2. Dies ist für die Erweiterungsplatine gedacht. Per touchsensor (jenach druck) wird ein Progg gewählt (wird auf LCD angezeigt) und dann lässt es die LED's versch. Blinken.

'IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII IIIIIIIIIIIIIIIIIIIII
'IIIIIIIIII Title IIIIIIIIIIII
'IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII IIIIIIIIIIIIIIIIIIIII
'Beschreibung:
'
'
'
'--------------------------
'------ I/O PORTS ---------
'--------------------------
'- INTERFACE LCD/EXTPORT --
define sdio port[1]
define sclio port[3]
define strobe port[4]
define LSTROBE port[7]
'-- INTERFACE COM/NAV -----
define DATALINE port[1]
define CLOCKLINE port[2]
'-- CC2 INTERFACE -------
define CC2POWER port[8]
'------ LCD INTERFACE ------
define lcd_port byteport[2]
define lcd_rs port[14]
define lcd_rw port[13]
define lcd_e port[15]
'--------------------------
'------ SENSORS ---------
'--------------------------
define LIGHT_L ad[7]
define LIGHT_R ad[6]
define SYS_VOLTS ad[3]
define CHRG_CURRENT ad[2]
define SYS_CURRENT ad[1]
define MIC ad[4]
define TOUCH ad[5]
'---------------------------
'------ DRIVE -------------
'---------------------------
define SPEED_L da[1]
define SPEED_R da[2]
define REV_L port[6]
define REV_R port[5]
'--------------------------
'---- SYSTEM MEMORY -------
'--------------------------
'--- INTERFACE BUFFER ----
define LBYTE byte[1]
define HBYTE byte[2]
define SUBCMD byte[3]
'---- OPERATION DATA ------
define EXTPORT byte[4]
define LED1_F bit[29]
define LED2_F bit[30]
define LED3_F bit[31]
define LED4_F bit[32]
define SYSTEM_STATUS byte[5]
define LEDPORT byte[6]
define L1_F bit[41]
define L2_F bit[42]
define L3_F bit[43]
define L4_F bit[44]
define L5_F bit[45]
define L6_F bit[46]
define L7_F bit[47]
define L8_F bit[48]
'---- LCD DRIVER -------------
define lcd_buf byte[7]
define lcd_param byte[8]
'--------------------------
'---- USER MEMORY -------
'--------------------------
'--- BIN-DEZIMAL-CONVERTER ---
define hunderter byte [10]
define zehner byte[11]
define einer byte[12]
define value byte[13]
define value16 word [12]
define TIM byte[7]
define PGM byte[8]
'--- SYSTEMROUTINEN -----------
define PLM_SLOW &H01C2
define SYSTEM &H01C7
define LED_DRIVE &H01CA
define COMNAV &H0144
'- ERWEITERTE SYSTEM ROUTINEN -
define REVR &H0101 'ANTRIEB RECHTS RÜCKWÄRTS
define REVL &H0106 'ANTRIEB LINKS RÜCKWÄRTS
define FWDR &H010B 'ANTRIEG RECHTS VORWÄRTS
define FWDL &H0110 'ANTRIEB LINKS VORWÄRTS
define ROTR &H0115 'RECHTS DREHEN
define ROTL &H0119 'LINKS DREHEN
define REV &H011D 'RÜCKWÄRTS
define FWD &H0121 'VORWÄRTS
define COMNAV_STATUS &H0125 'UPDATED ALLE FLAGS IM STATUS-REGISTER
define ACS_LO &H01E0 'ACS POWER LO
define ACS_HI &H01E8 '
define ACS_MAX &H01F0 '
define SEND_TLM &H013A 'SENDET TELEMETRIE (CH=HBYTE,DATEN=LBYTE)
define SEND_SYSSTAT &H0134 'SENDET TLM KANAL 0,SYSTEM STATUS
'(FLAGS für ACS,FWD/REV, ACS_LO/HI/MAX)
'---------- INIT---------------
LSTROBE=off:CC2POWER=on
gosub SUBSYS_PWR_ON:REV_L=off:REV_R=off
beep 368,10,0ause 50
'--------------------------------------------
'--- DEMO BERÜHRUNGSSENSOR UND LEDs ---
'--------------------------------------------
#NO_SELECT
on PGM goto LOOP,PGM1,PGM2,PGM3,PGM4
gosub LEDSOFF
#LOOP
if TOUCH < 20 then goto NO_SELECT
if TOUCH < 50 then goto SEL1
if TOUCH < 80 then goto SEL2
if TOUCH < 120 then goto SEL3
if TOUCH < 180 then goto SEL4
goto LOOP
'------------- AUSWAHL ---------------------------
#SEL1
gosub prog11ause 10:PGM=1:goto LOOP
#SEL2
gosub prog21ause 10:PGM=2:goto LOOP
#SEL3
gosub prog31ause 10:PGM=3:goto LOOP
#SEL4
gosub prog41ause 10:PGM=4:goto LOOP
'-------- AUSGEWÄHLTE PROGRAMME ----------------------
#PGM1
gosub prog1ause 20:goto loop
#PGM2
gosub prog2ause 20:goto loop
#PGM3
gosub prog3ause 20:goto loop
#PGM4
gosub prog4ause 20:goto loop
'-------------------------------------------------------

'--------------------------------------------
'- DEMO LED LAUFLICHT AUF DER ERWEITERUNG --
'--------------------------------------------
#prog11
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H31: gosub lcd_writechar '1
lcd_param = 58 : gosub lcd_writechar '
return

#prog21
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H32: gosub lcd_writechar '2
lcd_param = 58 : gosub lcd_writechar '

return

#prog31
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H33: gosub lcd_writechar '3
lcd_param = 58 : gosub lcd_writechar '

return

#prog41
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H34: gosub lcd_writechar '4
lcd_param = 58 : gosub lcd_writechar '

return

#prog1
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H31: gosub lcd_writechar '1

gosub L1ONause 5:gosub L1OFF
gosub L2ONause 5:gosub L2OFF
gosub L3ONause 5:gosub L3OFF
gosub L4ONause 5:gosub L4OFF
gosub L5ONause 5:gosub L5OFF
gosub L6ONause 5:gosub L6OFF
gosub L7ONause 5:gosub L7OFF
gosub L8ONause 5:gosub L8OFF
gosub L7ONause 5:gosub L7OFF
gosub L6ONause 5:gosub L6OFF
gosub L5ONause 5:gosub L5OFF
gosub L4ONause 5:gosub L4OFF
gosub L3ONause 5:gosub L3OFF
gosub L2ONause 5:gosub L2OFF
if touch>10 then return
goto prog1

#prog2
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H32: gosub lcd_writechar '2

gosub L4ON:gosub L5ONause 5:gosub L4OFF:gosub L5OFF
gosub L3ON:gosub L6ONause 5:gosub L3OFF:gosub L6OFF
gosub L2ON:gosub L7ONause 5:gosub L2OFF:gosub L7OFF
gosub L1ON:gosub L8ONause 5:gosub L1OFF:gosub L8OFF
if touch>10 then return
goto prog2

#prog3
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H33: gosub lcd_writechar '3

gosub L2OFF:gosub L4OFF:gosub L6Off:gosub L8OFF
gosub L1ON:gosub L3ON:gosub L5ON:gosub L7ONause 10
gosub L1OFF:gosub L3OFF:gosub L5OFF:gosub L7OFF
gosub L2ON:gosub L4ON:gosub L6ON:gosub L8ONause 10

if touch>10 then return
goto prog3

#prog4
gosub lcd_cls
lcd_param = 1: gosub lcd_gotoline
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H20: gosub lcd_writechar
lcd_param = &H50: gosub lcd_writechar 'P
lcd_param = &H52: gosub lcd_writechar 'R
lcd_param = &H4F: gosub lcd_writechar 'O
lcd_param = &H47: gosub lcd_writechar 'G
lcd_param = &H34: gosub lcd_writechar '4

gosub L4ON:gosub L5ONause 5
gosub L3ON:gosub L6ONause 5
gosub L2ON:gosub L7ONause 5
gosub L1ON:gosub L8ONause 5

gosub L4OFF:gosub L5OFFause 5
gosub L3OFF:gosub L6OFFause 5
gosub L2OFF:gosub L7OFFause 5
gosub L1OFF:gosub L8OFFause 5
if touch>10 then return
goto prog4

'-------------------------------------------
'++++++++++++ CONVERT BINARY TO DECIMAL +++++++++++++++
#convert
hunderter=value/100
if hunderter>0 then lcd_param=hunderter+&H30 else lcd_param=&H20
gosub lcd_writechar
'zehner abfragen
zehner=(value-(hunderter*100))/10
lcd_param=zehner+&H30
gosub lcd_writechar
'einer abfragen
einer=value-(hunderter*100)-(zehner*10)
lcd_param=einer+&H30
gosub lcd_writechar
return

