Atom Pro IDE ver 8.0.1.3 BETA link and BUG LIST

Lynxmotion Electronics & Software
32

I donloaded it and so far it appears to work.

There still appears to be a problem with the Swap Command.

[code]iCnT1 var byte
iCnt2 var byte
tb var byte
iOutLast var sword
iOut var sword

LCDConvertNumToString[iOut]
if iOut < 0 then
LCD_String(0) = “-”
iOut = -iOut
iCnt1 = 1
iCnt2 = 1
else
iCnt1 = 0
iCnt2 = 0
endif

do 
	iOutLast = iOut
	LCD_String(iCnt1) = "0" + iOut // 10
	iOut = iOut / 10
	iCnt1 = iCnt1 + 1
while (iOutLast >= 10)

LCD_String(iCnt1) = 0
iCnt1 = iCnt1 - 1
	
while (iCnt1 > iCnt2)
	;swap LCD_String(iCnt1), LCD_String(iCnt2)
	tb = LCD_String(iCnt1)
	LCD_String(iCnt1) = LCD_String(iCnt2)
	LCD_String(iCnt2) = tb
	iCnt1 = iCnt1 - 1
	iCnt2 = iCnt2 + 1
wend
return

[/code]
In the above code if I use the Swap command instead of the three lines below it to do the swap, the processor reboot.

33

My PWM intercept code with intercepting the six channels using WKP interrupt, TimerA (ASM), now fails to run properly if I enable HSERVO.

On the 8.0.1.3 I had the Rover running around the room, when I intercepted the PWM signals, then generated the coorsponding HSERVO command for the two motors. I made some minor changes and recompiled using 8.0.1.4 and it no longer ran and I noticed the LCD did not initialize properly.

I took the earlier version of the program that simply displayed the pulse widths on the LCD and it compiled and ran fine. When I added the ENABLEHSERVO command to this program the LCD (on P15) did not initialize properly.

I will try to localize more but I have company coming…

34

It appears like the HSERVO code is broken in the new release. I tried recompiling the TV Brat code and run it on my BRAT. I am not sure if I got all of the servos plugged back into the right locations yet (after trying to debug LinuxGuys problem). But with 8.0.0.0 it compiled and the legs sort of worked (again not sure all plugged back in properly). When I hit buttons on the TV remote it tries to do a move…

Tried recompiling with new release and the servos are not doing anything.

Kurt

35

Forgot to check the SWAP command though I thought I already fixed it. Sorry.

As for the other, I tested the Brat/IRPD system which uses both WKP and TimerA interrupts and had no problems. Please narrow this down a little and post sample code so I can look at it. Also a little more description of what it should be doing and what it is actually doing along with the sample please.

Note: The above is for Kurte’s first message about 8.0.1.4. I was posting this as he added his second message.

36

Something is wrong on your end then. I took the Brat code(directly from the Brat/IRPD thread, cut and paste) and programmed the AtomPro without changes and the brat ran as expected. The remote worked. The servos worked. Check your power supply. If you don’t have enough power you will get nothing or you may get jerking because the AtomPro is constantly resetting for lack of power.

37

I just double checked the SWAP command using this code:

[code]temp1 var long
temp2 var long

temp1 = 3
temp2 = 72
main
swap temp1,temp2
goto main[/code]

I ran this in debug mode and had no problems. No resets and the two values swapped correctly everytime through the loop. I’m going to try taking the stub code you posted and get it to work. In the future please supply a sample that is a whole program by itself to test with. A stub of a program that won’t compile or run properly by itself is basically useless because I have no way of knowing what you are doing before you call this subroutine.

Please check that you actually installed 8.0.1.4. Also did you uninstall the old version(s) first because I’m not seeing your problems at all.

38

No I did not uninstall. Will try that and see if that resolves things.

Thanks
Kurt

39

I made this simple program from your subroutine and added some serout statements so we can see what it happening.

