Chief Delphi

Chief Delphi (http://www.chiefdelphi.com/forums/index.php)
-   Programming (http://www.chiefdelphi.com/forums/forumdisplay.php?f=51)
-   -   Serial Driver and 2K6 Encoder Driver Not compatible (http://www.chiefdelphi.com/forums/showthread.php?t=43789)

Tom Bottiglieri 11-02-2006 18:38

Serial Driver and 2K6 Encoder Driver Not compatible
 
Has anyone else had this problem?

The 2k6 encoder driver works fine on its own. The 2k6 serial driver works fine on its own. Combining them would be easy enough, right?

We have combined them with the interrupt handler below. When what should be interrupt 1 fires (Dig In 1), the Encoder 2 count goes up. (When E2 is positive, E1 is -1. When E2 is negative, E1 is 0) When what is supposed to be Encoder 2 (dig in 2) fires, the Encoder 4 count changes, and the same pattern happens on E3 that happed on E1.

Also, no matter what the tick delta is, E4 always fluctuates in the same direction (backwards in relation to the bot.

Code:

#pragma interruptlow InterruptHandlerLow save=PROD,section("MATH_DATA"),section(".tmpdata")

void InterruptHandlerLow()   
{
        if (PIR1bits.RC1IF && PIE1bits.RC1IE) // rx1 interrupt?
        {
                #ifdef ENABLE_SERIAL_PORT_ONE_RX
                Rx_1_Int_Handler(); // call the rx1 interrupt handler (in serial_ports.c)
                #endif
        }                             
        else if (PIR3bits.RC2IF && PIE3bits.RC2IE) // rx2 interrupt?
        {
                #ifdef ENABLE_SERIAL_PORT_TWO_RX
                Rx_2_Int_Handler(); // call the rx2 interrupt handler (in serial_ports.c)
                #endif
        }
        else if (PIR1bits.TX1IF && PIE1bits.TX1IE) // tx1 interrupt?
        {
                #ifdef ENABLE_SERIAL_PORT_ONE_TX
                Tx_1_Int_Handler(); // call the tx1 interrupt handler (in serial_ports.c)
                #endif
        }                             
        else if (PIR3bits.TX2IF && PIE3bits.TX2IE) // tx2 interrupt?
        {
                #ifdef ENABLE_SERIAL_PORT_TWO_TX
                Tx_2_Int_Handler(); // call the tx2 interrupt handler (in serial_ports.c)
                #endif
        }
        if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) // left encoder interrupt?
        {
                INTCON3bits.INT2IF = 0; // clear the interrupt flag [91]
                Left_Encoder_Int_Handler(); // call the left encoder interrupt handler (in encoder.c)
                stdout_serial_port=SERIAL_PORT_ONE;
                printf("int 1\r");
                stdout_serial_port=SERIAL_PORT_TWO;
        }
        if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) // right encoder interrupt?
        {
                INTCON3bits.INT3IF = 0; // clear the interrupt flag [91]
                Right_Encoder_Int_Handler(); // call right encoder interrupt handler (in encoder.c)
                stdout_serial_port=SERIAL_PORT_ONE;
                printf("int 2\r");
                stdout_serial_port=SERIAL_PORT_TWO;
        }



}

Any ideas?

Joel J 11-02-2006 19:17

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
seeing the printf's in the interrupt made me dizzy..

I put the rx and tx checks last. That may help you.

I'm not sure what is causing the problem. Maybe more information would help unearth the problem? Like, the header definitions for the encoder driver.

Tom Bottiglieri 11-02-2006 19:19

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
Quote:

Originally Posted by Joel J.
seeing the printf's in the interrupt made me dizzy..

I put the rx and tx checks last. That may help you.

I'm not sure what is causing the problem. Maybe more information would help unearth the problem? Like, the header definitions for the encoder driver.

Yeah that was kind of a last resort thing.. and I just posted the newest version of the code.

The encoder header is unmodified, pulled from this workspace.
http://kevin.org/frc/frc_encoder.zip

Kevin Watson 12-02-2006 00:37

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
Quote:

Originally Posted by Tom Bottiglieri
Any ideas?

How many interrupts per second are you generating?

-Kevin

Tom Bottiglieri 12-02-2006 00:45

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
I guess the build has tired me out.

I'm not quite sure why I was trying to merge the encoder driver with the serial driver. It comes that way... :ahh:

Kevin Watson 12-02-2006 00:56

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
Quote:

Originally Posted by Joel J.
I put the rx and tx checks last.

Rx should be first thing to check because at 115200 baud you've got less than 100 us to grab the received byte before the next one shows up. Tx should be checked last.

-Kevin

Joel J 12-02-2006 01:11

Re: Serial Driver and 2K6 Encoder Driver Not compatible
 
I'll make that modification. Thanks for the info.


All times are GMT -5. The time now is 12:52.

Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi