Epreuve 5 mk2
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@ -13,6 +13,8 @@
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import sys, time
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import uasyncio as asyncio
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class CPU:
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pc: int = 0
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@ -37,12 +39,16 @@ class Simulator:
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self.cpu = CPU()
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self.program_size = len(program)
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self.motorCallback = None
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self.registerCallback = None
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# ---- Getter / Setter pour interfacer le robot
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def setMotorCallback(self, callback):
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self.motorCallback = callback
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def setRegisterCallback(self, callback):
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self.registerCallback = callback
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# ----------------- utilitaires mémoire / pile -----------------
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@ -126,6 +132,8 @@ class Simulator:
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r = b & 0b11
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instr = f"POP R{r}"
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c.regs[r] = self.pop()
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if (setRegisterCallback != None):
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setRegisterCallback(r, c.regs[r])
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# --- MOV Rx valeur / SUB Rx valeur / CMP Rx valeur ---
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elif (b & 0b11111100) == 0b11100000: # MOV Rx valeur
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@ -134,6 +142,8 @@ class Simulator:
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size = 2
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instr = f"MOV R{r}, {imm}"
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c.regs[r] = imm
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if (setRegisterCallback != None):
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setRegisterCallback(r, c.regs[r])
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elif (b & 0b11111100) == 0b00010000: # SUB Rx valeur
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r = b & 0b11
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@ -141,6 +151,8 @@ class Simulator:
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size = 2
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instr = f"SUB R{r}, {imm}"
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c.regs[r] = (c.regs[r] - imm) & 0xFF
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if (setRegisterCallback != None):
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setRegisterCallback(r, c.regs[r])
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elif (b & 0b11111100) == 0b10010000: # CMP Rx valeur
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r = b & 0b11
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@ -157,12 +169,16 @@ class Simulator:
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src = b & 0b11
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instr = f"MOV R{dst}, R{src}"
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c.regs[dst] = c.regs[src]
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if (setRegisterCallback != None):
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setRegisterCallback(dst, c.regs[dst])
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elif (b & 0b11110000) == 0b11010000: # SUB Rx Ry
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dst = (b >> 2) & 0b11
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src = b & 0b11
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instr = f"SUB R{dst}, R{src}"
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c.regs[dst] = (c.regs[dst] - c.regs[src]) & 0xFF
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if (setRegisterCallback != None):
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setRegisterCallback(dst, c.regs[dst])
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elif (b & 0b11110000) == 0b00110000: # CMP Rx Ry
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dst = (b >> 2) & 0b11
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@ -183,6 +199,8 @@ class Simulator:
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eff = (addr + c.regs[src]) & 0xFF
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c.regs[dst] = self.ram[eff]
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extra_cycles = 1 # 2 octets -> 2 cycles +1 = 3
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if (setRegisterCallback != None):
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setRegisterCallback(dst, c.regs[dst])
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elif (b & 0b11110000) == 0b01110000: # STR Rx Ry _label
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dst = (b >> 2) & 0b11
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@ -257,21 +275,13 @@ class Simulator:
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self.step()
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steps += 1
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def motorCallback(motG, motD):
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sMotG = 1 - ((motG >> 2) & 0b10)
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sMotD = 1 - ((motD >> 2) & 0b10)
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motG = ((motG & 0b0111) * sMotG) * 100 / 7
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motD = ((motD & 0b0111) * sMotD) * 100 / 7
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print("Mot G :", motG)
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print("Mot D :", motD)
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def StartCPU(program, callback):
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def StartCPU(program, callback, registerCallback):
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sim = Simulator(program)
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sim.setMotorCallback(callback)
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sim.setRegisterCallback(setRegisterCallback)
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while sim.cpu.running:
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sim.run(max_steps = 1)
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time.sleep(0.1)
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#time.sleep(0.1)
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import time
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# ---------------------------------------------------------
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@ -286,6 +296,6 @@ if __name__ == "__main__":
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print("filename: " + filename)
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with open(filename, "rb") as f:
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program = f.read()
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StartCPU(program, motorCallback)
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StartCPU(program, None, None)
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else:
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print("Needs *.bin as parameter")
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63
Path.asm
63
Path.asm
@ -1,41 +1,44 @@
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_main:
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; Start
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MOV R0 59
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MOV R0 17
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OUT R0
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TIM 132 ; Demi-tour OK
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TIM 130 ; Slow Start OK
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MOV R0 34
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OUT R0
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TIM 130 ; Slow Start OK
