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2011 03- 11 otgoo

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MCS Electronics VoIP .

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10000010 10110000 10110000 10- 178 176 169 146 114 89 72 66 66 72 82 89 130 176 176
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10001000 10001010 10011000 10100010 10111010 10111010 10- 186 186 186 186 186
178 146 136 136 138 152 162 186 186
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ADC0809 /4 / LM324 ADC 8951 ADC0809
5000 5000 12900 500
5000 5000 1 4euro 30500
8951
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1. - 8951
ASM .
limn equ 5Oh rmin equ 51h lmax equ 52h rmax equ 53h laa equ 54h raa equ 55h carry equ 60h
carryl equ 61h carry2 equ 62h carry3 equ 63h left equ r6 right equ r7 leftl equ r4 rightl equ r5
gpoint equ r3 lpos equ 64h rpos equ 65h lposl equ 66h rposl equ 67h gpos equ 68h ga equ 69h
gmin equ 70h gmax equ 71h val equ 72h ; tol EQU P3.2 ; to2 EQU P3.3 to3 equ p3.6 to4 equ
p3.7 elk equ p0.7 ale equ pO.3 oe equ pO.6 st equ pO.4 eoc equ pO.5 org Oh jmp Main org
lOOh Main: mov sp,#30h Good: mov p2,#44h jnb to3,start jnb to4,tohiruulga jmp Good start:
lcall delay mov p2,#66h ; jnb to2,go jnb to3,show_min jnb to4,show_max jmp start show_min:
lcall delay mov p2,lmin show_mi: jnb to3,go
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ljmp show_mi show_max: lcall delay mov p2,lmax show_ma: jnb to3,go ljmp show_ma go:
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ljmp gow tohiruulga:
mov p2,#33h ljmp gow tohiruulga: mov p2,#33h jnb to3,save_min jnb to4,save_max jmp
tohiruulga save_min: lcall delay save_minl: ; lcall delay lcall clock call sel_l lcall convert mov
lmin,a lcall clock call sel_r lcall convert mov rmin,a lcall clock call sel_g lcall convert mov
gmin,a mov p2,lmin ; jnb to3,tohiruulga jmp save_minl save_max: lcall delay save_maxl: ; lcall
delay call clock call sel_l call convert mov lmax,a call clock call sel_r call convert mov rmax,a
call clock call sel_g call convert mov gmax,a mov p2,lmax ; jnb to4,tohiruulga jmp save_maxl
complete: lcall delay mov rO,lmin mov rl,lmax call average mov laa,a mov rO,rmin mov rl,rmax
call average mov raa,a mov rO,gmin mov r1,gmax call average mov ga,a mov p2,#77h ljmp
Good gow: mov p2,#0 gol: lcall clock call sel_l lcall convert mov left,a lcall clock
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call sel_r lcall convert mov right,a lcall clock call sel_g lcall convert mov gpoint,a lcall position
utgal: mov a,gpos cjne a,#l,check_l jmp forwardl check_l: mov a,lpos cjne a,#l,check_r jmp rleftl
check_r: mov a,rpos cjne a,#1,rrightl jmp back forwardl: ljmp forward rrightl: ljmp rright rleftl:
ljmp rleft back: ljmp backs convert: lcall clock setb ale lcall clock clr ale setb st lcall clock clr st
con: lcall clock jb eoc,con conl: lcall clock jnb eoc.conl setb oe mov a,pi clr oe mov rO,a rlc a
mov carry,c rlc a mov carryl,c rlc a mov carry2,c mov carry3,carry2 mov carry2,carry mov
carry,carry3 mov c,carry3 rrc a mov c,carryl rrc a mov c,carry rrc a mov rl,a mov rl,a rrc a ;1
mov rO,a mov a,rl rlc a mov rl,a mov a,rO rrc a ;2 mov rO,a mov a,rl rlc a mov rl,a mov a,r 0 rrc
a ;3 mov rO,a mov a,rl rlc a mov rl,a mov a,rO rrc a ;4
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mov rO,a mov a,r1 rlc a mov r1,a mov a,rO rrc a ;5 mov rO,a mov a,rl rlc a mov rl,a mov a,rO
rrc a ;6 mov rO,a mov a,rl rlc a mov rl,a mov a,rO rrc a ;7 mov rO,a mov a,rl rlc a mov rl,a mov
a,rO rrc a ;last mov rO,a mov a,rl rlc a ret average: mov a,rO clr c rrc a mov rO,a mov a,rl clr c
