;Version History
;******************************

;Version 9.6
;Fixed bug where alt/dec motor encoder reports wrong position in certain cases

;******************************

;Version 9.5
;Made Flash ROM more robust

;Version 9.4
;Again worked with Kevin Ivarsen to fix the Rate Adders, so offset works properl.
;He even figured out the code, all I had to do was re-compile!
;

;Version 9.3
;added the BiSS Interface
;made the routine ResetCPU: really reset the cpu.  (added the load sfrpage, #0 instruction)

;Version 9.2
;Added flash safety, with block 0 copy, and block checksums.
;Version 9.1
;      PEC only collects data when guide buttons are pressed.
;Version 9.0:
;Made safety provisions for CEMF.
;moved pwm frequency to 15KHz (TH0 = E8 instead of E0)
;Version 8.9:
;increased the tracking settings for runaway on bad encoder settings.  
;THis started at the yerkes telescope. THat one was increased to maximum almost.

;Checked that the offset tracking rates actually stop.  Kevin I. noticed this.
;Fixed the problem, it was in IFZERODptr

;******************************

;Version 8.8:
;added the voltage stabilized detection on startup, so if you spin the servomotors, 
      ;and they backfeed into the controller, it won't erase the flash.

;******************************
;8.7:
; Fixed bug in using CalcNewOffsetYScpEnc instead of CalcNewOffsetXScpEnc, so forcing the X scope encoder forced Y instead.

;******************************

;8.6B:
;in 
//      lcall UpdateAzMultiplier  Taken out in 8.6B

;Version 8.6
;fixed the FC function in interpret
;fixed the disable / enable the wrong interrupt when using the non-usb serial port (interpret)

;******************************
;Version 8.5
;hardened for flash erases
;******************************
;Version 8.3
;Added Load PSBank from Loader, to make sure in bottom code space 32K block.

;******************************
;Version 8.1:
;Added longer delay for the encoder chips to initialize.
;Added 2nd serial port