;Blair Lee

;John McDonald
;EE 476 Final Project
;RC Car - TRANSMITTER

;PORTA is used for speed control input.

;PORTB is used for pushbutton input.
;PORTC is used for steering control input.
;PORTD is used for serial output.

.include "4414def.inc"

.def savSREG =r16 ;save the status register

.def TXbusy =r17 ;transmit busy flag
.def TXflash =r18 ;text to be sent is in flash if <> 0
.def command =r19 ;command register
.def temp =r20 ;general-purpose temporary register
.def Volt =r21 ;ADC sample value
.def Count =r22 ;a counter
.def LEDReg =r23 ;register to store LED output (debug)
.def debounce =r24 ;debounce ON or OFF
.def DBcnt =r25 ;debounce counter
.def status =r26 ;running and lights status
.def release =r27 ;button release register
.def temp2 =r28 ;another temporary register

.equ baud96 =25 ;9600 baud constant for 4Mhz crystal

.equ SpdMid =0x0c ;midpoint for fwd-back control
.equ StrMid =0x0c ;midpoint for left-right control
.equ FwdOffset=0xfd ;forward offset
.equ RevOffset=0xfc ;reverse offset
.equ LftOffset=0xfd ;left offset
.equ RgtOffset=0xfd ;right offset
.equ OFF =0x00 ;off
.equ ON =0xff ;on

.equ AADCDO =1 ;ADC data out

.equ AADCCLK =2 ;ADC clock
.equ AADCCS =3 ;ADC chip-select
.equ AADCDI =4 ;ADC data in

.equ CADCDO =1 ;ADC data out

.equ CADCCLK =2 ;ADC clock
.equ CADCCS =3 ;ADC chip-select
.equ CADCDI =4 ;ADC data in

.equ TOP =4 ;top hat switch

.equ TRIG =5 ;trigger switch
.equ SWmask =0x30 ;switch mask
.equ Maxlights=0x04 ;nuumber of light modes

.equ fwdcmd =0x00 ;forward prefix

.equ bakcmd =0x10 ;backward prefix
.equ lftcmd =0x20 ;left prefix
.equ rgtcmd =0x30 ;right prefix
.equ gocmd =0x40 ;lights prefix
.equ stpcmd =0x50 ;other prefix

.equ But1 =0x01;

.equ But2 =0x02;
.equ But3 =0x04;
.equ But4 =0x08;
.equ But5 =0x10;
.equ But6 =0x20;
.equ But7 =0x40;
.equ But8 =0x80;

;========================================================
; Toggle ADC Clock - PORTA
;ADC reads and outputs data on falling edge of the clock

.MACRO A_CLOCKPULSE
sbi PORTA, AADCCLK ;CLK high
nop
cbi PORTA, AADCCLK ;CLK low
nop
.ENDMACRO

;========================================================
; Toggle ADC Clock - PORTC
;ADC reads and outputs data on falling edge of the clock

.MACRO C_CLOCKPULSE
sbi PORTC, CADCCLK ;CLK high
nop
cbi PORTC, CADCCLK ;CLK low
nop
.ENDMACRO

;========================================================
;************************
.dseg

;define variable strings to be tranmitted from RAM

cntstr: .byte 2

;************************
.cseg

.org $0000
rjmp Reset ;reset entry vector
reti
reti
reti
reti
reti
reti
reti
reti
reti
rjmp TXempty ;UART buffer empty
rjmp TXdone ;UART transmit done
reti
RESET:
cli
ldi temp, LOW(RAMEND) ;setup stack pointer
out SPL, temp
ldi temp, HIGH(RAMEND)
out SPH, temp

;initial conditions
clr TXbusy ;start out not busy on TX

;setup UART -- enable TXempty & RXdone int, and RX, TX pins
ldi temp, 0b00101000
out UCR, temp
;set baud rate to 9600
ldi temp, baud96
out UBRR, temp

;initialize ADCs on ports A and C

ldi temp, 0b00011101 ;power ADC and set AADCCS
out DDRA, temp
ldi temp, 0b00001001 ;power ADC and set AADCCS
out PORTA, temp
ldi temp, 0b00011101 ;power ADC and set CADCCS
out DDRC, temp
ldi temp, 0b00001001 ;power ADC and set CADCCS
out PORTC, temp

;set up leds on port B

ldi temp, 0b00000011 ;input from switches on
joystick
out DDRB, temp
out PORTB, temp

;debounce setup
clr debounce ;debounce on or off
clr DBcnt ;debounce counter
clr status ;initialize car to off

sei

;*********************Setup and Read Speed*********************

Getspd:
clr Volt
ldi Count, 5 ;get top 5 bits

A_CLOCKPULSE
cbi PORTA, AADCCS ;initiate conversion
A_CLOCKPULSE
sbi PORTA, AADCDI ;startbit
A_CLOCKPULSE
sbi PORTA, AADCDI ;single ended
A_CLOCKPULSE
cbi PORTA, AADCDI ;channel 0
A_CLOCKPULSE
ReadA: A_CLOCKPULSE
clc ;clear carry
sbic PINA, AADCDO
sec ;set carry if high
rol Volt
dec Count
brne ReadA ;more bits remaining

ldi Count, 8

IgnoreA:A_CLOCKPULSE
dec Count
brne IgnoreA ;ignore lsb first data

sbi PORTA, AADCCS ;conversion complete

;***********************Transmit Speed***********************

_bakCmd:
cpi Volt, SpdMid
brlt _fwdCmd
cpi Volt, SpdMid
breq _stpCmd
lsr Volt
subi Volt, RevOffset
ori Volt, bakcmd
mov command, Volt
rjmp Sendspd

