From 7ab0e40c8befe5650c4b859125a6f2b4ea6d2ddf Mon Sep 17 00:00:00 2001
From: hackbard <hackbard>
Date: Sun, 18 Mar 2007 18:05:04 +0000
Subject: [PATCH] fixed motor ctrl via uart

---
 hdw-tank/motor.asm | 34 ++++++++++++++++------------------
 1 file changed, 16 insertions(+), 18 deletions(-)

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 3339c99..9e59e26 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,24 +1,24 @@
 ; motor functions
 
-.equ	MOT_DIR_L	= 0x02
-.equ	MOT_DIR_R	= 0x03
-.equ	MOT_PWR_L	= 0x04
-.equ	MOT_PWR_R	= 0x07
+.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 tmp1,DDRB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	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 tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	cbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -26,8 +26,8 @@ MOTOR_STOP:
 MOTOR_FWD:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -35,8 +35,8 @@ MOTOR_FWD:
 MOTOR_BWD:
 
 	in tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
 	out PORTB,tmp1
 
 	ret
@@ -44,9 +44,8 @@ MOTOR_BWD:
 MOTOR_RIGHT:
 
 	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)
+	sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
 	out PORTB,tmp1
 
 	ret
@@ -54,9 +53,8 @@ MOTOR_RIGHT:
 MOTOR_LEFT:
 
 	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)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
-- 
2.20.1