;VEVO4 ;BNA ;2006.12.12. ;----------------------------------------------------------------------------------- .include "m16def.inc" ;Tolerance .equ TOL=0x08 ;Init: ;Set Stack Pointer to 0x0080 ldi r16,0x00 ldi r17,0x80 out SPH,r16 out SPL,r17 ;Init 16bit Timer/Counter ;Timer/Counter1 Control Registers ;Normal mode ;Timer Stopregister ldi r30,0x00 ldi r19,0x00 out TCCR1A,r19 out TCCR1B,r19 ;Timer Startregister ldi r31,0x02 ;Port Initialisation ;Port B kimenetre allitasa ldi r20,0xff out DDRB,r20 LOOP: ;***---Load Port D---*** ;PD2 = INT0 ;low-active in r20,PIND sbrs r20,2 call RECEIVE rjmp LOOP RECEIVE: ;---------------------- ;Global Interrupt Disable cli ;r24 <- ide kerül majd a kód ;Kinullázzuk ldi r24,0x00 ;LEADER BURST call SUB_M_LOW ;9ms ldi r26,0x65 ldi r27,0x04 ;Check 9ms call SUB_COMPARE cpi r25,0x01 brne END_INT ;LEADER SILENCE call SUB_M_HIGH ;4,5ms ldi r26,0x33 ldi r27,0x02 ;Check 4,5ms call SUB_COMPARE cpi r25,0x01 brne END_INT ;----------------------- ;r23 for ciklus számlálója ;r23 nullázása ldi r23,0x00 ;*--------------* DATA: ;Bit7-0 ;Burst call SUB_M_LOW ;4ms ldi r26,0xF4 ldi r27,0x01 ;Check 4ms call SUB_COMPARE sbrc r25,0 ;STORE 1 call SUB_STORE_1 sbrc r25,0 rjmp Silence ;2ms ldi r26,0xFA ldi r27,0x00 ;Check 2ms call SUB_COMPARE cpi r25,0x01 brne END_INT ;STORE 0 call SUB_STORE_0 ;End Burst Silence: call SUB_M_HIGH ;2ms ldi r26,0xFA ldi r27,0x00 ;Check 2ms call SUB_COMPARE cpi r25,0x01 brne END_INT ;For ciklus inc r23 cpi r23,0x08 breq CHECK rjmp DATA ;----------------------------------------------------------------------------------- END_INT: ;RESET TIMER (r30=0x00) out TCNT1H,r30 out TCNT1L,r30 ;MOTOR STOP out PORTB,r30 ;Global Interrupt Enable sei reti ;----------------------------------------------------------------------------------- CHECK: mov r20,r24 ;Copy r24 -> r23 mov r23,r24 ;4x logical shift left in r23 lsl r23 lsl r23 lsl r23 lsl r23 ;invert r23 com r23 ;Mask High bits of r23 & r24 andi r23,0xF0 andi r24,0xF0 ;Compare r28 with r29 cp r23,r24 brne END_INT ;EXOR Elore-Hatra es EXOR Balra-Jobbra sbrc r24,7 andi r24,0b10111111 sbrc r24,6 andi r24,0b01111111 sbrc r24,5 andi r24,0b11101111 sbrc r24,4 andi r24,0b11011111 MOTOR_CONTROL: ;Előre=? sbrc r24,7 ldi r22,0x01 ;Hátra=? sbrc r24,6 ldi r22,0x02 ;Kiküldi a motornak out PORTB,r22 ;Kilepes rjmp END_INT ;----------------------------------------------------------------------------------- SUB_M_LOW: ;***Return Value in r28-r29*** ;Reset Timer out TCNT1H,r30 out TCNT1L,r30 ;Start Timer out TCCR1B,r31 READ_LOW: in r16,PIND sbrs r16,2 rjmp READ_LOW ;Stop Timer out TCCR1B,r30 ;Load Timer Value to r28-29 register-pairs in r28,TCNT1L in r29,TCNT1H ret ;----------------------------------------------------------------------------------- SUB_M_HIGH: ;***Return Value in r28-r29*** ;Reset Timer out TCNT1H,r30 out TCNT1L,r30 ;Start Timer out TCCR1B,r31 READ_HIGH: in r16,PIND sbrc r16,2 rjmp READ_HIGH ;Stop Timer out TCCR1B,r30 ;Load Timer Value to r28-29 register-pairs in r28,TCNT1L in r29,TCNT1H ret SUB_COMPARE: ;Input r26-r27 <- Base value ;Return r25(0 bit) ldi r25,0x00 cpse r27,r29 rjmp HIGH_VIZSGALAT cpse r26,r28 rjmp LOW_VIZSGALAT rjmp END_COMP_OK HIGH_VIZSGALAT: cp r27,r29 brmi NAGYOBB ;Nagyobb mint a base KISEBB: ;mert kisebb mint a base adiw r28,TOL cp r29,r27 brmi END_COMP cp r28,r26 brmi END_COMP rjmp END_COMP_OK NAGYOBB: ;mert nagyobb mint a base adiw r26,TOL cp r27,r29 brmi END_COMP cp r26,r28 brmi END_COMP rjmp END_COMP_OK LOW_VIZSGALAT: cp r26,r28 brmi NAGYOBB ;Nagyobb mint a base brpl KISEBB END_COMP_OK: ldi r25,0x01 END_COMP: ret SUB_STORE_1: ;Store 1 to r24 register 0bit and shift left ;Return r24 register ori r24,0x01 cpi r23,0x07 ;Utolsónál nem kell shiftelni! breq END_STORE_1 lsl r24 END_STORE_1: ret SUB_STORE_0: ;Store 0 to r24 register 0bit and shift left ;Return r24 register cpi r23,0x07 ;Utolsónál nem kell shiftelni! breq END_STORE_0 lsl r24 END_STORE_0: ret