[code]LCD_String var byte(10)

serout s_out,i9600,“Starting”,13]
main
gosub LCDConvertNumToString [1234]
goto main

iCnT1 var byte
iCnt2 var byte
tb var byte
iOutLast var sword
iOut var sword

LCDConvertNumToString[iOut]
if iOut < 0 then
LCD_String(0) = “-”
iOut = -iOut
iCnt1 = 1
iCnt2 = 1
else
iCnt1 = 0
iCnt2 = 0
endif

do
iOutLast = iOut
LCD_String(iCnt1) = “0” + iOut // 10
serout s_out,i9600,“Creating:”,str LCD_String\10\0,13]
iOut = iOut / 10
iCnt1 = iCnt1 + 1
while (iOutLast >= 10)

LCD_String(iCnt1) = 0
iCnt1 = iCnt1 - 1

while (iCnt1 > iCnt2)
swap LCD_String(iCnt1), LCD_String(iCnt2)
;tb = LCD_String(iCnt1)
;LCD_String(iCnt1) = LCD_String(iCnt2)
;LCD_String(iCnt2) = tb
iCnt1 = iCnt1 - 1
iCnt2 = iCnt2 + 1
wend

serout s_out,i9600,“Finished:”,13]

return [/code]

If you run this you will see the reset is happening at the return statement. That tells me something is trashing the return address. If I change your code to this:

[code]LCD_String var byte(10)

serout s_out,i9600,“Starting”,13]
main
gosub LCDConvertNumToString [1234]
goto main

iCnT1 var byte
iCnt2 var byte
tb var byte
iOutLast var sword
iOut var sword

temp1 var long
temp2 var long

LCDConvertNumToString[iOut]
if iOut < 0 then
LCD_String(0) = “-”
iOut = -iOut
iCnt1 = 1
iCnt2 = 1
else
iCnt1 = 0
iCnt2 = 0
endif

do
iOutLast = iOut
LCD_String(iCnt1) = “0” + iOut // 10
serout s_out,i9600,“Creating:”,str LCD_String\10\0,13]
iOut = iOut / 10
iCnt1 = iCnt1 + 1
while (iOutLast >= 10)

LCD_String(iCnt1) = 0
iCnt1 = iCnt1 - 1

while (iCnt1 > iCnt2)
temp1 = LCD_String(iCnt1)
temp2 = LCD_String(iCnt2)
swap temp1,temp2
;tb = LCD_String(iCnt1)
;LCD_String(iCnt1) = LCD_String(iCnt2)
;LCD_String(iCnt2) = tb
iCnt1 = iCnt1 - 1
iCnt2 = iCnt2 + 1
wend

serout s_out,i9600,“Finished:”,13]

return [/code]
then the reset goes away. This tells me the problem is not the swap command but arrays being used with the swap command. Now that I have that I can fix the problem and it also explains why I never saw the problem before. Also it points out why getting peice of code that show the problem(and only shows the problem) is so very helpful.

40

Let me know if that fixes the HSERVO problem. Also what power supply/battery amp rating are you using?

41

Ok, I did a reinstall and so far my intercept code is not working with HSERVO enabled. Here is the code that simply displays the six values on the LCD.

[code]’ Constant definitions
TRUE con 1
FALSE con 0

;Variable declaration
iOverflowTime var word
PULSE_SLOP con 10 ; try to define some slop in pulse size so dont just flop back and forth
aiPulse var sword (6)
aiPulseTimings var sword(6)
iPulseT var sword
iPulsePrev var sword

fPulseTimingsBusy var bit
fPulseDataValid var bit
fProcessingPulses var bit
fPulseChanged var bit

i var byte

;enablehservo
;=================================== LCD ======================================================
;USEHSERIAL con 1

;#if USEHSERIAL
;enablehserial
;#else
; define which LCD I am using…
SEETRON con 1
LCDPIN con p15
;#endif
#ifdef SEETRON
;LCD_BAUD con n9600
;LCD_BAUD con 206
LCD_BAUD con n2400
#else
LCD_BAUD con i2400
#endif

; variables for LCD… Not sure how to pass an array to a gosub so.
LCD_String var byte(17)

;============================== Start of CODE ================================================
; Initialization code
gosub LCD_Init

LCD_String = “PWM Intercept”, 0
gosub LCD_Print[1, 0]

