I had a quick look at that today and it seems very inefficient,
Hi M,
Hi M,
'18F4431 32MHz XTL REMOTE SLAVE GPS SERVO 240223 0830
Define CONFIG1L = 0x00
Define CONFIG1H = 0x06 '8mHz XTL x4 =32mHz
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 = 32
Define SINGLE_DECIMAL_PLACES = 2
Define STRING_MAX_LENGTH = 20
'Define SEROUT_DELAYUS = 1000 '<<<<<<<<<<<<<<<<
'Define SIMULATION_WAITMS_VALUE = 1 'Comment in for SIM out for PIC
Dim wordTemp As Word
Dim servoCount As Byte
Dim i As Word
Dim servoPos(8) As Word
Dim servoDir(8) As Byte
Dim frame As Word
Dim buff(80) As Byte
Dim strCount As Byte
Dim rec As Byte
Dim isDone As Bit
Dim cnt As Byte
Dim outBuff(32) As Byte
Dim bitCount As Byte
Dim byteCount As Byte
Dim output As Word
Symbol rled = LATD.7 '<<<<<<<<<<<<<<<<
Symbol yled = PORTD.6 '<<<<<<<<<<<<<<
OSCCON = %01110000 '& h70
TRISA = %11000000 '7=OSC, 6=OSC,
TRISB = %0000000 '4=SEROUT'<<<<<<<<<<<<<<<
TRISC = %11111010 '6=1-slave4431_cs, 2=74HC164 CLK, 0=74HC164 DATA
TRISD = %00000000 '7=RLED 6=YLED'<<<<<<<<<<<<
'STARTUP LEDS <<<<<<<<<<<<<<<<<
rled = 1
yled = 1
WaitMs 1000
rled = 0
yled = 0
WaitMs 1000
LATC.0 = 0 'ensure data is low
LATC.2 = 0 'and clock
For i = 0 To 7
LATC.2 = 1 'send positive clock edge
servoPos(i) = i * 250 + 2000 '1ms(2000) to 1.875(1 7/8ths - 3750)ms in 1/8th mS steps
LATC.2 = 0 'send negative edge
servoDir(i) = i And 1 '<<<<<<<added
Next i
servoCount = 8 'cause it to reset
T1CON = %00100000 'prescaler = 4
T1CON.0 = 1 'start timer
CCP1CON = %1000 'will go high on interrupt - will start a 0.5mS pulse
frame = 1000 'start everything in 4000 cycles
strCount = 0
isDone = 0
'setup USART for 9600 baud receive
RCSTA = %10010000
TXSTA.BRGH = 1
BAUDCON.BRG16 = 1
SPBRG = 207
PIR1.RCIF = 0
PIE1.RCIE = 1
PIE1.CCP1IE = 1
'setup 1mS interrupt = 8,000,000/16 = 500,000/10 = 50,000 set PR2=49 = 50,000/50 = 1000 = 1mS
T2CON = %01001110 '& h4e
PR2 = 49 'This is timer 2 period register. I.E. reset after 50 clocks (0 to 49 = 50 counts)
PIE1.TMR2IE = 1 'timer 2 interrupts enable
'setup timer 5 to generate (CCP2) interrupts to enable 9600 baud transmission
T5CON=1 'timer 5 counts at 8MHz
CCP2CON=%1011 'special event trigger
PIR2.CCP2IF=0 'ensure IF is clear
CCPR2H=3 'CCPR2 (word) = 0x341 = decimal 833 = 8,000,000/9600
CCPR2L=0x41
'make a string that contains "$= ", #buff(0), " ", #buff(1), " ", #buff(2), " ", #buff(3), " ", #buff(4), " ", #buff(5), " ", #buff(6), CrLf
'put it in outBuff() and call (gosub) send.
INTCON.PEIE = 1
INTCON.GIE = 1
While 1
'adjust servo positions here
While servoCount = 0 'wait for 20mS to pass (=1/50th of a second)
Wend
While servoCount <> 0
Wend
For i = 0 To 7
INTCON.GIE = 0
If servoDir(i) = 1 Then
servoPos(i) = servoPos(i) + 40 'add 1/50th to the servo position
Else
servoPos(i) = servoPos(i) - 40 'subtract it
Endif
If servoPos < 2000 Then 'have we gone past the end?
