$regfile = "m16def.dat"                                    'definieren des verwendeten Chips
 '$crystal = 1600000                                         ' generated. Take care that the chip supports all fuse bytes.$PROG &HFF,&HE1,&H99,&H00' generated. Take care that the chip supports all fuse bytes.$crystal = 16000000                                        ' generated. Take care that the chip supports all fuse bytes.$PROG &HFF,&HFF,&HFF,&H00' generated. Take care that the chip supports all fuse bytes.$crystal = 16000000
 '$baud = 9600
 Waitms 300
'--------------------------Für I2C LCD -----------------------------------------

 Const Pcf8574_lcd = 112                                    'PCF Adresse für LCD (original Pcf8574_lcd =70)
 $lib "Lcd_i2c.lib"                                         'I2C Treiber für das LCD
 Dim _lcd_e As Byte                                         'Um auch LCDs mit 2 Controllern
                                             'nutzen zu können.
 _lcd_e = 128                                               'Für LCDs mit 1 Controler

 Waitms 300                                                 'WICHTIG! ggf. erhöhen
 Config Lcd = 16 * 2
 Config Scl = Portc.0
 Config Sda = Portc.1
'-------------------------------------------------------------------------------
 Config Adc = Single , Prescaler = Auto , Reference = Avcc  'Prescaler = 64
 'Now Give Power To The Chip
 Start Adc
 Config Porta = Input

 Config Pind.5 = Output
 Config Pind.4 = Output
 Config Timer1 = Pwm , Prescale = 8 , Pwm = 10 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
 'Config Timer1 = Pwm , Prescale = 64 , Pwm = 10 , Compare A Pwm = Clear Down , Compare B Pwm = Clear down

 Declare Function Pida(vlia As Word , Vlaa As Byte , Vlsa As Byte)as Byte
 Declare Function Pidz(vliz As Word , Vlaz As Byte , Vlsz As Byte)as Byte

 Dim S0 As Integer
 Dim S1 As Integer
 Dim S2 As Integer
 Dim S3 As Integer
 Dim S4 As Integer
 Dim S5 As Integer
 Dim S6 As Integer
 Dim S7 As Integer
 Dim Ax1 As Word
 Dim Ax2 As Word
 Dim A1 As Byte
 Dim A2 As Byte
 Dim Dout1 As Byte
 Dim Din14 As Byte
 Dim Din58 As Byte
 Dim Dinhk As Byte
 Dim Dra1 As Word
 Dim Dra2 As Word
 Dim Menu As Byte
 Dim Xs As Byte

 Dim T As Byte
 Dim D As Byte
 Dim Q As Byte
 Dim L As Byte
 Dim Qq As Byte
 Dim Sr As Byte
 Dim Dfl As Byte
 Dim Reg As Byte
 Dim Idh As Byte
 Dim Idl As Byte
 Dim Id As Word
 Dim Hilf As Word
 Dim Hilfs As Long
 Dim Temp As Word
 Dim Idd14 As Word
 Dim Idd58 As Word
 Dim Ida12 As Word
 Dim Idi As Word

 Dim Kp As Byte
 Dim Ki As Byte
 Dim Kd As Byte
 Dim Mauf As Byte
 Dim Mzu As Byte
 Dim Vlsoll As Byte
 Dim Vlalt As Byte
 Dim Vlsoll2 As Byte
 Dim Vlalt2 As Byte
 Dim Zeit As Byte
 Dim Diff As Byte
 Dim Hzkr As Byte
 Dim P1 As Bit
 Dim P2 As Bit
 Dim P3 As Bit
 Dim P4 As Bit
 Dim P5 As Bit
 Dim P6 As Bit
 Dim P7 As Bit
 Dim P8 As Bit
 Dim P7a As Bit
 Dim P8a As Bit
 Dim V1 As Byte
 Dim V2 As Byte
 Dim V3 As Byte
 Dim V4 As Byte
 Dim Dout2 As Byte
 Dim Hkraus1 As Word
 Dim Hkraus2 As Word
 Dim Hk1 As Bit
 Dim Hk2 As Bit

 Config Portd.2 = Output
 Config Portd.3 = Output
 Config Portc.6 = Output
 Config Portc.7 = Output
 Config Pind.6 = Input
 Config Pind.7 = Input

 Ale Alias Portd.2
 Cs Alias Portd.3
 Rd Alias Portc.6
 Wr Alias Portc.7
 Xt Alias Pind.6
 Men Alias Pind.7

 I2csend &H72 , 0
 Waitms 50
  Cursor Off
  Cls
  Locate 1 , 1
  Lcd "CAN-Mod. MegaCAN"
  Locate 2 , 1
  Lcd "Version 5.2 2511"

 Ale = 0 : Cs = 1 : Rd = 1 : Wr = 1                         'Steuerleitungen von SJA1000 setzen
 Menu = 0
 'Idi = 10
 'Idd14 = 1
 'Idd58 = 1
 'Ida12 = 1
 'Writeeeprom Idi , 1                                        'idi
 'Writeeeprom Idd14 , 5                                      'idd14
 'Writeeeprom Idd58 , 10                                     'idd58
 'Writeeeprom Ida12 , 15                                     'ida12
 Kp = 8 : Ki = 5 : Kd = 2
 Waitms 800
 Gosub Initiale
 Readeeprom Idi , 1
 Readeeprom Idd14 , 5
 Readeeprom Idd58 , 10
 Readeeprom Ida12 , 15
'-------------------    Hauptprogramm    --------------------------------------
 Prog:
 Xs = 0
 '---------------------------------------
 T = T + 1
 If T > 150 Then T = 1
 If T = 5 Then Gosub Senddata
  '-----------------    Fühler Auswertung         -----------------------------
 Dout2 = 0
 S0 = Getadc(0) : Hilfs = S0 * 100
  Hilfs = Hilfs / 161 : S0 = Hilfs -154
 S1 = Getadc(1) : Hilfs = S1 * 100
  Hilfs = Hilfs / 161 : S1 = Hilfs -154
 S2 = Getadc(2) : Hilfs = S2 * 100
  Hilfs = Hilfs / 161 : S2 = Hilfs -154
 S3 = Getadc(3) : Hilfs = S3 * 100
  Hilfs = Hilfs / 161 : S3 = Hilfs -154
 S4 = Getadc(4) : Hilfs = S4 * 100
  Hilfs = Hilfs / 161 : S4 = Hilfs -154
 S5 = Getadc(5) : Hilfs = S5 * 100
  Hilfs = Hilfs / 161 : S5 = Hilfs -154
 S6 = Getadc(6) : Hilfs = S6 * 100
  Hilfs = Hilfs / 161 : S6 = Hilfs -154
 S7 = Getadc(7) : Hilfs = S7 * 100
  Hilfs = Hilfs / 161 : S7 = Hilfs -154
 If S0 < -50 Then Dout2 = Dout2 + 1
 If S1 < -50 Then Dout2 = Dout2 + 2
 If S2 < -50 Then Dout2 = Dout2 + 4
 If S3 < -50 Then Dout2 = Dout2 + 8
 If S4 < -50 Then Dout2 = Dout2 + 16
 If S5 < -50 Then Dout2 = Dout2 + 32
 If S6 < -50 Then Dout2 = Dout2 + 64
 If S7 < -50 Then Dout2 = Dout2 + 128
 '-----------------  berechnung ob Heizkreis ein ist  --------------------------
 P1 = 0 : P2 = 0 : P3 = 0 : P4 = 0 : P5 = 0 : P6 = 0 : P7 = 0 : P8 = 0
 P7a = 0 : P8a = 0
 Dout1 = 0
 'Digital Ausgang 5-8
 Hilf = Din58
 If Hilf > 127 Then
    P8 = 1 : Hilf = Hilf - 128 : Dout1 = Dout1 + 128 : End If
 If Hilf > 63 Then
    P7 = 1 : Hilf = Hilf - 64 : Dout1 = Dout1 + 64 : End If
 If Hilf > 31 Then
    P6 = 1 : Hilf = Hilf - 32 : Dout1 = Dout1 + 32 : End If
 If Hilf > 15 Then
    P5 = 1 : Hilf = Hilf - 16 : Dout1 = Dout1 + 16 : End If
 'Digital Ausgang 1-4