;Interrupt init
ONINTERRUPT WKPINT_0,handle_intp0
ONINTERRUPT WKPINT_1,handle_intp1
ONINTERRUPT WKPINT_2,handle_intp2
ONINTERRUPT WKPINT_3,handle_intp3
ONINTERRUPT WKPINT_4,handle_intp4
ONINTERRUPT WKPINT_5,handle_intp5

;ONINTERRUPT TIMERAINT,handle_timera
ONASMINTERRUPT TIMERAINT, HANDLE_TIMERA_ASM

PMR5.bit0 = 1 ;enables pin as WKP interrupt instead of normal I/O
PMR5.bit1 = 1 ;enables pin as WKP interrupt instead of normal I/O
PMR5.bit2 = 1 ;enables pin as WKP interrupt instead of normal I/O
PMR5.bit3 = 1 ;enables pin as WKP interrupt instead of normal I/O
PMR5.bit4 = 1 ;enables pin as WKP interrupt instead of normal I/O
PMR5.bit5 = 1 ;enables pin as WKP interrupt instead of normal I/O
IEGR2.bit0 = 1 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
IEGR2.bit1 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
IEGR2.bit2 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
IEGR2.bit3 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
IEGR2.bit4 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
IEGR2.bit5 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.

; TimerA regs
iOverflowTime = 0
TMA = 0x6 ; clk/32 (Wish there was /16 but try to cut down interrupts…)

fPulseTimingsBusy = FALSE
fProcessingPulses = FALSE
fPulseDataValid = FALSE
fPulseChanged = FALSE
aiPulse = 0,0,0,0,0,0
aiPulseTimings = 0,0,0,0,0,0

ENABLE WKPINT_0
ENABLE WKPINT_1
ENABLE WKPINT_2
ENABLE WKPINT_3
ENABLE WKPINT_4
ENABLE WKPINT_5

ENABLE TIMERAINT

;================================ Main Loop =================================================
main_loop

; I wish I had some semaphores!
if fPulseDataValid and !fPulseTimingsBusy then
	fProcessingPulses = true
	if !fPulseTimingsBusy then
		' handle checks and sets not atomic need to handle race conditions...
		' probably won't be problem as we have a window of time after CH6 completes before
		' ch1 starts again.
		' loop through all 6 times and convert into pulses.
		iPulsePrev = 0
		for i = 0 to 5
			iPulseT = (aiPulseTimings(i) - iPulsePrev)*2 ; multiply by 2 to obtain us
			if ((iPulseT + PULSE_SLOP) < aiPulse(i)) or ((iPulseT - PULSE_SLOP) > aiPulse(i)) then
				aiPulse(i) =  iPulseT
				fPulseChanged = 1
			endif
			iPulsePrev = aiPulseTimings(i)
		next
		fPulseDataValid = FALSE
		'
		' Now if any of the values changed more than our slop factor, show them now
		if fPulseChanged then
			DISABLE WKPINT_0 
			DISABLE WKPINT_1
			DISABLE WKPINT_2
			DISABLE WKPINT_3
			DISABLE WKPINT_4
			DISABLE WKPINT_5
			DISABLE TIMERAINT
	
			gosub LCD_SetPos[0, 1]
			for i = 0 to 5
				if i = 3 then
					gosub LCD_SetPos[0, 2]
				endif
				gosub LCDConvertNumToString[aiPulse(i)]
				gosub LCD_Print[0,0]
				LCD_STRING = " ",0
				gosub LCD_PRINT[0,0]
			next
			
			serout S_OUT, i2400, [hex aiPulse(0), " ", hex aiPulse(1), 13, 10]
			
			fPulseChanged = 0
			ENABLE TIMERAINT
			ENABLE WKPINT_0 
			ENABLE WKPINT_1
			ENABLE WKPINT_2
			ENABLE WKPINT_3
			ENABLE WKPINT_4
			ENABLE WKPINT_5
		endif
		