'IIIIIIIIIII LED DRIVER IIIIIIIIIIIIIIIII
#LED1ON
LED1_F=on:goto EXTPORT_WRITE
#LED1OFF
LED1_F=off :goto EXTPORT_WRITE
#LED2ON
LED2_F=on:goto EXTPORT_WRITE
#LED2OFF
LED2_F=off:goto EXTPORT_WRITE
#LED3ON
LED3_F=on:goto EXTPORT_WRITE
#LED3OFF
LED3_F=off:goto EXTPORT_WRITE
#LED4ON
LED4_F=on:goto EXTPORT_WRITE
#LED4OFF
LED4_F=off:goto EXTPORT_WRITE
#LEDSOFF
EXTPORT=EXTPORT and &H0F
#EXTPORT_WRITE
SYS SYSTEMulse STROBE:RETURN
'--- LEDS AUF DER BASIS ERWEITERUNG ------
#L1ON
L1_F=on:goto LEDPORT_WRITE
#L1OFF
L1_F=off :goto LEDPORT_WRITE
#L2ON
L2_F=on:goto LEDPORT_WRITE
#L2OFF
L2_F=off :goto LEDPORT_WRITE
#L3ON
L3_F=on:goto LEDPORT_WRITE
#L3OFF
L3_F=off :goto LEDPORT_WRITE
#L4ON
L4_F=on:goto LEDPORT_WRITE
#L4OFF
L4_F=off :goto LEDPORT_WRITE
#L5ON
L5_F=on:goto LEDPORT_WRITE
#L5OFF
L5_F=off :goto LEDPORT_WRITE
#L6ON
L6_F=on:goto LEDPORT_WRITE
#L6OFF
L6_F=off :goto LEDPORT_WRITE
#L7ON
L7_F=on:goto LEDPORT_WRITE
#L7OFF
L7_F=off :goto LEDPORT_WRITE
#L8ON
L8_F=on:goto LEDPORT_WRITE
#L8OFF
L8_F=off :goto LEDPORT_WRITE
#LOFF
LEDPORT=0
#LEDPORT_WRITE
SYS LED_DRIVEulse LSTROBE:RETURN
'---------------------------------------
'------------- LCD ROUTINES -------------
'----------------------------------------
#LCD_INIT
' alle ports 0
lcd_port = OFF

' 8-Bit-Modus aktivieren
lcd_param=&H38 : gosub LCD_WRITECMD

' mit 8-Bit-Command in 4-Bit-Modus umschalten
lcd_port=&B00000010
tog lcd_e
tog lcd_e

' ab jetzt 4-Bit-Modus
lcd_param = &H28 : gosub LCD_WRITECMD
lcd_param = &H0C : gosub LCD_WRITECMD

' Display loeschen
#LCD_CLS
lcd_param = &H02 : gosub LCD_WRITECMD
lcd_param = &H01 : gosub LCD_WRITECMD
return
' Zeilenwechsel
#LCD_GOTOLINE
if lcd_param = 1 then lcd_param = &H80
if lcd_param = 2 then lcd_param = &HC0
goto LCD_WRITECMD

' LCD-Kommando
#LCD_WRITECMD
lcd_buf = OFF
goto LCD_WRITE

' Zeichenausgabe
#LCD_WRITECHAR
lcd_buf = &B00100000

' Kommando oder Zeichen an Display senden
#LCD_WRITE
lcd_port = lcd_buf or (lcd_param shr 4) ' Hi-Nibble
tog lcd_e
tog lcd_e
lcd_port = lcd_buf or (lcd_param and &H0F) ' Lo-Nibble
tog lcd_e
tog lcd_e
return
'IIIIII SYSTEMROUTINEN COMM/NAV SYSTEM IIIII
#GET_IRDATA
SUBCMD=1:sys COMNAV:return
#SEND_IRDATA
SUBCMD=0:sys COMNAV:return
#RC5
SUBCMD=4:sys COMNAV:LBYTE= HBYTE and &HFC
HBYTE=00:SUBCMD=2:sys COMNAV:return
#RC5_INT
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE and &HFE)or 2
HBYTE=00:SUBCMD=2:sys COMNAV:return
#REC80
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE or &H01)and&HFD
HBYTE=00:SUBCMD=2:sys COMNAV:return
#REC80_INT
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE or &H03)
HBYTE=00:SUBCMD=2:sys COMNAV:return
'IIIIII SYSTEMROUTINEN SYSTEM IIIIIIIIIIII
#NO_ACS_INT
SUBCMD=4:sys COMNAV:LBYTE= HBYTE and &HFB
HBYTE=00:SUBCMD=2:sys COMNAV:return
#ACS_INT_200
SUBCMD=4:sys COMNAV:LBYTE= HBYTE or &H04
HBYTE=50:SUBCMD=2:sys COMNAV:return
#SUBSYS_PWR_ON
sdio=on:sclio=on:strobe=off:EXTPORT=(EXTPORT and &HFE)or 8
sys SYSTEM:return
#SUBSYS_PWR_OFF
EXTPORT=(EXTPORT and &HF7)or 1:sys SYSTEM
deact sdio:deact sclio:return


#CLR_DISTANCE
SUBCMD=3:sys COMNAV:return
#L_DISTANCE
SUBCMD=6:sys COMNAV:return
#R_DISTANCE
SUBCMD=7:sys COMNAV:return
'---------COM/NAV GERÄTEREIBER -------------
'syscode "p5driv12.s19"