true false 0 false 10 false 13 8 Switch to MPG mode 1 0 1 0 0 0 start : INPUT(1, bit) tmpStart : bit # Check clock LOAD start STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelStart # Switch to mode 10 LOAD DL[10] STORE Bh0980 # Setup encoder 1 for x and encoder 2 for y axis LOAD DL[1] STORE Bh09A8 LOAD DL[2] STORE Bh09A9 cancelStart: Multiplier 1 2 0 1 0 0 0 update : INPUT(1, bit) mult : INPUT(2, int16) tmpStart : bit # Check clock LOAD update STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch2 # Set the encoder multiplier LOAD mult STORE Wh09B0 STORE Wh09B2 cancelSwitch2: MPG mode 1 true false Select multiplier 1 2 true false Select multiplier 2 3 true false Multiplier 2 2 0 1 0 0 0 update : INPUT(1, bit) mult : INPUT(2, int16) tmpStart : bit # Check clock LOAD update STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch3 # Set the encoder multiplier LOAD mult STORE Wh09B0 STORE Wh09B2 cancelSwitch3: Multiplier 4 2 0 1 0 0 0 update : INPUT(1, bit) mult : INPUT(2, int16) tmpStart : bit # Check clock LOAD update STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch5 # Set the encoder multiplier LOAD mult STORE Wh09B0 STORE Wh09B2 cancelSwitch5: Select multiplier 4 5 true false Select multiplier 3 4 true false Multiplier 3 2 0 1 0 0 0 update : INPUT(1, bit) mult : INPUT(2, int16) tmpStart : bit # Check clock LOAD update STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch4 # Set the encoder multiplier LOAD mult STORE Wh09B0 STORE Wh09B2 cancelSwitch4: Rising edge Falling edge Switch off MPG mode 1 0 1 0 0 0 start : INPUT(1, bit) tmpStart : bit # Check clock LOAD start STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelStart2 # Switch to mode 0 LOAD DL[0] STORE Bh0980 cancelStart2: