Add GPS/PARSE to 8xSERVO-MOTOR CODE in Oshonsoft

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camerart said:
In #44 and the GPS CODE under '-------- PARSE UTILITIES -------------------------
Click to expand...
I had a quick look at that today and it seems very inefficient,
Is this a mistake or bug?

I was thinking this should be a for next loop but then noticed there's two difference at the beginning but only one at the end due to s2m(14) being used twice. If it's not a mistake then just remove the line, s2m(14) = buf(12) as it's not required. BTW, what is that code doing?

Mike.
 
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Hi M,
From memory, there was a 'for and next' loop, but I couldn't visualise it, so I left it as you see.
Also from memory, I think I changed the BUFFER to be simply S2M.
It's just the poor way I work.

I saw those errors a while back and changed them, once I saw the 'live' sentence, with mistakes.

If possible, ignore it for now, and I will distil it later.
C.
 
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Hi M,
Look for <<<<<<<<<< lines.
This is what I'm getting on the terminal screen from the SEROUT
C
 

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  • 18F4431 32MHz XTL REMOTE_SLAVE GPS_SERVO 240223 0830.txt
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What is this nonsense?

We have nice fast interrupt driven code and then just throw a one second (yes one whole second) delay in and introduce something called "Define SEROUT_DELAYUS = 1000" = another random delay. And after a comment saying "This code can be any length but ideally less than 20mS".

I hate any kind of delay and any compiler that relies on them or that has them built in should be thrown in the bin.

Mike.
 
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Hi M,
Ah yes, that's just a test indicator for me, the results are the same without it, only faster.

The "Define SEROUT_DELAYUS = 1000" line is commented out, and only there because I found it when trying to get the CODE to work, as a reminder.
C
 
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Hi M,

Can you calrify, where any long CODE, will go please.

I follow any instructions, but they must be clear.
Looking at your 20ms warning, to me it looks like that warning doesn't apply to the section where I added the SEROUT and the now removed WAIT, but it may seem obvious to anyone else.
C
 

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I'm guessing that the line,
Serout PORTB.4, 9600, "$= ", etc.
Is a software serial function that outputs at 9600 baud on B4.
A function can be added to the ISR to make this happen.

Mike.
 
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I think this will output data at 9600 baud on B4.
Code: 
'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
Resume

Note, the two 1 second delays at the start of the code will mean that the shift register will have random outputs for 2 seconds. Ideally, move the 'STARTUP LEDS code to after the line isDone=0.

Mike.
 

Attachments

  • With Soft UART.txt
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Hi M,
Moved the START UPS
NMEA sentence from B4 at 9600
OUTPUT 'reserved word' now OUTPT
No sign of life, only the LED.
C
 
Last edited:
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Hi M,
NOTE: The $NMEA sentence is only used for visual testing, so won't be used normally.

You didn't answer where I can program tests, which may be quite large.
I don't have your skills, so if possible would like a MAIN-LOOP for me to play in.

C
 
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As I keep saying, the while wend loop is exactly the same as a main loop.
If you like, change the while 1 to main: and the wend to goto main and nothing will change.
Doing things in the main loop is fine and can take as long as you like but timing critical things like software serial probably disable interrupts and stop everything working so probably can't be used.

Have you put a string into outBuff and called send? I don't know how to make a string in Osh.
Can you show your code?

Mike.
 
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Hi M,
I know you keep saying, and I keep asking, so a bit of a loop really.

In the 'normal' MAIN LOOP, I can have 10second WAITS if I want. WAITs are mainly for testing, so I can see something. e,g, an LED flashing fast is an ON LED to me.

I also use a temporary SEROUT pin, for testing.

It's quite a juggle working through Sim tests, because of the timing, while not spending days, waiting for something, or 'live' where I have to be sure, that when I don't see e,g, a LED flash, it isn't lack of power or a wire come of. (There is a rats nest in front of me, with metal fatiged wires.)

Regarding OUTBUF, are you wanting to manually place BUFFER into it, as a test? What I'm using is a GPS input, which I can see is arriving at PIN1.
In the SIM, I can input a test NMEA sentence, but I haven't got it to output yet.

My CODE at yesterday is in #83, but it's changing by the minute.
C
 
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To get any output on B4 you need to load outBuff with a string to send and gosub send to start everything.

You can have 10 second waits but the servos will pause for 10 seconds, not because the output has stopped but because the code that sets their position has stopped. Everything (except moving the servos) is happening on interrupts at the moment. If you need to see an LED flashing then use a variable to count to 25 before toggling it and it'll flash at 1Hz due to the loop taking 20mS to execute.

When I said, Can you show your code? I meant the code that builds a string and calls send.

Mike.
 
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Hi M,
Do you mean 'live' or SIM?1

In SIM, the NMEA sentence is copied from an example and pasted into the 'HARDWARE SIMULATION INTERFACE.
Live, as mentioned I use a 'live' GPS input.

Regarding 1 second WAIT, this would be temporary, to check something is happening, then removed, so 'live' I would see the SERVOs acting oddly.
C
 
Last edited:
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It can be either live or sim but to transmit anything on B4 requires a string being built and a call to send. If this isn't done then we won't know it the transmit is working or not. Can we do this?

Mike.
 
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Pommie said:
It can be either live or sim but to transmit anything on B4 requires a string being built and a call to send. If this isn't done then we won't know it the transmit is working or not. Can we do this?

Mike.
Click to expand...
Hi M,
Yes, I'll try anything, EDIT: I'm pretty sure the reason it's already working, is that Oshonsoft software programmed it to.
Here's what I see in the SIM at the moment, with copy and paste into UART interface :
C
 

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  • BUFF.jpg
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Last edited:
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Hi,
Just a note about GPS SPI!
The M8N D/S shows that DATA can be read using SPI, and I spent a long time trying to get it to work.

Using SPI, would mean that there wouldn't need EDIT: INTERRUPT or PARSE, and would be more efficient.

I didn't see much evidence of anyone actually getting SPI to work, but it may be worth another try?
C
 
Last edited:
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Hi,
A couple of days ago, something went wrong and the SERVO stopped moving etc.
The PCB is a bit of a rats nest, so I re-checked the wires.
I found that it did work if I used old SW CODE, so the wires are ok.
Then I tried older HW CODE and some of it works, so there's a glitch somewhere.

I've now re-designed the PCB to include the shift register, which will take a while, as they have got to be propagated once they arrive from China.
EDITED
The problem appears to be between the 24th and 25th of Feb.
Cheers, C
 
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