'--------------------------------------------------------------------------------
'name                     : MagneOSC_V2p3.bas
'purpose                  : Coil signal gen. ver.2.3 for u-robot & Ortho-Ring.
'micro controller         : Mega328P with internal 8MHz CK.
'                         : NOTE: AVR was changed from Mega168 to Mega328P.
'pulse is output from FPGA (Cyclone) with fast DAC(AD9763).
'max frequency = 50 kHz (Objective spec.)
'max V-out from Power OP-AMP is displayed.
' AMP gain = 3. AMP Vmax/Vmin = +20V / -20V
'.
'Phase control of two outputs version.
'Ver2.1 : only inphase & out phase.  (PB0 is used for WRBusyN)
'Ver2.2 : Arbitral phase difference. (PB0 is used for WRBusyN)
'       : data is software generated.
'Ver2.3 : Arbitral phase difference. (PB0 is used for /SS3)
'       : phase difference is FPGA generated.
'--------------------------------------------------------------------------------
Const Maxfreq = 50000.01
' .01 is for error in single float OP


' operations
'--------------------------------------------------------------------------------
' Mode0 : Sine wave
' parameters P0 : freqency Hz
'            P1 : V lowest
'            P2 : V highest
'            P3 : Phase difference between CH0 and CH1.(0 ~ 350, 10 deg. step)
'
' Mode1 : Square wave
' parameters P0 : freqency Hz
'            P1 : V lowest
'            P2 : V highest
'            P3 : Phase difference between CH0 and CH1.
'
' Mode2 : Triangle wave
' parameters P0 : freqency Hz
'            P1 : V lowest
'            P2 : V highest
'            P3 : Phase difference between CH0 and CH1.
'
' Mode3 : Saw-tooth wave
' parameters P0 : freqency Hz
'            P1 : V lowest
'            P2 : V highest
'            P3 : Phase difference between CH0 and CH1.
'
'
' Mode4 : Arbitral wave (10 steps)
' parameters P0 : freqency Hz
'            SQN[10] : sequence N (word)
'            SQV[10] : sequence V (int)
'      Note: phase difference is used that set in Mode0-3.
'

Const Maxmode = 4
' Currentry support upto mode 4
' In future, will support mode 5 to 9,
' which support different setting of parameters to CH-2.
'
Rem Used ports
'--------------------------------------------------------------------------------
' PB0 : /SS3 to FPGA (for setting of Phase difference 10-bit)
' PB1 : Data WR CH select (CH1/CH0)
' PB2 : /SS to FPGA (DAC data RAM WR)
' PB3 : MOSI to FPGA
' PB4 : MISO (used for programing Mega168)
' PB5 : SCK to FPGA
' PB6 : WR address counter /clear
' PB7 : Pulse output /Start
' PC0-3 : LCD <B4>-<B7>
' PC4 : LCD E
' PC5 : LCD RS
' PD0 : Rotary encoder A
' PD1 : Rotary encoder B
' PD2 : SW1 (1=Push), INT0
' PD3 : SW2 (1=Push), INT1
' PD4 : SW3 (1=Push), T0
' PD5 : SW4 (1=Push), T0
' PD6 : /SS2 to FPGA (for 32-bit Phase data out)
' PD7 : LED1 Red (1=emit)
'--------------------------------------------------------------------------------

$regfile = "m328pdef.dat"
$crystal = 8000000                                          ' 8MHz int. clock

$hwstack = 128                                              ' Sufficient HardWare Stack for multiple interrupts etc.
$swstack = 128                                               ' used in multiple GOSUB nest.
$framesize = 64



Const Dly1 = 300                                            ' LED brink wait [ms]

Const Dpoint = 1024                                         ' data point
Const Dpoint2 = 512                                         ' half of Dpoint

Const Lf0 = 100000000
Const Fd = 4294967296                                       ' 32-bit long max value



Rem   Liquid Crystal Display (LCD) pin number definition

Config Lcdpin = Pin , Db4 = Portc.0 , Db5 = Portc.1 , Db6 = Portc.2 , Db7 = Portc.3
Config Lcdpin = Pin , E = Portc.4 , Rs = Portc.5
Config Lcd = 16 * 2