servoPos(i) = 2000 'yes so make it the end stop
servoDir(i) = 1 'and turn it around
Endif
If servoPos(i) > 4000 Then 'same for other end
servoPos(i) = 4000
servoDir(i) = 0
Endif
INTCON.GIE = 1
Next i
If isDone Then
'deal with the received sentence here
'This code can be any length but ideally less than 20mS
isDone = 0
Endif
If PIE2.CCP2IE=0 then
'the buffer has been sent over RS232 in the interrupt
Toggle yled '<<<<<<<<<<<<<<<<<
Endif
Wend
End
'load outBuff with the data to send terminated with a zero.
send:
output=outBuff(0)
output=output OR %1100000000 'two stop bits
output=output*2 'one start bit
bitCount=10 '1 start, 8 data and 2 stop (1 intrinsic in code)
byteCount=1
PIR2.CCP2IF=0;
PIE2.CCP2IE=1 'enable the interrupts
return
On High Interrupt 'go via location 0x0008
Save System
If PIR2.CCP2IF And PIE2.CCP2IE then
if bitCount<>0 then
if output.0 then
LATB.4=1
Else
LATB.4=0
Endif
bitCount=bitCount-1
output=shiftRight(output,1)
Endif
if bitCount=0 AND outBuff(byteCount)<>0 then
'more bytes to send
output=outBuff(byteCount)
output=output OR %1100000000 'two stop bits
output=output*2 'one start bit
bitCount=10 '1 start, 8 data and 2 stop (1 intrinsic in code)
byteCount=byteCount+1
endif
if bitCount=0 AND outBuff(byteCount)=0 then
'sent all bytes
PIE2.CCP2IE=0 'so, no more interrupts
endif
PIR2.CCP2IF=0
Endif
If PIR1.TMR2IF Then 'Is it a timer 2 interrupt
cnt = cnt + 1 'Increment count
If cnt >= 5 Then 'Has 5mS passed without a byte being received
isDone = 0 'yes, so reset everything
strCount = 0
cnt = 0
Endif
PIR1.TMR2IF = 0 '0 = No TMR2 to PR2 match occurred
Endif
If PIR1.CCP1IF Then 'has CCP1 triggered?
wordTemp.HB = CCPR1H 'get value of CCPR1 into wordTemp
wordTemp.LB = CCPR1L
If CCP1CON = 0x08 Then 'have we started the 1000 cycle pulse
CCP1CON = 0x09 'yes so end the pulse after 0.5mS
wordTemp = wordTemp + 1000 'adding 1000 will make pulse 0.5mS long
Else
LATC.0 = 0 'clear the data pin
CCP1CON = 0x08 'No so output the timed gap
If servoCount < 8 Then
'still doing the servos so add remainder of time
wordTemp = wordTemp + servoPos(servoCount)
wordTemp = wordTemp - 1000 'knock of the 1000 (0.5mS) already elapsed
frame = frame - servoPos(servoCount)
servoCount = servoCount + 1
Else
'done all the servos so just the frame gap to do
wordTemp = wordTemp + frame
frame = 39000 '40,000(20mS) minus time of positive pulse(0.5mS)
servoCount = 0 'start all over again
LATC.0 = 1 'will become first pulse
Endif
Endif
CCPR1H = wordTemp.HB 'put value back into CCPR1
CCPR1L = wordTemp.LB
PIR1.CCP1IF = 0 'clear interrupt flag
Endif
If PIR1.RCIF Then
cnt = 0 'stop any timeout happening
rec = RCREG 'get the received character
If RCSTA.OERR Or RCSTA.FERR Then 'neither of these should ever occur.
RCSTA.CREN = 0 'this is kinda wishful thinking
While PIR1.RCIF 'if any bytes in the buffer
rec = RCREG 'throw them away
Wend
RCSTA.CREN = 1 'as any data received is corrupt
strCount = 0 'however, reset everything
isDone = 0 'and hope for the best
Else 'no errors so use the data
'the following is waiting for a "$" sign
If strCount = 0 Then 'are we already receiving
'waiting for $ 'no so wait
If rec = "$" Then 'for $ to appear
buff(strCount) = rec 'start receiving
strCount = 1 'must have been zero previously
Endif
Endif
'the following gets executed if we've allready got a "$" sign
'but not got a "W" yet.
If isDone = 0 And strCount <> 0 Then
If strCount < 80 Then 'only store it if there's room in the buffer
buff(strCount) = rec 'no so carry on storing
strCount = strCount + 1 'this may cause strCount to get to 80 = buffer full
Endif
If rec = "W" Then 'have we got the "endOfString" character
isDone = 1 'yes, so set done true
'put break here
Endif
Endif
If isDone = 0 And strCount > 79 Then
'buffer has overflown
strCount = 0
Endif
Endif
Endif 'end RS232 if
ResumeHi M,
Hi M,
Hi M,
Hi M,
