From 12dfe92063a52e73ca7522afbf19e7baf0990e41 Mon Sep 17 00:00:00 2001
From: hackbard <hackbard>
Date: Thu, 8 Mar 2007 22:27:18 +0000
Subject: [PATCH] clean up + uart tx fix

---
 hdw-tank/main.asm  | 37 ++++++++++++++++++++++-----------
 hdw-tank/motor.asm | 52 +++++++++++++++++++++++-----------------------
 hdw-tank/uart.asm  | 30 +++++++++++++-------------
 3 files changed, 66 insertions(+), 53 deletions(-)

diff --git a/hdw-tank/main.asm b/hdw-tank/main.asm
index 59787ea..b47c1f8 100644
--- a/hdw-tank/main.asm
+++ b/hdw-tank/main.asm
@@ -7,9 +7,9 @@
 .include "../include/m128def.inc"
 
 ; defines
-.def	tmp		= r16
-.def	uart_rxtx	= r17
-.def	tmp_motor	= r18
+.def	tmp1		= r16
+.def	tmp2		= r17
+.def	uart_rxtx	= r18
 
 ; interrupts
 jmp RESET 
@@ -54,25 +54,25 @@ jmp SPM_RDY
 RESET:
 INIT:
 
-	; uart init
-	rcall UART_INIT
-
 	; motor init
 	rcall MOTOR_INIT
 
+	; uart init
+	rcall UART_INIT
+
 	; uart interrupt enable
 	rcall UART_INT_RX_INIT
 
 	; set stackpointer
-	ldi tmp,high(RAMEND)
-	out SPH,r16 
-	ldi tmp,low(RAMEND)
-	out SPL,r16
+	ldi tmp1,high(RAMEND)
+	out SPH,tmp1
+	ldi tmp1,low(RAMEND)
+	out SPL,tmp1
 
 	; global interrupt enable
-	sei 
+	;sei 
 
-	; debug output
+	; signal ready output
 	ldi uart_rxtx,0x23
 	rcall UART_TX
 
@@ -153,28 +153,41 @@ USART0_RXC:
 	; 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:
diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 5b630ed..3339c99 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -8,56 +8,56 @@
 MOTOR_INIT:
 
 	; ports -> output
-	in tmp_motor,DDRB
-	sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out DDRB,tmp_motor
+	in tmp1,DDRB
+	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out DDRB,tmp1
 
 MOTOR_STOP:
 
 	; output zero
-	in tmp_motor,PORTB
-	cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	cbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	cbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_FWD:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_BWD:
 
-	in tmp_motor,PORTB
-	cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
+	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_RIGHT:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_L)
-	cbr tmp_motor,(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_DIR_L)
+	cbr tmp1,(1<<MOT_DIR_R)
+	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_LEFT:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_R)
-	cbr tmp_motor,(1<<MOT_DIR_L)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_DIR_R)
+	cbr tmp1,(1<<MOT_DIR_L)
+	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	out PORTB,tmp1
 
 	ret
 
diff --git a/hdw-tank/uart.asm b/hdw-tank/uart.asm
index bb189da..aaa0249 100644
--- a/hdw-tank/uart.asm
+++ b/hdw-tank/uart.asm
@@ -9,34 +9,34 @@
 UART_INIT:
 
 	; baudrate
-	ldi uart_rxtx,UART_BR_H
-	sts UBRR0H,uart_rxtx
-	ldi uart_rxtx,UART_BR_L
-	out UBRR0L,uart_rxtx
+	ldi tmp1,UART_BR_H
+	sts UBRR0H,tmp1
+	ldi tmp1,UART_BR_L
+	out UBRR0L,tmp1
 
 	; enable
-	ldi uart_rxtx,(1<<RXEN)|(1<<TXEN)
-	out UCSR0B,uart_rxtx
+	ldi tmp1,(1<<RXEN)|(1<<TXEN)
+	out UCSR0B,tmp1
 
 	; frame format -> 8n1
-	ldi uart_rxtx,(1<<UCSZ00)|(1<<UCSZ01)
-	sts UCSR0C,uart_rxtx
+	ldi tmp1,(1<<UCSZ00)|(1<<UCSZ01)
+	sts UCSR0C,tmp1
 
 	ret
 
 UART_INT_RX_INIT:
 
-	in uart_rxtx,UCSR0B
-	sbr uart_rxtx,(1<<RXCIE0)
-	out UCSR0B,uart_rxtx
+	in tmp1,UCSR0B
+	sbr tmp1,(1<<RXCIE0)
+	out UCSR0B,tmp1
 
 	ret
 
 UART_INT_TX_INIT:
 
-	in uart_rxtx,UCSR0B
-	sbr uart_rxtx,(1<<TXCIE0)
-	out UCSR0B,uart_rxtx
+	in tmp1,UCSR0B
+	sbr tmp1,(1<<TXCIE0)
+	out UCSR0B,tmp1
 
 	ret
 
@@ -52,7 +52,7 @@ UART_RX:
 UART_TX:
 
 	; transmit content of uart_rxtx
-	sbis UCSR0A,TXC0
+	sbis UCSR0A,UDRE
 		rjmp UART_TX
 	out UDR0,uart_rxtx
 
-- 
2.20.1