rgbasm —
language documentation
This is the full description of the language used by
rgbasm(1). The description of the instructions
supported by the GameBoy CPU is in
gbz80(7).
The syntax is line‐based, just as in any other assembler, meaning that
you do one instruction or pseudo‐op per line:
[label]
[instruction]
[;comment]
Example:
John: ld a,87 ;Weee
All pseudo‐ops, mnemonics and registers (reserved keywords) are
case‐insensitive and all labels are case‐sensitive.
There are two syntaxes for comments. In both cases, a comment ends at the end of
the line. The most common one is: anything that follows a semicolon
";" (that isn't inside a string) is a comment. There is another
format: anything that follows a "*" that is placed right at the
start of a line is a comment.
Before you can start writing code, you must define a section. This tells the
assembler what kind of information follows and, if it is code, where to put
it.
SECTION "CoolStuff",ROMX
This switches to the section called "CoolStuff" (or creates it if it
doesn't already exist) and it defines it as a code section. All sections
assembled at the same time that have the same name, type, etc, are considered
to be the same one, and their code is put together in the object file
generated by the assembler. All other sections must have a unique name, even
in different source files, or the linker will treat it as an error.
Possible section types are as follows:
-
-
- ROM0
- A ROM section. Mapped to memory at $0000–$3FFF (or
$0000-$7FFF if tiny ROM mode is enabled in
rgblink(1)).
-
-
- ROMX
- A banked ROM section. Mapped to memory at
$4000–$7FFF. Valid banks range from 1 to 511. Not available if tiny
ROM mode is enabled in rgblink(1).
-
-
- VRAM
- A banked video RAM section. Mapped to memory at
$8000–$9FFF. Can only allocate memory, not fill it. Valid banks are
0 and 1 but bank 1 isn't available if DMG mode is enabled in
rgblink(1).
-
-
- SRAM
- A banked external (save) RAM section. Mapped to memory at
$A000–$BFFF. Can only allocate memory, not fill it. Valid banks
range from 0 to 15.
-
-
- WRAM0
- A general-purpose RAM section. Mapped to memory at
$C000–$CFFF, or $C000-$DFFF if DMG mode is enabled in
rgblink(1). Can only allocate memory, not
fill it.
-
-
- WRAMX
- A banked general-purpose RAM section. Mapped to memory at
$D000–$DFFF. Can only allocate memory, not fill it. Valid banks
range from 1 to 7. Not available if DMG mode is enabled in
rgblink(1).
-
-
- OAM
- An object attributes RAM section. Mapped to memory at
$FE00-$FE9F. Can only allocate memory, not fill it.
-
-
- HRAM
- A high RAM section. Mapped to memory at $FF80–$FFFE.
Can only allocate memory, not fill it.
NOTE: If you use this method of allocating HRAM the assembler will NOT
choose the short addressing mode in the LD instructions
LD [$FF00+n8],A and
LD A,[$FF00+n8] because the actual address
calculation is done by the linker. If you find this undesirable you can
use RSSET /
RB /
RW instead or use the
LDH [$FF00+n8],A and
LDH A,[$FF00+n8] syntax instead. This forces
the assembler to emit the correct instruction and the linker to check if
the value is in the correct range. This optimization can be disabled by
passing the -L flag to
rgbasm as explained in
rgbasm(1).
A section is usually defined as a floating one, but the code can restrict where
the linker can place it.
If a section is defined with no indications, it is a floating section. The
linker will decide where to place it in the final binary and it has no
obligation to follow any specific rules. The following example defines a
section that can be placed anywhere in any ROMX bank:
SECTION "CoolStuff",ROMX
If it is needed, the following syntax can be used to fix the base address of the
section:
SECTION
"CoolStuff",ROMX[$4567]
It won't, however, fix the bank number, which is left to the linker. If you also
want to specify the bank you can do:
SECTION
"CoolStuff",ROMX[$4567],BANK[3]
And if you only want to force the section into a certain bank, and not it's
position within the bank, that's also possible:
SECTION
"CoolStuff",ROMX,BANK[7]
In addition, you can specify byte alignment for a section. This ensures that the
section starts at a memory address where the given number of least-significant
bits are 0. This can be used along with
BANK, if
desired. However, if an alignment is specified, the base address must be left
unassigned. This can be useful when using DMA to copy data or when it is
needed to align the start of an array to 256 bytes to optimize the code that
accesses it.
SECTION "OAM Data",WRAM0,ALIGN[8];
align to 256 bytes
SECTION "VRAM
Data",ROMX,BANK[2],ALIGN[4]; align to 16 bytes
HINT: If you think this is a lot of typing for doing a simple
ORG type thing you can quite easily write an
intelligent macro (called
ORG for example) that
uses
@ for the section name and determines
correct section type etc as arguments for
SECTION.
POPS and
PUSHS provide
the interface to the section stack.
PUSHS will
push the current section context on the section stack.
POPS can then later be used to restore it. Useful
for defining sections in included files when you don't want to destroy the
section context for the program that included your file. The number of entries
in the stack is limited only by the amount of memory in your machine.
Sections can also be placed by using a linkerscript file. The format is
described in
rgblink(5). They allow the user to
place floating sections in the desired bank in the order specified in the
script. This is useful if the sections can't be placed at an address manually
because the size may change, but they have to be together.
RGBDS supports several types of symbols:
- Label
- Used to assign a memory location with a name
- EQUate
- Give a constant a name.
- SET
- Almost the same as EQUate, but you can change the value of
a SET during assembling.
- Structure
(the RS group)
- Define a structure easily.
- String equate
(EQUS)
- Give a frequently used string a name. Can also be used as
a mini-macro, like #define in C.
- MACRO
- A block of code or pseudo instructions that you invoke
like any other mnemonic. You can give them arguments too.
A symbol cannot have the same name as a reserved keyword.
- Label
-
One of the assembler's main tasks is to keep track of addresses for you so
you don't have to remember obscure numbers but can make do with a
meaningful name, a label.
This can be done in a number of ways:
GlobalLabel
AnotherGlobal:
.locallabel
.yet_a_local:
AnotherGlobal.with_another_local:
ThisWillBeExported:: ;note the two colons
ThisWillBeExported.too::
In the line where a label is defined there musn't be any whitespace before
it. Local labels are only accessible within the scope they are defined. A
scope starts after a global label and ends at the next global label.
Declaring a label (global or local) with :: does an EXPORT at the same
time. Local labels can be declared as scope.local or simply as as .local.
If the former notation is used, the scope must be the actual current
scope.
Labels will normally change their value during the link process and are thus
not constant. The exception is the case in which the base address of a
section is fixed, so the address of the label is known at assembly time.
The subtraction of two labels is only constant (known at assembly time) if
they are two local labels that belong to the same scope, or they are two
global labels that belong to sections with fixed base addresses.
- EQU
-
EQUates are constant symbols. They can, for example, be used for things such
as bit-definitions of hardware registers.
EXIT_OK EQU $00
EXIT_FAILURE EQU $01
Note that a colon (:) following the label-name is not allowed. EQUates
cannot be exported and imported. They don't change their value during the
link process.
- SET
-
SETs are similar to EQUates. They are also constant symbols in the sense
that their values are defined during the assembly process. These symbols
are normally used in macros.
ARRAY_SIZE EQU 4
COUNT SET 2
COUNT SET ARRAY_SIZE+COUNT
Note that a colon (:) following the label-name is not allowed. SETs cannot
be exported and imported. Alternatively you can use = as a synonym for
SET.
COUNT = 2
- RSSET,
RSRESET, RB,
RW
-
The RS group of commands is a handy way of defining structures:
RSRESET
str_pStuff RW 1
str_tData RB 256
str_bCount RB 1
str_SIZEOF RB 0
The example defines four equated symbols:
str_pStuff = 0
str_tData = 2
str_bCount = 258
str_SIZEOF = 259
There are four commands in the RS group of commands:
Command |
|
|
Meaning |
RSRESET |
|
Resets the _RS counter to zero. |
constexpr |
Sets the _RS
counter to
constexpr. |
RB
constexpr |
Sets the preceding symbol to
_RS and adds
constexpr to
_RS. |
RW
constexpr |
Sets the preceding symbol to
_RS and adds
constexpr * 2
to _RS. |
RL
constexpr |
Sets the preceding symbol to
_RS and adds
constexpr * 4
to _RS. |
Note that a colon (:) following the symbol-name is not allowed.
RS symbols cannot be exported and imported.
They don't change their value during the link process.
- EQUS
-
EQUS is used to define string-symbols. Wherever the assembler meets a string
symbol its name is replaced with its value. If you are familiar with C you
can think of it as the same as #define.
COUNTREG EQUS "[hl+]"
ld a,COUNTREG
PLAYER_NAME EQUS "\"John\""
db PLAYER_NAME
Note that : following the label-name is not allowed, and that strings must
be quoted to be useful.
This will be interpreted as:
ld a,[hl+]
db "John"
String-symbols can also be used to define small one-line macros:
PUSHA EQUS "push af\npush bc\npush
de\npush hl\n"
Note that a colon (:) following the label-name is not allowed. String
equates can't be exported or imported.
Important note: An EQUS can be expanded to a
string that contains another EQUS and it will be expanded as well. This
means that, if you aren't careful, you may trap the assembler into an
infinite loop if there's a circular dependency in the expansions. Also, a
MACRO can have inside an EQUS which references the same MACRO, which has
the same problem.
- MACRO
-
One of the best features of an assembler is the ability to write macros for
it. Macros also provide a method of passing arguments to them and they can
then react to the input using IF-constructs.
MyMacro: MACRO
ld a,80
call MyFunc
ENDM
Note that a colon (:) following the macro-name is required. Macros can't be
exported or imported. It's valid to call a macro from a macro (yes, even
the same one).
The above example is a very simple macro. You execute the macro by typing
its name.
add a,b
ld sp,hl
MyMacro ;This will be expanded
sub a,87
When the assembler meets MyMacro it will insert the macrodefinition (the
text enclosed in MACRO /
ENDM).
Suppose your macro contains a loop.
LoopyMacro: MACRO
xor a,a
.loop ld [hl+],a
dec c
jr nz,.loop
ENDM
This is fine. That is, if you only use the macro once per scope. To get
around this problem there is a special label string equate called
\@ that you can append to your labels and it
will then expand to a unique string.
\@ also works in REPT-blocks should you have
any loops there.
LoopyMacro: MACRO
xor a,a
.loop\@ ld [hl+],a
dec c
jr nz,.loop\@
ENDM
Important note: Since a MACRO can call itself
(or a different MACRO that calls the first one) there can be problems of
circular dependency. They trap the assembler in an infinite loop, so you
have to be careful when using recursion with MACROs. Also, a MACRO can
have inside an EQUS which references the same MACRO, which has the same
problem.
Macro Arguments
I'd like LoopyMacro a lot better if I didn't have to pre-load the registers
with values and then call it. What I'd like is the ability to pass it
arguments and it then loaded the registers itself.
And I can do that. In macros you can get the arguments by using the special
macro string equates \1 through
\9, \1 being the
first argument specified on the calling of the macro.
LoopyMacro: MACRO
ld hl,\1
ld c,\2
xor a,a
.loop\@ ld [hl+],a
dec c
jr nz,.loop\@
ENDM
Now I can call the macro specifying two arguments. The first being the
address and the second being a bytecount. The macro will then reset all
bytes in this range.
LoopyMacro MyVars,54
Arguments are passed as string equates. There's no need to enclose them in
quotes. An expression will not be evaluated first but passed directly.
This means that it's probably a very good idea to use brackets around
\1 to \9 if you
perform further calculations on them. For instance, if you pass 1 + 2 as
the first argument and then do PRINTV
\1 * 2 you will get the value 5 on screen and
not 6 as you might have expected.
In reality, up to 256 arguments can be passed to a macro, but you can only
use the first 9 like this. If you want to use the rest, you need to use
the keyword SHIFT.
SHIFT is a special command only available in
macros. Very useful in REPT-blocks. It will "shift" the
arguments by one "to the left". \1
will get the value of \2,
\2 will get the value in
\3 and so forth.
This is the only way of accessing the value of arguments from 10 to
256.
Importing and exporting of symbols is a feature that is very useful when your
project spans many source-files and, for example, you need to jump to a
routine defined in another file.
Exporting of symbols has to be done manually, importing is done automatically if
the assembler doesn't know where a symbol is defined.
EXPORT label [,
label ,
...]
The assembler will make label accessible to other files during the link process.
GLOBAL label [,
label ,
...]
If label is defined during the assembly it will be exported, if not, it will be
imported. Handy (very!) for include-files. Note that, since importing is done
automatically, this keyword has the same effect as
EXPORT.
PURGE allows you to completely remove a symbol from
the symbol table as if it had never existed. USE WITH EXTREME CAUTION!!! I
can't stress this enough, you seriously need to know what you are doing. DON'T
purge symbol that you use in expressions the linker needs to calculate. In
fact, it's probably not even safe to purge anything other than string symbols
and macros.
Kamikaze EQUS "I don't want to live anymore"
AOLer EQUS "Me too"
PURGE Kamikaze, AOLer
Note that string symbols that are part of a
PURGE
command WILL NOT BE EXPANDED as the ONLY exception to this rule.
The following symbols are defined by the assembler:
DB defines a list of bytes that will be stored in
the final image. Ideal for tables and text (which is not zero-terminated).
DB 1,2,3,4,"This is a
string"
Alternatively, you can use
DW to store a list of
words (16-bits) or
DL to store a list of
doublewords/longs (32-bits). Strings are not allowed as arguments to
DW and
DL.
You can also use
DB,
DW and
DL without
arguments, or leaving empty elements at any point in the list. This works
exactly like
DS 1,
DS
2 and
DS 4 respectively. Consequently,
DB,
DW and
DL can be used in a
WRAM0 /
WRAMX /
HRAM /
VRAM /
SRAM section.
DS allocates a number of bytes. The content is
undefined. This is the preferred method of allocationg space in a RAM section.
You can, however, use
DB,
DW and
DL without
any arguments instead.
DS str_SIZEOF ;allocate str_SIZEOF
bytes
You probably have some graphics you'd like to include. Use
INCBIN to include a raw binary file as it is. If
the file isn't found in the current directory, the include-path list passed to
the linker on the command line will be searched.
INCBIN "titlepic.bin"
INCBIN "sprites/hero.bin" ;
UNIX
INCBIN "sprites\\hero.bin" ;
Windows
You can also include only part of a file with
INCBIN. The example below includes 256 bytes from
data.bin starting from byte 78.
INCBIN "data.bin",78,256
Unions allow multiple memory allocations to share the same space in memory, like
unions in C. This allows you to easily reuse memory for different purposes,
depending on the game's state.
You create unions using the
UNION,
NEXTU and
ENDU
keywords.
NEXTU lets you create a new block of
allocations, and you may use it as many times within a union as necessary.
UNION
Name: ds 8
Nickname: ds 8
NEXTU
Health: dw
Something: ds 3
Lives: db
NEXTU
Temporary: ds 19
ENDU
This union will use up 19 bytes, as this is the size of the largest block (the
last one, containing 'Temporary'). Of course, as 'Name', 'Health', and
'Temporary' all point to the same memory locations, writes to any one of these
will affect values read from the others.
Unions may be used in any section, but code and data may not be included.
These three instructions type text and values to stdout. Useful for debugging
macros or wherever you may feel the need to tell yourself some important
information.
PRINTT "I'm the greatest programmer in the whole wide world\n"
PRINTI (2 + 3) / 5
PRINTV $FF00 + $F0
PRINTF MUL(3.14, 3987.0)
- PRINTT
- prints out a string.
- PRINTV
- prints out an integer value in hexadecimal or, as in the
example, the result of a calculation. Unsurprisingly, you can also print
out a constant symbols value.
- PRINTI
- prints out a signed integer value.
- PRINTF
- prints out a fixed point value.
Suppose you're feeling lazy and you want to unroll a time consuming loop.
REPT is here for that purpose. Everything between
REPT and
ENDR will
be repeated a number of times just as if you done a copy/paste operation
yourself. The following example will assemble
add
a,c four times:
You can also use
REPT to generate tables on the
fly:
; --
; -- Generate a 256 byte sine table with values between 0 and 128
; --
ANGLE SET 0.0
REPT 256
DB (MUL(64.0,SIN(ANGLE))+64.0)>>16
ANGLE SET ANGLE+256.0
ENDR
REPT is also very useful in recursive macros and,
as in macros, you can also use the special label operator
\@. REPT-blocks can be nested.
FAIL and
WARN can be
used to print errors and warnings respectively during the assembly process.
This is especially useful for macros that get an invalid argument.
FAIL and
WARN take a
string as the only argument and they will print this string out as a normal
error with a line number.
FAIL stops assembling immediately while
WARN shows the message but continues afterwards.
Use
INCLUDE to process another assembler-file and
then return to the current file when done. If the file isn't found in the
current directory the include-path list will be searched. You may nest
INCLUDE calls infinitely (or until you run out of
memory, whichever comes first).
INCLUDE "irq.inc"
The four commands
IF,
ELIF,
ELSE, and
ENDC are used to conditionally assemble parts of
your file. This is a powerful feature commonly used in macros.
IF NUM < 0
PRINTT "NUM < 0\n"
ELIF NUM == 0
PRINTT "NUM == 0\n"
ELSE
PRINTT "NUM > 0\n"
ENDC
The
ELIF and
ELSE
blocks are optional.
IF /
ELIF /
ELSE /
ENDC blocks can be nested.
Note that if an
ELSE block is found before an
ELIF block, the
ELIF
block will be ignored. All
ELIF blocks must go
before the
ELSE block. Also, if there is more
than one
ELSE block, all of them but the first
one are ignored.
An expression can be composed of many things. Expressions are always evaluated
using signed 32-bit math.
The most basic expression is just a single number.
Numeric Formats
There are a number of numeric formats.
- Hexadecimal: $0123456789ABCDEF. Case-insensitive
- Decimal: 0123456789
- Octal: &01234567
- Binary: %01
- Fixedpoint (16.16): 01234.56789
- Character constant: "ABYZ"
- Gameboy graphics: `0123
The last one, Gameboy graphics, is quite interesting and useful. The values are
actually pixel values and it converts the “chunky” data to
“planar” data as used in the Gameboy.
DW `01012323
Admittedly, an expression with just a single number is quite boring. To spice
things up a bit there are a few operators you can use to perform calculations
between numbers.
Operators
A great number of operators you can use in expressions are available (listed in
order of precedence):
Operator |
Meaning |
() |
Precedence override |
FUNC() |
Function call |
~
+ - |
Unary not/plus/minus |
*
/ % |
Multiply/divide/modulo |
<<
>> |
Shift left/right |
&
| ^ |
Binary and/or/xor |
+
- |
Add/subtract |
!=
== <= |
Boolean comparison |
>=
< > |
Boolean comparison (Same precedence as the
others) |
&&
|| |
Boolean and/or |
! |
Unary Boolean not |
The result of the boolean operators is zero if when FALSE and non-zero when
TRUE. It is legal to use an integer as the condition for IF blocks. You can
use symbols instead of numbers in your expression if you wish.
An expression is said to be constant when it doesn't change its value during
linking. This basically means that you can't use labels in those expressions.
The instructions in the macro-language all require expressions that are
constant. The only exception is the subtraction of labels in the same section
or labels that belong to sections with a fixed base addresses, all of which
must be defined in the same source file (the calculation cannot be passed to
the object file generated by the assembler). In this case, the result is a
constant that can be calculated at assembly time.
Fixed point constants are basically normal 32-bit constants where the upper 16
bits are used for the integer part and the lower 16 bits are used for the
fraction (65536ths). This means that you can use them in normal integer
expression, and some integer operators like plus and minus don't care whether
the operands are integer or fixed-point. You can easily convert a fixed-point
number to an integer by shifting it right 16 bits. It follows that you can
convert an integer to a fixed-point number by shifting it left.
Some things are different for fixed-point math, though, which is why you have
the following functions to use:
These functions are extremely useful for automatic generation of various tables.
A circle has 65536.0 degrees. Sine values are between [-1.0; 1.0].
; --
; -- Generate a 256 byte sine table with values between 0 and 128
; --
ANGLE SET 0.0
REPT 256
DB (MUL(64.0,SIN(ANGLE))+64.0)>>16
ANGLE SET ANGLE+256.0
ENDR
The most basic string expression is any number of characters contained in double
quotes ("for instance"). Like in C, the escape character is \, and
there are a number of commands you can use within a string:
String |
Meaning |
\\ |
Backslash |
\" |
Double quote |
\, |
Comma |
\{ |
Curly bracket left |
\} |
Curly bracket right |
\n |
Newline ($0A) |
\t |
Tab ($09) |
\1
- \9 |
Macro argument (Only the body of a macros) |
\@ |
Label name suffix (Only in the body of macros and
repts) |
A funky feature is
{symbol} withing a string. This
will examine the type of the symbol and insert its value accordingly. If
symbol is a string symbol, the symbols value is simply copied. If it's a
numeric symbol, the value is converted to hexadecimal notation and inserted as
a string.
HINT: The
{symbol} construct can also be used
outside strings. The symbol's value is again inserted as a string. This is
just a short way of doing "{symbol}".
Whenever the macro-language expects a string you can actually use a string
expression. This consists of one or more of these function (yes, you can nest
them). Note that some of these functions actually return an integer and can be
used as part of an integer expression!
Name |
|
|
Operation |
STRLEN(string) |
Returns the number of characters in string |
STRCAT(str1,str2) |
Appends str2 to str1. |
STRCMP(str1,str2) |
Returns negative if str1 is alphabetically lower than
str2, zero if they match, positive if str1 is greater than str2. |
STRIN(str1,str2) |
Returns the position of str2 in str1 or zero if it's
not present (first character is position 1). |
STRSUB(str,pos,len) |
Returns a substring from str starting at pos (first
character is position 1) and with len characters. |
STRUPR(str) |
Converts all characters in str to capitals and returns
the new string. |
STRLWR(str) |
Converts all characters in str to lower case and
returns the new string. |
There are a few other functions that do various useful things:
Name |
|
|
Operation |
BANK(@/str/lbl) |
Returns a bank number. If the argument is the symbol
@, this function returns the bank of the
current section. If the argument is a string, it returns the bank of the
section that has that name. If the argument is a label, it returns the
bank number the label is in. For labels, as the linker has to resolve
this, it can't be used when the expression has to be constant. |
DEF(label) |
Returns TRUE if label has been defined. |
HIGH(r16/cnst/lbl) |
Returns the top 8 bits of the operand if it is a label
or constant, or the top 8-bit register if it is a 16-bit register. |
LOW(r16/cnst/lbl) |
Returns the bottom 8 bits of the operand if it is a
label or constant, or the bottom 8-bit register if it is a 16-bit register
(AF isn't a valid register for this function). |
OPT can be used to change some of the options
during assembling the source instead of defining them on the commandline.
OPT takes a comma-seperated list of options as its
argument:
PUSHO
OPT g.oOX ;Set the GB graphics constants to use these characters
DW `..ooOOXX
POPO
DW `00112233
The options that OPT can modify are currently:
b,
e and
g.
POPO and
PUSHO provide
the interface to the option stack.
PUSHO will
push the current set of options on the option stack.
POPO can then later be used to restore them.
Useful if you want to change some options in an include file and you don't
want to destroy the options set by the program that included your file. The
stacks number of entries is limited only by the amount of memory in your
machine.
- @
- __DATE__
- __FILE__
- __ISO_8601_LOCAL__
- __ISO_8601_UTC__
- __LINE__
- __TIME__
- __RGBDS_MAJOR__
- __RGBDS_MINOR__
- __RGBDS_PATCH__
- __UTC_YEAR__
- __UTC_MONTH__
- __UTC_DAY__
- __UTC_HOUR__
- __UTC_MINUTE__
- __UTC_SECOND__
- _NARG
- _PI
- _RS
- ACOS
- ASIN
- ATAN
- ATAN2
- BANK
- COS
- DB
- DEF
- DIV
- DL
- DS
- DW
- ELIF
- ELSE
- ENDC
- ENDM
- ENDR
- EQU
- EQUS
- EXPORT
- FAIL
- GLOBAL
- HIGH
- HRAM
- IF
- INCBIN
- INCLUDE
- LOW
- MACRO
- MUL
- OPT
- POPO
- POPS
- PRINTF
- PRINTI
- PRINTT
- PRINTV
- PURGE
- PUSHO
- PUSHS
- REPT
- RB
- RL
- ROM0
- ROMX
- RSRESET
- RSSET
- RW
- SECTION
- SET
- SHIFT
- SIN
- SRAM
- STRCAT
- STRCMP
- STRIN
- STRLEN
- STRLWR
- STRSUB
- STRUPR
- TAN
- VRAM
- WRAM0
- WRAMX
- WARN
rgbasm(1),
rgblink(1),
rgblink(5),
rgbds(5),
rgbds(7),
gbz80(7)
rgbds was originally written by Carsten
Sørensen as part of the ASMotor package, and was later packaged in
RGBDS by Justin Lloyd. It is now maintained by a number of contributors at
https://github.com/rednex/rgbds.