$NOMOD51                ;der Modus fuer 8051 wird abgeschaltet
$debug
$nolist                 ;es wird kein Listing fuer reg535 erstellt
$include(C8051F340.inc) ;die C8051F340-spezifischen Daten
$list                   ;es wird ein Listing erstellt
$title (DREI_STELLUNGEN.A51)
;------------------------------------------------------------------------
;Programmbeschreibung
;------------------------------------------------------------------------
;Programm: DREI-STELLUNGEN
;faehrt drei Stellungen an:
;Ruhestellung 150°
;      150° ~ F531h
;T3-->  90° ~ EF23h  ca. 1s warten danach auf
;       30° ~ E8A7h  ca. 1s warten danach auf Ruhestellung
; 		46 * 21,45ms ~ 1s 
;	    			 ~ 2s
;Erstellt am: Montag, 28. Juni 2010 09:09:04 
;Programmiert: Juergen Walter  
;
;Verwendete Einspruenge: keine
;
;Verwendete Unterprogramme: keine
;
;
;Verwendete Register und Variable:
;Registerbank(0)
;R2
;
;Kommentar:
;
;Aenderungen:
;Geaendert am: Montag, 28. Juni 2010 09:09:04
;
;
;------------------------------------------------------------------------
;Initialisierungsteil fuer allgemeine Konstanten
;------------------------------------------------------------------------
SEKUNDEN	EQU		46		;Wartezeit 1s ueber PCA Interrupts
STLG_01L	EQU		31h 	;Stellung 01 Low-Byte
STLG_01H	EQU		0F5h 	;Stellung 01 High-Byte
STLG_02L	EQU		23h 	;Stellung 02 Low-Byte
STLG_02H	EQU		0EFh 	;Stellung 02 High-Byte
STLG_03L	EQU		0A7h 	;Stellung 03 Low-Byte
STLG_03H	EQU		0E8h 	;Stellung 03 High-Byte


CSEG AT 0H              ;Legt absolute Codesegmentadresse auf 0h
jmp INIT
;
;------------------------------------------------------------------------
;Interrupt-Vektoren
;------------------------------------------------------------------------
ORG 05Bh
clr CF					; Interrupt erkannt
call ISR_PCA0			; PCA Interrupt Servie Routine
reti

;------------------------------------------------------------------------
;Initialisierungsteil fuer On-Chip Peripherie
;------------------------------------------------------------------------
ORG 100H                ;Programmstart bei 100H
INIT:
call Init_Device		;Aufruf zur Initialisierung der Controller Funktionen

;------------------------------------------------------------------------
;Programmschleife
;------------------------------------------------------------------------
ABFRAGE:
jnb P1.3,DREI_STELLUNGEN	; T1--> Drei Stellungen
jmp ABFRAGE

DREI_STELLUNGEN:
mov PCA0CPL0,#STLG_02L		;Stellung 2
mov PCA0CPH0,#STLG_02H
call WARTEN_nS
mov PCA0CPL0,#STLG_03L		;Stellung 3
mov PCA0CPH0,#STLG_03H
call WARTEN_nS
mov PCA0CPL0,#STLG_01L		;Stellung 1
mov PCA0CPH0,#STLG_01H
jmp ABFRAGE


WARTEN_nS:
clr F0						;F0 =0 Sekunde nicht vorbei
mov R2,#SEKUNDEN			;R2 laden
mov EIE1,#010h				;PCA0-Interrupts ermoeglichen
jnb F0,$ 					;warten bis F0=1 --> ausserhalb der Interrupt
							;Service Routine - weiterer Interrupt gleicher 
							;Prioritaet kann wirksam werden
ret

ISR_PCA0:
djnz R2,ISR_PCA0_ENDE		;Sekunde noch nicht vorbei
mov EIE1,#00h				;PCA0-Interrupts sperren
setb F0						;genuegend Interrupts
ISR_PCA0_ENDE:
ret


;------------------------------------------------------------------------
; Peripheral specific initialization functions,
; Called from the Init_Device label
;------------------------------------------------------------------------

PCA_Init:
    mov  PCA0CN,    #040h
    anl  PCA0MD,    #0BFh
    mov  PCA0MD,    #009h
    mov  PCA0CPM0,  #0C2h
    mov  PCA0CPL0,  #031h
    mov  PCA0CPH0,  #0F5h
    ret

Port_IO_Init:
    ; P0.0  -  Skipped,     Push-Pull,  Digital
    ; P0.1  -  Skipped,     Push-Pull,  Digital
    ; P0.2  -  Skipped,     Push-Pull,  Digital
    ; P0.3  -  Skipped,     Push-Pull,  Digital
    ; P0.4  -  Skipped,     Push-Pull,  Digital
    ; P0.5  -  Skipped,     Push-Pull,  Digital
    ; P0.6  -  Skipped,     Push-Pull,  Digital
    ; P0.7  -  Skipped,     Push-Pull,  Digital

    ; P1.0  -  Skipped,     Push-Pull,  Digital
    ; P1.1  -  CEX0  (PCA), Push-Pull,  Digital
    ; P1.2  -  Unassigned,  Push-Pull,  Digital
    ; P1.3  -  Skipped,     Push-Pull,  Digital
    ; P1.4  -  Unassigned,  Push-Pull,  Digital
    ; P1.5  -  Unassigned,  Push-Pull,  Digital
    ; P1.6  -  Unassigned,  Push-Pull,  Digital
    ; P1.7  -  Unassigned,  Push-Pull,  Digital

    ; P2.0  -  Unassigned,  Push-Pull,  Digital
    ; P2.1  -  Unassigned,  Push-Pull,  Digital
    ; P2.2  -  Unassigned,  Push-Pull,  Digital
    ; P2.3  -  Unassigned,  Push-Pull,  Digital
    ; P2.4  -  Unassigned,  Push-Pull,  Digital
    ; P2.5  -  Unassigned,  Push-Pull,  Digital
    ; P2.6  -  Unassigned,  Push-Pull,  Digital
    ; P2.7  -  Unassigned,  Push-Pull,  Digital

    ; P3.0  -  Unassigned,  Push-Pull,  Digital
    ; P3.1  -  Unassigned,  Push-Pull,  Digital
    ; P3.2  -  Unassigned,  Push-Pull,  Digital
    ; P3.3  -  Unassigned,  Push-Pull,  Digital
    ; P3.4  -  Unassigned,  Push-Pull,  Digital
    ; P3.5  -  Unassigned,  Push-Pull,  Digital
    ; P3.6  -  Unassigned,  Push-Pull,  Digital
    ; P3.7  -  Unassigned,  Push-Pull,  Digital

    mov  P0MDOUT,   #0FFh
    mov  P1MDOUT,   #0FFh
    mov  P2MDOUT,   #0FFh
    mov  P3MDOUT,   #0FFh
    mov  P0SKIP,    #0FFh
    mov  P1SKIP,    #009h
    mov  XBR1,      #041h
    ret

Oscillator_Init:
    mov  OSCICN,    #081h
    ret

Interrupts_Init:
    mov  IT01CF,    #010h
    mov  IE,        #080h
    ret

; Initialization function for device,
; Call Init_Device from your main program
Init_Device:
    lcall PCA_Init
    lcall Port_IO_Init
    lcall Oscillator_Init
    lcall Interrupts_Init
    ret

end