rrc a mov rl,a mov a,rO add a,rl ret sel_l: clr pO.O clr pO.1 clr p0.2 ret sel_r: setb pO.O clr pO.l
clr p0.2 ret sel_g: clr pO.O setb pO.l clr p0.2 ret sel_u: setb pO.O setb pO.l clr p0.2 ret
;********************* machine haana bgaag togtooh function **********************
.************* return value : rO=left rl=right **************** ; *************
(min)___o___(a)___1___(aa)___2___(aaa)___3___(max) **************** position:
check_left: clr c mov a,laa subb a,left jnc nextl mov lpos,#l ajmp check_right nextl: mov lpos,#3
ajmp check_right check_right: clr c mov a,raa subb a,right jnc next2 mov rpos,#1 ljmp
check_leftl next2:
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mov rpos,#3 ljmp check_leftl check_leftl: clr c mov a,laa subb a,leftl jnc next3 mov lposl,#1
ajmp check_rightl next3: mov lposl,#3 check_rightl: clr c mov a,ga subb a,gpoint jnc next4 mov
gpos,#1 ret next4: mov gpos,#3 ret forward: mov p2,#14h ljmp gol backs: mov p2, #28h ljmp gol
rright: mov p2,#4h ljmp gol rleft: mov p2,#10h ljmp gol dright: mov p2,#24h ljmp gol dleft: mov
p2,#18h ljmp gol clock: setb elk nop nop nop nop nop nop clr elk ret Delay: mov r0,#0fh del2:
mov rl,#0ffh del: dec rl cjne Rl,#0,del dell: dec rO cjne r0,#0,del2 ret =nd
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2. 8951- ASM
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org Oh jmp Main org lOOh Main: mov sp,#30h Good: mov p2,#4 4h jnb to3,start jnb
to4,tohiruulga
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jmp Good start: lcall delay mov p2,#66h ; jnb to2,go jnb to3,show_min jnb to4,show_max jmp
start show_min: lcall delay mov p2,lmin show_mi: jnb to3,go ljmp show_mi show_max: lcall
delay mov p2,lmax show_ma: jnb to3,go ljmp show_ma go: ljmp gow tohiruulga: mov p2,#33h
jnb to3,save_min jnb to4,save_max jmp tohiruulga save_min: lcall delay save_minl: ; lcall delay
lcall clock call sel_l lcall convert mov lmin,a lcall clock call sel_r lcall convert mov rmin,a lcall
clock call sel_g lcall convert mov gmin,a mov p2,lmin ; jnb to3,tohiruulga jmp save_minl
save_max: lcall delay save_maxl: ; lcall delay call clock call sel_l call convert mov lmax,a call
clock call sel_r call convert mov rmax,a call clock call sel_g call convert mov gmax,a mov
p2,lmax ; jnb to4,tohiruulga jmp save_maxl complete: lcall delay mov rO,lmin mov rl,lmax call
average
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mov laa,a mov rO,rmin mov rl,rmax call average mov raa,a mov rO,gmin mov rl,gmax call
average mov ga,a mov p2,#77h ljmp Good jow: mov p2,#0 go1: lcall clock call sel_l lcall
convert mov left,a lcall clock call sel_r lcall convert mov right,a lcall clock call sel_g lcall
convert mov gpoint, a lcall position itgal: mov a,gpos cjne a,#l,check_l jmp forwardl check_l:
mov a,lpos cjne a,#l,check_r jmp rleftl check_r: mov a,rpos cjne a,#l,rrightl jmp back forwardl:
ljmp forward rrightl: ljmp rright rleftl: ljmp rleft back: ljmp backs convert: lcall clock setb ale
lcall clock clr ale setb st lcall clock clr st on: lcall clock jb eoc,con conl: lcall clock jnb eoc,conl
setb oe mov a,pi clr oe mov r0,a rlc a mov carry,c rlc a mov carryl,c rlc a mov carry2,c mov
carry3,carry2 mov carry2,carry
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mov carry,carry3 mov c,carry3 rrc a mov c,carryl rrc a mov c,carry rrc a mov rl,a mov rl,a rrc a
;1 mov rO,a mov a,rl rlc a mov rl,a mov a,r0 rrc a ;2 mov r0,a mov a,r1 rlc a mov rl,a mov a,rO
rrc a ;3 mov rO,a mov a,rl rlc a mov rl,a mov a,rO rrc a ;4 mov rO,a mov a,rl rlc a mov r1,a mov
a,rO rrc a ;5 mov rO,a mov a,rl rlc a mov rl,a mov a,rO rrc a ;6 mov rO,a mov a,rl rlc a mov rl,a
