should work now, of course it does not!

diff --git a/hdw-tank/main.asm b/hdw-tank/main.asm
index e1ee14d3f2da1566e8fa6e944300d1ade6239ff0..59787ea3643d527088923581cab3f507f7879ace 100644 (file)
--- a/hdw-tank/main.asm
+++ b/hdw-tank/main.asm
@@ -3,8 +3,13 @@
 ; author: hackbard@hackdaworld.org
 ;
 
+; device specific definition file
+.include "../include/m128def.inc"
+
 ; defines
-.define tmp    = r16
+.def   tmp             = r16
+.def   uart_rxtx       = r17
+.def   tmp_motor       = r18
 
 ; interrupts
 jmp RESET 
@@ -43,27 +48,43 @@ jmp USART1_TXC
 jmp TWI 
 jmp SPM_RDY 
 
-; include subroutines
-.include "motor.asm"
-.include "uart.asm"
+; include control defines
+.include "ctrl.def"
 
 RESET:
 INIT:
 
-       ; motor init
-       call 
        ; uart init
+       rcall UART_INIT
+
+       ; motor init
+       rcall MOTOR_INIT
+
+       ; uart interrupt enable
+       rcall UART_INT_RX_INIT
 
        ; set stackpointer
-       ldi r16, high(RAMEND)
+       ldi tmp,high(RAMEND)
        out SPH,r16 
-       ldi r16, low(RAMEND)
+       ldi tmp,low(RAMEND)
        out SPL,r16
 
        ; global interrupt enable
        sei 
 
+       ; debug output
+       ldi uart_rxtx,0x23
+       rcall UART_TX
+
+MAIN:
+
+       ; loop forever
+       rjmp MAIN
+
 
+; include subroutines
+.include "motor.asm"
+.include "uart.asm"
 
 
 ;
@@ -71,71 +92,54 @@ INIT:
 ;
 
 EXT_INT0:
-       nop
        reti
 
 EXT_INT1:
-       nop
        reti
 
 EXT_INT2:
-       nop
        reti
 
 EXT_INT3:
-       nop
        reti
 
 EXT_INT4:
-       nop
        reti
 
 EXT_INT5:
-       nop
        reti
 
 EXT_INT6:
-       nop
        reti
 
 EXT_INT7:
-       nop
        reti
 
 TIM2_COMP:
-       nop
        reti
 
 TIM2_OVF:
-       nop
        reti
 
 TIM1_CAPT:
-       nop
        reti
 
 TIM1_COMPA:
-       nop
        reti
 
 TIM1_COMPB:
-       nop
        reti
 
 TIM1_OVF:
-       nop
        reti
 
 TIM0_COMP:
-       nop
        reti
 
 TIM0_OVF:
-       nop
        reti
 
 SPI_STC:
-       nop
        reti
 
 USART0_RXC:
@@ -143,71 +147,81 @@ USART0_RXC:
        ; read received byte and drive the motor
        ; in addition, loop it back to the host
 
-       in UDR
+       ; receive routine (byte stored in uart_rxtx)
+       rcall UART_RX
+
+       ; loop back the received byte
+       rcall UART_TX
+
+       ; drive the motor
+       rcall MOTOR_STOP
+       cpi uart_rxtx,CTRL_FWD
+       brne CTRL1
+       rcall MOTOR_FWD
+       rjmp CTRL4
+       CTRL1:
+       cpi uart_rxtx,CTRL_BWD
+       brne CTRL2
+       rcall MOTOR_BWD
+       rjmp CTRL4
+       CTRL2:
+       cpi uart_rxtx,CTRL_RIGHT
+       brne CTRL3
+       rcall MOTOR_RIGHT
+       rjmp CTRL4
+       CTRL3:
+       cpi uart_rxtx,CTRL_LEFT
+       brne CTRL4
+       rcall MOTOR_LEFT
+       CTRL4:
 
        reti
 
 USART0_DRE:
-       nop
        reti
 
 USART0_TXC:
-       nop
        reti
 
 ADC:
-       nop
        reti
 
 EE_RDY:
-       nop
        reti
 
 ANA_COMP:
-       nop
        reti
 
 TIM1_COMPC:
-       nop
        reti
 
 TIM3_CAPT:
-       nop
        reti
 
 TIM3_COMPA:
-       nop
        reti
 
 TIM3_COMPB:
-       nop
        reti
 
 TIM3_COMPC:
-       nop
        reti
 
 TIM3_OVF:
-       nop
        reti
 
 USART1_RXC:
-       nop
        reti
 
 USART1_DRE:
-       nop
        reti
 
 USART1_TXC:
-       nop
        reti
 
 TWI:
-       nop
        reti
 
 SPM_RDY:
-       nop
        reti
 

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 93861803edb703e7b1d379c09fa2d8cf00c0d5ee..5b630ed1c429808f7db992729375499bd0117b94 100644 (file)
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,67 +1,63 @@
 ; 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
+       in tmp_motor,DDRB
+       sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out DDRB,tmp_motor
 
 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 tmp_motor,PORTB
+       cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       cbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp_motor
 
        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 tmp_motor,PORTB
+       sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp_motor
 
        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 tmp_motor,PORTB
+       cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp_motor
 
        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 tmp_motor,PORTB
+       sbr tmp_motor,(1<<MOT_DIR_L)
+       cbr tmp_motor,(1<<MOT_DIR_R)
+       sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp_motor
 
        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 tmp_motor,PORTB
+       sbr tmp_motor,(1<<MOT_DIR_R)
+       cbr tmp_motor,(1<<MOT_DIR_L)
+       sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp_motor
 
        ret
 

diff --git a/hdw-tank/uart.asm b/hdw-tank/uart.asm
index 1ca82e08995e55fa26e0c3c14fae516952d60a8d..bb189daa82b482ff214037e62d72061cc604e208 100644 (file)
--- a/hdw-tank/uart.asm
+++ b/hdw-tank/uart.asm
@@ -1,36 +1,60 @@
 ; uart functions
 
+; default uart settings
+; infdef UART_BR_H
+.equ   UART_BR_H       = 0
+; infdef UART_BR_L
+.equ   UART_BR_L       = 25
+
 UART_INIT:
 
        ; baudrate
-       ldi tmp,
-       out UBRRH,tmp
-       ldi tmp,
-       out UBRRL,tmp
+       ldi uart_rxtx,UART_BR_H
+       sts UBRR0H,uart_rxtx
+       ldi uart_rxtx,UART_BR_L
+       out UBRR0L,uart_rxtx
 
        ; enable
-       ldi tmp,(1<<RXEN)|(1<<TXEN)
-       out UCSRB,tmp
+       ldi uart_rxtx,(1<<RXEN)|(1<<TXEN)
+       out UCSR0B,uart_rxtx
+
+       ; frame format -> 8n1
+       ldi uart_rxtx,(1<<UCSZ00)|(1<<UCSZ01)
+       sts UCSR0C,uart_rxtx
+
+       ret
+
+UART_INT_RX_INIT:
+
+       in uart_rxtx,UCSR0B
+       sbr uart_rxtx,(1<<RXCIE0)
+       out UCSR0B,uart_rxtx
+
+       ret
+
+UART_INT_TX_INIT:
 
-       ; frame format
+       in uart_rxtx,UCSR0B
+       sbr uart_rxtx,(1<<TXCIE0)
+       out UCSR0B,uart_rxtx
 
        ret
 
 UART_RX:
 
        ; get/store received byte
-       sbis UCSRA,RXC
+       sbis UCSR0A,RXC0
                rjmp UART_RX
-       in tmp,UDR0
+       in uart_rxtx,UDR0
 
        ret
 
 UART_TX:
 
-       ; transmit content of tmp
-       sbis UCSRA,UDRE
+       ; transmit content of uart_rxtx
+       sbis UCSR0A,TXC0
                rjmp UART_TX
-       out UDR0,tmp
+       out UDR0,uart_rxtx
 
        ret