_fwdCmd:
ldi temp, SpdMid
sub temp, Volt
subi temp, FwdOffset
ori temp, fwdcmd
mov command, temp
rjmp Sendspd

_stpCmd:
ldi command, 0x00

Sendspd:
; rcall LEDSt
rcall SendMsg

;********************Setup and Read Steering********************

Getstr: clr Volt
ldi Count, 5 ;get top 5 bits

C_CLOCKPULSE
cbi PORTC, CADCCS ;initiate conversion
C_CLOCKPULSE
sbi PORTC, CADCDI ;startbit
C_CLOCKPULSE
sbi PORTC, CADCDI ;single ended
C_CLOCKPULSE
cbi PORTC, CADCDI ;channel 0
 C_CLOCKPULSE

ReadC: C_CLOCKPULSE
clc ;clear carry
sbic PINC, CADCDO
sec ;set carry if high
rol Volt
dec Count
brne ReadC ;more bits remaining

ldi Count, 8

IgnoreC:C_CLOCKPULSE
dec Count
brne IgnoreC ;ignore lsb first data

sbi PORTC, CADCCS ;conversion complete

;***********************Transmit Steering***********************

_rgtCmd:
cpi Volt, StrMid
brlt _lftCmd
cpi Volt, StrMid
breq _ctrCmd
lsr Volt
subi Volt, RgtOffset
ori Volt, rgtcmd
mov command, Volt
rjmp Sendstr

_lftCmd:
ldi temp, StrMid
sub temp, Volt
subi temp, LftOffset
ori temp, lftcmd
mov command, temp
rjmp Sendstr

_ctrCmd:
ldi command, 0x00
ori command, rgtcmd

Sendstr:
; rcall LEDSt
rcall SendMsg

;***************************Get Status***************************

Getstat:
cpi debounce, ON ;check if debounce is on
breq _debounce
in temp, PORTB
cpi release, OFF ;check if buttons have been released
breq _release

;buttons have been debounced and released

 sbic PINB, TRIG
rjmp _trig
_running:
sbis PINB, TOP
rjmp _status
mov temp, status
com temp
andi temp, 0xf0
andi status, 0x0f
or status, temp
rjmp _status

_trig:
mov temp2, status
andi temp2, 0x0f
inc temp2
cpi temp, Maxlights
brge _lightsoff
rjmp _running

_lightsoff:
ori status, 0xf0
rjmp _running

_debounce:
inc DBcnt ;increment debounce counter
breq _DBdone
rjmp _release
_DBdone:
ldi debounce, OFF ;turn debounce off
rjmp _release

_release:
ori temp, 0x30
brne _status
ldi release, ON

;************************Transmit Status*************************

_status:
mov command, status
ori command, 0xf0
breq _off
_on:
mov command, status
ori command, 0x5f
_off:
mov command, status
ori command, 0x4f

rcall SendMsg
rjmp GetSpd

;***************************Return*******************************

;******************
;Pause procedure
;******************
;_Wait:
; cli ;disable interrupts
; clr temp2 ;clear upper 8 bits of counter
;outerL:
; clr temp3 ;clear lower 8 bits of counter
;innerL:
; inc temp3
; cpi temp3, 0
; brne innerL
; inc temp2
; cpi temp2, 255
; brne outerL
; sei ;here the outer loop is
complete; approx. 1 ms has passed
; ret ;return from wait subroutine

;*******************
;message sending sub
;*******************
SendMsg:
ldi ZL, LOW(cntstr) ;ptr to RAM
ldi ZH, HIGH(cntstr)
inc ZL
st Z, command
ld r0,Z
out UDR, r0 ;fire off the UART transmit
clr TXflash ;the string is in RAM
ser TXbusy ;and set the TX busy flag
sbi UCR, UDRIE ;enable the TXempty interrupt
rcall TXwait
ret

;******************
;Debug procedure
;******************
LEDSt:
mov LEDReg, command
com LEDReg ;invert to send correct output to leds
out PORTB, LEDReg
ret

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;UART stuff follows.
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; UART needs a character

TXempty:in savSREG, SREG ;save processor status
tst TXflash ;Is the string in flash memory?
breq TXram ;If not, it is in RAM
inc ZL ;get the next char from flash

lpm ;and put it in r0

rjmp TXfls
TXram: inc ZL ;get the next char from RAM
 ld r0,Z
TXfls: tst r0 ;if char is zero then exit
breq TXend
out UDR, r0 ;otherwise transmit it
rjmp TXexit ;exit until next char
TXend: clr TXbusy ;no more chars
cbi UCR, UDRIE ;clear the TXempty interrupt
TXexit: out SREG, savSREG ;restore proc status
reti ;back to pgm

; TX done -- buffer is empty -- unused here

TXdone: in savSREG, SREG ;save processor status
out SREG, savSREG ;restore proc status
reti ;back to pgm

;*****************************
;subroutine

TXwait: tst TXbusy ;now wait for the tranmission to finish

brne TXwait
ret