/* ========================================================================== */
/*					HS303_1.C		              */
/* ========================================================================== */
/* Description : Control RC Servo-motor by two external pin interrupts.       */
/* ========================================================================== */
/*
	HS-303 RC Servo Motor : 0.7ms(-90) бн 1.5ms(0) бн 2.3ms(90)
	Let Period = 5.0ms (= 6250 state)
            -90    = 0.7ms (= 875 state)
              0    = 1.5ms (= 1875 state)
            +90    = 2.3ms (= 2875 state)
*/
#pragma dn(0)               /* Error diagnostic level = 0 */
#pragma code                /* Attach ASM code to .lst file */
#pragma pagelength(32767)   /* Let the page length maximum */
#pragma model(kc)           /* cpu model = 80C196KC */

#include <80c196.h>         /* Standard header for 80C196 */
#define INT13               /* For pin 9 */
#define INT07               /* For pin 15 */
#include <isr96.h>          /* Definition of ISR and BYTE, WORD */
#include <196io.h>          /* My header for additional I/Os */
#include <fpal96.h>         /* For floating-point arithmetics */

const WORD period = 6250; /* 5.0ms */

const WORD hso1_set_time = 0;	/* set time and reset time */
int hso1_reset_time;

void INT13(void);   /* No.15: External pin Interrupt : UP button */
void INT07(void);   /* No. 9: External pin Interrupt : DOWN button */

void main(void)
{
  hso1_reset_time = 0;   /* Initial degree is 0 deg */

  lcd_print(" PWM with HSO.1 ", LINE1);		/* display title */
  lcd_print(" Degree is   0 D", LINE2);

  timer2 = 0;	/* timer 2 initial value */

  ioc2 = 0xC0;	/* clear HSO CAM and enable locking */

  wsr = 1;
  t2control = 0x01;	/* timer 2 internal clock source */
  wsr = 0;

  fpinit();            /* For floating Point Arithmetic */

  ioc1 = 0x02;         /* Select pin no. 9 for external Interrupt */
  int_mask = 0x80;     /* Enable No.9 INT. */
  imask1 = 0x20;       /* Enable No.15 INT. */
  enable();            /* Enable Global INT. */

/* HSO.1 */

/* Set Period */

  while((ios0 & 0x40) == 0x40);
  hso_command = 0xCE;
/* 11001110
   ||||++++- timer2 reset
   |||+----- HSO Interrupt Disable
   ||+------ Set the selected pin to 0!!!!!!!!!
   |+------- Select timer2
   +-------- CAM Lock                    */

  hso_time = period;

/* Set Time */

  while((ios0 & 0x40) == 0x40);
  hso_command = 0xE1;
/* 11100001
   ||||++++- Select HSO.1
   |||+----- HSO Interrupt Disable
   ||+------ Set the selected pin to 1!!!!!!!!!
   |+------- Select timer2
   +-------- CAM Lock                    */

  hso_time = hso1_set_time;


/* Reset Time */
  do{
    while((ios0 & 0x40) == 0x40);
    hso_command = 0x41;
    /* 01000001
       ||||++++- Select HSO.1
       |||+----- HSO Interrupt Disable
       ||+------ Set the selected pin to 0!!!!!!!!!
       |+------- Select timer2
       +-------- CAM UnLock                    */
    hso_time = hso1_reset_time;
   }while(1);
}

void INT13(void)
{
	asm pushf;
	hso1_reset_time += 100;
        if(hso1_reset_time > 2875) hso1_reset_time = 2875;
	lcd_put3dec((WORD)((hso1_reset_time-875)*0.09), LINE2, 11);
	asm popf;    
	return;
}

void INT07(void)
{
	asm pushf;
	hso1_reset_time -= 100;
        if(hso1_reset_time < 875) hso1_reset_time = 875;
	lcd_put3dec((WORD)((hso1_reset_time-875)*0.09), LINE2, 11);
	asm popf;    
	return;
}