		' let the interrupts know that they can process again.
	endif

	fProcessingPulses = false
endif

pause 500

;pulsout 10, pulse_ch1*2
;servo P10, (pulse_ch1-1500)*2, 2

goto main_loop

'============================================================================================
’
’ Handle interrupts for each of the channels
’ It appears like the channels happen sequentially. So we will only watch the rising edge of Ch0 and then record
’ the times for falling edges for all 6 channels. After channel ch6 completes we will trigger main program to do any other
’ processing that may be needed.

handle_intp0
if fProcessingPulses = FALSE then
If (IEGR2 & 0x01) then ; process rising edge
; need to reset timer
TMA = 0xc ; reset timer
TMA = 0x6 ; clk/32
iOverflowTime = 0
fPulseTimingsBusy = 1
IEGR2.bit0 = 0 ;interrupt on a falling edge.
else
enable
aiPulseTimings(0) = iOverflowTime + TCA
IEGR2.bit0 = 1 ;interrupt on a falling edge.
endif
endif
resume

handle_intp1
if fPulseTimingsBusy then
enable
; if (irr1.bit6) then ; pending interrupt?
; irr1.bit6 = 0
; iOverflowTime = iOverflowTime + 256
; endif

	aiPulseTimings(1) = iOverflowTime + TCA
endif
resume

handle_intp2
if fPulseTimingsBusy then
enable
aiPulseTimings(2) = iOverflowTime + TCA
endif
resume

handle_intp3
if fPulseTimingsBusy then
enable
aiPulseTimings(3) = iOverflowTime + TCA
endif
resume

handle_intp4
if fPulseTimingsBusy then
enable
aiPulseTimings(4) = iOverflowTime + TCA
endif
resume

handle_intp5
if fPulseTimingsBusy then
enable
aiPulseTimings(5) = iOverflowTime + TCA
fPulseDataValid = TRUE
fPulseTimingsBusy = FALSE
endif
resume

handle_timera
iOverflowTime = iOverflowTime + 256
resume

BEGINASMSUB

HANDLE_TIMERA_ASM
push.w r1 ; first save away ER1 as we will mess with it.
bclr #6,@IRR1:8 ; clear the cooresponding bit in the interrupt pending mask
mov.w @IOVERFLOWTIME:16,r1 ; Add 256 to our counter
;add.w #0x100:16,r1
inc.b r1h
mov.w r1, @IOVERFLOWTIME:16
pop.w r1
rte
ENDASMSUB

;============================================= LCD Helper functions ==================================================
;
; Serial LCD functions added by Kurt
;

LCD_Init
#ifdef USEHSERIAL
sethserial h9600,h8databits,hnoparity,h1stopbits
#endif

; make sure SerLCD has a chance to finish initializing after power-up
; Reset to 9600 and powerup... - Uncomment if having problems with LCD.
;pause 100
;serout LCDPIN, I9600, [0x12]
Pause(1000)

; Now lets try setting it to 2400 baud.  - uncomment if having problems
;Serout LCDPIN, I9600, [0x7c]	; 124, <control k>
;pause 2
;Serout LCDPIN, I9600, [11]	; 124, <control k>

#ifndef SEETRON
; Set the backlight to low
;#ifdef USEHSERIAL
; HSerout [0x7C, 0x80] ; 124, 128 - Off
;#else
Serout LCDPIN, LCD_BAUD, [0x7C, 0x80] ; 124, 128 - Off
#endif
;#endif

; Output the clear screen command
gosub LCD_WriteCommand[1] ;	// Clear the screen
Pause(5)

return

;
; Main LCD output function
;
line var sbyte
fPad var byte
LCD_Print[line, fPad]
if line = 1 then
gosub LCD_WriteCommand[0x80]
elseif line = 2
gosub LCD_WriteCommand[0xC0]
endif

Pause(10)

for line = 0 to 14	; try now to write to last position as it appears to autoscroll...
	if fPad <> 2 and LCD_String(line) > 0 then

#ifdef USEHSERIAL
hserout [LCD_String(line)]
#else
serout LCDPIN, LCD_BAUD, [LCD_String(line)]
#endif
else
if fPad = 0 then
goto LCDP_Enable
endif
fPad = 2
#ifdef USEHSERIAL
hserout " "]
#else
serout LCDPIN, LCD_BAUD, " "]
#endif
endif
Pause(1)
next
LCDP_Enable
return

