From: hackbard <hackbard>
Date: Sun, 18 Mar 2007 18:05:04 +0000 (+0000)
Subject: fixed motor ctrl via uart
X-Git-Url: https://hackdaworld.org/gitweb/?a=commitdiff_plain;h=refs%2Fheads%2Forigin;p=my-code%2Fatmel.git

fixed motor ctrl via uart
---

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 3339c99..9e59e26 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,24 +1,24 @@
 ; motor functions
 
-.equ	MOT_DIR_L	= 0x02
-.equ	MOT_DIR_R	= 0x03
-.equ	MOT_PWR_L	= 0x04
-.equ	MOT_PWR_R	= 0x07
+.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 tmp1,DDRB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	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 tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	cbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -26,8 +26,8 @@ MOTOR_STOP:
 MOTOR_FWD:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -35,8 +35,8 @@ MOTOR_FWD:
 MOTOR_BWD:
 
 	in tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
 	out PORTB,tmp1
 
 	ret
@@ -44,9 +44,8 @@ MOTOR_BWD:
 MOTOR_RIGHT:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_L)
-	cbr tmp1,(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
 	out PORTB,tmp1
 
 	ret
@@ -54,9 +53,8 @@ MOTOR_RIGHT:
 MOTOR_LEFT:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_R)
-	cbr tmp1,(1<<MOT_DIR_L)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret