From de7143887d31a393ac326681eb7359be71b2d2a9 Mon Sep 17 00:00:00 2001
From: Tristan Krause <tristan.krause@stud.htwk-leipzig.de>
Date: Wed, 3 Apr 2019 08:40:14 +0200
Subject: [PATCH] make it volatile

---
 driver/drv/b15f.cpp      |  19 +-
 driver/drv/b15f.h        |   2 +-
 driver/drv/b15f.o        | Bin 31512 -> 31528 bytes
 driver/drv/usart.h       |   2 +-
 driver/gnuplotscript.gp  |  38 +--
 driver/main              | Bin 65928 -> 65928 bytes
 driver/main.cpp          |  21 +-
 driver/main.o            | Bin 16720 -> 16552 bytes
 driver/test_plot         | Bin 1080 -> 37120 bytes
 firmware/B15F.elf        | Bin 16112 -> 16172 bytes
 firmware/B15F.hex        | 502 ++++++++++++++++++++-------------------
 firmware/adu.cpp         |   4 +-
 firmware/adu.h           |   4 +-
 firmware/global_vars.cpp |  10 +-
 firmware/global_vars.h   |   6 +-
 firmware/main.cpp        |  20 +-
 firmware/mcp23s17.cpp    |  14 +-
 firmware/mcp23s17.h      |  33 +--
 firmware/requests.cpp    |  26 +-
 firmware/selftest.cpp    |  20 +-
 firmware/spi.cpp         |   6 +-
 firmware/spi.h           |   6 +-
 firmware/tlc5615.cpp     |   4 +-
 firmware/tlc5615.h       |   6 +-
 firmware/usart.cpp       |   2 +-
 25 files changed, 368 insertions(+), 377 deletions(-)

diff --git a/driver/drv/b15f.cpp b/driver/drv/b15f.cpp
index 1130b0b..78ad9ac 100644
--- a/driver/drv/b15f.cpp
+++ b/driver/drv/b15f.cpp
@@ -136,13 +136,12 @@ std::vector<std::string> B15F::getBoardInfo(void)
 	while(n--)
 	{
 		uint8_t len = usart.readByte();
-		std::cout << (int) len << std::endl;		
 		std::string str;
 				
-		while(len--)
+		while(len--) {
 			str += static_cast<char>(usart.readByte());
-			
-		std::cout << str << std::endl;
+		}
+		
 		info.push_back(str);
 	}
 	
@@ -215,7 +214,7 @@ uint16_t B15F::analogRead(uint8_t channel)
 	return usart.readInt();
 }
 
-bool B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
+void B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
 {
 	buffer_a += offset_a;
 	buffer_b += offset_b;
@@ -239,13 +238,15 @@ bool B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset
 	{
 		buffer_a[i] = usart.readInt();
 		buffer_b[i] = usart.readInt();
+		if(buffer_a[i] > 1023 || buffer_b[i] > 1023)
+			std::cout << PRE << "bad data detected" << std::endl;
 	}
 	
 	uint8_t aw = usart.readByte();		
-	if(aw == MSG_OK)
-		return aw;
-		
-	throw DriverException("Sequenz unterbrochen");
+	if(aw != MSG_OK)		
+		throw DriverException("Sequenz unterbrochen");
+	
+	delay_us(1);
 }
 
 void B15F::delay_ms(uint16_t ms)
diff --git a/driver/drv/b15f.h b/driver/drv/b15f.h
index 8b1b465..6bcf7fc 100644
--- a/driver/drv/b15f.h
+++ b/driver/drv/b15f.h
@@ -162,7 +162,7 @@ public:
 	 * \param count Anzahl an Inkrementierungen
 	 * \throws DriverException
 	 */
-	bool analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count);
+	void analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count);
 	
 	/*************************/
 
diff --git a/driver/drv/b15f.o b/driver/drv/b15f.o
index 31747e13933dda0da3ab7896c5d1bfb3fa6975b7..a6377d654c741023bd88db829282f6b4dab588a7 100644
GIT binary patch
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diff --git a/driver/drv/usart.h b/driver/drv/usart.h
index 1659316..c4bba52 100644
--- a/driver/drv/usart.h
+++ b/driver/drv/usart.h
@@ -132,7 +132,7 @@ private:
 	int file_desc = -1; // Linux Dateideskriptor
 	uint32_t baudrate = 9600;
 	int TEST = 0;
-	uint8_t timeout = 10; // in Dezisekunden
+	uint8_t timeout = 5; // in Dezisekunden
 	uint8_t block_buffer[MAX_BLOCK_SIZE + 3];
 	
 	// debug statistics
diff --git a/driver/gnuplotscript.gp b/driver/gnuplotscript.gp
index 752e2b8..6bdaed1 100644
--- a/driver/gnuplotscript.gp
+++ b/driver/gnuplotscript.gp
@@ -2,35 +2,19 @@ set margin 10,10
 unset key
 set grid
 set title ''
-set xlabel 'U_{GS} [V]'
+set xlabel 'U_{DS} [V]'
 set ylabel 'I_D [mA]'
-set xrange [5:0]
-set x2range [5:0]
-set y2range [0:50]
+set xrange [0:5]
 set yrange [0:50]
-set label at 2,36 'U_{DS} [V] = 300' right
-set label at 2,33 'U_{DS} [V] = 325' right
-set label at 2,21 'U_{DS} [V] = 350' right
-set label at 2,38 'U_{DS} [V] = 375' right
-set label at 2,23 'U_{DS} [V] = 400' right
-set label at 2,23 'U_{DS} [V] = 425' right
-set label at 2,24 'U_{DS} [V] = 450' right
-set label at 2,24 'U_{DS} [V] = 475' right
-set label at 2,25 'U_{DS} [V] = 500' right
-set label at 2,5 'U_{DS} [V] = 525' right
-set label at 2,6 'U_{DS} [V] = 550' right
-set label at 2,13 'U_{DS} [V] = 575' right
-set label at 2,13 'U_{DS} [V] = 600' right
-set label at 2,13 'U_{DS} [V] = 625' right
-set label at 2,2 'U_{DS} [V] = 650' right
-set label at 2,2 'U_{DS} [V] = 675' right
-set label at 2,6 'U_{DS} [V] = 700' right
-set label at 2,2 'U_{DS} [V] = 725' right
-set label at 2,2 'U_{DS} [V] = 725' right
-set y2tics
-unset ytics
-set ytics format ''
+set label at 4,3 'U_{GS} [V] = 460' left
+set label at 4,7 'U_{GS} [V] = 480' left
+set label at 3,13 'U_{GS} [V] = 500' left
+set label at 2,22 'U_{GS} [V] = 520' left
+set label at 1,32 'U_{GS} [V] = 540' left
+set label at 0,38 'U_{GS} [V] = 560' left
+set label at 0,38 'U_{GS} [V] = 580' left
+set label at 0,38 'U_{GS} [V] = 600' left
 unset output 
 set terminal qt
 unset output
-plot "/tmp/tempfile1" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 300' w l,"/tmp/tempfile2" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 325' w l,"/tmp/tempfile3" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 350' w l,"/tmp/tempfile4" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 375' w l,"/tmp/tempfile5" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 400' w l,"/tmp/tempfile6" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 425' w l,"/tmp/tempfile7" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 450' w l,"/tmp/tempfile8" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 475' w l,"/tmp/tempfile9" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 500' w l,"/tmp/tempfile10" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 525' w l,"/tmp/tempfile11" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 550' w l,"/tmp/tempfile12" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 575' w l,"/tmp/tempfile13" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 600' w l,"/tmp/tempfile14" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 625' w l,"/tmp/tempfile15" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 650' w l,"/tmp/tempfile16" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 675' w l,"/tmp/tempfile17" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 700' w l,"/tmp/tempfile18" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 725' w l,"/tmp/tempfile19" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{DS} [V] = 750' w l
+plot "/tmp/tempfile0" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 440' w l,"/tmp/tempfile1" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 460' w l,"/tmp/tempfile2" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 480' w l,"/tmp/tempfile3" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 500' w l,"/tmp/tempfile4" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 520' w l,"/tmp/tempfile5" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 540' w l,"/tmp/tempfile6" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 560' w l,"/tmp/tempfile7" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 580' w l,"/tmp/tempfile8" using ($1*0.004888):($2*0.048876) binary format="%int16%int16" endian=big title 'U_{GS} [V] = 600' w l
diff --git a/driver/main b/driver/main
index 289cfc64e05f4c5ee3e1a7b5e36eb5cca2d9f708..f774480492c57e20dae986ec3c7b8be1cebe82b6 100755
GIT binary patch
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diff --git a/driver/main.cpp b/driver/main.cpp
index 320629e..f4f7d16 100644
--- a/driver/main.cpp
+++ b/driver/main.cpp
@@ -13,8 +13,8 @@ void kennlinieErsterQuadrant()
 	uint16_t ba[1024];
 	uint16_t bb[1024];
 	