mov a,rO rrc a ;7 mov rO,a mov a,r1 rlc a mov rl,a mov a,rO rrc a ; last mov rO,a mov a,rl rlc a
ret iverage: mov a,rO clr c rrc a mov rO,a mov a,rl clr c rrc a mov rl,a mov a,rO add a,rl ret sel_l:
clr pO.O clr pO.l clr p0.2 ret
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sel_r: setb pO.O clr pO.l clr p0.2 ret sel_g: clr pO.O setb pO.1 clr p0.2 set sel_u: setb pO.O setb
pO.l clr p0.2 ret .********************* machine haana bgaag togtooh function
********************** .************* return value : rO=left rl=right ****************
.************ (min)___o___(a)___1___(aa)___2___(aaa)___3___(max) ****************
position: check_left: clr c mov a,laa subb a,left jnc nextl mov lpos,#1 ajmp check_right nextl:
mov lpos,#3 ajmp check_right check_right: clr c mov a,raa subb a,right jnc next2 mov rpos,#l
ljmp check_leftl next2: mov rpos,#3 ljmp check_leftl check_leftl: clr c mov a,laa subb a,leftl jnc
next3 mov lposl,#l ajmp check_rightl next3: mov lposl,#3 check_rightl: clr c mov a,ga subb
a,gpoint jnc next4 mov gpos,#1 ret next4: mov gpos,#3 ret forward: mov p2,#14h ljmp gol
backs: mov p2,#28h ljmp gol rright: mov p2,#4h ljmp gol rleft: mov p2,#10h ljmp gol right: mov
p2,#24h ljmp gol left:
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mov p2,#18h ljmp gol lock: setb elk nop nop nop nop nop nop clr elk ret Delay: mov r0,#0fh
Iel2: mov rl,#0ffh iel: dec rl cjne Rl,#0,del iell: dec rO cjne r0,#0,del2 ret ;nd Left equ p3.2 eight
equ p3.4 jpoint equ p3.3 lulz equ p3.5 lol equ p3.6 eo2 equ p3.7 org Oh jmp Main org lOOh
main: mov sp,#30h good: mov p2,#44h jnb tol,start jmp Good start: jb gpoint,forward jb
left,rright jb right,rleft jmp backs forward: mov p2,#14h ljmp start backs: mov p2,#28h ljmp start
rright: mov p2,#4h ljmp start rleft: mov p2,#10h ljmp start rright: mov p2,#24h ljmp start ileft:
mov p2,#18h ljmp start end
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3. 892051 .
button equ p3.2 Led equ p1.6 sensor equ p1.5
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alarms equ p1.7 qw equ p1.4 org 0h jmp Main org 50h main: mov sp,#3Oh jmp alarm gol: setb
led jnb button,start jmp Gol Start: clr led call delay jb sensor,$ ; setb sensor alarm: jnb button,h2
;stop setb alarms call dell clr alarms call dell jmp alarm h2: setb alarms ; call delayl jmp main
delay: mov rO,#0fh again: mov rl,#0ffh djnz rl,$ againl: mov r2,#0ffh djnz r2,$ djnz rl,againl
djnz rO,again ret dell: mov rl,#0ffh djnz rl,$ ret Delayl: mov r0,#0dh ag: mov rl,#0ffh djnz rl,$
agl: mov r2,#0ffh djnz r2,$ djnz rl,agl djnz rO,ag ret end
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1. - 8951-
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la equ 70h ra equ 71h
al equ 72h al equ 73h pos equ 74h pos equ 75h posl equ 76h posl equ 77h r al equ 78h iair equ
79h ihleh equ 7ah left equ r6 right equ r7 leftl equ r4 rightl equ r5
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tol EQU P3.2 to2 EQO P3.3 to3 equ p3 . 4 to4 equ p3.5 c1k equ pO . 3 lie equ p0.7 oe equ p0.2
ot equ pO.O ioc equ pO . 1 lat_hav equ p2 . 6 lat_hav_zogs equ p2.5 iat_sul_zogs equ p2 . 4
iat_urguh_zogs equ p2.3 iat_buulgah equ p2.2 iat_achaa equ p2.1 org Oh jmp Main org lOOh
lain: mov sp,#35h mov ie,#90h mov peon, #7Oh ; smod=l mov TMOD,#20h mov THl,#0fdh
mov SCON,#50h setb trl ;Timer 1 run mov val,#0 mov bair,#0h mov ehleh,#0h mov p2,#0ffh
mov la,#86h ,-11010110 mov ra,#79h ,-11010110 mov lal,#80h ,-11010110 mov ral,#6fh ,11010110 Start: mov a,#44h mov sbuf,a jnb ti,$ clr ti jnb tol,go jnb to2,tohiruulga jmp Start
tohiruulga: ;to2 is clicked (Start) mov a,#33h mov sbuf,a jnb ti,$ clr ti mov ehleh,#lh jnb tol,go
jmp tohiruulga .********** Automataar ajillah heseg *************************** go: ;tol
