.include "8515def.inc" .equ inPort=PINC .equ outPort=PORTA .equ DriveA_1=0 .equ DriveA_2=1 .equ DriveB_1=2 .equ DriveB_2=3 .equ Servo=4 .equ U_SensorA_out=5 .equ U_SensorB_out=6 .equ D_SensorA=0 .equ D_SensorB=1 .equ U_SensorA_in=3 .equ U_SensorB_in=2 .equ DriveA_status=0 .equ DriveB_status=1 .equ DriveA_direction=2 .equ DriveB_direction=3 .equ DSR=2 .equ CL=3 ;LCD .equ RW=4 ;LCD .equ RS=5 ;LCD .equ BTN_CANCEL=4 .equ BTN_UP=5 .equ BTN_DOWN=6 .equ BTN_OK=7 ;**************** LCD Characters ****************** .equ B_A=0x41 .equ B_B=0x42 .equ B_C=0x43 .equ B_D=0x44 .equ B_E=0x45 .equ B_F=0x46 .equ B_G=0x47 .equ B_H=0x48 .equ B_I=0x49 .equ B_J=0x4A .equ B_K=0x4B .equ B_L=0x4C .equ B_M=0x4D .equ B_N=0x4E .equ B_O=0x4F .equ B_P=0x50 .equ B_Q=0x51 .equ B_R=0x52 .equ B_S=0x53 .equ B_T=0x54 .equ B_U=0x55 .equ B_V=0x56 .equ B_W=0x57 .equ B_X=0x58 .equ B_Y=0x59 .equ B_Z=0x5A ;kleine Buchstaben + 32 .equ Z_X=0x30 ;Zahl + Z_X für Zahlenausgabe .equ doppelpunkt=0x3A .equ leer=0x20 .def status=r1 .def temp=r16 .def drive_status=r17 .def weg=r18 .def data=r19 ;def temp=r20-r22 .def eehigh=r23 .def eelow=r24 .def max_ee=r25 .def wait_object=r26 ;def temp=r27 .def pos=r28 .def LCD=r29 .cseg .org $000 ;System-Reset-Interrupt rjmp RESET ; " .org $009 ;Serial-Interrupt rjmp RxD ; " RESET: ldi temp,low(RAMEND) ;Initialises controller out SPL,temp ; " ldi temp,high(RAMEND); " out SPH,temp ; " ldi temp,$FF ;Initialises Outputports out outPort,temp ; " out DDRA,temp ; " out PORTB,temp out DDRB,temp ldi temp,0 out outPort,temp out PORTB,temp ldi temp,0b00111000 out PORTD,temp out DDRD,temp ldi temp,0 out PORTD,temp ldi temp,25 ;Sets baudrate out UBRR,temp ; " ldi temp,0b10011000 ;Enables serialport-interupts out UCR,temp ; " clr pos clr drive_status ldi eelow,0 clr eehigh sei ;Enables interups cbi PORTD,RW cbi PORTD,RS cbi PORTD,CL sbi outPort,U_SensorA_out sbi outPort,U_SensorB_out rcall osd ldi LCD,0x38 rcall Befehl ldi LCD,0x38 rcall Befehl ldi LCD,0x38 rcall Befehl ldi LCD,0x0C rcall Befehl ldi LCD,0x02 rcall Befehl ldi LCD,0x01 rcall Befehl rcall cls ldi ZH,high(2*System_load) ldi ZL,low(2*System_load) rcall writebyteslcd rcall osd rcall cls ldi ZH,high(2*VERS) ldi ZL,low(2*VERS) rcall writebyteslcd rcall osd rcall cls ldi ZH,high(2*Serial_speed) ldi ZL,low(2*Serial_speed) rcall writebyteslcd rcall osd SBIS PIND,DSR rjmp IR_ofl rcall cls ldi ZH,high(2*IR_online) ldi ZL,low(2*IR_online) rcall writebyteslcd rcall osd rjmp ready IR_ofl: rcall cls ldi ZH,high(2*IR_offline) ldi ZL,low(2*IR_offline) rcall writebyteslcd rcall osd ready: rcall cls ldi ZH,high(2*ongel_ready) ldi ZL,low(2*ongel_ready) rcall writebyteslcd Mainloop: SBIS inPort,BTN_CANCEL clr drive_status SBIS inPort,BTN_OK rjmp Menu SBRC drive_status,5 rcall check_next SBRC drive_status,4 rjmp Mainloop SBRS drive_status,DriveA_status rcall driveA_stop SBRS drive_status,DriveB_status rcall driveB_stop SBRC drive_status,DriveA_status rcall Go SBRC drive_status,DriveB_status rcall Go SBIC inPort,D_SensorA rjmp Wait_low rjmp Mainloop Wait_low: SBIS inPort,BTN_OK rjmp Menu SBIS inPort,BTN_CANCEL clr drive_status cpi weg,0 breq Mainloop SBIC inPort,D_SensorA rjmp Wait_low dec weg cpi weg,0 brne mainloop rcall cls ldi temp,115 out UDR,temp cbr drive_status,0b00001111 sbr drive_status,0b01000000 rcall driveA_stop rcall driveB_stop rjmp mainloop Menu: rcall cls ldi ZH,high(2*buttons) ldi ZL,low(2*buttons) rcall writebyteslcd rcall osd rcall osd sa_menu: rcall btn_wait rcall cls ldi LCD,Z_X+1 rcall wtt ldi ZH,high(2*sa_msg) ldi ZL,low(2*sa_msg) rcall writebyteslcd sa_btns: SBIS inPort,BTN_OK rjmp standalone_on SBIS inPort,BTN_UP rjmp ab_menu SBIS inPort,BTN_DOWN rjmp demo_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp sa_btns ab_menu: rcall btn_wait rcall cls ldi LCD,Z_X+2 rcall wtt ldi ZH,high(2*ab_msg) ldi ZL,low(2*ab_msg) rcall writebyteslcd ab_btns: SBIS inPort,BTN_OK rjmp ab_show SBIS inPort,BTN_UP rjmp mc_menu SBIS inPort,BTN_DOWN rjmp sa_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp ab_btns mc_menu: rcall btn_wait rcall cls ldi LCD,Z_X+3 rcall wtt ldi ZH,high(2*mc_msg) ldi ZL,low(2*mc_msg) rcall writebyteslcd mc_btns: SBIS inPort,BTN_OK rjmp missiondataclear SBIS inPort,BTN_UP rjmp f_menu SBIS inPort,BTN_DOWN rjmp ab_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp mc_btns f_menu: rcall btn_wait rcall cls ldi LCD,Z_X+4 rcall wtt ldi ZH,high(2*f_msg) ldi ZL,low(2*f_msg) rcall writebyteslcd f_btns: SBIS inPort,BTN_OK rjmp dir_f SBIS inPort,BTN_UP rjmp z_menu SBIS inPort,BTN_DOWN rjmp mc_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp f_btns z_menu: rcall btn_wait rcall cls ldi LCD,Z_X+5 rcall wtt ldi ZH,high(2*z_msg) ldi ZL,low(2*z_msg) rcall writebyteslcd z_btns: SBIS inPort,BTN_OK rjmp dir_z SBIS inPort,BTN_UP rjmp l_menu SBIS inPort,BTN_DOWN rjmp f_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp z_btns l_menu: rcall btn_wait rcall cls ldi LCD,Z_X+6 rcall wtt ldi ZH,high(2*l_msg) ldi ZL,low(2*l_msg) rcall writebyteslcd l_btns: SBIS inPort,BTN_OK rjmp dir_l SBIS inPort,BTN_UP rjmp r_menu SBIS inPort,BTN_DOWN rjmp z_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp l_btns r_menu: rcall btn_wait rcall cls ldi LCD,Z_X+7 rcall wtt ldi ZH,high(2*r_msg) ldi ZL,low(2*r_msg) rcall writebyteslcd r_btns: SBIS inPort,BTN_OK rjmp dir_r SBIS inPort,BTN_UP rjmp usa_menu SBIS inPort,BTN_DOWN rjmp l_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp r_btns usa_menu: rcall btn_wait rcall cls