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.device ATmega328P
.def step_mask = r16
.def step_reg = r17
.def loop_count = r18
.def inner_loop_reg_low = r26
.def inner_loop_reg_high = r27
.equ inner_val = 39998
; Port B Macros
.equ DDRB = 0x04
.equ PORTB = 0x05
.equ PINB0 = 0 ; Port B Input Pins bit 0
.equ PINB1 = 1 ; Port B Input Pins bit 1
.equ PINB2 = 2 ; Port B Input Pins bit 2
.equ PINB3 = 3 ; Port B Input Pins bit 3
.equ PINB4 = 4 ; Port B Input Pins bit 4
.equ PINB5 = 5 ; Port B Input Pins bit 5
; Port D Macros
.equ DDRD = 0x0a
.equ PORTD = 0x0b
.equ PIND2 = 2 ; Port D Input Pins bit 2
.equ PIND3 = 3 ; Port D Input Pins bit 3
.equ PIND7 = 7 ; Port D Input Pins bit 7
.org 0x00
jmp setup
setup:
; enable data direction registers; iref, diag1, diag0 are disabled
sbi DDRB,PINB0
sbi DDRB,PINB1
sbi DDRB,PINB2
sbi DDRB,PINB3
sbi DDRB,PINB4
sbi DDRB,PINB5
sbi DDRD,PIND2
sbi DDRD,PIND3
sbi DDRD,PIND7
; configure tmc2100 cfg pins
cbi PORTD,PIND7 ; chopper time off (140t_clk), cfg0
sbi PORTD,PINB2 ; current setting (internal sense resistors), cfg3
cbi PORTD,PINB3 ; chopper histeresis (5), cfg4
sbi PORTD,PINB4 ; chopper blank time (24), cfg5
cbi PORTD,PINB5 ; tmc2100 enable pin, cfg6
; set direction
sbi PORTD,(1<<PIND2)
clr step_reg ; clear step register
ldi step_mask,(1<<PIND3) ; put 1 into step register
main:
eor step_reg,step_mask
out PORTD,step_reg
ldi loop_count,1
rcall delay10ms
rjmp main
delay10ms:
ldi inner_loop_reg_low,LOW(inner_val)
ldi inner_loop_reg_high,HIGH(inner_val)
inner_loop:
sbiw inner_loop_reg_low,1
brne inner_loop
dec loop_count
brne delay10ms
nop
ret
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