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MOV R0 51
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OUT R0
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TIM 162 ; Ligne droite OK
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MOV R0 49 ; 0b 0011 0001
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OUT R0
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TIM 130 ; Rotation droite OK
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MOV R0 51
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OUT R0
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TIM 152 ; Ligne droite
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MOV R0 19 ; 0b 0001 0011
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OUT R0
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TIM 130 ; Rotation gauche
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;TIM 50
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MOV R0 51
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OUT R0
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TIM 136 ; Ligne droite
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MOV R0 0
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OUT R0
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TIM 100 ; P'tite pause OK
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MOV R0 59
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OUT R0
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TIM 128
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TIM 100 ; Demi-tour pour marche arriere OK
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MOV R0 0
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OUT R0
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TIM 100 ; P'tite pause OK
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MOV R0 204
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OUT R0
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TIM 142 ; Michael Jackson OK
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MOV R0 0
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OUT R0
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TIM 100 ; P'tite pause OK
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MOV R0 179
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OUT R0
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TIM 132 ; Demi-tour
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OUT R0 ; STOP
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RET
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_sleep:
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MOV R0 0
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OUT R0
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TIM 100 ; P'tite pause
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MOV R0 204
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OUT R0
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TIM 144 ; Michael Jackson
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RET
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36
main.py
36
main.py
@ -10,12 +10,11 @@ import buzzer
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import binascii
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import uasyncio as asyncio
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import RobotBleServer
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#import base64
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from Interpreteur import StartCPU
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motorSpeedFactor = 50
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motorDCompensation = 1.04
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alphabot = AlphaBot_v2()
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oled = SSD1306_I2C(128, 64, alphabot.i2c)
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@ -23,36 +22,19 @@ oled = SSD1306_I2C(128, 64, alphabot.i2c)
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oled.fill(0)
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oled.show()
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def motorCallback(motG, motD):
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sMotG = 1 - ((motG >> 2) & 0b10)
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sMotD = 1 - ((motD >> 2) & 0b10)
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motG = ((motG & 0b0111) * sMotG) * motorSpeedFactor / 7
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motD = ((motD & 0b0111) * sMotD) * motorSpeedFactor / 7
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motD = (((motD & 0b0111) * sMotD) * motorSpeedFactor / 7) * motorDCompensation
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print("Mot G :", motG)
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print("Mot D :", motD)
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alphabot.setMotors(left=motG, right=motD)
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# while True:
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# joystickButton = alphabot.getJoystickValue()
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# if (joystickButton == "center"):
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# oled.text("Coucou !", 0, 0)
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# oled.show()
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# utime.sleep(1)
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# oled.fill(0)
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# oled.show()
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# if (joystickButton == "left"):
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# alphabot.setMotors(left=-100, right=100)
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# utime.sleep(1)
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# alphabot.stop()
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# if (joystickButton == "right"):
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# StartCPU("./out.bin", motorCallback)
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# alphabot.stop()
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def registerCallback(register, value):
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print(f"Register R{register} changed to {value}")
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pass
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@ -70,13 +52,9 @@ def onMsgToRobot(data:str|bytes):
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:param data: message received"""
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checksum = binascii.crc32(data)
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print('received', data, '=>', checksum)
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#data = data.encode("ascii")
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#data = base64.decodebytes(data)
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print(data)
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StartCPU(data, motorCallback)
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StartCPU(data, motorCallback, registerCallback)
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alphabot.stop()
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@ -162,7 +162,7 @@ toupie 76 100ms = 360 + 90°
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{"type": "connect", "name": "Nogard"}
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{"type": "msg", "format": "base64", "string": "4Crw+FCA"}
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{"type": "msg", "format": "base64", "string": "4Dvw+IKA"}
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Demi tour
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{"type": "msg", "format": "base64", "string": "4Dvw+IHgAPCA"}
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@ -171,6 +171,6 @@ Demi tour + fuite
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{"type": "msg", "format": "base64", "string": "4Dvw+ID4MuAA8Phk4Mzw+KXgAPDgAPD4ZIA="}
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Parcours
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{"type": "msg", "format": "base64", "string": "4Dvw+ITgAPD4ZOA78PiA+GTgAPD4ZODM8PiO4ADw+GTgs/D4hOAA8Phk4Mzw+JCA"}
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{"type": "msg", "format": "base64", "string": "4BHw+ILgIvD4guAz8Pii4DHw+ILgM/D4mOAT8PiC4DPw+IjgAPCA4ADw+GSA"}
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