📄 run.asl
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00ED FD 00 211 sta m_offset_ini_h ;go ahead
00EF F3 00 212 lda #<c_offset_f_ini
00F1 FD 00 213 sta m_offset_ini
00F3 F3 02 214 lda #2
00F5 02 00 D4 215 br next_status_set_end1
+ 216
+ 217
+ 218 ;set_rules::
+ 219 ; ;lda flg_new_random
+ 220 ; cmpe #1
+ 221 ;; brnz set_rules_end
+ 222 ; brnz rules_for_ir ;if the flg_new_random is 2, set some rules for run when received ir.
+ 223 ;
+ 224 ;;-------------------------------------这是flg_new_random==1时的设置一些规则，即是没有障碍物的情况下。
+ 225 ;rules_for_free_run: ;
+ 226 ; lda flg_motor_status ;if the previous status is turning left or right, the next move status is straight forward.
+ 227 ; cmpe #c_flg_stop ;if the previous status is stop, not stop next.
+ 228 ; brz next_status_not_stop ;前一运行状态是停止
+ 229 ; cmpe #c_flg_left
+ 230 ; brz next_status_forward ;前一运行状态是向左，则下一个是向前
+ 231 ; cmpe #c_flg_right
+ 232 ; brz next_status_forward ;前一运行状态是向右,则下一个是向前
+ 233 ;next_status_random: ;if not, the next status is selected from the whole move status.
+ 234 ; lda #0
+ 235 ; sta m_offset_ini ;add the high 8bit of the offset register
+ 236 ; sta m_offset_ini_h
+ 237 ; lda #c_mtr_tab_row
+ 238 ; sta m_rnd_range
+ 239 ; br set_rules_end
+ 240 ;next_status_forward: ;revise for adding the high 8bit of the offset register
+ 241 ; lda #>c_offset_f_ini
+ 242 ; sta m_offset_ini_h
+ 243 ; lda #<c_offset_f_ini
+ 244 ; sta m_offset_ini
+ 245 ; lda #c_rnd_range_f
+ 246 ; sta m_rnd_range
+ 247 ; br set_rules_end
+ 248 ;next_status_not_stop: ;add the rules for not stop continuously
+ 249 ; lda #>c_offset_f_ini
+ 250 ; sta m_offset_ini_h
+ 251 ; lda #<c_offset_f_ini
+ 252 ; sta m_offset_ini
+ 253 ; lda #c_rnd_range_not_stop
+ 254 ; sta m_rnd_range
+ 255 ; br set_rules_end
+ 256 ;;--------------------------------------这是flg_new_random==2时的设置一些规则，即是有障碍物的情况下。
+ 257 ;rules_for_ir:
+ 258 ; lda temp_flg_ir_received ;上一次的红外状态
+ 259 ; cmpe #c_flg_l_rcved ;前一个是左边有障碍物
+ 260 ; brz $1
+ 261 ; cmpe #c_flg_f_l_rcved
+ 262 ; brz $1
+ 263 ; cmpe #c_flg_r_rcved
+ 264 ; brz $2
+ 265 ; cmpe #c_flg_f_r_rcved
+ 266 ; brz $2
+ 267 ; br set_rules_end
+ 268 ;$1:
+ 269 ; lda flg_ir_received ;对照今次的红外状态
+ 270 ; cmpe #c_flg_r_rcved
+ 271 ; brz next_status_forward
+ 272 ; cmpe #c_flg_f_r_rcved
+ 273 ; brz next_status_forward
+ 274 ; br set_rules_end
+ 275 ;$2:
+ 276 ; lda flg_ir_received
+ 277 ; cmpe #c_flg_l_rcved
+ 278 ; brz next_status_forward
+ 279 ; cmpe #c_flg_f_l_rcved
+ 280 ; brz next_status_forward
+ 281 ;
+ 282 ;set_rules_end:
+ 283 ; lda #0
+ 284 ; sta flg_new_random
+ 285 ; lda flg_ir_received
+ 286 ; sta temp_flg_ir_received
+ 287 ; ret
+ 288 ;;================================================================;
+ 289 ;;****************************************************************;
+ 290 ;; IR Judge
+ 291 ;
+ 292 ;; Carrier Frequency: 38K
+ 293 ;; IR transmit output pin: PRTC[0]
+ 294 ;; IR receive input pins: PRTD[0](front side)
+ 295 ;; PRTD[1](left side)
+ 296 ;; PRTD[2](right side)
+ 297 ;;
+ 298 ;; Written by: lixy
+ 299 ;; Date: 2004-04-08
+ 300 ;;****************************************************************;
+ 301 ;
+ 302 ;;================================================================;
+ 303 ;;Constant Area
+ 304 ;;================================================================;
+ 305 ;c_prtc012_1 equ #00000111b
+ 306 ;c_prtc012_0 equ #11111000b
+ 307 ;
+ 308 ;c_prtd012_1 equ #00000111b
+ 309 ;c_prtd0_1 equ #00000001b
+ 310 ;c_prtd0_0 equ #11111110b
+ 311 ;c_prtd1_1 equ #00000010b
+ 312 ;c_prtd1_0 equ #11111101b
+ 313 ;c_prtd2_1 equ #00000100b
+ 314 ;c_prtd2_0 equ #11111011b
+ 315
+ 316 ;;c_38k_pulse equ #22 ;the total number of 38k IR pulse transmitted(23*26us=598us)
+ 317 ;;//04-03-17// revise the ir groups total number (primer value is 20)
+ 318 ;;c_ir_group equ #12 ;the interval between 38k pulse groups in one IR group
+ 319 ;;end revise //04-03-17//
+ 320 ;c_ir_rcv_f equ #10
+ 321 ;c_ir_rcv_l equ #10
+ 322 ;c_ir_rcv_r equ #10
+ 323 ;c_flg_f_rcved equ #1 ;表示前面有障碍物
+ 324 ;c_flg_l_rcved equ #2 ;表示左面有障碍物
+ 325 ;c_flg_r_rcved equ #3 ;表示右边有障碍物
+ 326 ;c_flg_f_l_rcved equ #4 ;表示前左有障碍物
+ 327 ;c_flg_f_r_rcved equ #5 ;表示前右有障碍物
+ 328 ;c_flg_l_r_rcved equ #6 ;表示左右有障碍物
+ 329 ;c_flg_f_l_r_rcved equ #7 ;表示前左右都有障碍物
+ 330
+ 331 ;c_offset_f equ #0
+ 332 ;;--------------------------------------以下为左转的开始偏移
+ 333 ;c_offset_l_20 equ #72 ;=9(row)*8(column) left 20 degree
+ 334 ;c_offset_l_40 equ #80 ;=10(row)*8(column) left 40 degree
+ 335 ;c_offset_l_60 equ #88 ;=11(row)*8(column) left 60 degree
+ 336 ;c_offset_l_80 equ #96 ;=12(row)*8(column) left 80 degree
+ 337 ;c_offset_l_100 equ #104 ;=13(row)*8(column) left 100 degree
+ 338 ;c_offset_l_120 equ #112 ;=14(row)*8(column) left 120 degree
+ 339 ;;--------------------------------------以下为右转的开始偏移
+ 340 ;c_offset_r_20 equ #144 ;=18(row)*8(column) right 20 degree
+ 341 ;c_offset_r_40 equ #152 ;=19(row)*8(column) right 40 degree
+ 342 ;c_offset_r_60 equ #160 ;=20(row)*8(column) right 60 degree
+ 343 ;c_offset_r_80 equ #168 ;=21(row)*8(column) right 80 degree
+ 344 ;c_offset_r_100 equ #176 ;=22(row)*8(column) right 100 degree
+ 345 ;c_offset_r_120 equ #184 ;=23(row)*8(column) right 120 degree
+ 346 ;;;-------------------------------------以下为红外左右转表的开始偏移
+ 347 ;;//04-03-17// add for swerve when detceting the obstacles
+ 348 ;c_offset_l_20_ir equ #240 ;=30(row)*8(column) left 20 degree
+ 349 ;c_offset_l_40_ir equ #248 ;=31(row)*8(column) left 40 degree
+ 350 ;c_offset_l_60_ir equ #256 ;=32(row)*8(column) left 60 degree
+ 351 ;c_offset_r_20_ir equ #312 ;=39(row)*8(column) right 20 degree
+ 352 ;c_offset_r_40_ir equ #320 ;=40(row)*8(column) right 40 degree
+ 353 ;c_offset_r_60_ir equ #328 ;=41(row)*8(column) right 60 degree
+ 354 ;;end adding //04-03-17//
+ 355
+ 356 ;c_rnd_range_1 equ #1 ;random number range is 1
+ 357 ;c_rnd_range_2 equ #2 ;random number range is 2
+ 358 ;c_rnd_range_3 equ #3 ;random number range is 3
+ 359 ;c_rnd_range_4 equ #4 ;random number range is 4
+ 360 ;c_rnd_range_5 equ #5 ;random number range is 5
+ 361 ;c_rnd_range_6 equ #6 ;random number range is 6
+ 362 ;c_rnd_range_8 equ #8 ;random number range is 8
+ 363
+ 364 ;c_delay_short equ #120 ;delay short constant
+ 365
+ 366 ;;================================================================;
+ 367 ;IR Data Area
+ 368 ;================================================================;
+ 369 ; .area ir_judge_var(data)
+ 370 ;
+ 371 ;flg_ir_received:: .ds 1 ;接收后的状态（0-7表示）（哪个地方有障外）the flag of received IR
+ 372 ;flg_l_or_r:: .ds 1 ;the flag of turn left or turn right when detect obstacles in front or front-left-right of the mouse
+ 373 ;;cnt_38k_pulse:: .ds 1 ;IR transmitted pulse counter
+ 374 ;;cnt_ir_group:: .ds 1
+ 375 ;cnt_ir_rcv_f:: .ds 1
+ 376 ;cnt_ir_rcv_l:: .ds 1
+ 377 ;cnt_ir_rcv_r:: .ds 1
+ 378 ;;temp_delay_short:: .ds 1 ;short delay variable
+ 379
+ 380 ;================================================================;
+ 381 ;IR Code Area
+ 382 ;================================================================;
+ 383 ; .area ir_judge_code(code)
+ 384
+ 385 ;*********************************************************************
+ 386 ; intput:flg_motor_status,flg_ir_judge(接收是否完成)
+ 387 ; cnt_ir_rcv_f,cnt_ir_rcv_l,cnt_ir_rcv_r(中,左,右接收的红外个数)
+ 388 ;
+ 389 ; output:
+ 390 ;*********************************************************************
+ 391 ;ir_judge::
+ 392 ;
+ 393 ;if_judge_ir:
+ 394 ; lda flg_ir_judge ;if judge IR?(是否接收发射完成了？）
+ 395 ; cmpe #1
+ 396 ; brnz ir_judge_end
+ 397 ;
+ 398 ; lda #0
+ 399 ; sta flg_ir_judge
+ 400 ;judge_ir:
+ 401 ; call ir_received_judge ;接收判断子程序
+ 402
+ 403 ;;************/*04-02-26*/***************;
+ 404 ; lda flg_ir_received
+ 405 ; cmpe #c_flg_f_rcved
+ 406 ; brz judge_ir_end
+ 407 ; cmpe #c_flg_f_l_r_rcved
+ 408 ; brz judge_ir_end
+ 409 ;
+ 410 ; lda flg_l_or_r
+ 411 ; xora #1
+ 412 ; sta flg_l_or_r
+ 413 ;;***************************************;
+ 414 ;judge_ir_end:
+ 415 ;; lda #0 ;clear the flag and the counters
+ 416 ;; sta cnt_ir_group
+ 417 ;; sta cnt_ir_rcv_f
+ 418 ;; sta cnt_ir_rcv_l
+ 419 ;; sta cnt_ir_rcv_r
+ 420 ;ir_judge_end:
+ 421 ; ret
+ 422
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