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📄 retry.lst

📁 Robot control assembly program.
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05B3 C290            871            CLR     BANH_TRAI_DAO
05B5 C291            872            CLR     BANH_PHAI_DAO
05B7 12107D          873            CALL    DELAY50MS
                     874    
05BA 75FBFF          875            MOV     BANH_TRAI,#255
05BD 75FCFF          876            MOV     BANH_PHAI,#255
05C0 12108B          877            CALL    DELAY100MS
                     878    
05C3 75FB00          879            MOV     BANH_TRAI,#0
05C6 75FC00          880            MOV     BANH_PHAI,#0
05C9 D290            881            SETB    BANH_TRAI_DAO
05CB D291            882            SETB    BANH_PHAI_DAO
05CD 12107D          883            CALL    DELAY50MS
05D0 22              884            RET
                     885    ;======================= HAM_TOC ==============================
05D1                 886    HAM_TOC:
05D1 75FB00          887            MOV     BANH_TRAI,#0
05D4 75FC00          888            MOV     BANH_PHAI,#0
05D7 C290            889            CLR     BANH_TRAI_DAO
05D9 C291            890            CLR     BANH_PHAI_DAO
05DB 12107D          891            CALL    DELAY50MS
                     892    
05DE 75FB96          893            MOV     BANH_TRAI,#150
05E1 75FC96          894            MOV     BANH_PHAI,#150
05E4 12107D          895            CALL    DELAY50MS
                     896    
05E7 75FB00          897            MOV     BANH_TRAI,#0
05EA 75FC00          898            MOV     BANH_PHAI,#0
05ED D290            899            SETB    BANH_TRAI_DAO
05EF D291            900            SETB    BANH_PHAI_DAO
05F1 12107D          901            CALL    DELAY50MS
05F4 22              902            RET
                     903    
                     904    ;======================= CHAY THANG DOC ENCODER ============================================
                                                                               ======
                     905    ;INPUT : ENCODER
05F5                 906    CHAY_THANG_ENCODER:
                     907    ;KT GT ENCODER
05F5 E543            908            MOV     A,ENCODER_THAP
05F7 B40008          909            CJNE    A,#0,BD_CHAY_THANG_ENCODER
05FA E544            910            MOV     A,ENCODER_CAO
05FC B40003          911            CJNE    A,#0,BD_CHAY_THANG_ENCODER
05FF 020615          912            JMP     THOAT_CHAY_THANG_ENCODER
                     913    ;-
0602                 914    BD_CHAY_THANG_ENCODER:
0602 D2A8            915            SETB    ACT_ENCODER
0604                 916    LOOP_CHAY_THANG_ENCODER:
0604 30A80E          917            JNB     ACT_ENCODER,THOAT_CHAY_THANG_ENCODER
                     918    
0607 85432E          919            MOV     BYTE_LED_THAP,ENCODER_THAP      ;<----
060A 85442F          920            MOV     BYTE_LED_CAO,ENCODER_CAO
                     921    
RETRY                                                                                                         PAGE 17

060D 120714          922            CALL    KT_VUNG_DO_DUONG
0610 12085A          923            CALL    DK_DO_DUONG
0613 80EF            924            JMP     LOOP_CHAY_THANG_ENCODER
0615                 925    THOAT_CHAY_THANG_ENCODER:
0615 22              926            RET
                     927    
                     928    ;======================= CHAY THANG DO DUONG 1 VACH HAM TOC ================================
                                                                               ==================
0616                 929    CHAY_THANG_HAM_TOC:     
0616 754401          930            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH)
0619 754340          931            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH)
061C D2A8            932            SETB    ACT_ENCODER
                     933    ;--HAM TOC
061E B1D1            934            CALL    HAM_TOC
0620 120E62          935            CALL    VAN_TOC_RAT_CHAM
0623                 936    LOOP_CHAY_THANG_HAM_TOC:
0623 30A808          937            JNB     ACT_ENCODER,THOAT_LOOP_CHAY_THANG_HAM_TOC
0626 120714          938            CALL    KT_VUNG_DO_DUONG
0629 12085A          939            CALL    DK_DO_DUONG
062C 80F5            940            JMP     LOOP_CHAY_THANG_HAM_TOC
062E                 941    THOAT_LOOP_CHAY_THANG_HAM_TOC:
062E 22              942            RET
                     943    ;======================= CHAY THANG DO DUONG 1 VACH HAM TOC ================================
                                                                               ==================
062F                 944    CHAY_THANG_HAM_TOC_ENCODER:     
062F D2A8            945            SETB    ACT_ENCODER
                     946    ;--HAM TOC
0631 B1D1            947            CALL    HAM_TOC
0633                 948    LOOP_CHAY_THANG_HAM_TOC_ENCODER:
0633 30A808          949            JNB     ACT_ENCODER,THOAT_LOOP_CHAY_THANG_HAM_TOC_ENCODER
0636 120714          950            CALL    KT_VUNG_DO_DUONG
0639 12085A          951            CALL    DK_DO_DUONG
063C 80F5            952            JMP     LOOP_CHAY_THANG_HAM_TOC_ENCODER
063E                 953    THOAT_LOOP_CHAY_THANG_HAM_TOC_ENCODER:
063E 22              954            RET
                     955    ;======================= CHAY THANG KHONG DO DUONG 1 VACH HAM TOC ==========================
                                                                               ========================
063F                 956    CHAY_THANG_MU_HAM_TOC:  
063F 754401          957            MOV     ENCODER_CAO,#HIGH(ENCODER_1_VACH)
0642 754340          958            MOV     ENCODER_THAP,#LOW(ENCODER_1_VACH)
0645 D2A8            959            SETB    ACT_ENCODER
                     960    ;--HAM TOC
0647 B1AD            961            CALL    HAM_TOC_MAX
0649 75FB32          962            MOV     BANH_TRAI,#50
064C 75FC32          963            MOV     BANH_PHAI,#50
064F 20A8FD          964            JB      ACT_ENCODER,$
                     965    ;--TIM VACH NGANG
0652 120977          966            CALL    CHO_QUA_VACH_NGANG
0655 22              967            RET
                     968    
                     969    ;======================= CHAY THANG TIM VACH NGANG ============================
0656                 970    CHAY_THANG_TIM_VACH_NGANG:
0656 1206DB          971            CALL    KT_QUA_VACH_NGANG               
0659 20320B          972            JB      BIT_QUA_VACH_NGANG,THOAT_CHAY_THANG_TIM_VACH_NGANG
                     973    
065C 752E33          974            MOV     BYTE_LED_THAP,#51       ;------
                     975    
065F 120714          976            CALL    KT_VUNG_DO_DUONG
RETRY                                                                                                         PAGE 18

0662 12085A          977            CALL    DK_DO_DUONG
0665 80EF            978            SJMP    CHAY_THANG_TIM_VACH_NGANG
0667                 979    THOAT_CHAY_THANG_TIM_VACH_NGANG:
0667 22              980            RET
                     981    
                     982    ;======================= HAM DO DUONG DEM VACH =============================================
                                                                               ============
0668                 983    CHAY_THANG:     
                     984    ; << ... >> : SU KIEN
                     985    ; DOAN 1: BIT_TIM_VACH=0,ACT_ENCODER=1 ; <<BIT_TIM_VACH=0,ACT_ENCODER=0>> 
                     986    ; DOAN 2: BIT_TIM_VACH=1,ACT_ENCODER=1,BIT_QUA_VACH_NGANG=0 ; <<BIT_TIM_VACH=1,BIT_QUA_VACH_
                                                                               NGANG=1,ACT_ENCODER=1>> ; <<BIT_TIM_VACH=
                                                                               1,ACT_ENCODER=0>>
0668 1206DB          987            CALL    KT_QUA_VACH_NGANG       ;CHONG NHAN LAM VACH NGANG
066B C232            988            CLR     BIT_QUA_VACH_NGANG
                     989    
066D C233            990            CLR     BIT_TIM_VACH    
066F 754300          991            MOV     ENCODER_THAP,#LOW(GT_ENCODER_DOAN1)
0672 754401          992            MOV     ENCODER_CAO,#HIGH(GT_ENCODER_DOAN1)
0675 D2A8            993            SETB    ACT_ENCODER
0677                 994    LOOP_CHAY_THANG:
                     995    ;-------- DOAN1: CHAY KO NHAN VACH NGANG (BIT_TIM_VACH=0 , ACT_ENCODER=1) -----------
0677                 996    CHAY_KO_NHAN_VACH:
0677 20331B          997            JB      BIT_TIM_VACH,TIM_VACH_NGANG
067A 30A80E          998            JNB     ACT_ENCODER,SETB_BIT_TIM_VACH   
067D 120714          999            CALL    KT_VUNG_DO_DUONG
0680 12085A         1000            CALL    DK_DO_DUONG
                    1001    
0683 85402E         1002            MOV     BYTE_LED_THAP,DEM_VACH  ;<----
0686 752F00         1003            MOV     BYTE_LED_CAO,#0
                    1004    
0689 80EC           1005            JMP     CHAY_KO_NHAN_VACH               ; TT CHAY THANG QUA DOAN 1
                    1006    
                    1007    ;------- <<BIT_TIM_VACH=0,ACT_ENCODER=0>> ------------------------------------------
068B                1008    SETB_BIT_TIM_VACH:                      ; KHOI TAO DOAN 2 :TIM VACH
068B D233           1009            SETB    BIT_TIM_VACH    
068D 7543C0         1010            MOV     ENCODER_THAP,#LOW(GT_ENCODER_DOAN2)
0690 754400         1011            MOV     ENCODER_CAO,#HIGH(GT_ENCODER_DOAN2)
0693 D2A8           1012            SETB    ACT_ENCODER
                    1013    
                    1014    ;-------- DOAN2: CHAY TIM VACH NGANG (BIT_TIM_VACH=1,ACT_ENCODER=1,BIT_QUA_VACH_NGANG=0) ---
                                                                               ----------
0695                1015    TIM_VACH_NGANG:                 
0695 1206DB         1016            CALL    KT_QUA_VACH_NGANG               
0698 203211         1017            JB      BIT_QUA_VACH_NGANG,DEC_DEM_VACH ; KT QUA_VACH_NGANG  ->DEC_DEM_VACH
069B 30A826         1018            JNB     ACT_ENCODER,DEC_DEM_VACH_ERROR  ; KT ERROR_NHAN_VACH ->DEC_DEM_VACH_ERROR
069E 120714         1019            CALL    KT_VUNG_DO_DUONG
06A1 12085A         1020            CALL    DK_DO_DUONG
                    1021    
06A4 85402E         1022            MOV     BYTE_LED_THAP,DEM_VACH  ;<----
06A7 752F00         1023            MOV     BYTE_LED_CAO,#0
                    1024            
06AA 80E9           1025            JMP     TIM_VACH_NGANG          ; TT CHAY THANG QUA DOAN 2
                    1026    
                    1027    ;-------- <<BIT_TIM_VACH=1,BIT_QUA_VACH_NGANG=1,ACT_ENCODER=1>> -------------------
06AC                1028    DEC_DEM_VACH:
06AC 1540           1029            DEC     DEM_VACH
06AE E540           1030            MOV     A,DEM_VACH
RETRY                                                                                                         PAGE 19

06B0 B40005         1031            CJNE    A,#0,TT_DEM_VACH        ;DEM_VACH > 0   
06B3 C2A8           1032            CLR     ACT_ENCODER
06B5 0206DA         1033            JMP     THOAT_CHAY_THANG
06B8                1034    TT_DEM_VACH:
06B8 C233           1035            CLR     BIT_TIM_VACH            ; KHOI TAO CHAY THANG DOAN 1
06BA 754300         1036            MOV     ENCODER_THAP,#LOW(GT_ENCODER_DOAN1)
06BD 754401         1037            MOV     ENCODER_CAO,#HIGH(GT_ENCODER_DOAN1)
06C0 D2A8           1038            SETB    ACT_ENCODER
06C2 80B3           1039            JMP     LOOP_CHAY_THANG 
                    1040    
                    1041    ;-------- <<BIT_TIM_VACH=1,BIT_QUA_VACH_NGANG=0,ACT_ENCODER=0>> ---------------------
06C4                1042    DEC_DEM_VACH_ERROR:
06C4 1540           1043            DEC     DEM_VACH
06C6 E540           1044            MOV     A,DEM_VACH
06C8 B40003         1045            CJNE    A,#0,TT_DEM_VACH_ERROR  ;DEM_VACH > 0   
06CB 0206DA         1046            JMP     THOAT_CHAY_THANG
06CE                1047    TT_DEM_VACH_ERROR:                      ; KHOI TAO LAI CHAY THANG DOAN 1 KHI MAC LOI DEM VAC
                                                                               H
06CE C233           1048            CLR     BIT_TIM_VACH            
06D0 754380         1049            MOV     ENCODER_THAP,#LOW(GT_ENCODER_DOAN1_ERROR)
06D3 754400         1050            MOV     ENCODER_CAO,#HIGH(GT_ENCODER_DOAN1_ERROR)
06D6 D2A8           1051            SETB    ACT_ENCODER
06D8 809D           1052            JMP     LOOP_CHAY_THANG 
06DA                1053    THOAT_CHAY_THANG:
06DA 22             1054            RET     
                    1055    
                    1056    ;======================= CAC HAM CON DO DUONG ==============================================
                                                                               ====
                    1057    ;******** KT DI QUA VACH NGANG -> BIT_QUA_VACH_NGANG *********************
06DB                1058    KT_QUA_VACH_NGANG:
06DB C232           1059            CLR     BIT_QUA_VACH_NGANG      ;KHOI DONG BIT KTRA VACH NGANG
06DD                1060    LOOP_KT_QUA_VACH_NGANG:
06DD 754100         1061            MOV     TONG_CAM_BIEN,#0
06E0 308702         1062            JNB     CAMBIEN1,KIEMTRA_CAMBIEN2
06E3 0541           1063            INC     TONG_CAM_BIEN
06E5                1064    KIEMTRA_CAMBIEN2:
06E5 308602         1065            JNB     CAMBIEN2,KIEMTRA_CAMBIEN3
06E8 0541           1066            INC     TONG_CAM_BIEN
06EA                1067    KIEMTRA_CAMBIEN3:
06EA 308502         1068            JNB     CAMBIEN3,KIEMTRA_CAMBIEN4
06ED 0541           1069            INC     TONG_CAM_BIEN
06EF                1070    KIEMTRA_CAMBIEN4:
06EF 308402         1071            JNB     CAMBIEN4,KIEMTRA_CAMBIEN5
06F2 0541           1072            INC     TONG_CAM_BIEN
06F4                1073    KIEMTRA_CAMBIEN5:
06F4 308302         1074            JNB     CAMBIEN5,KIEMTRA_CAMBIEN6
06F7 0541           1075            INC     TONG_CAM_BIEN
06F9                1076    KIEMTRA_CAMBIEN6:
06F9 308202         1077            JNB     CAMBIEN6,KIEMT

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