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Hi M,
Hi M,
Doesn't the A.I. program deal with this?
Hi M,
Is from my programs, and is e,g, where PLL is set.
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 SIMULATION_WAITMS_VALUE = 1 'Comment in for SIM out for PIC
Const NUM_SERVOS = 10
Const BUFFER = 80
Dim Buff(BUFFER) As Byte
Dim StrCount As Byte
Dim Done As Byte
Dim WordTemp As Integer
Dim Ms As Long
Dim Count As Byte
Dim ServoCount As Byte
Dim I As Byte
Dim ServoPos(NUM_SERVOS) As Integer
Sub Main()
OSCCON = &H70 '8MHz
PLLEN = 1 'x4=32MHz
'setup 1mS interrupt = 8,000,000/16 = 500,000/10 = 50,000 set PR2=49 = 50,000/50 = 1000 = 1mS
T2CON = &H4E 'pre=16 post=10
PR2 = 49
TMR2IE = 1 'timer 2 interrupts enable
T1CON = 0 'timer 1 stopped
For I = 0 To NUM_SERVOS - 1
ServoPos(I) = I * 1000 + 8000 '1ms(8000) to 1.875(7/8ths - 15000)ms in 1/8th mS steps
Next
TRISC = &HFC 'CCP0 & 1 output
PEIE = 1
GIE = 1
Do
'adjust servo positions here
Loop
End Sub
Sub Inter()
If TMR2IE And TMR2IF Then
Ms = Ms + 1
Count = Count + 1
If Count >= 20 Then 'start every 20mS
TMR1 = 0 'zero timer 1
T1CON = 1 'start timer 1
Count = 0
CCP1CON = &H8 'CCP1 pin low and high on match - will be first pulse
CCPR1L = &HD
CCPR2H = &H7
CCP1IE = 1 'enable CCP1 interrupts
CCP1IF = 0 'ensure interrupt flag is clear
ServoCount = 0 'reset servoCount
LATC0 = 1 'connected to data in of shift register will clock in a high when CCP1 goes high
End If
TMR2IF = 0
End If
If CCP1IE And CCP1IF Then
LATC0 = 0 'clear the data in pin
If ServoCount = 9 Then 'have we done all servos?
CCP1IE = 0 'yes so no more CCP1 interrupts
End If
If CCP1CON = &H8 Then 'have we started the 4000 cycle pulse
CCP1CON = &H9 'yes so end the pulse after 0.5mS
'CCPR1=CCPR1+4000; '4000 cycles=0.5mS
WordTemp = CCPR1H * 256 + CCPR1L
WordTemp = WordTemp + 4000
CCPR1L = WordTemp And 255
CCPR1H = WordTemp / 256
Else
CCP1CON = &H8 'No so output the timed gap
'CCPR1=CCPR1+servoPos[servoCount++]-4000; 'will generate an interrupt when servo time is up
WordTemp = CCPR1H * 256 + CCPR1L
WordTemp = WordTemp - 4000 + ServoPos(ServoCount)
CCPR1L = WordTemp And 255
CCPR1H = WordTemp / 256
ServoCount = ServoCount + 1
End If
CCP1IF = 0
End If
If RCIE & RCIF Then
Dim Chr As Byte = RCREG 'get the received character
If OERR Or FERR Then 'neither of these should ever occur.
CREN = 0 'this is kinda wishful thinking
CREN = 1 'as any data received is corrupt
StrCount = 0 'however, reset everything
Done = 0 'and hope for the best
Else 'no errors so use the data
If StrCount = 0 And Done = 0 Then 'are we already receiving
'waiting for $ 'no so wait
If Chr = "$"C Then 'for $ to appear
Buff(StrCount) = Chr 'start receiving
StrCount = StrCount + 1
ElseIf Done = 0 Then 'have we collected a full string?
Buff(StrCount) = Chr 'no so carry on storing
StrCount = StrCount + 1
If Chr = "W"C Then 'have we got the "endOfString" character
Done = 1 'yes, so set done true
End If
End If
End If
End If
End If
End SubHi M,
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 SIMULATION_WAITMS_VALUE = 1 'Comment in for SIM out for PIC
Const NUM_SERVOS = 10
Const BUFFER = 80
Dim Buff(BUFFER) As Byte
Dim StrCount As Byte
Dim Done As Byte
Dim WordTemp As Integer
Dim Ms As Long
Dim Count As Byte
Dim ServoCount As Byte
Dim I As Byte
Dim ServoPos(NUM_SERVOS) As Integer
endHi M,
Does it give a reason for the errors?
