New C18 3.0+ Compatible FRC Code

[EHaskins]

Originally Posted by paulcd2000

Hey, i really like the look! I'm having this problem when i try to compile:

MPLINK 4.1, Linker
Copyright (c) 2006 Microchip Technology Inc.
Error - could not find file 'C:\2008 FRC\frc_library_24\ifi_frc_8722_24.lib'.
Errors    : 1

how to fix?

The project file is messed up a little. I attached a zipped copy of the .mcp file for the gyro and non-gyro versions. Replace the existing one with that one, and it should work.

THIS IS .MCP FILES ONLY! NO CODE!

EDIT: Are you using c18 v3+ to compile the v2.4 code?

[paulcd2000]

Originally Posted by EHaskins

EDIT: Are you using c18 v3+ to compile the v2.4 code?

i believe i am. you download that from the microchip website? i have...
V 3.1

[EHaskins]

Originally Posted by paulcd2000

i believe i am. you download that from the microchip website? i have...
V 3.1

If you are using v3.1 you need to download the verison of the code for c18 v3+. It is listed on the first post of this thread.

[paulcd2000]

i did download that one.

EDIT: oops... i didn't! Ok, well which of the various links is it? is it "the snapshot of the latest build"

[EHaskins]

Originally Posted by paulcd2000

i did download that one.

The library file reference in the error you posted is the v2.4 version.(you can tell by the "_24" ending of the library file and the project directory) Unless kevin included the wrong library you accidentally grabed the wrong file.

The first three links are 3+. The other two are v2.4.

[Guy Davidson]

Kevin,

In the gyro.h file there are definitions for several different gyros. However, the new KoP gyro is not one of them. Do you think you will be able to add a set of constants for it next time you rebuild?

Thanks.

[neutrino15]

I am currently in the process of testing the old configure.py makefile with this new code. Has anybody had success?

I use a mac, and seriously do not want to try and update mplab in vmware.. painful memories..

[Nathans]

Our mistake here is probably very silly and obvious, but the solution eludes us nevertheless.

We're trying to get the gryo and accelerometer working, but we get a build error when we try to use the Get_Analog_Value function.

gyro = Get_Analog_Value(rc_ana_in16);

The build error we get is:

Error [1105] symbol 'ADC_CH15' has not been defined

I've gotten as far as the fact that rc_ana_in16 is aliased to ADC_CH15, but no further.

[Mike Mahar]

Originally Posted by Nathans

Our mistake here is probably very silly and obvious, but the solution eludes us nevertheless.

We're trying to get the gryo and accelerometer working, but we get a build error when we try to use the Get_Analog_Value function.

gyro = Get_Analog_Value(rc_ana_in16);

The build error we get is:

Error [1105] symbol 'ADC_CH15' has not been defined

I've gotten as far as the fact that rc_ana_in16 is aliased to ADC_CH15, but no further.

The simple answer is don't use Get_Analog_value. The new code in adc.c should replace it. Instead you should call Get_ADC_Result. Make sure you set NUM_ADC_CHANNELS to the number of analog inputs you are using and allocate them starting with first one and go up from there.

The analog inputs are not instantaneous. You have to start them, then wait a certain amount of time and then read them. The code in adc.c will do that for you and uses a timer to wait. Calls to Get_ADC_Result will simply fetch the result that the library has already captured for you.

The function Get_Analog_value does the start/wait/read operation in-place and takes longer and consumes valuable cycles that could be put to better use doing something else.

[Mike Mahar]

Kevin, I have question about adc.c.
In Timer_4_ISR you have two for loops that cover the same range of indexes.

	if(samples >= adc_samples_per_update)
         	{
		// update the ADC result array
		for(i=0; i < num_adc_channels; i++)
		{
			adc_result[i] = (long)(accum[i] >> adc_result_divisor);
		}
		// reset the sample accumulator(s) to zero
		for(i=0; i < num_adc_channels; i++)
		{
			accum[i] = 0L;
		}
		// signal that a fresh sample set is available
		adc_update_count++;

		// start a fresh sample set
		samples = 0;
	}

Is there some reason that you don't reset the sample accumulator to 0 in the first loop?

if(samples >= adc_samples_per_update)
	{
		// update the ADC result array
		for(i=0; i < num_adc_channels; i++)
		{
			adc_result[i] = (long)(accum[i] >> adc_result_divisor);
                       // reset the sample accumulator to zero
                        accum[i] = 0L;
		}
	
		// signal that a fresh sample set is available
		adc_update_count++;

		// start a fresh sample set
		samples = 0;
	}

I'd think that any cycles saved in an ISR is a good thing.

[Kevin Watson]

Originally Posted by Mike Mahar

Is there some reason that you don't reset the sample accumulator to 0 in the first loop?

Beats me. I'll have a look at it when I get home from work.

-Kevin

[Kevin Watson]

Originally Posted by Mike Mahar

Is there some reason that you don't reset the sample accumulator to 0 in the first loop?

I just made this change (thanks Mike) and added some additional documentattion to the ADC and gyro code. Link is in message #1 of this thread.

-Kevin

[Jon236]

Kevin

still getting wierd compile errors.....
Clean: Done.
Executing: "C:\mcc18\bin\mcc18.exe" -p=18F8722 "autonomous.c" -fo="autonomous.o" -k -mL -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa-
C:\mcc18\h\stdio.h:26:Error [1178] illegal declaration of object of type void
C:\mcc18\h\stdio.h:27:Error [1178] illegal declaration of object of type void
C:\mcc18\h\stdio.h:31:Error [1178] illegal declaration of object of type void
Halting build on first failure as requested.
BUILD FAILED: Sun Jan 13 18:44:53 2008

????????

[Kevin Watson]

Originally Posted by Jon236

Kevin

still getting wierd compile errors.....
Clean: Done.
Executing: "C:\mcc18\bin\mcc18.exe" -p=18F8722 "autonomous.c" -fo="autonomous.o" -k -mL -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa-
C:\mcc18\h\stdio.h:26:Error [1178] illegal declaration of object of type void
C:\mcc18\h\stdio.h:27:Error [1178] illegal declaration of object of type void
C:\mcc18\h\stdio.h:31:Error [1178] illegal declaration of object of type void
Halting build on first failure as requested.
BUILD FAILED: Sun Jan 13 18:44:53 2008

????????

Send me your code and I'll look at it. Which compiler are you using?

-Kevin

[Jon236]

It's the ifi_frc_encoder_beta oput of the box....using the 3.10 compiler and 8.0 MpLab