AT89C51 single chip DC motor PWM speed control program

This is a PWM speed control program for DC motors with AT89C51 MCU. The program can be directly used in AT89C52, AT89S51, AT89S51, STC89C51, STC89C52 MCUs. The MCU crystal uses 11.0592M. The DC motor is controlled by L298 integrated circuit. The frequency of the generated PWM is about 91Hz. The pins of L298 have been marked in the program. You can draw the schematic diagram by yourself. I won't give it here. The following is the source program.  

#include[reg52.h> //Please replace ' [ ' with "<", the same below. Otherwise, an error will occur during compilation.

#include [intrins.h>  //

#define uchar unsigned char  

#define uint unsigned int  

sbit en1=P2^0;    

sbit en2=P2^1;    

sbit s1=P2^2;    

sbit s2=P2^3;    

sbit s3=P2^4;    

sbit s4=P2^5;    

fly t=0;    

fly m1=0;    

uchar m2=0;    

float tmp1,tmp2;  

void motor(uchar index, char speed)  

{  

if(speed>=-100 && speed<=100)  

{  

  if(index==1)  

  {  

   m1=abs(speed);  

   if(speed<0)  

   {  

    s1=0;  

    s2=1;  

   }  

   else  

   {  

    s1=1;  

    s2=0;  

   }  

  }  

  if(index==2)  

  {  

   m2=abs(speed);  

   if(speed<0)  

   {  

    s3=0;  

    s4=1;  

   }  

   else  

   {  

    s3=1;  

    s4=0;  

   }  

  }  

}  

}  

void delay(uint j)  

{  

for(j;j>0;j--);  

}  

void main()  

{  

char i;  

TMOD=0x02;  

TH0=0x9B;  

TL0=0x9B;  

EA=1;  

ET0=1;  

TR0=1;  

while(1)  

{  

  for(i=0;i<=100;i++)  

  {  

   motor(1,i);  

   motor(2,i);  

   delay(5000);  

  }  

  for(i=100;i>0;i--)  

  {  

   motor(1,i);  

   motor(2,i);  

   delay(5000);  

  }  

  for(i=0;i<=100;i++)  

  {  

   motor(1,-i);  

   motor(2,-i);  

   delay(5000);  

  }  

  for(i=100;i>0;i--)  

  {  

   motor(1,-i);  

   motor(2,-i);  

   delay(5000);  

  }  

}  

}  

void timer0() interrupt 1  

{  

if(t==0)  

{  

  tmp1=m1;  

  tmp2=m2;  

}  

if(t

if(t

t++;  

if(t>=100) t=0;  

}