Lynxmotion Tech Support

enable TIMERWINT_OVF

enable TIMERWINT_OVF
enable

;--------------------------------------------------------------------
;[Handle TimerW interrupt]
BEGINASMSUB
HANDLE_TIMERW
ASM{
  push.w   r1                     ; save away register we will use
  bclr #7,@TSRW:8                  ; clear the overflow bit in the Timer status word
  mov.w @WTIMERWOVERFLOWCNT:16,r1      ; We will increment the word that is the highword for a clock timer
  inc.w #1,r1
  mov.w r1, @WTIMERWOVERFLOWCNT:16
  pop.w  r1                        ; restore our registers
  rte                           ; and return   
}
ENDASMSUB
return
;-------------------------------------------------------------------------------------
;[Simple function to get the current time and verify that no overflow happened]
GetCurrentTime
ASM{
  nop      ; probably not needed, but to make sure we are in assembly mode
  mov.w  @WTIMERWOVERFLOWCNT:16, e1
  mov.w  @TCNT:16, r1
  mov.w  @WTIMERWOVERFLOWCNT:16, r2
  cmp.w  r2,e1                     ; make sure no overflow happened
  beq           _GCT_RETURN:8         ; no overflow, so return it

  mov.w  @WTIMERWOVERFLOWCNT:16, e1
  mov.w  @TCNT:16, r1

_GCT_RETURN:
  mov.l  er1, @LCURRENTTIME:16
}
return lCurrentTime                  ; switched back to basic
;--------------------------------------------------------------------

;-------------------------------------------------------------------
;[Pulsein7] Read in all 7 servo values in one pass.
Pulsein7:
ASM{
    ; Make sure all 7 IOs are set to input.
    PMR5 = 0 ; all IO lines are general IO
    PCR5 = 0 ; All are input  (may want to leave bit 7 alone...
   
...

_P17_RETURN_STATUS:   
   mov.b   r1l,@BPULSETIMEOUT
; finally transisition back to basic and return.
}
return
;--------------------------------------------------------------------