光センサの値でサーボモータを制御のバックアップ(No.4)

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光センサの値でサーボモータを制御へ行く。
- 1 (2015-06-27 (土) 17:29:31)
- 2 (2015-06-27 (土) 17:37:23)
- 3 (2015-06-27 (土) 21:04:55)
- 4 (2015-06-28 (日) 09:53:01)

光センサの値でサーボモーターの動作を制御するプログラムです。
入力（光センサ）も出力（サーボモータを制御するPWMコントローラ）もすべてI2C

ram.v

module ram(clk, load, addr, d, q
);
parameter DWIDTH=16, AWIDTH=12, WORDS=4096;

input clk, load;
input [AWIDTH-1:0] addr;
input [DWIDTH-1:0] d;
output [DWIDTH-1:0] q;
reg [DWIDTH-1:0] q;
reg [DWIDTH-1:0] mem [WORDS-1:0];

always @(posedge clk)
begin
if(load) mem[addr] <= d;
q <= mem[addr];
end

integer i;
initial begin
for(i=0; i<WORDS; i=i+1)
mem[i]=12'h000;
/*
//
// servo motors controller example.
//   use Ada fruit PCA9685 I2C PWM controller
//
// initialize
          pushi main_a0
	   jmp servoInit
 main_a0: jz main_loop
	   pushi 0x00
	   out
          halt
// move to center
 main_loop: pushi main_lightVal
         pushi main_getLight
	  jmp getLight
 main_getLight: jz main_judge
         pushi 0x01
	  out
         halt
 main_judge: pushi 0x0f   // threshold
         push main_lightVal
	  gt
	  jnz main_moveX
// move to min
 main_moveY: pushi 0
	 push servoMin
	 push servoCh0
	 push servoAddr
	 pushi main_a3
	 jmp wi2c4           // move ch0 to min
 main_a3: jz main_wait
        pushi 0x03
	 out
        halt
 main_moveX: pushi 0
        push servoMax
	 push servoCh0
	 push servoAddr
	 pushi main_a7
	 jmp wi2c4           // move ch0 to max
 main_a7: jz main_wait
        pushi 0x07
	 out
        halt
 // wait
 main_wait: pushi 0x000f
	 pushi main_loopEnd       // wait
	 jmp waitLoop
 main_loopEnd: pop main_rcode
        jmp main_loop
 main_rcode: 0x0000
 main_lightVal: 0x0000
// move servo 0 to 100
// move servo 1 to -100
// wait
// move servo 0 to -100
// move servo 1 to 100
//
// initialize
//   uint8_t oldmode = read8(PCA9685_MODE1);
//   uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep                             
//   write8(PCA9685_MODE1, newmode); // go to sleep                                
//   write8(PCA9685_PRESCALE, prescale); // set the prescaler                      
//   write8(PCA9685_MODE1, oldmode);
//   delay(5);
//   write8(PCA9685_MODE1, oldmode | 0xa1);  //  This sets the MODE1 register to turn on auto increment.
//
//   get current status
//   sleep
//   set new status
//   set prescale
// prescale = - 25000000/(4096*60*0.9) = 0xFF8F
//
//   wake up
//
// servoInit
//    initialize the i2c PWM controller PCA9685 as the servo motor device.
//    arg0 : return address
//
 servoInit: push servoInit_jmp
 	   bor
         pop servoInit_rtn
	  pushi 0x00
	  push servoMode1
	  push servoAddr
	  pushi servoInit_a0
	  jmp wi2c1
servoInit_a0: pop servoInit_RtnCode
         push servoInit_RtnCode
			 jz servoInit_a0_1
			 push servoInit_RtnCode //error
			 out
			 halt
			 pushi 11
			 jmp servoInit_rtn
servoInit_a0_1: pushi servoMode1Val
			 push servoMode1
			 push servoAddr
			 pushi servoInit_a1
			 jmp ri2c1                        // read current value of the mode-1 register
servoInit_a1: pop servoInit_RtnCode
         push servoInit_RtnCode
         jz servoInit_a1_1
         push servoInit_RtnCode // error
			 out
			 halt
			 pushi 1
			 jmp servoInit_rtn
servoInit_a1_1: push servoMode1Val
			 pushi 0x7f
			 band
			 pushi 0x10
			 bor
			 push servoMode1
			 push servoAddr
			 pushi servoInit_a2
			 jmp wi2c1                      // set the sleep mode on, restart disabled     40> 00+ 10+
servoInit_a2: pop servoInit_RtnCode
         push servoInit_RtnCode
         jz servoInit_a2_1
         push servoInit_RtnCode // error
			 out
			 halt
			 pushi 2
			 jmp servoInit_rtn
servoInit_a2_1: pushi 0x70
			 push servoPreScale
			 push servoAddr
			 pushi servoInit_a3
			 jmp wi2c1                    // set the pwm frequency prescale register   40> fe+ 70+
servoInit_a3: pop servoInit_RtnCode
         push servoInit_RtnCode
         jz servoInit_a3_1
         push servoInit_RtnCode // error
			 out
			 halt
			 pushi 3
			 jmp servoInit_rtn
servoInit_a3_1:  push servoMode1Val
			 push servoMode1
			 push servoAddr
			 pushi servoInit_a4
			 jmp wi2c1                   // recover the mode-1 register, .... wake up.  40> 00+ 00+ 
servoInit_a4: pop servoInit_RtnCode
         push servoInit_RtnCode
         jz servoInit_a4_1
         push servoInit_RtnCode // error
			 out
			 halt
			 pushi 4
			 jmp servoInit_rtn
servoInit_a4_1: pushi 0x000f
			 pushi servoInit_a5
			 jmp waitLoop
servoInit_a5: pop servoInit_RtnCode
         push servoMode1Val
			 pushi 0x00a1
			 bor
			 push servoMode1
         push servoAddr
			 pushi servoInit_a6
			 jmp wi2c1               // set the mode-1 register to incremental mode.   40> 00+ a1+
servoInit_a6: pop servoInit_RtnCode
        push servoInit_RtnCode
         jz servoInit_a6_1
         push servoInit_RtnCode // error
			 out
			 halt
			 pushi 6
			 jmp servoInit_rtn
servoInit_a6_1:  pushi 0
servoInit_rtn: 0x0000	//return
servoInit_jmp: 0x4000
servoAddr: 0x0040
servoMode1: 0x0000
servoMode1Val: 0x0000
servoPreScale: 0x00fe 
servoCh0: 0x0006
servoCh1: 0x000a
servoMin: 0x0096 // (150)10
servoMax: 0x0258 // (600)10
servoCen: 0x0177 //(375)10
servoInitPrescale: 0xff8f // prescale = - 25000000/(4096*60*0.9) = 0xFF8F
servoInit_RtnCode: 0x0000
getLight:  push getLight_jmp
			  bor
          pop getLight_rtn
			  pop getLight_valAddr
			  //
          pushi 0x03   // power up
			  pushi 0x80   // command, register 0
			  push lightSensorAddr  //lightSensor
			  pushi getLight_a1  // push return addr
			  jmp wi2c1      // call wi2c1
getLight_a1: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a1_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp getLight_rtn
          //
getLight_a1_1: pushi 0x00  // 
          pushi 0x81
			  push lightSensorAddr
			  pushi getLight_a2
			  jmp wi2c1
getLight_a2: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a2_1
			  pushi 2           // error to read the ack of the i2c address
			  jmp getLight_rtn
//
getLight_a2_1: pushi 0x00  // scale
          pushi 0x86   // register to set the scale
			  push lightSensorAddr // lightSensor
			  pushi getLight_a3
			  jmp wi2c1
getLight_a3: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a3_1
			  pushi 3           // error to read the ack of the i2c address
			  jmp getLight_rtn
//
getLight_a3_1:  pushi 0x00 // power down
          pushi 0x80
			  push lightSensorAddr
			  pushi getLight_a4
			  jmp wi2c1
getLight_a4: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a4_1
			  pushi 4           // error to read the ack of the i2c address
			  jmp getLight_rtn
//
getLight_a4_1:  pushi 0x03 // power up again
          pushi 0x80
			  push lightSensorAddr
          pushi getLight_a5
			  jmp wi2c1
getLight_a5: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a5_1
			  pushi 5           // error to read the ack of the i2c address
			  jmp getLight_rtn
//        
getLight_a5_1:  PUSHI lightSensorCh0l  // push arg1... the address for receiving the result(temprature)
          PUSHi 0x8c     // push the register no. 0
          push lightSensorAddr       // push the I2C light sensor address, 0x4b
          pushi getLight_a6          // push the return address
          JMP ri2c1    // call the ri2c1 ... read 1 byte data from the i2c device, 
getLight_a6: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a6_1
			  pushi 6           // error to read the ack of the i2c address
			  jmp getLight_rtn
          //
getLight_a6_1: PUSHI lightSensorCh0h  // push arg1... the address for receiving the result(temprature)
          PUSHi 0x8d     // push the register no. 0
          push lightSensorAddr       // push the I2C light sensor address, 0x4b
          pushi getLight_a7          // push the return address
          JMP ri2c1    // call the ri2c1 ... read 1 byte data from the i2c device, 
getLight_a7: pop getLightRtnCode
          push getLightRtnCode
          jz getLight_a7_1
			  pushi 7           // error to read the ack of the i2c address
			  jmp getLight_rtn
          //
getLight_a7_1: push getLight_valAddr
          push lightSensorCh0h
          pushi 0x08
			  shr
			  push lightSensorCh0l
			  bor
			  st
			  pushi 0          
getLight_rtn: jmp 0x0000
getLight_err: 0x0000
getLight_valAddr: 0x0000
getLightRtnCode: 0x0000
getLight_jmp: 0x4000
getLight_rtnval: 0x0000
getLight_valAddr: 0x0000 
lightSensorCh0l: 0x0000
lightSensorCh0h: 0x0000
lightSensorRC0h: 0x008c   // read 1 byte from the register d, IR+visible
lightSensorRC0l: 0x008d
lightSensorRC1h: 0x008e
lightSensorRC1l: 0x008f
lightSensorAddr: 0x0029   //  grove i2c light sensor

