1 | #include <avr/io.h>
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2 | #include "util/delay.h"
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3 | #include <avr/interrupt.h>
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4 |
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5 |
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6 | uint8_t reset_oben0 = 0;
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7 | uint8_t reset_unten0 = 0;
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8 | volatile uint8_t on_oben0 = 0;
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9 | volatile uint8_t on_unten0 = 0;
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10 | uint8_t reset_oben1 = 0;
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11 | uint8_t reset_unten1 = 0;
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12 | volatile uint8_t on_oben1 = 0;
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13 | volatile uint8_t on_unten1 = 0;
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14 | uint8_t blinker_an = 0;
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15 | volatile uint8_t schaltkanal_an = 0;
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16 |
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17 | int schaltkanal(void)
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18 | {
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19 | //Schaltkanal
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20 | if(PIND & (1 << PD0))
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21 | {
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22 | PORTB |= (1 << PB3) | (1 << PB2);
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23 | schaltkanal_an = 1;
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24 | }
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25 | else
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26 | {
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27 | PORTB &= ~((1 << PB3) | (1 << PB2)); //Abblendlicht Ein- & Ausschalten
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28 | schaltkanal_an = 0;
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29 | }
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30 |
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31 | }
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32 |
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33 | int bremse(void)
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34 | {
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35 |
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36 | if(PIND & (1 << PD1)) //Bremsleuchten bei Signal an PD1
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37 | {
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38 | PORTB &= ~(1 << PB4);
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39 | PORTB &= ~(1 << PB5); //Bremslicht hinten aus
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40 | if (schaltkanal_an == 1) PORTB |= (1 << PB3); //Normales Licht hinten an
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41 |
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42 |
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43 |
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44 | }
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45 | else
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46 | {
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47 | PORTB |= (1 << PB4);
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48 | if (schaltkanal_an == 1) PORTB &= ~(1 << PB3); //Normales Licht hinten aus
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49 | PORTB |= (1 << PB5);
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50 |
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51 |
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52 |
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53 | }
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54 |
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55 |
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56 | }
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57 |
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58 |
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59 | int main()
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60 | {
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61 |
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62 | DDRB = (1 << DDB2) | (1 << DDB3) | (1 << DDB4) | (1 << DDB5);
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63 | PORTB = (0 << PB2) | (0 << PB3) | (1 << PB4) | (1 << PB5); //PB2 = Licht vorne, PB3 = Licht hinten, PB4 = Bremslicht, PB5 = Licht hinten - Bremse
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64 | DDRD = (0 << DDD0) | (0 << DDD3) | (1 << DDD7) | (0 << DDD1) | (0 << DDD2); //PD0 = Schaltkanal, PD3 = Interrupt, PD7 = Blinker Ausgang, PD1 = Motorsignal
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65 | DDRC = (1 << DDC4) | (1 << DDC5);
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66 | PORTC = (0 << PC4) | (0 << PC5);
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67 |
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68 | GICR = (1 << INT0) | (1 << INT1); //INT1/0-Interrupt aktivieren
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69 |
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70 | MCUCR = (1 << ISC01)|(1 << ISC00)|(1 << ISC11)|(1 << ISC10); //Aktiviere Sensitivität auf steigende Flanke
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71 |
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72 | sei(); //Generell Interrupts aktivieren
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73 |
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74 |
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75 | while (1) //Hauptschleife
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76 | {
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77 | start:
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78 | //Immer dafür sorgen, dass Blaulicht und Blinker aus sind.
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79 | PORTC = (0 << PC4) | (0 << PC5);
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80 | PORTD = (1 << PD7);
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81 |
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82 | //Schaltkanal
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83 | schaltkanal();
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84 | bremse();
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85 |
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86 | //NUR Blaulicht an?