Rem   I/O port pin number definitions

Config Portb.0 = Output                                     ' /SS3
Config Portb.1 = Output                                     ' WR CH sel
Config Portb.2 = Output                                     ' /SS
'Config Portb.3 = Output                                     ' MOSI
'Config Portb.5 = Output                                     ' SCK
Ssn3 Alias Portb.0
Wr_ch Alias Portb.1
Ssn Alias Portb.2

Config Portd.7 = Output                                     ' LED1
Led1 Alias Portd.7

Config Portd.2 = Input                                      ' /SW1, Int0
Config Portd.3 = Input                                      ' /SW2, Int1
Config Portd.4 = Input                                      ' /SW3, T0
Config Portd.5 = Input                                      ' /SW4

Sw1 Alias Pind.2
Sw2 Alias Pind.3
Sw3 Alias Pind.4
Sw4 Alias Pind.5

Config Portd.0 = Input                                      ' Rotary encoder A pin
Config Portd.1 = Input                                      ' Rotary encoder B pin

Config Portb.6 = Output                                     ' WR counter /clear
Config Portb.7 = Output                                     ' /Start
Config Portd.6 = Output                                     ' /SS2
Wc_clrn Alias Portb.6
Startn Alias Portb.7
Ssn2 Alias Portd.6



Rem type definition of variables

Dim I As Word , J As Word , K As Word , I2 As Word
Dim M As Word , N As Word                                   ' Read count for sine table
Dim X As Single , Y As Single , Z As Single

Dim D As Integer , D1 As Integer , D2 As Integer

Dim Sw1f As Bit , Sw2f As Bit , Sw4f As Bit                 ' SW flags
Dim Sw3f As Byte

Dim F As Single , F0 As Single , F2 As Single               ' frequency
Dim Delta As Single
Dim Digit As Byte
Dim Fflag As Byte , Fcount As Byte

Dim Opmode As Byte                                          ' mode

Dim V As Single , Vlow As Single , Vhigh As Single
Dim Vtemp As Single

Dim Lng As Long
Dim Lhword As Integer At Lng + 2 Overlay

Dim Vdelta As Single
Dim Lvdelta As Long

Dim Lng2 As Long                                            ' for working
Dim Lhword2 As Integer At Lng2 + 2 Overlay

Dim Hbyte As Byte At Lng2 + 3 Overlay
Dim Hmbyte As Byte At Lng2 + 2 Overlay
Dim Lmbyte As Byte At Lng2 + 1 Overlay
Dim Lbyte As Byte At Lng2 Overlay

Dim Sdao(4) As Byte

Dim Lvlow As Long
Dim Ivlow As Integer At Lvlow + 2 Overlay
Dim Lvhigh As Long
Dim Ivhigh As Integer At Lvhigh + 2 Overlay

Dim Voffset As Single , Vmag As Single                      ' for sin wave
Dim Lvoffset As Long , Lvmag As Long

Dim Lvunit As Long
Dim Svunit As Single
Dim Smunit As Single


Dim Dacch As Byte
Dim Dacdata As Integer
Dim Highbyte As Byte At Dacdata + 1 Overlay
' Dacdata higher byte
Dim Lowbyte As Byte At Dacdata Overlay
' Dacdata lower byte

Dim S As String * 20
Dim S2 As String * 20
Dim Cpos As Byte
Dim B As Byte , B2 As Byte

Dim Sqn(10) As Word                                         ' sequence N
Dim Sqv(10) As Integer                                      ' sequence V
Dim Sq As Word , Sqnn1 As Word , Sqnn2 As Word              ' sequence step
Dim Sqvv As Integer , Sqdelta As Integer
Dim Fsqvv As Single , Fsqdelta As Single
Dim Ivmin As Integer , Ivmax As Integer
Dim Sq2 As Byte

Dim Xf As Eram Single
Dim Xvlow As Eram Single
Dim Xvhigh As Eram Single

Dim Xsqn(10) As Eram Word
Dim Xsqv(10) As Eram Integer

Dim Phase As Integer
Dim Xphase As Eram Integer


Rem program start

Rem Port initialize

Reset Led1

Set Ssn                                                     ' reset SPI SEL
Set Ssn2
Set Ssn3
Set Startn
Set Wc_clrn


Config Spi = Hard , Interrupt = Off , Data Order = Msb , Master = Yes , Polarity = Low , Phase = 0 , Clockrate = 4 , Noss = 1

Spiinit


Rem initialize variables

Vlow = Xvlow
If Vlow < -20.1 Or Vlow > 19.51 Then
   Vlow = -20
   Xvlow = Vlow
End If

