📄 lookup_table.asm
字号:
;****************************************************************;
; Run
;
; Function: decide the next status of Mouse's movement
;
; Motor 1 driver circuit controlled by the input1,input2.
; Motor 2 driver circuit controlled by the input3,input4.
; Motor1: input1-----PRTD.3 Motor2: input3-----PRTD.5
; input2-----PRTD.4 input4-----PRTD.6
; Written by: Mr.ZhangJinBo
; Date: 2004-02-16
;****************************************************************;
;================================================================;
;Constant Area
;================================================================;
c_mtr_tab_col equ #8 ;the total column number of the table
;R_IER: bit4:TB, bit3:INT1, bit2:T1, bit1:T2, bit0:INT2
c_ier_dis_t1 equ #11011b ;disable timer1
c_ier_en_t1 equ #00100b ;enable timer1
;================================================================;
;Data Area
;================================================================;
.area run_var(data)
m_offset_ini:: .ds 1
;//04-03-17// add the high 8bit of the initial offset register
m_offset_ini_h:: .ds 1
;end add //04-03-17//
m_offset:: .ds 1 ;m_offset_ini的备份值（暂时寄存器）
;//04-03-17// add the high 8bit of the offset register
m_offset_h:: .ds 1 ;;m_offset_ini_h的备份值（暂时寄存器）
;end add //04-03-17//
temp_table_l:: .ds 1 ;/*04-02-20*/查表低位暂存器(临时寄存器）
temp_table_h:: .ds 1 ;/*04-02-20*/查表高位暂存器（临时寄存器）
flg_motor_status:: .ds 1 ;1: flg_line(直线向前运动标志);
;2: flg_left(左转标志);
;3: flg_right(右转标志);
;4: flg_stop(停止标志);
;m_prtd_ctrl_1_0:: .ds 1 ;/*04-02-20*/
m_prtd_ctrl_1_1:: .ds 1 ;/*04-02-20*/
m_prtd_ctrl_2_0:: .ds 1 ;/*04-02-20*/
m_prtd_ctrl_2_1:: .ds 1 ;/*04-02-20*/
m_ctrl_t1:: .ds 1
m_ctrl_t2:: .ds 1
m_ctrl_pulse:: .ds 2 ;/*04-02-17*/
;================================================================;
;Code Area
;================================================================;
.area Lookup_code(code)
Lookup::
lda m_offset_ini ;把起始的表的初值送到暂存器
sta m_offset ;add the high 8bit of the offset register
lda m_offset_ini_h
sta m_offset_h
lda rnd_num ;rnd_num为所求得的随机数
cmpe #0
brz lookup_mtr_table
get_offset_mtr:
lda m_offset
adda #c_mtr_tab_col
sta m_offset ;//add the high 8bit of the offset register
lda m_offset_h
addc #0
sta m_offset_h
lda rnd_num ;求表格开始值
deca
sta rnd_num
brnz get_offset_mtr
;-------------------------------------------------------------------;
;disable timer1 to prevent from taking wrong data out of the table,
;because playing sound in timer1 interrupt service routine need look
;up table (sound file) too.
;-------------------------------------------------------------------;
lookup_mtr_table:
lda r_ier ;/*04-02-23*/ ;disable timer1
anda #c_ier_dis_t1
sta r_ier
lda #<motor_table ;refer to the table
adda m_offset
sta temp_table_l
lda #>motor_table
addc m_offset_h
sta temp_table_h
;lda #^motor_table ;not use, if ROM size is not larger than 64K.
;addc #0
;sta r_tpp
;lda temp_table_h
sta r_tph
lda temp_table_l
sta r_tpl
; call read_table ;no need delay,if rom size is smaller than 64k
ldv
sta flg_motor_status ;set variable 1电机的方向
; call read_table
ldv
sta m_prtd_ctrl_1_1 ;set variable 2 ;/*04-02-19*/改变口的所需状态
; call read_table
ldv
sta m_prtd_ctrl_2_0 ;set variable 3 ;/*04-02-19*/
; call read_table
ldv
sta m_prtd_ctrl_2_1 ;set variable 4 ;/*04-02-19*/
; call read_table
ldv
sta m_ctrl_t1 ;set variable 5,low timer
; call read_table
ldv
sta m_ctrl_t2 ;set variable 6,total timer(low + high)
; call read_table
ldv
sta m_ctrl_pulse ;set variable 7频率的个数1（行进的时间）
; call read_table
ldv
sta m_ctrl_pulse+1 ;set variable 8频率的个树2（行进的时间）
lda r_ier ;/*04-02-23*/ ;enable timer1
ora #c_ier_en_t1
sta r_ier
end_run:
ret
;-----------------------------------------------;
;read_table::
;1$:
; lda r_op1
; anda #10000000b
; brz 1$
;; ldv
; ret
;-----------------------------------------------;
;the following constant is used in the table
;-----------------------------------------------;
c_prtd_1 equ #11111111b ;prtd[0,1,2,3,4,5,6,7] all hihg level
c_prtd3456_1 equ #01111000b ;prtd.3,prtd.4,prtd.5,prtd.6 high level
c_prtd35_0 equ #11010111b ;prtd.3,prtd.5 low level (0d7h)
c_prtd46_1 equ #01010000b ;prtd.4,prtd.6 high level (050h)
c_prtd35_1 equ #00101000b ;prtd.3,prtd.5 high level (028h)
c_prtd46_0 equ #10101111b ;prtd.4,prtd.6 low level (0afh)
c_prtd36_1 equ #01001000b ;prtd.3,prtd.6 high level (048h)
c_prtd45_0 equ #11001111b ;prtd.4,prtd.5 low level (0cfh)
c_prtd36_0 equ #10110111b ;prtd.3,prtd.6 low level (0b7h)
c_prtd45_1 equ #00110000b ;prtd.4,prtd.5 high level (030h)
c_flg_left equ #0
c_flg_right equ #1
c_flg_backup equ #2
c_flg_line equ #3
c_flg_stop equ #4
c_ctrl_t2 equ #16 ;this can decide the control pulse frequency.(8K/16=500Hz)
c_ctrl_fast_t1 equ #17
c_ctrl_med_t1 equ #13
c_ctrl_slow_t1 equ #10
c_ctrl_swerve_t1 equ #14 ;/*04-03-05*/ the old value is 14
;//04-03-17// add the constant for swerve when detect obstacles
c_ctrl_swerve_t1_ir equ #14
;end add //04-03-17//
c_ctrl_stop_t1 equ #17
;c_fast_1_pls_l equ #0f4h ;1s
;c_fast_1_pls_h equ #01h
;c_fast_2_pls_l equ #0e8h ;2s
;c_fast_2_pls_h equ #03h
;c_fast_3_pls_l equ #0dch ;3s
;c_fast_3_pls_h equ #05h
;c_med_1_pls_l equ #0f4h ;1s
;c_med_1_pls_h equ #01h
;c_med_2_pls_l equ #0e8h ;2s
;c_med_2_pls_h equ #03h
;c_med_3_pls_l equ #0dch ;3s
;c_med_3_pls_h equ #05h
;c_slow_1_pls_l equ #0f4h ;1s
;c_slow_1_pls_h equ #01h
;c_slow_2_pls_l equ #0e8h ;2s
;c_slow_2_pls_h equ #03h
;c_slow_3_pls_l equ #0dch ;3s
;c_slow_3_pls_h equ #05h
c_fast_1_pls_l equ #0f4h ;1s
c_fast_1_pls_h equ #00h
c_fast_2_pls_l equ #0e8h ;2s
c_fast_2_pls_h equ #02h
c_fast_3_pls_l equ #0dch ;3s
c_fast_3_pls_h equ #03h
c_med_1_pls_l equ #0f4h ;1s
c_med_1_pls_h equ #00h
c_med_2_pls_l equ #0e8h ;2s
c_med_2_pls_h equ #02h
c_med_3_pls_l equ #0dch ;3s
c_med_3_pls_h equ #03h
c_slow_1_pls_l equ #0f4h ;1s
c_slow_1_pls_h equ #00h
c_slow_2_pls_l equ #0e8h ;2s
c_slow_2_pls_h equ #02h
c_slow_3_pls_l equ #0dch ;3s
c_slow_3_pls_h equ #03h
c_20_pls_l equ #0a0h ;=160, 0.32s
c_20_pls_h equ #00h
c_40_pls_l equ #0c3h ;=195, 0.39s
c_40_pls_h equ #00h
c_60_pls_l equ #0e6h ;=230, 0.46s
c_60_pls_h equ #00h
c_80_pls_l equ #09h ;=265, 0.53s
c_80_pls_h equ #01h
