; main file of hdw-tank project
;
; author: hackbard@hackdaworld.org
;

; device specific definition file
.include "../include/m128def.inc"

; defines
.def	tmp1		= r16
.def	tmp2		= r17
.def	uart_rxtx	= r18

; interrupts
jmp RESET 
jmp EXT_INT0 
jmp EXT_INT1 
jmp EXT_INT2 
jmp EXT_INT3 
jmp EXT_INT4 
jmp EXT_INT5 
jmp EXT_INT6 
jmp EXT_INT7 
jmp TIM2_COMP 
jmp TIM2_OVF 
jmp TIM1_CAPT 
jmp TIM1_COMPA
jmp TIM1_COMPB
jmp TIM1_OVF 
jmp TIM0_COMP 
jmp TIM0_OVF 
jmp SPI_STC 
jmp USART0_RXC
jmp USART0_DRE
jmp USART0_TXC
jmp ADC 
jmp EE_RDY 
jmp ANA_COMP 
jmp TIM1_COMPC
jmp TIM3_CAPT 
jmp TIM3_COMPA
jmp TIM3_COMPB
jmp TIM3_COMPC
jmp TIM3_OVF 
jmp USART1_RXC
jmp USART1_DRE
jmp USART1_TXC
jmp TWI 
jmp SPM_RDY 

; include control defines
.include "ctrl.def"

RESET:
INIT:

	; motor init
	rcall MOTOR_INIT

	; uart init
	rcall UART_INIT

	; uart interrupt enable
	rcall UART_INT_RX_INIT

	; set stackpointer
	ldi tmp1,high(RAMEND)
	out SPH,tmp1
	ldi tmp1,low(RAMEND)
	out SPL,tmp1

	; global interrupt enable
	;sei 

	; signal ready output
	ldi uart_rxtx,0x23
	rcall UART_TX

MAIN:

	; loop forever
	rjmp MAIN


; include subroutines
.include "motor.asm"
.include "uart.asm"


;
; interrupt routines
;

EXT_INT0:
	reti

EXT_INT1:
	reti

EXT_INT2:
	reti

EXT_INT3:
	reti

EXT_INT4:
	reti

EXT_INT5:
	reti

EXT_INT6:
	reti

EXT_INT7:
	reti

TIM2_COMP:
	reti

TIM2_OVF:
	reti

TIM1_CAPT:
	reti

TIM1_COMPA:
	reti

TIM1_COMPB:
	reti

TIM1_OVF:
	reti

TIM0_COMP:
	reti

TIM0_OVF:
	reti

SPI_STC:
	reti

USART0_RXC:

	; read received byte and drive the motor
	; in addition, loop it back to the host

	; receive routine (byte stored in uart_rxtx)
	rcall UART_RX

	; loop back the received byte
	rcall UART_TX

	;
	; drive the motor
	;

	; stop it first
	rcall MOTOR_STOP

	; fwd
	cpi uart_rxtx,CTRL_FWD
	brne CTRL1
	rcall MOTOR_FWD
	rjmp CTRL4

	; bwd
	CTRL1:
	cpi uart_rxtx,CTRL_BWD
	brne CTRL2
	rcall MOTOR_BWD
	rjmp CTRL4

	; right
	CTRL2:
	cpi uart_rxtx,CTRL_RIGHT
	brne CTRL3
	rcall MOTOR_RIGHT
	rjmp CTRL4

	; left
	CTRL3:
	cpi uart_rxtx,CTRL_LEFT
	brne CTRL4
	rcall MOTOR_LEFT
	CTRL4:

	; return
	reti

USART0_DRE:
	reti

USART0_TXC:
	reti

ADC:
	reti

EE_RDY:
	reti

ANA_COMP:
	reti

TIM1_COMPC:
	reti

TIM3_CAPT:
	reti

TIM3_COMPA:
	reti

TIM3_COMPB:
	reti

TIM3_COMPC:
	reti

TIM3_OVF:
	reti

USART1_RXC:
	reti

USART1_DRE:
	reti

USART1_TXC:
	reti

TWI:
	reti

SPM_RDY:
	reti