Probe to read quadrature encoder with DT_INT need help

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- 30th August 2009, 11:47
phoenix_1

Probe to read quadrature encoder with DT_INT need help

When I compile MCSP return next error's (compile with MPASM).
PBP 2.50C
Procesor 16F877 @ 20MHz.
ERROR's:
error[128]877 qei.asm 87 : Missing argument(s)
error[118]877 qei.asm 87 : Overwriting previus address contents (2007)

Code:

@ __config & _WDT_ON & _PWRTE_OFF & _BODEN_ON & _LVP_OFF & _CP_OFF & _DATA_CP_OFF '@ Device pic16F877, HS_OSC, BOD_ON, PWRT_OFF, WDT_ON, PROTECT_OFF Define osc 20 DEFINE HSER_RCSTA 90h ' Enable serial port & continuous receive DEFINE HSER_TXSTA 24h ' Enable transmit, BRGH = 1 DEFINE HSER_SPBRG 64 ' 19200 Baud @ 20MHz, 0.16% DEFINE HSER_CLROERR 1 ' Clear overflow automatically ADCON1 = 7 old_val VAR BYTE new_val VAR BYTE direction_bit VAR BIT enc_counter VAR WORD enc_counter = 10000 new_val = PORTB & %00000011 TRISB = %00000011 INCLUDE "DT_INTS-14-0.bas" ' Base Interrupt System INCLUDE "ReEnterPBP-0.bas" ' Include if using PBP interrupts ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler INT_INT, _QEI, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM @ INT_ENABLE INT_INT ; enable external (INT) interrupts rs232: pause 1 goto rs232 QEI: old_val = new_val new_val = PORTB & %00000011 IF new_val = old_val Then again direction_bit = old_val.bit0 ^ new_val.bit1 IF direction_bit = 1 Then enc_counter = enc_counter + 1 else enc_counter = enc_counter - 1 endif hserout [dec enc_counter] again: @ INT_RETURN
- 30th August 2009, 13:55
aratti

Code:

ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler INT_INT, _QEI, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM

_QEI label ; PBP and yes not correctly allined. Change as per the following

Code:

ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler INT_INT, _QEI, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM

Al.
- 30th August 2009, 14:03
phoenix_1

Code:

@ __config & _WDT_ON & _PWRTE_OFF & _BODEN_ON & _LVP_OFF & _CP_OFF & _DATA_CP_OFF '@ Device pic16F877, HS_OSC, BOD_ON, PWRT_OFF, WDT_ON, PROTECT_OFF Define osc 20 DEFINE HSER_RCSTA 90h ' Enable serial port & continuous receive DEFINE HSER_TXSTA 24h ' Enable transmit, BRGH = 1 DEFINE HSER_SPBRG 64 ' 19200 Baud @ 20MHz, 0.16% DEFINE HSER_CLROERR 1 ' Clear overflow automatically ADCON1 = 7 old_val VAR BYTE new_val VAR BYTE direction_bit VAR BIT enc_counter VAR WORD enc_counter = 10000 new_val = PORTB & %00000011 TRISB = %00000011 INCLUDE "DT_INTS-14.bas" ' Base Interrupt System INCLUDE "ReEnterPBP.bas" ' Include if using PBP interrupts ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler RBC_INT, _LED, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM @ INT_ENABLE INT_INT ; enable external (INT) interrupts rs232: pause 1 goto rs232 LED: old_val = new_val new_val = PORTB & %00000011 IF new_val = old_val Then again direction_bit = old_val.bit0 ^ new_val.bit1 IF direction_bit = 1 Then enc_counter = enc_counter + 1 else enc_counter = enc_counter - 1 endif hserout [dec enc_counter] again: @ INT_RETURN

PBP 2.47 , 250 or 250C in all version same errors ???

can you edit and post my code full please sir?
- 30th August 2009, 15:17
Acetronics2

Hi,

Your error is double ...

1)

Code:

@ __config & _WDT_ON & _PWRTE_OFF & _BODEN_ON & _LVP_OFF & _CP_OFF & _DATA_CP_OFF

do not use " & " before the first data : WDT_ON ...

2)

You have to comment the CONFIG lines already existing in your 16F877 .inc file ( PBP folder ) if you want custom ones ... see FAQ for details.

