; 
; File Name		:'INIT.asm"
; Title			:8515 Machine initialization
; Date			:
; Version		:
; Support telephone	:765 287 1987  David B. VanHorn
; Support fax		:765 287 1989
; Support Email		:dvanhorn@cedar.net
; Target MCU		:AT90S8515
;
; DESCRIPTION
; This module contains the machine initialization
;
;***************************************************************************;
;	M O D I F I C A T I O N   H I S T O R Y 
;
;
;       rev.      date    who   why
;	----	--------  ---	------------------------------------------
;	0.01	98.07.29  dvh	Creation
;	0.02	98.08.05  dvh	Fixed bit inits for demo board.
;	0.03	98.08.06  dvh	Documented better :)
;	0,04	98.08.20  dvh	Added servo inits
;	0.05	98.08.20  dvh	Added FRAME_DELAY init for SERVO.ASM frame rate
;				Changed Frame_Delay to SRAM rather than register
;	0.06	98.08.30  dvh	Added watchdog timer support
;	0.07	98.10.19  dvh	Added DS1602 and DS1820 support
;				minor cleanups to the servo and stepper inits.
;	0.08	98.10.29  dvh	documentation cleanup re databook pages
;
;***************************************************************************
;*
;* Initialize the machine
;*
;***************************************************************************
;
;
INIT_Machine:

;Set Watchdog Inactive  Databook 5-43
;Gotta handle this before it gets a chance to bite me.
;	
	ldi	TEMP,$1F	;00011011	
	out	WDTCR,TEMP	;
	ldi	TEMP,$17	;00010111
				;XXX1XXXX Watch dog turn off enable, must be 1 to wrt D3
				;XXXX0XXX WDE 0=disable 1=enable
				;XXXXX111 000 =   16mS WD prescaler bits
				;         001 =   32mS
				;	  010 =   64mS
				;	  011 =  128mS
				;	  100 =  256mS
				;	  101 =  512mS
				;	  110 = 1024mS
				;         111 = 2048mS

	out	WDTCR,TEMP	;

	ldi	TEMP,Dog_Chow	;Stock up on dog food
	sts	Dog_Food,Temp	;Decremented by Timer 0 ISR
;
;Set the stack pointer to 025F, stack grows down. 
;Databook 5-24
;Can't call any subroutines till we have a stack!
;
        ldi	TEMP,0x5f	;
	out     SPL,TEMP        ;init Stack Pointer Low     
	ldi	temp,0x02	;
        out     SPL+1,TEMP      ;init Stack Pointer High

;This section allows ints which are apparently 
;caused by reset, to occur harmlessly.
;Databook 5-23, 5-29

	ldi	TEMP,$40	;
				;0XXXXXXX 1= enable int 1
				;X1XXXXXX 1= enable int 0
	out	GIMSK,TEMP	;Enable int 0,1
	
	ldi	TEMP,$02	;
				;0XXXXXXX TC1 overflow int enable
				;X0XXXXXX TC1 OCA Match int enable
				;XX0XXXXX TC1 OCB Match int enable
				;XXX0XXXX Reserved =0
				;XXXX0XXX TC1 input capture int enable
				;XXXXX0XX Reserved =0
				;XXXXXX1X TC0 overflow int enable
				;XXXXXXX0 Reserved =0
	out	TIMSK,TEMP	;Enable all timer ints
	
	in	TEMP,SREG	;(5-23)
	ori	TEMP,$80	;Global int enable
	out	SREG,TEMP	;
	nop
	nop
	nop	;Let the ints happen, so they
	nop	;clear out
	nop
	nop
	nop	;NOTE: I have not exhaustively researched the need 
	nop	;for this EI-NOP-DI section, but it is working well.
	nop

	in	TEMP,SREG	;
	andi	TEMP,$7F	;Turn off all ints (5-23)
	out	SREG,TEMP	;

	ldi	TEMP,$00	;Disable all timer ints (5-29)
	out	TIMSK,TEMP	;

	ldi	TEMP,$00	;Disable all ints. (5-29)
				;1XXXXXXX enable int 1
				;X1XXXXXX enable int 0

	out	GIMSK,TEMP	;
	;
	;At this point, we should have a clean machine, in that there
	;are no bogus pending ints from powerup. Later, when we enable
	;various ints for real, they will only trigger after an event 
	;has occured, rather than because the int logic was scrambled
	;at powerup.