-	const uint16_t sample_count = 100;
-	const uint16_t delta = 10;
+	const uint16_t sample_count = 1024;
+	const uint16_t delta = 1;
 	
 	const uint16_t u_gs_start = 440;
 	const uint16_t u_gs_delta = 20;
@@ -37,11 +37,11 @@ void kennlinieErsterQuadrant()
 		drv.analogWrite1(u_gs);
 		
 		drv.analogSequence(0, &ba[0], 0, 1, &bb[0], 0, 0, delta, sample_count);
-		drv.delay_ms(10);
-		drv.discard();
-		drv.delay_ms(10);
+		//drv.delay_ms(10);
+		//drv.discard();
+		//drv.delay_ms(10);
 		
-		for(uint16_t k = 0; k < sample_count+1; k++)
+		for(uint16_t k = 0; k < sample_count; k++)
 		{
 			uint16_t i_d = ba[k] - bb[k];
 			uint16_t u_ds = bb[k];
@@ -64,7 +64,7 @@ void kennlinieZweiterQuadrant()
 	uint16_t ba[1024];
 	uint16_t bb[1024];
 	
-	const uint16_t sample_count = 1000;
+	const uint16_t sample_count = 1024;
 	const uint16_t delta = 1;
 	
 	const uint16_t u_gs_start = 300;
@@ -91,9 +91,9 @@ void kennlinieZweiterQuadrant()
 		drv.analogSequence(0, &ba[0], 0, 1, &bb[0], 0, 0, delta, sample_count);
 		
 		curve = 0;
-		for(uint16_t k = 0; k < sample_count + 1; k++)
+		for(uint16_t k = 0; k < sample_count; k++)
 		{
-			if(ba[k] > bb[k] && bb[k] % 50 == 0 && bb[k] > 0)
+			if(ba[k] > bb[k] && bb[k] % 50 == 0 && bb[k] != 0)
 			{
 				uint16_t i_d = ba[k] - bb[k];
 				pf.addDot(Dot(u_gs, i_d, bb[k] / 50));
@@ -143,7 +143,8 @@ void testFunktionen()
 int main()
 {
 	
-	testFunktionen();
+	kennlinieZweiterQuadrant();
+	kennlinieErsterQuadrant();
 	
