;======================================================
;	MIRS_ARM_UNITの制御プログラム
;			2008 1/21
;			Programed by Takashi Amoh
;======================================================

	LIST	P=PIC16F84A
	INCLUDE	"P16F84A.INC"

;------------------------------------------------------
;	カウンタ定義
;------------------------------------------------------

COUNT1		EQU		0DH
COUNT2		EQU		0EH
COUNT3		EQU		0FH
COUNT4		EQU		010H

;------------------------------------------------------
;	初期化 routine
;------------------------------------------------------

INIT
		BSF		STATUS,RP0
		MOVLW		0FH
		MOVWF		TRISA
		CLRF		TRISB
		BCF		STATUS,RP0
		MOVLW		0FFH
		MOVWF		PORTB

;------------------------------------------------------
;	MAIN routine (モータ動作)
;------------------------------------------------------

MAIN
		BTFSS		PORTA,2
		GOTO		MAIN
START
		MOVLW		010H
		MOVWF		PORTB
		CALL		DUTY1M
		CALL		DUTY1M
		
REVERSE
		MOVLW		0FFH
		MOVWF		PORTB
		CALL		DUTY1U
		MOVLW		020H
		MOVWF		PORTB
		CALL		DUTY1M
		CALL		DUTY1M
STOP
		MOVLW		0FFH
		MOVWF		PORTB
		CALL		DUTY1U
FINISH
		GOTO		MAIN

;------------------------------------------------------
;	時間稼ぎ routine (1m秒、1μ秒)
;------------------------------------------------------

DUTY1M
		MOVLW		15H
		MOVWF		COUNT1
SUBDUTYM1
		MOVLW		0FFH
		MOVWF		COUNT2
SUBDUTYM2
		MOVLW		0FFH
		MOVWF		COUNT3
HUBM
		DECFSZ		COUNT3,F
		GOTO		HUBM
		DECFSZ		COUNT2,F
		GOTO		SUBDUTYM2
		DECFSZ		COUNT1,F
		GOTO		SUBDUTYM1
		RETURN


DUTY1U
		MOVLW		041H
		MOVWF		COUNT1
SUBDUTYU
		DECFSZ		COUNT1,F
		GOTO		SUBDUTYU
		RETURN


		END