ldi LCD,Z_X+8 rcall wtt ldi ZH,high(2*usa_msg) ldi ZL,low(2*usa_msg) rcall writebyteslcd usa_btns: SBIS inPort,BTN_OK rjmp usa_start SBIS inPort,BTN_UP rjmp usb_menu SBIS inPort,BTN_DOWN rjmp r_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp usa_btns usb_menu: rcall btn_wait rcall cls ldi LCD,Z_X+9 rcall wtt ldi ZH,high(2*usb_msg) ldi ZL,low(2*usb_msg) rcall writebyteslcd usb_btns: SBIS inPort,BTN_OK rjmp usb_start SBIS inPort,BTN_UP rjmp us_menu SBIS inPort,BTN_DOWN rjmp usa_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp usb_btns us_menu: rcall btn_wait rcall cls ldi LCD,Z_X+1 rcall wtt ldi LCD,Z_X+0 rcall wtt ldi ZH,high(2*us_msg) ldi ZL,low(2*us_msg) rcall writebyteslcd us_btns: SBIS inPort,BTN_OK rjmp us_start SBIS inPort,BTN_UP rjmp demo_menu SBIS inPort,BTN_DOWN rjmp usb_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp us_btns demo_menu: rcall btn_wait rcall cls ldi LCD,Z_X+1 rcall wtt ldi LCD,Z_X+1 rcall wtt ldi ZH,high(2*demo_msg) ldi ZL,low(2*demo_msg) rcall writebyteslcd demo_btns: SBIS inPort,BTN_OK rjmp demo_start SBIS inPort,BTN_UP rjmp sa_menu SBIS inPort,BTN_DOWN rjmp us_menu SBIS inPort,BTN_CANCEL rjmp ready rjmp demo_btns demo_start: rcall btn_wait sbr drive_status,0b00100000 rcall cls ldi ZH,high(2*stop_msg) ldi ZL,low(2*stop_msg) rcall writebyteslcd forward_us: sbi outPort,Servo rcall osd ldi temp,0b00010101 out outPort,temp start_us: SBIS inPort,BTN_CANCEL rjmp end_us rcall read_usensor1 rcall wt cpi temp,9 brsh next_us rcall read_usensor1 rcall wt cpi temp,9 brsh next_us rcall read_usensor1 rcall wt cpi temp,9 brsh next_us rcall read_usensor1 rcall wt cpi temp,9 brsh next_us rcall read_usensor1 rcall wt cpi temp,9 brsh next_us ldi temp,0b00011010 out outPort,temp rcall osd rcall osd ldi temp,0b00000000 out outPort,temp rcall osd ldi temp,0b00001001 out outPort,temp rcall osd rcall osd ldi temp,0b00010000 out outPort,temp rjmp forward_us next_us: SBIS inPort,BTN_CANCEL rjmp end_us rcall read_usensor2 rcall wt cpi temp,7 brsh start_us rcall read_usensor2 rcall wt cpi temp,7 brsh start_us rcall read_usensor2 rcall wt cpi temp,7 brsh start_us rcall read_usensor2 rcall wt cpi temp,7 brsh start_us rcall read_usensor2 rcall wt cpi temp,7 brsh start_us ldi temp,0b00011010 out outPort,temp rcall osd rcall osd ldi temp,0b00000000 out outPort,temp rcall osd ldi temp,0b00000110 out outPort,temp rcall osd rcall osd ldi temp,0b00010000 out outPort,temp rjmp forward_us end_us: cbr drive_status,0b00100000 ldi temp,0b00000000 out outPort,temp rcall cls rcall btn_wait rjmp demo_menu usa_start: sbr drive_status,0b00100000 rcall btn_wait rcall ee_10 ldi data,10 rcall ee_write rcall inc_ee ldi data,0 rcall ee_write cbr drive_status,0b00100000 rjmp usa_menu