ZitierenHallo DIE HARD!
hat sich schon geklärt, ich habe den Treiber per Hand disassembliert.
Hallo DIE HARD!
Gibt es den Treiber p5driv12.s19 auch als .asm -Datei.(für EMU bzw IDE11)
Nur mal so als Frage , damit man mal was ändern kann!
Oder ist der streng Geheim?
MfG
janpeter
Hallo DIE HARD!
hat sich schon geklärt, ich habe den Treiber per Hand disassembliert.
MfG
janpeter
Kannst Du den Treiber (disassembliert oder asm) bitte in den Download-Bereich stellen? Oder ist der wirklich geheim?
Jetzt war ich doch zu ungeduldig, und deshalb habe ich den P5DRIV auch disassembliert. Ich füge ihn mal hier bei - vielleicht spart sich jemand unnötige Mühen.
PS: ich bin mir nicht sicher, dass alles stimmt, sieht aber plausibel aus.
Er liegt auf C-Robotics.de
--> http://www.c-robotics.de/ccrp5/CCRP5DOC.zip
Hier ist der Treiber:
Code:********************************************* *** CCRP5 C-CONTROL DRIVER (by DIE HARD) *** ********************************************* * - IR INTERFACE Byte 1-3 ***** * - PLM RATE OVERRIDE ***** * - EXTPORT DRIVER Byte 1 ***** ********************************************* * - EXTENDED VERSION, LCD DELETED * - PA0 = COMMON DATA * - PA1 = COMM INTERFACE CLOCK * - PA2 = EXTPORT/LCD CLOCK * - PA3 = EXTPORT STROBE * - PA5 = REVERSE LEFT (0=REVERSE) * - PA4 = REVERSE RIGHT (0=REVERSE) ********************************************* *------------ TIMING ----------------------- * EXTPORT WRITE: 115us * * BASIC BYTES 1 AND 2 ARE OCCUPIED * TRANSMIT ENTRY IS * PORT B IST BASIC PORT 1-8 * PROGRAM USES LABEL "A" *----- SYSTEM I/O ------- PADDR EQU $0005 PADAT EQU $0001 PLMA EQU $000A PLMB EQU $000B MISC EQU $000C *----- COMM INTERFACE MEMORY ----- BUFFL EQU $00A1 BUFFH EQU $00A2 SUBCMD EQU $00A3 *--- EXTPORT INTERFACE MEMORY ---- EXTP EQU $00A4 *---- SYSTEM STATUS ---------- SYSSTAT EQU $00A5 .org $0101 *IIIIIIIIIII REVERSE RIGHT IIIIIIIIIIIIIII REVR: BCLR 4,PADAT BSET 3,SYSSTAT RTS *IIIIIIIIIII REVERSE LEFT IIIIIIIIIIIIIIII REVL: BCLR 5,PADAT BSET 4,SYSSTAT RTS *IIIIIIIIIII FORWARD RIGHT IIIIIIIIIIIIIII FWDR: BSET 4,PADAT BCLR 3,SYSSTAT RTS *IIIIIIIIII FORWARD LEFT IIIIIIIIIIIIIIIII FWDL: BSET 5,PADAT BCLR 4,SYSSTAT RTS *IIIIIIIIII ROTATE RIGHT IIIIIIIIIIIIIIIII ROTR: BSR FWDL BRA REVR *IIIIIIIIII ROTATE LEFT IIIIIIIIIIIIIIIII ROTL: BSR FWDR BRA REVL *IIIIIIIII MOVE BACK IIIIIIIIIIIIIIIIIIII REV: BSR REVL BRA REVR *IIIIIIII MOVE FORWARD IIIIIIIIIIIIIIIIII FWD: BSR FWDL BRA FWDR *IIIIIIIIIII COMNAV STATUS IIIIIIIIIIIIIII CNSTAT: LDA #$04 STA SUBCMD BSR XX LDA SYSSTAT ; b0,b1,b2 AND #$F8 ; CLEAR BITS ORA BUFFL STA SYSSTAT RTS *-------- SPEED RIGHT -------------------- TXPLMB: LDA #8 LDX PLMB BRA TXX *-------- SPEED LEFT --------------------- TXPLMA: LDA #7 LDX PLMA TXX: STX BUFFL STA BUFFH BRA SENDTLM *-------- SYSTEM STATUS ------------------ TXSTAT: CLR BUFFH LDA SYSSTAT STA BUFFL *IIIIIIIIIII SEND TLM IIIIIIIIIIIIIIIIIII SENDTLM: LDA BUFFL ;FORMAT