;*******************************************************************
;
;Set the I/O pins to their appropriate state.
;Mung as needed for your app, this is all set to the dev board
;Always a good idea to set unused pins to be outputs.
;
;DD	PORT	I/O	Pullup	Comment
;0	0	In	No	Tristate
;0	1	in	Yes	Will source if pulled low
;1	0	Out	No	Push-Pull Zero out
;1	1	Out	No	Push-Pull One out

	;On the development board, port A is the open header
	ldi	TEMP,$7F	;IOOOXXXX 
	out	DDRA,TEMP	;Set port A data direction (5-59)
	;Bit 7 is used for Dallas DS1820 thermometer and external WDC (DS1820.ASM)
	;Bits 6,5,4 are used for the Dallas DS1602 RTC chip (DS1602.ASM)
	;Bits 3,2,1,0 are used for the stepper motor (STEPPER.ASM)


	;On the development board, port B is the LEDS
	;Databook 5-61
	;LEDs are lit by outputting a low level
	ldi	TEMP,$FF	;OOOOOOOO
	out	DDRB,TEMP	;Set port B data direction (5-61)

	;On the development board, port C is the open header
	;Databook 5-66
	ldi	TEMP,$FF	;OOOOOOOO (All servo outputs)
	out	DDRC,TEMP	;Set port C data direction (5-66)

	;On the development board, port D is the buttons
	;Databook 5-68
	;Buttons pressed present a LOW to the AVR
	ldi	TEMP,$00	;IIIIIIII
	out	DDRD,TEMP	;Set port D data direction (5-68)
	out	PORTD,TEMP	;De-Activate the pullups (supplied on board)
	;
;
;*******************************************************************
;
;Set up the analog comparator to disabled (5-57)
;
	ldi	TEMP,$90	;10010000 Comparator Disabled
				;1XXXXXXX Comparator disable, 1=off
				;X0XXXXXX Reserved =0
				;XX0XXXXX Analog comp output
				;XXX1XXXX Int flag, writing 1 clears it
				;XXXX0XXX Int enable, 0=disable
				;XXXXX0XX Input capture enable 0=disable
				;XXXXXX00 Input mode select
				;      00 = int on output toggle
				;      01 = Reserved
				;      10 = int on falling edge 
				;      11 = int on rising edge
				;NOTE disable comp ints before changing XXXXXX00

