Code:
*********************************************
*** CCRP5 C-CONTROL DRIVER (by DIE HARD) ***
*********************************************
* - IR INTERFACE Byte 1-3 *****
* - PLM RATE OVERRIDE *****
* - EXTPORT DRIVER Byte 1 *****
*********************************************
* - EXTENDED VERSION, LCD DELETED
* - PA0 = COMMON DATA
* - PA1 = COMM INTERFACE CLOCK
* - PA2 = EXTPORT/LCD CLOCK
* - PA3 = EXTPORT STROBE
* - PA5 = REVERSE LEFT (0=REVERSE)
* - PA4 = REVERSE RIGHT (0=REVERSE)
*********************************************
*------------ TIMING -----------------------
* EXTPORT WRITE: 115us
*
* BASIC BYTES 1 AND 2 ARE OCCUPIED
* TRANSMIT ENTRY IS
* PORT B IST BASIC PORT 1-8
* PROGRAM USES LABEL "A"
*----- SYSTEM I/O -------
PADDR EQU $0005
PADAT EQU $0001
PLMA EQU $000A
PLMB EQU $000B
MISC EQU $000C
*----- COMM INTERFACE MEMORY -----
BUFFL EQU $00A1
BUFFH EQU $00A2
SUBCMD EQU $00A3
*--- EXTPORT INTERFACE MEMORY ----
EXTP EQU $00A4
*---- SYSTEM STATUS ----------
SYSSTAT EQU $00A5
.org $0101
*IIIIIIIIIII REVERSE RIGHT IIIIIIIIIIIIIII
REVR: BCLR 4,PADAT
BSET 3,SYSSTAT
RTS
*IIIIIIIIIII REVERSE LEFT IIIIIIIIIIIIIIII
REVL: BCLR 5,PADAT
BSET 4,SYSSTAT
RTS
*IIIIIIIIIII FORWARD RIGHT IIIIIIIIIIIIIII
FWDR: BSET 4,PADAT
BCLR 3,SYSSTAT
RTS
*IIIIIIIIII FORWARD LEFT IIIIIIIIIIIIIIIII
FWDL: BSET 5,PADAT
BCLR 4,SYSSTAT
RTS
*IIIIIIIIII ROTATE RIGHT IIIIIIIIIIIIIIIII
ROTR: BSR FWDL
BRA REVR
*IIIIIIIIII ROTATE LEFT IIIIIIIIIIIIIIIII
ROTL: BSR FWDR
BRA REVL
*IIIIIIIII MOVE BACK IIIIIIIIIIIIIIIIIIII
REV: BSR REVL
BRA REVR
*IIIIIIII MOVE FORWARD IIIIIIIIIIIIIIIIII
FWD: BSR FWDL
BRA FWDR
*IIIIIIIIIII COMNAV STATUS IIIIIIIIIIIIIII
CNSTAT: LDA #$04
STA SUBCMD
BSR XX
LDA SYSSTAT ; b0,b1,b2
AND #$F8 ; CLEAR BITS
ORA BUFFL
STA SYSSTAT
RTS
*-------- SPEED RIGHT --------------------
TXPLMB: LDA #8
LDX PLMB
BRA TXX
*-------- SPEED LEFT ---------------------
TXPLMA: LDA #7
LDX PLMA
TXX: STX BUFFL
STA BUFFH
BRA SENDTLM
*-------- SYSTEM STATUS ------------------
TXSTAT: CLR BUFFH
LDA SYSSTAT
STA BUFFL
*IIIIIIIIIII SEND TLM IIIIIIIIIIIIIIIIIII
SENDTLM: LDA BUFFL ;FORMAT
ROL A
ROL BUFFH
ROL A
ROL BUFFH
CLR SUBCMD ;->SEND
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
*III SHIFT COMMAND FRAME OUT IIII
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
XX: SEI ;NO INTERRUPTS
BSR SRQ ;REQUEST AND ACKNOWLEDGE
*------- SET LINES TO OUTPUT -------------
SFTOUT: BSR SETDOUT
*------- SOME DELAY ------
LDX #12 ;DELAY AND CLR X
ADEL: DEC x
BNE ADEL
*------ SEND SUBCOMMAND -------
LDA SUBCMD
JSR SOAKKU
*----- SEND COMMAND HI-BYTE ---
LDA BUFFH
JSR SOAKKU
*----- SEND COMMAND LO-BYTE ---
LDA BUFFL
JSR SOAKKU
