Luận văn Điều khiển máy vẽ bằng vi xử lý

ln(f,str); Drawing.Edit7.Text:=Str; p1.x:=round(StrToFloat(Drawing.Edit3.Text)); p1.y:=round(StrToFloat(Drawing.Edit4.Text)); p2.x:=round(StrToFloat(Drawing.Edit6.Text)); p2.y:=round(StrToFloat(Drawing.Edit7.Text)); Transfer_Flag:=false; {Drawing.Send.Enabled:=false;} Drawing.Send_Command; Drawing.image1.canvas.pen.color:=clred; Drawing.DrawLine(p1,p2); if drawing.SingleStep1.Checked then begin AutoRun_Flag:=False; Drawing.Update.Enabled:=True; end; End Else if Str='G2' then Begin Drawing.Edit2.Text:='2'; Readln(f,str); Drawing.Edit3.Text:=Str; Readln(f,str); Drawing.Edit4.Text:=Str; Readln(f,str); Drawing.Edit5.Text:=Str; Readln(f,str); Drawing.Edit6.Text:=Str; Readln(f,str); Drawing.Edit7.Text:=Str; p2.x:=round(StrToFloat(Drawing.Edit6.Text)); p2.y:=round(StrToFloat(Drawing.Edit7.Text)); r:=Round(StrToFloat(Drawing.Edit5.Text)); pc.x:=Round(StrToFloat(Drawing.Edit3.Text)); pc.y:=Round(StrToFloat(Drawing.Edit4.Text)); p2.x:=p2.x-pc.x; p2.y:=p2.y-pc.y; if (p2.x>0)and(p2.y>=0) then m:=1 else if (p2.x0) then m:=2 else if (p2.x<0)and(p2.y<=0) then m:=3 else if (p2.x>=0)and(p2.y<0) then m:=4; Transfer_Flag:=false; {Drawing.Send.Enabled:=false;} Drawing.image1.canvas.pen.color:=clred; Drawing.Send_Command; Drawing.Arc_QN(pc.x,pc.y,r,p2.x,p2.y,m); if drawing.SingleStep1.Checked then begin AutoRun_Flag:=False; Drawing.Update.Enabled:=True; end; End Else If Str='G3' then Begin Drawing.Edit2.Text:='3'; Readln(f,str); Drawing.Edit3.Text:=Str; Readln(f,str); Drawing.Edit4.Text:=Str; Readln(f,str); Drawing.Edit5.Text:=Str; Readln(f,str); Drawing.Edit6.Text:=Str; Readln(f,str); Drawing.Edit7.Text:=Str; p2.x:=round(StrToFloat(Drawing.Edit6.Text)); p2.y:=round(StrToFloat(Drawing.Edit7.Text)); r:=Round(StrToFloat(Drawing.Edit5.Text)); pc.x:=Round(StrToFloat(Drawing.Edit3.Text)); pc.y:=Round(StrToFloat(Drawing.Edit4.Text)); p2.x:=p2.x-pc.x; p2.y:=p2.y-pc.y; if (p2.x>=0)and(p2.y>0) then m:=1 else if (p2.x=0) then m:=2 else if (p2.x<=0)and(p2.y<0) then m:=3 else if (p2.x>0)and(p2.y<=0) then m:=4; Transfer_Flag:=false; {Drawing.Send.Enabled:=false;} Drawing.image1.canvas.pen.color:=clred; Drawing.Send_Command; Drawing.Arc(pc.x,pc.y,r,p2.x,p2.y,m); if drawing.SingleStep1.Checked then begin AutoRun_Flag:=False; Drawing.Update.Enabled:=True; end; End Else if str='G6' then Begin Drawing.Edit2.Text:='6'; Readln(f,str); Drawing.Edit3.Text:=Str; Readln(f,str); Drawing.Edit4.Text:=Str; Readln(f,str); Drawing.Edit5.Text:=Str; Readln(f,str); Drawing.Edit6.Text:=Str; Readln(f,str); Drawing.Edit7.Text:=Str; Transfer_Flag:=false; Drawing.Send_Command; if drawing.SingleStep1.Checked then begin AutoRun_Flag:=False; Drawing.Update.Enabled:=True; end; End{G6} Else if str='End Spline' then Begin Drawing.Edit2.Text:='7'; Drawing.Edit3.Text:='0'; Drawing.Edit4.Text:='0'; Drawing.Edit5.Text:='0'; Drawing.Edit6.Text:='0'; Drawing.Edit7.Text:='0'; Transfer_Flag:=false; Drawing.Send_Command; Drawing.image1.canvas.pen.color:=clred; Drawing.Spline; if drawing.SingleStep1.Checked then begin AutoRun_Flag:=False; Drawing.Update.Enabled:=True; end; End; End; {while} CloseFile(f); ShowMessage('End of file!'); Drawing.Update.enabled:=True; Drawing.Send.Enabled:=false; Drawing.Command1.Enabled:=True; end; end. CHÖÔNG TRÌNH CHO VI XÖÛ LYÙ MAIN PROGRAM $Title(---MAIN PROGRAM---) $Debug $PageWidth(98) $NoPaging $Include (macros.inc) X1H equ 32H ;XCH X1L equ 33H ;XCL Y1H equ 34H ;YCH Y1L equ 35H ;YCL BKH equ 36H BKL equ 37H X2H equ 38H X2L equ 39H Y2H equ 3AH Y2L equ 3BH DeltaXH equ 3CH ;D1H DeltaXL equ 3DH ;D1L DeltaYH equ 3EH ;D2H DeltaYL equ 3FH ;D2L Dinc1H equ 40H Dinc1L equ 41H Dinc2H equ 42H Dinc2L equ 43H XH equ 44H XL equ 45H YH equ 46H YL equ 47H Cur_XH equ 48H Cur_XL equ 49H Cur_YH equ 4AH Cur_YL equ 4BH CH equ 4CH CL equ 4DH PointerX equ 4EH PointerY equ 4FH Key equ 50H ;Phím hieän ñang ñöôïc nhaán Key_Counter equ 51H ;Soá laàn phím ñöôïc nhaán Key_Pressed equ 52H ;Phím thöïc söï ñöôïc nhaán TimerCount equ 53H TimerCount1 equ 54H DataIn_Counter equ 55H Circle14 equ 56H Out_Led equ 57H DataOut_Counter equ 58H Speed equ 59H Press_Counter equ 5AH K equ 5BH TH equ 5CH TL equ 5DH Ext_Data equ 5EH LCD_Pointer equ 5FH NBaseAddr equ 7BH TMP_3 equ 7CH TMP_2 equ 7DH TMP_1 equ 7EH TMP_0 equ 7FH KeyOut equ 20H MotorX_Bit bit P1.1 MotorY_Bit bit P1.2 B1 bit 10H C1 bit 11H D1 bit 12H KeyPressed bit 13H Timer_F1 bit 14H ;Côø baùo ñaõ chaïy ñöôïc 16 laàn TimeBase Timer_F2 bit 15H Draw_Flag bit 16H Transmit_Flag bit 17H Motor_Flag bit 18H Line_Draw bit 19H Circle_Rev_Draw bit 1AH Circle_For_Draw bit 1BH Spline_Draw bit 1CH GR_Flag bit 1DH EQ_Flag bit 1EH LE_Flag bit 1FH Data_Out bit 20H X_Del bit 21H Y_Del bit 22H LCD_Busy bit 23H Run bit 24H LCD_Display_Flag bit 25H F1 bit KeyOut.0 ;Nuùt thöù 1 F2 bit KeyOut.1 ;Nuùt thöù 2 F3 bit KeyOut.2 ;Nuùt thöù 3 F4 bit KeyOut.3 ;Nuùt thöù 4 KeyIn bit P1.7 Start bit P2.4 Press bit P2.5 Led_EN bit P1.3 Start_X bit P3.4 End_X bit P3.5 Start_Y bit P3.2 End_Y bit P3.3 Pen_Lift bit P3.6 RS bit P1.4 RW bit P1.5 E bit P1.6 MotorStep equ 4 Step_Unit equ 1 KeyCount equ 5 ;Soá laàn queùt ñeå xaùc ñònh moät phím ñöôïc nhaán thöïc söï TimeBase equ -250 ;Thôøi gian neàn TimeCount equ 16 ;Soá laàn laëp TimeBase V equ 150 ;Van toc dong co KeyNumber equ 4 ;Soá phím nhaán DataInByte equ 12 DataBaseAddr equ 30H PC_Addr equ 1 DataOutByte equ 4 PressCount equ 100 NumKnots equ 80H NumPoints equ 81H KnotBaseAddr equ 82H ORG 0000H LJMP Main ORG 000BH LJMP ISR_Timer0 Main: ;Khoi dong Serial Port va Timer ISR : CALL Serial_Port_Timer_Init ;Gan cac bit : CALL Bit_Init ;Nap cac gia tri hang so : CALL Variable_Init CALL Pen_Up CALL LCD_Init ;Chuong trinh : Operation: JNB Timer_F1,Next_Operation CLR Timer_F1 JB Press,Pen_Not_Press DJNZ Press_Counter,Pen_Not_Press MOV Press_Counter,#PressCount SETB Press Pen_Not_Press: CALL Limit_Control CALL Out_Led_Control CALL Transfer JB Start,Auto_Control Manual_Control: CALL Delete_Direction_LED CALL KeyDecoder CALL Manual JMP End_Operation End_Manual_Control: Auto_Control: SETB Run CALL Turn_On_AUTO_LED CALL Draw_Identify CALL Position_Output Next_Operation: JNB Timer_F2,End_Operation CLR Timer_F2 JNB Start,Stop_System_Label ;CALL Delete_Pulse CALL Motor_Control_Drawing JMP End_Operation Stop_System_Label: CALL Stop_System End_Auto_Control: End_Operation: JMP Operation ISR_Timer0: DJNZ TimerCount,Next_ISR_Timer0 SETB Timer_F1 MOV TimerCount,#TimeCount Next_ISR_Timer0: DJNZ TimerCount1,End_ISR_Timer0 SETB Timer_F2 MOV TimerCount1,Speed End_ISR_Timer0: RETI $Include ( Maths.inc ) $Include ( Dkdc.inc ) $Include ( Draw.inc ) $Include ( Key.inc ) $Include ( Transfer.inc ) $Include ( Manual.inc ) $Include ( Auto.inc ) $Include ( Routine.inc ) ;**** Table **** Motor_Control_Table: ;DB 00H,15H,05H,0DH,09H,0BH,0AH,1AH,12H,16H,14H DB 00H,0FEH,0FDH,0FBH,0F7H END MATH.INC: ;=========================================== ;Control_Point[k] ;Input : R5 ;Output : R7,R6 ;Destroy : R5,R6,R7 ;=========================================== Control_Point_X_Sub: PUSH 00H MOV R0,#NumKnots MOV A,@R0 RL A ADD A,#KnotBaseAddr MOV B,A MOV A,R5 RL A RL A ADD A,B MOV R0,A MOV A,@R0 MOV R7,A INC R0 MOV A,@R0 MOV R6,A POP 00H End_Control_Point_X_Sub: RET Control_Point_Y_Sub: PUSH 00H MOV R0,#NumKnots MOV A,@R0 RL A ADD A,#KnotBaseAddr MOV B,A MOV A,R5 RL A RL A ADD A,B MOV R0,A INC R0 INC R0 MOV A,@R0 MOV R7,A INC R0 MOV A,@R0 MOV R6,A POP 00H End_Control_Point_Y_Sub: RET ;=========================================== ;N(k,m,t) ;Input : X1H,X1L,Y1H,Y1L - BKH,BKL ;Output : TMP_3,TMP_2,TMP_1,TMP_0 - R7,R6 ;Destroy : A,B,R7,R6,R5,R4,R3 ;=========================================== N_Sub: PUSH 0 %Get_Value#(5) CJNE A,#1,m_khac_1 %Get_Value#(4) ;m baèng 1 %Knot (A,TMP_1,TMP_0) ;tính knot[k] %Get_Value#(6) ;laáy giaù tri t MOV B,A %Get_Value#(7) %CMP (B,A,TMP_1,TMP_0) ;so saùnh t vôùi knot[k] JC N_bang_0 %Get_Value#(4) INC A %Knot (A,TMP_1,TMP_0) ;tính knot[k+1] %INC16 (TMP_1,TMP_0,TMP_1,TMP_0) %Get_Value#(6) ;laáy giaù trò t MOV B,A %Get_Value#(7) %CMP (B,A,TMP_1,TMP_0) ;so saùnh t vôùi knot[k+1] JNC N_bang_0 MOV R0,NBaseAddr MOV @R0,#7FH INC R0 MOV @R0,#0FFH JMP End_N_Sub N_bang_0: MOV R0,NBaseAddr MOV @R0,#0 INC R0 MOV @R0,#0 JMP End_N_Sub m_khac_1: %Get_Value#(4) ;A=k %Knot (A,TMP_1,TMP_0) ;Knot[k] %Get_Value#(4) ;A=k MOV B,A ;B=k %Get_Value#(5) ;A chöùa m ADD A,B DEC A %Knot (A,TMP_3,TMP_2) ;Knot[k+m-1] %SUB16 (TMP_3,TMP_2,TMP_1,TMP_0,TMP_1,TMP_0) %Set_Value#(8,TMP_1) ;gaùn giaù trò %Set_Value#(9,TMP_0) ;denom %CMPZ (TMP_1,TMP_0) JNB EQ_Flag,Denom_khac_0 MOV A,NBaseAddr ADD A,#2 MOV R0,A MOV @R0,#0 INC R0 MOV @R0,#0 JMP N_Sub_Next Denom_khac_0: %Get_Value#(4) MOV TMP_3,A ;TMP_3=k %Get_Value#(5) DEC A MOV TMP_2,A ;TMP_2=m-1 %Get_Value#(6) MOV TMP_1,A ;TMP_1= byte cao t %Get_Value#(7) MOV TMP_0,A ;TMP_1= byte thaáp t MOV A,NBaseAddr ;Chuyeån ADD A,#10 ;con troû MOV NBaseAddr,A ;ñòa chæ %Set_Value#(4,TMP_3) ;k = k %Set_Value#(5,TMP_2) ;m = m-1 %Set_Value#(6,TMP_1) ;t=t %Set_Value#(7,TMP_0) ;t=t CALL N_sub %Get_Value#(6) ;laáy MOV X1H,A ;giaù %Get_Value#(7) ;trò MOV X1L,A ;t %Get_Value#(4) ;tính %Knot (A,Y1H,Y1L) ;knot[k] %SUB16 (X1H,X1L,Y1H,Y1L,X1H,X1L) ;t-knot[k] %Get_Value#(0) ;laáy MOV Y1H,A ;giaù %Get_Value#(1) ;trò MOV Y1L,A ;N %MUL16 (X1H,X1L,Y1H,Y1L) ;(t-knot[k])*N %Get_Value#(8) ;laáy MOV Y2H,A ;giaù %Get_Value#(9) ;trò MOV Y2L,A ;denom %DIV32 (TMP_3,TMP_2,TMP_1,TMP_0,Y2H,Y2L) ;(t-knot[k])*N/denom %Set_Value#(2,TMP_1) %Set_Value#(3,TMP_0) N_Sub_Next: %Get_Value#(4) ;A=k INC A ;A=k+1 %Knot (A,TMP_1,TMP_0) ;tính knot[k+1] %Get_Value#(4) ;A=k MOV B,A ;B=k %Get_Value#(5) ;A=m ADD A,B ;A=k+m %Knot (A,TMP_3,TMP_2) ;tính knot[k+m] %SUB16 (TMP_3,TMP_2,TMP_1,TMP_0,TMP_1,TMP_0) ;knot[k+m] - knot[k+1] %Set_Value#(8,TMP_1) ;gaùn giaù trò %Set_Value#(9,TMP_0) ;denom %CMPZ (TMP_1,TMP_0) JNB EQ_Flag,Denom_khac_0_L1 %Get_Value#(8) ;laáy MOV TMP_1,A ;giaù %Get_Value#(9) ;trò MOV TMP_0,A ;sum %Set_Value#(0,TMP_1) ;N=sum %Set_Value#(1,TMP_0) ;N=sum JMP End_N_Sub Denom_khac_0_L1: %Get_Value#(4) INC A MOV TMP_3,A ;TMP_3=k+1 %Get_Value#(5) DEC A MOV TMP_2,A ;TMP_2=m-1 %Get_Value#(6) MOV TMP_1,A ;TMP_1= byte cao t %Get_Value#(7) MOV TMP_0,A ;TMP_1= byte thaáp t MOV A,NBaseAddr ;Chuyeån ADD A,#10 ;con troû MOV NBaseAddr,A ;ñòa chæ %Set_Value#(4,TMP_3) ;k = k+1 %Set_Value#(5,TMP_2) ;m = m-1 %Set_Value#(6,TMP_1) ;t=t %Set_Value#(7,TMP_0) ;t=t CALL N_sub %Get_Value#(4) ;A=k MOV B,A ;B=k %Get_Value#(5) ;A=m ADD A,B ;A=k+m %Knot (A,X1H,X1L) ;tính knot[k+m] %Get_Value#(6) ;laáy MOV Y1H,A ;giaù %Get_Value#(7) ;trò MOV Y1L,A ;t %SUB16 (X1H,X1L,Y1H,Y1L,X1H,X1L) ;knot[k+m] - t %Get_Value#(0) ;laáy MOV Y1H,A ;giaù %Get_Value#(1) ;trò MOV Y1L,A ;N %MUL16 (X1H,X1L,Y1H,Y1L) ;(knot[k+m]-t)*N %Get_Value#(8) ;laáy MOV Y2H,A ;giaù %Get_Value#(9) ;trò MOV Y2L,A ;denom %DIV32 (TMP_3,TMP_2,TMP_1,TMP_0,Y2H,Y2L) ;(knot[k+m]-t)*N/denom %Get_Value#(2) ;laáy MOV TMP_3,A ;giaù %Get_Value#(3) ;trò MOV TMP_2,A ;sum %ADD16 (TMP_3,TMP_2,TMP_1,TMP_0,TMP_1,TMP_0) ;sum+(knot[k+m]-t)*N/denom %Set_Value#(0,TMP_1) ;N=sum %Set_Value#(1,TMP_0) ;N=sum End_N_Sub: %Get_Value#(5) CJNE A,#4,m_khac_4 JMP N_Sub_Return m_khac_4: %Get_Value#(0) ;laáy MOV TMP_1,A ;giaù trò N %Get_Value#(1) ;ñöa leân MOV TMP_0,A ;taàng tröôùc CLR C MOV A,NBaseAddr ;Chuyeån SUBB A,#10 ;con troû MOV NBaseAddr,A ;ñòa chæ %Set_Value#(0,TMP_1) ;N = N %Set_Value#(1,TMP_0) ;N = N N_Sub_Return: POP 0 RET ;=========================================== ;Laáy giaù trò oâ nhôù leäch khoûi NBaseAddr moät ñoaïn k ;Input : R7 ;Output : A ;=========================================== Get_Value_Sub: PUSH 0 MOV A,NBaseAddr ADD A,R7 MOV R0,A MOV A,@R0 POP 0 End_Get_Value_Sub: RET ;=========================================== ;Gaùn giaù trò cho oâ nhôù thöù k ;Input : R7(k),R6(giaù trò) ;=========================================== Set_Value_Sub: PUSH 0 MOV A,NBaseAddr ADD A,R7 MOV R0,A MOV A,R6 MOV @R0,A POP 0 End_Set_Value_Sub: RET ;=========================================== ;Div 32 bit ;Input : X1H,X1L,Y1H,Y1L - BKH,BKL ;Output : TMP_3,TMP_2,TMP_1,TMP_0 - R7,R6 ;Destroy : A,B,R7,R6,R5,R4,R3 ;=========================================== DIV32_Sub: PUSH X1H MOV R7,#0 MOV R6,#0 ;zero out partial remainder MOV TMP_0,#0 MOV TMP_1,#0 MOV TMP_2,#0 MOV TMP_3,#0 MOV R4,BKH ;load divisor MOV R3,BKL MOV R5,#32 ;loop count ;This begins the loop Div_loop: CALL Shift_D ;shift the dividend and return MSB in C MOV A,R6 ;shift carry into LSB of partial remainder RLC A MOV R6,A MOV A,R7 RLC A MOV R7,A ;now test to see if R7:R6 >= R4:R3 CLR C MOV A,R7 ;subtract R4 from R7 to see if R4 < R7 SUBB A,R4 ; A = R7 - R4, carry set if R7 < R4 JC Cant_sub ;at this point R7>R4 or R7=R4 JNZ Can_sub ;jump if R7>R4 ;if R7 = R4, test for R6>=R3 CLR C MOV A,R6 SUBB A,R3 ; A = R6 - R3, carry set if R6 < R3 JC Cant_sub Can_sub: ;subtract the divisor from the partial remainder CLR C MOV A,R6 SUBB A,R3 ; A = R6 - R3 MOV R6,A MOV A,R7 SUBB A,R4 ; A = R7 - R4 - Borrow MOV R7,A SETB C ; shift a 1 into the quotient JMP Quot Cant_sub: ;shift a 0 into the quotient CLR C Quot: ;shift the carry bit into the quotient CALL Shift_Q ; Test for competion DJNZ R5,Div_loop POP X1H MOV A,X1H JNB ACC.7,End_DIV32_Sub MOV Y1H,#0FFH MOV Y1L,#0FDH %ADD16 (TMP_1,TMP_0,Y1H,Y1L,TMP_1,TMP_0) End_DIV32_Sub: RET ;=========================================== ;Shift_D ;=========================================== Shift_D: ;shift the dividend one bit to the left and return the MSB in C CLR C MOV A,Y1L RLC A MOV Y1L,A MOV A,Y1H RLC A MOV Y1H,A MOV A,X1L RLC A MOV X1L,A MOV A,X1H RLC A MOV X1H,A End_Shift_D: RET ;=========================================== ;Shift_Q ;=========================================== Shift_Q: ;shift the quotent one bit to the left and shift the C into LSB MOV A,TMP_0 RLC A MOV TMP_0,A MOV A,TMP_1 RLC A MOV TMP_1,A MOV A,TMP_2 RLC A MOV TMP_2,A MOV A,TMP_3 RLC A MOV TMP_3,A End_Shift_Q: RET ;=========================================== ;Mul 32 bit ;Input : R7,R6,R5,R4 - R3,R2 ;Output : TMP_3,TMP_2,TMP_1,TMP_0 ;Destroy : A,B,R7,R6,R5,R4,R3,R2 ;=========================================== MUL32_Sub: MOV TMP_3,#0 ;clear out upper 16 bits MOV TMP_2,#0 ;Generate the lowest byte of the result MOV B,R4 MOV A,R2 MUL AB MOV TMP_0,A ;low-order result MOV TMP_1,B ;high_order result ;Now generate the next higher order byte MOV B,R5 MOV A,R2 MUL AB ADD A,TMP_1 ;low-order result MOV TMP_1,A ; save MOV A,B ; get high-order result ADDC A,TMP_2 ; include carry from previous operation MOV TMP_2,A ; save JNC Mul32_loop1 INC TMP_3 ; propagate carry into TMP_3 Mul32_loop1: MOV B,R4 MOV A,R3 MUL AB ADD A,TMP_1 ;low-order result MOV TMP_1,A ; save MOV A,B ; get high-order result ADDC A,TMP_2 ; include carry from previous operation MOV TMP_2,A ; save JNC Mul32_loop2 INC TMP_3 ; propagate carry into TMP_3 Mul32_loop2: ; Now start working on the 3rd byte MOV B,R6 MOV A,R2 MUL AB ADD A,TMP_2 ;low-order result MOV TMP_2,A ; save MOV A,B ; get high-order result ADDC A,TMP_3 ; include carry from previous operation MOV TMP_3,A ; save ; Now the other half MOV B,R5 MOV A,R3 MUL AB ADD A,TMP_2 ;low-order result MOV TMP_2,A ; save MOV A,B ; get high-order result ADDC A,TMP_3 ; include carry from previous operation MOV TMP_3,A ; save ; Now finish off the highest order byte MOV B,R7 MOV A,R2 MUL AB ADD A,TMP_3 ;low-order result MOV TMP_3,A ; save ; Forget about the high-order result, this is only 32 bit math! MOV B,R6 MOV A,R3 MUL AB ADD A,TMP_3 ;low-order result MOV TMP_3,A ; save End_Mul32_Sub: RET ;=========================================== ;Mul 16 bit ;Input : R7,R6 - R5,R4 ;Output : TMP_3,TMP_2,TMP_1,TMP_0 ;Destroy : A,B,R7,R6,R5,R4 ;=========================================== MUL16_Sub: MOV TMP_3,#0 MOV TMP_2,#0 MOV B,R6 MOV A,R4 MUL AB MOV TMP_0,A MOV TMP_1,B MOV B,R7 MOV A,R4 MUL AB ADD A,TMP_1 MOV TMP_1,A MOV A,B ADDC A,TMP_2 MOV TMP_2,A JNC Mul16_loop1 INC TMP_3 Mul16_Loop1: MOV B,R6 MOV A,R5 MUL AB ADD A,TMP_1 MOV TMP_1,A MOV A,B ADDC A,TMP_2 MOV TMP_2,A JNC Mul16_loop2 INC TMP_3 Mul16_loop2: MOV B,R7 MOV A,R5 MUL AB ADD A,TMP_2 MOV TMP_2,A MOV A,B ADDC A,TMP_3 MOV TMP_3,A End_MUL16_Sub: RET ;=========================================== ;Knot[k] ;Input : R5 ;Output : R7,R6 ;Destroy : R5,R6,R7 ;=========================================== Knot_K_Sub: PUSH 00H MOV A,R5 RL A ADD A,#KnotBaseAddr MOV R0,A MOV A,@R0 MOV R7,A INC R0 MOV A,@R0 MOV R6,A POP 00H End_Knot_K_Sub: RET ;=========================================== ;Compare with Zero ;Input : R7,R6 ;Output : GR_Flag,EQ_Flag,LE_Flag ;Destroy : R7,R6 ;=========================================== CMPZ_Sub: CLR GR_Flag CLR EQ_Flag CLR LE_Flag MOV A,R7 JNB ACC.7,Value_GEZ SETB LE_Flag JMP End_CMPZ_Sub Value_GEZ: JNZ Value_GZ MOV A,R6 JNZ Value_GZ SETB EQ_Flag JMP End_CMPZ_Sub Value_GZ: SETB GR_Flag End_CMPZ_Sub: RET ;=========================================== ;Compare_sub ;Input : R5,R4 - R3,R2 ;Output : C ;Destroy : R7,R6,R5,R4,R3,R2,C ;=========================================== CMP_sub: CALL SUB16_Sub MOV A,R7 JNB ACC.7,Clear_Carry SETB C JMP End_CMP_Sub Clear_Carry: CLR C End_CMP_Sub: RET ;=========================================== ;ABS_sub ;Input : R7_R6 ;Ouput : R7_R6 ;Destroy : R7,R6,C ;=========================================== ABS_Sub: MOV A,R7 JNB ACC.7,End_ABS_Sub MOV A,R6 CPL A ADD A,#1 MOV R6,A MOV A,R7 CPL A ADDC A,#0 MOV R7,A End_ABS_Sub: RET ;=========================================== ;SUB16_sub ;Input : R5,R4 - R3,R2 ;Output : R7,R6,C ;Destroy : R7,R6,R5,R4,R3,R2,C ;=========================================== SUB16_sub: MOV A,R4 CLR C SUBB A,R2 MOV R6,A MOV A,R5 SUBB A,R3 MOV R7,A End_SUB16_Sub: RET ;=========================================== ;ADD16_sub ;Input : R5,R4 + R3,R2 ;Output : R7,R6 ;Destroy: R7,R6,R5,R4,R3,R2,C ;=========================================== ADD16_sub: MOV A,R4 ADD A,R2 MOV R6,A MOV A,R5 ADDC A,R3 MOV R7,A End_ADD16_Sub: RET ;=========================================== ;INC16_sub ;Input : R7,R6 ;Output : R7,R6 ;Destroy: R7,R6,C ;=========================================== INC16_Sub: MOV A,R6 ADD A,#1 MOV R6,A MOV A,R7 ADDC A,#0 MOV R7,A End_INC16_Sub: RET ;=========================================== ;DEC16_sub ;Input : R7,R6 ;Output : R7,R6 ;Destroy: R7,R6,C ;=========================================== DEC16_Sub: CLR C MOV A,R6 SUBB A,#1 MOV R6,A MOV A,R7 SUBB A,#0 MOV R7,A End_DEC16_Sub: RET ;=========================================== ;SHR_sub ;Input : R7,R6 ;Output : R7,R6 ;Destroy: R7,R6,C ;=========================================== SHR_sub: CLR C MOV A,R7 JNB ACC.7,Pos_SHR SETB C Pos_SHR: RRC A MOV R7,A MOV A,R6 RRC A MOV R6,A End_SHR_Sub: RET ;=========================================== ;SHL_sub ;Input : R7,R6 ;Output : R7,R6 ;Destroy : R7,R6,C ;=========================================== SHL_sub: CLR C MOV A,R6 RLC A MOV R6,A MOV A,R7 RLC A MOV R7,A End_SHL_Sub: RET ;=========================================== ;Sign_sub ;Input : R7_R6 ;Ouput : R7_R6 ;Destroy : R7,R6,C ;=========================================== Sign_Sub: MOV A,R6 CPL A ADD A,#1 MOV R6,A MOV A,R7 CPL A ADDC A,#0 MOV R7,A End_Sign_Sub: RET ÑKÑC.INC: ;================================================ ;Go Left ;================================================ Left_Control: JNB Start,Not_Dec16_Left %DEC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) Not_Dec16_Left: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00000001B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Left: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 DJNZ PointerX,Next_Left MOV PointerX,#MotorStep Next_Left: DJNZ R7,Loop_Left SETB X_Del End_Left_Control: RET ;================================================ ;Go Right ;================================================ Right_Control: JNB Start,Not_Inc16_Right %INC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) Not_Inc16_Right: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00001000B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Right: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 INC PointerX MOV A,PointerX CJNE A,#MotorStep+1,Next_Right MOV PointerX,#1 Next_Right: DJNZ R7,Loop_Right SETB X_Del End_Right_Control: RET ;================================================ ;Go Up ;================================================ Up_Control: JNB Start,Not_Inc16_Up %INC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_Inc16_Up: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00000010B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Up: ;JNB Timer_F2,$ ;CLR Timer_F2 MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 DJNZ PointerY,Next_Up MOV PointerY,#MotorStep Next_Up: DJNZ R7,Loop_Up SETB Y_Del End_Up_Control: RET ;================================================ ;Go Down ;================================================ Down_Control: JNB Start,Not_Dec16_Down %DEC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_Dec16_Down: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00000100B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Down: ;JNB Timer_F2,$ ;CLR Timer_F2 MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 INC PointerY MOV A,PointerY CJNE A,#MotorStep+1,Next_Down MOV PointerY,#1 Next_Down: DJNZ R7,Loop_Down SETB Y_Del End_Down_Control: RET ;================================================ ;Go Up_Left ;================================================ Up_Left_Control: JNB Start,Not_DI16_Up_Left %DEC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) %INC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_DI16_Up_Left: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00000011B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Up_Left: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 DJNZ PointerX,Next_Up_Left1 MOV PointerX,#MotorStep Next_Up_Left1: MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 DJNZ PointerY,Next_Up_Left2 MOV PointerY,#MotorStep Next_Up_Left2: DJNZ R7,Loop_Up_Left SETB X_Del SETB Y_Del End_Up_Left_Control: RET ;================================================ ;Go Up_Right ;================================================ Up_Right_Control: JNB Start,Not_DI16_Up_Right %INC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) %INC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_DI16_Up_Right: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00001010B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Up_Right: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 INC PointerX MOV A,PointerX CJNE A,#MotorStep+1,Next_Up_Right1 MOV PointerX,#1 Next_Up_Right1: MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 DJNZ PointerY,Next_Up_Right2 MOV PointerY,#MotorStep Next_Up_Right2: DJNZ R7,Loop_Up_Right SETB X_Del SETB Y_Del End_Up_Right_Control: RET ;================================================ ;Go Down_Left ;================================================ Down_Left_Control: JNB Start,Not_DI16_Down_Left %DEC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) %DEC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_DI16_Down_Left: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00000101B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Down_Left: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 DJNZ PointerX,Next_Down_Left1 MOV PointerX,#MotorStep Next_Down_Left1: MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 INC PointerY MOV A,PointerY CJNE A,#MotorStep+1,Next_Down_Left2 MOV PointerY,#1 Next_Down_Left2: DJNZ R7,Loop_Down_Left SETB X_Del SETB Y_Del End_Down_Left_Control: RET ;================================================ ;Go Down_Right ;================================================ Down_Right_Control: JNB Start,Not_DI16_Down_Right %INC16(Cur_XH,Cur_XL,Cur_XH,Cur_XL) %DEC16(Cur_YH,Cur_YL,Cur_YH,Cur_YL) Not_DI16_Down_Right: MOV R7,#Step_Unit MOV DPTR,#Motor_Control_Table MOV A,Out_Led ANL A,#11110000B ORL A,#00001100B MOV Out_Led,A PUSH P0 MOV P0,A SETB Led_EN NOP CLR Led_EN POP P0 Loop_Down_Right: MOV A,PointerX MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 INC PointerX MOV A,PointerX CJNE A,#MotorStep+1,Next_Down_Right1 MOV PointerX,#1 Next_Down_Right1: MOV A,PointerY MOVC A,@A+DPTR PUSH P0 MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 INC PointerY MOV A,PointerY CJNE A,#MotorStep+1,Next_Down_Right2 MOV PointerY,#1 Next_Down_Right2: DJNZ R7,Loop_Down_Right SETB X_Del SETB Y_Del End_Down_Right_Control: RET DRAW.INC: ;============================================== ;Khoi dong Spline ;Input : ;Output : No ;============================================== Spline_Init: PUSH 0 MOV R0,#NumKnots MOV A,@R0 DEC A ;A=Numknots-1 %Knot (A,DeltaXH,DeltaXL) ;tính knot[numknots-1] ;CLR C ;MOV A,DeltaXH ;delta=knot[numknots-1] div 2 ;RRC A ; ;MOV DeltaXH,A ; ;MOV A,DeltaXL ; ;RRC A ; ;MOV DeltaXL,A ; ;MOV Dinc1H,#0 ;MOV Dinc1L,#0 CLR A %Knot (A,TH,TL) ;t=knot[0] ;MOV TH,#0 ;MOV TL,#0 POP 0 End_Spline_Init: RET ;============================================== ;Spline ;Input : ;Output : No ;============================================== Spline: MOV XH,#0 MOV XL,#0 MOV YH,#0 MOV YL,#0 MOV K,#0 ;CLR C ;MOV A,Dinc1L ;t=Dinc1*2 ;RLC A ; ;MOV TL,A ; ;MOV A,Dinc1H ; ;RLC A ; ;MOV TH,A ; Spline_L1: %N(K,TH,TL,DeltaYH,DeltaYL) ;N(k,m=4,t) %Control_Point_X(K,Y1H,Y1L) ;Y1=Control_Point[k].x %MUL32 (Y1H,Y1L,DeltaYH,DeltaYL) ;Control_Point[k].x*N MOV Y2H,#7FH MOV Y2L,#0FFH %DIV32 (TMP_3,TMP_2,TMP_1,TMP_0,Y2H,Y2L) ;chia cho 32767 %ADD16 (XH,XL,TMP_1,TMP_0,XH,XL) %Control_Point_Y(K,Y1H,Y1L) ;Y1=Control_Point[k].y %MUL32 (Y1H,Y1L,DeltaYH,DeltaYL) ;Control_Point[k].y*N MOV Y2H,#7FH MOV Y2L,#0FFH %DIV32 (TMP_3,TMP_2,TMP_1,TMP_0,Y2H,Y2L) ;chia cho 32767 %ADD16 (YH,YL,TMP_1,TMP_0,YH,YL) INC K MOV A,K ;A=k PUSH 0 MOV R0,#NumPoints MOV B,@R0 ;B=NumPoints POP 0 CJNE A,B,Spline_L2 JMP Spline_L3 Spline_L2: JMP Spline_L1 Spline_L3: ;So saùnh XH,XL - YH,YL vôùi Cur_XH,Cur_XL - Cur_YH,Cut_YL %SUB16 (XH,XL,Cur_XH,Cur_XL,Dinc2H,Dinc2L) Spline_Move_X: %CMPZ (Dinc2H,Dinc2L) JB EQ_Flag,Spline_Not_Move_X JB GR_Flag,Spline_Go_Right CALL Left_Control ;LE_Flag=1 JMP Spline_Not_Move_X Spline_Go_Right: CALL Right_Control JMP Spline_Not_Move_X Spline_Not_Move_X: %SUB16 (YH,YL,Cur_YH,Cur_YL,Dinc2H,Dinc2L) Spline_Move_Y: %CMPZ (Dinc2H,Dinc2L) JB EQ_Flag,Spline_Not_Move_Y JB GR_Flag,Spline_Go_Up CALL Down_Control ;LE_Flag=1 JMP Spline_Not_Move_Y Spline_Go_Up: CALL Up_Control JMP Spline_Not_Move_Y Spline_Not_Move_Y: %INC16 (TH,TL,TH,TL) %CMP (TH,TL,DeltaXH,DeltaXL) JC End_Spline ;chöa veõ xong CLR Motor_Flag CLR Spline_Draw MOV Ext_Data,#80H MOV DataBaseAddr,#0FH SETB Transmit_Flag CALL Turn_On_AUTO_LED ;Xoùa caùc ñeøn chæ höôùng chuyeån ñoäng CALL Delete_Pulse End_Spline: RET ;============================================== ;Khoi dong Line ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L - Y2H,Y2L ;Output : No ;============================================== Line_Init: MOV XH,X1H MOV XL,X1L MOV YH,Y1H MOV YL,Y1L %SUB16 (X2H,X2L,X1H,X1L,DeltaXH,DeltaXL) MOV A,DeltaXH CLR B1 ;DeltaX döông JNB ACC.7,Next_B SETB B1 ;DeltaX aâm Next_B: %ABS (DeltaXH,DeltaXL) %SUB16 (Y2H,Y2L,Y1H,Y1L,DeltaYH,DeltaYL) MOV A,DeltaYH CLR C1 ;DeltaY döông JNB ACC.7,Next_C SETB C1 ;DeltaY aâm Next_C: %ABS (DeltaYH,DeltaYL) %CMP (DeltaXH,DeltaXL,DeltaYH,DeltaYL) MOV D1,C JC Less_DX_DY %SUB16 (DeltaYH,DeltaYL,DeltaXH,DeltaXL,Dinc2H,Dinc2L) MOV Dinc1H,DeltaYH MOV Dinc1L,DeltaYL %SHR (DeltaXH,DeltaXL,DeltaYH,DeltaYL) %SUB16 (Dinc1H,Dinc1L,DeltaYH,DeltaYL,DeltaYH,DeltaYL) INC DeltaXH JMP End_Line_Init Less_DX_DY: %SUB16 (DeltaXH,DeltaXL,DeltaYH,DeltaYL,Dinc2H,Dinc2L) MOV Dinc1H,DeltaXH MOV Dinc1L,DeltaXL MOV DeltaXH,DeltaYH MOV DeltaXL,DeltaYL %SHR (DeltaYH,DeltaYL,DeltaYH,DeltaYL) %SUB16 (Dinc1H,Dinc1L,DeltaYH,DeltaYL,DeltaYH,DeltaYL) INC DeltaXH End_Line_Init: RET ;============================================== ;Line ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L - Y2H,Y2L ;Output : No ;============================================== Line: MOV A,DeltaYH JNB ACC.7,Delta_Positive %ADD16 (DeltaYH,DeltaYL,Dinc1H,Dinc1L,DeltaYH,DeltaYL) JNB D1,D1_0 JNB C1,C1_0 CALL Down_Control JMP Next_Delta C1_0: CALL Up_Control JMP Next_Delta D1_0: JNB B1,B1_0 CALL Left_Control JMP Next_Delta B1_0: CALL Right_Control JMP Next_Delta Delta_Positive: %ADD16 (DeltaYH,DeltaYL,Dinc2H,Dinc2L,DeltaYH,DeltaYL) JB B1,B1_1 JB C1,C1_Down CALL Up_Right_Control JMP Next_Delta C1_Down: CALL Down_Right_Control JMP Next_Delta B1_1: JNB C1,C1_Up CALL Down_Left_Control JMP Next_Delta