usb_start: sbr drive_status,0b00100000 rcall btn_wait rcall ee_11 ldi data,11 rcall ee_write rcall inc_ee ldi data,0 rcall ee_write cbr drive_status,0b00100000 rjmp usb_menu us_start: sbr drive_status,0b00100000 rcall btn_wait rcall ee_12 ldi data,12 rcall ee_write rcall inc_ee ldi data,0 rcall ee_write cbr drive_status,0b00100000 rjmp us_menu missiondataclear: rcall btn_wait sbic EECR,EEWE rjmp missiondataclear clr eehigh clr eelow out EEARH,eehigh out EEARL,eelow ldi data,0 out EEDR,data sbi EECR,EEMWE sbi EECR,EEWE rjmp ready dir_f: clr weg rcall btn_wait ldi data,5 rcall ee_write rcall inc_ee sbi outPort,Servo rcall osd rcall cls ldi ZH,high(2*stop_msg) ldi ZL,low(2*stop_msg) rcall writebyteslcd sbr drive_status,0b00010000 ldi temp,0b00010101 out outPort,temp rcall count ldi temp,0b00000000 out outPort,temp cbr drive_status,0b00010000 rcall btn_wait rjmp f_menu dir_z: clr weg rcall btn_wait ldi data,6 rcall ee_write rcall inc_ee sbi outPort,Servo rcall osd rcall cls ldi ZH,high(2*stop_msg) ldi ZL,low(2*stop_msg) rcall writebyteslcd sbr drive_status,0b00010000 ldi temp,0b00011010 out outPort,temp rcall count ldi temp,0b00000000 out outPort,temp cbr drive_status,0b00010000 rcall btn_wait rjmp z_menu dir_l: clr weg rcall btn_wait ldi data,8 rcall ee_write rcall inc_ee cbi outPort,Servo rcall osd rcall cls ldi ZH,high(2*stop_msg) ldi ZL,low(2*stop_msg) rcall writebyteslcd sbr drive_status,0b00010000 ldi temp,0b00001001 out outPort,temp rcall count ldi temp,0b00000000 out outPort,temp cbr drive_status,0b00010000 rcall btn_wait rjmp l_menu dir_r: clr weg rcall btn_wait ldi data,7 rcall ee_write rcall inc_ee cbi outPort,Servo rcall osd rcall cls ldi ZH,high(2*stop_msg) ldi ZL,low(2*stop_msg) rcall writebyteslcd sbr drive_status,0b00010000 ldi temp,0b00000110 out outPort,temp rcall count ldi temp,0b00000000 out outPort,temp cbr drive_status,0b00010000 rcall btn_wait rjmp r_menu ab_show: rcall btn_wait rcall cls ldi ZH,high(2*ab_msg1) ldi ZL,low(2*ab_msg1) rcall writebyteslcd rcall osd rcall osd rcall cls ldi ZH,high(2*ab_msg2) ldi ZL,low(2*ab_msg2) rcall writebyteslcd rcall osd rcall osd rcall cls ldi ZH,high(2*ab_msg3) ldi ZL,low(2*ab_msg3) rcall writebyteslcd rcall osd rcall osd rcall cls ldi ZH,high(2*ab_msg4) ldi ZL,low(2*ab_msg4) rcall writebyteslcd rcall osd rcall osd rcall cls ldi ZH,high(2*ab_msg5) ldi ZL,low(2*ab_msg5) rcall writebyteslcd rcall osd rcall osd rjmp ready standalone_on: rcall btn_wait rcall cls ldi ZH,high(2*sa_msg) ldi ZL,low(2*sa_msg) rcall writebyteslcd sbr drive_status,0b01100000 clr eehigh clr eelow rcall osd rjmp mainloop check_next: SBRS drive_status,6 ret cbr drive_status,0b01000000 rcall ee_read rcall inc_ee cpi data,0 breq ee_end cpi data,5 breq ee_5 