Alain
- 30th August 2009, 15:25
phoenix_1

Acetronics your help is 100% work.
Thank's many thanks man.
And one question more...how DT interupt can be fast ?
- 30th August 2009, 17:58
Acetronics2

Quote:

Originally Posted by phoenix_1

And one question more...how DT interupt can be fast ?

Hi,

I do not know exactly ...

but it's roughly the time to save and restore all the PBP variables in use, added to the "classic" ASM interrupts time ...

You can Use the MPLAB SIM ... You will have a very good idea !

Alain
- 30th August 2009, 20:10
phoenix_1

DT_INT with TIMER_1 and led blink work 100% on 16f877 when I test it but:

Code:

define OSC 20 ADCON1 = 7 TRISB = %00000011 INTCON = %10001000 LED1 VAR PORTA.0 LED2 VAR PORTA.1 LOW LED1 low LED2 INCLUDE "DT_INTS-14.bas" INCLUDE "ReEnterPBP.bas" ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler RBC_INT, _TEST, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM @ INT_ENABLE RBC_INT Main: PAUSE 1 GOTO Main '---[RBC_INT - interrupt handler]------------------------------------------ TEST: high led1 high led2 @ INT_RETURN

Dont want to work for me...why ?
- 30th August 2009, 20:20
Acetronics2

Just try PortB.7 and PortB.6 ...

and read the '877 Databook , Interrupts section :

WHICH are the 4 pins that create "interrupts on change" ???

HOW to avoid the " Mismatch condition " ???

Alain
- 30th August 2009, 21:14
phoenix_1

These code count pulses from one pin of quadrature encoder good and fast.
It use RB0 INT very good.
Now I need idea to implement full reading quadrature encoder A and B inputs with count of pulses and direction indication..
Encoder is with 500 pulses per full revolution.
How - need idea..?
Procesor 16F877 @ 20MHz

Code:

define OSC 20 DEFINE HSER_RCSTA 90h ' Enable serial port & continuous receive DEFINE HSER_TXSTA 24h ' Enable transmit, BRGH = 1 DEFINE HSER_SPBRG 64 ' 19200 Baud @ 20MHz, 0.16% DEFINE HSER_CLROERR 1 ' Clear overflow automatically ADCON1 = 7 TRISB = %00000011 a var word a = 0 INTCON = %10010000 ; Enable INTE RB0 interrupt $90 INCLUDE "DT_INTS-14.bas" INCLUDE "ReEnterPBP.bas" ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler INT_INT, _TEST, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM Main: if a >= 5000 then a = 0 endif hserout [ dec a ] pause 100 GOTO Main '---[INT_INT - interrupt handler]------------------------------------------ TEST: a = a + 1 @ INT_RETURN

Regards Robert :rolleyes:
- 30th August 2009, 22:51
aratti

Connect encoder channel A to portB.0 (I assume you already have it) and channel B to portB.1. Since channel A is out of phase on channel B turning your encoder CW channel A will be high before channel B and turning it CCW channel B will be high first.

In your interrupt handler check the above conditions

Code:

If portB & %00000011 = 1 Then a = a + 1 CW = 1 Else a = a - 1 CW = 0 Endif

If variable CW is 1 then your motor is turning clockwise if CW = 0 then is turning counterclockwise, while word variable a will contain the updated count.

Al.
- 31st August 2009, 06:38
aratti

I have forgotten to say, in my previuos post, that the code snippet is not a quadrature count, and it counts only channel A, while Channel B is used only for direction. So total count per encoder turn will be n/2.

To get a quadrature count you need to detect the rising and falling edges of the square waves, thing that is not possible with the pic you have in use. To obtain the quadrature count you either need additional external logic or you have to choose a pic with the quadrature counter. (Much easier)

Al.
- 31st August 2009, 20:43
phoenix_1

Quote:

Originally Posted by aratti

I have forgotten to say, in my previuos post, that the code snippet is not a quadrature count, and it counts only channel A, while Channel B is used only for direction. So total count per encoder turn will be n/2.

To get a quadrature count you need to detect the rising and falling edges of the square waves, thing that is not possible with the pic you have in use. To obtain the quadrature count you either need additional external logic or you have to choose a pic with the quadrature counter. (Much easier)

Al.

Yes I was buy today 18F4431 for start...
But there is 400 pages of datasheet and I need to be a WIZARD to SETUP that PIC :D

Regards Robert:p