some hdw-tank stuff at gergos place ...

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

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
new file mode 100644 (file)
index 0000000..9386180
--- /dev/null
+++ b/hdw-tank/motor.asm
@@ -0,0 +1,67 @@
+; motor functions
+
+;include "../include/m128def.inc"
+
+.equ   MOT_DIR_L       = 0x02
+.equ   MOT_DIR_R       = 0x03
+.equ   MOT_PWR_L       = 0x04
+.equ   MOT_PWR_R       = 0x07
+
+;.def  tmp             = r17
+
+MOTOR_INIT:
+
+       ; ports -> output
+       in tmp,DDRB
+       sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out DDRB,tmp
+
+MOTOR_STOP:
+
+       ; output zero
+       in tmp,PORTB
+       cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       cbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp
+
+       ret
+
+MOTOR_FWD:
+
+       in tmp,PORTB
+       sbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp
+
+       ret
+
+MOTOR_BWD:
+
+       in tmp,PORTB
+       cbr tmp,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+       sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp
+
+       ret
+
+MOTOR_RIGHT:
+
+       in tmp,PORTB
+       sbr tmp,(1<<MOT_DIR_L)
+       cbr tmp,(1<<MOT_DIR_R)
+       sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp
+
+       ret
+
+MOTOR_LEFT:
+
+       in tmp,PORTB
+       sbr tmp,(1<<MOT_DIR_R)
+       cbr tmp,(1<<MOT_DIR_L)
+       sbr tmp,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+       out PORTB,tmp
+
+       ret
+