45#ifdef CONF_DMOTOR_HOLD
69extern void dm_handler(
void);
70#ifndef DOXYGEN_SHOULD_SKIP_THIS
77 ; r0 saved by systime_handler\n\
79#ifdef CONF_DMOTOR_HOLD
80" mov.b #0xcf,r6l ; r6l is output\n"
82" sub.w r6,r6 ; r6l is output\n"
84" ; we simultaneously load delta (r0h) and sum (r0l)\n\
85 ; this depends on byte order, but the H8 will stay MSB\n\
86 ; and the resulting code is efficient and compact.\n\
91 add.b #1,r0h ; maps 255 to 256\n\
93 addx.b r0h,r0l ; add delta to sum\n\
94 bcc dm0 ; sum overflow?\n\
95 mov.b @_dm_a+2,r6h ; -> output drive pattern\n\
97 dm0:mov.b r0l,@_dm_a+1 ; save sum\n\
102 add.b #1,r0h ; maps 255 to 256\n\
104 addx.b r0h,r0l ; add delta to sum\n\
105 bcc dm1 ; sum overflow?\n\
106 mov.b @_dm_b+2,r6h ; -> output drive pattern\n\
108 dm1:mov.b r0l,@_dm_b+1 ; save sum\n\
113 add.b #1,r0h ; maps 255 to 256\n\
115 addx.b r0h,r0l ; add delta to sum\n\
116 bcc dm2 ; sum overflow?\n\
117 mov.b @_dm_c+2,r6h ; -> output drive pattern\n\
119 dm2:mov.b r0l,@_dm_c+1 ; save sum\n\
123 mov.b r6l,@_motor_controller:8 ; output motor waveform\n\
__asm__("\n\
.text\n\
.globl _atomic_inc\n\
_atomic_inc:\n\
stc ccr, r1h ; save flags\n\
orc #0x80, ccr ; disable all but NMI\n\
mov.b @r0, r1l\n\
inc r1l\n\
mov.b r1l, @r0\n\
ldc r1h, ccr ; restore flags\n\
rts\n\
")
Interface: direct control of LCD display.
#define dlcd_hide(a)
clear a segment directly in the LCD buffer
#define dlcd_show(a)
set a segment directly in the LCD buffer
const unsigned char dm_a_pattern[4]
motor drive patterns
void motor_c_speed(unsigned char speed)
set motor C speed
void motor_b_speed(unsigned char speed)
set motor B speed
MotorState dm_b
motor B state
const unsigned char dm_b_pattern[4]
MotorState dm_a
motor A state
void motor_b_dir(MotorDirection dir)
set motor B direction to dir
const unsigned char dm_c_pattern[4]
MotorState dm_c
motor C state
MotorDirection
the motor directions
@ brake
hold current position
void motor_a_dir(MotorDirection dir)
set motor A direction to dir
void motor_c_dir(MotorDirection dir)
set motor C direction to dir
#define MAX_SPEED
maximum motor speed
void motor_a_speed(unsigned char speed)
set motor A speed
Internal Interface: H8/3297 processor registers.
Internal LNP Interface: RCX redirected IRQ vectors.
unsigned char dir
output pattern when sum overflows
Internal Interface: direct motor control.
void dm_init(void)
initialize motors
void dm_shutdown(void)
shutdown motors
unsigned char motor_controller
RCX Motor Controller port.