lightReadReg: 0x008d   // read 1 byte from the register d, IR+visible
lightAddr: 0x0029   //  grove i2c light sensor
waitLoop: push waitLoop_jmp
          bor
			  pop waitLoop_rtn
			  pop waitLoop_times
waitLoop_a0:  push waitLoop_times
			  pushi 1
			  sub
			  pop waitLoop_times
			  push waitLoop_times
			  jnz waitLoop_a0
			  pushi 0
waitLoop_rtn:	 0x0000
waitLoop_jmp: 0x4000
waitLoop_times: 0x000
wi2c1:    PUSH wi2c1_jmp    // subroutine. the 1st step to make the return instruction
          BOR               // make the return instruction using arg1 and the previous instruction
          POP wi2c1_rtn     // save the return instruction
          POP wi2c1_addr    // save the arg1, the i2c slave address
          pop wi2c1_reg     // save the arg2, destination register address
          pop wi2c1_val     // save the value which will be assiinged to the destination register.
          PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI wi2c1_a1    // push the return address
          JMP SubI2C1      // call the subroutine
wi2c1_a1: push wi2c1_addr
          pushi 1
          shl                   // make the i2c device address with the write flag
          pushi wi2c1_a2
          jmp si2c1
wi2c1_a2: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c1_a3     //
          JMP SubI2C1    // call the subroutine
wi2c1_a3: in // input the ack
          pushi 0x01
			  band
			  jz wi2c1_a3_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp wi2c1_err
wi2c1_a3_1: push wi2c1_reg
          pushi wi2c1_a4
          jmp si2c1
wi2c1_a4: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c1_a5     //
          JMP SubI2C1    // call the subroutine
wi2c1_a5: in // input the ack
          pushi 0x01
			  band
			  jz wi2c1_a5_1
			  pushi 2           // error to read the ack of the i2c register no.
			  jmp wi2c1_err
wi2c1_a5_1: push  wi2c1_val
          pushi wi2c1_a6
          jmp si2c1
wi2c1_a6: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c1_a7     //
          JMP SubI2C1    // call the subroutine
wi2c1_a7: in // input the ack
          pushi 0x01
			  band
			  jz wi2c1_a7_1
			  pushi 3           // error to read the ack of the i2c register val.
			  jmp wi2c1_err
wi2c1_a7_1: PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c1_a8     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c1_a8: pushI 0          
wi2c1_rtn: jmp 0x000            // return
wi2c1_err: pop wi2c1_ercode
          PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c1_a9     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c1_a9: push wi2c1_ercode
          jmp wi2c1_rtn
wi2c1_jmp: 0x4000
wi2c1_addr: 0x0000
wi2c1_reg: 0x0000
wi2c1_val: 0x0000
wi2c1\ercode: 0x0000
wi2c2:    PUSH wi2c2_jmp    // subroutine. the 1st step to make the return instruction
          BOR               // make the return instruction using arg1 and the previous instruction
          POP wi2c2_rtn     // save the return instruction
          POP wi2c2_addr    // save the arg1, the i2c slave address
          pop wi2c2_reg     // save the arg2, destination register address
          pop wi2c2_val     // save the value which will be assiinged to the destination register.
          PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI wi2c2_a1    // push the return address
          JMP　SubI2C1       // call the subroutine
wi2c2_a1: push wi2c2_addr
          pushi 1
          shl                   // make the i2c device address with the write flag
          pop wi2c2_waddr
          pushi wi2c2_a2
          jmp si2c1
wi2c2_a2: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c2_a3     //
          JMP SubI2C1    // call the subroutine
wi2c2_a3: in // input the ack
          pushi 0x01
			  band
			  jz wi2c2_a3_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp wi2c2_err
wi2c2_a3_1: push  wi2c2_reg
          pushi wi2c2_a4
          jmp si2c1
wi2c2_a4: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c2_a5     //
          JMP SubI2C1    // call the subroutine

wi2c2_a5: in // input the ack

          pushi 0x01
			  band
			  jz wi2c2_a5_1
			  pushi 2           // error to read the ack of the i2c register no.
			  jmp wi2c2_err

wi2c_a5_1: push wi2c2_val

          pushi 0x00ff
          band
          pushi wi2c2_a6
          jmp si2c1
wi2c2_a6: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c2_a7     //
          JMP SubI2C1    // call the subroutine
wi2c2_a7: in // input the ack
          pushi 0x01
			  band
			  jz wi2c2_a7_1
			  pushi 3           // error to read the ack of the i2c register no.
			  jmp wi2c2_err
wi2c2_a7_1: push  wi2c2_val
          pushi 8
          shr
          pushi wi2c2_a8
          jmp si2c1
wi2c2_a8: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c2_a9     //
          JMP SubI2C1    // call the subroutine
wi2c2_a9: in // input the ack
          pushi 0x01
			  band
			  jz wi2c2_a9_1
			  pushi 4           // error to read the ack of the i2c register no.
			  jmp wi2c2_err
wi2c2_a9_1: PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c2_a10     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c2_a10: pushI 0          
wi2c2_rtn:  jmp  0x000           // return
wi2c2_err: pop wi2c2_ercode
          PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c2_a11     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c2_a11: push wi2c2_ercode
          jmp wi2c2_rtn
wi2c2_jmp:  0x4000
wi2c2_addr: 0x0000
wi2c2_reg:  0x0000
wi2c2_val:  0x0000
wi2c2_ercode: 0x0000
wi2c4:    PUSH wi2c4_jmp    // subroutine. the 1st step to make the return instruction
          BOR               // make the return instruction using arg1 and the previous instruction
          POP wi2c4_rtn     // save the return instruction
          POP wi2c4_addr    // save the arg1, the i2c slave address
          pop wi2c4_reg     // save the arg2, destination register address
          pop wi2c4_val2     // save the 1st value which will be assiinged to the destination registers.
          pop wi2c4_val1     // save the 2nd value which will be assiinged to the destination register2.
          PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI wi2c4_a1    // push the return address
          JMP　SubI2C1       // call the subroutine
wi2c4_a1: push wi2c4_addr
          pushi 1
          shl                   // make the i2c device address with the write flag
          pushi wi2c4_a2
          jmp si2c1
wi2c4_a2: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a3     //
          JMP SubI2C1    // call the subroutine
wi2c4_a3: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a3_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp wi2c4_err
wi2c4_a3_1:  push  wi2c4_reg
          pushi wi2c4_a4
          jmp si2c1
wi2c4_a4: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a5     //
          JMP SubI2C1    // call the subroutine
wi2c4_a5: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a5_1
			  pushi 2            // error to read the ack of the i2c register no.
			  jmp wi2c4_err
wi2c4_a5_1:  push  wi2c4_val1
          pushi 0x00ff
          band
          pushi wi2c4_a6
          jmp si2c1
wi2c4_a6: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a7     //
          JMP SubI2C1    // call the subroutine
wi2c4_a7: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a7_1
			  pushi 3           // error to read the ack of the lsb of the val1
			  jmp wi2c4_err
wi2c4_a7_1: push  wi2c4_val1
          pushi 8
          shr
          pushi wi2c4_a8
          jmp si2c1
wi2c4_a8: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a9     //
          JMP SubI2C1    // call the subroutine
wi2c4_a9: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a9_1
			  pushi 4            // error to read the ack of the msb of the val1
			  jmp wi2c4_err
wi2c4_a9_1: push  wi2c4_val2
          pushi 0x00ff
          band
          pushi wi2c4_a10
          jmp si2c1
wi2c4_a10: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a11     //
          JMP SubI2C1    // call the subroutine
wi2c4_a11: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a11_1
			  pushi 5            // error to read the ack of the lsb of the val1
			  jmp wi2c4_err
wi2c4_a11_1:  push  wi2c4_val2
          pushi 8
          shr
          pushi wi2c4_a12
          jmp si2c1
wi2c4_a12: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI wi2c4_a13     //
          JMP SubI2C1    // call the subroutine
wi2c4_a13: in // input the ack
          pushi 0x01
			  band
			  jz wi2c4_a13_1
			  pushi 6            // error to read the ack of the lsb of the val1
			  jmp wi2c4_err
wi2c4_a13_1: PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c4_a14     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c4_a14: pushI 0          
wi2c4_rtn: jmp 0x000            // return
wi2c4_err: pop wi2c4_ercode
          PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI wi2c4_a15     // push the return address
          JMP SubI2C1    // call the subroutine
wi2c4_a15: push wi2c4_ercode
          jmp wi2c4_rtn 
wi2c4_jmp:  0x4000
wi2c4_addr: 0x0000
wi2c4_reg:  0x0000
wi2c4_val1: 0x0000
wi2c4_val2: 0x0000
wi2c4_ercode: 0x0000
si2c1:      PUSH si2c1_jmp    // subroutine. the 1st step to make the return instruction
            BOR               // make the return instruction using arg1 and the previous instruction
            POP si2c1_rtn     // save the return instruction
            POP si2c1_val
            PUSHI 8
            POP si2c1_i
si2c1_a3:   push si2c1_val
            pushi 0x0080
            band
            JNZ si2c1_a1
            pushi 0x0000
            out
            pushi 0x0002
            out
            pushi 0x0000
            out
            jmp si2c1_a2
si2c1_a1:   pushi 0x0001
            out
            pushi 0x0003
            out
            pushi 0x0001
            out
si2c1_a2:   push si2c1_val
            pushi 1
            shl
            pop  si2c1_val
            push si2c1_i
            pushi 1
            sub
            pop si2c1_i
            push si2c1_i
            jnz si2c1_a3
si2c1_rtn:  jmp 0x000     
si2c1_jmp:  0x4000
si2c1_val:  0x0000
si2c1_i:    0x0000
ri2c1:    PUSH ri2c1_jmp    // subroutine. the 1st step to make the return instruction
          BOR               // make the return instruction using arg1 and the previous instruction
          POP ri2c1_rtn     // save the return instruction
          POP ri2c1_addr    // save the arg1, the i2c slave address
          pop ri2c1_reg     // save the arg2, destination register address
          pop ri2c1_raddr   // save the address which receives the value of the destination register.
          PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI ri2c1_a1    // push the return address
          JMP　SubI2C1       // call the subroutine
ri2c1_a1: push ri2c1_addr
          pushi 1
          shl                   // make the i2c device address with the write flag
          pushi ri2c1_a2
          jmp si2c1
ri2c1_a2: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c1_a3     //
          JMP SubI2C1    // call the subroutine
ri2c1_a3: in // input the ack
          pushi 0x01
			  band
			  jz ri2c1_a3_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp ri2c1_err
ri2c1_a3_1: push ri2c1_reg
          pushi ri2c1_a4
          jmp si2c1
ri2c1_a4: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c1_a5     //
          JMP SubI2C1    // call the subroutine
ri2c1_a5: in // input the ack
          pushi 0x01
			  band
			  jz ri2c1_a5_1
			  pushi 2           // error to read the ack of the i2c register no.
			  jmp ri2c1_err
ri2c1_a5_1: PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI ri2c1_a6    // push the return address
          JMP　SubI2C1       // call the subroutine
ri2c1_a6: push ri2c1_addr
          pushi 1
          shl                   // make the i2c device address with the read flag
          pushi 0x0001
          BOR
          pushi ri2c1_a7
          jmp si2c1
ri2c1_a7: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c1_a8     //
          JMP SubI2C1    // call the subroutine
ri2c1_a8: in // input the ack
          pushi 0x01
			  band
			  jz ri2c1_a8_1
			  pushi 3           // error to read the ack of the i2c address again.
			  jmp ri2c1_err
ri2c1_a8_1: pushi i2cRead
          pushi ri2c1_a9
          jmp SubI2C1
ri2c1_a9: push ri2c1_raddr
          in
          st 
          PUSHI i2cNAck // push arg1 .... Ack
          PUSHI ri2c1_a10     //
          JMP SubI2C1    // call the subroutine
ri2c1_a10: PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI ri2c1_a11     // push the return address
          JMP SubI2C1    // call the subroutine
ri2c1_a11: pushI 0          
ri2c1_rtn:  jmp  0x000           // return
ri2c1_err: pop ri2c1_ercode
          PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI ri2c1_a12     // push the return address
          JMP SubI2C1    // call the subroutine
ri2c1_a12: push ri2c1_ercode
          jmp ri2c1_rtn 
ri2c1_jmp:  0x4000
ri2c1_addr: 0x0000
ri2c1_reg: 0x0000
ri2c1_raddr: 0x0000
ri2c1_ercode: 0x0000

