146 lines
2.9 KiB
NASM
Executable File
146 lines
2.9 KiB
NASM
Executable File
LIST P=18F4550, F=INHX32 ; Specify processor and hex format
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#include <p18f4550.inc>
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CONFIG FOSC = HS ; Use internal oscillator, RA6 as clock output
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CONFIG WDT = OFF ; Watchdog Timer off
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CONFIG LVP = OFF ; Low-Voltage Programming off
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CONFIG MCLRE = OFF ; MCLR pin disabled, RE3 input enabled
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CONFIG PBADEN = OFF
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ORG 0x00 ; Program starts at address 0
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ROTA1 EQU 0x01
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ROTA2 EQU 0x02
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ROTA3 EQU 0x04
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ROTA4 EQU 0x08
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ROTA5 EQU 0x10
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ROTA6 EQU 0x20
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R1 EQU 0x020
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R2 EQU 0x021
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Start:
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; Initialize PORTB
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CLRF TRISD ; Set all PORTB pins as output
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CLRF LATD ; Clear PORTB outputs
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CLRF LATB
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BCF INTCON2, 7
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MOVLW 0xff
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MOVWF TRISB ; set port b to input
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movlw 0x0f
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movwf ADCON1
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MOVLW 0x01
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MOVWF PORTD
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loop:
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movf PORTB, W
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xorlw ROTA1
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btfsc STATUS, Z
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goto leftright
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xorlw ROTA2^ROTA1
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btfsc STATUS, Z
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goto right
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xorlw ROTA2^ROTA3
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btfsc STATUS, Z
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goto left
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xorlw ROTA3^ROTA4
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btfsc STATUS, Z
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goto alternate
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xorlw ROTA4^ROTA5
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btfsc STATUS, Z
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goto centerout
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xorlw ROTA5^ROTA6
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btfsc STATUS, Z
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goto outcenter
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goto loop
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leftright:
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CALL Delay ; Delay
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RLCF PORTD, f
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BTFSS STATUS,0
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GOTO leftright ; Repeat the loop
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lright:
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CALL Delay ; Delay
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RRCF PORTD, F
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BTFSS STATUS,0
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GOTO lright ; Repeat the loop
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return
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left:
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MOVLW 0x80
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MOVWF PORTD
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rl: CALL Delay ; Delay
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RRCF PORTD, F
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BTFSS STATUS,0
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GOTO rl ; Repeat the loop
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return
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right:
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MOVLW 0x01
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MOVWF PORTD
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rr: CALL Delay ; Delay
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RLCF PORTD, F
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BTFSS STATUS,0
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GOTO rr ; Repeat the loop
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return
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alternate:
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movlw 0xaa
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movwf PORTD
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call Delay
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movlw 0x55
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movwf PORTD
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call Delay
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return
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centerout:
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movlw 0x18
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movwf PORTD
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call Delay
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movlw 0x24
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movwf PORTD
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call Delay
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movlw 0x42
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movwf PORTD
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call Delay
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movlw 0x81
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movwf PORTD
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call Delay
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return
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outcenter:
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movlw 0x81
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movwf PORTD
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call Delay
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movlw 0x42
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movwf PORTD
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call Delay
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movlw 0x24
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movwf PORTD
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call Delay
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movlw 0x18
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movwf PORTD
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call Delay
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return
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; Delay subroutine (approx 500ms)
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Delay:
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MOVLW D'250' ; Outer loop count
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MOVWF R1
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Delay_Outer:
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MOVLW D'250' ; Inner loop count
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MOVWF R2
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Delay_Inner:
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NOP ; Do nothing (No Operation)
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NOP
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DECFSZ R2, F ; Decrement inner loop counter
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GOTO Delay_Inner ; Repeat inner loop
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DECFSZ R1, F ; Decrement outer loop counter
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GOTO Delay_Outer ; Repeat outer loop
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RETURN ; Return from delay
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END ; End of program
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;todopic y aquihayapuntes
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