hdw-tank/motor.asm

   1 ; motor functions
   2
   3 ;include "../include/m128def.inc"
   4
   5 .equ    MOT_DIR_L       = 0x02
   6 .equ    MOT_DIR_R       = 0x03
   7 .equ    MOT_PWR_L       = 0x04
   8 .equ    MOT_PWR_R       = 0x07
   9
  10 ;.def   tmp             = r17
  11
  12 MOTOR_INIT:
  13
  14         ; ports -> output
  15         in tmp,DDRB
  16         sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  17         sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  18         out DDRB,tmp
  19
  20 MOTOR_STOP:
  21
  22         ; output zero
  23         in tmp,PORTB
  24         cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  25         cbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  26         out PORTB,tmp
  27
  28         ret
  29
  30 MOTOR_FWD:
  31
  32         in tmp,PORTB
  33         sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  34         sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  35         out PORTB,tmp
  36
  37         ret
  38
  39 MOTOR_BWD:
  40
  41         in tmp,PORTB
  42         cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
  43         sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  44         out PORTB,tmp
  45
  46         ret
  47
  48 MOTOR_RIGHT:
  49
  50         in tmp,PORTB
  51         sbr tmp,(1<<MOT_DIR_L)
  52         cbr tmp,(1<<MOT_DIR_R)
  53         sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  54         out PORTB,tmp
  55
  56         ret
  57
  58 MOTOR_LEFT:
  59
  60         in tmp,PORTB
  61         sbr tmp,(1<<MOT_DIR_R)
  62         cbr tmp,(1<<MOT_DIR_L)
  63         sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
  64         out PORTB,tmp
  65
  66         ret
  67