1 | // Einbinden von bestehenden Modulen
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2 | #include <avr/io.h> // AVR Standart IO Register Definitionen
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3 | #include <stdio.h> // Standart IO Register
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4 | #include <avr/iom644.h> // ATMega644 Register Definitionen
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5 | #include <avr/iomxx4.h> // ATMegaXX4 Register Definitionen
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6 | #include <avr/interrupt.h> // Interrupt Register Definitionen
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7 | #include "arrays.h"
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8 |
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9 | //------------------------------------------------------------------------------
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10 | // Definitionen
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11 | #define LED_green_on (PORTD |= (1<<5))
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12 | #define LED_green_off (PORTD &= (~(1<<5)))
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13 | #define LED_red_on (PORTB |= (1<<3))
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14 | #define LED_red_off (PORTB &= (~(1<<3)))
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15 | #define LED_blue_on (PORTD |= (1<<7))
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16 | #define LED_blue_off (PORTD &= (~(1<<7)))
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17 | #define X_select (PORTB &= (~(1<<0)))
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18 | #define Y_select (PORTB &= (~(1<<1)))
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19 | #define no_select ((PORTB |= (1<<0)) & (PORTB |= (1<<1)))
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20 |
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21 | #define search 0
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22 | #define waitSOH 1
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23 | #define waitCONTROL 2
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24 | #define waitAXIS 3
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25 | #define waitEOT 4
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26 | #define Buf_max 49
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27 | #define RXTX_Reg UDR0
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28 | #define ENQ 0x05
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29 | #define SOH 0x01 // Start of Header
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30 | #define EOT 0x04 // End of Transmission
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31 |
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32 | #define F_CPU 24000000 // Quarzfrequenz
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33 | #define BAUDRATE 3000000 // Baudrate für Kommunikation
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34 |
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35 | int uart_putchar(char c, FILE *stream); //privat für printf
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36 | static FILE mystdout = FDEV_SETUP_STREAM(uart_putchar, NULL,_FDEV_SETUP_WRITE);
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37 |
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38 | //------------------------------------------------------------------------------
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39 | // Variablen
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40 | static volatile int SysCount = 0; // Nutz-Counter
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41 | static volatile int index_rxBuf_R = 0; // Index wo zuletzt gelesen wurde
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42 | static volatile int index_rxBuf_W = 0; // Index wo zuletzt geschrieben wurde
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43 | static volatile int rxBuf[Buf_max+1]; // RX Buffer
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44 |
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45 | //int control[600]={};
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46 | //uint16_t x_achse[600]={};
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47 | //uint16_t y_achse[600]={};
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48 |
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49 | //------------------------------------------------------------------------------
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50 | // Funktionen
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51 | void DAC_Output(uint16_t val){ // converts 12Bit to the DA Converter
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52 | if(val & (1<<8)){
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53 | PORTC |= (1<<3);
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54 | }
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55 | else{
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56 | PORTC &= (~(1<<3));
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57 | }
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58 | if(val & (1<<9)){
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59 | PORTC |= (1<<2);
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60 | }
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61 | else{
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62 | PORTC &= (~(1<<2));
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63 | }
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64 | if(val & (1<<10)){
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65 | PORTC |= (1<<1);
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66 | }
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67 | else{
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68 | PORTC &= (~(1<<1));
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69 | }
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70 | if(val & (1<<11)){
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71 | PORTC |= (1<<0);
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72 | }
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73 | else{
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74 | PORTC &= (~(1<<0));
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75 | }
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76 | PORTA = val;
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77 | }
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78 | void SysInit(){
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79 | int i = 0;
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80 |
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81 | DDRA = 0xFF; // IO Definieren
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82 | DDRB = 0x1B;
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83 | DDRC = 0x0F;
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84 | PORTC = 0xF0; // Pull up einschalten
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85 | DDRD = 0xF0;
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86 |
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87 | UBRR0H = ((F_CPU/(BAUDRATE*8L)-1) >> 8); // calc Baud
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88 | UBRR0L = (uint8_t)(F_CPU/(BAUDRATE*8L)-1); // Double speed
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89 | UCSR0A |= (1<<U2X0); // RS232 Settings: double speed
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90 | UCSR0B |= (1<<RXCIE0)|(1<<RXEN0)|(1<<TXEN0); // Complete Interrupts, RX und TX einschalten
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91 | UCSR0C |= (1<<UCSZ01)|(1<<UCSZ00); // Asynchron, 8-Bit
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92 |
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93 | TCCR2A |= (1<<WGM21); // Timer2 löst mit 100kHz Interrupt aus
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94 | TCCR2B |= (1<<CS21);
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95 | TIMSK2 |= (1<<OCIE2A);
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96 | OCR2A = 30;
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97 |
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98 | for(i=0;i<=Buf_max;i++){
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99 | rxBuf[i] = 0;
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100 | }
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101 | DAC_Output(2048);
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102 | X_select;
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103 | Y_select;
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104 | no_select;
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105 |
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106 | stdout = &mystdout;
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107 |
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108 | sei(); // Global Interrupts einschalten
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109 | }
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110 |
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111 | int uart_putchar(char c, FILE *stream) //Nur für Ausgabe mit printf
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112 | {
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113 | if (c == '\n')
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114 | uart_putchar('\r', stream);
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115 | loop_until_bit_is_set(UCSR0A, UDRE0);
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116 | UDR0 = c;
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117 | return 0;
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118 | }
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119 |
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120 |
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121 | void RS232(void){