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87 | while(on_oben1==1 && on_unten1==0)
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88 | {
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89 |
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90 |
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91 | //Links
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92 | PORTC = (1 << PC4) | (0 << PC5);
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93 | _delay_ms(130);
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94 | PORTC = (0 << PC4) | (0 << PC5);
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95 | _delay_ms(50);
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96 | PORTC = (1 << PC4) | (0 << PC5);
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97 | _delay_ms(30);
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98 | PORTC = (0 << PC4) | (0 << PC5);
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99 | _delay_ms(50);
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100 | PORTC = (1 << PC4) | (0 << PC5);
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101 | _delay_ms(30);
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102 | PORTC = (0 << PC4) | (0 << PC5);
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103 | _delay_ms(50); //340ms
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104 |
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105 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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106 | //Schaltkanal
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107 | schaltkanal();
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108 |
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109 | //Rechts
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110 | PORTC = (0 << PC4) | (1 << PC5);
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111 | _delay_ms(135);
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112 | //Blinker
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113 | PORTC = (0 << PC4) | (0 << PC5);
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114 | _delay_ms(50);
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115 | PORTC = (0 << PC4) | (1 << PC5);
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116 | _delay_ms(30);
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117 | PORTC = (0 << PC4) | (0 << PC5);
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118 | _delay_ms(50);
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119 | PORTC = (0 << PC4) | (1 << PC5);
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120 | _delay_ms(30);
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121 | PORTC = (0 << PC4) | (0 << PC5);
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122 | _delay_ms(160); //455ms
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123 |
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124 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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125 | //Schaltkanal
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126 | schaltkanal();
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127 |
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128 | //Links
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129 | PORTC = (1 << PC4) | (0 << PC5);
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130 | _delay_ms(130);
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131 | PORTC = (0 << PC4) | (0 << PC5);
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132 | _delay_ms(25);
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133 | //Blinker
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134 | _delay_ms(25);
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135 | PORTC = (1 << PC4) | (0 << PC5);
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136 | _delay_ms(30);
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137 | PORTC = (0 << PC4) | (0 << PC5);
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138 | _delay_ms(50);
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139 | PORTC = (1 << PC4) | (0 << PC5);
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140 | _delay_ms(30);
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141 | PORTC = (0 << PC4) | (0 << PC5);
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142 | _delay_ms(20); //310ms
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143 |
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144 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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145 | //Schaltkanal
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146 | schaltkanal();
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147 |
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148 | //Rechts
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149 | PORTC = (0 << PC4) | (1 << PC5);
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150 | _delay_ms(130);
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151 | PORTC = (0 << PC4) | (0 << PC5);
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152 | _delay_ms(50);
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153 | PORTC = (0 << PC4) | (1 << PC5);
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154 | _delay_ms(30);
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155 | PORTC = (0 << PC4) | (0 << PC5);
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156 | _delay_ms(50);
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157 | PORTC = (0 << PC4) | (1 << PC5);
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158 | _delay_ms(30);
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159 | PORTC = (0 << PC4) | (0 << PC5);
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160 | _delay_ms(30);
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161 | //Blinker
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162 | _delay_ms(100); //420ms
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163 |
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164 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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165 | //Schaltkanal
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166 | schaltkanal();
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167 |
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168 | //-------------------------------------------------
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169 |
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170 | PORTC = (1 << PC4) | (0 << PC5);
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171 | _delay_ms(130);
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172 | PORTC = (0 << PC4) | (0 << PC5);
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173 | _delay_ms(50);
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174 | PORTC = (1 << PC4) | (0 << PC5);
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175 | _delay_ms(30);
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176 | PORTC = (0 << PC4) | (0 << PC5);
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177 | _delay_ms(50);
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178 | PORTC = (1 << PC4) | (1 << PC5);
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179 | _delay_ms(30);
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180 | PORTC = (0 << PC4) | (0 << PC5);
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181 | _delay_ms(50); //290ms
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182 |
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183 | PORTC = (0 << PC4) | (1 << PC5);
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184 | _delay_ms(35);
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185 | //Blinker
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186 | _delay_ms(95);
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187 | PORTC = (0 << PC4) | (0 << PC5);
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188 | _delay_ms(50);
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189 | PORTC = (0 << PC4) | (1 << PC5);
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190 | _delay_ms(30);
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191 | PORTC = (0 << PC4) | (0 << PC5);
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192 | _delay_ms(50);
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193 | PORTC = (0 << PC4) | (1 << PC5);
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194 | _delay_ms(30);
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195 | PORTC = (1 << PC4) | (0 << PC5);
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196 | _delay_ms(50);
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197 | PORTC = (1 << PC4) | (1 << PC5);
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198 | _delay_ms(30);
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199 | PORTC = (0 << PC4) | (0 << PC5);
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200 | _delay_ms(50);
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201 | PORTC = (0 << PC4) | (0 << PC5);
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202 | _delay_ms(30); //450ms
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203 |
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204 |
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205 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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206 | //Schaltkanal
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207 | schaltkanal();
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208 |
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209 | //-------------------------------------------------
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210 |
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211 | PORTC = (1 << PC4) | (0 << PC5);
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212 | _delay_ms(60);
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213 | //Blinker
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214 | _delay_ms(70);
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215 | PORTC = (0 << PC4) | (0 << PC5);
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216 | _delay_ms(50);
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217 | PORTC = (1 << PC4) | (0 << PC5);
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218 | _delay_ms(30);
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219 | PORTC = (0 << PC4) | (0 << PC5);
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220 | _delay_ms(50);
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221 | PORTC = (1 << PC4) | (0 << PC5);
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222 | _delay_ms(30);
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223 | PORTC = (0 << PC4) | (0 << PC5);
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224 | _delay_ms(50); //340ms
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225 |
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226 | if(on_oben1==0 || on_unten1==1) goto start;//Abbruch
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227 | //Schaltkanal
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228 | schaltkanal();
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229 |
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230 | PORTC = (0 << PC4) | (1 << PC5);
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231 | _delay_ms(130);
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232 | PORTC = (0 << PC4) | (0 << PC5);
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233 | _delay_ms(50);
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234 | PORTC = (0 << PC4) | (1 << PC5);
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235 | _delay_ms(15);
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236 | //Blinker
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237 | _delay_ms(15);
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238 | PORTC = (0 << PC4) | (0 << PC5);
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239 | _delay_ms(50);
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240 | PORTC = (0 << PC4) | (1 << PC5);
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241 | _delay_ms(30);
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242 | PORTC = (0 << PC4) | (0 << PC5);
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243 | _delay_ms(50);
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244 | PORTC = (0 << PC4) | (1 << PC5);
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245 | _delay_ms(30);
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246 | PORTC = (0 << PC4) | (0 << PC5);
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247 | _delay_ms(50);
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248 | PORTC = (0 << PC4) | (1 << PC5);
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249 | _delay_ms(30);
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250 | PORTC = (0 << PC4) | (0 << PC5);
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251 | _delay_ms(50);
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252 | PORTC = (1 << PC4) | (1 << PC5);
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253 | _delay_ms(20);
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254 | PORTC = (0 << PC4) | (0 << PC5);
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255 | _delay_ms(150); //520ms
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256 | //Blinker
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257 |
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258 |
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259 |
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260 |
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261 | }
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262 |
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263 |
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264 |
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265 | //NUR Blinker an?
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266 | while(on_unten1==1 && on_oben1==0)
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267 | {
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268 |
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269 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}
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270 | _delay_ms(475);
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271 | //Schaltkanal
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272 | schaltkanal();
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273 |
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274 |
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275 | }
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276 |
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277 |
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278 |
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279 | //Blinker und Blaulicht an?
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280 | while(on_unten1==1 && on_oben1==1)
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281 | {
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282 |
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283 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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284 | //Schaltkanal
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285 | schaltkanal();
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286 |
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287 | //Links
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288 | PORTC = (1 << PC4) | (0 << PC5);
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289 | _delay_ms(130);
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290 | PORTC = (0 << PC4) | (0 << PC5);
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291 | _delay_ms(50);
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292 | PORTC = (1 << PC4) | (0 << PC5);
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293 | _delay_ms(30);
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294 | PORTC = (0 << PC4) | (0 << PC5);
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295 | _delay_ms(50);
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296 | PORTC = (1 << PC4) | (0 << PC5);
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297 | _delay_ms(30);
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298 | PORTC = (0 << PC4) | (0 << PC5);
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299 | _delay_ms(50); //340ms
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300 |
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301 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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302 | //Schaltkanal
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303 | schaltkanal();
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304 |
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305 | //Rechts
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306 | PORTC = (0 << PC4) | (1 << PC5);
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307 | _delay_ms(135);
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308 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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309 | PORTC = (0 << PC4) | (0 << PC5);
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310 | _delay_ms(50);
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311 | PORTC = (0 << PC4) | (1 << PC5);
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312 | _delay_ms(30);
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313 | PORTC = (0 << PC4) | (0 << PC5);
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314 | _delay_ms(50);
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315 | PORTC = (0 << PC4) | (1 << PC5);
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316 | _delay_ms(30);
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317 | PORTC = (0 << PC4) | (0 << PC5);
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318 | _delay_ms(160); //455ms
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319 |
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320 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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321 | //Schaltkanal
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322 | schaltkanal();
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323 |
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324 | //Links
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325 | PORTC = (1 << PC4) | (0 << PC5);
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326 | _delay_ms(130);
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327 | PORTC = (0 << PC4) | (0 << PC5);
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328 | _delay_ms(25);
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329 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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330 | _delay_ms(25);
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331 | PORTC = (1 << PC4) | (0 << PC5);
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332 | _delay_ms(30);
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333 | PORTC = (0 << PC4) | (0 << PC5);
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334 | _delay_ms(50);
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335 | PORTC = (1 << PC4) | (0 << PC5);
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336 | _delay_ms(30);
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337 | PORTC = (0 << PC4) | (0 << PC5);
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338 | _delay_ms(20); //310ms
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339 |
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340 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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341 | //Schaltkanal
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342 | schaltkanal();
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343 |
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344 | //Rechts
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345 | PORTC = (0 << PC4) | (1 << PC5);
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346 | _delay_ms(130);
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347 | PORTC = (0 << PC4) | (0 << PC5);
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348 | _delay_ms(50);
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349 | PORTC = (0 << PC4) | (1 << PC5);
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350 | _delay_ms(30);
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351 | PORTC = (0 << PC4) | (0 << PC5);
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352 | _delay_ms(50);
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353 | PORTC = (0 << PC4) | (1 << PC5);
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354 | _delay_ms(30);
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355 | PORTC = (0 << PC4) | (0 << PC5);
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356 | _delay_ms(30);
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357 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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358 | _delay_ms(100); //420ms
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359 |
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360 |
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361 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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362 | //Schaltkanal
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363 | schaltkanal();
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364 |
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365 | //-------------------------------------------------
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366 |
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367 | PORTC = (1 << PC4) | (0 << PC5);
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368 | _delay_ms(130);
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369 | PORTC = (0 << PC4) | (0 << PC5);
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370 | _delay_ms(50);
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371 | PORTC = (1 << PC4) | (0 << PC5);
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372 | _delay_ms(30);
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373 | PORTC = (0 << PC4) | (0 << PC5);
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374 | _delay_ms(50);
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375 | PORTC = (1 << PC4) | (1 << PC5);
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376 | _delay_ms(30);
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377 | PORTC = (0 << PC4) | (0 << PC5);
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378 | _delay_ms(50); //290ms
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379 |
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380 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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381 | //Schaltkanal
