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@ -11,23 +11,24 @@ RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP |
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RTX_PIN EQU Rcp_In ; RTX pin |
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;**** **** **** **** **** |
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; PWM pin routing and polarity setup |
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;**** **** **** **** **** |
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$if NOT CUSTOM_PWM_SETUP |
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IF PWM_ACTIVE_HIGH == 1 ; fet active high |
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pON LIT 'setb' |
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pOFF LIT 'clr' |
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ELSE ; fet active low |
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pON LIT 'clr' |
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pOFF LIT 'setb' |
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ENDIF |
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IF COMPWM_ACTIVE_HIGH == 1 ; comfet active high |
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cON LIT 'setb' |
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cOFF LIT 'clr' |
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ELSE ; comfet active low |
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cON LIT 'clr' |
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cOFF LIT 'setb' |
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Initialize_Xbar MACRO |
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mov XBR2, #40h ;; Xbar enabled |
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mov XBR1, #02h ;; CEX0 and CEX1 routed to pins |
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IF ESCNO = E_ |
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All_pwmFETs_off ; For unlocking of HIP2103/4 driver circuits |
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call wait100ms |
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AcomFET_on |
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BcomFET_on |
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CcomFET_on |
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call wait1ms |
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All_comFETs_off |
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ENDIF |
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ENDM |
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Set_Pwm_Polarity MACRO |
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IF PCA0_POWER_MODULE == PCA0CPM0 |
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@ -37,6 +38,12 @@ ELSE |
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ENDIF |
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ENDM |
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$endif |
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;**** **** **** **** **** |
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; Comparator setup and phase change |
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;**** **** **** **** **** |
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IF COMP_PORT == 0 |
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CMP_CN0 EQU CMP0CN0 |
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CMP_MD EQU CMP0MD |
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@ -47,26 +54,11 @@ CMP_MD EQU CMP1MD |
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CMP_MX EQU CMP1MX |
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ENDIF |
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Initialize_Xbar MACRO |
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mov XBR2, #40h ;; Xbar enabled |
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mov XBR1, #02h ;; CEX0 and CEX1 routed to pins |
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IF ESCNO = E_ |
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All_pwmFETs_off ; For unlocking of HIP2103/4 driver circuits |
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call wait100ms |
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AcomFET_on |
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BcomFET_on |
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CcomFET_on |
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call wait1ms |
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All_comFETs_off |
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ENDIF |
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ENDM |
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Initialize_Comparator MACRO |
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mov CMP_CN0, #80h ;; Comparator enabled, no hysteresis |
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mov CMP_MD, #00h ;; Comparator response time 100ns |
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ENDM |
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Read_Comp_Out MACRO |
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mov A, CMP_CN0 ;; Read comparator output |
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IF ESCNO == O_ |
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@ -90,7 +82,73 @@ Set_Comp_Phase_C MACRO |
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ENDM |
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;**** **** **** **** **** |
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; PWM phase change |
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;**** **** **** **** **** |
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$if NOT CUSTOM_PWM_PHASE |
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; All pwm and com pins must be on port 1 |
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P_ApwmFET EQU P1.A_pwm |
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P_AcomFET EQU P1.A_com |
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P_BpwmFET EQU P1.B_pwm |
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P_BcomFET EQU P1.B_com |
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P_CpwmFET EQU P1.C_pwm |
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P_CcomFET EQU P1.C_com |
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Set_Pwm_A MACRO |
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IF FETON_DELAY == 0 |
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cON P_AcomFET |
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mov P1SKIP, #(NOT (1 SHL A_pwm)) |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com))) |
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ENDIF |
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ENDM |
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Set_Pwm_B MACRO |
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IF FETON_DELAY == 0 |
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cON P_BcomFET |
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mov P1SKIP, #(NOT (1 SHL B_pwm)) |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com))) |
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ENDIF |
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ENDM |
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Set_Pwm_C MACRO |
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IF FETON_DELAY == 0 |
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cON P_CcomFET |
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mov P1SKIP, #(NOT (1 SHL C_pwm)) |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL C_pwm) + (1 SHL C_com))) |
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ENDIF |
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ENDM |
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Set_Pwms_Off MACRO |
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mov P1SKIP, #0FFh |
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ENDM |
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$endif |
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;**** **** **** **** **** |
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; Fets on/off toggling |
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;**** **** **** **** **** |
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$if NOT CUSTOM_FET_TOGGLING |
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IF PWM_ACTIVE_HIGH == 1 ; fet active high |
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pON LIT 'setb' |
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pOFF LIT 'clr' |
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ELSE ; fet active low |
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pON LIT 'clr' |
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pOFF LIT 'setb' |
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ENDIF |
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IF COMPWM_ACTIVE_HIGH == 1 ; comfet active high |
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cON LIT 'setb' |
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cOFF LIT 'clr' |
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ELSE ; comfet active low |
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cON LIT 'clr' |
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cOFF LIT 'setb' |
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ENDIF |
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ApwmFET_on MACRO |
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pON P_ApwmFET |
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@ -170,38 +228,58 @@ All_comFETs_Off MACRO |
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CcomFET_off |
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ENDM |
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$endif |
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IF ALL_FETS_ON_PORT1 == 1 |
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Set_Pwm_A MACRO |
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IF FETON_DELAY == 0 |
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cON P_AcomFET |
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mov P1SKIP, #(NOT (1 SHL A_pwm)) |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com))) |
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ENDIF |
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$if NOT CUSTOM_LED |
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Set_LED_0 MACRO |
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ENDM |
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Clear_LED_0 MACRO |
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ENDM |
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Set_LED_1 MACRO |
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ENDM |
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Clear_LED_1 MACRO |
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ENDM |
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Set_LED_2 MACRO |
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ENDM |
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Clear_LED_2 MACRO |
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ENDM |
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Set_LED_3 MACRO |
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ENDM |
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Clear_LED_3 MACRO |
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ENDM |
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Set_Pwm_B MACRO |
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IF FETON_DELAY == 0 |
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cON P_BcomFET |
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mov P1SKIP, #(NOT (1 SHL B_pwm)) |
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$endif |
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;**** **** **** **** **** |
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; ADC and temperature measurement |
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;**** **** **** **** **** |
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TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1) |
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TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC |
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Initialize_Adc MACRO |
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mov REF0CN, #0Ch ;; Set vdd (3.3V) as reference. Enable temp sensor and bias |
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IF MCU_48MHZ == 0 |
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mov ADC0CF, #59h ;; ADC clock 2MHz, PGA gain 1 |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com))) |
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mov ADC0CF, #0B9h ;; ADC clock 2MHz, PGA gain 1 |
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ENDIF |
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mov ADC0MX, #10h ;; Select temp sensor input |
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mov ADC0CN0, #80h ;; ADC enabled |
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mov ADC0CN1, #01h ;; Common mode buffer enabled |
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ENDM |
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Set_Pwm_C MACRO |
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IF FETON_DELAY == 0 |
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cON P_CcomFET |
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mov P1SKIP, #(NOT (1 SHL C_pwm)) |
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ELSE |
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mov P1SKIP, #(NOT ((1 SHL C_pwm) + (1 SHL C_com))) |
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ENDIF |
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Start_Adc MACRO |
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mov ADC0CN0, #90h ;; ADC start |
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ENDM |
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Set_Pwms_Off MACRO |
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mov P1SKIP, #0FFh |
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Read_Adc_Result MACRO |
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mov Temp1, ADC0L |
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mov Temp2, ADC0H |
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ENDM |
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ENDIF |
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Stop_Adc MACRO |
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ENDM |
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Mathias Rasmussen
4 years ago