/***************************************************************************/
/*                                                                         */
/* library of functions for Mini Board rev 1.5                             */
/* (C) 1992 Fred Martin                                                    */
/* for Dave Dunfield                                                       */
/* last updated 4/9/92                                                     */
/*                                                                         */
/* Adapted for the Coactive Aestethics GNU gcc port                        */
/*  by Serge Boentges                                                      */
/*   Departement of Physical Chemistry,                                    */
/*   ETH Zurich, Switzerland,                                              */
/*   sebo@nmr.lpc.ethz.ch                                                  */
/*  version from March, 1993                                               */
/*                                                                         */
/* Please note, that the parameter lists is reversed compared to the       */
/* description in Fred's MB Manual.                                        */
/* The following functions are defined:                                    */
/* ----------------------------------------------------------------------- */
/*                                                                         */
/* int analog(int port)		Returns analog reading from port.          */
/*				Ports are numbered 0 to 7.                 */
/*				Ports 0 to 3 default as motor feedback     */
/*				for motors 1 to 4, respectively.           */
/*                                                                         */
/* int digital(int port)	Returns 1 or 0 (true or false) value       */
/*				from Port C.                               */
/*                                                                         */
/* void motor(int s, int m) 	Sets motor m at speed s.  Motors are       */
/*				numbered from 1 to 4; speeds are numbered  */
/*				from -16 (full backward) to +16 (full      */
/*				forward).                                  */
/*                                                                         */
/* void off(int m)		Turns off motor m.                         */
/*                                                                         */
/* int button(void)		Returns 1 (true) when IRQ button is depressed. */
/*				System will hang while button is held      */
/*				down, so effectively, returns true         */
/*				when button is released.                   */
/*                                                                         */
/*				Button presses are automatically debounced,*/
/*				but a press will get queued if it happens  */
/*				before you ask for it.                     */
/*                                                                         */
/* int dipsw(int sw)		Returns state of DIP switch plugged into   */
/*				Port D.  Port D2 is switch #1; D5 is sw #4.*/
/*				Open (NC) position is true, closed is false.*/
/*                                                                         */
/* void msleep(int msec)	Wastes time for msec milliseconds.         */
/*                                                                         */
/* void tone(int freq,		Generates a beep of frequency  "freq"  for */
/*           int duration)	"duration" milliseconds.                   */
/***************************************************************************/
asm("*");
asm("*");
asm("* file of standard 6811 register declarations");
asm("*");
asm("*********************************************************************");
asm("* Control Registers");
asm("*");
asm("BASE	EQU	$1000");
asm("*");
asm("PORTA	EQU	$1000	; Port A data register");
asm("RESV1	EQU	$1001	; Reserved");
asm("PIOC	EQU	$1002	; Parallel I/O Control register");
asm("PORTC	EQU	$1003	; Port C latched data register");
asm("PORTB	EQU	$1004	; Port B data register");
asm("PORTCL	EQU	$1005	;");
asm("DDRC	EQU	$1007	; Data Direction register for port C");
asm("PORTD   EQU     $1008	; Port D data register");
asm("DDRD    EQU     $1009	; Data Direction register for port D");
asm("PORTE	EQU	$100A	; Port E data register");
asm("CFORC	EQU	$100B	; Timer Compare Force Register");
asm("OC1M	EQU	$100C	; Output Compare 1 Mask register");
asm("OC1D	EQU	$100D	; Output Compare 1 Data register");
asm("*");
asm("* Two-Byte Registers (High,Low -- Use Load & Store Double to access)");
asm("TCNT	EQU	$100E	; Timer Count Register");
asm("TIC1	EQU	$1010	; Timer Input Capture register 1");
asm("TIC2	EQU	$1012	; Timer Input Capture register 2");
asm("TIC3	EQU	$1014	; Timer Input Capture register 3");
asm("TOC1	EQU	$1016	; Timer Output Compare register 1");
asm("TOC2	EQU	$1018	; Timer Output Compare register 2");
asm("TOC3	EQU	$101A	; Timer Output Compare register 3");
asm("TOC4	EQU	$101C	; Timer Output Compare register 4");
asm("TI4O5	EQU	$101E	; Timer Input compare 4 or Output compare 5 register");
asm("*");
asm("TCTL1	EQU	$1020	; Timer Control register 1");
asm("TCTL2	EQU	$1021	; Timer Control register 2");
asm("TMSK1	EQU	$1022	; main Timer interrupt Mask register 1");
asm("TFLG1	EQU	$1023	; main Timer interrupt Flag register 1");
asm("TMSK2	EQU	$1024	; misc Timer interrupt Mask register 2");
asm("TFLG2	EQU	$1025	; misc Timer interrupt Flag register 2");
asm("PACTL	EQU	$1026	; Pulse Accumulator Control register");
asm("PACNT	EQU	$1027	; Pulse Accumulator Count register");
asm("SPCR	EQU	$1028	; SPI Control Register");
asm("SPSR	EQU	$1029	; SPI Status Register");
asm("SPDR	EQU	$102A	; SPI Data Register");
asm("BAUD	EQU	$102B	; SCI Baud Rate Control Register");
asm("SCCR1	EQU	$102C	; SCI Control Register 1");
asm("SCCR2	EQU	$102D	; SCI Control Register 2");
asm("SCSR	EQU     $102E	; SCI Status Register");
asm("SCDR	EQU     $102F	; SCI Data Register");
asm("ADCTL	EQU	$1030	; A/D Control/status Register");
asm("ADR1	EQU	$1031	; A/D Result Register 1");
asm("ADR2	EQU	$1032	; A/D Result Register 2");
asm("ADR3	EQU	$1033	; A/D Result Register 3");
asm("ADR4	EQU	$1034	; A/D Result Register 4");
asm("BPROT	EQU	$1035	; Block Protect register");
asm("RESV2	EQU	$1036	; Reserved");
asm("RESV3	EQU	$1037	; Reserved");
asm("RESV4	EQU	$1038	; Reserved");
asm("OPTION	EQU	$1039	; system configuration Options");
asm("COPRST	EQU	$103A	; Arm/Reset COP timer circuitry");
asm("PPROG	EQU	$103B	; EEPROM Programming register");
asm("HPRIO	EQU	$103C	; Highest Priority Interrupt and misc.");
asm("INIT	EQU	$103D	; RAM and I/O Mapping Register");
asm("TEST1	EQU	$103E	; factory Test register");
asm("CONFIG	EQU	$103F	; Configuration Control Register");
asm("*");
asm("*");
asm("* Interrupt Vector locations");
asm("*");
asm("SCIINT	EQU	$D6	; SCI serial system");
asm("SPIINT	EQU	$D8	; SPI serial system");
asm("PAIINT EQU	$DA	; Pulse Accumulator Input Edge");