cpi data,6 breq ee_6 cpi data,7 breq ee_7 cpi data,8 breq ee_8 cpi data,10 breq ee_10 cpi data,11 breq ee_11 cpi data,12 breq ee_12 cpi data,14 breq ee_14 cpi data,15 breq ee_15 ret ee_end: rcall endmessage cbr drive_status,0b01100000 ret ee_5: rcall ee_read rcall inc_ee mov weg,data rcall d_forward sbi outPort,Servo rcall osd sbr drive_status,0b00000011 ret ee_6: rcall ee_read rcall inc_ee mov weg,data rcall d_backward sbi outPort,Servo rcall osd sbr drive_status,0b00001111 ret ee_7: rcall ee_read rcall inc_ee mov weg,data rcall rotate rcall r_right cbi outPort,Servo rcall osd sbr drive_status,0b00000111 ret ee_8: rcall ee_read rcall inc_ee mov weg,data rcall rotate rcall r_left cbi outPort,Servo rcall osd sbr drive_status,0b00001011 ret ee_10: rjmp SA_USENSOR1 ee_11: rjmp SA_USENSOR2 ee_12: rjmp SA_UREAD ee_14: rcall cls ldi ZH,high(2*sa_msg) ldi ZL,low(2*sa_msg) rcall writebyteslcd sbr drive_status,0b01100000 clr eehigh clr eelow rcall osd ret ee_15: rjmp waitseconds waitseconds: rcall cls ldi ZH,high(2*wait_msg) ldi ZL,low(2*wait_msg) rcall writebyteslcd rcall ee_read rcall inc_ee mov temp,data waittime: cpi temp,10 brlo write_wait next_ww: rcall osd dec temp brne waittime rcall cls sbr drive_status,0b01000000 ret write_wait: rcall cls ldi ZH,high(2*wait_msg) ldi ZL,low(2*wait_msg) rcall writebyteslcd ldi lcd,Z_X add lcd,temp rcall wtt rjmp next_ww SA_UREAD: rcall message_wait rcall wtt clr wait_object sbi outPort,Servo rcall osd ldi temp,0b00010101 out outPort,temp tc: clr wait_object testu: rcall read_usensor1 rcall wt cpi temp,7 brsh n_u rjmp u_ok n_u: rcall read_usensor2 rcall wt cpi temp,7 brsh tc u_ok: inc wait_object cpi wait_object,30 brlo testu ldi temp,0b00010000 out outPort,temp sbr drive_status,0b01000000 rcall cls ret SA_USENSOR1: rcall message_wait ldi LCD,Z_X + 1 rcall wtt clr wait_object sbi outPort,Servo rcall osd ldi temp,0b00010101 out outPort,temp tc1: clr wait_object test1: rcall read_usensor1 rcall wt cpi temp,7 brsh tc1 inc wait_object cpi wait_object,30 brlo test1 ldi temp,0b00010000 out outPort,temp sbr drive_status,0b01000000 rcall cls ret SA_USENSOR2: rcall message_wait ldi LCD,Z_X + 2 rcall wtt clr wait_object sbi outPort,Servo rcall osd ldi temp,0b00010101 out outPort,temp tc2: clr wait_object test2: rcall read_usensor2 rcall wt cpi temp,7 brsh tc2 inc wait_object cpi wait_object,30 brlo test2 ldi temp,0b00010000 out outPort,temp sbr drive_status,0b01000000 rcall cls ret message_wait: rcall cls ldi ZH,high(2*wfo_msg) ldi ZL,low(2*wfo_msg) rcall writebyteslcd ret d_forward: rcall cls ldi ZH,high(2*fore_msg) ldi ZL,low(2*fore_msg) rcall writebyteslcd ret d_backward: rcall cls ldi ZH,high(2*back_msg) ldi ZL,low(2*back_msg) rcall writebyteslcd ret