test version
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243
src/asm/a4_bla.asm
Normal file
243
src/asm/a4_bla.asm
Normal file
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org 100h
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cpu 8086
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jmp start
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; Variablen
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status db 00000000b ; Statusbyte
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; xxxx x
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; |||| |
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; |||| +--------> Vereinzeler (1, auf) / (0, zu) bzw.
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; |||| Verzoegerung aktiv
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; ++++------------> Anzahl Teile binaer (8-0)
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statusAlt db 0
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takt db 0
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tcounts db 0 ; Impulszaehler fuer Servo, Vorwaertszaehler
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tcounto db 0
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tcountv dw 100 * twait ; Impulszaehler fuer Verzoegerung * 10ms
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; Rueckwaertszaehler
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direction db 20
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frei db 'frei ', 0 ; Texte
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belegt db 'belegt ', 0
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; Konstanten
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??? equ 0 ; Platzhalter fuer Ihre Zeitkonstante1
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????? equ 0 ; Platzhalter fuer Ihre Zeitkonstante2
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VE_aktiv equ 1 << 0 ; Vereinzeler bzw. Verzoegerung aktiv
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intab0 equ 20h ; Adresse Interrupttabelle PIT, Kanal 1
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intab1 equ intab0 + 1 * 4 ; Adresse Interrupttabelle PIT, Kanal 2
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intab7 equ intab0 + 7 * 4 ; Adresse Interrupttabelle Lichttaster
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eoi equ 20h ; End Of Interrupt (EOI)
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clrscr equ 0 ; Clear Screen
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getkey equ 1 ; Funktion auf Tastatureingabe warten
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ascii equ 2 ; Funktion ASCII-Zeichenausgabe
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hexbyte equ 4 ; HEX-Byte Ausgabe
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conin equ 5 ; Console IN
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conout equ 6 ; Console OUT
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pitc equ 0a6h ; Steuerkanal PIT
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pit1 equ 0a2h ; Counter 1 PIT
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pit2 equ 0a4h ; Counter 2 PIT
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ppi_ctl equ 0b6h ; Steuerkanal PPI (Parallelinterface)
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ppi_a equ 0b0h ; Kanal A PPI
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ppi_pa0 equ 1 ; LED 0
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ppi_pa1 equ 2 ; LED 1
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ppi_pa2 equ 4 ; LED 2
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ppi_pa3 equ 8 ; Lautsprecher
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ppi_pa6 equ 1 << 6 ; Servomotor
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ppi_b equ 0b2h ; Kanal B PPI
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ppi_c equ 0b4h ; Kanal C PPI
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ocw_2_3 equ 0c0h ; PIC (Interruptcontroller), OCW2,3
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ocw_1 equ 0c2h ; PIC (Interruptcontroller), OCW1
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icw_1 equ 0c0h ; PIC (Interruptcontroller), ICW1
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icw_2_4 equ 0c2h ; PIC (Interruptcontroller), ICW2,4
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leds equ 0 ; LED Port
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schalter equ 0 ; Schalterport
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keybd equ 80h ; SBC-86 Tastatur
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gokey equ 11h ; Taste "GO"
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outkey equ 15h ; Taste "OUT"
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sseg7 equ 9eh ; Segmentanzeige 7
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tcpwm equ 184 ; 1843200 Hz / ??? = ca. 10000 Hz = 0.1 ms
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; Taktzyklus
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; Zeitkonstante fuer PWM-Interrupt
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tpwm equ 200 ; Periodendauer des PWM-Signals * 0.1 ms
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tlinks equ 10 ; Impulsdauer fuer "ZU" * 0.1 ms
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trechts equ 20 ; Impulsdauer fuer "AUF" * 0.1 ms
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tcwait equ 18432 ; 1843200 Hz / ????? = 100 Hz => 10 ms
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; Zeitkonstante fuer Wartezeitinterrupt
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twait equ 1 ; Wartezeit fuer offenen Vereinzeler (s)
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shcnt equ 4 ; Shiftcount Anzahl Teile
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pieces equ 8 ; Anzahl Teile initial
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start:
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; Initialisierung
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call init ; Controller und Interruptsystem scharfmachen
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mov ah, clrscr ; Anzeige aus
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int conout
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mov byte [status], pieces << shcnt ; Init. Statusbyte und alle LEDs
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mov al, 0
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out ppi_a, al
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out leds, al
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; Hintergrundprogramm (ist immer aktiv, wenn im Service nichts zu tun ist)
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; Hier sollten Ausgaben auf das Display getätigt werden, Zählung der Teile, etc.
