Operations

This category consists of execution related instructions such as sequential and conditional branching. Down counting timer and delay insertion are also included in this category.

0x00 Nop

Do nothing, program counter moves on to next line.

tip

Instruction 0x00 can be used as line-skipper. Leaving empty lines could be helpful for later use.

INST_NOP	HEX	OP-0	OP-1
Do nothing	00	0000	0000

info

OP/sOP	Value/Range	Remark
OP-0	0000	Ignored
OP-1	0000	Ignored

0x01 Set Digital Output Pins

Send a specific value to digital output pins, setting them to HIGH or to LOW.

The on-board mono colour LEDs are indicators of the output pins, a HIGH turns the corresponding LED on, a LOW turns it off.

tip

Digital output pins are typically used to drive electronic modules such as motor driver, power relay and so on.

caution

Some digital output pins may be occupied by specific modules or become not available as digital output pins when ultrasonic distance detector or MIDI player functions are enabled.

warning

Digital output pins can not afford high power load such as motors, they work on logic level only.

INST_DIGITAL_OUTPUT	HEX	sOP00	sOP01	sOP10	sOP11
Set DO0 to HIGH	01	00	00	00	01
Set DO3-DO0 with HIGH, LOW, LOW, HIGH	01	00	FF	00	09

Notice in the second example the 4 digital output pins are set to b1001 in consistent of the desired HIGH, LOW, LOW, HIGH:

$$(1001)_{2}=2^{3}+2^{0}=9\cdot16^{0}=(09)_{16}$$

There for sOP11 should be 0x09.

Set one digital output pin

OP/sOP	Value	Remark
sOP00	00	Ignored
sOP01	00~03	Select output pin LED0~LED3 (DO0~DO3)
sOP10	00	Ignored
sOP11	00	Set digital output HIGH
	01	Set digital output LOW

Set all digital output pins

OP/sOP	Value	Remark
sOP00	00	Ignored
sOP01	FF	Use bitwise digital output configuration
sOP10	00	Ignored
sOP11	00~0F	Corresponding hexadecimal value for digital output pins

0x02 Set Delay

Set a delay to hold the program counter for a moment before pointing to the next line.

tip

The length of delay can be set by literal value or by a value stored in a register.

INST_PROG_DELAY	HEX	OP-0	sOP10	sOP11
Delay 1000 ms	02	03E8	00	00
Delay R01 ms	02	0001	FF	00

Delay based on literal value

OP/sOP	Value	Remark
OP-0	0000~FFFF	Value for the delay
sOP10	00	Using literal value
sOP11	00	Unit: millisecond
	01	Unit: second
	02	Unit: Minute

Delay based on value stored in a register

OP/sOP	Value	Remark
OP-0	0000~003F	Register Index
sOP10	FF	Using value in registers
sOP11	00	Unit: millisecond
	01	Unit: second
	02	Unit: Minute

0x03 Set Timer

Set a down counter as timer, the length is determined by a literal value or a register value, plus the unit specified in opcode. Register R23 is set to 0001; when the down counting is done, R23 is reset to 0000, indicating that the down counting reaches the end.

tip

Setting timer does not change the program counter and the execution order of lines.

caution

Down counter register R23 can be used as a regular user register, it's value will be overwritten when setting the timer or at time out.

INST_SET_TIMER	HEX	OP-0	OP-1
Set a 5000 ms timer	03	1388	0000
Set a 10 s timer	03	000A	0001

info

OP/sOP	Value/Range	Remarks
OP-0	0000~FFFF	Down counting value
OP-1	0000	Unit: millisecond
	0001	Unit: second
	0002	Unit: minute

0x04 Conditional Jump: Greater than Literal Value

If value stored in register R00 is greater than the given literal, jump to target line, otherwise continue running to the next line.

INST_JUMP_IF_REG0_GR	HEX	OP-0	OP-1
If value in R00 is greater than 00FF，jump to line 01C0	04	00FF	01C0

info

OP/sOP	Value/Range	Remarks
OP-0	0000~FFFF	Input values
OP-1	0000~01FF	Target line

0x05 Conditional Jump: Less than Literal Value

If value stored in register R00 is less than the given literal, jump to target line, otherwise continue running to the next line.

INST_JUMP_IF_REG0_LS	HEX	OP-0	OP-1
If value in R00 is less than 00EA，jump to line 01C5	05	00EA	01C5

info

OP/sOP	Value/Range	Remarks
OP-0	0000~FFFF	Input values
OP-1	0000~01FF	Target line

0x06 Conditional Jump: Equals to Literal Value

If value stored in register R00 is equal to the given literal, jump to target line, otherwise continue running to the next line.

INST_JUMP_IF_REG0_EQ	HEX	OP-0	OP-1
If value in R00 is equal to 00EC，jump to line 0027	06	00EC	0027

info

OP/sOP	Value/Range	Remarks
OP-0	0000~FFFF	Input values
OP-1	0000~01FF	Target line

0x07 Conditional Jump: Greater than Register Value

If value stored in register R00 is greater than that in a selected register, jump to target line, otherwise continue running to the next line.

INST_REG0_REGx_JIGR	HEX	sOP00	sOP01	OP-1
If value in R00 is greater than that in R05，jump to line 0010	07	00	05	0010

info

OP/sOP	Value/Range	Remarks
sOP00	00	Ignored
sOP01	00~3F	Register Index
OP-1	0000~01FF	Target line

0x08 Conditional Jump: Less than Register Value

If value stored in register R00 is less than that in a selected register, jump to target line, otherwise continue running to the next line.

INST_REG0_REGx_JILS	HEX	sOP00	sOP01	OP-1
If value in R00 is less than that in R05，jump to line 0020	08	00	05	0020

info

OP/sOP	Value/Range	Remarks
sOP00	00	Ignored
sOP01	00~3F	Register Index
OP-1	0000~01FF	Target line

0x09 Conditional Jump: Equals to Register Value

If value stored in register R00 is equal to that in a selected register, jump to target line, otherwise continue running to the next line.

INST_REG0_REGx_JIEQ	HEX	sOP00	sOP01	OP-1
If value in R00 is equal to that in R05，jump to line 0030	09	00	05	0030

info

OP/sOP	Value/Range	Remarks
sOP00	00	Ignored
sOP01	00~3F	Register Index
OP-1	0000~FFFF	Target line

0x0A Advanced Conditional Jump: Register Comparison

Compare the value stored in register R00 with that in a selected register, giving a judge condition, if the equality/inequality establishes, jump to target line, otherwise continue running to the next line.

INST_JUMP_CONDITION	HEX	sOP00	sOP01	OP-1
If value in R00 is not equal to that in R05，jump to line 0030	0A	02	05	0030
If value in R00 is greater than that in R05，jump to line 0040	0A	05	05	0040
If value in R05 is zero，jump to line 0050	0A	07	05	0050

info

OP/sOP	Value/Range	Remarks
sOP00	01	judge：=
	02	judge：≠
	03	judge：>
	04	judge：<
	05	judge：≥
	06	judge：≤
	07	judge：is zero
	08	judge：is not zero
sOP01	00~3F	Register Index
OP-1	0000~01FF	Target line

0x0B Advanced Conditional Jump: Digital Input

The digital input signals on DI0-DI3 determines a line jump action.

INST_JUMP_IF_PORT	HEX	sOP00	sOP01	OP-1
If DI3 is HIGH，jump to line 0030	0B	03	01	0030
If the four digital inputs are b1101，jump to line 0050	0B	FF	0D	0050

In the second example, binary value 1101 is converted to hexadecimal for comarison：

$$(1101)_{2}=2^{3}+2^{2}+2^{0}=13\cdot16^{0}=(0D)_{16}$$

Therefore sOP01 is 0D.

Check one digital input pin

OP/sOP	Value/Range	Remarks
sOP00	00~03	Pin DIN0~DIN3
sOP01	00	Input signal is a LOW
	01	Input signal is a HIGH
OP-1	0000~01FF	Target line

Check all digital input pins

OP/sOP	Value/Range	Remarks
sOP00	FF	All digital input pins
sOP01	00~0F	hexadecimal value corresponding to the four input pins
OP-1	0000~01FF	Target line

0x0C Call: Jump to A Subroutine

The call instruction interrupts the flow of a program and jump to a target subroutine. A return instruction is needed to go back to the interrupted position.

tip

Multi-level Call+Return is supported.

caution

The target subroutine must contain a 0D instruction to return to the interrupted position to continue.

INST_ROUTINE	HEX	OP-0	OP-1
Call subroutine at line 0080	0C	0080	0000

info

OP/sOP	Value/Range	Remarks
OP-0	0000~01FF	Target line
OP-1	0000	Ignored

0x0D Return: Back from a Subroutine

Leave the current subroutine and return to the previous interrupted position where a 0C was called, and continue with the next line.

caution

This instruction must be used together with 0C

INST_RETURN	HEX	OP-0	OP-1
Return to the previous interrupted position	0D	0000	0000

info

OP/sOP	Value/Range	Remarks
OP-0	0000	Ignored
OP-1	0000	Ignored

0x0E Unconditional Jump

Jump to target line without any condition.

INST_JUMP_TO	HEX	OP-0	OP-1
Jump to line 0010	0E	0000	0010

info

OP/sOP	Value/Range	Remarks
OP-0	0000	Ignored
OP-1	0000~01FF	Target line

0x0F Program Termination

Terminate the program and stop.

caution

If there is not a 0F instruction in the program, it will run till 0x1FF.

INST_TERMINATE	HEX	OP-0	OP-1
Stop running the program	0F	0000	0000

info

OP/sOP	Value/Range	Remarks
OP-0	0000	Ignored
OP-1	0000	Ignored