ri2c2:    PUSH ri2c2_jmp    // subroutine. the 1st step to make the return instruction
          BOR               // make the return instruction using arg1 and the previous instruction
          POP ri2c2_rtn     // save the return instruction
          POP ri2c2_addr    // save the arg1, the i2c slave address
          pop ri2c2_reg     // save the arg2, destination register address
          pop ri2c2_raddr   // save the address which receives the value of the destination register.
          PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI ri2c2_a1    // push the return address
          JMP　SubI2C1       // call the subroutine
ri2c2_a1: push ri2c2_addr
          pushi 1
          shl                   // make the i2c device address with the write flag
          pushi ri2c2_a2
          jmp si2c1
ri2c2_a2: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c2_a3     //
          JMP SubI2C1    // call the subroutine
ri2c2_a3: in // input the ack
          pushi 0x01
			  band
			  jz ri2c2_a3_1
			  pushi 1           // error to read the ack of the i2c address
			  jmp ri2c2_err
ri2c2_a3_1: push ri2c2_reg
          pushi ri2c2_a4
          jmp si2c1
ri2c2_a4: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c2_a5     //
          JMP SubI2C1    // call the subroutine
ri2c2_a5: in // input the ack
          pushi 0x01
			  band
			  jz ri2c2_a5_1
			  pushi 2           // error to read the ack of the i2c register no.
			  jmp ri2c2_err
ri2c2_a5_1: PUSHI i2cStart    // push arg1... the i2c slave Addr
          PUSHI ri2c2_a6    // push the return address
          JMP　SubI2C1       // call the subroutine
ri2c2_a6: push ri2c2_addr
          pushi 1
          shl                   // make the i2c device address with the read flag
          pushi 0x0001
          BOR
          pushi ri2c2_a7
          jmp si2c1
ri2c2_a7: PUSHI i2cRAck // push arg1 .... read the ack
          PUSHI ri2c2_a8     //
          JMP SubI2C1    // call the subroutine
ri2c2_a8: in // input the ack
          pushi 0x01
			  band
			  jz ri2c2_a8_1
			  pushi 3           // error to read the ack of the i2c address again.
			  jmp ri2c2_err
ri2c2_a8_1: pushi i2cRead
          pushi ri2c2_l9
          jmp SubI2C1
ri2c2_l9: in
			  pushi 8
			  shl
			  pop ri2c2_val1
          PUSHI i2cWAck // push arg1 .... write the ack
          PUSHI ri2c2_a10     //
          JMP SubI2C1    // call the subroutine
ri2c2_a10: pushi i2cRead
          pushi ri2c2_a11
          jmp SubI2C1
ri2c2_a11: push ri2c2_raddr
          in
          push ri2c2_val1
			  bor
          st 
          PUSHI i2cNAck // push arg1 .... Ack
          PUSHI ri2c2_a12     //
          JMP SubI2C1    // call the subroutine
ri2c2_a12: PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI ri2c2_a13     // push the return address
          JMP SubI2C1    // call the subroutine
ri2c2_a13: pushI 0   // no error          
ri2c2_rtn:  jmp  0x000           // return
ri2c2_err: pop ri2c2_ercode
          PUSHI i2cStop  // push arg1 .... write the ack
          PUSHI ri2c2_a14     // push the return address
          JMP SubI2C1    // call the subroutine
ri2c2_a14: push ri2c2_ercode
          jmp ri2c2_rtn  
ri2c2_jmp:  0x4000
ri2c2_addr: 0x0000
ri2c2_reg: 0x0000
ri2c2_raddr: 0x0000
ri2c2_val1:  0x0000
ri2c2_ercode: 0x0000
SubI2C1:  PUSH LblJMP    // subroutine. the 1st step to return instruction
          BOR            // make the return instruction using arg1 and the previous instruction
          POP RtnSub1    // save the return instruction
          POP Sub1Data2  // save the arg1
          PUSH Sub1Data2
          LD
          POP N
          PUSH Sub1Data2
          PUSHI 1
          ADD
          POP Sub1SA
          PUSHI 0
          POP i
L1:       PUSH i
          PUSH Sub1SA
          ADD
          LD     //... Sub1S[i];
          OUT    //... print(Sub1S[i]) ;
          PUSH i
          PUSHI 1     
          ADD
          POP i
          PUSH i
          PUSH N
          SUB
          JNZ L1  //   if(i<n) goto L1;
RtnSub1:  JMP 0x000           // return
LblJMP:   0x4000
Sub1Data2: 0x0000
Sub1SA:   0x0000
i:        0x0000
N:        0x0000
i2cStart:  3
           1 //01
           3 //11
           2 //10
           0 //00
i2cAddrW:  3
           0 // 00
           2 // 10 send 0 ... write
           0 // 00
i2cAddrR:  3
           1   //   01
           3   //   11  ... read
           1   //   01
i2cRAck:  3
          1   // 01
          3   // 11  read ack 
          1   // 01
i2cWAck:  3
          0  // 00
          2  // 10  send 0 ... write
          0  // 00
i2cNAck:  3
          1  //01
          3  //  ... read
          1  //
i2cStop:  3
          2  // 10  
          3  // 11  stop the transfering
          3  // 11         
i2cRead:  0x0011
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01
          3  // 11
          1  // 01