Vhigh = Xvhigh
V = Vlow + 0.49
If Vhigh > 20.1 Or Vhigh < -19.51 Then
   If Vhigh < V Then
      Vhigh = 20
      Xvhigh = Vhigh
   End If
End If

Digit = 1
Gosub Deltaset

F = Xf
If F <= 0 Or F > Maxfreq Then
   F = 1
   Xf = F
End If

Phase = Xphase
If Phase > 350 Or Phase < 0 Then
   Phase = 0
   Xphase = Phase
End If



Rem used variable set

' Hex value set

Lng = &H01FF_0000                                           ' 10-bit max
Z = Lng
Svunit = Z / 20
Lvunit = Svunit
' Lvunit corresponds to 1V Long Hex value
Smunit = Z
' magnify factor max unit

X = 20 * Svunit
Lng = X
Ivmax = Lhword                                              ' integer V max
X = -20 * Svunit
Lng = X
Ivmin = Lhword                                              ' integer V min

X = Vlow * Svunit
Lvlow = X
Lng2 = Lvlow
X = Vhigh * Svunit
Lvhigh = X


Rem initialize arbitral wave setting parameters


For I = 1 To 10
   K = Xsqn(i)
   If I = 1 Then
      If K <> 1 Then
         Sqn(i) = 1
         Xsqn(i) = 1
      End If
   Else

      If K > Dpoint Then
         K = Dpoint
         Xsqn(i) = K
      End If
      Sqn(i) = K

   End If

   D = Xsqv(i)
   If D > Ivmax Or D < Ivmin Then
      D = 0
      Xsqv(i) = D
   End If

   Sqv(i) = D
Next I

Sq = 1
Sqn(1) = 1
Sqn(10) = Dpoint
If Xsqn(10) <> Dpoint Then Xsqn(10) = Dpoint
Sq2 = 1


Rem flag initialize

Reset Sw1f
Reset Sw2f
Sw3f = 0
Reset Sw4f

Opmode = 0

'Ttemp = 0

Rem LCD initialize

Cls                                                         ' Clear LCD Screen
Cursor Off
Lcd "Coil driver F"                                         ' Character print to LCD
Lowerline                                                   ' move to lower line in LCD screen
Lcd "ver. 0.3 Start"

' LED test
' toggle the LED bits

Set Led1

For I = 1 To 8
    Toggle Led1                                             ' change bit 1/0
    Waitms Dly1                                             ' wait Dly1 ms
Next I

Reset Led1

Opmode = 0
Gosub Mdisp

Config Int0 = Rising                                        ' 1 to 0 rising edge makes interrupt
Config Int1 = Rising

On Int0 I0_intsub                                           ' Interrupt subroutine definition
On Int1 I1_intsub                                           ' Interrupt subroutine definition


Enable Int0
Enable Int1


Gosub Fchange                                               ' set FPGA_phase (frequency)
Gosub Vchange                                               ' set volt parameters
Gosub Pchange                                               ' set Phase difference between CH0 & 1

Enable Interrupts


' SW1 = Mode set
' SW2 = Signal output ON/OFF
' SW3 = Parameter set change
' SW4 = digit change
' If rotate rotary encoder, change frequency or parameters

Do
   B = Encoder(pind.0 , Pind.1 , Rencl , Rencr , 0)         ' rotary encoder sense

   If Sw3 = 1 Then
      Incr Sw3f
      If Opmode < 4 Then
         If Sw3f > 3 Then
            Sw3f = 0
         End If
      Else
         If Sw3f > 3 Then
            Sw3f = 0
         End If
      End If

      Select Case Opmode

         Case 0 To 3:

            Select Case Sw3f

               Case 0:
                  Locate 2 , 1
                  Lcd " ";
                  Gosub Fdisp

               Case 1:
                  Locate 2 , 1
                  Lcd "*";
                  Gosub Vldisp

               Case 2:
                  Locate 2 , 1
                  Lcd "*";
                  Gosub Vhdisp

               Case 3:
                  Locate 2 , 1
                  Lcd "*";
                  Gosub Delta_pdisp

            End Select

         Case 4:

            Select Case Sw3f
               Case 0:
                  Locate 2 , 1
                  Lcd " ";
                  Gosub Fdisp

               Case 1 To 3:
                  Gosub Sqdisp

            End Select

      End Select

      Bitwait Sw3 , Reset                                   ' wait SW3 release

   End If

   If Sw4 = 1 Then
      Gosub Change_digit
      Gosub Deltaset
      Gosub Fdisp
      Bitwait Sw4 , Reset                                   ' wait SW4 release
   End If

Loop

Rem Subroutines


Rem rotary encoder Left

Rencl:

    If B <> &B00 Then Return

    If Sw2f = 1 Then Disable Interrupts

    Select Case Sw3f

       Case 0:
         F0 = F
         F = F - Delta
         If F < 0.01 Then
            F = F0
         Else
            Gosub Fdisp
            Gosub Fchange
         End If
         Xf = F

       Case 1:
         If Opmode < 4 Then

            Vlow = Vlow - 1
            If Vlow < -20.1 Then
               Vlow = -20
            Else
               Gosub Vldisp
               Gosub Vchange
               Xvlow = Vlow
            End If

         Else
            If Opmode = 4 Then
               Sq2 = Sq2 - 1
               If Sq2 < 1 Then Sq2 = 1
               Gosub Sqdisp
            End If


         End If


       Case 2:
         If Opmode <> 4 Then

            Vtemp = Vhigh
            Vhigh = Vhigh - 1
            V = Vlow + 1
            If Vhigh < V Then
               Vhigh = Vtemp
            Else
               Gosub Vhdisp
               Gosub Vchange
               Xvhigh = Vhigh
            End If

         Else
            If Sq2 <> 1 Then
               K = Sqn(sq2)
               M = Sq2 - 1
               J = Sqn(m)
               If K = Dpoint Then K = K - 4 Else K = K - 10
               If K > M Then
                  Sqn(sq2) = K
                  Xsqn(sq2) = K
               End If
               Gosub Sqdisp
            End If

         End If

       Case 3:
         If Opmode = 4 Then
            Lng = 0
            Lhword = Sqv(sq2)
            X = Lng
            X = X / Svunit
            X = X - 1
            X = Round(x)

            If X > -20.1 Then
               X = X * Svunit
               Lng = X
               Sqv(sq2) = Lhword
               Xsqv(sq2) = Lhword
            End If

            Gosub Sqdisp

         Else

            Phase = Phase - 10
            If Phase < 0 Then Phase = 350

            Xphase = Phase
            Gosub Delta_pdisp
            Gosub Pchange

         End If


    End Select
      ' end of Select Case Sw3f

    If Sw2f = 1 Then Enable Interrupts

Return

Rem rotary encoder Right

Rencr:
    If B <> &B10 Then Return

    If Sw2f = 1 Then Disable Interrupts

    Select Case Sw3f
       Case 0:
         F0 = F
         F = F + Delta
         If F > Maxfreq Then
            F = F0
         Else
            Gosub Fdisp
            Gosub Fchange
         End If
         Xf = F

       Case 1:
         If Opmode <> 4 Then
            Vtemp = Vlow
            V = Vhigh - 1
            Vlow = Vlow + 1
            If Vlow < V Then
               If Vlow > 19.01 Then
                  Vlow = 19.0
               End If
               Gosub Vldisp
               Gosub Vchange
               Xvlow = Vlow
            Else
               Vlow = Vtemp
            End If

         Else
            Sq2 = Sq2 + 1
            If Sq2 > 10 Then Sq2 = 10
            Gosub Sqdisp

         End If

       Case 2:
         If Opmode <> 4 Then
            Vtemp = Vhigh
            Vhigh = Vhigh + 1
            If Vhigh > 20.01 Then
               Vhigh = Vtemp
            Else
               Gosub Vhdisp
               Gosub Vchange
               Xvhigh = Vhigh
            End If

         Else
            If Sq2 <> 1 Then
               K = Sqn(sq2)
               M = Sq2 - 1
               J = Sqn(m)
               K = K + 10
               If K > Dpoint Then
                  K = Dpoint
                  Sqn(sq2) = K
               Else
                  If K > M Then
                     Sqn(sq2) = K
                     Xsqn(sq2) = K
                  End If
               End If

               Gosub Sqdisp
            End If

         End If

       Case 3:
         If Opmode = 4 Then
            Lng = 0
            Lhword = Sqv(sq2)
            X = Lng
            X = X / Svunit
            X = X + 1
            X = Round(x)
            If X < 20.1 Then
               X = X * Svunit
               Lng = X
               Sqv(sq2) = Lhword
               Xsqv(sq2) = Lhword
            End If

            Gosub Sqdisp

          Else
             Phase = Phase + 10
             If Phase > 350 Then Phase = 0
             Xphase = Phase
             Gosub Delta_pdisp
             Gosub Pchange

          End If

       End Select
      ' end of Select Case Sw3f

    If Sw2f = 1 Then Enable Interrupts

Return



Rem digit change

Change_digit:
    Incr Digit
    If Digit > 5 Then Digit = 0
Return


Rem delta set
Rem Digit -> Delta

Deltaset:
   Select Case Digit
      Case 0 : Delta = 0.1
      Case 1 : Delta = 1
      Case 2 : Delta = 10
      Case 3 : Delta = 100
      Case 4 : Delta = 1000
      Case 5 : Delta = 10000
   End Select

Return

Fdisp:
   S2 = Fusing(f , "#####.#")
   S = Format(s2 , "0000000")
   S = S + "Hz "
   Locate 1 , 5
   Lcd S;

   Select Case Phase
      Case 0:
         S = ":I"                                           ' In-phase out
      Case 1:
         S = ":O"                                           ' Out-phase out
      Case 2:
         S = ":1"                                           ' CH-1 only
      Case 3:
         S = ":2"                                           ' CH-2 only
      Case 4:
         S = ":A"                                           ' Arbitral phase difference
   End Select
   Lcd S;

   Cpos = 10 - Digit
   If Digit = 0 Then Incr Cpos
   Cursor Off
   Cursor On
   Locate 1 , Cpos

Return

' V low display

Vldisp:
   S2 = Fusing(vlow , "###.#")
   S = "V low = " + S2
   S = S + "V  "
   If Sw3f <> 0 Then S = "*" + S Else S = " " + S

   Locate 2 , 1
   Lcd S

Return

' V high display

Vhdisp:
   S2 = Fusing(vhigh , "###.#")
   S = "Vhigh = " + S2
   S = S + "V  "
   If Sw3f <> 0 Then S = "*" + S Else S = " " + S

   Locate 2 , 1
   Lcd S

Return

' Sequence pattern display

Sqdisp:
   Locate 2 , 1

   If Sw3f = 1 Then
      Lcd "*";
   Else
      Lcd " ";
   End If

   Lcd Sq2 ; ":";

   If Sw3f = 2 Then
      Lcd "*";
   Else
      Lcd " ";
   End If

   K = Sqn(sq2)
   Lcd K;

   If Sw3f = 3 Then
      Lcd ",*";
   Else
      Lcd ", ";
   End If

   Lng = 0
   Lhword = Sqv(sq2)
   X = Lng
   X = X / Svunit
   S2 = Fusing(x , "###.#")
   S2 = S2 + "  "
   Lcd S2

Return

' Phase difference display

Delta_pdisp:
   S2 = Str(phase)
   S = "Phase Dif = " + S2
   S = S + "  "
   If Sw3f <> 0 Then S = "*" + S Else S = " " + S

   Locate 2 , 1
   Lcd S

Return


Rem mode display

Mdisp:

   Cls
   Upperline

   Select Case Opmode
      Case 0:
         Lcd "Sin "

      Case 1:
         Lcd "Sqr "

      Case 2:
         Lcd "Tri "

      Case 3:
         Lcd "Saw "

      Case 4:
         Lcd "Arb "

   End Select

   If Opmode < 4 Then
      Gosub Vldisp
   Else
      Gosub Sqdisp

   End If

   Gosub Fdisp

Return

Rem F change

Fchange:
   F2 = F / Lf0
   F2 = F2 * Fd
   Lng2 = F2
   Sdao(1) = Hbyte
   Sdao(2) = Hmbyte
   Sdao(3) = Lmbyte
   Sdao(4) = Lbyte

   If Sw2f = 1 Then Set Startn
   Reset Ssn2
   Spiout Sdao(1) , 4                                       ' FPGA frequency phase
   Set Ssn2
   If Sw2f = 1 Then Reset Startn
Return


Rem V change

Vchange:
      Select Case Opmode
         Case 0 :
         ' sin wave
            X = Vhigh - Vlow
            X = X / 40                                      ' mag. factor
            X = X * Smunit                                  ' normalize factor
            Lng = X
            Lvmag = Lng / &H200
            ' convert to fractional of 10-bit