;
;DISPLAY DATA RAM ADDRESSES
;CHARACTER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
; + – -- – -- – -- – -- – -- – -- – -- – --
;LINE 1 | 80 81 82 83 84 85 86 87 88 89 8A 8B 8C 8D 8E 8F
;LINE 2 | C0 C1 C2 C3 C4 C5 C6 C7 C8 C9 CA CB CC CD CE CF
;
ich var byte
iline var byte
LCD_SetPos[ich, iline]
if iline = 1 then
gosub LCD_WriteCommand[0x80+ich]
else
gosub LCD_WriteCommand[0xC0+ich]
endif

pause 10
return

; clears the display and resets the current location to the upper left */
LCD_ClearAndReturn
gosub LCD_WriteCommand[1] ; // clear display
Pause(100)

return

fRight var byte
ichShift var byte
LCD_ShiftDisplay[fRight, ichShift]

if fRight <> 0 then
	fRight = 0x1c
else
	fRight = 0x18
endif		
while (ichShift > 0)
	gosub LCD_WriteCommand[fRight]
	ichShift = ichShift -1
wend
return

; Send a command to the LCD, first send a command prefix character and then then command
cmd var byte
LCD_WriteCommand[cmd]
#ifdef USEHSERIAL

hserout [0xfe]
pause 10
hserout [cmd]

#else
serout LCDPIN, LCD_BAUD, [0xfe]
pause 10
serout LCDPIN, LCD_BAUD, [cmd]
#endif
return

iCnT1 var byte
iCnt2 var byte
tb var byte
iOutLast var sword
iOut var sword

LCDConvertNumToString[iOut]
if iOut < 0 then
LCD_String(0) = “-”
iOut = -iOut
iCnt1 = 1
iCnt2 = 1
else
iCnt1 = 0
iCnt2 = 0
endif

do 
	iOutLast = iOut
	LCD_String(iCnt1) = "0" + iOut // 10
	iOut = iOut / 10
	iCnt1 = iCnt1 + 1
while (iOutLast >= 10)

LCD_String(iCnt1) = 0
iCnt1 = iCnt1 - 1
	
while (iCnt1 > iCnt2)
	;swap LCD_String(iCnt1), LCD_String(iCnt2)
	tb = LCD_String(iCnt1)
	LCD_String(iCnt1) = LCD_String(iCnt2)
	LCD_String(iCnt2) = tb
	iCnt1 = iCnt1 - 1
	iCnt2 = iCnt2 + 1
wend
return

[/code]

The LCD does not initialize properly at all. The Rover version of this does not output commands through HSERVO to the Motor controller. I will try to investigate more later. But need to clean…

Also on the SWAP command, I believe we had this conversation before and I think you said your code may depend on long values and may not have been tested with other variable sizes such as a byte. My guess is that you may have swapped long values that then extended beyond my array and wiped out something like the return address. If you want I can either post or send you a message with other code: Brat, Rover, …

Thanks
Kurt

Edit: Forgot to mention on Rover: I have a 2800mah 12v Battery. (Actually 2 6v in series). Then I have a variable voltage controller (from Lynxmotion) that supplies 6V several amps to the AAB. Battery was recharged yesterday.

42

You are going to have to narrow this down. There is no way I’m going to be able to find the problem with your code without the same hardware or without you narrowing it down to something reasonable. First remove all code for all the WKP ints except one. Then remove anything that can be removed without causing the problem to go away. Thanks.

As for swap I’ve fixed it. The problem was the array bit was still set when I tried to read the values from ram so the array address was being recalculated. Since it had already been calculated values were being poped off the stack that should not have been. Here is the link to the swap fixed version.

www.basicmicro.com./downloads/software/ … p_8015.exe

Also technically this line may not be valid in your HANDLE_TIMERA_ASM:

bclr #6,@IRR1:8

You should FIRST explicitly read IRR1. Then clear it. The Hitachi documentation is ambiguous in reguards to whether read-modify-write commands count as the read in this case. You should:

mov.b @IRR1:8,r0l
bclr #6,r0l
mov.b r0l,@IRR1:8

I beleive the cycles used amount to the same thing but this way you know the chip knows you read IRR1 before cleaaring the flag.

