'18f4431 8MHz SLAVE QEI SPI 120719 0800w Define CONFIG1L = 0x00 Define CONFIG1H = 0x08 'INT OSC Define CONFIG2L = 0x0c Define CONFIG2H = 0x20 Define CONFIG3L = 0x04 Define CONFIG3H = 0x80 Define CONFIG4L = 0x80 'Set for HVP Define CONFIG4H = 0x00 Define CONFIG5L = 0x0f Define CONFIG5H = 0xc0 Define CONFIG6L = 0x0f Define CONFIG6H = 0xe0 Define CONFIG7L = 0x0f Define CONFIG7H = 0x40 Define CLOCK_FREQUENCY = 8 Define SINGLE_DECIMAL_PLACES = 2 'Define SIMULATION_WAITMS_VALUE = 1 'else 0 for PIC '------------------------------------------------------------- SLAVE: Dim azi As Word Dim azilb As Byte Dim azihb As Byte azilb = 1 azihb = 2 '---------------------------------------------------------------- OSCCON = %01110010 'internal 8Mhz clock ANSEL0 = %00000000 ANSEL1 = %00000000 TRISA = %11011100 'IN 4QEA-3QEA-2IND TRISB = %00000000 TRISC = %01000000 '6=SLAVE SS TRISD = %00001100 '6=led-7=led 3=SCKIN 2=SDI Symbol rled = PORTD.6 Symbol yled = PORTD.7 Symbol slavess = PORTC.6 start: yled = 1 WaitMs 1000 yled = 0 WaitMs 1000 QEICON = %00011011 'QEI enabled in 4x Update mode; position TIME is reset on period match (POSCNT = MAXCNT IPR3.IC2QEIP = 1 'high pri intr QEI Interrupt priority bit PIE3.IC2QEIE = 1 'qei intr enb QEI Interrupt flag eneble bit PIR3.IC2QEIF = 0 'Has reached the MAXCNT value, INT QEI MODULE Interrupt flag bit PIR3.IC3DRIF = 0 'clr in s/w REG file motion feedback filter(NOT USED)??????????? CAP2BUFL = 0x00 'POSCNT from quad signals, preload L0000 CAP2BUFH = 0x00 'POSCNT from quad signals, preload H0000 CAP3BUFL = 0x67 '359L' 0xfd '###MAXCNT, preload with [3581 Gbox correction] degrees [actual 359deg] CAP3BUFH = 0x01 '359H' 0x0d '###MAXCNT, preload with ???? degrees [actual ???deg] WaitUs 100 Hseropen 9600 WaitMs 100 'SPI SSPCON = %00100100 'SPI Control register 5=1 = Enables serial port and configures SCK, S= SPI Slave mode, Clock = SCK pin, SS pin control enabledDO and SDI as serial port pins. <3-0> SSPSTAT = %00000000 'TEST get_count: Toggle rled azi.LB = CAP2BUFL 'azi.LB =...Not sure what goes here azi.HB = CAP2BUFH 'azi.HB =... While SSPBUF = 0 Wend If SSPBUF = azilb Then SSPBUF = azi.LB Else If SSPBUF = azihb Then SSPBUF = azi.HB Endif Endif WaitMs 100 Hserout "4431AZILB=", #azi.LB, " ", "4431AZIHB=", #azi.HB, CrLf '(<