X-Git-Url: https://hackdaworld.org/gitweb/?a=blobdiff_plain;f=hdw-tank%2Fmotor.asm;fp=hdw-tank%2Fmotor.asm;h=93861803edb703e7b1d379c09fa2d8cf00c0d5ee;hb=bc07798b093617e4b907b3fdb2155dc098b03e0b;hp=0000000000000000000000000000000000000000;hpb=04ffc37ce69bf3d8c175ddae51b0fda6d7848310;p=my-code%2Fatmel.git

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
new file mode 100644
index 0000000..9386180
--- /dev/null
+++ b/hdw-tank/motor.asm
@@ -0,0 +1,67 @@
+; motor functions
+
+;include "../include/m128def.inc"
+
+.equ	MOT_DIR_L	= 0x02
+.equ	MOT_DIR_R	= 0x03
+.equ	MOT_PWR_L	= 0x04
+.equ	MOT_PWR_R	= 0x07
+
+;.def	tmp		= r17
+
+MOTOR_INIT:
+
+	; ports -> output
+	in tmp,DDRB
+	sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out DDRB,tmp
+
+MOTOR_STOP:
+
+	; output zero
+	in tmp,PORTB
+	cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	cbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp
+
+	ret
+
+MOTOR_FWD:
+
+	in tmp,PORTB
+	sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp
+
+	ret
+
+MOTOR_BWD:
+
+	in tmp,PORTB
+	cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp
+
+	ret
+
+MOTOR_RIGHT:
+
+	in tmp,PORTB
+	sbr tmp,(1<<MOT_DIR_L)
+	cbr tmp,(1<<MOT_DIR_R)
+	sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp
+
+	ret
+
+MOTOR_LEFT:
+
+	in tmp,PORTB
+	sbr tmp,(1<<MOT_DIR_R)
+	cbr tmp,(1<<MOT_DIR_L)
+	sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp
+
+	ret
+