            X = Vhigh + Vlow
            X = X / 2
            X = X * Svunit
            Lvoffset = X
            ' offset

         Case 1
         ' square wave:
            X = Vlow * Svunit
            Lvlow = X
            X = Vhigh * Svunit
            Lvhigh = X

         Case 2:
         ' triangle wave
            X = Vlow * Svunit
            Lvlow = X
            X = Vhigh * Svunit
            Lvhigh = X

            Vdelta = Vhigh - Vlow
            Vdelta = Vdelta / 512
            X = Vdelta * Svunit
            Lvdelta = X

         Case 3 :
         ' saw-tooth wave
            X = Vlow * Svunit
            Lvlow = X
            X = Vhigh * Svunit
            Lvhigh = X

            Vdelta = Vhigh - Vlow
            Vdelta = Vdelta / Dpoint

            X = Vdelta * Svunit
            Lvdelta = X

'         Case 4 :
         ' arbitral wave
         ' does not change voltage in Opmode4

      End Select

      If Opmode < 4 Then
         If Sw2f = 1 Then
            Gosub Wr_fpga
         End If
      End If

Return


Rem data write to FPGA

Wr_fpga:

   Select Case Opmode
      Case 0:
      ' mode0 = sin wave

         Reset Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Restore Tsine

         For I = 1 To Dpoint
             If I = Dpoint2 Then Restore Tsine

             Read D
             If I >= Dpoint2 Then D = -d

             Lng2 = D
             Lng2 = Lng2 * Lvmag
             Lng2 = Lng2 + Lvoffset
             Lng2 = Lng2 + &H8000                           ' 4sya-5nyu
             Gosub Wrdata
         Next I

         Set Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Restore Tsine

         For I = 1 To Dpoint
             If I = Dpoint2 Then Restore Tsine

             Read D
             If I >= Dpoint2 Then D = -d

             Lng2 = D
             Lng2 = Lng2 * Lvmag
             Lng2 = Lng2 + Lvoffset
             Lng2 = Lng2 + &H8000                           ' 4sya-5nyu
             Gosub Wrdata

         Next I


      Case 1:
      ' mode1 = square wave

         Reset Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         For I = 1 To Dpoint
             If I <= 512 Then
                Lhword2 = Ivlow
             Else
                Lhword2 = Ivhigh
             End If

             Gosub Wrdata

         Next I

         Set Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         For I = 1 To Dpoint
             If I <= 512 Then
                Lhword2 = Ivlow
             Else
                Lhword2 = Ivhigh
             End If

             Gosub Wrdata

         Next I


      Case 2:
      ' mode2 = triangle wave

         Reset Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Lng2 = Lvlow

         For I = 1 To Dpoint
             Gosub Wrdata

             If I <= 512 Then
                 Lng2 = Lng2 + Lvdelta
             Else
                 Lng2 = Lng2 - Lvdelta
             End If

         Next I

         Set Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Lng2 = Lvlow

         For I = 1 To Dpoint
             Gosub Wrdata

             If I <= 512 Then
                  Lng2 = Lng2 + Lvdelta
             Else
                  Lng2 = Lng2 - Lvdelta
             End If

         Next I


      Case 3:
      ' mode3 = saw-tooth wave

         Reset Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Lng2 = Lvlow

         For I = 1 To Dpoint
             Gosub Wrdata

             If I < Dpoint Then
                  Lng2 = Lng2 + Lvdelta
             Else
                  Lng2 = Lvlow
             End If

         Next I

         Set Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Lng2 = Lvlow

         For I = 1 To Dpoint
             Gosub Wrdata

             If I < Dpoint Then
                  Lng2 = Lng2 + Lvdelta
             Else
                  Lng2 = Lvlow
             End If

         Next I


      Case 4:
      ' mode4 = arbitral wave

         Reset Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Sq = 2
         Sqnn1 = 1
         Sqnn2 = Sqn(2)
         D1 = Sqv(1)
         D2 = Sqv(2)

         D = D2 - D1
         K = Sqnn2 - Sqnn1
         X = D
         Y = K
         Fsqdelta = X / Y
         Fsqvv = D1

         For I = 1 To Dpoint

               Lhword2 = Fsqvv
               Gosub Wrdata

               If I <= Sqnn2 Then
                  Fsqvv = Fsqvv + Fsqdelta
               Else
                  Sqnn1 = Sqn(sq)
                  D1 = Sqv(sq)
                  Sq = Sq + 1
                  Sqnn2 = Sqn(sq)
                  D2 = Sqv(sq)

                  D = D2 - D1
                  K = Sqnn2 - Sqnn1
                  X = D
                  Y = K
                  Fsqdelta = X / Y
                  Fsqvv = D1
               End If

         Next I

         Set Wr_ch

         Reset Wc_clrn
         Set Wc_clrn

         Sq = 2
         Sqnn1 = 1
         Sqnn2 = Sqn(2)
         D1 = Sqv(1)
         D2 = Sqv(2)

         D = D2 - D1
         K = Sqnn2 - Sqnn1
         X = D
         Y = K
         Fsqdelta = X / Y
         Fsqvv = D1

         For I = 1 To Dpoint

               Lhword2 = Fsqvv
               Gosub Wrdata

               If I <= Sqnn2 Then
                  Fsqvv = Fsqvv + Fsqdelta
               Else
                  Sqnn1 = Sqn(sq)
                  D1 = Sqv(sq)
                  Sq = Sq + 1
                  Sqnn2 = Sqn(sq)
                  D2 = Sqv(sq)

                  D = D2 - D1
                  K = Sqnn2 - Sqnn1
                  X = D
                  Y = K
                  Fsqdelta = X / Y
                  Fsqvv = D1
               End If

         Next I

      End Select

Return


Rem Write data to FPGA

Wrdata:
   Sdao(1) = Hbyte
   Sdao(2) = Hmbyte
   Sdao(1) = Sdao(1) + 2                                    ' 10-bit offset binary
   Reset Ssn
   Spiout Sdao(1) , 2
   Set Ssn

'   Bitwait Wrbusyn , Set
   Waitus 1

Return


Rem set Phase difference to FPGA

Pchange:
   X = Phase
   X = X / 360
   X = X * Dpoint
   Lng2 = X
   Sdao(1) = Lmbyte
   Sdao(2) = Lbyte
   Reset Ssn3
   Spiout Sdao(1) , 2
   Set Ssn3

Return


Rem Start pulse out

' Drive output

Drive:
   If Opmode <> 4 Then

      Gosub Vchange

   End If

   Gosub Wr_fpga
   Set Led1

   Reset Startn

Return

' Drive stop

Stop_drive:
   Set Startn
   Reset Led1
Return



Rem Interrupt subroutines

Rem SW1 INT0: mode change

I0_intsub:
   Reset Sw2f
   Gosub Stop_drive
   If Opmode = 4 Then Sw3f = 0
   Incr Opmode
   If Opmode > Maxmode Then
      Opmode = 0
   End If
   Sq2 = 1
   Gosub Mdisp
Return

Rem SW2 INT1: pulse out ON/OFF

I1_intsub:

   Toggle Sw2f
   If Sw2f = 1 Then
      Gosub Drive
   Else
      Gosub Stop_drive
   End If

I1_int20:

Return


End


Rem 1024 point 10-bit integer sine table (offset binary)
' store only theta = 0 to pi.
' In the area of pi to 2 pi, sine = - sine(0 to pi).

