Atmel stürtz ab?!?!?! Programm beginnt von vorn!

[EDatabaseError]

Ich habe hier dieses Programm. Das ganze ist in einer Hardware eingebunden. Nur nach einiger Zeit die der Chip läuft, beginnt das Programm von vorn. (es wird print start ausgelöst)

Man kann sich das so vorstellen:

-> Chip bekommt strom und läuft los
-> Print "start"
-> Warte einige Zeit
-> Print "start"
...

Warum ist das so?

Mfg
Tobi

[Bitte helft mir, es ist sehr von Bedeutung]

'--- [ Init ] ------------------------------------------------------------------
Dim Emin As Eram Word At 0                                  '0 Wert
Dim Emax As Eram Word At 2                                  'Max. Wert
Dim Estrecke As Word                                        'Einheiten Strecke
Dim Sstab As Eram Word At 4                                 'Abstand zwischen 0 und Max in mm

Dim Offset As Eram Word At 6                                'Offset

Const Datensaetze = 42

Dim Volhigh As Eram Word At 8
Dim Volmiddle As Eram Word At 10
Dim Vollow As Eram Word At 12

'--- [ Write into eram - only run the first time! ] ----------------------------
Emin = 0
Emax = 1000
Estrecke = Emax - Emin
Sstab = 2000

Offset = 50

Volhigh = 500
Volmiddle = 800
Vollow = 1500

'--- [ Inizialize compiler ] ---------------------------------------------------
$regfile = "m168def.dat"                                    'Set chip AVR mega168
$crystal = 16000000                                         'Set crystal 16 MHz
$baud = 9600                                                'Set Baudrate 9600
$framesize = 32                                             'Framesize = 32
$swstack = 32                                               'SW = 32
$hwstack = 32                                               'HW = 32
Print "start"
'--- [ Config devices and timers ] ---------------------------------------------

Config Adc = Single , Prescaler = Auto , Reference = Avcc   'Config ADC
Sens Alias Pinc.0                                           'Setze PINC.0 als Sensor Eingang

Config Pind.6 = Output                                      'OC0A / Motor PWM
Pwm_out Alias Pind.6

Config Portc.1 = Output                                     'Direction A
Dira Alias Portc.1

Config Portc.2 = Output                                     'Direction B
Dirb Alias Portc.2

Audio Alias Portb.5                                         'Audio Ausgang

Config Pinc.3 = Input                                       'Start Interrupt / Druckschalter
Inp_start Alias Pinc.3

Config Pind.7 = Input                                       'Libellen Interrupt
Inp_libelle Alias Pind.7

Config Portb.0 = Output                                     'ROT
Led_red Alias Portb.0

Config Portb.1 = Output                                     'GELB
Led_yellow Alias Portb.1

Config Portb.2 = Output                                     'GRUEN
Led_green Alias Portd.3

Inp_stop Alias Pind.2                                       'Stop Interrupt!

'Timer0 as PWM for engine
Tccr0a = &B11000001
Tccr0b = &B00000001
Tcnt0 = &B00000000
Timsk0 = &B00000000
Tifr0 = &B00000000
Ocr0a = 255

'Timer1 as clock for time
Config Timer1 = Timer , Prescale = 256
Const Clock = 3036

'--- [ Declare SUBs ] ----------------------------------------------------------

Declare Sub Snd(byval Freq As Word)

'--- [ Declare variables ] -----------------------------------------------------

Dim Daten(datensaetze) As String * 19                       'Messdaten

Dim Is_ok As Word                                           'Wert ab dem die Messung OK ist
Dim Soll As Word                                            'Sollwert
Dim Ist As Integer                                          'Ist Position

Dim Hits As Word                                            'Anschläge
Dim Libelle As Bit                                          'Libelle

Dim Buffer As String * 8                                    'RS232 Buffer

Dim Year As Integer                                         'Jahr
Dim Month As Byte                                           'Monat
Dim Day As Byte                                             'Tag
Dim Hour As Byte                                            'Stunde
Dim Minute As Byte                                          'Minute
Dim Second As Byte                                          'Sekunde
Dim Tresult As String * 5                                   'Zeitstring
Dim Dresult As String * 8                                   'Datumstring

Dim B1 As Byte                                              'HV
Dim W1 As Word                                              'HV
Dim W2 As Word                                              'HV
Dim I1 As Integer                                           'HV
Dim I2 As Integer                                           'HV
Dim S1 As String * 1                                        'HV
Dim S2 As String * 1                                        'HV

Dim Start_setted As Bit                                     'S_HV
Dim After_back As Bit                                       'S_HV

'--- [ Inizialize variables and constants ] ------------------------------------

Start_setted = 0
After_back = 0

Is_ok = 0
'Soll = 0
'Print Soll ; " on init"
Ist = 0
Hits = 0
Libelle = 0

Buffer = ""

Year = 2000
Month = 1
Day = 1
Hour = 0
Minute = 0
Second = 0
Tresult = ""
Dresult = ""

'--- [ Inizialize Interrupts ] -------------------------------------------------

Sreg.7 = 0

On Int0 Isr_stop                                            'On Rising Edge
On Pcint1 Isr_start
On Pcint2 Isr_libelle
On Timer1 Isr_clock                                         'On Timer1
On Urxc Isr_data                                            'On Urxc

Eicra = &B00000011
Eimsk = &B00000001
Eifr = &B00000001

Pcicr = &B00000110
Pcifr = &B00000110
Pcmsk2 = &B10000000
Pcmsk1 = &B00001000
Pcmsk0 = &B00000000

Enable Timer1
Enable Urxc

Sreg.7 = 1

'--- [ Start secuence ] --------------------------------------------------------

Echo Off

Gosub Clrdata

Dira = 0
Dirb = 0
Ocr0a = 255

Portc.0 = 0
Start Adc

'--- [ Main loop ] -------------------------------------------------------------

Do
  Ist = Getadc(0)

  If Soll <= Emax Then
      W1 = Soll - Offset
      If W1 > Ist Then
          Dira = 1
          Dirb = 0
          Ocr0a = 0
      End If

      W1 = Soll + Offset
      If W1 < Ist Then
          Dira = 0
          Dirb = 1
          Ocr0a = 0
      End If

      W1 = Soll - Offset
      W2 = Soll + Offset
      If W1 <= Ist Then
      If W2 >= Ist Then
          Ocr0a = 255
          Dira = 0
          Dirb = 0

          'If Ist >= W1 Then Soll = Emin
          If After_back = 1 Then
           After_back = 0
           Soll = Emax
           Print Soll ; " on afterback"
          End If
      End If
      End If
  Else
      Ocr0a = 255
      Dira = 0
      Dirb = 0
      Sreg.7 = 0
  End If
Loop
End

'--- [ Interrupt service routine ] ---------------------------------------------

Isr_stop:
 Incr Hits

 If Inp_stop = 1 Then Print "STOP 1"
 if inp_stop = 0 then print "STOP 0"

 If Ist >= Is_ok Then
  Gosub Savedata

  Soll = Emin
  Print Soll ; " on stop_ok"
 Else
  If Hits = 3 Then
   Gosub Savedata
   Soll = Emin
   Print Soll ; " on stop_3hits"
  End If
  If Hits < 3 Then
   I1 = Ist - 500
   If I1 < 0 Then I1 = 0
   Soll = I1
   Print Soll ; " on stop_hit"
   After_back = 1
  End If
 End If
Return

Isr_start:
 If Inp_start = 1 Then Print "START 1"
 If Inp_start = 0 Then Print "START 0"

 If Inp_start = 0 Then
  Start_setted = 1
 End If

 If Inp_start = 1 Then
  If Start_setted = 1 Then
   Start_setted = 0
   Soll = Emax
   Print Soll ; " on start"
  End If
 End If
Return

Isr_libelle:
 If Inp_libelle = 1 Then Print "LIBELLE 1"
 If Inp_libelle = 0 Then Print "LIBELLE 0"

 If Inp_libelle = 0 Then
  Libelle = 1
 End If
Return

Isr_data:
 B1 = Udr

 If Chr(b1) = "!" Then
  Soll = 3333
  Print Soll ; " on !"
 End If

 If Chr(b1) = "]" Then
  Print Buffer
  Gosub RS232
 End If

 Buffer = Buffer + Chr(b1)

 If Chr(b1) = "[" Then
  Buffer = ""
 End If
Return

Isr_clock:
 Timer1 = Clock

 Second = Second + 1
 If Second = 60 Then Gosub Addminute
 If Minute = 60 Then Gosub Addhour
 If Hour = 24 Then Gosub Addday

 If Day = 31 Then
  Select Case Month
   Case 1 : Gosub Addmonth
   Case 3 : Gosub Addmonth
   Case 5 : Gosub Addmonth
   Case 7 : Gosub Addmonth
   Case 8 : Gosub Addmonth
   Case 10 : Gosub Addmonth
   Case 12 : Gosub Addmonth
  End Select
 End If
 If Day = 30 Then
  Select Case Month
   Case 2 : Gosub Addmonth
   Case 4 : Gosub Addmonth
   Case 6 : Gosub Addmonth
   Case 9 : Gosub Addmonth
   Case 11 : Gosub Addmonth
  End Select
 End If