is clicked lcall clock call sel_l lcall convert mov left,a lcall clock call sel_r lcall convert mov
right,a lcall clock call sel_ll lcall convert mov leftl,a lcall clock call sel_rl lcall convert mov
right1,a lcall position ;mashinii bairlaliig todorhoilno .********* Control
******************************************** mov a,lposl cjne a,#3,yav ;Lposl Nogoon
bol userne n_rv
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jmp go
julzl: juunt:
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inc bair call zuun ret algas: inc bair call algasah ret saruunt: inc bair call baruun ret baruun: mov
val, #lh call dright mov r2,#4h call delayl i_v: call dright lcall clock call sel_r lcall convert mov
right,a lcall position mov a,rpos cjne a,#3,n_v yavl: call yavah lcall clock call sel_ll lcall convert
mov leftl,a lcall position mov a,lposl cjne a,#3,yavl call yavah mov rl,#01h ahiad: mov r0,#0ffh
again: lcall clock call sel_l lcall convert mov left,a lcall clock call sel_r lcall convert mov right,a
lcall position call yavah djnz r0,again djnz rl,ahiad ret mun: mov val,#lh cjne a,#3,check_rr ret
check_r: ajmp rleftl check_rr: ajmp rrightl rrightl: ljmp rright rleftl: ljmp rleft forward: mov a,
#14h mov sbuf,a jnb ti,$ clr ti ret sacks:
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mov a, #28h mov sbuf,a jnb ti,$ clr ti ret rright: mov a, #4h mov sbuf,a jnb ti,$ clr ti ret rleft:
mov a, #10h mov sbuf,a jnb ti,$ clr ti ret ;**************** dooroo ergene
******************** dright: mov a,#24h mov sbuf,a jnb ti,$ clr ti ret dleft: mov a,#18h mov
sbuf,a jnb ti,$ clr ti ret .*************** select channel ******************** sel_l: setb
p0.4 clr p0.5 clr p0.6 ret sel_r: clr p0.4 clr p0.5 clr pO.6 ret sel_ll: clr p0.4 clr p0.5 setb pO.6 ret
sel_rl: clr p0.4 setb p0.5 clr pO.6 ret ;***************** convert to digital value
******************** convert: lcall clock setb ale nop lcall clock clr ale setb st lcall clock clr
st nop con: call clock jb eoc,con conl: call clock jnb eoc,conl setb oe mov a,pi clr oe ret clock:
setb elk nop nop nop
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nop clr clk ret ;********* machine haana bgaag togtooh function *********************
;********* return value : lpos, rpos, lposl, rposl ****************** ;*********
(nun)______1______(a)______3______(max) ****************** position: check_left: clr c
mov a,la subb a,left jnc nextl mov lpos,#l ajmp check_right nextl: mov lpos,#3 check_right: clr c
mov a,ra subb a,right jnc next2 mov rpos,#1 ljmp check_leftl next2: mov rpos,#3 check_leftl: clr
c mov a,lal subb a,leftl jnc next3 mov lposl,#1 ajmp check_rightl next3: mov lposl,#3
check_rightl: clr c mov a,ral subb a,right jnc next4 mov rposl,#1 ret next4: mov rposl,#3 ret ;
*************** delay ****************** Delay: mov r0,#80h del2: mov rl,#0ffh djnz rl,$
djnz rO,del2 clr ti ret ; ** r2*0.065sec *** Delayl: mov r0,#0ffh del3: mov rl,#0ffh djnz rl,$
djnz r0,del3 djnz r2,delayl clr ti ret end
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1. The Art of Electronics 2. D.C.Green 3. Balabanian 1986 1992 Digital electronics Electronics
circuits Fifth Edition
4. Basic electronics for scientists 1994
5. <URL: http://www.leang.com/robotics/> 6. <URL:
http://www.joinme.net/robotwise/tutor_ircompare.htm >
7. <URL: http://www.lynxmotion.com/> 8. <URL: http://www.robotstorehk.com/> 9. <URL:
www.contrib.andrew.cmu.edu/~rjg/websensors/robot_sensors2.html>
10. <URL: http://www.seattlerobotics.org/index.html> 11. <URL:
http://www.seattlerobotics.org/guide/index.html>
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