#include "..\startup\44b.h"
#include "MotorCtrl.h"

#define MOTOR_SEVER_FRE		1000		//20kHz

#define MOTOR_CONT				(MCLK/2/2/MOTOR_SEVER_FRE)
#define MOTOR_MID				(MOTOR_CONT/2)

void init_MotorPort()
{
	//Dead Zone=24, PreScalero1=2;
	rTCFG0=(0<<24)|1;

	//divider timer0=1/2;
	rTCFG1=0;
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        
	rTCNTB0= MOTOR_CONT;
	rTCMPB0= MOTOR_MID;
	rTCON=0x2;		//update mode for TCNTB0 and TCMPB0.
	rTCON=0x19;		//timer0 = auto reload, start. Dead Zone
}

void SetPWM(int value)
{
	rTCMPB0= MOTOR_MID+value;
}