C51 COMPILER V6.00 SONAR                                                                   05/30/2001 17:04:13 PAGE 1   


C51 COMPILER 6.00, COMPILATION OF MODULE SONAR
OBJECT MODULE PLACED IN .\sonar.OBJ
COMPILER INVOKED BY: d:\app\keil\eval\C51\BIN\C51.EXE .\sonar.c BROWSE OBJECTEXTEND DEBUG

stmt level    source

   1          /* sonar.c */
   2          #include "door.h"
   3          #include "sonar.h"
   4          #include "rf.h"
   5          
   6          /* states and flags */
   7          static unsigned char dist = 0;		// count the cycle before echo comes back
   8          static unsigned int count = 0;		// counter
   9          static bit run = 1;
  10          static bit echo = 0;
  11          char xdata *leda = 0x0f000;  // the FPGA is configured to memory map led to this address
  12          
  13          /* fire sonar and do distance calculations;
  14             signals serialTask to do RF stuff when user
  15             is near by
  16          */
  17          void Sonar_Task() {	
  18   1      	/* interrupt settings */
  19   1      	EA = 1;
  20   1      	ET1 = 0;
  21   1      	ES = 0;
  22   1      
  23   1      	/* set timer */
  24   1      	TMOD = 0x21;
  25   1      	PCON = PCON | 0x80;
  26   1      	TH1 = 249;
  27   1      	TR1 = 1;
  28   1      
  29   1      	/* Set up and enable Timer0 for a 1 millisecond timer   */
  30   1      	TL0 = RELOAD_LO;	/* Load the timer high and low bytes        */
  31   1      	TH0 = RELOAD_HI;
  32   1      	TMOD = 0x21;		/* Timer1 & Timer0 as 16-bit timers         */
  33   1      	TR0 = 1;			/* Start the timer 0             */
  34   1      	ET0 = 1;			/* Enable the timer interrupt 0 (Page 55) */
  35   1      	EX0 = 0;			/* Enable the external interrupt 0 */
  36   1      	EA = 1;				/* Enable the global interrupt  */
  37   1      	IT0 = 1;			/* Enable the TCON for falling edge trigger */
  38   1      	T0 = 0;				/* T0 = P3.4 is connected to sonar INIT, pin 68 on the XS40 */
  39   1      	count = 0;
  40   1      	echo = 0;
  41   1      	PT0 = 1;
  42   1      	run = 1;
  43   1      	while (run) {
  44   2      	}
  45   1      }/* end Sonar_Task */
  46          
  47          
  48          /* called by Ext0 ISR in DETECTING_USER state */
  49          void Sonar_Ext0_Handler() {		// pin 12
  50   1      	echo = 1;
  51   1      }/* end	Sonar_Ext0_Handler() */
  52          
  53          
  54          /* called by Timer0 ISR in DETECTING_USER state */
  55          void Sonar_Timer0_Handler() {
C51 COMPILER V6.00 SONAR                                                                   05/30/2001 17:04:13 PAGE 2   

  56   1      	TL0 = TL0 + RELOAD_LO ;   // Load the timer high and low bytes        
  57   1      	TH0 = RELOAD_HI;
  58   1      	count = count + 1;
  59   1      	if((count >=0) && (count < 60))		// RESET
  60   1      	{
  61   2      		EX0 = 0;
  62   2      		T0 = 0;			// init = 0
  63   2      		dist = 0;
  64   2      		echo = 0;
  65   2      	}
  66   1      	else if((count >= 60) && (count < 1060)) 	// logic high
  67   1      	{
  68   2      		*leda = 0x12;		// 1
  69   2      		T0 = 1;				// init = 1	
  70   2      		
  71   2      		if(echo == 0) 
  72   2      			dist = dist + 1;
  73   2      		else						
  74   2      		{
  75   3      			ET0 = 0;				// disable timer0 interrupt	
  76   3      			EX0 = 0;				// disable external interrupt
  77   3      			IE = 0;					/***** Check here later ****/
  78   3      			state = REQUESTING_ID;	// echo comes back, switch state
  79   3      			run = 0;
  80   3      			return;
  81   3      		}
  82   2      		if((dist < L_THERSHOLD) || (dist > H_THERSHOLD))
  83   2      		{
  84   3      			IE0 = 0;
  85   3      			EX0 = 0;
  86   3      		}
  87   2      		else
  88   2      			EX0 = 1;
  89   2      	}
  90   1      	else if((count >= 1060) && (count < 11060))		//logic low
  91   1      	{
  92   2      		*leda = 0x5D;		// 2
  93   2      		T0 = 0;
  94   2      	}
  95   1      	else	
  96   1      	{
  97   2      		count = 0;
  98   2      	}
  99   1      } /* end Sonar_Timer0_Handler() */
 100          
 101          /*
 102          void print(char c)
 103          {
 104          	SBUF = c;
 105          	while(TI == 0);
 106          	TI = 0;
 107          }
 108          
 109          void putChar(unsigned char c) {
 110          	unsigned char a = c/100;
 111          	unsigned char b = c%100;
 112          	unsigned char d = b/10;
 113          	unsigned char e = b%10;
 114          	print(a+48);
 115          	print(d+48);
 116          	print(e+48);
 117          }
C51 COMPILER V6.00 SONAR                                                                   05/30/2001 17:04:13 PAGE 3   

 118          */


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    213    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      5    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      2    ----
END OF MODULE INFORMATION.


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