1 | /** I N C L U D E S **********************************************************/
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2 | #include "p18f2550.h" // PIC- Header
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3 | #include "delays.h" // für Warteschleifen
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4 | #include "usart.h" // für RS232- Schnittstelle
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5 |
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6 | /** Configuration Fuses********************************************************/
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7 | #pragma config FOSC = HS // CPU=20 MHz
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8 | #pragma config PWRT = ON // PowerOnTimer AN
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9 | #pragma config BOR = OFF // BOR AUS
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10 | #pragma config WDT = OFF // Watchdog Timer
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11 | #pragma config LVP = OFF // Low Voltage ICSP AUS
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12 | #pragma config PBADEN = OFF // PORTA Analogeingänge AUS
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13 | #pragma config VREGEN = OFF // VREGEN AUS
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14 | #pragma config MCLRE = ON // Master Reset AN
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15 | #pragma config PLLDIV = 1 // PLLTeiler = 1 => 20 MHz
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16 | #pragma config CPUDIV = OSC1_PLL2 // OSCTeiler = 1 => 20 MHz
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17 | #pragma config USBDIV = 1 // CPUTeiler = 1 => 20 MHz
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18 |
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19 | /** Globale Variablendeklarationen**********************************************************/
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20 | signed long int counter = -18946; // Zählvariable
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21 | signed long int ncounter = 0; // Hilfsvariable
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22 | char gray_code = 0; // Einlesevariable
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23 | char gray_help = 0; // Vergleichsvariable
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24 | char ch0, ch1, ch2, ch3, ch4, ch5, ch6; // Sendevariablen
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25 | int s1 = 0, s2 = 0, s3 = 0, s4 = 0, s5 = 0; // Counterstellenvariablen
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26 | #define Takt 200000000 // Quarz HS 20 MHZ an OSC1- OSC2
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27 | #define Baud 57600 // Baudrate über SPBRG eingestellt 1 BIT = 1,74 µs
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28 |
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29 | /** Programm **************************************************/
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30 | #pragma code
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31 |
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32 | void InitUsart(void)
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33 | {
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34 | SPBRG = 20; // Baudrate 57600 Baud SPBRG- Berechnung 59524 = 20000000/(16*(20+1)) = Fehlerquote unter 5%
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35 | SPBRGH = 0; // 8 Bit Übertragung
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36 | TRISCbits.TRISC6 = 1; // Aktivierung Senden TXD
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37 | TRISCbits.TRISC7 = 1; // Aktivierung Empfangen RXD
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38 | RCSTA = 0b10000100; // Empfangsregister konfigurieren
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39 | TXSTA = 0b00100100; // Senderegister konfigurieren
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40 | return 0;
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41 | }
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42 |
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43 | void PICConfig(void)
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44 | {
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45 | // PORTA => Ausgänge LEDs RA0, RA4, RA5
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46 | TRISA = 0x00;
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47 | PORTA = 0x00;
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48 | LATA = 0x00;
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49 |
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50 | // PORTB => Eingänge Inkrementalgeber
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51 | TRISB = 0xFF;
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52 | PORTB = 0x00;
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53 | LATB = 0x00;
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54 |
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55 | // PORTC => alles Ausgänge RC0, RC1, RC2
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56 | TRISC = 0x00;
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57 | PORTC = 0x00;
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58 | LATC = 0x00;
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59 | return 0;
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60 | }
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61 |
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62 | void Senden(unsigned char byte)
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63 | {
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64 | WriteUSART(byte); // Byte in RS232 Sendebyte schreiben
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65 | while(BusyUSART( )); // Warten bis Sendebyte leer
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66 | return 0;
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67 | }
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68 |
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69 | signed long int Counter(void)
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70 | {
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71 | gray_code = PORTBbits.RB0; //A1 X
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72 | gray_help = gray_code << 1; // X0
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73 | gray_code = gray_help | PORTBbits.RB1; //B1 XY
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74 | gray_help = gray_code << 1; // XY0
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75 | Nop(); // 0,2 µs Warten
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76 | gray_code = gray_help | PORTBbits.RB0; //A2 XYZ
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77 | gray_help = gray_code << 1; // XYZ0
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78 | gray_code = gray_help | PORTBbits.RB1; //B2 XYZW
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79 | Nop(); // 0,2 µs Warten
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80 | switch (gray_code)
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81 | {
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82 | case 0b00000001:
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83 | counter--;
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84 | break;
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85 | case 0b00000010:
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86 | counter++;
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87 | break;
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88 | case 0b00000100:
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89 | counter--;
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90 | break;
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91 | case 0b00000111:
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92 | counter++;
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93 | break;
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94 | case 0b00001101:
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95 | counter--;
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96 | break;
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97 | case 0b00001110:
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98 | counter++;
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99 | break;
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100 | case 0b00001000:
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101 | counter--;
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102 | break;
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103 | case 0b00001011:
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104 | counter++;
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105 | break;
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106 | } // Ende Switch- Anweisung
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107 | return counter;
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108 | }
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109 |
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110 | char InttoChar(int counter)
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111 | {
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112 | ncounter = counter;
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113 | ch0 = 0;
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114 | ch1 = 0;
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115 | ch2 = 0;
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116 | ch3 = 0;
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117 | ch4 = 0;
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118 | ch5 = 0;
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119 | if(counter == 0 || counter > 0)
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120 | {
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121 | ch0 = '+';
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122 | }
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123 | if (counter < 0)
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124 | {
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125 | ch0 = '-';
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126 | counter = (counter*(-1));
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127 | }
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128 | for(;counter > 9999;counter -= 10000)
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129 | {s1++;}
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130 | for(;counter > 999;counter -= 1000)
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131 | {s2++;}
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132 | for(;counter > 99;counter -= 100)
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133 | {s3++;}
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134 | for(;counter > 9;counter -= 10)
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135 | {s4++;}
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136 | for(;counter > 0;counter -= 1)
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137 | {s5++;}
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138 | ch1 = s1 + 0x30;
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139 | ch2 = s2 + 0x30;
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140 | ch3 = s3 + 0x30;
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141 | ch4 = s4 + 0x30;
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142 | ch5 = s5 + 0x30;
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143 | ch6 = '#';
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144 | s1, s2, s3, s4, s5 = 0; // Counterstellenvariablen nullen
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145 | return ch0, ch1, ch2, ch3, ch4, ch5, ch6; // Rückgabe von chars
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146 | }
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147 |
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148 | void main(void)
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149 | {
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150 | PICConfig(); // Konfigurieren der PORTs
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151 | InitUsart(); // Start der USART- Schnittstelle
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152 | PORTCbits.RC0 = 1; // Anschalten EIN/Aus Lampe
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153 | //InttoChar(counter); // Zähler in chars zum Senden umwandeln
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154 | //loop
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155 | while(1) //Hauptprogramm
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156 | {
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157 | //Counter(); // Zählen
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158 | InttoChar(counter); // Zähler in chars zum Senden umwandeln
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159 | counter = ncounter;
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160 | Nop(); // Warten
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161 | Nop(); // Warten
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162 | Senden(ch0); // Senden Vorzeichen
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163 | Senden(ch1); // Senden Zehntausender
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164 | Senden(ch2); // Senden Tausender
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165 | Senden(ch3); // Senden Hunderter
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166 | Senden(ch4); // Senden Zehner
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167 | Senden(ch5); // Senden Einer
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168 | Senden(ch6); // Senden Trennzeichen
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169 | } // Ende Endlosschleife
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170 | return 0;
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171 | } /* Ende Mainfunktion */
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