43

I believe that the problems appear to be interactions again between serout, TMA and HSERVO. If you take the following program:


enablehservo

;=================================== LCD ======================================================
; define which LCD I am using...
SEETRON	con	1
LCDPIN	con p15
#ifdef SEETRON
LCD_BAUD	con n2400
#else
LCD_BAUD	con i2400
#endif

; variables for LCD... Not sure how to pass an array to a gosub so.
LCD_String var byte(17)

;============================== Start of CODE ================================================
; Initialization code
gosub LCD_Init

LCD_String = "PWM Intercept", 0
gosub LCD_Print[1, 0]

; TimerA regs 
TMA = 0x6	; clk/32 (Wish there was /16 but try to cut down interrupts...)

;================================ Main Loop =================================================
main_loop 

	; I wish I had some semaphores!
	pause 500

goto main_loop 


;============================================= LCD Helper functions ==================================================
;
; Serial LCD functions added by Kurt
;

LCD_Init
	
	; make sure SerLCD has a chance to finish initializing after power-up
	; Reset to 9600 and powerup... - Uncomment if having problems with LCD.
	;pause 100
	;serout LCDPIN, I9600, [0x12]
	Pause(1000)
	
	; Now lets try setting it to 2400 baud.  - uncomment if having problems
	;Serout LCDPIN, I9600, [0x7c]	; 124, <control k>
	;pause 2
	;Serout LCDPIN, I9600, [11]	; 124, <control k>
	
#ifndef SEETRON	
	; Set the backlight to low
;#ifdef USEHSERIAL	
;	HSerout [0x7C, 0x80]	; 124, 128 - Off
;#else
	Serout LCDPIN, LCD_BAUD, [0x7C, 0x80]	; 124, 128 - Off
#endif	
;#endif	

	; Output the clear screen command
	gosub LCD_WriteCommand[1] ;	// Clear the screen
	Pause(5)
	
	return

;
; Main LCD output function
;
line var sbyte
fPad var byte
LCD_Print[line, fPad]
	if line = 1 then
		gosub LCD_WriteCommand[0x80]
	elseif line = 2		
		gosub LCD_WriteCommand[0xC0]
	endif
			
	Pause(10)

	for line = 0 to 14	; try now to write to last position as it appears to autoscroll...
		if fPad <> 2 and LCD_String(line) > 0 then
#ifdef USEHSERIAL
			hserout [LCD_String(line)]
#else		
			serout LCDPIN, LCD_BAUD, [LCD_String(line)]
#endif			
		else
			if fPad = 0 then
				goto LCDP_Enable
			endif
			fPad = 2
#ifdef USEHSERIAL			
			hserout " "]
#else
			serout LCDPIN, LCD_BAUD, " "]
#endif			
		endif
		Pause(1)
	next
LCDP_Enable						
	return

;
;DISPLAY DATA RAM ADDRESSES
;CHARACTER 1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16
;       + -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
;LINE 1 | 80 81 82 83 84 85 86 87 88 89 8A 8B 8C 8D 8E 8F
;LINE 2 | C0 C1 C2 C3 C4 C5 C6 C7 C8 C9 CA CB CC CD CE CF
;
ich var byte
iline var byte
LCD_SetPos[ich, iline]
	if iline = 1 then
		gosub LCD_WriteCommand[0x80+ich]
	else
		gosub LCD_WriteCommand[0xC0+ich]
	endif
	
	pause 10
	return			

; clears the display and resets the current location to the upper left */
LCD_ClearAndReturn
	gosub LCD_WriteCommand[1] ;		// clear display
	Pause(100)
	
	return

fRight var byte
ichShift var byte
LCD_ShiftDisplay[fRight, ichShift]
	
	if fRight <> 0 then
		fRight = 0x1c
	else
		fRight = 0x18
	endif		
	while (ichShift > 0)
		gosub LCD_WriteCommand[fRight]
		ichShift = ichShift -1
	wend
	return

