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bot11.s
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.data
# syscall constants
PRINT_STRING = 4
PRINT_CHAR = 11
PRINT_INT = 1
# memory-mapped I/O
VELOCITY = 0xffff0010
ANGLE = 0xffff0014
ANGLE_CONTROL = 0xffff0018
BOT_X = 0xffff0020
BOT_Y = 0xffff0024
TIMER = 0xffff001c
REQUEST_PUZZLE = 0xffff00d0 ## Puzzle
SUBMIT_SOLUTION = 0xffff00d4 ## Puzzle
BONK_INT_MASK = 0x1000
BONK_ACK = 0xffff0060
TIMER_INT_MASK = 0x8000
TIMER_ACK = 0xffff006c
REQUEST_PUZZLE_INT_MASK = 0x800 ## Puzzle
REQUEST_PUZZLE_ACK = 0xffff00d8 ## Puzzle
PICKUP = 0xffff00f4
SPAWN_MINIBOT = 0xffff00dc
BUILD_SILO = 0xffff2000
SELECT_IDLE = 0xffff00e4
SET_TARGET = 0xffff00e8
GET_KERNEL_LOCATIONS = 0xffff200c
SELECT_ID = 0xffff2004
GET_MINIBOT = 0xffff2014
GET_MAP = 0xffff00f0
PUZZLE_CNT = 0xffff2008
# Add any MMIO that you need here (see the Spimbot Documentation)
TSHLD = 5
CTR_LEFT = 14
CTR_TOP = 7
L_LEFT = 2
L_TOP = 20
R_LEFT = 29
R_TOP = 5
### Puzzle
GRIDSIZE = 16
signal: .word 0
has_puzzle: .word 0
puzzle_cnt: .word 1
finishing: .word 0
anchor: .word -1
oppo_puzzle: .word 0:3
puzzle: .half 0:2000
heap: .half 0:2000
location: .byte 0:1700
minibot: .word 0:30
atk_flag: .word 0
test_loc: .word 0
silo_built: .word 0
#### Puzzle
BNK_AGL: .word 45
three: .float 3.0
five: .float 5.0
PI: .float 3.141592
F180: .float 180.0
.text
main:
# Construct interrupt mask
li $t4, 0
or $t4, $t4, REQUEST_PUZZLE_INT_MASK # puzzle interrupt bit
or $t4, $t4, TIMER_INT_MASK # timer interrupt bit
or $t4, $t4, BONK_INT_MASK # timer interrupt bit
or $t4, $t4, 1 # global enable
mtc0 $t4, $12
#Fill in your code here
la $t0, puzzle
sw $t0, REQUEST_PUZZLE
j center_main
main_dispatch:
lw $t0, TIMER
bgt $t0, 9000000, finish
lw $t0, signal
beq $t0, 1 mission_solve6
beq $t0, 0 mission_move_main
finish:
li $t0, 1
sw $t0, finishing
lw $t0, BOT_X
lw $t1, BOT_Y
bgt $t0, 160, bottom_right
lw $t0, signal
blt $t0, 2, ftl_skip
bne $t0, 2, ftl_skip2
jal transfer_l2m
j ftl_skip
ftl_skip2:
jal transfer_r2m
ftl_skip:
top_left:
li $a0, 14
li $a1, 14
jal move_main
li $a0, 12
li $a1, 13
jal move_main
li $a0, 11
li $a1, 10
jal move_main
li $a0, 5
li $a1, 9
jal move_main
li $a0, 8
li $a1, 7
jal move_main
li $a0, 5
li $a1, 11
jal move_main
li $a0, 7
li $a1, 15
jal move_main
j top_left
bottom_right:
li $s6 0
li $s8 0
li $s7 0
fbr_get_loop:
beq $s6, 10, fbr_out
jal fin_left_target
move $a0 $s8
move $a1 $s7
jal move_main
addi $s6 $s6 1
j fbr_get_loop
fbr_out:
j bottom_right
j finish
fin_left_target:
la $t9 location
sw $t9 GET_KERNEL_LOCATIONS($0)
#ensure safety
li $t5 13 #right bound
li $t6 20 #bottom bound
bge $s7 $t6 skipv0resetfl
li $s7 0
skipv0resetfl:
bge $s8 $t5 skipv1resetfl
li $s8 0
skipv1resetfl:
li $t6 40
addi $t9 $t9 4
mt_outerfl:
bge $s7 20 mt_outer_exitfl
mt_innerfl:
bge $s8 13 mt_inner_exitfl
mul $t8 $t6 $s7
add $t8 $t8 $s8
add $t8 $t8 $t9
lb $t8 0($t8)
blt $t8, TSHLD mt_next_locfl
jr $ra
mt_next_locfl:
addi $s8 $s8 1
j mt_innerfl
mt_inner_exitfl:
li $s8 0
addi $s7 $s7 1
j mt_outerfl
mt_outer_exitfl:
li $s7 0
jr $ra
# right_target:
# la $t9 location
# sw $t9 GET_KERNEL_LOCATIONS($0)
# #ensure safety
# li $t5 37 #right bound
# li $t6 17
# bge $s7 $t6 skipv0reset
# li $s7 R_TOP
# skipv0reset2:
# bge $s8 $t5 skipv1reset
# li $s8 R_LEFT
# skipv1reset2:
# li $t6 40
# addi $t9 $t9 4
# mt_outer2:
# bge $s7 17 mt_outer_exit2
# mt_inner2:
# bge $s8 37 mt_inner_exit2
# mul $t8 $t6 $s7
# add $t8 $t8 $s8
# add $t8 $t8 $t9
# lb $t8 0($t8)
# blt $t8, TSHLD mt_next_loc2
# jr $ra
# mt_next_loc2:
# addi $s8 $s8 1
# j mt_inner2
# mt_inner_exit2:
# li $s8 R_LEFT
# addi $s7 $s7 1
# j mt_outer2
# mt_outer_exit2:
# li $s7 R_TOP
# jr $ra
mission_solve6:
lw $t0, TIMER
addi $t0 $t0 10
sw $t0, TIMER
la $t0, minibot
sw $t0, GET_MINIBOT
lw $t0, minibot
bne $t0, $0, main_dispatch
la $t0, oppo_puzzle
sw $t0, PUZZLE_CNT
lw $t0 4($t0) ##oppo_puzzle
bgt $t0, 3, need_solve
jal get_oppo_silo
lw $t0, atk_flag
beq $t0, 1, need_solve
j main_dispatch
need_solve:
lw $s0, puzzle_cnt
puzzle_loop:
beq $s0 $0 out_puzzle_loop ## when solved 4 puzzles go collect
la $t1 has_puzzle
la $a0 puzzle
la $a1 heap
li $a2 0
li $a3 0
while:
lw $t2 0($t1)
bne $0 $t2 start_solving
j while
start_solving:
jal slow_solve_dominosa
la $a0 puzzle
sw $a0 REQUEST_PUZZLE
la $a1 heap
sw $a1 SUBMIT_SOLUTION
sw $0 has_puzzle
addi $s0 $s0 -1
j puzzle_loop
out_puzzle_loop:
li $t0 1
sw $t0, SPAWN_MINIBOT
jal get_oppo_silo
lw $t0, atk_flag
beq $t0, 0, non_atk
la $t0, minibot
sw $t0, GET_MINIBOT
lw $t1, minibot
beq $t1, 0, non_atk
lw $t0, 4($t0)
sw $t0, SELECT_ID
lw $t0, test_loc
sw $t0, SET_TARGET
non_atk:
j main_dispatch
center_main:
## moves the bot to the center of the map
lw $t0 BOT_X($0)
blt $t0 160 upper_start
li $t1 225
j start_end
upper_start:
li $t1 45
start_end:
sw $t1 ANGLE($0)
li $t1 1
sw $t1 ANGLE_CONTROL($0)
li $a0 20
li $a1 20
jal dist
li $t0 10
sw $t0 VELOCITY($0)
move $a0 $v0
li $t8 8
mul $a0 $a0 $t8
jal stop_timer ## move to 20 18?
j main_dispatch
mission_move_main:
lw $t8, TIMER
li $t9 100
add $t8 $t8 $t9
sw $t8, TIMER
get_more:
lw $t0, anchor
beq $t0, 0, middle_get
beq $t0, 1, middle_get1
beq $t0, 2, left_get
beq $t0, 3, right_get
middle_get:
li $s6 0
li $s8 CTR_LEFT
li $s7 CTR_TOP
middle_get_loop:
beq $s6, 10, middle_out
jal main_target
bne $s8, CTR_LEFT, valid_t
bne $s7, CTR_TOP, valid_t
j middle_out
valid_t:
move $a0 $s8
move $a1 $s7
jal move_main
addi $s6 $s6 1
j middle_get_loop
middle_out:
jal transfer_m2l
li $t0, 2
sw $t0, anchor
j get_out
middle_get1:
li $s6 0
li $s8 CTR_LEFT
li $s7 CTR_TOP
middle_get_loop1:
beq $s6, 10, middle_out1
jal main_target
bne $s8, CTR_LEFT, valid_t1
bne $s7, CTR_TOP, valid_t1
j middle_out1
valid_t1:
move $a0 $s8
move $a1 $s7
jal move_main
addi $s6 $s6 1
j middle_get_loop1
middle_out1:
jal transfer_m2r
li $t0, 3
sw $t0, anchor
j get_out
left_get:
li $s8 L_LEFT
li $s7 L_TOP
li $s6 0
left_get_loop:
beq $s6, 10, left_out
jal left_target
bne $s8, L_LEFT, valid_t2
bne $s7, L_TOP, valid_t2
j left_out
valid_t2:
move $a0 $s8
move $a1 $s7
jal move_main
addi $s6 $s6 1
j left_get_loop
left_out:
jal transfer_l2m
li $t0, 1
sw $t0, anchor
j get_out
right_get:
li $s8 R_LEFT
li $s7 R_TOP
li $s6 0
right_get_loop:
beq $s6, 10, right_out
jal right_target
bne $s8, R_LEFT, valid_t3
bne $s7, R_TOP, valid_t3
j right_out
valid_t3:
move $a0 $s8
move $a1 $s7
jal move_main
addi $s6 $s6 1
j right_get_loop
right_out:
jal transfer_r2m
li $t0, 0
sw $t0, anchor
j get_out
get_out:
lw $t8 signal
bne $t8, 0, main_dispatch
j get_more
#test_field:
# lw $t8, TIMER
# li $t9 10000
# add $t8 $t8 $t9
# sw $t8, TIMER
#your code
# lw $t0, puzzle_cnt
# beq $t0, 4, enter_move_again
# sub $sp, $sp, 4
# sw $ra, 0($sp)
# li $t0, 1
# sw $t0, SPAWN_MINIBOT
# sw $t0, SPAWN_MINIBOT
# sw $t0, SPAWN_MINIBOT
#
# li $t0, 0x1a06
# sw $t0, SELECT_IDLE
# sw $t0, SET_TARGET
# li $a0, 56
# jal stop_timer
# li $t0, 0x1a06 ## build silo at (6,26)
# sw $t0, BUILD_SILO
# li $t8, 1
# sw $t8, silo_built
# lw $ra, 0($sp)
# addi $sp, $sp, 4
# jr $ra
#
# main_mbot: ## spawn 2 bots and move to silo
# li $t0 1
# sw $t0, SPAWN_MINIBOT
# sw $t0, SPAWN_MINIBOT
# sw $t0, SPAWN_MINIBOT
# sw $t0, SPAWN_MINIBOT
# li $t0, 0x00001a06
# sw $t0, SELECT_IDLE
# sw $t0, SET_TARGET
# jr $ra
# enter_move_again:
# jal get_next_location
# move_again:
# la $a1 test_loc
# jal move_minibot
# la $a0 400
# jal stop_timer
# sw $t0, SELECT_IDLE
# li $t0, 0x1a06
# sw $t0, SET_TARGET
# la $a0 500
# jal stop_timer
# lw $t5, signal
# bne $t5, 2, main_dispatch
# j move_again
# j test_field
get_oppo_silo:
la $t0 location
sw $t0, GET_MAP
li $t1 0
li $t4 3
li $t5 2
oppo_oloop:
beq $t1, 1600, oppo_oout
add $t3 $t0 $t1
lbu $t3 0($t3)
bne $t1, 1180, test_bk
li $v0 1
move $a0 $t3
syscall
test_bk:
beq $t3 $t4 storeturn
beq $t3 $t5 storeturn
addi $t1 $t1 1
j oppo_oloop
oppo_oout:
li $t4 0
sw $t4, atk_flag
jr $ra
storeturn:
li $t4 1
sw $t4, atk_flag
li $t4 40
div $t5 $t1 $t4 #y
mul $t4 $t4 $t5
sub $t4 $t1 $t4 #x
li $t6 8
sll $t5 $t5 $t6
or $t4 $t4 $t5
sw $t4, test_loc
jr $ra
#get_next_location:
la $t9 location
sw $t9 GET_KERNEL_LOCATIONS($0)
la $t4 test_loc
add $t9 4
li $t5 0 # find 10
loopp:
bge $t5 10 loop_over
lw $t6, TIMER
div $t8, $t6, 15
div $t9, $t6, 13
mul $t9, $t9, 13
sub $t7, $t6, $t9
mul $t8, $t8, 15
sub $t6 $t6 $t8
li $a1 40
addi $t7 $t7 20
addi $t6 $t6 2
la $t9 location
addi $t9 $t9 4
loc_outer:
bge $t6 34 loc_outer_exit
loc_inner:
bge $t7 17 loc_inner_exit
mul $t8 $a1 $t6
add $t8 $t8 $t7
add $t8 $t8 $t9
lb $t8 0($t8)
bgt $t8 3 loc_outer_exit
addi $t7 1
j loc_inner
loc_inner_exit:
li $t7 20
addi $t6 1
j loc_outer
loc_outer_exit:
ble $t8 3 gnls
sll $t8 $t6 8
or $t8 $t7 $t8 ###reversed
sw $t8 0($t4)
add $t4 4
add $t5 1
gnls:
j loopp
loop_over:
jr $ra
move_main:
addi $sp $sp -20
sw $ra 0($sp)
sw $s0 4($sp)
sw $s1 8($sp)
sw $a0 12($sp)
sw $a1 16($sp)
# la $t0, minibot
# sw $t0, GET_MINIBOT
# lw $t1, minibot
# bne $t1, $zero, label
#
# label:
# jal move_minibot
#
# lw $a0 12($sp)
# lw $a1 16($sp)
lw $t0 BOT_X #x
lw $t1 BOT_Y #y
li $t8 8
# div $t0 $t0 $t8
# div $t1 $t1 $t8
mul $a0 $a0 $t8
mul $a1 $a1 $t8
slti $t2 $t0 160 #x < 160
slti $t3 $t1 160 #y < 160
not $t4 $t2
not $t5 $t3
sub $s0 $a0 $t0
sub $s1 $a1 $t1
ble $s0 $0 x_offset_neg
x_offset_pos:
ble $s1 $0 xpyn
xpyp:
ble $t3 $t2 xy_move
j yx_move
xpyn:
ble $t5 $t2 xy_move
j yx_move
x_offset_neg:
ble $s1 $0 xnyn
xnyp:
ble $t5 $t2 yx_move
j xy_move
xnyn:
ble $t3 $t2 yx_move
j xy_move
xy_move:
move $a0 $s0
abs $a0 $a0
ble $s0 $0 xleft
xright:
li $t8 0
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
jal stop_timer
ble $s1 $0 xyup
j xydown
xleft:
li $t8 180
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
jal stop_timer
ble $s1 $0 xyup
j xydown
xyup:
li $t8 270
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s1
neg $a0 $a0
jal stop_timer
j move_end
xydown:
li $t8 90
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s1
jal stop_timer
j move_end
yx_move:
ble $s1 $0 yup
ydown:
li $t8 90
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s1
jal stop_timer
ble $s0 $0 yxleft
j yxright
yup:
li $t8 270
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s1
neg $a0 $a0
jal stop_timer
ble $s0 $0 yxleft
j yxright
yxleft:
li $t8 180
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s0
neg $a0 $a0
jal stop_timer
j move_end
yxright:
li $t8 0
sw $t8 ANGLE
li $t8 1
sw $t8 ANGLE_CONTROL
li $t8 10
sw $t8 VELOCITY
move $a0 $s0
jal stop_timer
j move_end
move_end:
lw $ra 0($sp)
lw $s0 4($sp)
lw $s1 8($sp)
addi $sp $sp 20
jr $ra
main_target:
la $t9 location
sw $t9 GET_KERNEL_LOCATIONS($0)
#ensure safety
li $t5 26
li $t6 33
bgt $s7 $t6 skipv0reset
li $s7 CTR_TOP
skipv0reset:
bgt $s8 $t5 skipv1reset
li $s8 CTR_LEFT
skipv1reset:
li $t6 40
addi $t9 $t9 4
mt_outer:
bge $s7 33 mt_outer_exit
mt_inner:
bge $s8 26 mt_inner_exit
mul $t8 $t6 $s7
add $t8 $t8 $s8
add $t8 $t8 $t9
lb $t8 0($t8)
blt $t8, TSHLD, mt_next_loc
jr $ra
mt_next_loc:
addi $s8 $s8 1
j mt_inner
mt_inner_exit:
li $s8 CTR_LEFT
addi $s7 $s7 1
j mt_outer
mt_outer_exit:
li $s7 CTR_TOP
jr $ra
left_target:
la $t9 location
sw $t9 GET_KERNEL_LOCATIONS($0)
#ensure safety
li $t5 11 #right bound
li $t6 34
bge $s7 $t6 skipv0reset1
li $s7 L_TOP
skipv0reset1:
bge $s8 $t5 skipv1reset1
li $s8 L_LEFT
skipv1reset1:
li $t6 40
addi $t9 $t9 4
mt_outer1:
bge $s7 34 mt_outer_exit1
mt_inner1:
bge $s8 11 mt_inner_exit1
mul $t8 $t6 $s7
add $t8 $t8 $s8
add $t8 $t8 $t9
lb $t8 0($t8)
blt $t8, TSHLD mt_next_loc1
jr $ra
mt_next_loc1:
addi $s8 $s8 1
j mt_inner1
mt_inner_exit1:
li $s8 L_LEFT
addi $s7 $s7 1
j mt_outer1
mt_outer_exit1:
li $s7 L_TOP
jr $ra
right_target:
la $t9 location
sw $t9 GET_KERNEL_LOCATIONS($0)
#ensure safety
li $t5 37 #right bound
li $t6 17
bge $s7 $t6 skipv0reset2
li $s7 R_TOP
skipv0reset2:
bge $s8 $t5 skipv1reset2
li $s8 R_LEFT
skipv1reset2:
li $t6 40
addi $t9 $t9 4
mt_outer2:
bge $s7 17 mt_outer_exit2
mt_inner2:
bge $s8 37 mt_inner_exit2
mul $t8 $t6 $s7
add $t8 $t8 $s8
add $t8 $t8 $t9
lb $t8 0($t8)
blt $t8, TSHLD mt_next_loc2
jr $ra
mt_next_loc2:
addi $s8 $s8 1
j mt_inner2
mt_inner_exit2:
li $s8 R_LEFT
addi $s7 $s7 1
j mt_outer2
mt_outer_exit2:
li $s7 R_TOP
jr $ra
transfer_m2l:
addi $sp $sp -4
sw $ra 0($sp)
li $a0 15
li $a1 28
jal move_main
li $t0 180
sw $t0, ANGLE
li $t0 1
sw $t0, ANGLE_CONTROL
li $t0 10
sw $t0, VELOCITY
li $a0 56
jal stop_timer
lw $ra 0($sp)
addi $sp $sp 4
jr $ra
transfer_l2m:
addi $sp $sp -4
sw $ra 0($sp)
li $a0 7
li $a1 28
jal move_main
li $t0 0
sw $t0, ANGLE
li $t0 1
sw $t0, ANGLE_CONTROL
li $t0 10
sw $t0, VELOCITY
li $a0 56
jal stop_timer
lw $ra 0($sp)
addi $sp $sp 4
jr $ra
transfer_m2r:
addi $sp $sp -4
sw $ra 0($sp)
li $a0 25
li $a1 12
jal move_main
li $t0 0
sw $t0, ANGLE
li $t0 1
sw $t0, ANGLE_CONTROL
li $t0 10
sw $t0, VELOCITY
li $a0 56
jal stop_timer
lw $ra 0($sp)
addi $sp $sp 4
jr $ra
transfer_r2m:
addi $sp $sp -4
sw $ra 0($sp)
li $a0 33
li $a1 12
jal move_main
li $t0 180
sw $t0, ANGLE
li $t0 1
sw $t0, ANGLE_CONTROL
li $t0 10
sw $t0, VELOCITY
li $a0 56
jal stop_timer
lw $ra 0($sp)
addi $sp $sp 4
jr $ra
dist:
mul $a0, $a0, $a0 # x^2
mul $a1, $a1, $a1 # y^2
add $v0, $a0, $a1 # x^2 + y^2
mtc1 $v0, $f0
cvt.s.w $f0, $f0 # float(x^2 + y^2)
sqrt.s $f0, $f0 # sqrt(x^2 + y^2)
cvt.w.s $f0, $f0 # int(sqrt(...))
mfc1 $v0, $f0
jr $ra
.globl sb_arctan
sb_arctan:
li $v0, 0 # angle = 0;
abs $t0, $a0 # get absolute values
abs $t1, $a1
ble $t1, $t0, no_TURN_90
## if (abs(y) > abs(x)) { rotate 90 degrees }
move $t0, $a1 # int temp = y;
neg $a1, $a0 # y = -x;
move $a0, $t0 # x = temp;
li $v0, 90 # angle = 90;
no_TURN_90:
bgez $a0, pos_x # skip if (x >= 0)
## if (x < 0)
add $v0, $v0, 180 # angle += 180;
pos_x:
mtc1 $a0, $f0
mtc1 $a1, $f1
cvt.s.w $f0, $f0 # convert from ints to floats
cvt.s.w $f1, $f1
div.s $f0, $f1, $f0 # float v = (float) y / (float) x;
mul.s $f1, $f0, $f0 # v^^2
mul.s $f2, $f1, $f0 # v^^3
l.s $f3, three # load 3.0
div.s $f3, $f2, $f3 # v^^3/3
sub.s $f6, $f0, $f3 # v - v^^3/3
mul.s $f4, $f1, $f2 # v^^5
l.s $f5, five # load 5.0
div.s $f5, $f4, $f5 # v^^5/5
add.s $f6, $f6, $f5 # value = v - v^^3/3 + v^^5/5
l.s $f8, PI # load PI
div.s $f6, $f6, $f8 # value / PI
l.s $f7, F180 # load 180.0
mul.s $f6, $f6, $f7 # 180.0 * value / PI
cvt.w.s $f6, $f6 # convert "delta" back to integer
mfc1 $t0, $f6
add $v0, $v0, $t0 # angle += delta
jr $ra
# The contents of this file are not graded, it exists purely as a reference solution that you can use
# #define MAX_GRIDSIZE 16
# #define MAX_MAXDOTS 15
# /*** begin of the solution to the puzzle ***/
# // encode each domino as an int
# int encode_domino(unsigned char dots1, unsigned char dots2, int max_dots) {
# return dots1 < dots2 ? dots1 * max_dots + dots2 + 1 : dots2 * max_dots + dots1 + 1;
# }
encode_domino:
bge $a0, $a1, encode_domino_greater_row