 	std::cout << "Schluss." << std::endl;
 }
diff --git a/driver/main.o b/driver/main.o
index d905bc5c9ed73dc14e09f34c8212fee093d1d834..551402bd3d66e8aa4f05f2aa90f1fa67135cbc9b 100644
GIT binary patch
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diff --git a/driver/test_plot b/driver/test_plot
index 9dbebdd9681e1add841d03d2452a51e976125eb2..aaca480b2056f7ed099a794213811702ed517feb 100644
GIT binary patch
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diff --git a/firmware/B15F.elf b/firmware/B15F.elf
index 36bfda57904dcfd16d92adcbe2a664d9f1ee5ac9..09771342b1952dc6ef2c740a857b8e526f71b183 100755
GIT binary patch
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diff --git a/firmware/B15F.hex b/firmware/B15F.hex
index 70a3efa..707add3 100644
--- a/firmware/B15F.hex
+++ b/firmware/B15F.hex
@@ -3,36 +3,36 @@
 :100020000C9489000C9489000C9489000C9489002C
 :100030000C9489000C9489000C9489000C9489001C
 :100040000C9489000C9489000C9489000C9489000C
-:100050000C9484080C9489000C94AE080C948900CC
+:100050000C949B080C9489000C94C5080C9489009E
 :100060000C9489000C9489000C9489000C948900EC
 :100070000C9489000C9489000C9489000C948900DC
 :100080000C9489000C9489000C948900FD000001F7
 :100090000301E900060109010C010F011201E7004B
-:1000A000FA00150142093F093C091A0939093609C4
-:1000B000330930092D0918092A094509480911246D
+:1000A000FA001501590956095309310950094D093A
+:1000B0004A09470944092F0941095C095F091124CC
 :1000C0001FBECFEFD0E4DEBFCDBF11E0A0E0B1E0B6
-:1000D000E2E0F3E100E00BBF02C007900D92AE3208
-:1000E000B107D9F722E0AEE2B1E001C01D92AB3218
+:1000D000E0E3F3E100E00BBF02C007900D92AE3207
+:1000E000B107D9F722E0AEE2B1E001C01D92AB3812
 :1000F000B207E1F710E0CFE5D0E004C02197FE01A0
-:100100000E947609CE35D107C9F70E94D8080C9411
-:100110007F090C9400008AE292E00E94190160E0DD
-:1001200087E292E00E945C016FEF87E292E00E941A
-:100130007D0160E084E292E00E945C016FEF84E266
-:1001400092E00E947D016FEF81E292E00E947D01CA
-:100150008AE192E00E9454028FE291E00E944C03F7
+:100100000E948D09CE35D107C9F70E94EF080C94E3
+:1001100096090C9400008AE892E00E94190160E0C0
+:1001200087E892E00E945C016FEF87E892E00E940E
+:100130007D0160E084E892E00E945C016FEF84E85A
+:1001400092E00E947D016FEF81E892E00E947D01C4
+:100150008AE792E00E9454028FE291E00E944C03F1
 :100160008FE291E00E946C03789484B7877F84BF0C
 :10017000109260000FB6F894A89580916000886195
 :1001800080936000109260000FBE0895CF9398E0B6
 :1001900088E10FB6F894A895809360000FBE909305
-:1001A0006000A8958FE291E00E94D504C82F682FC7
-:1001B00084E292E00E949E018C2F90E0FC01319736
-:1001C000EC30F10530F4EA5BFF4F0C9476090E94A5
-:1001D000E3078FE291E00E946C030FB6F894A895B4
+:1001A0006000A8958FE291E00E94E904C82F682FB3
+:1001B00084E892E00E949E018C2F90E0FC01319730
+:1001C000EC30F10530F4EA5BFF4F0C948D090E948E
+:1001D000FA078FE291E00E946C030FB6F894A8959D
 :1001E00080916000886180936000109260000FBE73
-:1001F000CF9108950E94F907ECCF0E942A07E9CF1A
-:100200000E944307E6CF0E946A07E3CF0E947F0760
-:10021000E0CF0E949507DDCF0E94AB07DACF0E94A6
-:10022000BC07D7CF0E94CD07D4CF0E940F08D1CFF3
+:1001F000CF9108950E941008ECCF0E944107E9CFEB
+:100200000E945A07E6CF0E948107E3CF0E9496071B
+:10021000E0CF0E94AC07DDCF0E94C207DACF0E9478
+:10022000D307D7CF0E94E407D4CF0E942608D1CFAE
 :10023000089584B1806B84B926988AB18C618AB99B
 :1002400080E58CBD81E08DBD8BB1837E8BB95A9AE0
 :100250005B9A5C9A08958BB1837E8BB98BB160FDFC
@@ -42,268 +42,270 @@
 :10029000892B8BB98BB162FFF0CF90E1892B8BB9A1
 :1002A00008956EBD0DB407FEFDCF8EB50895FC0117
 :1002B00071836083428308951F93CF93DF93EC0192
-:1002C000162F6A81888199810E942B0160E48881C0
-:1002D00099810E94510160E0888199810E945101B9
-:1002E000612F888199810E94510167E088819981FD
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+:1002D00060E40E9451018881998160E00E9451018F
+:1002E00088819981612F0E9451018881998167E0FD
 :1002F000DF91CF911F910C942B011F93CF93DF932C
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-:10031000888199810E94510161E0888199810E94C0
-:100320005101612F888199810E94510167E0888184
-:100330009981DF91CF911F910C942B011F93CF9343
+:10030000EC01162F6A81888199810E942B018881D6
+:10031000998160E40E9451018881998161E00E9485
+:10032000510188819981612F0E94510188819981B1
+:1003300067E0DF91CF911F910C942B011F93CF9316
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 :00000001FF
diff --git a/firmware/adu.cpp b/firmware/adu.cpp
index adabec2..d6eb119 100644
--- a/firmware/adu.cpp
+++ b/firmware/adu.cpp
@@ -1,6 +1,6 @@
 #include "adu.h"
 
-void ADU::init()
+void ADU::init() volatile
 {
 	// externe Referenz an AREF
 	ADMUX = 0;
@@ -9,7 +9,7 @@ void ADU::init()
 	ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
 }
 
-uint16_t ADU::getValue(uint8_t channel)
+uint16_t ADU::getValue(uint8_t channel) volatile
 {
 	// lege Kanal fest
 	ADMUX = (ADMUX & 0xE0) | channel;
diff --git a/firmware/adu.h b/firmware/adu.h
index ad4828e..8b63d59 100644
--- a/firmware/adu.h
+++ b/firmware/adu.h
@@ -8,8 +8,8 @@
 class ADU
 {
 public:
-	void init(void);
-	uint16_t getValue(uint8_t);
+	void init(void) volatile;
+	uint16_t getValue(uint8_t) volatile;
 };
 