*----- SET LINES TO IN -------
BCLR 0,PADDR ;DATA LINE IN
BCLR 1,PADDR ;CLOCK LINE IN
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
*III SHIFT IN 2 BYTE ANSWER IIII
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
JSR SIAKKU ;GET HI-BYTE
STA BUFFH
JSR SIAKKU ;GET LO-BYTE
STA BUFFL
*----- SET LINES TO OUT
BSR SETDOUT
CLI
RTS
*---------------------------
*--- SHIFT AKKU OUT --------
*---------------------------
SOAKKU: CLRX
S1BYT: BCLR 1,PADAT ;CLOCK OUT L
LSRA ;b0 FIRST
BCLR 0,PADAT
BCC CLKOUT
BSET 0,PADAT
CLKOUT: BSET 1,PADAT ;CLOCK OUT H
INC X
CPX #$8
BNE S1BYT
RTS
*------------------------------
*--- SET DATA OUT -------
*------------------------------
*SETDOUT: BSET 1,PADDR ;SET CLOCKLINE OUT
SETDOUT: BCLR 1,PADAT ;CLOCK LO
BSET 1,PADDR ;SET CLOCKLINE OUT
BSET 0,PADDR ;SET DATALINE OUT
RTS
*-----------------------------
*--- SHIFT IN AKKU --------
*-----------------------------
SIAKKU CLRX
R1BYT: BRSET 1,PADAT,R1BYT ;WAIT CLOCK L
LSRA
CLKIN: BRCLR 1,PADAT,CLKIN ;WAIT CLOCK H
BRCLR 0,PADAT,SDT
ORA #$80
SDT: INC X
CPX #$08
BNE R1BYT
RTS
*-------------------------------
*--- REQUEST AND ACKNOWLEDGE ---
*-------------------------------
SRQ: BSR SETDOUT ;LINES TO OUT
BSET 1,PADAT ;CLOCK HI
LDX #10
DEL1: DEX ;HOLD REQUEST 36 us
BNE DEL1
*------ WAIT FOR ACKNOWLEDGE ---
BCLR 1,PADDR ;END REQUEST
LDX #10
DEL2: BRSET 1,PADAT,ACKN
DEX ;WAIT ACKN
BNE DEL2
BRA SRQ ;REPEAT AFTER TIMEOUT
*----- ACKNOWLEDGE RECEIVED ----
ACKN: BRSET 1,PADAT,ACKN ;WAIT END ACKN
RTS
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
*IIIII PLM SPEED OVERRIDE IIIIIIII
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
LDA #$0C
STA MISC
RTS
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
*IIIII EXT PORT DRIVE IIIIII
*IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII
* REMAINS PA3=0, PA2=1
PDRIVE: LDX #8
* BSET 0,PADDR ;DATA LINE IS OUTPUT
LP2: ROL EXTP
BCLR 0,PADAT ;LO OUT
BCC LP1
BSET 0,PADAT ;HI OUT
LP1: BCLR 2,PADAT ;CLOCK
BSET 2,PADAT
DEX
BNE LP2
ROL EXTP ;
BSET 3,PADAT ;STROBE
BCLR 3,PADAT
* BCLR 0,PADDR ;DATA LINE IS INPUT
RTS
*IIIIIIIIIIII LED 1 ON IIIIIIIIIIIIIIIIIIII
*LED1ON: BSET 4,EXTP
* BRA PDRIVE
*LED2ON: BSET 5,EXTP
* BRA PDRIVE
*LED3ON: BSET 6,EXTP
* BRA PDRIVE
*LED4ON: BSET 7,EXTP
* BRA PDRIVE
*LED1OFF: BCLR 4,EXTP
* BRA PDRIVE
*LED2OFF: BCLR 5,EXTP
* BRA PDRIVE
*LED3OFF: BCLR 6,EXTP
* BRA PDRIVE
*LED4OFF: BCLR 7,EXTP
* BRA PDRIVE
ACSLO: BSR CLRF
BSET 2,EXTP
BSET 6,SYSSTAT
BRA PDRIVE
ACSHI: BSR CLRF
BSET 1,EXTP
BSET 5,SYSSTAT
BRA PDRIVE
ACSMAX: BSR CLRF
BRA PDRIVE
CLRF: BCLR 2,EXTP
BCLR 1,EXTP
BCLR 6,SYSSTAT
BCLR 5,SYSSTAT
RTS
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