fixed motor ctrl via uart

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

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 9386180..9e59e26 100644 (file)
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,67 +1,61 @@
 ; 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
+.equ   MOT_1_1         = 0x04
+.equ   MOT_1_2         = 0x02
+.equ   MOT_2_1         = 0x07
+.equ   MOT_2_2         = 0x03
 
 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
+       in tmp1,DDRB
+       sbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+       sbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+       out DDRB,tmp1
 
 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
+       in tmp1,PORTB
+       cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+       cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+       out PORTB,tmp1
 
        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
+       in tmp1,PORTB
+       sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+       cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+       out PORTB,tmp1
 
        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
+       in tmp1,PORTB
+       sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+       cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+       out PORTB,tmp1
 
        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
+       in tmp1,PORTB
+       sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+       cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
+       out PORTB,tmp1
 
        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
+       in tmp1,PORTB
+       sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+       cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
+       out PORTB,tmp1
 
        ret