rotate: rcall cls ldi ZH,high(2*rotate_msg) ldi ZL,low(2*rotate_msg) rcall writebyteslcd ret r_left: ldi ZH,high(2*left_msg) ldi ZL,low(2*left_msg) rcall writebyteslcd ret r_right: ldi ZH,high(2*right_msg) ldi ZL,low(2*right_msg) rcall writebyteslcd ret endmessage: rcall cls ldi ZH,high(2*mend_msg) ldi ZL,low(2*mend_msg) rcall writebyteslcd rcall osd rcall osd rcall osd rcall cls ret DriveA_stop: cbi outPort,DriveA_1 cbi outPort,DriveA_2 ret DriveB_stop: cbi outPort,DriveB_1 cbi outPort,DriveB_2 ret Go: SBRS drive_status,DriveA_status rjmp Next_Drive SBRS drive_status,DriveA_direction sbi outPort,DriveA_1 SBRS drive_status,DriveA_direction cbi outPort,DriveA_2 SBRC drive_status,DriveA_direction cbi outPort,DriveA_1 SBRC drive_status,DriveA_direction sbi outPort,DriveA_2 Next_Drive: SBRS drive_status,DriveB_status ret SBRS drive_status,DriveB_direction sbi outPort,DriveB_1 SBRS drive_status,DriveB_direction cbi outPort,DriveB_2 SBRC drive_status,DriveB_direction cbi outPort,DriveB_1 SBRC drive_status,DriveB_direction sbi outPort,DriveB_2 ret RxD: in status,SREG ;Saves SREG register ;to variable status ldi temp,0b00011000 ;Disables serialport-interupts out UCR,temp ;Disables serialport-interupts in temp,UDR cpi temp,0x01 breq Bef01 cpi temp,0x02 breq Bef02 cpi temp,0x03 breq Bef03 cpi temp,0x04 breq Bef04 cpi temp,0x05 breq Bef05 cpi temp,0x06 breq Bef06 cpi temp,0x07 breq Bef07 cpi temp,0x08 breq Bef08 cpi temp,0x09 breq Bef09 cpi temp,0x0A breq Bef0A cpi temp,0x0B breq Bef0B cpi temp,0x0C breq Bef0C cpi temp,0x0D breq Bef0D cpi temp,0x0E breq Bef0E cpi temp,200 breq Bef200 cpi temp,201 breq Bef201 cpi temp,202 breq Bef202 End_UDR: ldi temp,0b10011000 ;Enables serialport-interupts out UCR,temp ;Enables serialport-interupts out SREG,status ;Restores SREG register reti ;return from interupt Bef01: rjmp RESET_DEVICE Bef02: rjmp EEPROM_clear Bef03: rjmp set_mission Bef04: rjmp so_offline Bef05: rjmp forward Bef06: rjmp backward Bef07: rjmp left Bef08: rjmp right Bef09: rjmp stop Bef0A: rjmp read_usensor1 Bef0B: rjmp read_usensor2 Bef0C: rjmp read_inports Bef0D: rjmp set_outports Bef0E: rjmp so_modus Bef200: rjmp about Bef201: rjmp version Bef202: rjmp information stop: clr drive_status rjmp End_UDR set_outports: sbr drive_status,0b00010000 SBIS USR,7 rjmp set_outports in temp,UDR ;Reads serialbuffer out outPort,temp ;Sets the Outputports rjmp End_UDR read_inports: in temp,inPort ;Get inputports out UDR,temp ;Writes data on serialport rjmp End_UDR read_usensor1: ldi temp,0x05 out TCCR0,temp ldi temp,0 out TCNT0,temp cbi outPort,U_SensorA_out rcall wt sbi outPort,U_SensorA_out chu1: in temp,TCNT0 cpi temp,255 breq endchu SBIS inPort,U_SensorA_in rjmp chu1 sbi outPort,U_SensorA_out rjmp