should work now, of course it does not!

[my-code/atmel.git] / hdw-tank / main.asm

diff --git a/hdw-tank/main.asm b/hdw-tank/main.asm
index e1ee14d..59787ea 100644 (file)
--- a/hdw-tank/main.asm
+++ b/hdw-tank/main.asm
@@ -3,8 +3,13 @@
 ; author: hackbard@hackdaworld.org
 ;
 
+; device specific definition file
+.include "../include/m128def.inc"
+
 ; defines
-.define tmp    = r16
+.def   tmp             = r16
+.def   uart_rxtx       = r17
+.def   tmp_motor       = r18
 
 ; interrupts
 jmp RESET 
@@ -43,27 +48,43 @@ jmp USART1_TXC
 jmp TWI 
 jmp SPM_RDY 
 
-; include subroutines
-.include "motor.asm"
-.include "uart.asm"
+; include control defines
+.include "ctrl.def"
 
 RESET:
 INIT:
 
-       ; motor init
-       call 
        ; uart init
+       rcall UART_INIT
+
+       ; motor init
+       rcall MOTOR_INIT
+
+       ; uart interrupt enable
+       rcall UART_INT_RX_INIT
 
        ; set stackpointer
-       ldi r16, high(RAMEND)
+       ldi tmp,high(RAMEND)
        out SPH,r16 
-       ldi r16, low(RAMEND)
+       ldi tmp,low(RAMEND)
        out SPL,r16
 
        ; global interrupt enable
        sei 
 
+       ; debug output
+       ldi uart_rxtx,0x23
+       rcall UART_TX
+
+MAIN:
+
+       ; loop forever
+       rjmp MAIN
+
 
+; include subroutines
+.include "motor.asm"
+.include "uart.asm"
 
 
 ;
@@ -71,71 +92,54 @@ INIT:
 ;
 
 EXT_INT0:
-       nop
        reti
 
 EXT_INT1:
-       nop
        reti
 
 EXT_INT2:
-       nop
        reti
 
 EXT_INT3:
-       nop
        reti
 
 EXT_INT4:
-       nop
        reti
 
 EXT_INT5:
-       nop
        reti
 
 EXT_INT6:
-       nop
        reti
 
 EXT_INT7:
-       nop
        reti
 
 TIM2_COMP:
-       nop
        reti
 
 TIM2_OVF:
-       nop
        reti
 
 TIM1_CAPT:
-       nop
        reti
 
 TIM1_COMPA:
-       nop
        reti
 
 TIM1_COMPB:
-       nop
        reti
 
 TIM1_OVF:
-       nop
        reti
 
 TIM0_COMP:
-       nop
        reti
 
 TIM0_OVF:
-       nop
        reti
 
 SPI_STC:
-       nop
        reti
 
 USART0_RXC:
@@ -143,71 +147,81 @@ USART0_RXC:
        ; read received byte and drive the motor
        ; in addition, loop it back to the host
 
-       in UDR
+       ; receive routine (byte stored in uart_rxtx)
+       rcall UART_RX
+
+       ; loop back the received byte
+       rcall UART_TX
+
+       ; drive the motor
+       rcall MOTOR_STOP
+       cpi uart_rxtx,CTRL_FWD
+       brne CTRL1
+       rcall MOTOR_FWD
+       rjmp CTRL4
+       CTRL1:
+       cpi uart_rxtx,CTRL_BWD
+       brne CTRL2
+       rcall MOTOR_BWD
+       rjmp CTRL4
+       CTRL2:
+       cpi uart_rxtx,CTRL_RIGHT
+       brne CTRL3
+       rcall MOTOR_RIGHT
+       rjmp CTRL4
+       CTRL3:
+       cpi uart_rxtx,CTRL_LEFT
+       brne CTRL4
+       rcall MOTOR_LEFT
+       CTRL4:
 
        reti
 
 USART0_DRE:
-       nop
        reti
 
 USART0_TXC:
-       nop
        reti
 
 ADC:
-       nop
        reti
 
 EE_RDY:
-       nop
        reti
 
 ANA_COMP:
-       nop
        reti
 
 TIM1_COMPC:
-       nop
        reti
 
 TIM3_CAPT:
-       nop
        reti
 
 TIM3_COMPA:
-       nop
        reti
 
 TIM3_COMPB:
-       nop
        reti
 
 TIM3_COMPC:
-       nop
        reti
 
 TIM3_OVF:
-       nop
        reti
 
 USART1_RXC:
-       nop
        reti
 
 USART1_DRE:
-       nop
        reti
 
 USART1_TXC:
-       nop
        reti
 
 TWI:
-       nop
        reti
 
 SPM_RDY:
-       nop
        reti