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Interrupt Problems - i need some help about my code

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adalah

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www.ermirco.com/blog

hi all..
i need some help about my code.
hope all the members can help me to solve the problems..
i'm using :

MikroC,
PIC16F877A,
3 servomotor.


#define leftsensor porta.f0
#define rightsensor porta.f2
#define start porta.f4
#define reset porta.f5
#define servo1 portb.f0
#define servo2 portb.f2
#define servo3 portb.f4


int i, cnt ;

void interrupt(void)
{
cnt++;
if ( cnt == 200)
{
cnt = 0;
portb = 0xff;
}

INTCON = 0x20;
}

void LCDfoward();
void walkfoward();
void servo1pos3();
void servo3pos1();


// main program...

void main(){
TRISA=0Xff;
TRISC=0;
PORTA=0;
PORTC=0;

while(1){
if(start == 0){
walkfoward();
}

}
//return;
}



void walkfoward(void)
{

LCDfoward();
servo1pos3();
delay_ms(1000);
servo3pos1();
delay_ms(1000);
}




char *text = "move";
void LCDfoward(void){
TRISC = 0;
Lcd_Init(&PORTC);
Lcd_Cmd (Lcd_CLEAR);
Lcd_Cmd (Lcd_CURSOR_OFF);
Lcd_Out (1, 6, text);
Lcd_Out (2, 5, "foward");
}//~!



void servo1pos3(void)
{
OPTION_REG = 0b10000000; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0XFF; // Initialize PORTB
INTCON = 0xA0; // Enable TMRO interrupt
cnt = 0; // Initialize cnt

do
{
if (cnt == 20){
PORTB.f0 = 0;
cnt = 0;
delay_ms(1000); // Toggle PORTB LEDs
}
} while(1);
}//~!



void servo3pos1(void)
{
OPTION_REG = 0b10000000; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0XFF; // Initialize PORTB
INTCON = 0xA0; // Enable TMRO interrupt
cnt = 0; // Initialize cnt

do
{
if (cnt == 10){
PORTB.f4 = 0; // Toggle PORTB LEDs
cnt = 0;
delay_ms(1000);
}
} while(1);
}//~!
Click to expand...


my problems is:

the command for servo1pos3() is working,
but the program is not move to the next step which is command for servo3pos1().

this my attachment about the circuit and programming.
 

ermicro/blog

Hi adalah,

I guess, you never leave this while


----------------------------------------------------------
void servo1pos3(void)
{
OPTION_REG = 0b10000000; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0XFF; // Initialize PORTB
INTCON = 0xA0; // Enable TMRO interrupt
cnt = 0; // Initialize cnt

do
{
if (cnt == 20){
PORTB.f0 = 0;
cnt = 0;
delay_ms(1000); // Toggle PORTB LEDs
}
} while(1); <<<<<<<<<<<<<========================!!!!!!!!!!!!!!!!!!!!!!!!!!!
}//~!
-------------------------------------------------



Gomez

ps.
there is a lot of bad coding style
 

what to comand mikroc change to servo motor

Thanks Gomez..

Can you help me to repair the coding..
i'm new about this.
just try & error..
 

Re: Interrupt Problems

No is not my job ;-))
It was just a friendly hint to review your code again.
Best practice is to study code from another programmer.

Good luck!
Gomez
 

Re: Interrupt Problems

anyone else..
plz help me..

is there any solution to create an angle of servomotor..?
in my problem,
i used 3 servomotor.
each servo will have 3 angle.

now,
i had try using the interrupt,
but it can't run properly..
 

Re: Interrupt Problems

Try this

-----------------------------------------------
unsigned char angle2time_u8(unsigned char angle_u8);

static unsigned char Servo1Angle_u8 = 0;
static unsigned char Servo2Angle_u8 = 0;
static unsigned char Servo3Angle_u8 = 0;

void timerirq_100us_v(void)
{
static unsigned char Timer_u8 = 200;
static unsigned char Servo1_High_u8 = 0;
static unsigned char Servo2_High_u8 = 0;
static unsigned char Servo3_High_u8 = 0;

if(++Timer_u8 >= 200) // 20ms
{
Timer_u8 = 0;

Servo1_High_u8 = angle2time_u8(Servo1Angle_u8);
Servo2_High_u8 = angle2time_u8(Servo2Angle_u8);
Servo3_High_u8 = angle2time_u8(Servo3Angle_u8);
Servo1_Portpin = 1;
Servo2_Portpin = 1;
Servo3_Portpin = 1;
}
else if(Timer_u8 >= Servo1_High_u8)
{
Servo1_Portpin = 0;
}
else if(Timer_u8 >= Servo2_High_u8)
{
Servo2_Portpin = 0;
}
else if(Timer_u8 >= Servo3_High_u8)
{
Servo3_Portpin = 0;
}

}


unsigned char angle2time_u8(unsigned char angle_u8)
{
// function to convert your servo angle to pwm high time
}

void main(void)
{
init_v(); // init ports and timer

while(1)
{
// get your angle and set ServoXAngle_u8
}

}
----------------------------------

Gomez
 

Re: Interrupt Problems

Is this command for CCS..?
Basically,
I use mikroC..

sorry if don't mention it before..
now,
I just try to change it to mikroC command.
 

Re: Interrupt Problems

That's ANSI-C and your compiler shouldn't any problems with. You has just to define your port pins.

#define Servo3_Portpin portb.f0
.....



Gomez
 

Re: Interrupt Problems

I already define the port.
but now,
there are problems at this point:

init_v();

what command should i put.?
sorry for my question..
 

Re: Interrupt Problems

init_v() ist a placeholder for the part which inits your system. But I forgot to insert a prototype for this function.

Add simply
void init_v(void);
at the beginning and fill up this function with your suitably init code

void init_v(void)
{
OPTION_REG = 0b10000000; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0XFF; // Initialize PORTB
INTCON = 0xA0; // Enable TMRO interrupt
Click to expand...
}

but that's more controller specific and not ANSI.


Gomez
 

Re: Interrupt Problems

And it works? ;-)


Gomez
 

Re: Interrupt Problems

Thanks Gomez..
i'm so sorry that i not respond to your post before.
i had a problem with my computer..

I will try it & inform to you later..
thanks..:D

Added after 13 minutes:

sorry gomez,
i really confused & no idea how to write it.
this is code that I try.

#define servo1 portb.f1
#define servo2 portb.f2
#define servo3 portb.f3



unsigned char angle2time_u8(unsigned char angle_u8);

static unsigned char Servo1Angle_u8 = 0;
static unsigned char Servo2Angle_u8 = 0;
static unsigned char Servo3Angle_u8 = 0;

void timerirq_100us_v(void)
{
static unsigned char Timer_u8 = 200;
static unsigned char Servo1_High_u8 = 0;
static unsigned char Servo2_High_u8 = 0;
static unsigned char Servo3_High_u8 = 0;

if(++Timer_u8 >= 200) // 20ms
{
Timer_u8 = 0;

Servo1_High_u8 = angle2time_u8(Servo1Angle_u8);
Servo2_High_u8 = angle2time_u8(Servo2Angle_u8);
Servo3_High_u8 = angle2time_u8(Servo3Angle_u8);
servo1 = 1;
servo2 = 1;
servo3 = 1;
}
else if(Timer_u8 >= Servo1_High_u8)
{
servo1 = 0;
}
else if(Timer_u8 >= Servo2_High_u8)
{
servo2 = 0;
}
else if(Timer_u8 >= Servo3_High_u8)
{
servo3 = 0;
}

}
void init_v(void)
{

OPTION_REG = 0b10000000; // Assign prescaler to TMR0
TRISB = 0; // PORTB is output
PORTB = 0XFF; // Initialize PORTB
INTCON = 0xA0; // Enable TMRO interrupt

}

unsigned char angle2time_u8(unsigned char angle_u8)
{
// function to convert your servo angle to pwm high time
}

void main(void)
{
init_v(); // init ports and timer

while(1)
{
// get your angle and set ServoXAngle_u8
}

}
Click to expand...
[/quote]
 

Re: Interrupt Problems

I didn't make all the work for you.
Some parts are to fill up with your own code, because I don't know your requirements.

1. The function void init_v(void) is to fill up with code to initialize your controller.
- clock
- ports
- uart
- interrupts
- timer with 100µs!
etc.

It depends from type of controller Microchip, Atmel, Renesas, what ever....


2. The function void unsigned char angle2time_u8(unsigned char angle_u8) is to fill up with code to calculate high time of your servo pwm.
http://www.ermicro.com/blog/?p=771 means
0.7ms to 1ms PWM high time turns CW
1.7ms to 2ms PWM high time turns CCW
1.5ms PWM high time turns to center
So you need a transfer function to calculate high time because

high time = f(servo angle)
for 90°=center =>
0-180° => 0.7-2ms => 7-20

0 <= angle_u8 <= 180
7 <= angle2time() <= 20


3.
while(1)
{
// get your angle and set ServoXAngle_u8
}
Click to expand...
I guess you want change servo angle at runtime. Anyhow you has to transmit the new servo angle to your controller (UART, SPI, DIP-Switches, ADC what ever). In this while you take the new angles and set ServoXAngle_u8 (X=1|2|3). You has to add some own code to read in new angle values.

Gomez
 

Re: Interrupt Problems

sorry my friends because don't reply this topic.
actually,
this problems related with my previous post.



what i want to do is to create 3 angles for 1 servo motor,
which are -90,0,90.
in my project,
there are 3 servo motor.


for example,
servo1 will turn 90,
servo3 will turn -90,
servo1 will turn -90,
servo2 will turn 90,


i had try to use the interrupts,
but still can't success.
 

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