/ †

mem[12'h000]=16'h1002 ; //             pushi main_a0 
mem[12'h001]=16'h402c ; //             jmp servoInit
mem[12'h002]=16'h5006 ; //main_a0:  jz main_loop
mem[12'h003]=16'h1000 ; //             pushi 0x00
mem[12'h004]=16'he000 ; //             out
mem[12'h005]=16'h0000 ; //             halt
mem[12'h006]=16'h102b ; //main_loop:  pushi main_lightVal
mem[12'h007]=16'h1009 ; //             pushi main_getLight
mem[12'h008]=16'h4095 ; //             jmp getLight
mem[12'h009]=16'h500d ; //main_getLight:  jz main_judge
mem[12'h00a]=16'h1001 ; //             pushi 0x01
mem[12'h00b]=16'he000 ; //             out
mem[12'h00c]=16'h0000 ; //             halt
mem[12'h00d]=16'h100f ; //main_judge:  pushi 0x0f   
mem[12'h00e]=16'h202b ; //             push main_lightVal
mem[12'h00f]=16'hf00E ; //             gt
mem[12'h010]=16'h601b ; //             jnz main_moveX
mem[12'h011]=16'h1000 ; //main_moveY:  pushi 0
mem[12'h012]=16'h2090 ; //             push servoMin
mem[12'h013]=16'h208e ; //             push servoCh0
mem[12'h014]=16'h208a ; //             push servoAddr
mem[12'h015]=16'h1017 ; //             pushi main_a3
mem[12'h016]=16'h4194 ; //             jmp wi2c4           
mem[12'h017]=16'h5025 ; //main_a3:  jz main_wait
mem[12'h018]=16'h1003 ; //             pushi 0x03
mem[12'h019]=16'he000 ; //             out
mem[12'h01a]=16'h0000 ; //             halt
mem[12'h01b]=16'h1000 ; //main_moveX:  pushi 0
mem[12'h01c]=16'h2091 ; //             push servoMax
mem[12'h01d]=16'h208e ; //             push servoCh0
mem[12'h01e]=16'h208a ; //             push servoAddr
mem[12'h01f]=16'h1021 ; //             pushi main_a7
mem[12'h020]=16'h4194 ; //             jmp wi2c4           
mem[12'h021]=16'h5025 ; //main_a7:  jz main_wait
mem[12'h022]=16'h1007 ; //             pushi 0x07
mem[12'h023]=16'he000 ; //             out
mem[12'h024]=16'h0000 ; //             halt
mem[12'h025]=16'h100f ; //main_wait:  pushi 0x000f
mem[12'h026]=16'h1028 ; //             pushi main_loopEnd       
mem[12'h027]=16'h40f7 ; //             jmp waitLoop
mem[12'h028]=16'h302a ; //main_loopEnd:  pop main_rcode
mem[12'h029]=16'h4006 ; //             jmp main_loop
mem[12'h02a]=16'h0000 ; //main_rcode:  0x0000
mem[12'h02b]=16'h0000 ; //main_lightVal:  0x0000
mem[12'h02c]=16'h2089 ; //servoInit:  push servoInit_jmp
mem[12'h02d]=16'hf006 ; //             bor
mem[12'h02e]=16'h3088 ; //             pop servoInit_rtn
mem[12'h02f]=16'h1000 ; //             pushi 0x00
mem[12'h030]=16'h208b ; //             push servoMode1
mem[12'h031]=16'h208a ; //             push servoAddr
mem[12'h032]=16'h1034 ; //             pushi servoInit_a0
mem[12'h033]=16'h4105 ; //             jmp wi2c1
mem[12'h034]=16'h3094 ; //servoInit_a0:  pop servoInit_RtnCode
mem[12'h035]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h036]=16'h503c ; //             jz servoInit_a0_1
mem[12'h037]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h038]=16'he000 ; //             out
mem[12'h039]=16'h0000 ; //             halt
mem[12'h03a]=16'h1011 ; //             pushi 11
mem[12'h03b]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h03c]=16'h108c ; //servoInit_a0_1:  pushi servoMode1Val
mem[12'h03d]=16'h208b ; //             push servoMode1
mem[12'h03e]=16'h208a ; //             push servoAddr
mem[12'h03f]=16'h1041 ; //             pushi servoInit_a1
mem[12'h040]=16'h4226 ; //             jmp ri2c1                        
mem[12'h041]=16'h3094 ; //servoInit_a1:  pop servoInit_RtnCode
mem[12'h042]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h043]=16'h5049 ; //             jz servoInit_a1_1
mem[12'h044]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h045]=16'he000 ; //             out
mem[12'h046]=16'h0000 ; //             halt
mem[12'h047]=16'h1001 ; //             pushi 1
mem[12'h048]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h049]=16'h208c ; //servoInit_a1_1:  push servoMode1Val
mem[12'h04a]=16'h107f ; //             pushi 0x7f
mem[12'h04b]=16'hf005 ; //             band
mem[12'h04c]=16'h1010 ; //             pushi 0x10
mem[12'h04d]=16'hf006 ; //             bor
mem[12'h04e]=16'h208b ; //             push servoMode1
mem[12'h04f]=16'h208a ; //             push servoAddr
mem[12'h050]=16'h1052 ; //             pushi servoInit_a2
mem[12'h051]=16'h4105 ; //             jmp wi2c1                      
mem[12'h052]=16'h3094 ; //servoInit_a2:  pop servoInit_RtnCode
mem[12'h053]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h054]=16'h505a ; //             jz servoInit_a2_1
mem[12'h055]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h056]=16'he000 ; //             out
mem[12'h057]=16'h0000 ; //             halt
mem[12'h058]=16'h1002 ; //             pushi 2
mem[12'h059]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h05a]=16'h1070 ; //servoInit_a2_1:  pushi 0x70
mem[12'h05b]=16'h208d ; //             push servoPreScale
mem[12'h05c]=16'h208a ; //             push servoAddr
mem[12'h05d]=16'h105f ; //             pushi servoInit_a3
mem[12'h05e]=16'h4105 ; //             jmp wi2c1                    
mem[12'h05f]=16'h3094 ; //servoInit_a3:  pop servoInit_RtnCode
mem[12'h060]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h061]=16'h5067 ; //             jz servoInit_a3_1
mem[12'h062]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h063]=16'he000 ; //             out
mem[12'h064]=16'h0000 ; //             halt
mem[12'h065]=16'h1003 ; //             pushi 3
mem[12'h066]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h067]=16'h208c ; //servoInit_a3_1:  push servoMode1Val
mem[12'h068]=16'h208b ; //             push servoMode1
mem[12'h069]=16'h208a ; //             push servoAddr
mem[12'h06a]=16'h106c ; //             pushi servoInit_a4
mem[12'h06b]=16'h4105 ; //             jmp wi2c1                   
mem[12'h06c]=16'h3094 ; //servoInit_a4:  pop servoInit_RtnCode
mem[12'h06d]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h06e]=16'h5074 ; //             jz servoInit_a4_1
mem[12'h06f]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h070]=16'he000 ; //             out
mem[12'h071]=16'h0000 ; //             halt
mem[12'h072]=16'h1004 ; //             pushi 4
mem[12'h073]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h074]=16'h100f ; //servoInit_a4_1:  pushi 0x000f
mem[12'h075]=16'h1077 ; //             pushi servoInit_a5
mem[12'h076]=16'h40f7 ; //             jmp waitLoop
mem[12'h077]=16'h3094 ; //servoInit_a5:  pop servoInit_RtnCode
mem[12'h078]=16'h208c ; //             push servoMode1Val
mem[12'h079]=16'h10a1 ; //             pushi 0x00a1
mem[12'h07a]=16'hf006 ; //             bor
mem[12'h07b]=16'h208b ; //             push servoMode1
mem[12'h07c]=16'h208a ; //             push servoAddr
mem[12'h07d]=16'h107f ; //             pushi servoInit_a6
mem[12'h07e]=16'h4105 ; //             jmp wi2c1               
mem[12'h07f]=16'h3094 ; //servoInit_a6:  pop servoInit_RtnCode
mem[12'h080]=16'h2094 ; //             push servoInit_RtnCode
mem[12'h081]=16'h5087 ; //             jz servoInit_a6_1
mem[12'h082]=16'h2094 ; //             push servoInit_RtnCode 
mem[12'h083]=16'he000 ; //             out
mem[12'h084]=16'h0000 ; //             halt
mem[12'h085]=16'h1006 ; //             pushi 6
mem[12'h086]=16'h4088 ; //             jmp servoInit_rtn
mem[12'h087]=16'h1000 ; //servoInit_a6_1:  pushi 0
mem[12'h088]=16'h0000 ; //servoInit_rtn:  0x0000 
mem[12'h089]=16'h4000 ; //servoInit_jmp:  0x4000
mem[12'h08a]=16'h0040 ; //servoAddr:  0x0040
mem[12'h08b]=16'h0000 ; //servoMode1:  0x0000
mem[12'h08c]=16'h0000 ; //servoMode1Val:  0x0000
mem[12'h08d]=16'h00fe ; //servoPreScale:  0x00fe 
mem[12'h08e]=16'h0006 ; //servoCh0:  0x0006
mem[12'h08f]=16'h000a ; //servoCh1:  0x000a
mem[12'h090]=16'h0096 ; //servoMin:  0x0096 
mem[12'h091]=16'h0258 ; //servoMax:  0x0258 
mem[12'h092]=16'h0177 ; //servoCen:  0x0177 
mem[12'h093]=16'hff8f ; //servoInitPrescale:  0xff8f 
mem[12'h094]=16'h0000 ; //servoInit_RtnCode:  0x0000
mem[12'h095]=16'h20eb ; //getLight:  push getLight_jmp
mem[12'h096]=16'hf006 ; //             bor
mem[12'h097]=16'h30e7 ; //             pop getLight_rtn
mem[12'h098]=16'h30e9 ; //             pop getLight_valAddr
mem[12'h099]=16'h1003 ; //             pushi 0x03   
mem[12'h09a]=16'h1080 ; //             pushi 0x80   
mem[12'h09b]=16'h20f4 ; //             push lightSensorAddr  
mem[12'h09c]=16'h109e ; //             pushi getLight_a1  
mem[12'h09d]=16'h4105 ; //             jmp wi2c1      
