stepper.asm


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.include "m8def.inc"

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.def A          = r16

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.def B          = r17

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.def Steptime1  = r19

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.def Steptime2  = r20

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.def Stepcount1 = r21

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.def Stepcount2 = r22

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.equ STEPSAVE1  = 100 ;Frequenz Motor schnell

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.equ STEPSAVE2  = 200 ;Frequenz Motor langsam

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.org 0x0000

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rjmp Start

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.org OVF2addr

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rjmp ISR_Motor1

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.org OVF0addr

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rjmp ISR_Motor2

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Start:

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     ; Stack initialisieren

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   ldi  A, HIGH(RAMEND)        

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     out  SPH,A

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     ldi  A, LOW(RAMEND)             

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     out  SPL,A

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     ; Ausgänge initialisieren

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   ; Startwert: LOW

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   ldi  A,0b11111111

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     out  DDRD,A

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   ldi  A,0b11111111

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   out  DDRB,A

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     ; Zeitvariablen setzen

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     ldi Steptime1,STEPSAVE1 ;Frequenz Motor schnell

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     ldi Steptime2,STEPSAVE2 ;Frequenz Motor langsam

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     ; Motorvariablen (Anfangsschritt) setzen

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     ldi StepCount1,1

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     ldi StepCount2,1

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     ; Timer aufsetzen

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     ldi  A, (1<<CS01)

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   out  TCCR0, A  ; Timer 0 Prescaler /8 alle 512 µs bei 4 MHz

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   ldi  B, (1<<CS21)

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   out  TCCR2, B  ; Timer 2 Prescaler /8 alle 512 µs bei 4 MHz

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     ldi  A, (1<<TOIE0)|(1<<TOIE2) 

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     out  TIMSK, A

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   sei                               

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Loop: 

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     rjmp Loop

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; 

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; ISR für Motor #1

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; (Timer 2 Overflow)

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;

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ISR_Motor1:  

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   push A

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   in   A,SREG

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   push A

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     dec  Steptime1 ; Softwarezähler == 0? 

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   brne EndMotor1 ; Nein => ISR verlassen

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M1Step1: 

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     cpi  StepCount1,1

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   brne M1Step2        

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     inc  Stepcount1

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   ldi  A,0b11000000

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     rjmp SetMotor1

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M1Step2: 

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     cpi  StepCount1,2

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   brne M1Step3

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     inc  Stepcount1

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   ldi  A,0b01100000

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     rjmp SetMotor1

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M1Step3: 

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     cpi  StepCount1,3

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   brne M1Step4

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     inc  Stepcount1

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   ldi  A,0b00110000

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     rjmp SetMotor1

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M1Step4: 

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   ldi  Stepcount1,1

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   ldi  A,0b10010000

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     ; Durchfall

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SetMotor1:

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     out  PORTD,A             ;Schritt ausführen

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     ldi  Steptime1,STEPSAVE1  ;Frequenz Motor schnell

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EndMotor1:

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   pop  A                     

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   out  SREG,A

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   pop  A                     

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     reti

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;

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; ISR für Motor #2

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; (Timer 0 Overflow)

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;

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ISR_Motor2:  

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   push A

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   in   A,SREG

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   push A

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     dec  Steptime2 ; Softwarezähler == 0? 

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   brne EndMotor2 ; Nein => ISR verlassen

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M2Step1: 

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     cpi  StepCount2,1

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   brne M2Step2        

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     inc  Stepcount2

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   ldi  A,0b11000000

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     rjmp SetMotor2

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M2Step2: 

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     cpi  StepCount2,2

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   brne M2Step3

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     inc  Stepcount2

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   ldi  A,0b01100000

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     rjmp SetMotor2

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M2Step3: 

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     cpi  StepCount2,3

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   brne M2Step4

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     inc  Stepcount2

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   ldi  A,0b00110000

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     rjmp SetMotor2

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M2Step4: 

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   ldi  Stepcount2,1

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   ldi  A,0b10010000

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     ; Durchfall

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SetMotor2:

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     out  PORTB,A             ;Schritt ausführen

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     ldi  Steptime2,STEPSAVE2 ;Frequenz Motor langsam

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EndMotor2:

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   pop  A                     

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   out  SREG,A

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   pop  A                     

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     reti