Epreuve 5 mk2

Interpreteur.py

@@ -13,6 +13,8 @@
 
 import sys, time
 
+import uasyncio as asyncio
+
 
 class CPU:
     pc: int = 0
@@ -37,12 +39,16 @@ class Simulator:
         self.cpu = CPU()
         self.program_size = len(program)
         self.motorCallback = None
+        self.registerCallback = None
 
     # ---- Getter / Setter pour interfacer le robot
 
     def setMotorCallback(self, callback):
         self.motorCallback = callback
 
+    def setRegisterCallback(self, callback):
+        self.registerCallback = callback
+
 
     # ----------------- utilitaires mémoire / pile -----------------
 
@@ -126,6 +132,8 @@ class Simulator:
             r = b & 0b11
             instr = f"POP R{r}"
             c.regs[r] = self.pop()
+            if (setRegisterCallback != None):
+                setRegisterCallback(r, c.regs[r])
 
         # --- MOV Rx valeur / SUB Rx valeur / CMP Rx valeur ---
         elif (b & 0b11111100) == 0b11100000:  # MOV Rx valeur
@@ -134,6 +142,8 @@ class Simulator:
             size = 2
             instr = f"MOV R{r}, {imm}"
             c.regs[r] = imm
+            if (setRegisterCallback != None):
+                setRegisterCallback(r, c.regs[r])
 
         elif (b & 0b11111100) == 0b00010000:  # SUB Rx valeur
             r = b & 0b11
@@ -141,6 +151,8 @@ class Simulator:
             size = 2
             instr = f"SUB R{r}, {imm}"
             c.regs[r] = (c.regs[r] - imm) & 0xFF
+            if (setRegisterCallback != None):
+                setRegisterCallback(r, c.regs[r])
 
         elif (b & 0b11111100) == 0b10010000:  # CMP Rx valeur
             r = b & 0b11
@@ -157,12 +169,16 @@ class Simulator:
             src = b & 0b11
             instr = f"MOV R{dst}, R{src}"
             c.regs[dst] = c.regs[src]
+            if (setRegisterCallback != None):
+                setRegisterCallback(dst, c.regs[dst])
 
         elif (b & 0b11110000) == 0b11010000:  # SUB Rx Ry
             dst = (b >> 2) & 0b11
             src = b & 0b11
             instr = f"SUB R{dst}, R{src}"
             c.regs[dst] = (c.regs[dst] - c.regs[src]) & 0xFF
+            if (setRegisterCallback != None):
+                setRegisterCallback(dst, c.regs[dst])
 
         elif (b & 0b11110000) == 0b00110000:  # CMP Rx Ry
             dst = (b >> 2) & 0b11
@@ -183,6 +199,8 @@ class Simulator:
             eff = (addr + c.regs[src]) & 0xFF
             c.regs[dst] = self.ram[eff]
             extra_cycles = 1  # 2 octets -> 2 cycles +1 = 3
+            if (setRegisterCallback != None):
+                setRegisterCallback(dst, c.regs[dst])
 
         elif (b & 0b11110000) == 0b01110000:  # STR Rx Ry _label
             dst = (b >> 2) & 0b11
@@ -257,21 +275,13 @@ class Simulator:
             self.step()
             steps += 1
 
-def motorCallback(motG, motD):
+def StartCPU(program, callback, registerCallback):
-    sMotG = 1 - ((motG >> 2) & 0b10)
-    sMotD = 1 - ((motD >> 2) & 0b10)
-    motG = ((motG & 0b0111) * sMotG) * 100 / 7
-    motD = ((motD & 0b0111) * sMotD) * 100 / 7
-    print("Mot G :", motG)
-    print("Mot D :", motD)
-
-
-def StartCPU(program, callback):
     sim = Simulator(program)
     sim.setMotorCallback(callback)
+    sim.setRegisterCallback(setRegisterCallback)
     while sim.cpu.running:
         sim.run(max_steps = 1)
-        time.sleep(0.1)
+        #time.sleep(0.1)
 
 import time
 # ---------------------------------------------------------
@@ -286,6 +296,6 @@ if __name__ == "__main__":
         print("filename: " + filename)
         with open(filename, "rb") as f:
             program = f.read()
-            StartCPU(program, motorCallback)
+            StartCPU(program, None, None)
     else:
         print("Needs *.bin as parameter")

Path.asm

@@ -1,41 +1,44 @@
 _main:
 
