Problem mit Erweitrung am Robby

[Julius]

Es geht trotz deiner Hilfe nicht,
vieleicht lieg´s am programm...

'--------------------------
'------ 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]
define HSAMPLE       byte[14]
define GP            byte[15]
define SAMPLE        byte[16]


'---- 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]
'--- 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
gosub lcd_init:gosub message1
beep 368,10,0:pause 50


#Save
HSAMPLE=0
for GP=1 to 100
SAMPLE=MIC
if SAMPLE > HSAMPLE then HSAMPLE=SAMPLE
next
'IIIIIIIIIIIIII Ergebnisse IIIIIIIIIIIIIIIII

gosub lcd_cls
 lcd_param = 1 : gosub lcd_gotoline
 lcd_param = &H44 : gosub lcd_writechar    'D
 lcd_param = &H41 : gosub lcd_writechar    'A
 lcd_param = &H54 : gosub lcd_writechar    'T
 lcd_param = &H41 : gosub lcd_writechar    'A
 lcd_param = &H20 : gosub lcd_writechar    '
 value=hsample
 gosub convert
 pause 20
  goto save
'-------------------------------------------
'IIIIIII MESSAGE 1 IIIIIIIIIII
 #message1
 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 = &H43 : gosub lcd_writechar    'C
 lcd_param = &H2D : gosub lcd_writechar    '-
 lcd_param = &H43 : gosub lcd_writechar    'C
 lcd_param = &H4F : gosub lcd_writechar    'O
 lcd_param = &H4E : gosub lcd_writechar    'N
 lcd_param = &H54 : gosub lcd_writechar    'T
 lcd_param = &H52 : gosub lcd_writechar    'R
 lcd_param = &H4F : gosub lcd_writechar    'O
 lcd_param = &H4C : gosub lcd_writechar    'L
 lcd_param = 2 : 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 = &H20 : gosub lcd_writechar    '
 lcd_param = &H52 : gosub lcd_writechar    'R
 lcd_param = &H4F : gosub lcd_writechar    'O
 lcd_param = &H42 : gosub lcd_writechar    'B
 lcd_param = &H4F : gosub lcd_writechar    'O
 lcd_param = &H54 : gosub lcd_writechar    'T
 lcd_param = &H20 : gosub lcd_writechar    '
 lcd_param = &H20 : gosub lcd_writechar    '
goto Save
'++++++++++++ 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 SYSTEM:pulse 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_DRIVE:pulse 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"

Zusammengewürfelt aus: 2_ERWEITERUNG_LCD & 2_EINFÜHRUNG_SCHALLSENSOR
Ich wollte ja eigentlich nur Sensorwerte am LCD ausgeben
doch das ist scheinbar schwerer als es klingt