c_100_pls_l equ #02ch ;=300, 0.60s
c_100_pls_h equ #01h
c_120_pls_l equ #04fh ;=335, 0.67s
c_120_pls_h equ #01h
c_140_pls_l equ #072h ;=370, 0.74s
c_140_pls_h equ #01h
c_160_pls_l equ #095h ;=405, 0.81s
c_160_pls_h equ #01h
c_180_pls_l equ #0b8h ;=440, 0.88s
c_180_pls_h equ #01h
;//04-03-17// add the constant used in the swerving movement when detect obstacles
c_20_pls_l_ir equ #0ah ;=10, 0.02s
c_20_pls_h_ir equ #00h
c_40_pls_l_ir equ #014h ;=20, 0.04s
c_40_pls_h_ir equ #00h
c_60_pls_l_ir equ #01eh ;=30, 0.06s
c_60_pls_h_ir equ #00h
c_80_pls_l_ir equ #028h ;=40, 0.08s
c_80_pls_h_ir equ #00h
c_100_pls_l_ir equ #032h ;=50, 0.1s
c_100_pls_h_ir equ #00h
c_120_pls_l_ir equ #03ch ;=60, 0.12s
c_120_pls_h_ir equ #00h
c_140_pls_l_ir equ #046h ;=70, 0.14s
c_140_pls_h_ir equ #00h
c_160_pls_l_ir equ #050h ;=80, 0.16s
c_160_pls_h_ir equ #00h
c_180_pls_l_ir equ #05ah ;=90, 0.18s
c_180_pls_h_ir equ #00h
;end add //04-03-17//
c_pause_1_pls_l equ #0dch ;pause time is about 3s.
c_pause_1_pls_h equ #05h
c_pause_2_pls_l equ #0c4h ;pause time is about 5s.
c_pause_2_pls_h equ #09h
c_pause_3_pls_l equ #0ach ;pause time is about 7s.
c_pause_3_pls_h equ #0dh
c_stop_pls_l equ #088h ;stop time is about 10s.
c_stop_pls_h equ #013h
;-----------------------------------------------;
motor_table::
;flg_motor_status, m_prtd_ctrl_1_1, m_prtd_ctrl_2_0, m_prtd_ctrl_2_1, m_ctrl_t1,m_ctrl_t2, m_ctrl_pulse, m_ctrl_pulse+1
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_1_pls_l, c_med_1_pls_h ;0 前进,中速,短距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_2_pls_l, c_med_2_pls_h ;1 前进,中速,中距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_med_t1, c_ctrl_t2, c_med_3_pls_l, c_med_3_pls_h ;2 前进,中速,长距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_1_pls_l, c_slow_1_pls_h ;3 前进,慢速,短距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_2_pls_l, c_slow_2_pls_h ;4 前进,慢速,中距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_slow_t1, c_ctrl_t2, c_slow_3_pls_l, c_slow_3_pls_h ;5 前进,慢速,长距离(56-64)
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_1_pls_l, c_fast_1_pls_h ;6 前进,快速,短距离(-)
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_2_pls_l, c_fast_2_pls_h ;7 前进,快速,中距离
db c_flg_line, c_prtd3456_1, c_prtd35_0, c_prtd46_1, c_ctrl_fast_t1, c_ctrl_t2, c_fast_3_pls_l, c_fast_3_pls_h ;8 前进,快速,长距离
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_20_pls_l, c_20_pls_h ;9 左转,20度 (-)
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_40_pls_l, c_40_pls_h ;10 左转,40度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_60_pls_l, c_60_pls_h ;11 左转,60度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_80_pls_l, c_80_pls_h ;12 左转,80度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_100_pls_l, c_100_pls_h ;13 左转,100度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_120_pls_l, c_120_pls_h ;14 左转,120度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_140_pls_l, c_140_pls_h ;15 左转,140度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_160_pls_l, c_160_pls_h ;16 左转,160度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1, c_ctrl_t2, c_180_pls_l, c_180_pls_h ;17 左转,180度 (-)
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_20_pls_l, c_20_pls_h ;18 右转,20度 (-)