                  ; Start
-    MOV R0 59
+
+    MOV R0 17
     OUT R0
-    TIM 132    ; Demi-tour OK
+    TIM 130    ; Slow Start OK
+
+    MOV R0 34
+    OUT R0
+    TIM 130    ; Slow Start OK
+
+    MOV R0 51
+    OUT R0
+    TIM 162    ; Ligne droite OK
+
+    MOV R0 49  ; 0b 0011 0001
+    OUT R0
+    TIM 130    ; Rotation droite OK
+
+    MOV R0 51
+    OUT R0
+    TIM 152    ; Ligne droite
+
+    MOV R0 19 ; 0b 0001 0011
+    OUT R0
+    TIM 130    ; Rotation gauche
+    ;TIM 50
+
+    MOV R0 51
+    OUT R0
+    TIM 136    ; Ligne droite
+
+    
 
     MOV R0 0
-    OUT R0
+    OUT R0     ; STOP
-    TIM 100    ; P'tite pause OK
+    RET
-
-    MOV R0 59
-    OUT R0
-    TIM 128
-    TIM 100    ; Demi-tour pour marche arriere OK
-
-    MOV R0 0
-    OUT R0
-    TIM 100    ; P'tite pause OK
-
-    MOV R0 204
-    OUT R0
-    TIM 142    ; Michael Jackson OK
-
-    MOV R0 0
-    OUT R0
-    TIM 100    ; P'tite pause OK
-
-    MOV R0 179
-    OUT R0
-    TIM 132    ; Demi-tour
 
+_sleep:
     MOV R0 0
     OUT R0
     TIM 100    ; P'tite pause
-
-    MOV R0 204
-    OUT R0
-    TIM 144    ; Michael Jackson
-
     RET

main.py

@@ -10,12 +10,11 @@ import buzzer
 import binascii
 import uasyncio as asyncio
 import RobotBleServer
-#import base64
-
 
 from Interpreteur import StartCPU
 
 motorSpeedFactor = 50
+motorDCompensation = 1.04
 
 alphabot = AlphaBot_v2()
 oled = SSD1306_I2C(128, 64, alphabot.i2c)
@@ -23,36 +22,19 @@ oled = SSD1306_I2C(128, 64, alphabot.i2c)
 oled.fill(0)
 oled.show()
 
+
 def motorCallback(motG, motD):
     sMotG = 1 - ((motG >> 2) & 0b10)
     sMotD = 1 - ((motD >> 2) & 0b10)
     motG = ((motG & 0b0111) * sMotG) * motorSpeedFactor / 7
-    motD = ((motD & 0b0111) * sMotD) * motorSpeedFactor / 7
+    motD = (((motD & 0b0111) * sMotD) * motorSpeedFactor / 7) * motorDCompensation
     print("Mot G :", motG)
     print("Mot D :", motD)
     alphabot.setMotors(left=motG, right=motD)
 
-
+def registerCallback(register, value):
-# while True:
+    print(f"Register R{register} changed to {value}")
-#     joystickButton = alphabot.getJoystickValue()
+    pass
-#     if (joystickButton == "center"):
-#         oled.text("Coucou !", 0, 0)
-#         oled.show()
-#         utime.sleep(1)
-#         oled.fill(0)
-#         oled.show()
-#     if (joystickButton == "left"):
-#         alphabot.setMotors(left=-100, right=100)
-#         utime.sleep(1)
-#         alphabot.stop()
-#     if (joystickButton == "right"):
-#         StartCPU("./out.bin", motorCallback)
-#         alphabot.stop()
-
-
-
-
-
 
 
 
@@ -70,13 +52,9 @@ def onMsgToRobot(data:str|bytes):
     :param data: message received"""
     checksum = binascii.crc32(data)
     print('received', data, '=>', checksum)
-    #data = data.encode("ascii")
-    #data = base64.decodebytes(data)
     print(data)
 
-    
+    StartCPU(data, motorCallback, registerCallback)
-
-    StartCPU(data, motorCallback)
     alphabot.stop()
 
 

notes.txt

@@ -162,7 +162,7 @@ toupie 76 100ms = 360 + 90°
 
 {"type": "connect", "name": "Nogard"}
 
-{"type": "msg", "format": "base64", "string": "4Crw+FCA"}
+{"type": "msg", "format": "base64", "string": "4Dvw+IKA"}
 
 Demi tour
 {"type": "msg", "format": "base64", "string": "4Dvw+IHgAPCA"}
@@ -171,6 +171,6 @@ Demi tour + fuite
 {"type": "msg", "format": "base64", "string": "4Dvw+ID4MuAA8Phk4Mzw+KXgAPDgAPD4ZIA="}
 
 Parcours
-{"type": "msg", "format": "base64", "string": "4Dvw+ITgAPD4ZOA78PiA+GTgAPD4ZODM8PiO4ADw+GTgs/D4hOAA8Phk4Mzw+JCA"}
+{"type": "msg", "format": "base64", "string": "4BHw+ILgIvD4guAz8Pii4DHw+ILgM/D4mOAT8PiC4DPw+IjgAPCA4ADw+GSA"}