$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 (SERVOS1S2.A51)
;------------------------------------------------------------------------
;Programmbeschreibung
;------------------------------------------------------------------------
;Programm:
;Hardware: CEX0 an P1.1
;Servomotor - Blaue Anzeige Standard Servo PWM über PCA0CPL+Hx
;Mittenstellung: BD20H
;0° 
;180° 
;T2 - Die Pulsweite wird verkleinert Compare wird erhoeht
;T3	- Die Pulsweite wird vergroessert Compare wird erniedrigt
;Interrupt bei n-Überläufen - PCA0_INT  mit Veraenderung der Pulsweite um C_ADD
;Periodendauer: CLK=3 MHz --> 21,84ms --> 45,7 Hz  
;Zaehlregister fuer Anzahl Interrupts --> R2
;
;Erstellt am: Samstag, 2. Mai 2009 16:48:17 
;Programmiert:  J. Walter 
;
;Verwendete Einspruenge: keine
;
;Verwendete Unterprogramme: keine
;
;
;Verwendete Register und Variable:
;Registerbank(0)
;R2
;
;Kommentar:
;
;Aenderungen:
;Geaendert am: Samstag, 2. Mai 2009 16:48:17
;
;
;------------------------------------------------------------------------
;Initialisierungsteil fuer allgemeine Konstanten
;------------------------------------------------------------------------
C_ADD EQU 3				;Addition der Schrittweite Comparewert
PCA0_INT EQU 1

CSEG AT 0H              ;Legt absolute Codesegmentadresse auf 0h
jmp INIT
;
;------------------------------------------------------------------------
;Interrupt-Vektoren
;------------------------------------------------------------------------
;ORG 
ORG 05Bh				;Interrupt Vector PCA
clr CF					;Interrupt bestaetigt
call ISR_PCA0			;
RETI
;------------------------------------------------------------------------
;Initialisierungsteil fuer On-Chip Peripherie
;------------------------------------------------------------------------
ORG 100H                ;Programmstart bei 100H
INIT:
call Init_Device		;Aufruf zur Initialisierung der Controller Funktionen

;------------------------------------------------------------------------
;Programmschleife
;------------------------------------------------------------------------

ABFRAGE:
jmp Abfrage

ISR_PCA0:
jb P1.2,C_AB	   		;Abfrage AUF?

mov PCA0CPL0,#0BFh		;Low Byte wieder zurueckschreiben
mov PCA0CPH0,#94h		;High Byte Compare schreiben


C_AB:
jb P1.3,ISR_PCA_ENDE	;T3 betaetigt?

mov PCA0CPL0,#4Bh			;Wieder zurueckschreiben
mov PCA0CPH0,#0E1h			;High Byte Compare schreiben

ISR_PCA_ENDE:
ret



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

PCA_Init:
    mov  PCA0CN,    #040h
    anl  PCA0MD,    #0BFh
    mov  PCA0MD,    #003h
    mov  PCA0CPM0,  #0C3h
    mov  PCA0CPL0,  #020h
    mov  PCA0CPL1,  #033h
    mov  PCA0CPH0,  #0BBh
    mov  PCA0CPH1,  #0F3h
    ret

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

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

    ; P2.0  -  Unassigned,  Open-Drain, Digital
    ; P2.1  -  Unassigned,  Open-Drain, Digital
    ; P2.2  -  Unassigned,  Open-Drain, Digital
    ; P2.3  -  Unassigned,  Open-Drain, Digital
    ; P2.4  -  Unassigned,  Open-Drain, Digital
    ; P2.5  -  Unassigned,  Open-Drain, Digital
    ; P2.6  -  Unassigned,  Open-Drain, Digital
    ; P2.7  -  Unassigned,  Open-Drain, Digital

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

    mov  P1MDOUT,   #00Eh
    mov  P3MDOUT,   #01Ch
    mov  P0SKIP,    #0FFh
    mov  P1SKIP,    #00Dh
    mov  P3SKIP,    #01Ch
    mov  XBR1,      #041h
    ret

Oscillator_Init:
    mov  FLSCL,     #090h
    mov  CLKMUL,    #080h
    clr  A                     ; Wait 5us for initialization
    djnz ACC,       $
    orl  CLKMUL,    #0C0h
Osc_Mul_Wait:
    mov  A,         CLKMUL
    jnb  ACC.5,     Osc_Mul_Wait
    mov  CLKSEL,    #003h
    mov  OSCICN,    #081h
    ret

Interrupts_Init:
    mov  EIE1,      #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