 Hilf = Din14
 If Hilf > 127 Then Hilf = Hilf - 128
 If Hilf > 63 Then Hilf = Hilf - 64
 If Hilf > 31 Then Hilf = Hilf - 32
 If Hilf > 15 Then Hilf = Hilf - 16
 If Hilf > 7 Then
    P4 = 1 : Hilf = Hilf -8 : Dout1 = Dout1 + 8 : End If
 If Hilf > 3 Then
    P3 = 1 : Hilf = Hilf -4 : Dout1 = Dout1 + 4 : End If
 If Hilf > 1 Then
    P2 = 1 : Hilf = Hilf -2 : Dout1 = Dout1 + 2 : End If
 If Hilf = 1 Then
    P1 = 1 : Dout1 = Dout1 + 1 : End If
 'digital Eingang für Heizkreis
  Hilf = Dinhk
 If Hilf > 127 Then
    P8a = 1 : Hilf = Hilf -128 : Dout1 = Dout1 + 128 : End If
 If Hilf > 63 Then
    P7a = 1 : Hilf = Hilf -64 : Dout1 = Dout1 + 64 : End If
 If P7a = 1 Then Hk1 = 1
 If P8a = 1 Then Hk2 = 1
 '---------------      Ausgabe auf I2c Bus      ------------------------------
 If T = 10 And Hk1 = 1 Then Gosub Mischera
 If T = 15 And Hk2 = 1 Then Gosub Mischerb
 If P7a = 0 And Hk1 = 1 Then Gosub Mischerzua
 If P8a = 0 And Hk2 = 1 Then Gosub Mischerzub
 I2csend &H72 , Dout1
 Hilf = Dra1 * 103 : Hilf = Hilf / 10 : If Hilf > 1023 Then Hilf = 1023
 Pwm1a = Hilf
 Hilf = Dra2 * 103 : Hilf = Hilf / 10 : If Hilf > 1023 Then Hilf = 1023
 Pwm1b = Hilf
 '-------------------   Display Anzeige      ----------------------------------
 If Men = 0 Then Menu = Menu + 1
   If Menu > 8 Then Menu = 0
 If Menu = 1 Then
   Locate 1 , 1 : Lcd "S1: " ; S0 ; "  " : Locate 1 , 9 : Lcd "S2: " ; S1 ; "  "
   Locate 2 , 1 : Lcd "S3: " ; S2 ; "  " : Locate 2 , 9 : Lcd "S4: " ; S3 ; "  "
   If Men = 0 Then
      Menu = Menu + 1
      Waitms 500
      End If
   End If
 If Menu = 2 Then
   Locate 1 , 1 : Lcd "S5: " ; S4 ; "  " : Locate 1 , 9 : Lcd "S6: " ; S5 ; "  "
   Locate 2 , 1 : Lcd "S7: " ; S6 ; "  " : Locate 2 , 9 : Lcd "S8: " ; S7 ; "  "
   If Men = 0 Then
      Menu = Menu + 1
      Waitms 500
      End If
   End If
  If Menu = 3 Then
   Locate 1 , 1 : Lcd "A1:" ; P1 ; " " : Locate 1 , 6 : Lcd "A2:" ; P2 ; " " : Locate 1 , 11 : Lcd "A3:" ; P3 ; "   "
   Locate 2 , 1 : Lcd "A4:" ; P4 ; " " : Locate 2 , 6 : Lcd "A5:" ; P5 ; " " : Locate 2 , 11 : Lcd "A6:" ; P6 ; "   "
   If Men = 0 Then
      Menu = Menu + 1
      Waitms 500
      End If
   End If
 If Menu = 4 Then
   Locate 1 , 1 : Lcd "A7:" ; P7 ; " " : Locate 1 , 6 : Lcd "A8:" ; P8 ; "       "
   Locate 2 , 1 : Lcd "TR1:" ; Dra1 ; "     " : Locate 2 , 9 : Lcd "TR2:" ; Dra2 ; "       "
   If Men = 0 Then
      Menu = Menu + 1
      Waitms 500
      End If
   End If