asm("PAOVINT EQU	$DC	; Pulse Accumulator Overflow");
asm("TOINT	EQU	$DE	; Timer Overflow");
asm("TOC5INT	EQU	$E0	; Timer Output Compare 5");
asm("TOC4INT	EQU	$E2	; Timer Output Compare 4");
asm("TOC3INT	EQU	$E4	; Timer Output Compare 3");
asm("TOC2INT	EQU	$E6	; Timer Output Compare 2");
asm("TOC1INT	EQU	$E8	; Timer Output Compare 1");
asm("TIC3INT	EQU	$EA	; Timer Input Capture 3");
asm("TIC2INT	EQU	$EC	; Timer Input Capture 2");
asm("TIC1INT	EQU	$EE	; Timer Input Capture 1");
asm("RTIINT	EQU	$F0	; Real Time Interrupt");
asm("IRQINT	EQU	$F2	; IRQ External Interrupt");
asm("XIRQINT	EQU	$F4	; XIRQ External Interrupt");
asm("SWIINT	EQU	$F6	; Software Interrupt");
asm("BADOPINT EQU	$F8	; Illegal Opcode Trap Interrupt");
asm("NOCOPINT EQU	$FA	; COP Failure (Reset)");
asm("CMEINT	EQU	$FC	; COP Clock Monitor Fail (Reset)");
asm("RESETINT EQU	$FE	; RESET Interrupt");
asm("*");
asm("* Masks for serial port");
asm("PORTDWOM	EQU	$20");
asm("BAUD1200	EQU	$B3");
asm("BAUD9600	EQU	$B0");
asm("TRENA		EQU	$0C	; Transmit, Receive ENAble");
asm("RDRF		EQU	$20	; Receive Data Register Full");
asm("TDRE		EQU	$80	; Transmit Data Register Empty");
asm("*");
asm("***** start of 6811ZP.ASM *****");
asm("*");
asm("	ORG	$00");
asm("*");
asm("*");
asm("* button variables");
asm("irqval	RMB	1");
asm("buttime	RMB	2");
asm("*");
asm("* system time:  4 bytes");
asm("st_hi	RMB	2	; high word");
asm("*");
asm("time	EQU	* 	; reference to low time for C");
asm("st_lo	RMB	2	; low word");
asm("*");
asm("* motor control");
asm("motctrl	RMB	1	* high nybble=on/off; low nybble=dir");
asm("speed1	RMB	2");
asm("speed2	RMB	2");
asm("speed3	RMB	2");
asm("speed4	RMB	2");
asm("*");
asm("* beeper period");
asm("beeptone RMB	2");
asm("*");
asm("*");
asm("***** end of 6811ZP.asm *****");
asm("*");
asm("*");
asm("*");
asm("; Pseudo regs");
asm(";");
asm("ZD0	RMB	2");
asm("ZD1	RMB	2");
asm("ZD2	RMB	2");
asm("ZD3	RMB	2");
asm("ZD4	RMB	2");
asm("ZX1	RMB	2");
asm("ZX2	RMB	2");
asm("ZX3	RMB	2");
asm("ZX4	RMB	2");
asm("ZA0	RMB	1");
asm("ZB0	RMB	1");
asm("ZB1	RMB	1");
asm("ZB2	RMB	1");
asm("ZB3	RMB	1");
asm("ZB4	RMB	1");
asm("*");
asm("temp	RMB	1");
asm("*");
asm("*");
asm("* 6811rst.asm:");
asm("*");
asm("* interrupt vector definitions");
asm("*");
asm("*");
asm("	ORG	$FF00+IRQINT");
asm("	FDB	irqi		* defined in 6811st.asm");
asm("*");
asm("	ORG	$FF00+TOC4INT");
asm("	FDB	systemi		* defined in 6811st.asm");
asm("*");
asm("	ORG	$FF00+TOC5INT");
asm("	FDB	beepi");
asm("*");
asm("	ORG	$FF00+RESETINT");
asm("	FDB	$F800");
asm("*");
asm("***********************************************************************");
asm("* 6811st.src");
asm("*");
asm("*");
asm("*");
asm("***********************************************************************");
asm("*");
asm("* start of code");
asm("*");
asm("* (1) perform initialization of stack, interrupts, system");
asm("* (2) code for system interrupt");
asm("*");
asm("*");
asm("*");
asm("	ORG	$F800");
asm("	LDS	#$FF");
asm("*");
asm("	LDX     #$1000");
asm("*");
asm("* initialize serial port");
asm("	LDAA	#$30		; 9600 baud");
asm("	STAA	BAUD,X");
asm("	BSET	SCCR2,X,$0C	; transmit, receive enable");
asm("*");
asm("* turn on analog subsystem");
asm("	BSET    OPTION,X $80");
asm("*");
asm("* set up interrupts");
asm("* OC4:  1 kHz system interrupt");
asm("	LDAA	#%00010000");
asm("	STAA	TFLG1,X");
asm("	STAA	TMSK1,X");
asm("*");
asm("	CLRA");
asm("	CLRB");
asm("*");
asm("* initialize system time");
asm("	STD	st_hi");
asm("	STD	st_lo");
asm("*");
asm("* initialize button variables");
asm("	STAA	irqval");
asm("	STD	buttime");
asm("*");
asm("*");
asm("*");
asm("* initialize motor control");
asm("	STAA	motctrl		* default == OFF");
asm("	LDD	#$FFFF");
asm("	STD	speed1		* full speed");
asm("	STD	speed2");
asm("	STD	speed3");
asm("	STD	speed4");
asm("*");
asm("* initialize beeper");
asm("	BSET	PACTL,X;%00001000	; set PA3 for output");
asm("*");
asm("* enable interrupts");
asm("	CLI");
asm("*");
asm("	     JSR	_main");
asm("exit    bra         exit");
asm("___main:");
asm("   RTS");
asm("*");
asm("*");
asm("*");
asm("*");
asm("*");
asm("*");
asm("* 1 KHz driver routine");
asm("*");
asm("*");
asm("*");
asm("systemi	EQU	*");
asm("	LDX	#BASE		* point to register base");
asm("*");
asm("* setup for next interrupt");
asm("	LDD	#2000		; 2000 cycles = 1 millisec.");
asm("	ADDD	TOC4,X		* add TOC5 to D");
asm("	STD	TOC4,X		* store back");
asm("	BCLR	TFLG1,X,%11101111	* clear OC4 for next compare");
asm("*");
asm("* enable beeper to interrupt us");
asm("	BSET	TMSK1,X,%00001000");
asm("	CLI");
asm("*");
asm("* increment system time");
asm("	LDX	st_lo");
asm("	INX");
asm("	STX	st_lo");
asm("	BNE	si_noinc");
asm("	LDX	st_hi");
asm("	INX");
asm("	STX	st_hi");
asm("*");
asm("si_noinc EQU	*");
asm("*");
asm("*");
asm("*");
asm("*");
asm("* do pulse width modulation, 4 motors");
asm("* motor 1 (ls bit of low nybble is dir, ls bit of high nybble is on/off");
asm("pwm	LDX	motctrl		* upper nybble is on/off; lower is dir");
asm("*");
asm("	LDD	speed1");
asm("	LSLD");
asm("	BCC	pwmoff1");
asm("	ADDD	#1");
asm("	XGDX			* get output byte into D; save new speed in X");
asm("	EORA	#%00010000	* toggle motor 1 ctrl bit");
asm("	BRA	pwmset1");
asm("pwmoff1	XGDX");
asm("	ORAA	#%00010000	* set motor 1 ctrl bit");
asm("pwmset1	XGDX");
asm("	STD	speed1");
asm("*");
asm("	LDD	speed2");
asm("	LSLD");
asm("	BCC	pwmoff2");
asm("	ADDD	#1");
asm("	XGDX			* get output byte into D; save new speed in X");
asm("	EORA	#%00100000	* toggle motor 2 ctrl bit");
asm("	BRA	pwmset2");
asm("pwmoff2	XGDX");
asm("	ORAA	#%00100000	* set motor 2 ctrl bit");
asm("pwmset2	XGDX");
asm("	STD	speed2");
asm("*");
asm("	LDD	speed3");
asm("	LSLD");
asm("	BCC	pwmoff3");
asm("	ADDD	#1");
asm("	XGDX			* get output byte into D; save new speed in X");
asm("	EORA	#%01000000	* toggle motor 3 ctrl bit");
asm("	BRA	pwmset3");
asm("pwmoff3	XGDX");
asm("	ORAA	#%01000000	* set motor 3 ctrl bit");
asm("pwmset3	XGDX");
asm("	STD	speed3");
asm("*");
asm("*");
asm("	LDD	speed4");
asm("	LSLD");
asm("	BCC	pwmoff4");
asm("	ADDD	#1");
asm("	XGDX			* get output byte into D; save new speed in X");
asm("	EORA	#%10000000	* toggle motor 4 ctrl bit");
asm("	BRA	pwmset4");
asm("pwmoff4	XGDX");
asm("	ORAA	#%10000000	* set motor 4 ctrl bit");
asm("pwmset4	XGDX");
asm("	STD	speed4");
asm("*");
asm("*");
asm("	XGDX			* get control bits into A");
asm("	EORA	#$F0		* toggle speed bits");
asm("*");
asm("	STAA	PORTB		* do it");
asm("*");
asm("	RTI");
asm("*");
asm("*");
asm("* PA3: beeper interrupt");
asm("beepi	EQU	*");
asm("	LDX	#BASE");
asm("	LDD	beeptone");
asm("	ADDD	TI4O5,X");
asm("	STD	TI4O5,X");
asm("	BCLR	TFLG1,X,%11110111");
asm("	RTI");
asm("*");
asm("*");
asm("* IRQ interrupt:  sets irqval to one when interrupt occurs");
asm("irqi	EQU	*");
asm("	LDD	st_lo");
asm("	SUBD	buttime");
asm("	CPD	#60");
asm("	BLO	irqdone");
asm("	LDAA	#1");
asm("	STAA	irqval");
asm("	LDD	st_lo");
asm("	STD	buttime");
asm("irqdone	RTI");
asm("*");
asm(";-----------------------------------------");
asm("; end startup code");
asm(";-----------------------------------------");
asm("*");
asm("*");
asm("* library of functions for Mini Board rev 1.5");
asm("* (C) 1992 Fred Martin");
asm("*");
asm("* for Dave Dunfield");
asm("* last updated 4/9/92");
asm("*");
asm("*");
asm("*");
asm("* The following functions are defined:");
asm("* -----------------------------------------------------------------------");
asm("*");
asm("* int analog(int port)		Returns analog reading from port.");
asm("*				Ports are numbered 0 to 7.");
asm("*				Ports 0 to 3 default as motor feedback");
asm("*				for motors 1 to 4, respectively.");
asm("*");
asm("* int digital(int port)		Returns 1 or 0 (true or false) value");
asm("*				from Port C.");
asm("*");
asm("* void motor(int s, int m) 	Sets motor m at speed s.  Motors are");
asm("*				numbered from 1 to 4; speeds are numbered");
asm("*				from -16 (full backward) to +16 (full");
asm("*				forward).");
asm("*");
asm("* void off(int m)		Turns off motor m.");
asm("*");
asm("* int button(void)		Returns 1 (true) when IRQ button is depressed.");
asm("*				System will hang while button is held");
asm("*				down, so effectively, returns true");
asm("*				when button is released.");
asm("*");
asm("*				Button presses are automatically debounced,");
asm("*				but a press will get queued if it happens");
asm("*				before you ask for it.");
asm("*");
asm("* int dipsw(int sw)		Returns state of DIP switch plugged into");
asm("*				Port D.  Port D2 is switch #1; D5 is sw #4.");
asm("*				Open (NC) position is true, closed is false.");
asm("*");
asm("* void msleep(int msec)		Wastes time for msec milliseconds.");
asm("*");
asm("* void tone(int freq,		Generates a beep of frequency \"freq\" for");
asm("*           int duration)	\"duration\" milliseconds.");
asm("*");
asm("*");
asm("_digital	EQU	*");
asm("	TSX");
asm("	LDAB	PORTC		* get PORTC into B");
asm("	LDAA	3,X		* get port # into A");
asm("*");
asm("digloop BEQ	digdone");
asm("	LSRB			* shift B bits down");
asm("	DECA");
asm("	BRA	digloop");
asm("*");
asm("digdone ANDB	#1		* mask off all but low bit");
asm("	EORB	#1		* invert logical sense due to hardware");
asm("*  				  A is already zero");
asm("	STD	ZD0		* store return value in ZD0 for GNU's sake");
asm("	RTS");
asm("*");
asm("_analog	EQU	*");
asm("	TSX");
asm("	LDAA	3,X		* get port # into A");
asm("	SEI			* disable interrupts");
asm("	STAA	ADCTL");
asm("analoop	LDAA	ADCTL");
asm("	ANDA	#$80");
asm("	BEQ	analoop");
asm("	CLI			* re-enable them");
asm("	LDAB	ADR1");
asm("	CLRA");
asm("	STD	ZD0		* store return value in ZD0 for GNU's sake");
asm("	RTS");
asm("*");
asm("_dipsw	EQU	*");
asm("	TSX");
asm("	LDAB	PORTD");
asm("	LSRB			* desired bits in pos");
asm("	LDAA	3,X		* switch number (1 to 4) in A");
asm("*");
asm("diploop LSRB			* shift B bits down");
asm("	DECA");
asm("	BNE	diploop");
asm("*");
asm("	ANDB	#1");
asm("* 				*A is already zero; B has 1 or 0");
asm("	STD	ZD0		* store return value in ZD0 for GNU's sake");
asm("	RTS			* A is already zero; B has 1 or 0");
asm("*");
asm("*");
asm("*");
asm("* motor(int s, int m)");
asm("* m= 1, 2, 3, or 4");
asm("* s= -16 (full on backward) to +16 (full on forward)");
asm("*");
asm("_motor	EQU	*");
asm("	TSX");
asm("	LDAB	5,X	* motor number");
asm("	PSHB		* save for later");
asm("	LDAA	#$08	* bit mask");
asm("	SEC		* set carry, will be rotated into A");
asm("msloop	ROLA");
asm("	DECB");
asm("	BNE	msloop");
asm("* A now has motor enable mask");
asm("	PSHA");
asm("	ORAA	motctrl");
asm("	STAA	temp");
asm("	PULA");
asm("	ANDA	#$0F	* keep dir bit only");
asm("	TST	2,X	* high byte of speed");
asm("	BPL	mset2");
asm("* negative speed => clear direction bit");
asm("	COMA");
asm("	ANDA	temp");
asm("	BRA	mset1");
asm("mset2	LDAA	temp");
asm("mset1	STAA	motctrl");
asm("*");
asm("	LDD	2,X	* speed word");
asm("	BPL	speedok");
asm("	LDD	#0");
asm("	SUBD	2,X");
asm("*");
asm("* number from 0 to 16 now in B");
asm("speedok	ASLB		* double it");
asm("	LDX	#mtable");
asm("	ABX		* index into speed table");
asm("	LDY	0,X	* get speed bits");
asm("	PULB		* get motor number from 1 to 4");
asm("	ASLB");
asm("	LDX	#speed1-2");
asm("	ABX		* ptr to speed entry");
asm("	STY	0,X	* store speed bits");
asm("* done!");
asm("	RTS");
asm("*");
asm("* table of motor speeds");
asm("mtable");
asm("	FDB	%0000000000000000	* 0/16");
asm("	FDB	%0000000000000001	* 1/16");
asm("	FDB	%0000000100000001	* 2/16");
asm("	FDB	%0000100001000010	* 3/16");
asm("	FDB	%0001000100010001	* 4/16");
asm("	FDB	%0010001001001001	* 5/16");
asm("	FDB	%0100100100101001	* 6/16");
asm("	FDB	%0101001010101010	* 7/16");
asm("	FDB	%0101010101010101	* 8/16");
asm("	FDB	%1010101010101011	* 9/16");
asm("	FDB	%0101011010101011	* 10/16");
asm("	FDB	%1101110110110110	* 11/16");
asm("	FDB	%1110111011101110	* 12/16");
asm("	FDB	%1110111011101111	* 13/16");
asm("	FDB	%1110111111101111	* 14/16");
asm("	FDB	%1111111011111111	* 15/16");
asm("	FDB	%1111111111111111	* 16/16");
asm("*");
asm("*");
asm("* void off(int m)");
asm("*");
asm("_off	TSX");
asm("	LDAB	3,X	* motor number");
asm("	LDAA	#$08	* bit mask");
asm("offloop	ROLA");
asm("	DECB");
asm("	BNE	offloop");
asm("* A now has motor enable mask");
asm("	COMA");
asm("	ANDA	motctrl");
asm("	STAA	motctrl");
asm("	RTS");
asm("*");
asm("*");
asm("* delay for nn,nnn milliseconds");
asm("*");
asm("_msleep	EQU	*");
asm("	TSX");
asm("sleepsub SEI	* halt interrupts until we perform calculation");
asm("	LDD	st_lo");
asm("	ADDD	2,X");
asm("	CLI	* okay again");
asm("sleeplp	CPD	st_lo");
asm("	BNE	sleeplp");
asm("	RTS");
asm("*");
asm("*");
asm("* button(void)");
asm("* returns 1 if irqval is one (sets irqval to zero in this case)");
asm("* else returns 0");
asm("*");
asm("_button	EQU	*");
asm("	CLRA");
asm("	LDAB	irqval");
asm("	BEQ	butndone");
asm("	CLR	irqval");
asm("	STD	ZD0		* store return value in ZD0 for GNU's sake");
asm("butndone RTS");
asm("*");
asm("*");
asm("* tone( int duration, int freq)");
asm("*");
asm("_tone	EQU	*");
asm("	TSX");
asm("	LDD	4,X		; frequency");
asm("	LSRD");
asm("	LSRD");
asm("	LSRD");
asm("	LSRD			; divide by 16");
asm("	PSHX");
asm("	LDX	#62500		; 1E6 divided by 16");
asm("	XGDX");
asm("	IDIV			; answer in X");
asm("	STX	beeptone");
asm("	LDX	#BASE");
asm("	BSET	TCTL1,X;$01	; set beeper pin to toggle");
asm("	BSET	TMSK1,X;$08	; turn on beeper interrupt");
asm("	BSET	PORTB,X;$80	; enable motor 4");
asm("	PULX");
asm("	BSR	sleepsub	; sleep for desired duration");
asm("	LDX	#BASE");
asm("	BCLR	TMSK1,X;$08	; turn off beeper interrupt");
asm("	BCLR	TCTL1,X;$01	; set beeper pin to do nothing");
asm("	BCLR	PORTA,X;$08	; turn off beeper");
asm("	BCLR	PORTB,X;$80	; disable motor 4");
asm("	LDX	#0");
asm("	STX	beeptone");
asm("	RTS");
asm("**********************************************************************");
asm("*        End of Library and Startup Code                             *");
asm("**********************************************************************");