 #endif // ADC_H
diff --git a/firmware/global_vars.cpp b/firmware/global_vars.cpp
index 2cd6483..1359c7e 100644
--- a/firmware/global_vars.cpp
+++ b/firmware/global_vars.cpp
@@ -1,11 +1,11 @@
 #include "global_vars.h"
 
 volatile SPI spi;
-volatile MCP23S17 beba0(*((SPI*) &spi), SPIADR::BEBA0);
-volatile MCP23S17 beba1(*((SPI*) &spi), SPIADR::BEBA1);
-volatile MCP23S17 sw(*((SPI*) &spi), SPIADR::SWITCH);
-volatile TLC5615 dac0(*((SPI*) &spi), SPIADR::AA0);
-volatile TLC5615 dac1(*((SPI*) &spi), SPIADR::AA1);
+volatile MCP23S17 dio0(spi, SPIADR::BEBA0);
+volatile MCP23S17 dio1(spi, SPIADR::BEBA1);
+volatile MCP23S17 dsw(spi, SPIADR::SWITCH);
+volatile TLC5615 dac0(spi, SPIADR::AA0);
+volatile TLC5615 dac1(spi, SPIADR::AA1);
 volatile ADU adu;
 volatile USART usart;
 volatile bool nextRequest = false;
diff --git a/firmware/global_vars.h b/firmware/global_vars.h
index 84929c5..60bab49 100644
--- a/firmware/global_vars.h
+++ b/firmware/global_vars.h
@@ -7,9 +7,9 @@
 #include "usart.h"
 
 extern volatile SPI spi;
-extern volatile MCP23S17 beba0;
-extern volatile MCP23S17 beba1;
-extern volatile MCP23S17 sw;
+extern volatile MCP23S17 dio0;
+extern volatile MCP23S17 dio1;
+extern volatile MCP23S17 dsw;
 extern volatile TLC5615 dac0;
 extern volatile TLC5615 dac1;
 extern volatile ADU adu;
diff --git a/firmware/main.cpp b/firmware/main.cpp
index e20e0e2..f8dcda3 100644
--- a/firmware/main.cpp
+++ b/firmware/main.cpp
@@ -11,15 +11,15 @@
 
 void initAll()
 {
-	((SPI*) &spi)->init();
+	spi.init();
 
-	((MCP23S17*) &beba0)->setDirA(0x00); // alle Ausgang
-	((MCP23S17*) &beba0)->setDirB(0xFF); // alle Eingang
-	((MCP23S17*) &beba1)->setDirA(0x00); // alle Ausgang
-	((MCP23S17*) &beba1)->setDirB(0xFF); // alle Eingang
-	((MCP23S17*) &sw)->setDirB(0xFF); // alle Eingang
+	dio0.setDirA(0x00); // alle Ausgang
+	dio0.setDirB(0xFF); // alle Eingang
+	dio1.setDirA(0x00); // alle Ausgang
+	dio1.setDirB(0xFF); // alle Eingang
+	dsw.setDirB(0xFF); // alle Eingang
 
-	((ADU*) &adu)->init();
+	adu.init();
 	usart.init();
 	usart.initRX();
 
@@ -39,7 +39,7 @@ void handleRequest()
 	wdt_reset();
 	
 	const uint8_t req = usart.readByte();
-	((MCP23S17*) &beba1)->writePortA(req);
+	dio1.writePortA(req);
 	
 	switch(req)
 	{
@@ -104,9 +104,9 @@ int main()
 	initAll();
 	
 	// Reset anzeigen
-	((MCP23S17*) &beba0)->writePortA(0xFF);
+	dio0.writePortA(0xFF);
 	_delay_ms(100);
-	((MCP23S17*) &beba0)->writePortA(0x00);
+	dio0.writePortA(0x00);
 
 	while(1)
 	{
diff --git a/firmware/mcp23s17.cpp b/firmware/mcp23s17.cpp
index 251ead8..18cfbe0 100644
--- a/firmware/mcp23s17.cpp
+++ b/firmware/mcp23s17.cpp
@@ -1,10 +1,10 @@
 #include "mcp23s17.h"
 
-MCP23S17::MCP23S17(SPI& spi, uint8_t adr) : spi(spi), adr(adr)
+MCP23S17::MCP23S17(volatile SPI& spi, uint8_t adr) : spi(spi), adr(adr)
 {
 }
 
-void MCP23S17::setDirA(uint8_t dir) const
+void MCP23S17::setDirA(uint8_t dir) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_WRITE);
@@ -13,7 +13,7 @@ void MCP23S17::setDirA(uint8_t dir) const
 	spi.setAdr(SPIADR::NONE);
 }
 
-void MCP23S17::setDirB(uint8_t dir) const
+void MCP23S17::setDirB(uint8_t dir) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_WRITE);
@@ -22,7 +22,7 @@ void MCP23S17::setDirB(uint8_t dir) const
 	spi.setAdr(SPIADR::NONE);
 }
 
-void MCP23S17::writePortA(uint8_t port) const
+void MCP23S17::writePortA(uint8_t port) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_WRITE);
@@ -31,7 +31,7 @@ void MCP23S17::writePortA(uint8_t port) const
 	spi.setAdr(SPIADR::NONE);
 }
 
-void MCP23S17::writePortB(uint8_t port) const
+void MCP23S17::writePortB(uint8_t port) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_WRITE);
@@ -40,7 +40,7 @@ void MCP23S17::writePortB(uint8_t port) const
 	spi.setAdr(SPIADR::NONE);
 }
 
-uint8_t MCP23S17::readPortA(void) const
+uint8_t MCP23S17::readPortA(void) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_READ);
@@ -50,7 +50,7 @@ uint8_t MCP23S17::readPortA(void) const
 	return port;
 }
 
-uint8_t MCP23S17::readPortB(void) const
+uint8_t MCP23S17::readPortB(void) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(MCP23S17_OPCODE | MCP23S17_READ);
diff --git a/firmware/mcp23s17.h b/firmware/mcp23s17.h
index 4179c0f..c25491a 100644
--- a/firmware/mcp23s17.h
+++ b/firmware/mcp23s17.h
@@ -3,28 +3,31 @@
 
 #include "spi.h"
 
-constexpr uint8_t MCP23S17_DIRA = 0x00;
-constexpr uint8_t MCP23S17_DIRB = 0x01;
-constexpr uint8_t MCP23S17_PORTA = 0x12;
-constexpr uint8_t MCP23S17_PORTB = 0x13;
-constexpr uint8_t MCP23S17_READ = 0x01;
-constexpr uint8_t MCP23S17_WRITE = 0x00;
-constexpr uint8_t MCP23S17_OPCODE = 0x40;
+
 
 class MCP23S17
 {
 public:
-	MCP23S17(SPI&, uint8_t);
-	void setDirA(uint8_t dir) const;
-	void setDirB(uint8_t dir) const;
-	void writePortA(uint8_t) const;
-	void writePortB(uint8_t) const;
-	uint8_t readPortA(void) const;
-	uint8_t readPortB(void) const;
+	MCP23S17(volatile SPI&, uint8_t);
+	void setDirA(uint8_t dir) const volatile;
+	void setDirB(uint8_t dir) const volatile;
+	void writePortA(uint8_t) const volatile;
+	void writePortB(uint8_t) const volatile;
+	uint8_t readPortA(void) const volatile;
+	uint8_t readPortB(void) const volatile;
 
 private:
-	SPI& spi; 
+	volatile SPI& spi; 
 	const uint8_t adr;
+
+	// constants
+	constexpr static uint8_t MCP23S17_DIRA = 0x00;
+	constexpr static uint8_t MCP23S17_DIRB = 0x01;
+	constexpr static uint8_t MCP23S17_PORTA = 0x12;
+	constexpr static uint8_t MCP23S17_PORTB = 0x13;
+	constexpr static uint8_t MCP23S17_READ = 0x01;
+	constexpr static uint8_t MCP23S17_WRITE = 0x00;
+	constexpr static uint8_t MCP23S17_OPCODE = 0x40;
 };
 
 #endif // MCP23S17_H
diff --git a/firmware/requests.cpp b/firmware/requests.cpp
index e3a2960..052b1c5 100644
--- a/firmware/requests.cpp
+++ b/firmware/requests.cpp
@@ -32,7 +32,7 @@ void rqDigitalWrite0()
 {
 	usart.initTX();
 	uint8_t port = usart.readByte();
-	((MCP23S17*) &beba0)->writePortA(port);
+	dio0.writePortA(port);
 
 	usart.writeByte(USART::MSG_OK);
 	usart.flush();
@@ -42,7 +42,7 @@ void rqDigitalWrite1()
 {
 	usart.initTX();
 	uint8_t port = usart.readByte();
-	((MCP23S17*) &beba1)->writePortA(port);
+	dio1.writePortA(port);
 
