CPL A ；取反 MOV JUEDUIMAICHONG_M,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,JUEDUIMAICHONG_H CPL A ；取反 MOV JUEDUIMAICHONG_H,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) CLR FANGXIANG RET； ORGINIT_JIAJIANSU: ；加減速脈沖數(shù)計(jì)算 CLR C CJNE JUEDUIMAICHONG_H,01H,H_BUDENG ；判斷絕對(duì)位置脈沖數(shù)最高字節(jié) CJNE JUEDUIMAICHONG_M,86H,M_BUDENG ；判斷絕對(duì)位置脈沖數(shù)中間字節(jié) CJNE JUEDUIMAICHONG_L,0A0H,L_BUDENG ；判斷絕對(duì)位置脈沖數(shù)最低字節(jié) MOV JIASU_STEP_H,0C3H MOV JIASU_STEP_L,50H ；設(shè)定加速脈沖數(shù)50000 MOV HENGSU_STEP_H,0 MOV HENGSU_STEP_M,0 MOV HENGSU_STEP_L,0 ；設(shè)定恒速脈沖數(shù)0 MOV JIANSU_STEP_H,0C3H MOV JIANSU_STEP_L,50H ；設(shè)定減速脈沖數(shù)50000H_BUDENG: JNC DAYU AJMP XIAOYU CLR CM_BUDENG: JNC DAYU AJMP XIAOYUL_BUDENG: JNC DAYU AJMP XIAOYUXIAOYU: MOV A,JUEDUIMAICHONG_M RRC A MOV JIASU_STEP_H,A ；設(shè)定加速脈沖數(shù)為絕對(duì)脈沖數(shù)的一半 MOV JIANSU_STEP_H,A ；設(shè)定減速脈沖數(shù)為絕對(duì)脈沖數(shù)的一半 MOV A,JUEDUIMAICHONG_L RRC A MOV JIASU_STEP_L,A MOV JIANSU_STEP_L,A MOV A,0 ADDC A,0 MOV HENGSU_STEP_H,0 MOV HENGSU_STEP_M,0 MOV HENGSU_STEP_L,A ；設(shè)定恒速脈沖數(shù) RETDAYU: MOV JIASU_STEP_H,0C3H MOV JIASU_STEP_L,50H ；設(shè)定加速脈沖數(shù)50000 MOV JIANSU_STEP_H,0C3H MOV JIANSU_STEP_L,50H ；設(shè)定減速脈沖數(shù)50000 CLR C MOV A,JUEDUIMAICHONG_L SUBB A,0A0H MOV HENGSU_STEP_L,A MOV A,JUEDUIMAICHONG_M SUBB A,086H MOV HENGSU_STEP_M,A MOV A,JUEDUIMAICHONG_H SUBB A,01H MOV HENGSU_STEP_H,A ；設(shè)定恒速脈沖數(shù) RETTIME0_INT: ；定時(shí)器0中斷子程序 CLR TR0 CPL MAICHONG ；脈沖電平取反 JB MAICHONG,HALF ；判斷是否為上升沿，以實(shí)現(xiàn)一個(gè)周期一個(gè)上升沿 LCALL REINIT_TIME0 ；下降沿則直接裝入原時(shí)間常數(shù)完成一個(gè)周期 RETIHALF: MOV A,JIASU_STEP_L ；判斷加速低脈沖數(shù)是否為0 CJNE A,0,JIASU1 ；為0則轉(zhuǎn)向加速高脈沖數(shù)判斷 MOV A,JIASU_STEP_H ；判斷加速低脈沖數(shù)是否為0 CJNE A,0,JIASU2 ；為0則加速結(jié)束轉(zhuǎn)向恒速脈沖數(shù)判斷 MOV A,HENGSU_STEP_L ；判斷恒速低脈沖數(shù)是否為0 CJNE A,0,HENGSU1 ；為0則轉(zhuǎn)向恒速中間脈沖數(shù)判斷 MOV A,HENGSU_STEP_M ；判斷恒速中間脈沖數(shù)是否為0 CJNE A,0,HENGSU2 ；為0則轉(zhuǎn)向恒速高脈沖數(shù)判斷 MOV A,HENGSU_STEP_H ；判斷恒速高字節(jié)脈沖數(shù)是否為0 CJNE A,0,HENGSU3 ；為0則恒速