Combining ADC, Serial, and Camera_s codes

[kaszeta]

Our team's desired code makes use of

1. The camera (stripped down version, needs the updated serial code)
2. The gyro (which needs the updated adc driver)
3. Two shaft encoders (for speed, interrupts 3 and 4).

Since all of these involve changing InterruptHandlerLow() user_routines_fast.c, this is a bit involved. I have the camera and gyro working fine with each other, but attempting to add in the encoder code gives us the red-light-o-death, even if I don't hook up the encoder or call one of the encoder reading functions.

I thought I've got all the code properly installed in InterruptHandlerLow(), but apparently that's not the case.

Here's the relevant part of my user_routines_fast.c:

#pragma code
#pragma interruptlow InterruptHandlerLow save=PROD

void InterruptHandlerLow(void)     
{                               
	unsigned char int_byte;
    unsigned char Port_B;
    unsigned char Port_B_Delta;

	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
	}
		else if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) // encoder 1 interrupt?
	{ 
		INTCON3bits.INT2IF = 0; // clear the interrupt flag
		#ifdef ENABLE_ENCODER_1
		Encoder_1_Int_Handler(); // call the left encoder interrupt handler (in encoder.c)
		#endif
	}
	else if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) // encoder 2 interrupt?
	{
		INTCON3bits.INT3IF = 0; // clear the interrupt flag
		#ifdef ENABLE_ENCODER_2
		Encoder_2_Int_Handler(); // call right encoder interrupt handler (in encoder.c)
		#endif
	}
	else if (INTCONbits.RBIF && INTCONbits.RBIE) // encoder 3-6 interrupt?
	{
		Port_B = PORTB; // remove the "mismatch condition" by reading port b            
		INTCONbits.RBIF = 0; // clear the interrupt flag
		Port_B_Delta = Port_B ^ Old_Port_B; // determine which bits have changed
		Old_Port_B = Port_B; // save a copy of port b for next time around
	 
		if(Port_B_Delta & 0x10) // did external interrupt 3 change state?
		{
			#ifdef ENABLE_ENCODER_3
			Encoder_3_Int_Handler(Port_B & 0x10 ? 1 : 0); // call the encoder 3 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x20) // did external interrupt 4 change state?
		{
			#ifdef ENABLE_ENCODER_4
			Encoder_4_Int_Handler(Port_B & 0x20 ? 1 : 0); // call the encoder 4 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x40) // did external interrupt 5 change state?
		{
			#ifdef ENABLE_ENCODER_5
			Encoder_5_Int_Handler(Port_B & 0x40 ? 1 : 0); // call the encoder 5 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x80) // did external interrupt 6 change state?
		{
			#ifdef ENABLE_ENCODER_6
			Encoder_6_Int_Handler(Port_B & 0x80 ? 1 : 0); // call the encoder 6 interrupt handler (in encoder.c)
			#endif
		}
	}           
	else if(PIR1bits.ADIF && PIE1bits.ADIE) // ADC interrupt
	{
		PIR1bits.ADIF = 0; // clear the ADC interrupt flag
		ADC_Int_Handler(); // call the ADC interrupt handler (in adc.c)
	}       
}

This seems right to me, and compiles cleanly.

Any ideas what to try next?

[6600gt]

Why are you using interrupts 3 and 4 instead of 1 and 2? They are already set up for you in Kevin Watson's encoder code.

You might be missing somthing:

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

[Kevin Watson]

Originally Posted by kaszeta

Our team's desired code makes use of

1. The camera (stripped down version, needs the updated serial code)
2. The gyro (which needs the updated adc driver)
3. Two shaft encoders (for speed, interrupts 3 and 4).

Since all of these involve changing InterruptHandlerLow() user_routines_fast.c, this is a bit involved. I have the camera and gyro working fine with each other, but attempting to add in the encoder code gives us the red-light-o-death, even if I don't hook up the encoder or call one of the encoder reading functions.

I thought I've got all the code properly installed in InterruptHandlerLow(), but apparently that's not the case.

Here's the relevant part of my user_routines_fast.c:

#pragma code
#pragma interruptlow InterruptHandlerLow save=PROD
 
void InterruptHandlerLow(void) 
{ 
	unsigned char int_byte;
unsigned char Port_B;
unsigned char Port_B_Delta;
 
	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
	}
		else if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) // encoder 1 interrupt?
	{ 
		INTCON3bits.INT2IF = 0; // clear the interrupt flag
		#ifdef ENABLE_ENCODER_1
		Encoder_1_Int_Handler(); // call the left encoder interrupt handler (in encoder.c)
		#endif
	}
	else if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) // encoder 2 interrupt?
	{
		INTCON3bits.INT3IF = 0; // clear the interrupt flag
		#ifdef ENABLE_ENCODER_2
		Encoder_2_Int_Handler(); // call right encoder interrupt handler (in encoder.c)
		#endif
	}
	else if (INTCONbits.RBIF && INTCONbits.RBIE) // encoder 3-6 interrupt?
	{
		Port_B = PORTB; // remove the "mismatch condition" by reading port b 
		INTCONbits.RBIF = 0; // clear the interrupt flag
		Port_B_Delta = Port_B ^ Old_Port_B; // determine which bits have changed
		Old_Port_B = Port_B; // save a copy of port b for next time around
 
		if(Port_B_Delta & 0x10) // did external interrupt 3 change state?
		{
			#ifdef ENABLE_ENCODER_3
			Encoder_3_Int_Handler(Port_B & 0x10 ? 1 : 0); // call the encoder 3 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x20) // did external interrupt 4 change state?
		{
			#ifdef ENABLE_ENCODER_4
			Encoder_4_Int_Handler(Port_B & 0x20 ? 1 : 0); // call the encoder 4 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x40) // did external interrupt 5 change state?
		{
			#ifdef ENABLE_ENCODER_5
			Encoder_5_Int_Handler(Port_B & 0x40 ? 1 : 0); // call the encoder 5 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x80) // did external interrupt 6 change state?
		{
			#ifdef ENABLE_ENCODER_6
			Encoder_6_Int_Handler(Port_B & 0x80 ? 1 : 0); // call the encoder 6 interrupt handler (in encoder.c)
			#endif
		}
	} 
	else if(PIR1bits.ADIF && PIE1bits.ADIE) // ADC interrupt
	{
		PIR1bits.ADIF = 0; // clear the ADC interrupt flag
		ADC_Int_Handler(); // call the ADC interrupt handler (in adc.c)
	} 
}

This seems right to me, and compiles cleanly.

Any ideas what to try next?

A few things are wrong. The ADC code for the 2006 controller also uses timer 2, but I don't see its ISR. If timer 2 fires off and there isn't any way to clear the interrupt flag, you'll get the red-light-of-death. The attached file should work.

-Kevin

[kaszeta]

Originally Posted by Kevin Watson

A few things are wrong. The ADC code for the 2006 controller also uses timer 2, but I don't see its ISR. If timer 2 fires off and there isn't any way to clear the interrupt flag, you'll get the red-light-of-death. The attached file should work.

Thanks, I'll have them try this tonight. I just noticed the lack of the timer2 ISR when I got this.

[kaszeta]

Originally Posted by Kevin Watson

A few things are wrong. The ADC code for the 2006 controller also uses timer 2, but I don't see its ISR. If timer 2 fires off and there isn't any way to clear the interrupt flag, you'll get the red-light-of-death. The attached file should work.

This file mostly worked for us. We had to add in an include for encoder.h and the Port_B and Port_B_Delta variables.

Now, encoders 3 through 6 work fine (indeed, I can run all four of them, each generating 1600 pulses/sec, and it keeps up) in tandem with the gyro and camera. But if try to use encoder 1, I get the red-light-o-death as soon as something triggers it. And if I try to enable encoder 2, it doesn't build:

C:\FIRST 2006\FRC 21 Jan 2006\encoder.c:131:Error [1205] unknown member 'INT3IP' in '__tag_223'
C:\FIRST 2006\FRC 21 Jan 2006\encoder.c:131:Error [1131] type mismatch in assignment

I noticed this thread, but I've confirmed that my p18f8722.h (in c:\mcc18\h) file is the exact one from the installation CD, and there are no others on the system. Are there two versions of this .h floating around?

In any case, I've put the code online (with team-strategy specific stuff removed, but this version shows the problem) at this link. I can probably run with just encoders 3-6, but wanted to run speed control on 1 and 2.

Any ideas?

[Kevin Watson]

Originally Posted by kaszeta

This file mostly worked for us. We had to add in an include for encoder.h and the Port_B and Port_B_Delta variables.

Now, encoders 3 through 6 work fine (indeed, I can run all four of them, each generating 1600 pulses/sec, and it keeps up) in tandem with the gyro and camera. But if try to use encoder 1, I get the red-light-o-death as soon as something triggers it. And if I try to enable encoder 2, it doesn't build:

C:\FIRST 2006\FRC 21 Jan 2006\encoder.c:131:Error [1205] unknown member 'INT3IP' in '__tag_223'
C:\FIRST 2006\FRC 21 Jan 2006\encoder.c:131:Error [1131] type mismatch in assignment

I noticed this thread, but I've confirmed that my p18f8722.h (in c:\mcc18\h) file is the exact one from the installation CD, and there are no others on the system. Are there two versions of this .h floating around?

In any case, I've put the code online (with team-strategy specific stuff removed, but this version shows the problem) at this link. I can probably run with just encoders 3-6, but wanted to run speed control on 1 and 2.

Any ideas?

Thinking you only wanted support for encoders on int 3 and int 4, that's what I included in the user_routines_fast.c I attached to my posting above. Use the file attached to this posting. Also, the p18f8722.h file included with the compiler is messed up. Use the one that's attached to this posting.

-Kevin

[kaszeta]

Originally Posted by Kevin Watson

Thinking you only wanted support for encoders on int 3 and int 4, that's what I included in the user_routines_fast.c I attached to my posting above. Use the file attached to this posting. Also, the p18f8722.h file included with the compiler is messed up. Use the one that's attached to this posting.

Thanks. It is working perfectly now. Now on to actually get the robot to do things.