X-Git-Url: https://hackdaworld.org/gitweb/?a=blobdiff_plain;f=hdw-tank%2Fmotor.asm;h=9e59e26af1a91e8c267997424bdfe1892a10e82f;hb=7ab0e40c8befe5650c4b859125a6f2b4ea6d2ddf;hp=93861803edb703e7b1d379c09fa2d8cf00c0d5ee;hpb=bc07798b093617e4b907b3fdb2155dc098b03e0b;p=my-code%2Fatmel.git

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 9386180..9e59e26 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,67 +1,61 @@
 ; 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
+.equ	MOT_1_1		= 0x04
+.equ	MOT_1_2		= 0x02
+.equ	MOT_2_1		= 0x07
+.equ	MOT_2_2		= 0x03
 
 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
+	in tmp1,DDRB
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	sbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+	out DDRB,tmp1
 
 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
+	in tmp1,PORTB
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	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
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	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
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	out PORTB,tmp1
 
 	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
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
+	out PORTB,tmp1
 
 	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
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	ret