ROL A ROL BUFFH ROL A ROL BUFFH CLR SUBCMD ;->SEND *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *III SHIFT COMMAND FRAME OUT IIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII XX: SEI ;NO INTERRUPTS BSR SRQ ;REQUEST AND ACKNOWLEDGE *------- SET LINES TO OUTPUT ------------- SFTOUT: BSR SETDOUT *------- SOME DELAY ------ LDX #12 ;DELAY AND CLR X ADEL: DEC x BNE ADEL *------ SEND SUBCOMMAND ------- LDA SUBCMD JSR SOAKKU *----- SEND COMMAND HI-BYTE --- LDA BUFFH JSR SOAKKU *----- SEND COMMAND LO-BYTE --- LDA BUFFL JSR SOAKKU *----- SET LINES TO IN ------- BCLR 0,PADDR ;DATA LINE IN BCLR 1,PADDR ;CLOCK LINE IN *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *III SHIFT IN 2 BYTE ANSWER IIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII JSR SIAKKU ;GET HI-BYTE STA BUFFH JSR SIAKKU ;GET LO-BYTE STA BUFFL *----- SET LINES TO OUT BSR SETDOUT CLI RTS *--------------------------- *--- SHIFT AKKU OUT -------- *--------------------------- SOAKKU: CLRX S1BYT: BCLR 1,PADAT ;CLOCK OUT L LSRA ;b0 FIRST BCLR 0,PADAT BCC CLKOUT BSET 0,PADAT CLKOUT: BSET 1,PADAT ;CLOCK OUT H INC X CPX #$8 BNE S1BYT RTS *------------------------------ *--- SET DATA OUT ------- *------------------------------ *SETDOUT: BSET 1,PADDR ;SET CLOCKLINE OUT SETDOUT: BCLR 1,PADAT ;CLOCK LO BSET 1,PADDR ;SET CLOCKLINE OUT BSET 0,PADDR ;SET DATALINE OUT RTS *----------------------------- *--- SHIFT IN AKKU -------- *----------------------------- SIAKKU CLRX R1BYT: BRSET 1,PADAT,R1BYT ;WAIT CLOCK L LSRA CLKIN: BRCLR 1,PADAT,CLKIN ;WAIT CLOCK H BRCLR 0,PADAT,SDT ORA #$80 SDT: INC X CPX #$08 BNE R1BYT RTS *------------------------------- *--- REQUEST AND ACKNOWLEDGE --- *------------------------------- SRQ: BSR SETDOUT ;LINES TO OUT BSET 1,PADAT ;CLOCK HI LDX #10 DEL1: DEX ;HOLD REQUEST 36 us BNE DEL1 *------ WAIT FOR ACKNOWLEDGE --- BCLR 1,PADDR ;END REQUEST LDX #10 DEL2: BRSET 1,PADAT,ACKN DEX ;WAIT ACKN BNE DEL2 BRA SRQ ;REPEAT AFTER TIMEOUT *----- ACKNOWLEDGE RECEIVED ---- ACKN: BRSET 1,PADAT,ACKN ;WAIT END ACKN RTS *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *IIIII PLM SPEED OVERRIDE IIIIIIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII LDA #$0C STA MISC RTS *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *IIIII EXT PORT DRIVE IIIIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII * REMAINS PA3=0, PA2=1 PDRIVE: LDX #8 * BSET 0,PADDR ;DATA LINE IS OUTPUT LP2: ROL EXTP BCLR 0,PADAT ;LO OUT BCC LP1 BSET 0,PADAT ;HI OUT LP1: BCLR 2,PADAT ;CLOCK BSET 2,PADAT DEX BNE LP2 ROL EXTP ; BSET 3,PADAT ;STROBE BCLR 3,PADAT * BCLR 0,PADDR ;DATA LINE IS INPUT RTS *IIIIIIIIIIII LED 1 ON IIIIIIIIIIIIIIIIIIII *LED1ON: BSET 4,EXTP * BRA PDRIVE *LED2ON: BSET 5,EXTP * BRA PDRIVE *LED3ON: BSET 6,EXTP * BRA PDRIVE *LED4ON: BSET 7,EXTP * BRA PDRIVE *LED1OFF: BCLR 4,EXTP * BRA PDRIVE *LED2OFF: BCLR 5,EXTP * BRA PDRIVE *LED3OFF: BCLR 6,EXTP * BRA PDRIVE *LED4OFF: BCLR 7,EXTP * BRA PDRIVE ACSLO: BSR CLRF BSET 2,EXTP BSET 6,SYSSTAT BRA PDRIVE ACSHI: BSR CLRF BSET 1,EXTP BSET 5,SYSSTAT BRA PDRIVE ACSMAX: BSR CLRF BRA PDRIVE CLRF: BCLR 2,EXTP BCLR 1,EXTP BCLR 6,SYSSTAT BCLR 5,SYSSTAT RTS