mem[12'h09e]=16'h30ea ; //getLight_a1:  pop getLightRtnCode
mem[12'h09f]=16'h20ea ; //             push getLightRtnCode
mem[12'h0a0]=16'h50a3 ; //             jz getLight_a1_1
mem[12'h0a1]=16'h1001 ; //             pushi 1           
mem[12'h0a2]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0a3]=16'h1000 ; //getLight_a1_1:  pushi 0x00  
mem[12'h0a4]=16'h1081 ; //             pushi 0x81
mem[12'h0a5]=16'h20f4 ; //             push lightSensorAddr
mem[12'h0a6]=16'h10a8 ; //             pushi getLight_a2
mem[12'h0a7]=16'h4105 ; //             jmp wi2c1
mem[12'h0a8]=16'h30ea ; //getLight_a2:  pop getLightRtnCode
mem[12'h0a9]=16'h20ea ; //             push getLightRtnCode
mem[12'h0aa]=16'h50ad ; //             jz getLight_a2_1
mem[12'h0ab]=16'h1002 ; //             pushi 2           
mem[12'h0ac]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0ad]=16'h1000 ; //getLight_a2_1:  pushi 0x00  
mem[12'h0ae]=16'h1086 ; //             pushi 0x86   
mem[12'h0af]=16'h20f4 ; //             push lightSensorAddr 
mem[12'h0b0]=16'h10b2 ; //             pushi getLight_a3
mem[12'h0b1]=16'h4105 ; //             jmp wi2c1
mem[12'h0b2]=16'h30ea ; //getLight_a3:  pop getLightRtnCode
mem[12'h0b3]=16'h20ea ; //             push getLightRtnCode
mem[12'h0b4]=16'h50b7 ; //             jz getLight_a3_1
mem[12'h0b5]=16'h1003 ; //             pushi 3           
mem[12'h0b6]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0b7]=16'h1000 ; //getLight_a3_1:  pushi 0x00 
mem[12'h0b8]=16'h1080 ; //             pushi 0x80
mem[12'h0b9]=16'h20f4 ; //             push lightSensorAddr
mem[12'h0ba]=16'h10bc ; //             pushi getLight_a4
mem[12'h0bb]=16'h4105 ; //             jmp wi2c1
mem[12'h0bc]=16'h30ea ; //getLight_a4:  pop getLightRtnCode
mem[12'h0bd]=16'h20ea ; //             push getLightRtnCode
mem[12'h0be]=16'h50c1 ; //             jz getLight_a4_1
mem[12'h0bf]=16'h1004 ; //             pushi 4           
mem[12'h0c0]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0c1]=16'h1003 ; //getLight_a4_1:  pushi 0x03 
mem[12'h0c2]=16'h1080 ; //             pushi 0x80
mem[12'h0c3]=16'h20f4 ; //             push lightSensorAddr
mem[12'h0c4]=16'h10c6 ; //             pushi getLight_a5
mem[12'h0c5]=16'h4105 ; //             jmp wi2c1
mem[12'h0c6]=16'h30ea ; //getLight_a5:  pop getLightRtnCode
mem[12'h0c7]=16'h20ea ; //             push getLightRtnCode
mem[12'h0c8]=16'h50cb ; //             jz getLight_a5_1
mem[12'h0c9]=16'h1005 ; //             pushi 5           
mem[12'h0ca]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0cb]=16'h10ee ; //getLight_a5_1:  PUSHI lightSensorCh0l  
mem[12'h0cc]=16'h108c ; //             PUSHi 0x8c     
mem[12'h0cd]=16'h20f4 ; //             push lightSensorAddr       
mem[12'h0ce]=16'h10d0 ; //             pushi getLight_a6          
mem[12'h0cf]=16'h4226 ; //             JMP ri2c1    
mem[12'h0d0]=16'h30ea ; //getLight_a6:  pop getLightRtnCode
mem[12'h0d1]=16'h20ea ; //             push getLightRtnCode
mem[12'h0d2]=16'h50d5 ; //             jz getLight_a6_1
mem[12'h0d3]=16'h1006 ; //             pushi 6           
mem[12'h0d4]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0d5]=16'h10ef ; //getLight_a6_1:  PUSHI lightSensorCh0h  
mem[12'h0d6]=16'h108d ; //             PUSHi 0x8d     
mem[12'h0d7]=16'h20f4 ; //             push lightSensorAddr       
mem[12'h0d8]=16'h10da ; //             pushi getLight_a7          
mem[12'h0d9]=16'h4226 ; //             JMP ri2c1    
mem[12'h0da]=16'h30ea ; //getLight_a7:  pop getLightRtnCode
mem[12'h0db]=16'h20ea ; //             push getLightRtnCode
mem[12'h0dc]=16'h50df ; //             jz getLight_a7_1
mem[12'h0dd]=16'h1007 ; //             pushi 7           
mem[12'h0de]=16'h40e7 ; //             jmp getLight_rtn
mem[12'h0df]=16'h20e9 ; //getLight_a7_1:  push getLight_valAddr
mem[12'h0e0]=16'h20ef ; //             push lightSensorCh0h
mem[12'h0e1]=16'h1008 ; //             pushi 0x08
mem[12'h0e2]=16'hf004 ; //             shr
mem[12'h0e3]=16'h20ee ; //             push lightSensorCh0l
mem[12'h0e4]=16'hf006 ; //             bor
mem[12'h0e5]=16'h8000 ; //             st
mem[12'h0e6]=16'h1000 ; //             pushi 0          
mem[12'h0e7]=16'h4000 ; //getLight_rtn:  jmp 0x0000
mem[12'h0e8]=16'h0000 ; //getLight_err:  0x0000
mem[12'h0e9]=16'h0000 ; //getLight_valAddr:  0x0000
mem[12'h0ea]=16'h0000 ; //getLightRtnCode:  0x0000
mem[12'h0eb]=16'h4000 ; //getLight_jmp:  0x4000
mem[12'h0ec]=16'h0000 ; //getLight_rtnval:  0x0000
mem[12'h0ed]=16'h0000 ; //getLight_valAddr:  0x0000 
mem[12'h0ee]=16'h0000 ; //lightSensorCh0l:  0x0000
mem[12'h0ef]=16'h0000 ; //lightSensorCh0h:  0x0000
mem[12'h0f0]=16'h008c ; //lightSensorRC0h:  0x008c   
mem[12'h0f1]=16'h008d ; //lightSensorRC0l:  0x008d
mem[12'h0f2]=16'h008e ; //lightSensorRC1h:  0x008e
mem[12'h0f3]=16'h008f ; //lightSensorRC1l:  0x008f
mem[12'h0f4]=16'h0029 ; //lightSensorAddr:  0x0029   
mem[12'h0f5]=16'h008d ; //lightReadReg:  0x008d   
mem[12'h0f6]=16'h0029 ; //lightAddr:  0x0029   
mem[12'h0f7]=16'h2103 ; //waitLoop:  push waitLoop_jmp
mem[12'h0f8]=16'hf006 ; //             bor
mem[12'h0f9]=16'h3102 ; //             pop waitLoop_rtn
mem[12'h0fa]=16'h3104 ; //             pop waitLoop_times
mem[12'h0fb]=16'h2104 ; //waitLoop_a0:  push waitLoop_times
mem[12'h0fc]=16'h1001 ; //             pushi 1
mem[12'h0fd]=16'hf001 ; //             sub
mem[12'h0fe]=16'h3104 ; //             pop waitLoop_times
mem[12'h0ff]=16'h2104 ; //             push waitLoop_times
mem[12'h100]=16'h60fb ; //             jnz waitLoop_a0
mem[12'h101]=16'h1000 ; //             pushi 0
mem[12'h102]=16'h0000 ; //waitLoop_rtn:  0x0000
mem[12'h103]=16'h4000 ; //waitLoop_jmp:  0x4000
mem[12'h104]=16'h0000 ; //waitLoop_times:  0x000
mem[12'h105]=16'h213f ; //wi2c1:  PUSH wi2c1_jmp    
mem[12'h106]=16'hf006 ; //             BOR               
mem[12'h107]=16'h3138 ; //             POP wi2c1_rtn     
mem[12'h108]=16'h3140 ; //             POP wi2c1_addr    
mem[12'h109]=16'h3141 ; //             pop wi2c1_reg     
mem[12'h10a]=16'h3142 ; //             pop wi2c1_val     
mem[12'h10b]=16'h12f1 ; //             PUSHI i2cStart    
mem[12'h10c]=16'h110e ; //             PUSHI wi2c1_a1    
mem[12'h10d]=16'h42d1 ; //             JMP SubI2C1      
mem[12'h10e]=16'h2140 ; //wi2c1_a1:  push wi2c1_addr
mem[12'h10f]=16'h1001 ; //             pushi 1
mem[12'h110]=16'hf003 ; //             shl                   
mem[12'h111]=16'h1113 ; //             pushi wi2c1_a2
mem[12'h112]=16'h4201 ; //             jmp si2c1
mem[12'h113]=16'h12fe ; //wi2c1_a2:  PUSHI i2cRAck 
mem[12'h114]=16'h1116 ; //             PUSHI wi2c1_a3     
mem[12'h115]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h116]=16'hd000 ; //wi2c1_a3:  in 
mem[12'h117]=16'h1001 ; //             pushi 0x01
mem[12'h118]=16'hf005 ; //             band
mem[12'h119]=16'h511c ; //             jz wi2c1_a3_1
mem[12'h11a]=16'h1001 ; //             pushi 1           
mem[12'h11b]=16'h4139 ; //             jmp wi2c1_err
mem[12'h11c]=16'h2141 ; //wi2c1_a3_1:  push wi2c1_reg
mem[12'h11d]=16'h111f ; //             pushi wi2c1_a4
mem[12'h11e]=16'h4201 ; //             jmp si2c1
mem[12'h11f]=16'h12fe ; //wi2c1_a4:  PUSHI i2cRAck 
mem[12'h120]=16'h1122 ; //             PUSHI wi2c1_a5     
mem[12'h121]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h122]=16'hd000 ; //wi2c1_a5:  in 
mem[12'h123]=16'h1001 ; //             pushi 0x01
mem[12'h124]=16'hf005 ; //             band
mem[12'h125]=16'h5128 ; //             jz wi2c1_a5_1
mem[12'h126]=16'h1002 ; //             pushi 2           
mem[12'h127]=16'h4139 ; //             jmp wi2c1_err
mem[12'h128]=16'h2142 ; //wi2c1_a5_1:  push  wi2c1_val
mem[12'h129]=16'h112b ; //             pushi wi2c1_a6
mem[12'h12a]=16'h4201 ; //             jmp si2c1
mem[12'h12b]=16'h12fe ; //wi2c1_a6:  PUSHI i2cRAck 
mem[12'h12c]=16'h112e ; //             PUSHI wi2c1_a7     
mem[12'h12d]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h12e]=16'hd000 ; //wi2c1_a7:  in 
mem[12'h12f]=16'h1001 ; //             pushi 0x01
mem[12'h130]=16'hf005 ; //             band
mem[12'h131]=16'h5134 ; //             jz wi2c1_a7_1
mem[12'h132]=16'h1003 ; //             pushi 3           
mem[12'h133]=16'h4139 ; //             jmp wi2c1_err
mem[12'h134]=16'h130a ; //wi2c1_a7_1:  PUSHI i2cStop  
mem[12'h135]=16'h1137 ; //             PUSHI wi2c1_a8     
mem[12'h136]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h137]=16'h1000 ; //wi2c1_a8:  pushI 0          
mem[12'h138]=16'h4000 ; //wi2c1_rtn:  jmp 0x000            
mem[12'h139]=16'h3000 ; //wi2c1_err:  pop wi2c1_ercode
mem[12'h13a]=16'h130a ; //             PUSHI i2cStop  
mem[12'h13b]=16'h113d ; //             PUSHI wi2c1_a9     
mem[12'h13c]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h13d]=16'h2000 ; //wi2c1_a9:  push wi2c1_ercode
mem[12'h13e]=16'h4138 ; //             jmp wi2c1_rtn
mem[12'h13f]=16'h4000 ; //wi2c1_jmp:  0x4000
mem[12'h140]=16'h0000 ; //wi2c1_addr:  0x0000
mem[12'h141]=16'h0000 ; //wi2c1_reg:  0x0000
mem[12'h142]=16'h0000 ; //wi2c1_val:  0x0000
mem[12'h143]=16'h0000 ; //wi2c1\ercode:  0x0000
mem[12'h144]=16'h218f ; //wi2c2:  PUSH wi2c2_jmp    
mem[12'h145]=16'hf006 ; //             BOR               
mem[12'h146]=16'h3188 ; //             POP wi2c2_rtn     
mem[12'h147]=16'h3190 ; //             POP wi2c2_addr    
mem[12'h148]=16'h3191 ; //             pop wi2c2_reg     
mem[12'h149]=16'h3192 ; //             pop wi2c2_val     
mem[12'h14a]=16'h12f1 ; //             PUSHI i2cStart    
mem[12'h14b]=16'h114d ; //             PUSHI wi2c2_a1    
mem[12'h14c]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h14d]=16'h2190 ; //wi2c2_a1:  push wi2c2_addr
mem[12'h14e]=16'h1001 ; //             pushi 1
mem[12'h14f]=16'hf003 ; //             shl                   
mem[12'h150]=16'h3000 ; //             pop wi2c2_waddr
mem[12'h151]=16'h1153 ; //             pushi wi2c2_a2
mem[12'h152]=16'h4201 ; //             jmp si2c1
mem[12'h153]=16'h12fe ; //wi2c2_a2:  PUSHI i2cRAck 
mem[12'h154]=16'h1156 ; //             PUSHI wi2c2_a3     
mem[12'h155]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h156]=16'hd000 ; //wi2c2_a3:  in 
mem[12'h157]=16'h1001 ; //             pushi 0x01
mem[12'h158]=16'hf005 ; //             band
mem[12'h159]=16'h515c ; //             jz wi2c2_a3_1
mem[12'h15a]=16'h1001 ; //             pushi 1           
mem[12'h15b]=16'h4189 ; //             jmp wi2c2_err
mem[12'h15c]=16'h2191 ; //wi2c2_a3_1:  push  wi2c2_reg
mem[12'h15d]=16'h115f ; //             pushi wi2c2_a4
mem[12'h15e]=16'h4201 ; //             jmp si2c1
mem[12'h15f]=16'h12fe ; //wi2c2_a4:  PUSHI i2cRAck 
mem[12'h160]=16'h1162 ; //             PUSHI wi2c2_a5     
mem[12'h161]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h162]=16'hd000 ; //wi2c2_a5:  in 
mem[12'h163]=16'h1001 ; //             pushi 0x01
mem[12'h164]=16'hf005 ; //             band
mem[12'h165]=16'h5000 ; //             jz wi2c2_a5_1
mem[12'h166]=16'h1002 ; //             pushi 2           
mem[12'h167]=16'h4189 ; //             jmp wi2c2_err
mem[12'h168]=16'h2192 ; //wi2c_a5_1:  push  wi2c2_val
mem[12'h169]=16'h10ff ; //             pushi 0x00ff
mem[12'h16a]=16'hf005 ; //             band
mem[12'h16b]=16'h116d ; //             pushi wi2c2_a6
mem[12'h16c]=16'h4201 ; //             jmp si2c1
mem[12'h16d]=16'h12fe ; //wi2c2_a6:  PUSHI i2cRAck 
mem[12'h16e]=16'h1170 ; //             PUSHI wi2c2_a7     
mem[12'h16f]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h170]=16'hd000 ; //wi2c2_a7:  in 
mem[12'h171]=16'h1001 ; //             pushi 0x01
mem[12'h172]=16'hf005 ; //             band
mem[12'h173]=16'h5176 ; //             jz wi2c2_a7_1
mem[12'h174]=16'h1003 ; //             pushi 3           
mem[12'h175]=16'h4189 ; //             jmp wi2c2_err
mem[12'h176]=16'h2192 ; //wi2c2_a7_1:  push  wi2c2_val
mem[12'h177]=16'h1008 ; //             pushi 8
mem[12'h178]=16'hf004 ; //             shr
mem[12'h179]=16'h117b ; //             pushi wi2c2_a8
mem[12'h17a]=16'h4201 ; //             jmp si2c1
mem[12'h17b]=16'h12fe ; //wi2c2_a8:  PUSHI i2cRAck 
mem[12'h17c]=16'h117e ; //             PUSHI wi2c2_a9     
mem[12'h17d]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h17e]=16'hd000 ; //wi2c2_a9:  in 
mem[12'h17f]=16'h1001 ; //             pushi 0x01
mem[12'h180]=16'hf005 ; //             band
mem[12'h181]=16'h5184 ; //             jz wi2c2_a9_1
mem[12'h182]=16'h1004 ; //             pushi 4           
mem[12'h183]=16'h4189 ; //             jmp wi2c2_err
mem[12'h184]=16'h130a ; //wi2c2_a9_1:  PUSHI i2cStop  
mem[12'h185]=16'h1187 ; //             PUSHI wi2c2_a10     
mem[12'h186]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h187]=16'h1000 ; //wi2c2_a10:  pushI 0          
mem[12'h188]=16'h4000 ; //wi2c2_rtn:  jmp  0x000           
mem[12'h189]=16'h3193 ; //wi2c2_err:  pop wi2c2_ercode
mem[12'h18a]=16'h130a ; //             PUSHI i2cStop  
mem[12'h18b]=16'h118d ; //             PUSHI wi2c2_a11     
mem[12'h18c]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h18d]=16'h2193 ; //wi2c2_a11:  push wi2c2_ercode
mem[12'h18e]=16'h4188 ; //             jmp wi2c2_rtn
mem[12'h18f]=16'h4000 ; //wi2c2_jmp:  0x4000
mem[12'h190]=16'h0000 ; //wi2c2_addr:  0x0000
mem[12'h191]=16'h0000 ; //wi2c2_reg:  0x0000
mem[12'h192]=16'h0000 ; //wi2c2_val:  0x0000
mem[12'h193]=16'h0000 ; //wi2c2_ercode:  0x0000
mem[12'h194]=16'h21fb ; //wi2c4:  PUSH wi2c4_jmp    
mem[12'h195]=16'hf006 ; //             BOR               
mem[12'h196]=16'h31f4 ; //             POP wi2c4_rtn     
mem[12'h197]=16'h31fc ; //             POP wi2c4_addr    
mem[12'h198]=16'h31fd ; //             pop wi2c4_reg     
mem[12'h199]=16'h31ff ; //             pop wi2c4_val2     
mem[12'h19a]=16'h31fe ; //             pop wi2c4_val1     
mem[12'h19b]=16'h12f1 ; //             PUSHI i2cStart    
mem[12'h19c]=16'h119e ; //             PUSHI wi2c4_a1    
mem[12'h19d]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h19e]=16'h21fc ; //wi2c4_a1:  push wi2c4_addr
mem[12'h19f]=16'h1001 ; //             pushi 1
mem[12'h1a0]=16'hf003 ; //             shl                   
mem[12'h1a1]=16'h11a3 ; //             pushi wi2c4_a2
mem[12'h1a2]=16'h4201 ; //             jmp si2c1
mem[12'h1a3]=16'h12fe ; //wi2c4_a2:  PUSHI i2cRAck 
mem[12'h1a4]=16'h11a6 ; //             PUSHI wi2c4_a3     
mem[12'h1a5]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1a6]=16'hd000 ; //wi2c4_a3:  in 
mem[12'h1a7]=16'h1001 ; //             pushi 0x01
mem[12'h1a8]=16'hf005 ; //             band
mem[12'h1a9]=16'h51ac ; //             jz wi2c4_a3_1
mem[12'h1aa]=16'h1001 ; //             pushi 1           
mem[12'h1ab]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1ac]=16'h21fd ; //wi2c4_a3_1:  push  wi2c4_reg
mem[12'h1ad]=16'h11af ; //             pushi wi2c4_a4
mem[12'h1ae]=16'h4201 ; //             jmp si2c1
mem[12'h1af]=16'h12fe ; //wi2c4_a4:  PUSHI i2cRAck 
mem[12'h1b0]=16'h11b2 ; //             PUSHI wi2c4_a5     
mem[12'h1b1]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1b2]=16'hd000 ; //wi2c4_a5:  in 
mem[12'h1b3]=16'h1001 ; //             pushi 0x01
mem[12'h1b4]=16'hf005 ; //             band
mem[12'h1b5]=16'h51b8 ; //             jz wi2c4_a5_1
mem[12'h1b6]=16'h1002 ; //             pushi 2            
mem[12'h1b7]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1b8]=16'h21fe ; //wi2c4_a5_1:  push  wi2c4_val1
mem[12'h1b9]=16'h10ff ; //             pushi 0x00ff
mem[12'h1ba]=16'hf005 ; //             band
mem[12'h1bb]=16'h11bd ; //             pushi wi2c4_a6
mem[12'h1bc]=16'h4201 ; //             jmp si2c1
mem[12'h1bd]=16'h12fe ; //wi2c4_a6:  PUSHI i2cRAck 
mem[12'h1be]=16'h11c0 ; //             PUSHI wi2c4_a7     
mem[12'h1bf]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1c0]=16'hd000 ; //wi2c4_a7:  in 
mem[12'h1c1]=16'h1001 ; //             pushi 0x01
mem[12'h1c2]=16'hf005 ; //             band
mem[12'h1c3]=16'h51c6 ; //             jz wi2c4_a7_1
mem[12'h1c4]=16'h1003 ; //             pushi 3           
mem[12'h1c5]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1c6]=16'h21fe ; //wi2c4_a7_1:  push  wi2c4_val1
mem[12'h1c7]=16'h1008 ; //             pushi 8
mem[12'h1c8]=16'hf004 ; //             shr
mem[12'h1c9]=16'h11cb ; //             pushi wi2c4_a8
mem[12'h1ca]=16'h4201 ; //             jmp si2c1
mem[12'h1cb]=16'h12fe ; //wi2c4_a8:  PUSHI i2cRAck 
mem[12'h1cc]=16'h11ce ; //             PUSHI wi2c4_a9     
mem[12'h1cd]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1ce]=16'hd000 ; //wi2c4_a9:  in 
mem[12'h1cf]=16'h1001 ; //             pushi 0x01
mem[12'h1d0]=16'hf005 ; //             band
mem[12'h1d1]=16'h51d4 ; //             jz wi2c4_a9_1
mem[12'h1d2]=16'h1004 ; //             pushi 4            
mem[12'h1d3]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1d4]=16'h21ff ; //wi2c4_a9_1:  push  wi2c4_val2
mem[12'h1d5]=16'h10ff ; //             pushi 0x00ff
mem[12'h1d6]=16'hf005 ; //             band
mem[12'h1d7]=16'h11d9 ; //             pushi wi2c4_a10
mem[12'h1d8]=16'h4201 ; //             jmp si2c1
mem[12'h1d9]=16'h12fe ; //wi2c4_a10:  PUSHI i2cRAck 
mem[12'h1da]=16'h11dc ; //             PUSHI wi2c4_a11     
mem[12'h1db]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1dc]=16'hd000 ; //wi2c4_a11:  in 
mem[12'h1dd]=16'h1001 ; //             pushi 0x01
mem[12'h1de]=16'hf005 ; //             band
mem[12'h1df]=16'h51e2 ; //             jz wi2c4_a11_1
mem[12'h1e0]=16'h1005 ; //             pushi 5            
mem[12'h1e1]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1e2]=16'h21ff ; //wi2c4_a11_1:  push  wi2c4_val2
mem[12'h1e3]=16'h1008 ; //             pushi 8
mem[12'h1e4]=16'hf004 ; //             shr
mem[12'h1e5]=16'h11e7 ; //             pushi wi2c4_a12
mem[12'h1e6]=16'h4201 ; //             jmp si2c1
mem[12'h1e7]=16'h12fe ; //wi2c4_a12:  PUSHI i2cRAck 
mem[12'h1e8]=16'h11ea ; //             PUSHI wi2c4_a13     
mem[12'h1e9]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1ea]=16'hd000 ; //wi2c4_a13:  in 
mem[12'h1eb]=16'h1001 ; //             pushi 0x01
mem[12'h1ec]=16'hf005 ; //             band
mem[12'h1ed]=16'h51f0 ; //             jz wi2c4_a13_1
mem[12'h1ee]=16'h1006 ; //             pushi 6            
mem[12'h1ef]=16'h41f5 ; //             jmp wi2c4_err
mem[12'h1f0]=16'h130a ; //wi2c4_a13_1:  PUSHI i2cStop  
mem[12'h1f1]=16'h11f3 ; //             PUSHI wi2c4_a14     
mem[12'h1f2]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1f3]=16'h1000 ; //wi2c4_a14:  pushI 0          
mem[12'h1f4]=16'h4000 ; //wi2c4_rtn:  jmp 0x000            
mem[12'h1f5]=16'h3200 ; //wi2c4_err:  pop wi2c4_ercode
mem[12'h1f6]=16'h130a ; //             PUSHI i2cStop  
mem[12'h1f7]=16'h11f9 ; //             PUSHI wi2c4_a15     
mem[12'h1f8]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h1f9]=16'h2200 ; //wi2c4_a15:  push wi2c4_ercode
mem[12'h1fa]=16'h41f4 ; //             jmp wi2c4_rtn 
mem[12'h1fb]=16'h4000 ; //wi2c4_jmp:  0x4000
mem[12'h1fc]=16'h0000 ; //wi2c4_addr:  0x0000
mem[12'h1fd]=16'h0000 ; //wi2c4_reg:  0x0000
mem[12'h1fe]=16'h0000 ; //wi2c4_val1:  0x0000
mem[12'h1ff]=16'h0000 ; //wi2c4_val2:  0x0000
mem[12'h200]=16'h0000 ; //wi2c4_ercode:  0x0000
mem[12'h201]=16'h2223 ; //si2c1:  PUSH si2c1_jmp    
mem[12'h202]=16'hf006 ; //             BOR               
mem[12'h203]=16'h3222 ; //             POP si2c1_rtn     
mem[12'h204]=16'h3224 ; //             POP si2c1_val
mem[12'h205]=16'h1008 ; //             PUSHI 8
mem[12'h206]=16'h3225 ; //             POP si2c1_i
mem[12'h207]=16'h2224 ; //si2c1_a3:  push si2c1_val
mem[12'h208]=16'h1080 ; //             pushi 0x0080
mem[12'h209]=16'hf005 ; //             band
mem[12'h20a]=16'h6212 ; //             JNZ si2c1_a1
mem[12'h20b]=16'h1000 ; //             pushi 0x0000
mem[12'h20c]=16'he000 ; //             out
mem[12'h20d]=16'h1002 ; //             pushi 0x0002
mem[12'h20e]=16'he000 ; //             out
mem[12'h20f]=16'h1000 ; //             pushi 0x0000
mem[12'h210]=16'he000 ; //             out
mem[12'h211]=16'h4218 ; //             jmp si2c1_a2
mem[12'h212]=16'h1001 ; //si2c1_a1:  pushi 0x0001
mem[12'h213]=16'he000 ; //             out
mem[12'h214]=16'h1003 ; //             pushi 0x0003
mem[12'h215]=16'he000 ; //             out
mem[12'h216]=16'h1001 ; //             pushi 0x0001
mem[12'h217]=16'he000 ; //             out
mem[12'h218]=16'h2224 ; //si2c1_a2:  push si2c1_val
mem[12'h219]=16'h1001 ; //             pushi 1
mem[12'h21a]=16'hf003 ; //             shl
mem[12'h21b]=16'h3224 ; //             pop  si2c1_val
mem[12'h21c]=16'h2225 ; //             push si2c1_i
mem[12'h21d]=16'h1001 ; //             pushi 1
mem[12'h21e]=16'hf001 ; //             sub
mem[12'h21f]=16'h3225 ; //             pop si2c1_i
mem[12'h220]=16'h2225 ; //             push si2c1_i
mem[12'h221]=16'h6207 ; //             jnz si2c1_a3
mem[12'h222]=16'h4000 ; //si2c1_rtn:  jmp 0x000     
mem[12'h223]=16'h4000 ; //si2c1_jmp:  0x4000
mem[12'h224]=16'h0000 ; //si2c1_val:  0x0000
mem[12'h225]=16'h0000 ; //si2c1_i:  0x0000
mem[12'h226]=16'h2270 ; //ri2c1:  PUSH ri2c1_jmp    
mem[12'h227]=16'hf006 ; //             BOR               
mem[12'h228]=16'h3269 ; //             POP ri2c1_rtn     
mem[12'h229]=16'h3271 ; //             POP ri2c1_addr    
mem[12'h22a]=16'h3272 ; //             pop ri2c1_reg     
mem[12'h22b]=16'h3273 ; //             pop ri2c1_raddr   
mem[12'h22c]=16'h12f1 ; //             PUSHI i2cStart    
mem[12'h22d]=16'h122f ; //             PUSHI ri2c1_a1    
mem[12'h22e]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h22f]=16'h2271 ; //ri2c1_a1:  push ri2c1_addr
mem[12'h230]=16'h1001 ; //             pushi 1
mem[12'h231]=16'hf003 ; //             shl                   
mem[12'h232]=16'h1234 ; //             pushi ri2c1_a2
mem[12'h233]=16'h4201 ; //             jmp si2c1
mem[12'h234]=16'h12fe ; //ri2c1_a2:  PUSHI i2cRAck 
mem[12'h235]=16'h1237 ; //             PUSHI ri2c1_a3     
mem[12'h236]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h237]=16'hd000 ; //ri2c1_a3:  in 
mem[12'h238]=16'h1001 ; //             pushi 0x01
mem[12'h239]=16'hf005 ; //             band
mem[12'h23a]=16'h523d ; //             jz ri2c1_a3_1
mem[12'h23b]=16'h1001 ; //             pushi 1           
mem[12'h23c]=16'h426a ; //             jmp ri2c1_err
mem[12'h23d]=16'h2272 ; //ri2c1_a3_1:  push ri2c1_reg
mem[12'h23e]=16'h1240 ; //             pushi ri2c1_a4
mem[12'h23f]=16'h4201 ; //             jmp si2c1
mem[12'h240]=16'h12fe ; //ri2c1_a4:  PUSHI i2cRAck 
mem[12'h241]=16'h1243 ; //             PUSHI ri2c1_a5     
mem[12'h242]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h243]=16'hd000 ; //ri2c1_a5:  in 
mem[12'h244]=16'h1001 ; //             pushi 0x01
mem[12'h245]=16'hf005 ; //             band
mem[12'h246]=16'h5249 ; //             jz ri2c1_a5_1
mem[12'h247]=16'h1002 ; //             pushi 2           
mem[12'h248]=16'h426a ; //             jmp ri2c1_err
mem[12'h249]=16'h12f1 ; //ri2c1_a5_1:  PUSHI i2cStart    
mem[12'h24a]=16'h124c ; //             PUSHI ri2c1_a6    
mem[12'h24b]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h24c]=16'h2271 ; //ri2c1_a6:  push ri2c1_addr
mem[12'h24d]=16'h1001 ; //             pushi 1
mem[12'h24e]=16'hf003 ; //             shl                   
mem[12'h24f]=16'h1001 ; //             pushi 0x0001
mem[12'h250]=16'hf006 ; //             BOR
mem[12'h251]=16'h1253 ; //             pushi ri2c1_a7
mem[12'h252]=16'h4201 ; //             jmp si2c1
mem[12'h253]=16'h12fe ; //ri2c1_a7:  PUSHI i2cRAck 
mem[12'h254]=16'h1256 ; //             PUSHI ri2c1_a8     
mem[12'h255]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h256]=16'hd000 ; //ri2c1_a8:  in 
mem[12'h257]=16'h1001 ; //             pushi 0x01
mem[12'h258]=16'hf005 ; //             band
mem[12'h259]=16'h525c ; //             jz ri2c1_a8_1
mem[12'h25a]=16'h1003 ; //             pushi 3           
mem[12'h25b]=16'h426a ; //             jmp ri2c1_err
mem[12'h25c]=16'h130e ; //ri2c1_a8_1:  pushi i2cRead
mem[12'h25d]=16'h125f ; //             pushi ri2c1_a9
mem[12'h25e]=16'h42d1 ; //             jmp SubI2C1
mem[12'h25f]=16'h2273 ; //ri2c1_a9:  push ri2c1_raddr
mem[12'h260]=16'hd000 ; //             in
mem[12'h261]=16'h8000 ; //             st 
mem[12'h262]=16'h1306 ; //             PUSHI i2cNAck 
mem[12'h263]=16'h1265 ; //             PUSHI ri2c1_a10     
mem[12'h264]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h265]=16'h130a ; //ri2c1_a10:  PUSHI i2cStop  
mem[12'h266]=16'h1268 ; //             PUSHI ri2c1_a11     
mem[12'h267]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h268]=16'h1000 ; //ri2c1_a11:  pushI 0          
mem[12'h269]=16'h4000 ; //ri2c1_rtn:  jmp  0x000           
mem[12'h26a]=16'h3274 ; //ri2c1_err:  pop ri2c1_ercode
mem[12'h26b]=16'h130a ; //             PUSHI i2cStop  
mem[12'h26c]=16'h126e ; //             PUSHI ri2c1_a12     
mem[12'h26d]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h26e]=16'h2274 ; //ri2c1_a12:  push ri2c1_ercode
mem[12'h26f]=16'h4269 ; //             jmp ri2c1_rtn 
mem[12'h270]=16'h4000 ; //ri2c1_jmp:  0x4000
mem[12'h271]=16'h0000 ; //ri2c1_addr:  0x0000
mem[12'h272]=16'h0000 ; //ri2c1_reg:  0x0000
mem[12'h273]=16'h0000 ; //ri2c1_raddr:  0x0000
mem[12'h274]=16'h0000 ; //ri2c1_ercode:  0x0000
mem[12'h275]=16'h22cb ; //ri2c2:  PUSH ri2c2_jmp    
mem[12'h276]=16'hf006 ; //             BOR               
mem[12'h277]=16'h32c4 ; //             POP ri2c2_rtn     
mem[12'h278]=16'h32cc ; //             POP ri2c2_addr    
mem[12'h279]=16'h32cd ; //             pop ri2c2_reg     
mem[12'h27a]=16'h32ce ; //             pop ri2c2_raddr   
mem[12'h27b]=16'h12f1 ; //             PUSHI i2cStart    
mem[12'h27c]=16'h127e ; //             PUSHI ri2c2_a1    
mem[12'h27d]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h27e]=16'h22cc ; //ri2c2_a1:  push ri2c2_addr
mem[12'h27f]=16'h1001 ; //             pushi 1
mem[12'h280]=16'hf003 ; //             shl                   
mem[12'h281]=16'h1283 ; //             pushi ri2c2_a2
mem[12'h282]=16'h4201 ; //             jmp si2c1
mem[12'h283]=16'h12fe ; //ri2c2_a2:  PUSHI i2cRAck 
mem[12'h284]=16'h1286 ; //             PUSHI ri2c2_a3     
mem[12'h285]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h286]=16'hd000 ; //ri2c2_a3:  in 
mem[12'h287]=16'h1001 ; //             pushi 0x01
mem[12'h288]=16'hf005 ; //             band
mem[12'h289]=16'h528c ; //             jz ri2c2_a3_1
mem[12'h28a]=16'h1001 ; //             pushi 1           
mem[12'h28b]=16'h42c5 ; //             jmp ri2c2_err
mem[12'h28c]=16'h22cd ; //ri2c2_a3_1:  push ri2c2_reg
mem[12'h28d]=16'h128f ; //             pushi ri2c2_a4
mem[12'h28e]=16'h4201 ; //             jmp si2c1
mem[12'h28f]=16'h12fe ; //ri2c2_a4:  PUSHI i2cRAck 
mem[12'h290]=16'h1292 ; //             PUSHI ri2c2_a5     
mem[12'h291]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h292]=16'hd000 ; //ri2c2_a5:  in 
mem[12'h293]=16'h1001 ; //             pushi 0x01
mem[12'h294]=16'hf005 ; //             band
mem[12'h295]=16'h5298 ; //             jz ri2c2_a5_1
mem[12'h296]=16'h1002 ; //             pushi 2           
mem[12'h297]=16'h42c5 ; //             jmp ri2c2_err
mem[12'h298]=16'h12f1 ; //ri2c2_a5_1:  PUSHI i2cStart    
mem[12'h299]=16'h129b ; //             PUSHI ri2c2_a6    
mem[12'h29a]=16'h42d1 ; //             JMP　SubI2C1       
mem[12'h29b]=16'h22cc ; //ri2c2_a6:  push ri2c2_addr
mem[12'h29c]=16'h1001 ; //             pushi 1
mem[12'h29d]=16'hf003 ; //             shl                   
mem[12'h29e]=16'h1001 ; //             pushi 0x0001
mem[12'h29f]=16'hf006 ; //             BOR
mem[12'h2a0]=16'h12a2 ; //             pushi ri2c2_a7
mem[12'h2a1]=16'h4201 ; //             jmp si2c1
mem[12'h2a2]=16'h12fe ; //ri2c2_a7:  PUSHI i2cRAck 
mem[12'h2a3]=16'h12a5 ; //             PUSHI ri2c2_a8     
mem[12'h2a4]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h2a5]=16'hd000 ; //ri2c2_a8:  in 
mem[12'h2a6]=16'h1001 ; //             pushi 0x01
mem[12'h2a7]=16'hf005 ; //             band
mem[12'h2a8]=16'h52ab ; //             jz ri2c2_a8_1
mem[12'h2a9]=16'h1003 ; //             pushi 3           
mem[12'h2aa]=16'h42c5 ; //             jmp ri2c2_err
mem[12'h2ab]=16'h130e ; //ri2c2_a8_1:  pushi i2cRead
mem[12'h2ac]=16'h12ae ; //             pushi ri2c2_l9
mem[12'h2ad]=16'h42d1 ; //             jmp SubI2C1
mem[12'h2ae]=16'hd000 ; //ri2c2_l9:  in
mem[12'h2af]=16'h1008 ; //             pushi 8
mem[12'h2b0]=16'hf003 ; //             shl
mem[12'h2b1]=16'h32cf ; //             pop ri2c2_val1
mem[12'h2b2]=16'h1302 ; //             PUSHI i2cWAck 
mem[12'h2b3]=16'h12b5 ; //             PUSHI ri2c2_a10     
mem[12'h2b4]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h2b5]=16'h130e ; //ri2c2_a10:  pushi i2cRead
mem[12'h2b6]=16'h12b8 ; //             pushi ri2c2_a11
mem[12'h2b7]=16'h42d1 ; //             jmp SubI2C1
mem[12'h2b8]=16'h22ce ; //ri2c2_a11:  push ri2c2_raddr
mem[12'h2b9]=16'hd000 ; //             in
mem[12'h2ba]=16'h22cf ; //             push ri2c2_val1
mem[12'h2bb]=16'hf006 ; //             bor
mem[12'h2bc]=16'h8000 ; //             st 
mem[12'h2bd]=16'h1306 ; //             PUSHI i2cNAck 
mem[12'h2be]=16'h12c0 ; //             PUSHI ri2c2_a12     
mem[12'h2bf]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h2c0]=16'h130a ; //ri2c2_a12:  PUSHI i2cStop  
mem[12'h2c1]=16'h12c3 ; //             PUSHI ri2c2_a13     
mem[12'h2c2]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h2c3]=16'h1000 ; //ri2c2_a13:  pushI 0   
mem[12'h2c4]=16'h4000 ; //ri2c2_rtn:  jmp  0x000           
mem[12'h2c5]=16'h32d0 ; //ri2c2_err:  pop ri2c2_ercode
mem[12'h2c6]=16'h130a ; //             PUSHI i2cStop  
mem[12'h2c7]=16'h12c9 ; //             PUSHI ri2c2_a14     
mem[12'h2c8]=16'h42d1 ; //             JMP SubI2C1    
mem[12'h2c9]=16'h22d0 ; //ri2c2_a14:  push ri2c2_ercode
mem[12'h2ca]=16'h42c4 ; //             jmp ri2c2_rtn  
mem[12'h2cb]=16'h4000 ; //ri2c2_jmp:  0x4000
mem[12'h2cc]=16'h0000 ; //ri2c2_addr:  0x0000
mem[12'h2cd]=16'h0000 ; //ri2c2_reg:  0x0000
mem[12'h2ce]=16'h0000 ; //ri2c2_raddr:  0x0000
mem[12'h2cf]=16'h0000 ; //ri2c2_val1:  0x0000
mem[12'h2d0]=16'h0000 ; //ri2c2_ercode:  0x0000
mem[12'h2d1]=16'h22ec ; //SubI2C1:  PUSH LblJMP    
mem[12'h2d2]=16'hf006 ; //             BOR            
mem[12'h2d3]=16'h32eb ; //             POP RtnSub1    
mem[12'h2d4]=16'h32ed ; //             POP Sub1Data2  
mem[12'h2d5]=16'h22ed ; //             PUSH Sub1Data2
mem[12'h2d6]=16'h7000 ; //             LD
mem[12'h2d7]=16'h32f0 ; //             POP N
mem[12'h2d8]=16'h22ed ; //             PUSH Sub1Data2
mem[12'h2d9]=16'h1001 ; //             PUSHI 1
mem[12'h2da]=16'hf000 ; //             ADD
mem[12'h2db]=16'h32ee ; //             POP Sub1SA
mem[12'h2dc]=16'h1000 ; //             PUSHI 0
mem[12'h2dd]=16'h32ef ; //             POP i
mem[12'h2de]=16'h22ef ; //L1:  PUSH i
mem[12'h2df]=16'h22ee ; //             PUSH Sub1SA
mem[12'h2e0]=16'hf000 ; //             ADD
mem[12'h2e1]=16'h7000 ; //             LD     
mem[12'h2e2]=16'he000 ; //             OUT    
mem[12'h2e3]=16'h22ef ; //             PUSH i
mem[12'h2e4]=16'h1001 ; //             PUSHI 1     
mem[12'h2e5]=16'hf000 ; //             ADD
mem[12'h2e6]=16'h32ef ; //             POP i
mem[12'h2e7]=16'h22ef ; //             PUSH i
mem[12'h2e8]=16'h22f0 ; //             PUSH N
mem[12'h2e9]=16'hf001 ; //             SUB
mem[12'h2ea]=16'h62de ; //             JNZ L1  
mem[12'h2eb]=16'h4000 ; //RtnSub1:  JMP 0x000           
mem[12'h2ec]=16'h4000 ; //LblJMP:  0x4000
mem[12'h2ed]=16'h0000 ; //Sub1Data2:  0x0000
mem[12'h2ee]=16'h0000 ; //Sub1SA:  0x0000
mem[12'h2ef]=16'h0000 ; //i:  0x0000
mem[12'h2f0]=16'h0000 ; //N:  0x0000
mem[12'h2f1]=16'h0003 ; //i2cStart:  3
mem[12'h2f2]=16'h0001 ; //             1 
mem[12'h2f3]=16'h0003 ; //             3 
mem[12'h2f4]=16'h0002 ; //             2 
mem[12'h2f5]=16'h0000 ; //             0 
mem[12'h2f6]=16'h0003 ; //i2cAddrW:  3
mem[12'h2f7]=16'h0000 ; //             0 
mem[12'h2f8]=16'h0002 ; //             2 
mem[12'h2f9]=16'h0000 ; //             0 
mem[12'h2fa]=16'h0003 ; //i2cAddrR:  3
mem[12'h2fb]=16'h0001 ; //             1   
mem[12'h2fc]=16'h0003 ; //             3   
mem[12'h2fd]=16'h0001 ; //             1   
mem[12'h2fe]=16'h0003 ; //i2cRAck:  3
mem[12'h2ff]=16'h0001 ; //             1   
mem[12'h300]=16'h0003 ; //             3   
mem[12'h301]=16'h0001 ; //             1   
mem[12'h302]=16'h0003 ; //i2cWAck:  3
mem[12'h303]=16'h0000 ; //             0  
mem[12'h304]=16'h0002 ; //             2  
mem[12'h305]=16'h0000 ; //             0  
mem[12'h306]=16'h0003 ; //i2cNAck:  3
mem[12'h307]=16'h0001 ; //             1  
mem[12'h308]=16'h0003 ; //             3  
mem[12'h309]=16'h0001 ; //             1  
mem[12'h30a]=16'h0003 ; //i2cStop:  3
mem[12'h30b]=16'h0002 ; //             2  
mem[12'h30c]=16'h0003 ; //             3  
mem[12'h30d]=16'h0003 ; //             3  
mem[12'h30e]=16'h0011 ; //i2cRead:  0x0011
mem[12'h30f]=16'h0001 ; //             1  
mem[12'h310]=16'h0003 ; //             3  
mem[12'h311]=16'h0001 ; //             1  
mem[12'h312]=16'h0003 ; //             3  
mem[12'h313]=16'h0001 ; //             1  
mem[12'h314]=16'h0003 ; //             3  
mem[12'h315]=16'h0001 ; //             1  
mem[12'h316]=16'h0003 ; //             3  
mem[12'h317]=16'h0001 ; //             1  
mem[12'h318]=16'h0003 ; //             3  
mem[12'h319]=16'h0001 ; //             1  
mem[12'h31a]=16'h0003 ; //             3  
mem[12'h31b]=16'h0001 ; //             1  
mem[12'h31c]=16'h0003 ; //             3  
mem[12'h31d]=16'h0001 ; //             1  
mem[12'h31e]=16'h0003 ; //             3  
mem[12'h31f]=16'h0001 ; //             1  

end
endmodule

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光センサの値でサーボモータを制御 のバックアップ(No.4)

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光センサの値でサーボモータを制御のバックアップ(No.4)