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_40_pls_l, c_40_pls_h ;19 右转,40度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_60_pls_l, c_60_pls_h ;20 右转,60度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_80_pls_l, c_80_pls_h ;21 右转,80度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_100_pls_l, c_100_pls_h ;22 右转,100度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_120_pls_l, c_120_pls_h ;23 右转,120度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_140_pls_l, c_140_pls_h ;24 右转,140度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_160_pls_l, c_160_pls_h ;25 右转,160度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1, c_ctrl_t2, c_180_pls_l, c_180_pls_h ;26 右转,180度
db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_1_pls_l, c_pause_1_pls_h ;27 自动停止,时间3s (-)
db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_2_pls_l, c_pause_2_pls_h ;28 自动停止,时间5s
db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_pause_3_pls_l, c_pause_3_pls_h ;29 按键触发停止,时间7s
;db c_flg_stop, c_prtd3456_1, c_prtd_1, c_prtd3456_1, c_ctrl_stop_t1, c_ctrl_t2, c_stop_pls_l, c_stop_pls_h ;30 按键触发停止,时间10s
;//04-03-17// add swerving parameter constant table when detect obstacles
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_20_pls_l_ir, c_20_pls_h_ir ;30 左转,20度(-)
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_40_pls_l_ir, c_40_pls_h_ir ;31 左转,40度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_60_pls_l_ir, c_60_pls_h_ir ;32 左转,60度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_80_pls_l_ir, c_80_pls_h_ir ;33 左转,80度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_100_pls_l_ir, c_100_pls_h_ir ;34 左转,100度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_120_pls_l_ir, c_120_pls_h_ir ;35 左转,120度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_140_pls_l_ir, c_140_pls_h_ir ;36 左转,140度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_160_pls_l_ir, c_160_pls_h_ir ;37 左转,160度
db c_flg_left, c_prtd3456_1, c_prtd45_0, c_prtd36_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_180_pls_l_ir, c_180_pls_h_ir ;38 左转,180度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_20_pls_l_ir, c_20_pls_h_ir ;39 右转,20度(-)
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_40_pls_l_ir, c_40_pls_h_ir ;40 右转,40度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_60_pls_l_ir, c_60_pls_h_ir ;41 右转,60度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_80_pls_l_ir, c_80_pls_h_ir ;42 右转,80度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_100_pls_l_ir, c_100_pls_h_ir ;43 右转,100度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_120_pls_l_ir, c_120_pls_h_ir ;44 右转,120度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_140_pls_l_ir, c_140_pls_h_ir ;45 右转,140度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_160_pls_l_ir, c_160_pls_h_ir ;46 右转,160度
db c_flg_right, c_prtd3456_1, c_prtd36_0, c_prtd45_1, c_ctrl_swerve_t1_ir, c_ctrl_t2, c_180_pls_l_ir, c_180_pls_h_ir ;47 右转,180度
;end add //04-03-17//
;//backup
db c_flg_backup, c_prtd3456_1, c_prtd35_1, c_prtd46_0, c_ctrl_slow_t1, c_ctrl_t2, c_slow_1_pls_l, c_slow_1_pls_h ;48 后退,慢速,短距离
;================================================================;
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -