hdw-tank/motor.asm

   1 ; motor functions
   2
   3 .equ    MOT_DIR_L       = 0x02
   4 .equ    MOT_DIR_R       = 0x03
   5 .equ    MOT_PWR_L       = 0x04
   6 .equ    MOT_PWR_R       = 0x07
   7
   8 MOTOR_INIT:
   9
  10         ; ports -> output
  11         in tmp1,DDRB
  12         sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  13         sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  14         out DDRB,tmp1
  15
  16 MOTOR_STOP:
  17
  18         ; output zero
  19         in tmp1,PORTB
  20         cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  21         cbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  22         out PORTB,tmp1
  23
  24         ret
  25
  26 MOTOR_FWD:
  27
  28         in tmp1,PORTB
  29         sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  30         sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  31         out PORTB,tmp1
  32
  33         ret
  34
  35 MOTOR_BWD:
  36
  37         in tmp1,PORTB
  38         cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  39         sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  40         out PORTB,tmp1
  41
  42         ret
  43
  44 MOTOR_RIGHT:
  45
  46         in tmp1,PORTB
  47         sbr tmp1,(1<<MOT_DIR_L)
  48         cbr tmp1,(1<<MOT_DIR_R)
  49         sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  50         out PORTB,tmp1
  51
  52         ret
  53
  54 MOTOR_LEFT:
  55
  56         in tmp1,PORTB
  57         sbr tmp1,(1<<MOT_DIR_R)
  58         cbr tmp1,(1<<MOT_DIR_L)
  59         sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  60         out PORTB,tmp1
  61
  62         ret
  63