C1_Up: CALL Up_Left_Control Next_Delta: DJNZ DeltaXL,End_Line DJNZ DeltaXH,End_Line CLR Motor_Flag CLR Line_Draw MOV DataBaseAddr,#0FH SETB Transmit_Flag CALL Turn_On_AUTO_LED ;Xoùa caùc ñeøn chæ höôùng chuyeån ñoäng CALL Delete_Pulse End_Line: RET ;============================================== ;Khoi dong Circle (phan tinh Circle14) ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L - Y2H,Y2L ;Output : Circle14 ;============================================== Calc_Circle14_Rev: %SUB16 (X2H,X2L,X1H,X1L,X2H,X2L) %SUB16 (Y2H,Y2L,Y1H,Y1L,Y2H,Y2L) %CMPZ (X2H,X2L) JB GR_Flag,X2_GZ_Rev JB EQ_Flag,X2_EZ_Rev JB LE_Flag,X2_LZ_Rev X2_GZ_Rev: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_1_Rev JB EQ_Flag,Circle14_4_Rev JB LE_Flag,Circle14_4_Rev X2_EZ_Rev: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_1_Rev JB LE_Flag,Circle14_3_Rev X2_LZ_Rev: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_2_Rev JB EQ_Flag,Circle14_2_Rev JB LE_Flag,Circle14_3_Rev Circle14_1_Rev: MOV Circle14,#1 JMP End_Calc_Circle14_Rev Circle14_2_Rev: MOV Circle14,#2 JMP End_Calc_Circle14_Rev Circle14_3_Rev: MOV Circle14,#3 JMP End_Calc_Circle14_Rev Circle14_4_Rev: MOV Circle14,#4 End_Calc_Circle14_Rev: RET ;============================================== ;Khoi dong Circle (phan tinh Circle14) ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L - Y2H,Y2L ;Output : Circle14 ;============================================== Calc_Circle14_For: %SUB16 (X2H,X2L,X1H,X1L,X2H,X2L) %SUB16 (Y2H,Y2L,Y1H,Y1L,Y2H,Y2L) %CMPZ (X2H,X2L) JB GR_Flag,X2_GZ_For JB EQ_Flag,X2_EZ_For JB LE_Flag,X2_LZ_For X2_GZ_For: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_1_For JB EQ_Flag,Circle14_1_For JB LE_Flag,Circle14_4_For X2_EZ_For: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_2_For JB LE_Flag,Circle14_4_For X2_LZ_For: %CMPZ (Y2H,Y2L) JB GR_Flag,Circle14_2_For JB EQ_Flag,Circle14_3_For JB LE_Flag,Circle14_3_For Circle14_1_For: MOV Circle14,#1 JMP End_Calc_Circle14_For Circle14_2_For: MOV Circle14,#2 JMP End_Calc_Circle14_For Circle14_3_For: MOV Circle14,#3 JMP End_Calc_Circle14_For Circle14_4_For: MOV Circle14,#4 End_Calc_Circle14_For: RET ;============================================== ;Khoi dong Circle (phan tinh D1 va D2) ;Input : X1H,X1L - Y1H,Y1L - BKH,BKL - X2H,X2L - Y2H,Y2L ;Output : DeltaXH,DeltaXL - DeltaYH,DeltaYL ;============================================== Calc_D1_D2: MOV DeltaXH,BKH MOV DeltaXL,BKL %SHL (DeltaXH,DeltaXL,DeltaXH,DeltaXL) %Sign (DeltaXH,DeltaXL) %INC16 (DeltaXH,DeltaXL,DeltaXH,DeltaXL) MOV DeltaYH,BKH MOV DeltaYL,BKL %Sign (DeltaYH,DeltaYL) %INC16 (DeltaYH,DeltaYL,DeltaYH,DeltaYL) End_Calc_D1_D2: RET ;============================================== ;Khoi dong Circle (Tinh XH,XL,YH,YL) ;Input : Circle14 - X1H,X1L - Y1H,Y1L - CurXH,CurXL - CurYH,CurYL ;Output : XH,XL - YH,YL ;============================================== Calc_X_Y: MOV A,Circle14 CJNE A,#1,Circle14_Diff_1 %SUB16 (Cur_XH,Cur_XL,X1H,X1L,XH,XL) %SUB16 (Cur_YH,Cur_YL,Y1H,Y1L,YH,YL) JMP End_Calc_X_Y Circle14_Diff_1: CJNE A,#2,Circle14_Diff_2 %SUB16 (Cur_YH,Cur_YL,Y1H,Y1L,XH,XL) %SUB16 (X1H,X1L,Cur_XH,Cur_XL,YH,YL) JMP End_Calc_X_Y Circle14_Diff_2: CJNE A,#3,Circle14_Diff_3 %SUB16 (X1H,X1L,Cur_XH,Cur_XL,XH,XL) %SUB16 (Y1H,Y1L,Cur_YH,Cur_YL,YH,YL) JMP End_Calc_X_Y Circle14_Diff_3: %SUB16 (Y1H,Y1L,Cur_YH,Cur_YL,XH,XL) %SUB16 (Cur_XH,Cur_XL,X1H,X1L,YH,YL) End_Calc_X_Y: RET ;============================================== ;Khoi dong Circle (Tinh CH,CL) ;Input : Circle14 - X2H,X2L - Y2H,Y2L ;Output : CH,CL ;============================================== Calc_C_Rev: MOV A,Circle14 CJNE A,#1,Circle14_Diff_1_Rev MOV CH,X2H MOV CL,X2L JMP End_Calc_C_Rev Circle14_Diff_1_Rev: CJNE A,#2,Circle14_Diff_2_Rev MOV CH,Y2H MOV CL,Y2L JMP End_Calc_C_Rev Circle14_Diff_2_Rev: CJNE A,#3,Circle14_Diff_3_Rev MOV CH,X2H MOV CL,X2L %Sign (CH,CL) JMP End_Calc_C_Rev Circle14_Diff_3_Rev: MOV CH,Y2H MOV CL,Y2L %Sign (CH,CL) End_Calc_C_Rev: %INC16 (CH,CL,CH,CL) RET ;============================================== ;Khoi dong Circle (Tinh CH,CL) ;Input : Circle14 - X2H,X2L - Y2H,Y2L ;Output : CH,CL ;============================================== Calc_C_For: MOV A,Circle14 CJNE A,#1,Circle14_Diff_1_For MOV CH,Y2H MOV CL,Y2L JMP End_Calc_C_For Circle14_Diff_1_For: CJNE A,#2,Circle14_Diff_2_For MOV CH,X2H MOV CL,X2L %Sign (CH,CL) JMP End_Calc_C_For Circle14_Diff_2_For: CJNE A,#3,Circle14_Diff_3_For MOV CH,Y2H MOV CL,Y2L %Sign (CH,CL) JMP End_Calc_C_For Circle14_Diff_3_For: MOV CH,X2H MOV CL,X2L End_Calc_C_For: %INC16 (CH,CL,CH,CL) RET ;============================================== ;Khoi dong Circle (Convert X,Y) ;Input : XH,XL - YH,YL ;Output : XH,XL - YH,YL ;============================================== Convert_X_Y: MOV R7,XH MOV R6,XL MOV XH,YH MOV XL,YL MOV YH,R7 MOV YL,R6 End_Convert_X_Y: RET ;============================================== ;Khoi dong Circle ;Input : No ;Output : No ;============================================== Circle_Init_Rev: CALL Calc_Circle14_Rev CALL Calc_D1_D2 CALL Calc_X_Y CALL Calc_C_Rev End_Circle_Init_Rev: RET ;============================================== ;Khoi dong Circle ;Input : No ;Output : No ;============================================== Circle_Init_For: CALL Calc_Circle14_For CALL Calc_D1_D2 CALL Calc_X_Y CALL Calc_C_For CALL Convert_X_Y End_Circle_Init_For: RET ;============================================== ;Ve mot phan tu hinh tron: ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L ;Output : No ;============================================== Circle_Rev: MOV A,DeltaXH JNB ACC.7,D1_Positive_Rev MOV A,DeltaYH JNB ACC.7,D2_Positive_Rev JMP Case1_Rev D2_Positive_Rev: JMP Case2_Rev D1_Positive_Rev: JMP Case3_Rev Case1_Rev: %BT1 (DeltaXH,DeltaXL,YH,YL) %BT2 (DeltaYH,DeltaYL,YH,YL) %INC16 (YH,YL,YH,YL) %Direction1_Rev JMP Next_Circle_Rev Case2_Rev: %BT3 (DeltaXH,DeltaXL,XH,XL,YH,YL) %BT3 (DeltaYH,DeltaYL,XH,XL,YH,YL) %DEC16 (XH,XL,XH,XL) %INC16 (YH,YL,YH,YL) %Direction2_Rev JMP Next_Circle_Rev Case3_Rev: %BT4 (DeltaXH,DeltaXL,XH,XL) %BT5 (DeltaYH,DeltaYL,XH,XL) %DEC16 (XH,XL,XH,XL) %Direction3_Rev Next_Circle_Rev: %CMP (XH,XL,CH,CL) JNC End_Circle_Rev CLR Motor_Flag CLR Circle_Rev_Draw MOV DataBaseAddr,#0FH SETB Transmit_Flag CALL Turn_On_AUTO_LED CALL Delete_Pulse End_Circle_Rev: RET ;============================================== ;Ve mot phan tu hinh tron: ;Input : X1H,X1L - Y1H,Y1L - X2H,X2L ;Output : No ;============================================== Circle_For: MOV A,DeltaXH JNB ACC.7,D1_Positive_For MOV A,DeltaYH JNB ACC.7,D2_Positive_For JMP Case1_For D2_Positive_For: JMP Case2_For D1_Positive_For: JMP Case3_For Case1_For: %BT1 (DeltaXH,DeltaXL,YH,YL) %BT2 (DeltaYH,DeltaYL,YH,YL) %INC16 (YH,YL,YH,YL) %Direction1_For JMP Next_Circle_For Case2_For: %BT3 (DeltaXH,DeltaXL,XH,XL,YH,YL) %BT3 (DeltaYH,DeltaYL,XH,XL,YH,YL) %DEC16 (XH,XL,XH,XL) %INC16 (YH,YL,YH,YL) %Direction2_For JMP Next_Circle_For Case3_For: %BT4 (DeltaXH,DeltaXL,XH,XL) %BT5 (DeltaYH,DeltaYL,XH,XL) %DEC16 (XH,XL,XH,XL) %Direction3_For Next_Circle_For: %CMP (XH,XL,CH,CL) JNC End_Circle_For CLR Motor_Flag CLR Circle_For_Draw MOV DataBaseAddr,#0FH SETB Transmit_Flag CALL Turn_On_AUTO_LED CALL Delete_Pulse End_Circle_For: RET ;================================================= ;Nhaác buùt veõ leân ;================================================= Pen_Up: JNB Pen_Lift,End_Pen_Up CLR Press MOV A,Out_Led ANL A,#01111111B MOV Out_Led,A End_Pen_Up: RET ;================================================= ;Haï buùt veõ xuoáng ;================================================= Pen_Down: JB Pen_Lift,End_Pen_Down CLR Press MOV A,Out_Led ORL A,#10000000B MOV Out_Led,A End_Pen_Down: RET KEY.INC: ;================================================ ;Doan chuong trinh quet phim ;Output : KeyOut ;================================================ KeyDecoder: MOV A,Key CALL KeyCode NOP JB KeyIn,Key_Equal DJNZ Key,End_KeyDecoder MOV Key,#KeyNumber JNB KeyPressed,Key_Next1 CLR KeyPressed JMP End_KeyDecoder Key_Next1: ;Khoâng coù phím naøo ñöôïc nhaán MOV KeyOut,#0 MOV Key_Counter,#0 CALL Delete_Pulse JMP End_KeyDecoder Key_Equal: ;Coù phím nhaán MOV A,Key CJNE A,Key_Pressed,Key_Not_Equal INC Key_Counter MOV A,Key_Counter CJNE A,#KeyCount,End_KeyPressed MOV A,Key_Pressed CALL OutKeyCode MOV Key_Counter,#0 JMP End_KeyPressed Key_Not_Equal: ;Chöa ñuû soá laàn laëp queùt phím MOV Key_Counter,#0 MOV Key_Pressed,Key JMP End_KeyPressed End_KeyPressed: SETB KeyPressed DJNZ Key,End_KeyDecoder MOV Key,#KeyNumber End_KeyDecoder: RET ;================================================ ;Doan chuong trinh xuat ma quet phim ;================================================ KeyCode: ;Taïo caùc giaù trò ñeå kieåm tra phím naøo ñöôïc nhaán MOV DPTR,#(Key_Code-1) MOVC A,@A+DPTR ORL P2,#00001111B ANL A,P2 MOV P2,A RET Key_Code: DB 11111110B DB 11111101B DB 11111011B DB 11110111B End_KeyCode: ;================================================ ;Doan chuong trinh xuat ra phim duoc nhan ;================================================ OutKeyCode: ;Set côø F(i) töông öùng vôùi phím ñaõ ñöôïc nhaán MOV DPTR,#(Flag_Code-1) MOVC A,@A+DPTR MOV KeyOut,A RET Flag_Code: DB 00000001B DB 00000010B DB 00000100B DB 00001000B End_OutKeyCode: MANUAL.INC: ;================================================= ;Xoùa caùc ñeøn ñieàu khieån höôùng chuyeåàn ñoäng vaø ñeøn AUTO ;================================================= Delete_Direction_LED: MOV A,Out_Led ANL A,#11100000B MOV Out_Led,A End_Delete_Direction_LED: RET ;================================================= ;Cheá ñoä ñieàu khieån baèng tay ;================================================= Manual: JNB F1,Not_Left CALL Left_Control JMP End_Manual Not_Left: JNB F2,Not_Up CALL Up_Control JMP End_Manual Not_Up: JNB F3,Not_Down CALL Down_Control JMP End_Manual Not_Down: JNB F4,End_Manual CALL Right_Control End_Manual: RET TRANSFER.INC: Transfer: Receive: JNB RI,End_Receive CLR RI MOV A,SBUF MOV C,P ANL C,RB8 JC Data_OK MOV C,P ORL C,RB8 JNC Data_OK MOV DataBaseAddr,#0FFH SETB Transmit_Flag MOV R0,#DataBaseAddr MOV DataIn_Counter,#DataInByte MOV A,Out_Led ORL A,#00100000B MOV Out_Led,A JMP End_Receive Data_OK: MOV @R0,A INC R0 DJNZ DataIn_Counter,End_Receive MOV DataIn_Counter,#DataInByte MOV R0,#DataBaseAddr MOV A,DataBaseAddr CJNE A,#PC_Addr,End_Receive SETB Draw_Flag MOV A,Out_Led ANL A,#11011111B MOV Out_Led,A End_Receive: Transmit: JNB Transmit_Flag,End_Transmit JNB TI,End_Transmit CLR TI CLR Transmit_Flag MOV A,DataBaseAddr MOV C,P MOV TB8,C MOV SBUF,A End_Transmit: End_Transfer: RET AUTO.INC: ;================================================= ;Baät ñeøn AUTO ;================================================= Turn_on_AUTO_LED: MOV A,Out_Led ANL A,#11110000B ORL A,#00010000B MOV Out_Led,A RET End_Turn_On_AUTO_LED: ;================================================= ;Xaùc ñònh loaïi leänh nhaän ñöôïc vaø thöïc hieän caùc khôûi ñoäng töông öùng ;================================================= Draw_Identify: JNB Draw_Flag,End_Draw_Label CLR Draw_Flag JMP Next_Draw_Identify End_Draw_Label: JMP End_Draw_Identify Next_Draw_Identify: MOV A,DataBaseAddr+1 CJNE A,#0,Not_Move CALL Pen_Up CALL Line_Init SETB Motor_Flag SETB Line_Draw JMP End_Draw_Identify Not_Move: CJNE A,#1,Not_Line CALL Pen_Down CALL Line_Init SETB Motor_Flag SETB Line_Draw JMP End_Draw_Identify Not_Line: CJNE A,#2,Not_Circle_For CALL Pen_Down CALL Circle_Init_For SETB Motor_Flag SETB Circle_For_Draw JMP End_Draw_Identify Not_Circle_For: CJNE A,#3,Not_Circle_Rev CALL Pen_Down CALL Circle_Init_Rev SETB Motor_Flag SETB Circle_Rev_Draw JMP End_Draw_Identify Not_Circle_Rev: CJNE A,#4,Not_Data_Out SETB Data_Out JMP End_Draw_Identify Not_Data_Out: CJNE A,#5,Not_Speed_Change MOV Speed,DataBaseAddr+3 MOV DataBaseAddr,#0FH SETB Transmit_Flag JMP End_Draw_Identify Not_Speed_Change: CJNE A,#6,Not_Data_In CALL Mov_Ext_Data ;Ñöa döõ lieäu vaøo vuøng 128byte cao MOV DataBaseAddr,#0FH SETB Transmit_Flag JMP End_Draw_Identify Not_Data_In: CJNE A,#7,Not_Spline CALL Pen_Down CALL Spline_Init SETB Motor_Flag SETB Spline_Draw JMP End_Draw_Identify Not_Spline: CJNE A,#8,Not_LCD SETB Motor_Flag SETB LCD_Display_Flag JMP End_Draw_Identify Not_LCD: CJNE A,#9,Not_Clear CALL Clear_LCD MOV DataBaseAddr,#0FH SETB Transmit_Flag JMP End_Draw_Identify Not_Clear: CJNE A,#10,Not_Next_Row CALL Next_Row_LCD MOV DataBaseAddr,#0FH SETB Transmit_Flag JMP End_Draw_Identify Not_Next_Row: End_Draw_Identify: RET ;================================================= ;Ñieàu khieån ñoäng cô veõ caùc ñöôøng töông öùng vôùi leänh nhaän ñöôïc ;================================================= Motor_Control_Drawing: JNB Motor_Flag,End_Motor_Control_Drawing JNB Line_Draw,Motor_Control_L1 CALL Line JMP End_Motor_Control_Drawing Motor_Control_L1: JNB Circle_Rev_Draw,Motor_Control_L2 CALL Circle_Rev JMP End_Motor_Control_Drawing Motor_Control_L2: JNB Circle_For_Draw,Motor_Control_L3 CALL Circle_For Motor_Control_L3: JNB Spline_Draw,Motor_Control_L4 CALL Spline Motor_Control_L4: JNB LCD_Display_Flag,Motor_Control_L5 CALL LCD_Display Motor_Control_L5: End_Motor_Control_Drawing: RET ;================================================= ;Xuaát toïa ñoä hieän haønh cuûa buùt veõ ;================================================= Position_Output: JNB Data_Out,End_Position_Output MOV DataBaseAddr,@R1 INC R1 SETB Transmit_Flag DJNZ DataOut_Counter,End_Position_Output MOV DataOut_Counter,#DataOutByte CLR Data_Out MOV R1,#Cur_XH End_Position_Output: RET ;================================================= ;Döøng heä thoáng baèng nuùt Start/Stop ;================================================= Stop_System: JNB Run,End_Stop_System PUSH P0 MOV A,Out_Led ORL A,#01000000B MOV Out_Led,A MOV P0,Out_Led SETB Led_EN NOP CLR Led_EN POP P0 MOV SBUF,#0F0H CLR IE.1 End_Stop_System: ROUNTINE.INC: ;================================================= ;Khôûi ñoäng Port noái tieáp, caùc timer vaø ngaét ;================================================= Serial_Port_Timer_Init: MOV SCON,#11010010B MOV IE,#10000010B MOV TMOD,#22H MOV TH1,#-3 MOV TH0,#TimeBase SETB TR1 SETB TR0 RET End_Serial_Port_Timer_Init: ;================================================= ;Khôûi ñoäng caùc bit ;================================================= Bit_Init: SETB Transmit_Flag CLR Timer_F1 CLR Draw_Flag CLR KeyPressed CLR F1 CLR F2 CLR F3 CLR F4 CLR Motor_Flag CLR MotorX_Bit CLR MotorY_Bit CLR Led_EN CLR P1.0 CLR Line_Draw CLR Circle_Rev_Draw CLR Circle_For_Draw CLR Spline_Draw CLR LCD_Display_Flag CLR Data_Out CLR X_Del CLR Y_Del SETB Press CLR LCD_Busy CLR Run End_Bit_Init: RET ;================================================= ;Khôûi ñoäng caùc bieán ;================================================= Variable_Init: MOV Speed,#V MOV TimerCount,#TimeCount MOV TimerCount1,Speed MOV DataIn_Counter,#DataInByte MOV R0,#DataBaseAddr MOV R1,#Cur_XH MOV PointerX,#MotorStep MOV PointerY,#MotorStep MOV Key,#KeyNumber MOV Key_Pressed,#0 MOV Key_Counter,#0 MOV DataBaseAddr,#0FH MOV Out_Led,#0 MOV Cur_XH,#0 MOV Cur_XL,#0 MOV Cur_YH,#0 MOV Cur_YL,#0 MOV DataOut_Counter,#DataOutByte MOV Press_Counter,#PressCount MOV NBaseAddr,#0D8H MOV Ext_Data,#80H MOV LCD_Pointer,#80H RET End_Variable_Init: ;================================================= ;Xoùa xung kích ñoäng cô böôùc ;================================================= Delete_Pulse: JNB X_Del,Next_Delete_Pulse CLR X_Del PUSH P0 MOV A,#0FFH MOV P0,A SETB MotorX_Bit NOP CLR MotorX_Bit POP P0 Next_Delete_Pulse: JNB Y_Del,End_Delete_Pulse CLR Y_Del PUSH P0 MOV A,#0FFH MOV P0,A SETB MotorY_Bit NOP CLR MotorY_Bit POP P0 End_Delete_Pulse: RET ;================================================= ;Xuaát caùc tín hieäu ñeøn baùo ;================================================= Out_Led_Control: PUSH P0 MOV P0,Out_Led SETB Led_EN NOP CLR Led_EN POP P0 RET End_Out_Led: ;================================================= ;Kieåm tra caùc coâng taéc haønh trình, neáu chaïm bieân -> döøng TIMER ;================================================= Limit_Control: JNB Start_X,Stop_Start_X JNB End_X,Stop_End_X JNB Start_Y,Stop_Start_Y JNB End_Y,Stop_End_Y JMP End_Limit_Control Stop_Start_X: JNB Timer_F2,$ CLR Timer_F2 CALL Right_Control JNB Start_X,Stop_Start_X JMP Stop Stop_End_X: JNB Timer_F2,$ CLR Timer_F2 CALL Left_Control JNB End_X,Stop_End_X JMP Stop Stop_Start_Y: JNB Timer_F2,$ CLR Timer_F2 CALL Up_Control JNB Start_Y,Stop_Start_Y JMP Stop Stop_End_Y: JNB Timer_F2,$ CLR Timer_F2 CALL Down_Control JNB End_Y,Stop_End_Y JMP Stop Stop: PUSH P0 MOV A,Out_Led ORL A,#01000000B MOV Out_Led,A MOV P0,Out_Led SETB Led_EN NOP CLR Led_EN POP P0 MOV SBUF,#0F1H CLR IE.1 End_Limit_Control: RET ;================================================= ;Chuyeån 10 byte döõ lieäu töø oâ nhôù 32H..3BH leân vuøng 128byte cao ;================================================= Mov_Ext_Data: PUSH 0 PUSH 1 MOV R2,#10 MOV R1,#DataBaseAddr+2 Mov_Data_Loop: MOV R0,Ext_Data MOV A,@R1 MOV @R0,A INC Ext_Data INC R1 DJNZ R2,Mov_Data_Loop POP 1 POP 0 End_Mov_Ext_Data: RET