 If Menu = 5 Then
   If Xt = 0 Then Idi = Idi + 1
   If Idi > 63 Then Idi = 2
   Locate 1 , 1 : Lcd "Knoten Nr: " ; Idi ; "    "
   Locate 2 , 1 : Lcd "                 "
   Waitms 350
   If Men = 0 Then
      Writeeeprom Idi , 1
      Menu = Menu + 1
      Waitms 350
      End If
   End If
  If Menu = 6 Then
   If Xt = 0 Then Idd14 = Idd14 + 1
   If Idd14 > 63 Then Idd14 = 1
   Locate 1 , 1 : Lcd "Digital 1-4 von  "
   Locate 2 , 1 : Lcd "Knoten Nr. " ; Idd14 ; "     "
   Waitms 350
   If Men = 0 Then
      Writeeeprom Idd14 , 5
      Menu = Menu + 1
      Waitms 350
      End If
   End If
  If Menu = 7 Then
   If Xt = 0 Then Idd58 = Idd58 + 1
   If Idd58 > 63 Then Idd58 = 1
   Locate 1 , 1 : Lcd "Digital 5-8 von  "
   Locate 2 , 1 : Lcd "Knoten Nr. " ; Idd58 ; "     "
   Waitms 350
   If Men = 0 Then
      Writeeeprom Idd58 , 10
      Menu = Menu + 1
      Waitms 350
      End If
   End If
  If Menu = 8 Then
   If Xt = 0 Then Ida12 = Ida12 + 1
   If Ida12 > 63 Then Ida12 = 1
   Locate 1 , 1 : Lcd "Analog 1+2 von  "
   Locate 2 , 1 : Lcd "Knoten Nr. " ; Ida12 ; "     "
   Waitms 350
   If Men = 0 Then
      Writeeeprom Ida12 , 15
      Menu = Menu + 1
      Waitms 350
      End If
   End If
 If Menu = 0 Then
  Locate 1 , 1
  Lcd "" ; Dout2 ; ":" ; P7a ; ":" ; P8a ; ":" ; Vlsoll ; ":" ; Vlsoll2 ; ":" ; S0 ; "      "
  Locate 2 , 1
  Lcd "" ; Dra1 ; ":" ; Dra2 ; ":" ; S1 ; ":" ; S3 ; ":T" ; T ; "      "
 End If
 '-----  Teste auf Empfang und auslesen         ----------------------------
 Reg = &H02 : Gosub C_rd : Sr = D
 Q = Sr And 2 : If Q = 2 Then Goto Clr_overrun
 Q = Sr And 1 : If Q = 0 Then Goto Prog
 Reg = &H14 : Gosub C_rd : Idh = D
 Reg = &H15 : Gosub C_rd : Idl = D
 Id = Idh * 8 : Hilf = Idl / 32 : Id = Id + Hilf
 Dfl = D And 15
  If Menu = 0 Then
  Locate 2 , 1
  Lcd "ID=" ; Id ; "  DFL=" ; Dfl
  End If
 For L = 0 To 7
  Reg = &H16 + L : Gosub C_rd
  'digital Eingang 1-4
  Hilf = Idd14 + 384
  If Id = Hilf And L = 0 Then Din14 = D
  ' digital Eingang 5-8
  Hilf = Idd58 + 384
  If Id = Hilf And L = 0 Then Din58 = D
  If Id = Hilf And L = 1 Then Dinhk = D
  'Analog Eingang für Triac
  Hilf = Ida12 + 512
  If Id = Hilf And L = 0 Then Dra1 = D
  If Id = Hilf And L = 2 Then Dra2 = D
  'Analog Eingang für VL-soll
  Hilf = Idd58 + 640
  If Id = Hilf And L = 0 Then V1 = D
  If Id = Hilf And L = 1 Then V2 = D
  If Id = Hilf And L = 2 Then V3 = D
  If Id = Hilf And L = 3 Then V4 = D

 Next L
  Hilf = V2 * 255
  Hilf = Hilf + V1
  Hilf = Hilf / 10
  Vlsoll = Hilf
  Hilf = V4 * 255
  Hilf = Hilf + V3
  Hilf = Hilf / 10
  Vlsoll2 = Hilf
 Enderec:
 Reg = &H01 : D = &H0C : Gosub C_wr
 Goto Prog

 Clr_overrun:
 Reg = &H01 : D = 8 : Gosub C_wr
 Goto Prog
 End
'-----------------   Initialisieren des SJA1000   -----------------------------
 Initiale:
  Locate 2 , 1
  Lcd "Initiale:       "
 Reg = &H00 : D = &H01 : Gosub C_wr
 Reg = &H00 : D = &H01 : Gosub C_wr
 W_r:
 Reg = &H00 : Gosub C_rd : Q = D And 1 : If Q <> 1 Then Goto W_r
  Locate 2 , 1
  Lcd "Reset OK        "                                    'Print "RESET OK"
 Reg = &H1F : D = &H43 : Gosub C_wr
 Reg = &H04 : D = &H00 : Gosub C_wr
 Reg = &H05 : D = &HFF : Gosub C_wr
 Reg = &H06 : D = &H49 : Gosub C_wr                         'BTR0  500 KBIT (&H00 für 500 KBIT)
 Reg = &H07 : D = &H1C : Gosub C_wr                         'BTR1
 Reg = &H08 : D = &H1A : Gosub C_wr
 Reg = &H01 : D = &H0E : Gosub C_wr
 Reg = &H00 : D = &H00 : Gosub C_wr
 W_i:
 Reg = &H00 : Gosub C_rd : Q = D And 1 : If Q > 0 Then Goto W_i
  Locate 2 , 1
  Lcd "INITIALE OK    "
 Return
 ' -----------------------    Botschaft Senden       --------------------------
 Senddata:
 Id = 512 + Idi : Dfl = 8
  Temp = S0 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 0 : D = A1 : Gosub C_wr
 Reg = 12 + 1 : D = A2 : Gosub C_wr
  Temp = S1 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 2 : D = A1 : Gosub C_wr
 Reg = 12 + 3 : D = A2 : Gosub C_wr
  Temp = S2 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 4 : D = A1 : Gosub C_wr
 Reg = 12 + 5 : D = A2 : Gosub C_wr
  Temp = S3 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 6 : D = A1 : Gosub C_wr
 Reg = 12 + 7 : D = A2 : Gosub C_wr
 Gosub Senden
'-------------------------------------------------------------------------------
 Waitms 10
 Id = 640 + Idi : Dfl = 8
  Temp = S4 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 0 : D = A1 : Gosub C_wr
 Reg = 12 + 1 : D = A2 : Gosub C_wr
  Temp = S5 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 2 : D = A1 : Gosub C_wr
 Reg = 12 + 3 : D = A2 : Gosub C_wr
  Temp = S6 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 4 : D = A1 : Gosub C_wr
 Reg = 12 + 5 : D = A2 : Gosub C_wr
  Temp = S7 * 10 : Ax2 = Temp / 256 : Hilf = Ax2 * 256 : Ax1 = Temp - Hilf
  A1 = Ax1 : A2 = Ax2
 Reg = 12 + 6 : D = A1 : Gosub C_wr
 Reg = 12 + 7 : D = A2 : Gosub C_wr
 Gosub Senden
'-------------------------------------------------------------------------------
 Waitms 10
 Id = 384 + Idi : Dfl = 2
 Reg = 12 + 0 : D = Dout2 : Gosub C_wr
 Reg = 12 + 1 : D = 0                                       'Dout1 : Gosub C_wr
 'Reg = 12 + 2 : D = 0 : Gosub C_wr
 'Reg = 12 + 3 : D = 0 : Gosub C_wr
 'Reg = 12 + 4 : D = 0 : Gosub C_wr
 'Reg = 12 + 5 : D = 0 : Gosub C_wr
 'Reg = 12 + 6 : D = 0 : Gosub C_wr
 'Reg = 12 + 7 : D = 0 : Gosub C_wr
 Gosub Senden
 Return
'------------------------------------------------------------------------------
 Senden:
 Reg = &H02 : Gosub C_rd : Q = D And 4
 Xs = Xs + 1
 If Xs > 5 Then Return
 If Q = 0 Then Goto Senden
 Reg = &H0A : Hilf = Id / 8 : D = Hilf : Gosub C_wr
 Reg = &H0B
 Hilf = Id / 8 : D = Hilf
 Hilf = D * 8
 Hilf = Id - Hilf
 Hilf = Hilf * 32
 Hilf = Hilf + Dfl
 D = Hilf : Gosub C_wr
 Reg = &H01 : D = &H0D : Gosub C_wr                         'D=&H0D  Traransmission request 1100
 Reg = &H02 : Gosub C_rd : Sr = D
 Return
'------------------------------------------------------------------------------
 C_wr:                                                      'Daten an den SJA senden
 Config Portb = Output
 Ale = 1 : Cs = 1 : Rd = 1 : Wr = 1
 Portb = Reg
 Ale = 0
 Waitms 1
 Cs = 0
 Portb = D
 Wr = 0
 Wr = 1
 Cs = 1
 Ale = 1
 Return

 C_rd:                                                      'vom SJA1000 lesen
 Config Portb = Output
 Ale = 1 : Cs = 1 : Rd = 1 : Wr = 1
 Portb = Reg
 Ale = 0
 Cs = 0
 Rd = 0
   Portb = 0
   Waitms 1
   Ddrb = &B00000000                                        'Port B als Input
   Portb = 0
   'Waitms 1
 D = Pinb
 Rd = 1
 Cs = 1
 Ale = 1
 Return

