control 8x motor

' Drehgeber ###################################################################

$regfile = "m88adef.dat"
$crystal = 14745600
$hwstack = 128
$swstack = 128
$framesize = 128

Dim I As Dword , A As Byte , Count As Byte , I2 As Byte , Count2 As Byte
dim count_funktion as byte
Dim Xor_val As Byte , Old_val As Byte
Dim Encoder_val(4) As dword, m_soll(4) as dword , m_funktion(4) as byte
dim m_select as byte

Dim Rx_dword As Dword , Tx_dword As Dword
dim tx_dword_byte3 as byte at tx_dword + 3 overlay
dim Funktion As Byte , select_m as byte
Dim Adc_wert As Word
Dim Ausgabe As String * 8 , Encoder_ausgabe As String * 5

' I/O #########################################################################
Config Pinb.1 = Input
Portb.1 = 1

Config Portb.0 = Output
Led Alias Portb.0

Txtx Alias Portc.5
Rxrx Alias Pinc.5

Clk_out Alias Portc.4
Clk_in Alias Pinc.4

Ddrc = &B00000110
Config Portd = Input
Encoder_port Alias Pind

' LCD #########################################################################
Config Lcdpin = Pin , Rs = Portc.2 , E = Portc.1 , Db4 = Portb.5 , _
Db5 = Portb.4 , Db6 = Portb.3 , Db7 = Portb.2

Config Lcd = 16x2

Cursor Off Noblink

Cls

' ADC #########################################################################
Config Adc = Single , Prescaler = Auto , Reference = Avcc

Start Adc

' startup #####################################################################
Old_val = Encoder_port
Led = 0

declare sub funktion_select(byval x as byte)

Wait 1

' Main ########################################################################
Do

   Debounce Pinb.1 , 0 , Send_byte , Sub

   led = 1

   If Old_val <> Encoder_port Then

      'Led = 1

      Xor_val = Old_val Xor Encoder_port
      Old_val = Encoder_port

      For I2 = 0 To 7 Step 1

         If Xor_val.i2 = 1 Then

            Select Case I2
               Case 0 To 1:
                  Incr Encoder_val(1)

                  if m_select.0 = 1 then
                     call funktion_select(1)
                  end if

               Case 2 To 3:
                  Incr Encoder_val(2)

                  if m_select.1 = 1 then
                     call funktion_select(2)
                  end if

               Case 4 To 5:
                  Incr Encoder_val(3)

                  if m_select.2 = 1 then
                     call funktion_select(3)
                  end if

               Case 6 To 7:
                  Incr Encoder_val(4)

                  if m_select.3 = 1 then
                     call funktion_select(4)
                  end if

            End Select

         End If

      Next

      Select Case Funktion

         case 0:

      End Select

      '      If Encoder_val(1) >= Rx_dword Then

      '         Gosub Send_byte
      '         Encoder_val(1) = 0

      '      End If

      'Led = 0

   End If

   for count_funktion = 1 to 4 step 1

      if m_funktion(count_funktion) = 1 then

         count2 = count_funktion - 1
         tx_dword = encoder_val(count_funktion)
         tx_dword_byte3 = &b00010000
         tx_dword_byte3.count2 = 1
         gosub send_byte
         m_funktion(count_funktion) = 0

      end if

      if m_funktion(count_funktion) > 3 then

         call funktion_select(count_funktion)

      end if

   next

   If Clk_in = 0 Then

      'led = 1

      'Ddrc = &B00100110
      Config Txtx = Output
      Txtx = 0
      Bitwait Clk_in , Set
      Txtx = 1
      'Ddrc = &B00000110
      Config Rxrx = Input

      For Count = 0 To 31 Step 1
         Bitwait Clk_in , Reset
         Rx_dword.count = Rxrx
         Bitwait Clk_in , Set
      Next

      For Count = 24 To 27 Step 1
         Count2 = Count - 24
         select_m.count2 = Rx_dword.count
         Rx_dword.count = 0
      Next

      For Count = 28 To 31 Step 1
         Count2 = Count - 28
         Funktion.count2 = Rx_dword.count
         Rx_dword.count = 0
      Next

      for count = 0 to 3 step 1
         if select_m.count = 1 then
            m_soll(count + 1) = rx_dword
            m_funktion(count + 1) = funktion
            m_select.count = 1

            if m_funktion(count + 1) = 0 then
               m_select.count = 0
            end if

         end if
      next

      'led = 0

   End If

   led = 0

   Incr I

   If I = 100000 Then

      Adc_wert = Getadc(0)

      'Tx_dword = Adc_wert

      'Ausgabe = Str(tx_dword)
      'Locate 1 , 1
      'Lcd "TX: "
      'Lcd Format(ausgabe , "000000")

      Ausgabe = Str(a)
      Locate 2 , 14
      Lcd Format(ausgabe , "000")

      'Ausgabe = Str(rx_dword)
      'Locate 2 , 1
      'Lcd "RX: "
      'Lcd Format(ausgabe , "000000")

      locate 1 , 1
      ausgabe = bin(m_funktion(1))
      lcd ausgabe

      locate 2 , 1
      ausgabe = bin(m_select)
      lcd ausgabe

      Encoder_ausgabe = Str(encoder_val(1))
      Locate 1 , 12
      Lcd Format(encoder_ausgabe , "00000")

      Incr A

      I = 0

   End If

Loop
End

Send_byte:

   If Clk_in = 1 Then

      'Ddrc = 00010110
      Config Clk_out = Output
      Clk_out = 0

      Bitwait Rxrx , Reset
      Clk_out = 1
      Bitwait Rxrx , Set

      'Ddrc = 00110110
      Config Txtx = Output

      For Count = 0 To 31 Step 1
         Txtx = Tx_dword.count
         Clk_out = 0
         Waitus 2
         Clk_out = 1
      Next

      'Ddrc = 00000110
      Config Rxrx = Input
      Config Clk_in = Input

   End If

Return

sub funktion_select(byval x as byte)

   'led = 1

   select case m_funktion(x)

      case 2:
         if encoder_val(x) >= m_soll(x) then

            tx_dword = encoder_val(x)
            tx_dword_byte3 = &b00100000 or m_select
            gosub SEND_BYTE
            encoder_val(x) = 0

         end if

      case 3:


   end select

   'led = 0

end sub