 	usart.writeByte(USART::MSG_OK);
 	usart.flush();
@@ -51,7 +51,7 @@ void rqDigitalWrite1()
 void rqDigitalRead0()
 {
 	usart.initTX();
-	uint8_t port = ((MCP23S17*) &beba0)->readPortB();
+	uint8_t port = dio0.readPortB();
 	usart.writeByte(port);
 	usart.flush();
 }
@@ -59,7 +59,7 @@ void rqDigitalRead0()
 void rqDigitalRead1()
 {
 	usart.initTX();
-	uint8_t port = ((MCP23S17*) &beba1)->readPortB();
+	uint8_t port = dio1.readPortB();
 	usart.writeByte(port);
 	usart.flush();
 }
@@ -68,7 +68,7 @@ void rqAnalogWrite0()
 {
 	usart.initTX();
 	uint16_t value = usart.readInt();
-	((TLC5615*) &dac0)->setValue(value);
+	dac0.setValue(value);
 
 	usart.writeByte(USART::MSG_OK);
 	usart.flush();
@@ -78,7 +78,7 @@ void rqAnalogWrite1()
 {
 	usart.initTX();
 	uint16_t value = usart.readInt();
-	((TLC5615*) &dac1)->setValue(value);
+	dac1.setValue(value);
 
 	usart.writeByte(USART::MSG_OK);
 	usart.flush();
@@ -88,7 +88,7 @@ void rqAnalogRead()
 {
 	usart.initTX();
 	uint8_t channel = usart.readByte();
-	uint16_t value = ((ADU*) &adu)->getValue(channel);
+	uint16_t value = adu.getValue(channel);
 	usart.writeInt(value);
 	usart.flush();
 }
@@ -105,15 +105,15 @@ void rqAdcDacStroke()
 	//usart.writeByte(USART::MSG_OK);
 	
 	count *= delta;
-	((MCP23S17*) &beba1)->writePortA(0xFF);
+	dio1.writePortA(0xFF);
 	
 	for(int16_t i = start; i < count; i += delta)
 	{
-		((TLC5615*) &dac0)->setValue(i);
+		dac0.setValue(i);
 		wdt_reset();
 
-		uint16_t val_a = ((ADU*) &adu)->getValue(channel_a);
-		uint16_t val_b = ((ADU*) &adu)->getValue(channel_b);
+		uint16_t val_a = adu.getValue(channel_a);
+		uint16_t val_b = adu.getValue(channel_b);
 		
 		usart.initTX();
 		usart.writeInt(val_a);
@@ -127,8 +127,8 @@ void rqAdcDacStroke()
 		};
 
 		union doubleword dw;
-		dw.word[0] = ((ADU*) &adu)->getValue(channel_a);
-		dw.word[1] = ((ADU*) &adu)->getValue(channel_b);
+		dw.word[0] = adu.getValue(channel_a);
+		dw.word[1] = adu.getValue(channel_b);
 		
 		uint8_t ret = 0;
 		do
diff --git a/firmware/selftest.cpp b/firmware/selftest.cpp
index c75a77d..5bb0680 100644
--- a/firmware/selftest.cpp
+++ b/firmware/selftest.cpp
@@ -13,7 +13,7 @@ void testBEBA0(void)
 {
 	for(uint8_t i = 0; i < 9; i++)
 	{
-		((MCP23S17*) &beba0)->writePortA(_BV(i));
+		dio0.writePortA(_BV(i));
 
 		if(i < 8)
 			_delay_ms(200);
@@ -24,7 +24,7 @@ void testBEBA1(void)
 {
 	for(uint8_t i = 0; i < 9; i++)
 	{
-		((MCP23S17*) &beba1)->writePortA(_BV(i));
+		dio1.writePortA(_BV(i));
 		
 		if(i < 8)
 			_delay_ms(200);
@@ -35,22 +35,22 @@ void testDAC0(void)
 {
 	for(uint16_t i = 0; i < 1024; i++)
 	{
-		((TLC5615*) &dac0)->setValue(i);
+		dac0.setValue(i);
 		_delay_ms(1);
 	}
 	_delay_ms(100);
-	((TLC5615*) &dac0)->setValue(0);
+	dac0.setValue(0);
 }
 
 void testDAC1(void)
 {
 	for(uint16_t i = 0; i < 1024; i++)
 	{
-		((TLC5615*) &dac1)->setValue(i);
+		dac1.setValue(i);
 		_delay_ms(1);
 	}
 	_delay_ms(100);
-	((TLC5615*) &dac1)->setValue(0);
+	dac1.setValue(0);
 }
 
