hdw-tank/motor.asm

   1 ; motor functions
   2
   3 .equ    MOT_1_1         = 0x04
   4 .equ    MOT_1_2         = 0x02
   5 .equ    MOT_2_1         = 0x07
   6 .equ    MOT_2_2         = 0x03
   7
   8 MOTOR_INIT:
   9
  10         ; ports -> output
  11         in tmp1,DDRB
  12         sbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
  13         sbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
  14         out DDRB,tmp1
  15
  16 MOTOR_STOP:
  17
  18         ; output zero
  19         in tmp1,PORTB
  20         cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
  21         cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
  22         out PORTB,tmp1
  23
  24         ret
  25
  26 MOTOR_FWD:
  27
  28         in tmp1,PORTB
  29         sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
  30         cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
  31         out PORTB,tmp1
  32
  33         ret
  34
  35 MOTOR_BWD:
  36
  37         in tmp1,PORTB
  38         sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
  39         cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
  40         out PORTB,tmp1
  41
  42         ret
  43
  44 MOTOR_RIGHT:
  45
  46         in tmp1,PORTB
  47         sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
  48         cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
  49         out PORTB,tmp1
  50
  51         ret
  52
  53 MOTOR_LEFT:
  54
  55         in tmp1,PORTB
  56         sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
  57         cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
  58         out PORTB,tmp1
  59
  60         ret
  61