From ebc6337dea06a5abd94de3794352accb573e22ec Mon Sep 17 00:00:00 2001
From: hackbard <hackbard>
Date: Sun, 4 Mar 2007 23:29:12 +0000
Subject: [PATCH] should work now, of course it does not!

---
 hdw-tank/main.asm  | 98 ++++++++++++++++++++++++++--------------------
 hdw-tank/motor.asm | 56 ++++++++++++--------------
 hdw-tank/uart.asm  | 48 +++++++++++++++++------
 3 files changed, 118 insertions(+), 84 deletions(-)

diff --git a/hdw-tank/main.asm b/hdw-tank/main.asm
index e1ee14d..59787ea 100644
--- 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
 
diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 9386180..5b630ed 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,67 +1,63 @@
 ; 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
+	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
 
 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 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
 
 	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 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
 
 	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 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
 
 	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 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
 
 	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 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
 
 	ret
 
diff --git a/hdw-tank/uart.asm b/hdw-tank/uart.asm
index 1ca82e0..bb189da 100644
--- a/hdw-tank/uart.asm
+++ b/hdw-tank/uart.asm
@@ -1,36 +1,60 @@
 ; uart functions
 
+; default uart settings
+; infdef UART_BR_H
+.equ	UART_BR_H	= 0
+; infdef UART_BR_L
+.equ	UART_BR_L	= 25
+
 UART_INIT:
 
 	; baudrate
-	ldi tmp,
-	out UBRRH,tmp
-	ldi tmp,
-	out UBRRL,tmp
+	ldi uart_rxtx,UART_BR_H
+	sts UBRR0H,uart_rxtx
+	ldi uart_rxtx,UART_BR_L
+	out UBRR0L,uart_rxtx
 
 	; enable
-	ldi tmp,(1<<RXEN)|(1<<TXEN)
-	out UCSRB,tmp
+	ldi uart_rxtx,(1<<RXEN)|(1<<TXEN)
+	out UCSR0B,uart_rxtx
+
+	; frame format -> 8n1
+	ldi uart_rxtx,(1<<UCSZ00)|(1<<UCSZ01)
+	sts UCSR0C,uart_rxtx
+
+	ret
+
+UART_INT_RX_INIT:
+
+	in uart_rxtx,UCSR0B
+	sbr uart_rxtx,(1<<RXCIE0)
+	out UCSR0B,uart_rxtx
+
+	ret
+
+UART_INT_TX_INIT:
 
-	; frame format
+	in uart_rxtx,UCSR0B
+	sbr uart_rxtx,(1<<TXCIE0)
+	out UCSR0B,uart_rxtx
 
 	ret
 
 UART_RX:
 
 	; get/store received byte
-	sbis UCSRA,RXC
+	sbis UCSR0A,RXC0
 		rjmp UART_RX
-	in tmp,UDR0
+	in uart_rxtx,UDR0
 
 	ret
 
 UART_TX:
 
-	; transmit content of tmp
-	sbis UCSRA,UDRE
+	; transmit content of uart_rxtx
+	sbis UCSR0A,TXC0
 		rjmp UART_TX
-	out UDR0,tmp
+	out UDR0,uart_rxtx
 
 	ret
 	
-- 
2.20.1