endchu read_usensor2: ldi temp,0x05 out TCCR0,temp ldi temp,0 out TCNT0,temp cbi outPort,U_SensorB_out rcall wt sbi outPort,U_SensorB_out chu2: in temp,TCNT0 cpi temp,255 breq endchu SBIS inPort,U_SensorB_in rjmp chu2 sbi outPort,U_SensorB_out endchu: SBRC drive_status,5 rjmp checker out UDR,temp ;Writes data on serialport rjmp End_UDR checker: ret EEPROM_clear: sbic EECR,EEWE rjmp EEPROM_clear clr eehigh clr eelow out EEARH,eehigh out EEARL,eelow ldi data,0 out EEDR,data sbi EECR,EEMWE sbi EECR,EEWE rjmp End_UDR set_mission: SBIS USR,7 rjmp set_mission in data,UDR rcall ee_write rcall inc_ee rjmp End_UDR so_offline: sbr drive_status,0b00100000 rjmp End_UDR forward: SBIS USR,7 rjmp forward in weg,UDR sbi outPort,Servo rcall osd ldi drive_status,0b00000011 rcall d_forward rjmp End_UDR backward: SBIS USR,7 rjmp backward in weg,UDR sbi outPort,Servo rcall osd ldi drive_status,0b00001111 rcall d_backward rjmp End_UDR left: SBIS USR,7 rjmp left in weg,UDR cbi outPort,Servo rcall osd ldi drive_status,0b00000111 rcall rotate rcall r_left rjmp End_UDR right: SBIS USR,7 rjmp right in weg,UDR cbi outPort,Servo rcall osd ldi drive_status,0b00001011 rcall rotate rcall r_right rjmp End_UDR Go_Left: ldi drive_status,0b00001011 ret Go_Right: ldi drive_status,0b00000111 ret Go_Forward: ldi drive_status,0b00001111 ret Go_Back: ldi drive_status,0b00000011 ret so_modus: sbr drive_status,0b01100000 clr eehigh clr eelow rjmp End_UDR T_Wait: ;******** Waites for Transmit-Ready ********* ;SBIS USR,5 ;rjmp T_WAIT ;SBIS PIND,3 ;rjmp T_WAIT ret wtt: inc pos out PORTB,LCD sbi PORTD,CL rcall wt cbi PORTD,CL rcall wt cpi pos,8 breq newpos1 cpi pos,48 breq newpos2 ret newpos2: mov r27,LCD ldi pos,0 mov LCD,pos subi LCD,-0b10000000 rjmp Befehl newpos1: mov r27,LCD ldi pos,40 mov LCD,pos subi LCD,-0b10000000 Befehl: cbi PORTD,RS rcall wt out PORTB,LCD sbi PORTD,CL rcall wt cbi PORTD,CL sbi PORTD,RS rcall wt mov LCD,r27 ret cls: ldi pos,0 ldi LCD,0x01 rcall Befehl ret ee_read: sbic EECR,EEWE rjmp ee_read out EEARL,eelow out EEARH,eehigh sbi EECR,EERE in data,EEDR ret ee_write: sbic EECR,EEWE rjmp ee_write out EEARH,eehigh out EEARL,eelow out EEDR,data sbi EECR,EEMWE sbi EECR,EEWE ret inc_ee: inc eelow brne end_inc_ee inc eehigh end_inc_ee: ret dec_ee: dec eelow brne end_dec_ee dec eehigh end_dec_ee: ret wt: ldi r20, 1 ldi r21, 5 ldi r22, 200 delay: dec r22 brne delay dec r21 brne delay dec r20 brne delay ret osd: ldi r20, 20 ldi r21, 255 ldi r22, 255 rjmp delay BTN_WAIT: ldi r20,50 btn_wt: SBIS inPort,BTN_OK rjmp BTN_wt SBIS inPort,BTN_UP rjmp BTN_wt SBIS inPort,BTN_DOWN rjmp BTN_wt SBIS inPort,BTN_CANCEL rjmp BTN_wt dec r20 brne btn_wt ret Count: SBIS inPort,BTN_CANCEL rjmp e_count SBIS inPort,D_SensorA rjmp