ASP

An assembler (and disassembler) for stepper motor ASIP code, written in Rust.

• Installation
• Usage
  • Assembly to MIF
  • Assembly to HEX
  • HEX to Assembly
  • Example
• Assembly Commands

Installation

Requires cargo.

cargo install --git https://github.com/BlakeFreer/asp.git

Usage

Assembly to MIF

$ asp file.s
Output saved to out.mif

Add -o <FILENAME> to change the output file.

Assembly to HEX

Use -f or --fmt to change the output format.

$ asp file.s -f hex
Output saved to out.hex

You can use xxd -b out.hex to view the raw machine code.

HEX to Assembly

$ asp --hex file.hex -f asm
Output saved to out.asm

Example

Download example.s and example.hex from the examples/ folder. They represent the same program written in assembly and machine code.

$ asp example.s -f hex
Output saved to out.hex
$ diff out.hex example.hex -s
Files out.hex and example.hex are identical

$ asp --hex example.hex -f asm
Output saved to out.s
$ diff out.s example.s -s
Files out.s and example.s are identical

Assembly Commands

There are 4 registers r0 r1 r2 r3:

• r0, r1: General purpose
• r2 Stepper motor position
• r3 Delay period

The immediates are either signed In or unsigned Un, where n is the number of bits.

Comments start with a semicolon.

BR i        ; jump i (I5) ops 
BRZ i       ; jump i (I5) ops if r0 == 0, else continue
ADDI rx, u  ; add u (U3) to reg rx
SUBI rx, u  ; subtract (U3) from reg rx
SR0 u       ; set the lower 4 bits of r0 to u (U4)
SRH0 u      ; set the upper 4 bits of r0 to u (U4)
CLR rx      ; clear reg rx
MOV rd, rs  ; copy the content of reg rs into rd
MOVR rx     ; move  the number of full-steps specified by rx
MOVRHS rx   ; move the number of half-steps specified by rx
MOVA rx     ; move to the absolute position specified in rx
PAUSE       ; wait for the amount of time specified by r3