opt b,c,f,w,x nam Micro Mouse Firmware spc 4 ************************************************ * * * I/O register addresses * * * ************************************************ cntout equ $2000 dra equ $4000 PIA port A data cra equ $4001 PIA port A control drb equ $4002 PIA port B data crb equ $4003 PIA port B control cr13 equ $8000 PTM Channel 1/3 control cr2 equ $8001 PTM Status/Chan 2 Control tc1h equ $8002 PTM Channel 1 counter tc1l equ $8003 tc2h equ $8004 PTM Channel 2 counter tc2l equ $8005 tc3h equ $8006 PTM Channel 3 counter tc3l equ $8007 spc ************************************************ * * * Static Variables * * * ************************************************ org 0 tc rmb 1 sem rmb 1 pxrate rmb 1 pyrate rmb 1 xrate rmb 1 yrate rmb 1 xcnt rmb 1 ycnt rmb 1 timx rmb 1 timy rmb 1 normx rmb 1 normy rmb 1 xzdel rmb 1 yzdel rmb 1 xnzdel rmb 1 ynzdel rmb 1 pulsim rmb 1 ximage rmb 1 yimage rmb 1 xcross rmb 1 ycross rmb 1 savex rmb 2 spc ************************************************ * * * Interrupt vectors * * * ************************************************ org $FFF8 fdb timout Maskable fdb start Software fdb start Non-maskable fdb start Reset page ************************************************ * * * Start of program * * * ************************************************ org $FC00 start lds #$7F Initialise stack pointer spc ************************************************ * * * Initialise PIA * * * ************************************************ clr a Access both Data sta a cra Direction regs sta a crb sta a sem sta a timx sta a timy sta a normx sta a normy sta a xcnt sta a ycnt sta a xrate sta a yrate sta a pxrate sta a pyrate sta a pulsim sta a cntout sta a xcross sta a ycross lda a #$FF Set all bits to output sta a dra sta a drb lda a #%100 Access data regs sta a cra sta a crb lda a #$80 sta a dra sta a drb sta a ximage sta a yimage spc 2 ************************************************ * * * Initialise Counter and Display buffer * * * ************************************************ lda a #10 sta a tc clr b spc ************************************************ * * * Initialise PTM (channel 3) * * * ************************************************ lda a #1 sta a cr2 Access control reg 1 sta a cr13 Reset all counters sta b cr2 Access control reg 3 ldx #124 Load counter 3 with stx tc3h 1 ms time constant lda a #$43 Load control reg 3 for sta a cr13 continuous, internal * prescaled by 8 ldx #$FF00 stx tc2h lda a #1 sta a cr2 Access control reg 1 stx tc1h sta b cr13 Enable counters cli lda a #200 sta a xzdel iloop tst sem ble iloop dec sem lda a timx add a normx ror a sta a normx lda a timy add a normy ror a sta a normy dec xzdel bne iloop zloope lda a #10 sta a xnzdel sta a ynzdel zloop jsr wait dec xnzdel dec ynzdel lda a #10 tst pxrate bne zl1 sta a xnzdel zl1 tst pyrate bne zl2 sta a ynzdel zl2 tst xnzdel bne zl4 tst ynzdel bne zl3 jsr pulsex jsr pulsey jmp bloop zl3 jmp xloope zl4 tst ynzdel bne zloop jmp yloope bloop jsr wait dec xzdel dec xnzdel dec yzdel dec ynzdel lda a #50 lda b #40 tst pxrate bne bl1 sta b xnzdel bra bl2 bl1 sta a xzdel bl2 tst pyrate bne bl3 sta b ynzdel bra bl4 bl3 sta a yzdel bl4 lda a #10 tst xnzdel bne bl5 jmp rloope bl5 tst ynzdel bne bl6 jmp rloope bl6 tst xzdel bne bl8 sta a xnzdel tst yzdel bne bl7 sta a ynzdel jmp zloop bl7 jmp yloop bl8 tst yzdel bne bloop sta a ynzdel jmp xloop xloope jsr pulsex xloop jsr wait dec xzdel dec xnzdel dec ynzdel lda a #50 lda b #40 tst pxrate bne xl1 sta b xnzdel bra xl2 xl1 sta a xzdel xl2 tst pyrate bne xl3 sta a ynzdel xl3 lda a #10 tst xnzdel bne xl4 jmp rloope xl4 tst xzdel bne xl6 sta a xnzdel tst ynzdel bne xl5 jmp yloope xl5 jmp zloop xl6 tst ynzdel bne xloop jsr pulsey jmp bloop yloope jsr pulsey yloop jsr wait dec xnzdel dec yzdel dec ynzdel lda a #50 lda b #40 tst pxrate bne yl1 sta a xnzdel yl1 tst pyrate bne yl2 sta b ynzdel bra yl3 yl2 sta b yzdel yl3 tst ynzdel bne yl4 jmp rloope yl4 lda a #10 tst yzdel bne yl6 sta a ynzdel tst xnzdel bne yl5 jmp xloope yl5 jmp zloop yl6 tst xnzdel bne yloop jsr pulsex jmp bloop rloope lda a #50 sta a xzdel sta a xzdel rloop lda a pxrate sta a xrate lda a pyrate sta a yrate jsr wait dec xzdel dec yzdel lda a #50 tst pxrate bne rl1 sta a xzdel rl1 tst pyrate bne rl2 sta a yzdel rl2 tst xzdel bne rloop tst yzdel bne rloop jmp zloope pulsex lda a #50 sta a xzdel lda a #40 sta a xnzdel tst pxrate bmi pulxl1 ldx #incx bra pulxl2 pulxl1 ldx #decx pulxl2 sei jsr pulse cli rts pulsey lda a #50 sta a yzdel lda a #40 sta a ynzdel tst pyrate bmi pulyl1 ldx #incy bra pulyl2 pulyl1 ldx #decy pulyl2 sei jsr pulse cli rts gtrate asr a add a 0,x bpl ok1 clr a ok1 cmp a 1,x ble ok2 lda a 1,x ok2 inx inx stx savex add a savex+1 sta a savex+1 bcc skpinc inc savex skpinc ldx savex lda a 0,x rts xclass fcb midx-2-* fcb endx-2-* fcb 2,3,4,5,6,7,9,12,15,23,31,47,63,95,127 fcb 0,0,0,0 midx fcb 0,0,0,0,0 fcb 129,161,193,209,225,233,241,244,247,249,250,251,252,253,254 endx equ * yclass fcb midy-2-* fcb endy-2-* fcb 254,253,252,251,250,249,247,244,241,233,225,209,193,161,129 fcb 0,0,0,0 midy fcb 0,0,0,0,0 fcb 127,95,63,47,31,23,15,12,9,7,6,5,4,3,2 endy equ * wait tst sem ble wait dec sem lda a normx sub a timx ldx #xclass jsr gtrate sta a pxrate lda a normy sub a timy ldx #yclass jsr gtrate sta a pyrate rts page ************************************************ * * * PTM timeout interrupt handler * * * ************************************************ spc 2 timout lda a cr2 Read PTM status lda a tc dec a bne notnth ldx #$FF00 lda a tc1h lda a tc1l sta a timx stx tc1h lda a tc2h lda a tc2l sta a timy stx tc2h inc sem lda a #10 notnth sta a tc ldx tc3h Read counter to clear * interrupts spc lda a xcnt beq restx blt negx dec a bne nochgx ldx #incx jsr pulse bra restx negx inc a bne nochgx ldx #decx jsr pulse restx lda a xrate nochgx sta a xcnt lda a ycnt beq resty blt negy dec a bne nochgy ldx #incy jsr pulse bra resty negy inc a bne nochgy ldx #decy jsr pulse resty lda a yrate nochgy sta a ycnt spc lda a xcross cmp a #3 beq notx inc a sta a xcross cmp a #3 bne notoy lda b #-4&255 sta b ycross notoy cmp a #-3&255 bne nofrmy lda b yimage sta b drb nofrmy add a ximage sta a dra rti notx lda a ycross inc a sta a ycross cmp a #3 bne notox lda b #-4&255 sta b xcross notox cmp a #-3&255 bne nofrmx lda b ximage sta b dra nofrmx add a yimage sta a drb rti spc 2 pulse lda a ximage add a 0,x sta a ximage lda a yimage add a 1,x sta a yimage rts spc incx fcb 1 fcb 0 decx fcb 255 fcb 0 incy fcb 0 fcb 1 decy fcb 0 fcb 255 end