Tsine:
Data 0% , 3% , 6% , 9% , 12% , 15% , 18% , 21%
Data 25% , 28% , 31% , 34% , 37% , 40% , 43% , 46%
Data 50% , 53% , 56% , 59% , 62% , 65% , 68% , 71%
Data 74% , 78% , 81% , 84% , 87% , 90% , 93% , 96%
Data 99% , 102% , 105% , 108% , 111% , 115% , 118% , 121%
Data 124% , 127% , 130% , 133% , 136% , 139% , 142% , 145%
Data 148% , 151% , 154% , 157% , 160% , 163% , 166% , 169%
Data 172% , 175% , 178% , 180% , 183% , 186% , 189% , 192%
Data 195% , 198% , 201% , 204% , 207% , 209% , 212% , 215%
Data 218% , 221% , 224% , 226% , 229% , 232% , 235% , 238%
Data 240% , 243% , 246% , 249% , 251% , 254% , 257% , 260%
Data 262% , 265% , 268% , 270% , 273% , 276% , 278% , 281%
Data 283% , 286% , 289% , 291% , 294% , 296% , 299% , 301%
Data 304% , 306% , 309% , 311% , 314% , 316% , 319% , 321%
Data 324% , 326% , 328% , 331% , 333% , 336% , 338% , 340%
Data 343% , 345% , 347% , 350% , 352% , 354% , 356% , 359%
Data 361% , 363% , 365% , 367% , 370% , 372% , 374% , 376%
Data 378% , 380% , 382% , 384% , 386% , 388% , 391% , 393%
Data 395% , 396% , 398% , 400% , 402% , 404% , 406% , 408%
Data 410% , 412% , 414% , 415% , 417% , 419% , 421% , 423%
Data 424% , 426% , 428% , 430% , 431% , 433% , 435% , 436%
Data 438% , 439% , 441% , 443% , 444% , 446% , 447% , 449%
Data 450% , 452% , 453% , 455% , 456% , 457% , 459% , 460%
Data 461% , 463% , 464% , 465% , 467% , 468% , 469% , 470%
Data 472% , 473% , 474% , 475% , 476% , 477% , 478% , 480%
Data 481% , 482% , 483% , 484% , 485% , 486% , 487% , 488%
Data 488% , 489% , 490% , 491% , 492% , 493% , 494% , 494%
Data 495% , 496% , 497% , 497% , 498% , 499% , 499% , 500%
Data 501% , 501% , 502% , 502% , 503% , 504% , 504% , 504%
Data 505% , 505% , 506% , 506% , 507% , 507% , 507% , 508%
Data 508% , 508% , 509% , 509% , 509% , 509% , 510% , 510%
Data 510% , 510% , 510% , 510% , 510% , 510% , 510% , 510%
Data 511% , 510% , 510% , 510% , 510% , 510% , 510% , 510%
Data 510% , 510% , 510% , 509% , 509% , 509% , 509% , 508%
Data 508% , 508% , 507% , 507% , 507% , 506% , 506% , 505%
Data 505% , 504% , 504% , 504% , 503% , 502% , 502% , 501%
Data 501% , 500% , 499% , 499% , 498% , 497% , 497% , 496%
Data 495% , 494% , 494% , 493% , 492% , 491% , 490% , 489%
Data 488% , 488% , 487% , 486% , 485% , 484% , 483% , 482%
Data 481% , 480% , 478% , 477% , 476% , 475% , 474% , 473%
Data 472% , 470% , 469% , 468% , 467% , 465% , 464% , 463%
Data 461% , 460% , 459% , 457% , 456% , 455% , 453% , 452%
Data 450% , 449% , 447% , 446% , 444% , 443% , 441% , 439%
Data 438% , 436% , 435% , 433% , 431% , 430% , 428% , 426%
Data 424% , 423% , 421% , 419% , 417% , 415% , 414% , 412%
Data 410% , 408% , 406% , 404% , 402% , 400% , 398% , 396%
Data 395% , 393% , 391% , 388% , 386% , 384% , 382% , 380%
Data 378% , 376% , 374% , 372% , 370% , 367% , 365% , 363%
Data 361% , 359% , 356% , 354% , 352% , 350% , 347% , 345%
Data 343% , 340% , 338% , 336% , 333% , 331% , 328% , 326%
Data 324% , 321% , 319% , 316% , 314% , 311% , 309% , 306%
Data 304% , 301% , 299% , 296% , 294% , 291% , 289% , 286%
Data 283% , 281% , 278% , 276% , 273% , 270% , 268% , 265%
Data 262% , 260% , 257% , 254% , 251% , 249% , 246% , 243%
Data 240% , 238% , 235% , 232% , 229% , 226% , 224% , 221%
Data 218% , 215% , 212% , 209% , 207% , 204% , 201% , 198%
Data 195% , 192% , 189% , 186% , 183% , 180% , 178% , 175%
Data 172% , 169% , 166% , 163% , 160% , 157% , 154% , 151%
Data 148% , 145% , 142% , 139% , 136% , 133% , 130% , 127%
Data 124% , 121% , 118% , 115% , 111% , 108% , 105% , 102%
Data 99% , 96% , 93% , 90% , 87% , 84% , 81% , 78%
Data 74% , 71% , 68% , 65% , 62% , 59% , 56% , 53%
Data 50% , 46% , 43% , 40% , 37% , 34% , 31% , 28%
Data 25% , 21% , 18% , 15% , 12% , 9% , 6% , 3%
Data 0%

Rem table end