'----------------------------------------------------------------------------------------------
 Mischera:
  If S0 > Vlsoll Then
    Mauf = 0
    Hilf = S0
    Mzu = Pidz(hilf , Vlalt , Vlsoll)
     Hilf = Mzu * 72 : If Hilf > 2046 Then Hilf = 2046
     If Hilf < 400 Then Hilf = 400
     Dout1 = Dout1 + 8 : I2csend &H72 , Dout1 : Waitms Hilf
     Dout1 = Dout1 - 8
    End If
 If S0 < Vlsoll Then
    Mzu = 0
    Hilf = S0
    Mauf = Pida(hilf , Vlalt , Vlsoll)
     Hilf = Mauf * 72 : If Hilf > 2046 Then Hilf = 2046
     If Hilf < 400 Then Hilf = 400
     Dout1 = Dout1 + 4 : I2csend &H72 , Dout1 : Waitms Hilf
     Dout1 = Dout1 - 4
     End If
 Vlalt = S0
 Return
 '-----------------------------------------------------------------------------
 Mischerb:
  If S2 > Vlsoll2 Then
    Mauf = 0
    Hilf = S2
    Mzu = Pidz(hilf , Vlalt2 , Vlsoll2)
     Hilf = Mzu * 72 : If Hilf > 2046 Then Hilf = 2046
     If Hilf < 400 Then Hilf = 400
     Dout1 = Dout1 + 32 : I2csend &H72 , Dout1 : Waitms Hilf
     Dout1 = Dout1 - 32
     End If
 If S2 < Vlsoll2 Then
    Mzu = 0
    Hilf = S2
    Mauf = Pida(hilf , Vlalt2 , Vlsoll2)
     Hilf = Mauf * 72 : If Hilf > 2046 Then Hilf = 2046
     If Hilf < 400 Then Hilf = 400
     Dout1 = Dout1 + 16 : I2csend &H72 , Dout1 : Waitms Hilf
     Dout1 = Dout1 - 16
     End If
 Vlalt2 = S2
 Return
 '-------------------------------------------------------------------------------
 Mischerzua:
 Dout1 = Dout1 + 8                                          ': I2csend &H72 , Dout1
 Hkraus1 = Hkraus1 + 1
 If Hkraus1 = 975 Then
    Hk1 = 0
    Hkraus1 = 0
    End If
 Return
 '-------------------------------------------------------------------------------
 Mischerzub:
 Dout1 = Dout1 + 32                                         ': I2csend &H72 , Dout1
 Hkraus2 = Hkraus2 + 1
 If Hkraus2 = 975 Then
    Hk2 = 0
    Hkraus2 = 0
    End If
 Return
'----------------------------------------------------------------------------------------------
End
  Function Pida(vlia As Word , Vlaa As Byte , Vlsa As Byte)as Byte
   Dim Pa As Byte
   Dim Ia As Byte
   Dim Da As Byte
   'Print "VL-soll=" ; Vlsa
   'Print "VL-ist= " ; Vlia
   'Print "VL-alt=" ; Vlaa
   'Print "time=" ; Zeit
   Diff = Vlsa - Vlia
   If Diff > 15 Then Diff = 15
   Pa = Kp * Diff
   Ia = Ki * Diff : Ia = Ia * Zeit
   Da = Vlaa - Vlia : Da = Da / Zeit : Da = Da * Kd
   Pida = Pa + Ia : Pida = Pida + Da
 End Function
 '--------------------------------------------------------------------------
  Function Pidz(vliz As Word , Vlaz As Byte , Vlsz As Byte)as Byte
   Dim Pz As Byte
   Dim Iz As Byte
   Dim Dz As Byte
   'Print "VL-soll=" ; Vlsz
   'Print "VL-ist= " ; Vliz
   'Print "VL-alt=" ; Vlaz
   'Print "time=" ; Zeit
   Diff = Vliz - Vlsz
   If Diff > 15 Then Diff = 15
   Pz = Kp * Diff
   Iz = Ki * Diff : Iz = Iz * Zeit
   Dz = Vlaz - Vliz : Dz = Dz / Zeit : Dz = Dz * Kd
   Pidz = Pz + Iz : Pidz = Pidz + Dz
 End Function