Und hier noch der p5driv12.asm
Code:********************************************* *** CCRP5 C-CONTROL DRIVER (by DIE HARD) *** ********************************************* * - IR INTERFACE Byte 1-3 ***** * - PLM RATE OVERRIDE ***** * - EXTPORT DRIVER Byte 1 ***** ********************************************* * - EXTENDED VERSION, LCD DELETED * - PA0 = COMMON DATA * - PA1 = COMM INTERFACE CLOCK * - PA2 = EXTPORT/LCD CLOCK * - PA3 = EXTPORT STROBE * - PA5 = REVERSE LEFT (0=REVERSE) * - PA4 = REVERSE RIGHT (0=REVERSE) ********************************************* *------------ TIMING ----------------------- * EXTPORT WRITE: 115us * * BASIC BYTES 1 AND 2 ARE OCCUPIED * TRANSMIT ENTRY IS * PORT B IST BASIC PORT 1-8 * PROGRAM USES LABEL "A" *----- SYSTEM I/O ------- PADDR EQU $0005 PADAT EQU $0001 PLMA EQU $000A PLMB EQU $000B MISC EQU $000C PBDAT EQU $0002 PBDDR EQU $0006 ;LCD BYTE PORT *----- COMM INTERFACE MEMORY ----- BUFFL EQU $00A1 BUFFH EQU $00A2 SUBCMD EQU $00A3 *--- EXTPORT INTERFACE MEMORY ---- EXTP EQU $00A4 *--- LED PORT INTERFACE MEMORY --- LEDP EQU $00A6 *---- SYSTEM STATUS ---------- SYSSTAT EQU $00A5 .org $0101 *IIIIIIIIIII REVERSE RIGHT IIIIIIIIIIIIIII REVR: BCLR 4,PADAT BSET 3,SYSSTAT RTS *IIIIIIIIIII REVERSE LEFT IIIIIIIIIIIIIIII REVL: BCLR 5,PADAT BSET 4,SYSSTAT RTS *IIIIIIIIIII FORWARD RIGHT IIIIIIIIIIIIIII FWDR: BSET 4,PADAT BCLR 3,SYSSTAT RTS *IIIIIIIIII FORWARD LEFT IIIIIIIIIIIIIIIII FWDL: BSET 5,PADAT BCLR 4,SYSSTAT RTS *IIIIIIIIII ROTATE RIGHT IIIIIIIIIIIIIIIII ROTR: BSR FWDL BRA REVR *IIIIIIIIII ROTATE LEFT IIIIIIIIIIIIIIIII ROTL: BSR FWDR BRA REVL *IIIIIIIII MOVE BACK IIIIIIIIIIIIIIIIIIII REV: BSR REVL BRA REVR *IIIIIIII MOVE FORWARD IIIIIIIIIIIIIIIIII FWD: BSR FWDL BRA FWDR *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *III SEND COMNAV STATUS IIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII CNSTAT: LDA #$04 STA SUBCMD BSR XX LDA SYSSTAT ; b0,b1,b2 AND #$F8 ; CLEAR BITS ORA BUFFL STA SYSSTAT RTS *-------- SPEED RIGHT -------------------- *TXPLMB: LDA #8 * LDX PLMB * BRA TXX *-------- SPEED LEFT --------------------- *TXPLMA: LDA #7 * LDX PLMA *TXX: STX BUFFL * STA BUFFH * BRA SENDTLM *-------- SYSTEM STATUS ------------------ TXSTAT: CLR BUFFH LDA SYSSTAT STA BUFFL *IIIIIIIIIII SEND TLM IIIIIIIIIIIIIIIIIII SENDTLM: LDA BUFFL ;FORMAT ROL A ROL BUFFH ROL A ROL BUFFH CLR SUBCMD ;->SEND *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *III SHIFT COMMAND FRAME OUT ( COMNAV ) II *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII XX: SEI ;NO INTERRUPTS BSR SRQ ;REQUEST AND ACKNOWLEDGE *------- SET LINES TO OUTPUT ------------- SFTOUT: BSR SETDOUT *------- SOME DELAY ------ LDX #55 ;DELAY AND CLR X36=52 ADEL: DEC x BNE ADEL *------ SEND SUBCOMMAND ------- LDA SUBCMD JSR SOAKKU *----- SEND COMMAND HI-BYTE --- LDA BUFFH JSR SOAKKU *----- SEND COMMAND LO-BYTE --- LDA BUFFL JSR SOAKKU *----- SET LINES TO IN ------- BCLR 0,PADDR ;DATA LINE IN BCLR 1,PADDR ;CLOCK LINE IN *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *III SHIFT IN 2 BYTE ANSWER IIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII JSR SIAKKU ;GET HI-BYTE STA BUFFH JSR SIAKKU ;GET LO-BYTE STA BUFFL *----- SET LINES TO OUT BSR SETDOUT BSET 7,PBDAT ;USED FOR NAV EXTENSION BCLR 7,PBDAT EXXX: CLI RTS *--------------------------- *--- SHIFT AKKU OUT -------- *--------------------------- SOAKKU: CLRX S1BYT: BSR D12 ;DELAY 12 Mhz 17cycl BSR D12 BCLR 1,PADAT ;CLOCK OUT L BSR D12 BSR D12 LSRA ;b0 FIRST BCLR 0,PADAT BCC CLKOUT BSET 0,PADAT CLKOUT: BSET 1,PADAT ;CLOCK OUT H INC X ;3 CPX #$8 ;2 BNE S1BYT ;3 BSR D12 RTS *------------------------------ *--- SET DATA OUT ------- *------------------------------ *SETDOUT: BSET 1,PADDR ;SET CLOCKLINE OUT SETDOUT: BCLR 1,PADAT ;CLOCK LO BSET 1,PADDR ;SET CLOCKLINE OUT D12: BSET 0,PADDR ;SET DATALINE OUT RTS *----------------------------- *--- SHIFT IN AKKU -------- *----------------------------- SIAKKU CLRX R1BYT: BRSET 1,PADAT,R1BYT ;WAIT CLOCK L LSRA CLKIN: BRCLR 1,PADAT,CLKIN ;WAIT CLOCK H BRCLR 0,PADAT,SDT ORA #$80 SDT: INC X CPX #$08 BNE R1BYT RTS *------------------------------- *--- REQUEST AND ACKNOWLEDGE --- *------------------------------- SRQ: BSR SETDOUT ;LINES TO OUT BSET 1,PADAT ;CLOCK HI LDX #30 DEL1: DEX ;HOLD REQUEST 36 us BNE DEL1 *------ WAIT FOR ACKNOWLEDGE --- BCLR 1,PADDR ;END REQUEST LDX #30 DEL2: BRSET 1,PADAT,ACKN DEX ;WAIT ACKN BNE DEL2 BRA SRQ ;REPEAT AFTER TIMEOUT *----- ACKNOWLEDGE RECEIVED ---- ACKN: BRSET 1,PADAT,ACKN ;WAIT END ACKN RTS *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *IIIII PLM SPEED OVERRIDE IIIIIIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII PLM: LDA #$0C ;2 STA MISC ;5 RTS ;6 *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII *IIIII EXT/LED PORT DRIVE IIII *IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII * REMAINS PA3=0, PA2=1 PDRIVE: CLR X BRA PD LDRIVE: LDX #2 PD: LDA #8 * BSET 0,PADDR ;DATA LINE IS OUTPUT LP2: ROL EXTP,X BCLR 0,PADAT ;LO OUT BCC LP1 BSET 0,PADAT ;HI OUT LP1: BCLR 2,PADAT ;CLOCK BSET 2,PADAT DEC A BNE LP2 ROL EXTP,X ; * BSET 3,PADAT ;STROBE * BCLR 3,PADAT * BCLR 0,PADDR ;DATA LINE IS INPUT RTS ACSLO: BSR CLRF BSET 2,EXTP BSET 6,SYSSTAT BRA PDRIVE ACSHI: BSR CLRF BSET 1,EXTP BSET 5,SYSSTAT BRA PDRIVE ACSMAX: BSR CLRF BRA PDRIVE CLRF: BCLR 2,EXTP BCLR 1,EXTP BCLR 6,SYSSTAT BCLR 5,SYSSTAT RTS
Hallo DIE HARD:
Danke! Aber schon nächster Wunsch:
Könntet Ihr auf der c-robotics Seite bitte Änderungen kenntlich machen (z.B. "ZIP vom ..."), oder hier einen Hinweis posten, dass es was neues gibt?
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