	out	ACSR,TEMP	;
;
;*******************************************************************
;
;Set up uart (5-54)
;
	ldi	TEMP,$D8	;11011000
				;1XXXXXXX RX complete int enable
				;X1XXXXXX TX complete int enable
				;XX0XXXXX DR Empty int enable (CONSTANT INT WHILE EMPTY!)
				;XXX1XXXX RX Enable
				;XXXX1XXX TX Enable
				;XXXXX0XX 9 bit chars 1=enable
				;XXXXXX0X RX DB8
				;XXXXXXX0 TX DB8
	out	UCR,TEMP	;
;
;*******************************************************************
;
;Set SPI inactive (5-49)
;
	ldi	TEMP,$1B	;00011011
				;0XXXXXXX SPI int enable 1=enable
				;X0XXXXXX SPI enable     1=enable
				;XX0XXXXX Data order     1=LSB first
				;XXX1XXXX Master/slave   1=master
				;XXXX1XXX Clock polarity 1=SCK high at idle
				;XXXXX0XX Clock phase    (see 5-48)
				;XXXXXX11 Clock rate select
				;      00 = Fcl/4
				;      01 = Fcl/16
				;      10 = Fcl/64
				;      11 = Fcl/128
	out	SPCR,TEMP	;
;
;*******************************************************************
;
;Set EEProm Inactive (5-44)
;
	ldi	TEMP,$00	;00000000
				;0XXXXXXX Reserved =0 
				;X0XXXXXX Reserved =0 
				;XX0XXXXX Reserved =0
				;XXX0XXXX Reserved =0
				;XXXX0XXX Reserved =0
				;XXXXX0XX Master Write enable
				;XXXXXX0X Write enable
				;XXXXXXX0 Read enable
	out	EECR,TEMP	;
;
;*****************************************************************
;
;Set up the MCU Control register (5-31)
;
	ldi	TEMP,$02	;0XXXXXXX External Sram enable if 1
				;X0XXXXXX External Sram wait state if 1
				;XX0XXXXX Sleep Enable if 1
				;XXX0XXXX Sleep Mode
				;XXXX00XX INT1 activates on:
				;	  00 = Low level
				;	  01 = Reserved
				;	  10 = Falling Edge
				;	  11 = Rising edge
				;XXXXXX10 INT0 activates on:
				;	  01 = Reserved
				;	  10 = Falling Edge
				;	  11 = Rising edge
	out	MCUCR,TEMP	;INT1 on low level, INT0 on falling edge
;
;*******************************************************************
;
;Set timer zero running (5-34)

	;ldi	TEMP,T0_DIV1024	;
	;ldi	TEMP,T0_DIV256	;
	ldi	TEMP,T0_DIV64	;This plus reloading T0 to 255-(T0DIV) gives us 1ms with an 8M rock
	;ldi	TEMP,T0_DIV8	;
	;ldi	TEMP,T0_DIV1	;
	out	TCCR0,TEMP	;Set the prescaler

	;Databook 5-35
	ldi	TEMP,T0DIV	;Define the reload value
	out	TCNT0,TEMP	;Put that in T0
;
;*******************************************************************
;
;Set timer one for servo use (5-38)
;
	ldi	TEMP,$00	;Disable PWM modes
	out	TCCR1A,TEMP	;00XXXXXX Select output pin action after compare match
				;	  00 = Disconnected from OC1A
				;	  01 = Toggle OC1A
				;	  10 = Clear OC1A
				;	  11 = Set OC1A
				;XX00XXXX Select output action for pin B
				;	  00 = Disconnected from OC1B
				;	  01 = Toggle OC1B
				;	  10 = Clear OC1B
				;	  11 = Set OC1B
				;XXXX00XX Reserved
				;XXXXXX00 PWM Select bits
				;	  00 = No PWM
				;	  01 = 8 bit PWM
				;	  10 = 9 bit PWM
				;	  11 = 10 bit PWM
	
	ldi	TEMP,$00	;0XXXXXXX Disable noise canceler
	out	TCCR1B,TEMP	;X0XXXXXX Input capture edge 0=fall 1=rise
				;XX00XXXX Reserved
				;XXXX0XXX 1=clear counter on compareA match
				;XXXXX000 Prescaler select
				;	  000 = Stop
				;	  001 = CK
				;	  010 = CK/8
				;	  011 = CK/64
				;	  100 = CK/256
				;	  101 = CK/1024
				;	  110 = External pin T1 falling edge
				;	  111 = External pin T1 rising edge

;*******************************************************************
;
;Go clean up the ram area. This isn't STRICTLY needed, but it makes
;debugging easier, since it loads the buffers with recognizable data.
;
	cli
	rcall	Ram_Init	;Clean up the ram, and flag buffers
;
;*******************************************************************
;
;Start the timer ints, I use the "dumb" timer for system ints, and
;leaving the "smart" timer for servo control
;
	;Databook 5-29
	ldi	TEMP,$02	;Enable timer 0 ints
	out	TIMSK,TEMP	;

	in	TEMP,TIMSK	;
	ori	TEMP,$80	;Turn on timer 1 overflow int
	out	TIMSK,TEMP	;for servo control
	
