166 lines
5.3 KiB
ArmAsm
166 lines
5.3 KiB
ArmAsm
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;* ----------------------------------------------------------------------------
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;* -- _____ ______ _____ -
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;* -- |_ _| | ____|/ ____| -
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;* -- | | _ __ | |__ | (___ Institute of Embedded Systems -
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;* -- | | | '_ \| __| \___ \ Zurich University of -
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;* -- _| |_| | | | |____ ____) | Applied Sciences -
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;* -- |_____|_| |_|______|_____/ 8401 Winterthur, Switzerland -
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;* ----------------------------------------------------------------------------
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;* --
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;* -- Project : CT1 - Lab 12
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;* -- Description : Control motor speed and direction
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;* --
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;* -- $Id: control.s 1016 2014-11-28 07:27:21Z feur $
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;* ----------------------------------------------------------------------------
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IMPORT set_sfr
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IMPORT clear_sfr
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; -----------------------------------------------------------------------------
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; -- Constants
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; -----------------------------------------------------------------------------
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AREA myCode, CODE, READONLY
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THUMB
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REG_RCC_AHB1ENR EQU 0x40023830
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REG_GPIOA_MODER EQU 0x40020000
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REG_GPIOA_OSPEEDR EQU 0x40020008
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REG_GPIOA_BSRR EQU 0x40020018
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REG_CT_DIPSW EQU 0x60000200
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jump_table DCD case_00, case_01, case_10, case_11
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; -----------------------------------------------------------------------------
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; Initialize EXTI
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; -----------------------------------------------------------------------------
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init_control PROC
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EXPORT init_control
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PUSH {R6-R7, LR}
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init_gpio ; Clock configuration
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LDR R6, =REG_RCC_AHB1ENR
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LDR R7, =0x1 ; Enable GPIOA clock
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BL set_sfr
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; Output pin configuration (PA.5, PA.6)
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LDR R6, =REG_GPIOA_MODER
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LDR R7, =0x1400 ; Set pin to output mode
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BL set_sfr
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LDR R6, =REG_GPIOA_OSPEEDR
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LDR R7, =0x1400 ; Set pin to high speed
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BL set_sfr
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; Return
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POP {R6-R7, PC}
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NOP
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ENDP
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; -----------------------------------------------------------------------------
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; Check buttons
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; -----------------------------------------------------------------------------
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do_input PROC
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EXPORT do_input
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PUSH {R0-R2, LR}
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LDR R0, =REG_CT_DIPSW
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LDRB R1, [R0]
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LDR R2, =0x3
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ANDS R1, R1, R2
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case_switch CMP R1, #4
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BGE case_00
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LSLS R1, #2
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LDR R2, =jump_table
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LDR R2, [R2, R1]
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BX R2
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case_00 BL motor_off
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BL motor_ccw
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B case_end
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case_01 BL motor_on
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BL motor_ccw
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B case_end
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case_10 BL motor_off
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BL motor_cw
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B case_end
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case_11 BL motor_on
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BL motor_cw
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case_end POP {R0-R2, PC}
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ENDP
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; -----------------------------------------------------------------------------
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; Motor control
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; -----------------------------------------------------------------------------
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motor_on PROC
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EXPORT motor_on
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PUSH {R0-R7, LR}
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LDR R0, =REG_GPIOA_BSRR
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LDR R1, =0x20 ; Set bit 5 -> PA.5
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STR R1, [R0]
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POP {R0-R7, PC}
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ENDP
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motor_off PROC
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EXPORT motor_off
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PUSH {R0-R7, LR}
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LDR R0, =REG_GPIOA_BSRR
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LDR R1, =0x200000 ; Reset bit 5 -> PA.5
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STR R1, [R0]
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POP {R0-R7, PC}
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ENDP
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motor_cw PROC
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EXPORT motor_cw
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PUSH {R0-R7, LR}
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LDR R0, =REG_GPIOA_BSRR
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LDR R1, =0x40 ; Set bit 6 -> PA.6
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STR R1, [R0]
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POP {R0-R7, PC}
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ENDP
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motor_ccw PROC
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EXPORT motor_ccw
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PUSH {R0-R7, LR}
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LDR R0, =REG_GPIOA_BSRR
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LDR R1, =0x400000 ; Reset bit 6 -> PA.6
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STR R1, [R0]
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POP {R0-R7, PC}
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ENDP
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; -----------------------------------------------------------------------------
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; -- End of file
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; -----------------------------------------------------------------------------
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END
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