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382 | schaltkanal();
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383 |
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384 | PORTC = (0 << PC4) | (1 << PC5);
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385 | _delay_ms(35);
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386 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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387 | _delay_ms(95);
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388 | PORTC = (0 << PC4) | (0 << PC5);
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389 | _delay_ms(50);
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390 | PORTC = (0 << PC4) | (1 << PC5);
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391 | _delay_ms(30);
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392 | PORTC = (0 << PC4) | (0 << PC5);
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393 | _delay_ms(50);
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394 | PORTC = (0 << PC4) | (1 << PC5);
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395 | _delay_ms(30);
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396 | PORTC = (1 << PC4) | (0 << PC5);
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397 | _delay_ms(50);
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398 | PORTC = (1 << PC4) | (1 << PC5);
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399 | _delay_ms(30);
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400 | PORTC = (0 << PC4) | (0 << PC5);
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401 | _delay_ms(50);
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402 | PORTC = (0 << PC4) | (0 << PC5);
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403 | _delay_ms(30); //450ms
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404 |
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405 |
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406 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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407 | //Schaltkanal
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408 | schaltkanal();
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409 |
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410 | //-------------------------------------------------
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411 |
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412 | PORTC = (1 << PC4) | (0 << PC5);
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413 | _delay_ms(60);
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414 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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415 | _delay_ms(70);
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416 | PORTC = (0 << PC4) | (0 << PC5);
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417 | _delay_ms(50);
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418 | PORTC = (1 << PC4) | (0 << PC5);
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419 | _delay_ms(30);
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420 | PORTC = (0 << PC4) | (0 << PC5);
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421 | _delay_ms(50);
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422 | PORTC = (1 << PC4) | (0 << PC5);
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423 | _delay_ms(30);
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424 | PORTC = (0 << PC4) | (0 << PC5);
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425 | _delay_ms(50); //340ms
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426 |
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427 | if(on_oben1==0 || on_unten1==0) goto start;//Abbruch
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428 | //Schaltkanal
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429 | schaltkanal();
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430 |
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431 | PORTC = (0 << PC4) | (1 << PC5);
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432 | _delay_ms(130);
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433 | PORTC = (0 << PC4) | (0 << PC5);
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434 | _delay_ms(50);
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435 | PORTC = (0 << PC4) | (1 << PC5);
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436 | _delay_ms(15);
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437 | if (blinker_an == 0){ PORTD = (0 << PD7); blinker_an = 1; } else { PORTD = (1 << PD7); blinker_an = 0;}//Blinker
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438 | _delay_ms(15);
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439 | PORTC = (0 << PC4) | (0 << PC5);
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440 | _delay_ms(50);
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441 | PORTC = (0 << PC4) | (1 << PC5);
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442 | _delay_ms(30);
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443 | PORTC = (0 << PC4) | (0 << PC5);
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444 | _delay_ms(50);
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445 | PORTC = (0 << PC4) | (1 << PC5);
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446 | _delay_ms(30);
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447 | PORTC = (0 << PC4) | (0 << PC5);
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448 | _delay_ms(50);
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449 | PORTC = (0 << PC4) | (1 << PC5);
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450 | _delay_ms(30);
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451 | PORTC = (0 << PC4) | (0 << PC5);
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452 | _delay_ms(50);
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453 | PORTC = (1 << PC4) | (1 << PC5);
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454 | _delay_ms(20);
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455 | PORTC = (0 << PC4) | (0 << PC5);
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456 | _delay_ms(150); //520ms
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457 |
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458 | }
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459 |
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460 |
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461 |
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462 |
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463 | }
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464 |
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465 | return 0;
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466 |
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467 | }
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468 |
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469 |
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470 |
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471 |
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472 | //---------------------------------------------------------------------------------------------------
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473 |
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474 | ISR(INT1_vect) //Interruptvektor INT1
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475 | {
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476 |
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477 |
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478 | //SCHALTEN: HEBEL NACH UNTEN
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479 |
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480 |
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481 | //Muss Hebel in Mitte? reset=0 NEIN ; reset=1 JA
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482 | if(reset_unten1==0) //Nein muss er nicht
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483 | {
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484 | _delay_us(1200);
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485 | if( !(PIND & (1 << PD3)) ) //Ist Hebel unten?