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again:
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mov ah, 02
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mov dl, 07
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mov al, [status]
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add al, 0x10
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jc VOLL
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mov bx, frei
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jmp AUS
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VOLL: mov bx, belegt
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AUS: INT 6
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mov al, [status]
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out leds, al
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jmp again
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; Initialisierung Controller und Interruptsystem
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init:
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cli ; Interrupts aus
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; PIT-Init.
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mov al, 01110110b ; Kanal 1, Mode 3, 16-Bit ZK
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out pitc, al ; Steuerkanal
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mov al, tcpwm & 0ffh ; Low-Teil Zeitkonstante
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out pit1, al
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mov al, tcpwm >> 8 ; High-Teil Zeitkonstante
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out pit1, al
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mov al, 10110110b ; Kanal 2, Mode 3, 16-Bit ZK
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out pitc, al ; Steuerkanal
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mov al, tcwait & 0ffh ; Low-Teil Zeitkonstante
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out pit2, al
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mov al, tcwait >> 8 ; High-Teil Zeitkonstante
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out pit2, al
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; PPI-Init.
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mov al, 10001011b ; PPI A/B/C Mode 0, A Output, sonst Input
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out ppi_ctl, al
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jmp short $+2 ; I/O-Delay
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mov al, 0 ; LED's aus (high aktiv)
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out ppi_a, al
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; PIC-Init.
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mov al, 00010011b ; ICW1, ICW4 benoetigt, Bit 2 egal,
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; Flankentriggerung
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out icw_1, al
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jmp short $+2 ; I/O-Delay
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mov al, 00001000b ; ICW2, auf INT 8 gemapped
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out icw_2_4, al
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jmp short $+2 ; I/O-Delay
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mov al, 00010001b ; ICW4, MCS-86, EOI, non-buffered,
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; fully nested
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out icw_2_4, al
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jmp short $+2 ; I/O-Delay
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mov al, 01111100b ; Kanal 0, 1 + 7 am PIC demaskieren
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; PIT K1, K2 und Lichttaster
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out ocw_1, al
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; Interrupttabelle init.
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mov word [intab7], isr_lt ; Interrupttabelle (Lichttaster)
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; initialisieren (Offset)
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mov [intab7 + 2], cs ; (Segmentadresse)
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mov word [intab0], isr_servotimer ; Interrupttabelle (Timer K1)
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; initialisieren (Offset)
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mov [intab0 + 2], cs ; (Segmentadresse)
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mov word [intab1], isr_opentimer ; Interrupttabelle (Timer K2)
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; initialisieren (Offset)
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mov [intab1 + 2], cs ; (Segmentadresse)
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sti ; ab jetzt Interrupts
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ret
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;------------------------ Serviceroutinen -----------------------------------
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isr_opentimer: ; Timer fuer Vereinzeler (Zeit fuer Oeffnung)
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push ax
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mov ah, [tcounto]
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mov al, [status]
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test al, 0x01
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jz isr_opentimer_out
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inc ah
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cmp ah, [tcountv]
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jnz isr_opentimer_out
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mov ah, 0
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mov byte[direction], trechts
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and al, 0xfe
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isr_opentimer_out: ; Ausgang aus dem Service
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mov [status], al
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mov [tcounto], ah
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mov al, eoi ; EOI an PIC
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out ocw_2_3, al
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pop ax
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iret
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isr_lt: ; Lichttaster
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push ax
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mov al, [status]
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test al, 0x01
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jnz isr_lt_out
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mov byte[direction], tlinks
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or al, 0x01
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add al, 0x10
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jnc isr_lt_out
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mov al, pieces << shcnt
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and al, 0xfe
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mov byte[direction], trechts
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isr_lt_out: ; Ausgang aus dem Service
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mov [status], al
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mov al, eoi ; EOI an PIC
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out ocw_2_3, al
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pop ax
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iret
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isr_servotimer: ; Timer fuer Servo (Vereinzeler)
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push ax
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mov ah, [tcounts]
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inc ah
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cmp ah, [direction]
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jnz if_direction
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mov al, 0
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out ppi_a, al
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if_direction:
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cmp ah, tpwm
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jnz isr_servotimer_out
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mov al, ppi_pa6
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out ppi_a, al
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mov ah, 0
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isr_servotimer_out: ; Ausgang aus dem Service
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mov [tcounts], ah
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mov al, eoi ; EOI an PIC
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out ocw_2_3, al
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pop ax
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iret
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