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122 | static int RS232_state = 0; // Protokollstatus
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123 | static int index_par = 0; // Array-Variable für Parameters
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124 | static uint16_t k = 0;
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125 | if(index_rxBuf_W == index_rxBuf_R){ // Buffer Error abgleichen
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126 | return; // Wenn Error => aus Funktion heraus springen
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127 | }
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128 | if(index_rxBuf_R == Buf_max){ // Erhöhen
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129 | index_rxBuf_R = 0;
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130 | }
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131 | else{
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132 | index_rxBuf_R ++;
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133 | }
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134 | switch (RS232_state){ // RS232 Protokoll
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135 | case search:
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136 | if(rxBuf[index_rxBuf_R] == '@'){
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137 | RS232_state = waitSOH;
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138 | printf("dac_board_v1");
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139 | }
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140 | break;
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141 | case waitSOH:
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142 | switch (rxBuf[index_rxBuf_R]){
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143 | case SOH:
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144 | RS232_state = waitCONTROL; // In nächsten State wechselnd
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145 | break;
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146 | case EOT:
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147 | RS232_state = waitSOH;
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148 | break;
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149 | default:
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150 | RXTX_Reg = NACK;
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151 | break;
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152 | }
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153 | break;
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154 | case waitCONTROL:
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155 | control[k] = rxBuf[index_rxBuf_R];
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156 | RS232_state = waitAXIS;
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157 | break;
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158 | case waitAXIS:
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159 | switch (index_par){
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160 | case 0:
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161 | x_achse[k] = (rxBuf[index_rxBuf_R] << 4);
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162 | index_par ++;
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163 | break;
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164 | case 1:
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165 | x_achse[k] |= (x_achse[k - 1] | (rxBuf[index_rxBuf_R] >> 4));
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166 | k ++;
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167 | y_achse[k] = ((rxBuf[index_rxBuf_R] & 0x0F) << 8);
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168 | index_par ++;
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169 | break;
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170 | case 2:
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171 | y_achse[k] |= (y_achse[k - 1] | (rxBuf[index_rxBuf_R]));
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172 | index_par = 0;
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173 | RS232_state = waitEOT;
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174 | break;
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175 | }
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176 | break;
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177 | case waitEOT:
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178 | if(rxBuf[index_rxBuf_R] == EOT){
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179 | RS232_state = waitSOH;
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180 | }
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181 | break;
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182 | }
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183 | if(k == 599) k = 0;
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184 | else k ++;
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185 | }
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186 | void Output(){
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187 | static uint16_t p = 0;
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188 | if((control[p] & (1<<7)) != 0){
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189 | LED_red_on;
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190 | }
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191 | else{
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192 | LED_red_off;
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193 | }
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194 | if((control[p] & (1<<6)) != 0){
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195 | LED_green_on;
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196 | }
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197 | else{
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198 | LASER_green_off;
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199 | }
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200 | if((control[p] & (1<<5)) != 0){
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201 | LED_blue_on;
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202 | }
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203 | else{
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204 | LED_blue_off;
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205 | }
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206 | if((control[p] & 0x1F) == SysCount){
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207 | DAC_Output(x_achse[p]);
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208 | X_select;
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209 | no_select;
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210 | DAC_Output(y_achse[p]);
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211 | Y_select;
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212 | no_select;
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213 | if((p == 299) || (p == 599)) RXTX_Reg = ENQ;
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214 | if(p == 574) p = 0;
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215 | else p ++;
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216 | SysCount = 0;
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217 | }
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218 | }
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219 | //------------------------------------------------------------------------------
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220 | // INTERRUPS
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221 | ISR(TIMER2_COMPA_vect){ // Mit 100kHz SysCount erhöhen
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222 | SysCount ++;
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223 | }
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224 | ISR(USART0_RX_vect){ // Received Complete Interrupt
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225 | if(index_rxBuf_W == Buf_max){ // Damit Buffer nicht überläuft
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226 | index_rxBuf_W = 0;
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227 | }
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228 | else{
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229 | index_rxBuf_W ++;
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230 | }
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231 | if(index_rxBuf_W == index_rxBuf_R){ // Wenn Write-Index Read-Index eingeholt hat
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232 | return;
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233 | }
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234 | else{ // Daten speichern
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235 | rxBuf[index_rxBuf_W] = RXTX_Reg;
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236 | }
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237 | }
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238 | //------------------------------------------------------------------------------
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239 | // Hauptfunktion (wird beim Start ausgeführt)
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240 | int main(void){
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241 | SysInit(); // Systeminitialisierung
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242 | while(1){
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243 | RS232();
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244 | Output();
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245 | }
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246 | return 0;
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247 | }
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248 | //------------------------------------------------------------------------------
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