Working code. Sending Freeze from slave still needs to be done.

Labs/Lab6/ece375-L6_MASTER.asm

@@ -23,7 +23,7 @@
 .def    waitcnt = r17               ; Wait Loop Counter
 .def    ilcnt = r18             ; Inner Loop Counter
 .def    olcnt = r19             ; Outer Loop Counter
-.def    tmp = r30
+.def    tmp = r20
 .def	rec = r22				; Multi-Purpose Register
 
 
@@ -152,7 +152,7 @@ MAIN:
 
         in    mpr, PIND       ; Get whisker input from Port D
         cpi   mpr, FREEZE
-        breq   FREEZE
+        breq   SENDFREEZE
 
         in    mpr, PIND       ; Get whisker input from Port D
         cpi   mpr, B3
@@ -165,7 +165,8 @@ MAIN:
 
         in    mpr, PIND       ; Get whisker input from Port D
         cpi   mpr, B5
-        breq   BUTTON5
+        ;breq   BUTTON5
+        breq   SENDFREEZE
 
         in    mpr, PIND       ; Get whisker input from Port D
         cpi   mpr, B6
@@ -195,7 +196,7 @@ BUTTON1:
         out PORTB, mpr
         call USART_Transmit
         jmp MAIN
-FREEZE:
+SENDFREEZE:
         ; Load bot id
         ldi mpr, BotID
         ; Send bot id
@@ -248,16 +249,16 @@ BUTTON6:
 
 
         ; Load bot id
-        ldi mpr, BotID
+        ;ldi mpr, BotID
         ; Send bot id
-        call USART_Transmit
+        ;call USART_Transmit
 
         ; Load tmp + 1
-        adiw tmp, $1
-        mov mpr, tmp
+        ;adiw tmp, $1
+        ;mov mpr, tmp
         ; Send bot id
-        call USART_Transmit
-        out  PORTB, tmp
+        ;call USART_Transmit
+        ;out  PORTB, tmp
 
         ldi waitcnt, WTime ; Wait for 1 second
 ; -------------------------------

Labs/Lab6/ece375-L6_SLAVE.asm

@@ -19,9 +19,10 @@
 ;*	Internal Register Definitions and Constants
 ;***********************************************************
 .def	mpr = r16				; Multi-Purpose Register
+.def	numFrozen = r17				; Multi-Purpose Register
 .def	waitcnt = r21				; Wait Loop Counter
 .def	rec = r22				; What we received Register
-.def	tmp = r23				; What we received Register
+.def	tmp = r20				; What we received Register
 .def	cmd = r24				; What we received Register
 .def	state = r23				; State register.
 .def	ilcnt = r18				; Inner Loop Counter
@@ -136,6 +137,8 @@ USART_INIT:
 ;-----------------------------------------------------------
         ldi     mpr, $01
         ldi     state, $00
+        clr     numFrozen
+        clr     cmd
 MAIN:
         out PORTB, cmd
 		rjmp	MAIN
@@ -162,14 +165,45 @@ USART_Receive:
     ; Get and return receive data from receive buffer
     lds rec, UDR1
     ; Data is now in rec
-
+    ; if rec == FROZEN:
+    ;   wait n
+    ;   numFrozen++
+    ;   if numFrozen == 3:
+    ;      STUCK  rjmp STUCK
+    ;   ret
+    ; if state == 0:
+    ;   if rec == BotID:
+    ;       state = 1
+    ;       ret
+    ; if state == 1:
+    ;   cmd = rec
+    ;   mov cmd, rec // Do the command
+    ; ============= The Actual Code =============
+    ; if rec == FROZEN:
+    cpi   rec, FROZEN
+    breq  DO_FROZEN
+    ; if state == 0:
     cpi   state, $00
-    breq  GO_STATE1
+    breq  GO_STATE0
+    ; if state == 1:
     cpi   state, $01
     breq  COMMAND
     ret
 
-GO_STATE1:
+DO_FROZEN:
+    ;   wait n
+    ldi waitcnt, WTime ; Wait for 1 second
+    call Wait
+    inc numFrozen
+    cpi    numFrozen, $03
+    breq LOOP_FOREVER
+    ret
+LOOP_FOREVER:
+    ldi mpr, FROZEN
+    out PORTB, mpr
+    rjmp LOOP_FOREVER
+
+GO_STATE0:
     cpi  rec, BotID
     breq  MY_ID
     ret ; It wasn't our ID. Ignore it.