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486 | {
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487 | if(on_unten1==0) on_unten1=1; else on_unten1=0; //Ja ist er: Schalten
|
488 | reset_unten1 = 1; //Hebel muss in Mitte!
|
489 |
|
490 | }
|
491 | }
|
492 |
|
493 | else //Ja muss er
|
494 | {
|
495 | _delay_us(1400);
|
496 | if(PIND & (1 << PD3)) //Ist Hebel in Mitte?
|
497 | {
|
498 | reset_unten1 = 0; //Ja ist er!
|
499 | }
|
500 | }
|
501 |
|
502 |
|
503 |
|
504 |
|
505 | //SCHALTEN: HEBEL NACH OBEN
|
506 |
|
507 |
|
508 | //Muss Hebel in Mitte? reset=0 NEIN ; reset=1 JA
|
509 | if(reset_oben1==0) //Nein muss er nicht
|
510 | {
|
511 | _delay_us(600);
|
512 | if(PIND & (1 << PD3)) //Ist Hebel oben?
|
513 | {
|
514 | if(on_oben1==0) on_oben1=1; else on_oben1=0; //Ja ist er: Schalten
|
515 | reset_oben1 = 1; //Hebel muss in Mitte!
|
516 |
|
517 | }
|
518 | }
|
519 |
|
520 | else //Ja muss er
|
521 | {
|
522 | _delay_us(400);
|
523 | if( !(PIND & (1 << PD3)) ) //Ist Hebel in Mitte?
|
524 | {
|
525 | reset_oben1 = 0; //Ja ist er!
|
526 | }
|
527 | }
|
528 |
|
529 | _delay_us(1000);
|
530 |
|
531 |
|
532 | }
|
533 |
|
534 |
|
535 |
|
536 | //---------------------------------------------------------------------------------------------------
|
537 |
|
538 | ISR(INT0_vect) //Interruptvektor INT0
|
539 | {
|
540 |
|
541 |
|
542 | //SCHALTEN: HEBEL NACH UNTEN
|
543 |
|
544 |
|
545 | //Muss Hebel in Mitte? reset=0 NEIN ; reset=1 JA
|
546 | if(reset_unten1==0) //Nein muss er nicht
|
547 | {
|
548 | _delay_us(1200);
|
549 | if( !(PIND & (1 << PD3)) ) //Ist Hebel unten?
|
550 | {
|
551 | if(on_unten1==0) on_unten1=1; else on_unten1=0; //Ja ist er: Schalten
|
552 | reset_unten1 = 1; //Hebel muss in Mitte!
|
553 |
|
554 | }
|
555 | }
|
556 |
|
557 | else //Ja muss er
|
558 | {
|
559 | _delay_us(1400);
|
560 | if(PIND & (1 << PD3)) //Ist Hebel in Mitte?
|
561 | {
|
562 | reset_unten1 = 0; //Ja ist er!
|
563 | }
|
564 | }
|
565 |
|
566 |
|
567 |
|
568 |
|
569 | //SCHALTEN: HEBEL NACH OBEN
|
570 |
|
571 |
|
572 | //Muss Hebel in Mitte? reset=0 NEIN ; reset=1 JA
|
573 | if(reset_oben1==0) //Nein muss er nicht
|
574 | {
|
575 | _delay_us(600);
|
576 | if(PIND & (1 << PD3)) //Ist Hebel oben?
|
577 | {
|
578 | if(on_oben1==0) on_oben1=1; else on_oben1=0; //Ja ist er: Schalten
|
579 | reset_oben1 = 1; //Hebel muss in Mitte!
|
580 |
|
581 | }
|
582 | }
|
583 |
|
584 | else //Ja muss er
|
585 | {
|
586 | _delay_us(400);
|
587 | if( !(PIND & (1 << PD3)) ) //Ist Hebel in Mitte?
|
588 | {
|
589 | reset_oben1 = 0; //Ja ist er!
|
590 | }
|
591 | }
|
592 |
|
593 | _delay_us(1000);
|
594 |
|
595 |
|
596 | }
|