 If Month = 12 Then Gosub Addyear

 Tresult = Format(hour , "00") + ":" + Format(minute , "00")

 Dresult = Format(year , "00") + "." + Format(month , "00") + "." + Format(day , "00")

 Print Soll ; " :: " ; Ist
Return

'--- [ SUBs and functions ] ----------------------------------------------------

Sub Snd(byval Freq As Word)
 Sound Audio , 200 , Freq
End Sub

'--- [ GOSUBs ] ----------------------------------------------------------------

Savedata:
 For I2 = 0 To Datensaetze
  If Daten(i2) = "" Then
   Exit For
  End If
 Next I2

 If Hits >= 3 Then S1 = "0" Else S1 = "1"
 If Libelle = 1 Then S2 = "0" Else S2 = "1"

 Daten(i2) = S1 + "§" + S2 + "§" + Str(soll) + "§" + Str(ist) + "§" + Dresult + "§" + Tresult

 Print "DATEN" ; I2
 Print Daten(i2)

 Hits = 0
 Libelle = 0
 After_back = 0
 Start_setted = 0
Return

Clrdata:
 For I2 = 0 To Datensaetze
  Daten(i2) = ""
 Next I
Return

Addminute:
 Minute = Minute + 1
 Second = 0
Return

Addhour:
 Hour = Hour + 1
 Minute = 0
Return

Addday:
 Day = Day + 1
 Hour = 0
Return

Addmonth:
 Month = Month + 1
 Day = 0
Return

Addyear:
 Year = Year + 1
 Month = 0
Return

Rs232:
 If Buffer = "CLR" Then
  Gosub Clrdata
  Print "<EXIT>"
 End If

 If Instr(buffer , "YR") > 0 Then
  Buffer = Right(buffer , 4)
  Year = Val(buffer)
 End If

 If Instr(buffer , "MN") > 0 Then
  Buffer = Right(buffer , 2)
  Month = Val(buffer)
 End If

 If Instr(buffer , "DA") > 0 Then
  Buffer = Right(buffer , 2)
  Day = Val(buffer)
 End If

 If Instr(buffer , "HR") > 0 Then
  Buffer = Right(buffer , 2)
  Hour = Val(buffer)
 End If

 If Instr(buffer , "MI") > 0 Then
  Buffer = Right(buffer , 2)
  Minute = Val(buffer)
 End If

 If Instr(buffer , "SC") > 0 Then
  Buffer = Right(buffer , 2)
  Second = Val(buffer)
  Print "<EXIT>"
 End If

 If Instr(buffer , "SL") > 0 Then
  Buffer = Right(buffer , 3)
  Is_ok = Val(buffer)
  Is_ok = Is_ok * 1
  Print "<EXIT>"
 End If

 If Instr(buffer , "EI") > 0 Then
  Buffer = Right(buffer , 4)

 End If

 If Instr(buffer , "EA") > 0 Then
 End If

 If Instr(buffer , "OF") > 0 Then
 End If

 If Instr(buffer , "FA") > 0 Then
 End If

 If Instr(buffer , "FB") > 0 Then
 End If

 If Instr(buffer , "FC") > 0 Then
 End If

 If Buffer = "GDA" Then

 End If

 If Buffer = "SND" Then
  If Daten(1) = "" Then

  Else
   For I1 = 0 To Datensaetze

    If Daten(i1) = "" Then
     Exit For
    End If

    Print "<" ; I1 ; "§" ; Daten(i1) ; ">"

    Waitms 10
   Next I1
  End If

  Print "<EXIT>"
 End If

 If Buffer = "FWD" Then
  Soll = Emax
  Print Soll ; " on FWD"
 End If
 If Buffer = "BWD" Then
  Soll = Emin
  Print Soll ; " on BWD"
 End If
 If Buffer = "STP" Then
  Soll = 3333
  Print Soll ; " on STP"
 End If

 If Buffer = "GIN" Then
  Print "<4%Position: " ; Ist ; ">"
 End If
 If Buffer = "GTI" Then
  Print "<3%" ; Tresult ; ">"
  Print "<3%" ; Dresult ; ">"
 End If
 If Buffer = "ABP" Then
  Call Snd(volhigh)
  Waitms 10
  Call Snd(volmiddle)
  Waitms 10
  Call Snd(vollow)
 End If
Return