$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 (VC_2_Servo_LR.A51)
;------------------------------------------------------------------------
;Programmbeschreibung
;------------------------------------------------------------------------
;Programm:
;P1.1 Anschluss PCA - CEX1
;T2 Servo Pulsweite groesser - Compare-Register wird erniedrigt
;T3 Servo Oulsweite kleiner
;Sysclk 3 MHz PCA0 Periode 21,845ms - Interrupt-Periode 
;PCA_Interrupt  
;VORSICHT: Der 16-BIT-COmparator arbeitet nur wenn LOW und HIGH Byte 
;geschrieben wird
;
;
;Erstellt am: Sonntag, 18. Januar 2009 14:17:53 
;Programmiert: Juergen Walter  
;
;Verwendete Einspruenge: keine
;
;Verwendete Unterprogramme: keine
;
;
;Verwendete Register und Variable:
;Registerbank(0)
;R2
;
;Kommentar:
;
;Aenderungen:
;Geaendert am: Sonntag, 18. Januar 2009 14:17:53
;
;
;------------------------------------------------------------------------
;Initialisierungsteil fuer allgemeine Konstanten
;------------------------------------------------------------------------
PCA0_INT EQU 1			;Fuer extrem langsame Fahrt
INCDEC EQU 2

CSEG AT 0H              ;Legt absolute Codesegmentadresse auf 0h
jmp INIT
;
;------------------------------------------------------------------------
;Interrupt-Vektoren
;------------------------------------------------------------------------
ORG 5BH
clr CF					;Interrupt Flag PCA erkannt
call ISR_PCA			; 
RETI
;------------------------------------------------------------------------
;Initialisierungsteil fuer On-Chip Peripherie
;------------------------------------------------------------------------
ORG 100H                ;Programmstart bei 100H
INIT:
call Init_Device		;Aufruf zur Initialisierung der Controller Funktionen
mov R2,#PCA0_INT				;Zaehlregister fuer Interrupts
;------------------------------------------------------------------------
;Programmschleife
;------------------------------------------------------------------------

ABFRAGE:
jmp ABFRAGE

ISR_PCA:
djnz R2,ISRENDE		;Sind bereits n Interrupts aufgetreten?
mov R2,#PCA0_INT
jb P1.2,TASTE3		;T2 abwaerts nicht betaetigt
clr C
mov A,PCA0CPL1		;Inhalt von Low-Byte PCA0 Modul 1 Low Byte
subb A,#INCDEC		;um INCDEC erniedrigen
mov PCA0CPL1,A		;Neuer Comparewert LB			
mov A,PCA0CPH1		;Inhalt von Low-Byte PCA0 Modul 1 High Byte
jnc KEINUEBERTRAG1	;
dec A				;Inhalt um 1 erniedrigen
KEINUEBERTRAG1:
mov PCA0CPH1,A		;Neuer Comparewert HB


TASTE3:				;Flanke wird erhoeht - Duty Cycle kleiner
jb P1.3,ISRENDE		;T3 aufwaerts nicht betaetigt
clr C
mov A,PCA0CPL1		;Inhalt von CCL1
add A,#INCDEC		;um INCDEC érhoehen
mov PCA0CPL1,A		;Neuer Comparewert LB
mov A,PCA0CPH1		;Inhalt von CCH1
jnc KEINUEBERTRAG2	;High-Byte wird nicht veraendert
inc A				;Inhalt um 1 erhoehen
KEINUEBERTRAG2:
mov PCA0CPH1,A		;Neuer Comparewert HB		

ISRENDE:
ret



;------------------------------------------------------------------------
; Peripheral specific initialization functions,
; Called from the Init_Device label
;------------------------------------------------------------------------
PCA_Init:
    mov  PCA0CN,    #040h
    anl  PCA0MD,    #0BFh
    mov  PCA0MD,    #009h
    mov  PCA0CPM1,  #0C2h
    mov  PCA0CPL1,  #033h
    mov  PCA0CPH1,  #0F3h
    ret

ADC_Init:
    mov  AMX0N,     #01Fh
    mov  ADC0CN,    #004h
    ret

Port_IO_Init:
    ; P0.0  -  Skipped,     Push-Pull,  Digital
    ; P0.1  -  Skipped,     Push-Pull,  Digital
    ; P0.2  -  SDA (SMBus), Push-Pull,  Digital
    ; P0.3  -  SCL (SMBus), Push-Pull,  Digital
    ; P0.4  -  TX0 (UART0), Push-Pull,  Digital
    ; P0.5  -  RX0 (UART0), Push-Pull,  Digital
    ; P0.6  -  Skipped,     Push-Pull,  Digital
    ; P0.7  -  Skipped,     Push-Pull,  Digital

    ; P1.0  -  CEX0  (PCA), Push-Pull,  Digital
    ; P1.1  -  CEX1  (PCA), Push-Pull,  Digital
    ; P1.2  -  Skipped,     Push-Pull,  Digital
    ; P1.3  -  Skipped,     Push-Pull,  Digital
    ; P1.4  -  Skipped,     Push-Pull,  Digital
    ; P1.5  -  Unassigned,  Push-Pull,  Digital
    ; P1.6  -  Unassigned,  Push-Pull,  Digital
    ; P1.7  -  Unassigned,  Push-Pull,  Digital

    ; P2.0  -  Skipped,     Push-Pull,  Analog
    ; 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  -  Skipped,     Push-Pull,  Digital
    ; P3.3  -  Skipped,     Push-Pull,  Digital
    ; P3.4  -  Skipped,     Push-Pull,  Digital
    ; P3.5  -  Unassigned,  Push-Pull,  Digital
    ; P3.6  -  Unassigned,  Push-Pull,  Digital
    ; P3.7  -  Unassigned,  Push-Pull,  Digital

    mov  P2MDIN,    #0FEh
    mov  P0MDOUT,   #0FFh
    mov  P1MDOUT,   #0FFh
    mov  P2MDOUT,   #0FFh
    mov  P3MDOUT,   #0FFh
    mov  P0SKIP,    #0C3h
    mov  P1SKIP,    #01Ch
    mov  P2SKIP,    #001h
    mov  P3SKIP,    #01Ch
    mov  XBR0,      #005h
    mov  XBR1,      #042h
    ret

Oscillator_Init:
    mov  OSCICN,    #081h
    mov  CLKMUL,    #080h
    clr  A                     ; Wait 5us for initialization
    djnz ACC,       $
    orl  CLKMUL,    #0C0h
Osc_Wait2:
    mov  A,         CLKMUL
    jnb  ACC.5,     Osc_Wait2
    ret

Interrupts_Init:
    mov  EIE1,      #010h
    mov  IT01CF,    #010h
    mov  IE,        #080h
    ret

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

end