* -----------------------------------------------------------------------
* encoder.asm
* -----------------------------------------------------------------------

PORTA	EQU $0				; Puerto A
TCTL2	EQU $21				; Activaciones de flancos ICn
TMSK1	EQU $22				; Interrupciones de capturadores
TFLG1	EQU $23				; Flags de capturadores


	ORG $0000			; Programa en RAM interna

	BRA inicio

pasos_d	FDB 0				; Variable para contar los pasos

inicio	LDX #$1000			; Apunta a los registros de ctrl
	BSR init			; Inicializa interrupciones

avanza	LDAA #$18			; Avanza
	STAA PORTA,X

bucle	LDD pasos_d			; Carga los pasos de la rueda derecha
	CPD #8				; Lo compara con 8
	BNE bucle			; Si no se ha lledado, continua
	CLRA				; Detiene el robot
	STAA PORTA,X

stop	BRA stop			; Y se para


h_enc_d	LDD pasos_d			; Carga el número de pasos
	ADDD #$01			; Incrementa en 1
	STD pasos_d			; Almacena el número de pasos
	LDAA #$01			; Borra el flag de interrupción IC3
	STAA TFLG1,X
	RTI				; Retorno de interrupción

init	BCLR TCTL2,X $02		; Flanco de subida del IC3
	BSET TCTL2,X $01		; Flanco de subida del IC3
	BSET TMSK1,X $01		; Permite interrupciones del IC3
	CLI				; Permite interrupciones
	RTS


	ORG $00E2			; Instala el manejador
	JMP h_enc_d


	END
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