	;Databook 5-23
	in	TEMP,SREG	;
	ori	TEMP,$80	;Enable global ints (for real)
	out	SREG,TEMP	;
;
;*******************************************************************
;
;This section is not chip inits, just seeding the software PN generator
;
	ldi	TEMP,$AA	;Init the random number generator 
	mov	RAND1,TEMP	;since a 00,00,00 state will not 
	mov	RAND2,TEMP	;progress.
	mov	RAND3,TEMP	;
;
;*******************************************************************
;
;Initial states for RC servo control using timer 2
;
	rcall	Servo_Set		;Set initial widths for the servos (SERVO.ASM)
					;When there's a real application running, this
					;might be redundant.
	ldi	TEMP,$01		;
	sts	Servo_Control,TEMP	;Set servo 0(1) active

	ldi	TEMP,FRAME_RATE		;
	sts	FRAME_DELAY,TEMP	;Set the frame rate delay

	ldi	TEMP,$00		;
	out	PORTC,TEMP		;Set servo outputs inactive
;
;
;*******************************************************************
;
;Turn off the LEDs
;
	ldi	TEMP,$FF		;Turn off the lights
	out	PORTB,TEMP		;
;
;
;*******************************************************************
;
;Initial states for watchdog timer
;
	ldi	TEMP,Dog_Chow		;Start a countdown for resetting the watchdog
	sts	Dog_Food,TEMP		;
;
;*******************************************************************
;
;Initial states for stepper motor control
;
	ldi	TEMP,$00		;
	out	PORTA,TEMP		;Turn off the stepper outputs.

	ldi	TEMP,$00		;
	sts	Step_State,TEMP		;Initial state for the stepper motor

;
;Use only one direction at a time. NOTE: I am initializing to stopped, so you'll need to 
;set a direction as shown below before anything is going to happen
;
	ldi	TEMP,$01		;
	sts	Step_Dir,TEMP		;Set forward as default direction.

	;ldi	TEMP,$00		;
	;sts	Step_Dir,TEMP		;Set reverse as default direction.

	ldi	TEMP,$02		;
	sts	Step_Dir,TEMP		;Set stopped as default direction.

	;ldi	TEMP,$01
	;sts	Step_Mode,TEMP		;Set half step as default mode.

	;ldi	TEMP,$00
	;sts	Step_Mode,TEMP		;Set full step as default mode.

	ldi	TEMP,Step_Default	;Default step rate			;
	sts	Step_Rate,TEMP		;Establish a step rate
	sts	Step_Time,TEMP		;and set it running

	;Start the watchdog, if desired (5-43)
	;Make sure that the timeout selected here is more than 1mS larger than 
	;the value selected for Dog_Food in EQUATES.INC
	;Dog_Food = 255, timer= 256 seems to work.but beware.
	;The timer as implemented could be as much as 1mS off, since events
	;can begin just after a reload.
	;
	;ldi	TEMP,$0F		;000XXXXX Reserved
					;XXX0XXXX Watchdog turnoff enable
					;XXXX1XXX Watchdog enable bit 1=enable
					;XXXXX000 (8) Watchdog timeout,  16mS
					;XXXXX001 (9) Watchdog timeout.  32mS
					;XXXXX010 (A) Watchdog timeout.  64mS
					;XXXXX011 (B) Watchdog timeout. 128mS
					;XXXXX100 (C) Watchdog timeout, 256mS
					;XXXXX101 (D) Watchdog timeout, 512mS
					;XXXXX110 (E) Watchdog timeout,1024mS
					;XXXXX111 (F) Watchdog timeout,2048mS
	;out	WDTCR,TEMP		;
;
;*******************************************************************
;
;DS1820 initialization
	ldi	TEMP,$00		;Just init it and show it's not currently in use.
	sts	TEMP_FLAG,TEMP		;
	sts	TEMP_STAT,TEMP		;
	rcall	RESET_1820		;Initialize the sensor
	rcall	Get_Serno		;You really shouldn't need to do this more than once.
;
;*******************************************************************
;
;DS1602 initialization
	rcall	Clear_Etime		;Clear the non-battery-backed counter
	;rcall	Clear_Rtime		;Optionally, clear the battery-backed counter as well
;
;
;*******************************************************************
;
;Serial comms initialization

