Avr Assembly Arduino Nano

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-Arduino nano cnc shield v4.0 turn motor in avr asm

.equ DDRB=4

.equ PORTB=5

.equ DDRD=10

.equ PORTD=11

.equ PB0=0 ;ENABLE

.equ PD2=2 ;STEP

.equ PD5=5 ;DIRECTION

.org 0x60

init:

; arduino nano cnc shield v4.0

sbi DDRB,PB0          ;pin ENABLE as output D8  PORTB,PB0

sbi DDRD,PD5          ;pin STEP as output  D5    PORTD,PD5

sbi DDRD,PD2           ;pin DIR as output  D2    PORTD,PD2

cbi	PORTB,PB0          ; put pin ENABLE low D8

loop:

cbi PORTD,PD2          ;set DIR pin low

call turn            ;turn motor 255 steps

call wait3s         ;wait 1 second

sbi PORTD,PD2           ;set DIR pin high

call turn             ;turn motor 255 steps

call wait3s         ;wait 1 second

rjmp	loop           ;loop

pulse:

ldi r17,30   ;motor velocity 5

pause:

dec	R16

brne    pause

dec	R17

brne    pause

ret

step:

sbi	PORTD,PD5       ; put high pin STEP

rcall pulse        ;pulse

cbi	PORTD,PD5        ;put low pin Step

rcall pulse         ;pulse

ret

turn:

call step

dec	R20

brne    turn

ret

wait3s:

ldi r18,100   ; wait 10

waitx:

dec	R16

brne    waitx

dec	R17

brne    waitx

dec	R18

brne    waitx

ret

shieldv4 con memory

.def	ZH	= r31

.def	ZL	= r30

.org 0x60

init:

; arduino nano cnc shield v4.0

sbi 0x4,0          ;pin ENABLE as output D8  PORTB,PB0

sbi 0xa,5          ;pin STEP as output  D5    PORTD,PD5

sbi 0xa,2           ;pin DIR as output  D2    PORTD,PD2

cbi	5,0          ; put pin ENABLE low D8

ldi	ZL, LOW (dithord*2)

ldi	ZH, HIGH(dithord*2)

loop:

inc r26

cpi r26,10 ;how many from dithord

brlo equal1 ;if 10

rcall iar     ; again to 0

equal1:

sbi 0xb,2    ; pin Direction high

lpm	r25, Z+ ; load value from dithord and increment adress

cpi r25, 1       ;if 1

breq equal

cbi 0xb,2          ;set DIR pin low

equal:

call turn            ;turn motor 255 steps

rjmp	loop           ;again to loop

pulse:

ldi r17,100   ;motor velocity 5

pause:

dec	R16

brne    pause

dec	R17

brne    pause

ret

step:

sbi	0xb,5       ; put high pin STEP

rcall pulse        ;pulse

cbi	0xb,5        ;put low pin Step

rcall pulse         ;pulse

ret

turn:

call step

dec	R20

brne    turn

ret

iar:

ldi	ZL, LOW (dithord*2)

ldi	ZH, HIGH(dithord*2)

ldi r26,0

ret

dithord: .db 1,0,1,1,0,0,1,0,0,1,0,1,1,0,0,0,0,1,1,1,0,0

cnc shield v3.0

.equ DDRB=4

.equ PORTB=5

.equ DDRD=10

.equ PORTD=11

.equ PB0=0 ;ENABLE

.equ PD5=5 ;STEP

.equ PD2=2 ;DIRECTION

.org 0x60

init:

; arduino nano cnc shield v3.0

sbi DDRB,PB0          ;pin ENABLE as output D8  PORTB,PB0

sbi DDRD,PD2          ;pin STEP as output  D5    PORTD,PD5

sbi DDRD,PD5           ;pin DIR as output  D2    PORTD,PD2

cbi	PORTB,PB0          ; put pin ENABLE low D8

loop:

cbi PORTD,PD5          ;set DIR pin low

call turn            ;turn motor 255 steps

call wait3s         ;wait 1 second

sbi PORTD,PD5           ;set DIR pin high

call turn             ;turn motor 255 steps

call wait3s         ;wait 1 second

rjmp	loop           ;loop

pulse:

ldi r16,250   ;motor velocity 5

pause:

dec	R16

brne    pause

ret

step:

sbi	PORTD,PD2       ; put high pin STEP

rcall pulse        ;pulse

cbi	PORTD,PD2        ;put low pin Step

rcall pulse         ;pulse

ret

turn:

call step

dec	R20

brne    turn

dec	R21

brne    turn

ret

wait3s:

ldi r18,100

waitx:

dec	R16

brne    waitx

dec	R17

brne    waitx

dec	R18

brne    waitx

ret

PWM on pin PB0 video

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Feature	Arduino IDE	costycnc.it/avr1
Installation	Yes (IDE + drivers)	No, works directly in the browser
Configuration	Select board, port, chip	Nothing to configure: plug and go
First LED code	`setup(), loop(), digitalWrite()`	`sbi 0x4,5 -> the LED turns on (PB5)`
Libraries	Many, but often hide everything	None: you see the actual registers
Complex projects	Ideal, with many libraries	Limited to basic learning
Learning curve	Softer, but less transparent	More direct: you learn how it really works

⚠️ NON-NEGOTIABLE: STACK, CALL/RET, PUSH/POP ARE MANDATORY

BOEING 737 MAX (2019) – 346 DEAD

Cause: Stack corruption in the MCAS system

; Faulty code (simulated):
ISR_MCAS:
  push r16
  push r17
  call read_sensor      ; Stack grows
  ; ... no pop before another call!
  call control_flap     ; Stack overflow → crash
  ; Missing ret!

How your trio would have prevented it: You’d immediately see the push/pop imbalance.

TOYOTA UNINTENDED ACCELERATION (2010–2023)

Cause: Recursive calls with no stack control

check_throttle:
  call read_pedal
  call check_error      ; Too many nested calls
  call update_log       ; Stack exhausted → data corruption
  ret                   ; Returns to wrong address

Lesson: Without tracking call/ret, firmware becomes a weapon.

ETHICAL COMMANDMENTS OF EMBEDDED SYSTEMS:

Every call must have a ret (or you're a public hazard)
Push must be balanced by pop (or the system crashes)
The stack isn't magic: it’s limited (Boeing learned the hard way)
If you don’t know these, you’re not an engineer — you're a copy-paster

YOU ARE NOT AUTHORIZED TO CODE IF YOU DON’T KNOW THESE 4 INSTRUCTIONS

Use costycnc.it/avr1 now or stop writing firmware.

Arduino IDE vs costycnc.it/avr1

⚠️ NON-NEGOTIABLE: STACK, CALL/RET, PUSH/POP ARE MANDATORY

BOEING 737 MAX (2019) – 346 DEAD

TOYOTA UNINTENDED ACCELERATION (2010–2023)

ETHICAL COMMANDMENTS OF EMBEDDED SYSTEMS:

YOU ARE NOT AUTHORIZED TO CODE IF YOU DON’T KNOW THESE 4 INSTRUCTIONS