;Initilization
$ NOMOD51
$ INCLUDE (REG515.inc)

;*********************************************
EXTRN	CODE (DLAYA,TMR0_SRV, LCDINIT, KBDINIT, WAIT, KEYPAD)
STARD	EQU 8000h
PUBLIC DISPFLAG, CONTSIG1TMP,CONTSIG2TMP,CONTSIG1, CONTSIG2, COUNT, ADDSAVE1, ADDSAVE2
PUBLIC GO_MOVE_HIGH, GO_MOVE_LOW, MOVE_HIGH_MEASURE,MOVE_LOW_MEASURE
PUBLIC TURN_1, TURN_180, TURN_1_MEASURE, TURN_180_MEASURE, KEYPAD_FLAG, KEYCOUNT, CHECK180

;*********************************************

IRAM	SEGMENT DATA	;SEGMENT FOR DATA RAM
RSEG	IRAM



CONTSIG1:				DS 1
CONTSIG2:				DS 1
CONTSIG1TMP:			DS 1
CONTSIG2TMP:			DS 1
COUNT:					DS 1
DISPFLAG:				DS 1
ADDSAVE1:				DS 1
ADDSAVE2:				DS 1
GO_MOVE_HIGH:			DS 1
GO_MOVE_LOW:			DS 1
MOVE_HIGH_MEASURE:		DS 1
MOVE_LOW_MEASURE:		DS 1
TURN_1:					DS 1
TURN_180:				DS 1
TURN_1_MEASURE:			DS 1
TURN_180_MEASURE:		DS 1
KEYPAD_FLAG:			DS 1
KEYCOUNT:				DS 1
CHECK180:				DS 1
;*********************************************
;INTERRUPT JUMP LOCATIONS
CSEG	AT STARD		;JUMP TO MAIN LOOP
LJMP	INITFUNCTION	;JUMP TO MAIN LOOP

CSEG	AT STARD+0BH
LJMP	TMR0_SRV

CSEG	AT STARD+13H
LJMP	KEYPAD
;*********************************************

STARTUP	SEGMENT CODE
RSEG	STARTUP
USING 	0

INITFUNCTION:
	CLR		P1.1	;STOP VEHICLE FROM MOVING ON STARTUP
	CLR		P1.2
	MOV		SP,#70H
	CLR		P5.1
	;CLR		P5.0		;SET MEMORY
	LCALL	LCDINIT	;INITIALIZE DISPLAY
	LCALL	KBDINIT	;INITIALIZE KEYPAD
	
	
SETFLAGS:
	MOV		A,#0
	MOV		DISPFLAG,A
	MOV		A,#5
	MOV		COUNT,A
	MOV		A,#0
	MOV		CONTSIG1,A
	MOV		CONTSIG2,A
TIMER0SETUP:
	MOV		A,TMOD
	ANL		A,#0F0H
	ADD		A,#01H		;TIMER 0 MODE 1
	MOV		TMOD,A
	MOV		TL0,#00
	MOV		TH0,#240
	SETB	TR0
	SETB	EAL
	SETB	ET0 
TIMER2INIT: 
	mov     T2CON,#11h
    mov     CCEN,#10101000b
    mov     CRCH,#0F9h  ;SET PWM PERIOD
    mov     CRCL,#000h
    mov     CCH1,#0FEh	;TIMER CHANNEL 1 PWM1/MOTOR1
    mov     CCL1,#0CDh
    mov     CCH2,#0FEh  ;TIMER CHANNEL 2 PWM2/MOTOR2
    mov     CCL2,#0CDh
    mov     CCH3,#0FEh  ;TIMER CHANNEL 3 PWM3/BRAKE
    mov     CCL3,#0CDh
CLEAR_CPLD:
	CLR		P4.0		;CLEAR CPLD
	LCALL	DLAYA
	LCALL	DLAYA
	SETB	P4.0
   	LJMP	WAIT

END