 void testMirror()
@@ -61,9 +61,9 @@ void testMirror()
 	// Endlosschleife
 	while(1)
 	{
-		((TLC5615*) &dac0)->setValue(((ADU*) &adu)->getValue(0));
-		((TLC5615*) &dac1)->setValue(((ADU*) &adu)->getValue(1));
-		((MCP23S17*) &beba0)->writePortA(((MCP23S17*) &beba0)->readPortB());
-		((MCP23S17*) &beba1)->writePortA(((MCP23S17*) &sw)->readPortB());
+		dac0.setValue(adu.getValue(0));
+		dac1.setValue(adu.getValue(1));
+		dio0.writePortA(dio0.readPortB());
+		dio1.writePortA(dsw.readPortB());
 	}
 }
diff --git a/firmware/spi.cpp b/firmware/spi.cpp
index 699b8d8..3ab2b41 100644
--- a/firmware/spi.cpp
+++ b/firmware/spi.cpp
@@ -4,7 +4,7 @@ SPI::SPI(void)
 {
 }
 
-void SPI::init(void) const
+void SPI::init(void) const volatile
 {
 
 	// Konfiguriere SPI DDRs
@@ -23,7 +23,7 @@ void SPI::init(void) const
 	setAdr(SPIADR::NONE);
 }
 
-void SPI::setAdr(uint8_t adr) const
+void SPI::setAdr(uint8_t adr) const volatile
 {
 	PORTD &= ~(_BV(DMUX1) | _BV(DMUX2) | _BV(DMUX3));
 	PORTD |= (adr & 0x01) ? _BV(DMUX1) : 0;
@@ -31,7 +31,7 @@ void SPI::setAdr(uint8_t adr) const
 	PORTD |= (adr & 0x04) ? _BV(DMUX3) : 0;
 }
 
-uint8_t SPI::pushByte(uint8_t b) const
+uint8_t SPI::pushByte(uint8_t b) const volatile
 {
 	SPDR = b;
 	while(!(SPSR & _BV(SPIF)));
diff --git a/firmware/spi.h b/firmware/spi.h
index 4468c3e..13f1286 100644
--- a/firmware/spi.h
+++ b/firmware/spi.h
@@ -28,9 +28,9 @@ class SPI
 {
 public:
 	SPI(void);
-	void init(void) const;
-	void setAdr(uint8_t) const;
-	uint8_t pushByte(uint8_t) const;
+	void init(void) const volatile;
+	void setAdr(uint8_t) const volatile;
+	uint8_t pushByte(uint8_t) const volatile;
 
 };
 
diff --git a/firmware/tlc5615.cpp b/firmware/tlc5615.cpp
index 521bef0..1438cea 100644
--- a/firmware/tlc5615.cpp
+++ b/firmware/tlc5615.cpp
@@ -1,10 +1,10 @@
 #include "tlc5615.h"
 
-TLC5615::TLC5615(SPI& spi, uint8_t adr) : spi(spi), adr(adr)
+TLC5615::TLC5615(volatile SPI& spi, uint8_t adr) : spi(spi), adr(adr)
 {
 }
 
-void TLC5615::setValue(uint16_t val) const
+void TLC5615::setValue(uint16_t val) const volatile
 {
 	spi.setAdr(adr);
 	spi.pushByte(val >> 6);
diff --git a/firmware/tlc5615.h b/firmware/tlc5615.h
index 6709308..6194c8d 100644
--- a/firmware/tlc5615.h
+++ b/firmware/tlc5615.h
@@ -6,12 +6,12 @@
 class TLC5615
 {
 public:
-	TLC5615(SPI&, uint8_t);
-	void setValue(uint16_t) const;
+	TLC5615(volatile SPI&, uint8_t);
+	void setValue(uint16_t) const volatile;
 
 
 private:
-	SPI& spi;
+	volatile SPI& spi;
 	const uint8_t adr;
 };
 
diff --git a/firmware/usart.cpp b/firmware/usart.cpp
index 9057a92..49868da 100644
--- a/firmware/usart.cpp
+++ b/firmware/usart.cpp
@@ -56,7 +56,7 @@ void USART::handleRX(void) volatile
 
 void USART::handleTX(void) volatile
 {
-	((MCP23S17*) &beba0)->writePortA(send_pos);
+	dio0.writePortA(send_pos);
 	if(send_pos < send_len)
 	{
 		while (!(UCSR0A & (1<<UDRE0)));