	rcall	Init_Buffers		;Make the buffers empty

	;98.07.27 Added this to initialize the HS status before
	;enabling int driven comms. Note that we do not SEND xon 
	;here, just establishing a known state.  
	;This MUST be done prior to enabling int driven comms
	;
	ldi	TEMP,$FF	;Set serial input state to XON
	sts	HS_FLAG,TEMP	;

	ldi	TEMP,$00	;Set the inter-char timer to zero
	sts	Char_Delay,TEMP	;

	rcall	Set_Baud_9600		;Or something else if you prefer (SERIAL.ASM)

	in	TEMP,UCR		;Enable TX and RX ints
	ori	TEMP,$C0		;
	out	UCR,TEMP		;

	

	;Say howdy!
	ldi	ZL,low (Signon_Message*2) ;Point at a signon message (in TABLES.ASM)
	ldi	ZH,high (Signon_Message*2) ;
	rcall	String_Serout		;Send it to the serial output buffer

	rjmp	IDLE

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                        if ((n.childNodes[i].nodeType === 8) && (pattern.test(n.childNodes[i].nodeValue)))
                        {
                            var areaName = pattern.exec(n.childNodes[i].nodeValue)[1];
                            nodes[areaName] = n;
                        }
                        else if (n.childNodes[i].nodeType === 1)
                        {
                            getNodesThatHaveComments(n.childNodes[i], pattern);
                        }
                    }
                }
            }(document.body, regexPattern));

            for (var i in preferredNodesList)
            {
                if (nodes[preferredNodesList[i]])
                {
                    if( isTrellix && nodes[preferredNodesList[i]].parentNode.parentNode.parentNode.parentNode )
                    {
                        nodesA.push(nodes[preferredNodesList[i]].parentNode.parentNode.parentNode.parentNode);
                    }
                    else
                    {
                        nodesA.push( nodes[preferredNodesList[i]] );
                    }
                }
            }
            return nodesA;
        }
        
        
        var properNode = null;
        var areaNodes = getCommentNodes( new RegExp( '^area Type="area_(\\w+)"' ) );

        for (var i = 0; i < areaNodes.length; i++)
        {
            var a = parseInt(getComputedStyle(areaNodes[i]).width);
            if ((a >= 300) && (a <= 400))
            {
                properNode = areaNodes[i];
                break;
            }
        }


        var propertyName = getMetaContent("property") || false;
        if( isTrellix && (properNode) )
        {
            e.src = '/adm/ad/injectAd.iframe.html';
            properNode.insertBefore(e, properNode.firstChild);
        }
        else if( isTrellix && !( properNode ) ) // Slap the ad eventhought there is no alocated slot
        {
            e.src = '/adm/ad/injectAd.iframe.html';
            e.style.cssFloat = 'none';
            var cdiv = document.createElement('div');
            cdiv.style = "width:300px;margin:10px auto;";
            cdiv.appendChild( e );
            b.insertBefore(cdiv, b.lastChild);
        }
        else if( !isBlokedByDomain( location.href ) )
        {
            var injF = document.createElement('iframe');
            injF.style.border = '0';
            injF.style.margin = 0;
            injF.style.display = 'block';
            injF.style.cssFloat = 'none';
            injF.style.height = '254px';
            injF.style.overflow = 'hidden';
            injF.style.padding = 0;
            injF.style.width = '300px';
            injF.src = '/adm/ad/injectAd.iframe.html';

            if( b && ( !isTrellix || ( typeof isTrellix == "undefined" ) ) ) // All other tripod props
            {
                var cdiv = document.createElement('div');
                cdiv.style = "width:300px;margin:10px auto;";
                cdiv.appendChild( injF );
                b.insertBefore(cdiv, b.lastChild);
            } 
        }
  }( document.isTrellix ));
}

</script>

<div id="tb_container" style="background:#DFDCCF; border-bottom:1px solid #393939; position:relative; z-index:999999999!important">
<!--form name="search" onSubmit="return searchit()" id='header_search' >
<input type="text" placeholder="Search" size=30 name="search2" value="">
<input type="button" value="Go!" onClick="searchit()">
</form>
<style>
form#header_search {
    width: 916px;
    margin: 0 auto 8px;
    position: relative;
}


form#header_search input {
    height: 40px;
    font-size: 14px;
    line-height: 40px;
    padding: 0 8px;
    box-sizing: border-box;
    background: #F4F2E9;
    border: 1px solid #BBB8B8;
    transition: background-color 300ms ease-out,
                color 300ms ease;
}

form#header_search input[type="text"] {
    width: 100%;
}
form#header_search input[type="text"]:focus {
    border-color: #A2D054;
    background-color: #fff;
    box-shadow: 0 0px 12px -4px #A2D054;
}



form#header_search input[type="button"] {
    position: absolute;
    top: 1px;
    right: 1px;
    opacity: 1;
    background: #DFDCCF;
    color: #463734;
    width: 125px;
    cursor: pointer;
    height: 38px;
    border: none;
}
form#header_search input[type="text"]:focus ~ input[type='button']:hover,
form#header_search input[type='button']:hover {
    background-color: #A5CE56;
    color: #fff;
}
form#header_search input[type="text"]:focus ~ input[type='button'] {
    background-color: #52AEDF;
    color: #fff;
}

</style>

<script>
function searchit(){
    
    // determine environment 
    var search_env 
    if (lycos_ad_www_server.indexOf(".pd.") > -1) {
       search_env = 'http://search51.pd.lycos.com/a/';
    } else if (lycos_ad_www_server.indexOf(".qa.") > -1) {
       search_env = 'http://search51.qa.lycos.com/a/';
    } else {
       search_env = 'http://search51.lycos.com/a/';
    }

var search_term = encodeURIComponent(document.search.search2.value)
var search_url = search_env+search_term;
window.open(search_url);

return false
}
</script-->
<style>
    .adCenterClass{margin:0 auto}
</style>
<div id="tb_ad" class="adCenterClass" style="display:block!important; overflow:hidden; width:916px;">

<div id="ad_container" style="display:block!important; float:left; width:728px ">
<script type="text/javascript">
if (typeof lycos_ad !== "undefined" && "leaderboard" in lycos_ad) {
  document.write(lycos_ad['leaderboard']);
}
</script>
</div>
</div>
</div>
<script type="text/javascript">
if (typeof lycos_ad !== "undefined" && "slider" in lycos_ad) {
  document.write(lycos_ad['slider']);
}
</script> <!-- added 7/22 -->
<div id="FooterAd" style="background:#DFDCCF; border-top:1px solid #393939; clear:both; display:none; width:100%!important; position:relative; z-index:999999!important; height:90px!important"> 
<div class="adCenterClass" style="display:block!important; overflow:hidden; width:916px;">
<div id="footerAd_container" style="display:block!important; float:left; width:728px">
<iframe id="lycosFooterAdiFrame" style="border:0; display:block; float:left; height:96px; overflow:hidden; padding:0; width:750px"></iframe>
</div>
</div>
</div>