; Send a command to the LCD, first send a command prefix character and then then command
cmd var byte
LCD_WriteCommand[cmd]
#ifdef USEHSERIAL
	hserout [0xfe]
	pause 10
	hserout [cmd]
#else
	serout LCDPIN, LCD_BAUD, [0xfe]
	pause 10
	serout LCDPIN, LCD_BAUD, [cmd]
#endif	
	return

iCnT1 var byte
iCnt2 var byte	
tb var byte
iOutLast var sword
iOut var sword		

LCDConvertNumToString[iOut]
	if iOut < 0 then
		LCD_String(0) = "-"
		iOut = -iOut
		iCnt1 = 1
		iCnt2 = 1
	else
		iCnt1 = 0	
		iCnt2 = 0	
	endif
	
	do 
		iOutLast = iOut
		LCD_String(iCnt1) = "0" + iOut // 10
		iOut = iOut / 10
		iCnt1 = iCnt1 + 1
	while (iOutLast >= 10)
	
	LCD_String(iCnt1) = 0
	iCnt1 = iCnt1 - 1
		
	while (iCnt1 > iCnt2)
		;swap LCD_String(iCnt1), LCD_String(iCnt2)
		tb = LCD_String(iCnt1)
		LCD_String(iCnt1) = LCD_String(iCnt2)
		LCD_String(iCnt2) = tb
		iCnt1 = iCnt1 - 1
		iCnt2 = iCnt2 + 1
	wend
	return

If USEHSERVO is commented out likewise “TMA=” is commented out, then the LCD display properly displays the string. If I set TMA=4, then the string is displayed properly, but the blanks dont display properly. if HSERVO is enabled, the display is not initialized at all and I wonder if there is some interaction. I have not tried to see if an actual HSERVO command works or not yet.

Thanks, I had the code you mentioned above earlier and converted it to what I now have and it still worked (before). I did it as I was hoping it would be atomic and maybe not have some possible race conditions. for example if an WKP interrupt came active right after the first mov.b. The second mov.b would then wipe out the new state…

I will try to find more time later to see if the serout, and the like also stopped HSERVO from actually doing something.

Kurt

44

Ok, I had a little more time after dinner to do some debugging:
With this simple program:

[code]enablehservo

LCD_BAUD con n2400
LCDPIN con P15

sound 9,[50\3960]

main
serout LCDPIN, LCD_BAUD, [0xfe]
sound 9,[50\4400]
pause 50
goto main
[/code]
The program hangs in the first serout and we never get the second sound. If you comment out the ENABLEHSERVO then you get multiple sounds…

Kurt

45

A follow up to my previous post. If I comment out my calls to the LCD code and as such remove all serouts, the rover code appears to be working (plus or minus my own bugs). I have also had private messages from another member who is also having the same problems.

So enabling hservo appears to break the serout commands. Maybe they are using some common resource now like WTIMER?

46

Serin and serout are pure bit banged assembly code still. There are no hardware resources used besides the actual I/O pin(s) being accessed. Hservo is interrupt based and could be causing problems with timings of the serial commands. However based on your simple program above there is something else going on. Could be the I/O pins being used by the serout and sound commands are being set back to inputs causing the program to appear to hang or it could actually be hanging but I don’t see any thing in hservo or serout that would do that. I’ll check it out as soon as possible.

47

Your simple sample and a comparison of my last backup of the AtomPro library let me find the problem. I was trashing the e2 register in the hservo interrupt. Here is the new download.

www.basicmicro.com./downloads/software/ … p_8016.exe

48

Thanks, I will download it and give it a try.

P.S. - Is your web site down? I get an SQL error when I try to connect to your forum or your home page.

49

The SQL server crapped out. We’ve notified the server people to fix it. I don’t know how long it will take. Until it’s fixed the website will be down because the entire website is SQL driven. :frowning:

50

Downloaded and recompiled rover intercept and it is happy :slight_smile: again.

Kurt

51

Everything seems good, so good with my BRAT also, using the v8.0.1.6 IDE. :slight_smile: I will have to wait to do final testing with a fully charged battery.

8-Dale