// Hardware:
// Masterachse:
// FU Lenze smd
// Inkrementalgeber Hengstler 1024 Striche
// Drehstrom Asynchronmotor 230/400V 0,75kw 2890 U/min
// Slaveachse:
// FU Lenze Vector 8200 mit Standard I/O E1 Digitaler Sollwert Fmax 10kHz
// Drehstrom Asynchronmotor 230/400V 0,37kw 1490 U/min 

// Alphanumeric LCD Module functions
#asm
   .equ __lcd_port=0x1B ;PORTA
#endasm
#include <lcd.h>
#include <mega16.h>
#include <stdio.h>

char lcd_buffer[33];
unsigned int CountValue, CountMultiplikator, T0Umlauf, T2Umlauf, SpeedMaster;

// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
T0Umlauf++;

}

// Timer 2 overflow interrupt service routine
interrupt [TIM2_OVF] void timer2_ovf_isr(void)
{
// Reinitialize Timer 2 value
if (T2Umlauf==25)
        {
        TCCR0=0x00;
        CountValue=TCNT0;
        CountMultiplikator=T0Umlauf;
        TCNT0=0;
        T0Umlauf=0;
        T2Umlauf=0;
        TCCR0=0x06;
        }
TCNT2=0x82;
T2Umlauf++;
}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=0 State4=T State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0x20;

// Timer/Counter 0 initialization
// Clock source: T0 pin Falling Edge
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x06;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 16000,000 kHz
// Mode: CTC top=OCR1A
// OC1A output: Toggle
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x40;
TCCR1B=0x09;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 15,625 kHz
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x07;
TCNT2=0x82;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x41;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// Global enable interrupts
#asm("sei")

// LCD module initialization
lcd_init(20);

while (1)
      {
      SpeedMaster=((CountMultiplikator*256+CountValue)*300)/1024;
      lcd_gotoxy(0,0);
      sprintf(lcd_buffer,"%d",SpeedMaster);
      lcd_puts(lcd_buffer);
      };
}