count inc weg w_count: SBIS inPort,BTN_CANCEL rjmp e_count SBIC inPort,D_SensorA rjmp w_count cpi weg,255 brne Count e_count: mov data,weg rcall ee_write rcall inc_ee clr data rcall ee_write clr weg ret ;******************************** About-Sendings ****************************** about: ldi ZH,high(2*ONGEL) ; Load high part of byte address into ZH ldi ZL,low(2*ONGEL) ; Load low part of byte address into ZL rjmp writebytes Version: ldi ZH,high(2*vers) ; Load high part of byte address into ZH ldi ZL,low(2*vers) ; Load low part of byte address into ZL rjmp writebytes Information: ldi ZH,high(2*info) ; Load high part of byte address into ZH ldi ZL,low(2*info) ; Load low part of byte address into ZL rjmp writebytes writebytes: in r0,USR SBRS r0,5 rjmp writebytes lpm ; Load byte from program memory into r0 tst r0 ; Check if we've reached the end of the message breq endwrite ; If so, quit rcall wt rcall wt out UDR,r0 adiw ZL,1 ; Increase Z registers rjmp writebytes endwrite: rjmp End_UDR writebyteslcd: lpm ; Load byte from program memory into r0 tst r0 ; Check if we've reached the end of the message breq endwritelcd ; If so, quit mov lcd,r0 rcall wtt adiw ZL,1 ; Increase Z registers rjmp writebyteslcd endwritelcd: ret ;************************** Informations/ROM ************************* ONGEL: .db "ONGEL by Manuel Schreiner, Christian Klose & Florian Mehm - http://www.schreiner-homebase.de/ongel/" .db 0 VERS: .db "ONGEL V1.5" .db 0 System_load: .db " Loading System" .db 0 Serial_speed: .db "Serial: 9600,N,1" .db 0 IR_online: .db "IR online & rdy " .db 0 IR_offline: .db "IR not connected" .db 0 INFO: .db "Processor: AT90S8515" .db "Speed : 4,096 MHz" .db "Serial : 9600,N,1 " .db "Voltage : 12V 1A " .db " " .db "Internal-Program by " .db "Manuel Schreiner " .db 0 ROTATE_MSG: .db "Drehung: " .db 0 LEFT_MSG: .db "Links" .db 0 Right_MSG: .db "Rechts" .db 0 Ongel_Ready: .db " ONGEL bereit..." .db 0 mend_msg: .db " MISSIONSENDE" .db 0 fore_msg: .db " Vorfahren" .db 0 back_msg: .db " Zurueckfahren" .db 0 wfo_msg: .db "Wait for object" .db 0 sa_msg: .db " StandAloneMode" .db 0 ab_msg: .db " About" .db 0 ab_msg1: .db "ONGEL created by" .db 0 ab_msg2: .db "Christian Klose" .db 0 ab_msg3: .db "Manuel Schreiner" .db 0 ab_msg4: .db "Florian Mehm" .db 0 ab_msg5: .db " Vikomade 2000 " .db 0 f_msg: .db " Vorfahren" .db 0 z_msg: .db " Zurueckfahren" .db 0 l_msg: .db " Links drehen" .db 0 r_msg: .db " Rechts drehen" .db 0 stop_msg: .db "Auf rot druecken" .db 0 mc_msg: .db " Missonclear" .db 0 usa_msg: .db " USensor 1" .db 0 usb_msg: .db " USensor 2" .db 0 us_msg: .db " USensor 1/2" .db 0 demo_msg: .db " Demomode" .db 0 buttons: .db " C UP DOWN OK" .db 0 wait_msg: .db "Please wait... " .db 0 RESET_DEVICE: