/* ============================================================== */
/* 				HS303_2.C			  */
/* ============================================================== */

/*
   Description : Control HS-303 SM by external Potentiometer.
       AD Converting is performed by 8 bit A/D pollling.

       PS-303 RC Servo Motor : 0.7ms(-90 deg) бн 1.5ms(0 deg) бн 2.3ms(90 deg)
       Let Period = 5.0ms (= 6250 state)
            -90   = 0.7ms (= 875 state)
              0   = 1.5ms (= 1875 state)
            +90   = 2.3ms (= 2875 state)
*/

#pragma dn(0)
#pragma code
#pragma pagelength(32767)
#pragma model(kc)

#include <80c196.h>
#include <isr96.h>
#include <196io.h>
#include <fpal96.h>

const WORD period = 6250; /* 5.0ms */
const WORD hso1_set_time = 0;		/* set time and reset time */
int hso1_reset_time;

void main(void)
{
	BYTE ad_lo;
	char ad_hex;

	hso1_reset_time = 0;	/* Initial degree is 0 deg */

	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;

	lcd_print("SM Ctrl with ADC", LINE1);
	lcd_print("   0 mV    0 deg", LINE2);
	fpinit();		/* Floating Point Init. */

/* 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;   /* 10 */

/* 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;

	int_mask = 0x00;
	imask1= 0x00;
	disable();    /* Disable whole INT. */

	while(1)
	{
		ad_command=0x18;    /* ACH0, Immediate, 8BIT */
		asm nop;
		asm nop;
		do{
			ad_lo = ad_result_lo; /* ad_result_lo.3 = 1 : Doing */
		}while(ad_lo&0x08);           /* ad_result_lo.3 = 0 : Done  */

		ad_hex=ad_result_hi;          /* 8 bit result */
		hso1_reset_time = 7.8125*((WORD)ad_hex&0x0ff) + 875;

		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;
		lcd_put4dec(ad_hex*20, LINE2, 0);
		lcd_put3dec((WORD)((ad_hex&0x0ff)*0.703125), LINE2, 9);
	}
}