confused problem with interrupt in a working program

[illuminator4]

Although i have made a lot of simple programs in my first big program i am in a dead end! i have made a controller-joystick for a wirelless car

i have this program that works ok:

INCLUDE "Modedefs.bas"
TRISA=255
TRISC=%1000000
TRISB=0
ADCON1.0=1 'all porta digital for switches
ADCON1.1=1
ADCON1.2=1
ADCON1.3=0
DEFINE OSC 4
DEFINE LCD_DREG PORTB 'LCD Configuration in portb
DEFINE LCD_DBIT 4
DEFINE LCD_RSREG PORTB
DEFINE LCD_RSBIT 3
DEFINE LCD_EREG PORTB
DEFINE LCD_EBIT 2
DEFINE LCD_BITS 4
DEFINE LCD_LINES 2
DEFINE LCD_DATAUS 50
CO VAR WORD
B0 VAR BYTE
B1 VAR BYTE
B2 VAR BYTE
A VAR BIT
B VAR BYTE
C VAR BIT
FLAG VAR BIT
A=0
C=0
B=0
FLAG=0
Pause 1000
main:
IF (PORTA.0==0 && A==1) then ' decision (up-down switches) about velocity of a robot
B=B+1
FLAG=1 'flag to know if a button was pressed
EndIF
IF (PORTA.1==0 && C==1) Then
B=B-1
FLAG=1
EndIF
IF (B>4 && B<250) Then '5 levels for velocity
B=4
EndIF
IF B>250 Then
B=0
EndIF
A=PORTA.0 'old situation of ports to compare in order to understand when the buttons were pressed
C=PORTA.1
IF b==0 Then ' flashing leds dependable to the velocity
Low PORTD.7
Low PORTD.6
Low PORTD.5
Low PORTD.4
High PORTC.5
EndIF
IF b==1 Then
Low PORTD.7
Low PORTD.6
Low PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==2 Then
Low PORTD.7
Low PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==3 Then
Low PORTD.7
high PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==4 Then
high PORTD.7
high PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
PAUSE 12
gosub LPD
IF FLAG=1 THEN
SerOut2 PORTC.6, 84, ["v: ",DEC B,13,10]
ENDIF
IF FLAG=0 THEN
GOTO MAIN
ENDIF
FLAG=0
GoTo main
LPD:
LCDOUT $FE,1,"V: ",DEC B
RETURN

The problem is that i want to know something about the car. so i want an interrupt in serial port (rx -portc.6) and that is where the problems started
i made the following program. but even my joystick becomes dead (not to metion that i can't see anything in terminal!).with underlines the changes of the above program.Any ideas are welcome....

INCLUDE "Modedefs.bas"
TRISA=255
TRISC=%1000000
TRISB=0
ADCON1.0=1 'all porta digital for switches
ADCON1.1=1
ADCON1.2=1
ADCON1.3=0
DEFINE HSER_RCSTA 90h ' enable serial port,
' enable continuous receive
'
DEFINE HSER_TXSTA 24h ' enable transmit,
' BRGH=1
'
DEFINE HSER_BAUD 9600


DEFINE OSC 4
DEFINE LCD_DREG PORTB 'LCD Configuration in portb
DEFINE LCD_DBIT 4
DEFINE LCD_RSREG PORTB
DEFINE LCD_RSBIT 3
DEFINE LCD_EREG PORTB
DEFINE LCD_EBIT 2
DEFINE LCD_BITS 4
DEFINE LCD_LINES 2
DEFINE LCD_DATAUS 50
CO VAR WORD
RCIF VAR PIR1.5 ' Receive interrupt flag (1=full , 0=empty)
OERR var RCSTA.1
CREN VAR RCSTA.4
INTCON = %11000000
ON INTERRUPT GOTO serial
PIE1.5 = 1
TXIF VAR PIR1.4
B0 VAR BYTE
B1 VAR BYTE
B2 VAR BYTE
A VAR BIT
B VAR BYTE
C VAR BIT
FLAG VAR BIT
A=0
C=0
B=0
FLAG=0
Pause 1000
main:
IF (PORTA.0==0 && A==1) then ' decision (up-down switches) about velocity of a robot
B=B+1
FLAG=1 'flag to know if a button was pressed
EndIF
IF (PORTA.1==0 && C==1) Then
B=B-1
FLAG=1
EndIF
IF (B>4 && B<250) Then '5 levels for velocity
B=4
EndIF
IF B>250 Then
B=0
EndIF
A=PORTA.0 'old situation of ports to compare in order to understand when the buttons were pressed
C=PORTA.1
IF b==0 Then ' flashing leds dependable to the velocity
Low PORTD.7
Low PORTD.6
Low PORTD.5
Low PORTD.4
High PORTC.5
EndIF
IF b==1 Then
Low PORTD.7
Low PORTD.6
Low PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==2 Then
Low PORTD.7
Low PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==3 Then
Low PORTD.7
high PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
IF b==4 Then
high PORTD.7
high PORTD.6
high PORTD.5
high PORTD.4
High PORTC.5
EndIF
PAUSE 12
gosub LPD
IF FLAG=1 THEN
SerOut2 PORTC.6, 84, ["v: ",DEC B,13,10]
ENDIF
IF FLAG=0 THEN
GOTO MAIN
ENDIF
FLAG=0
GoTo main
LPD:
LCDOUT $FE,1,"V: ",DEC B
RETURN

disable
serial:
HSerin [WAIT ("d"),DEC serial_in]
if rcif then serial
HSerOut ["hit on wall",13,10]
high PORTE.0
RESUME
ENABLE

[mackrackit]

Which chip are you using?
Under what conditions do you want feedback from the device?

You have a SEROUT2 working in one place in your code on the hardware serial pin. Why both?

will anyone reply? (snif snif)

no need for that... my first post is still unanswered

[illuminator4]

thanx for replying. my pic is pic16f877a @ 4Mhz. about Serout2 in the first program i used it. in the second i tried both serout2 and hserout but with no result!
the snif snif was beacuse i had seen hundreds of views in questions asked later than me. sorry!
About the conditions i want to know when my car that i control with the aboe code hits the wall (with the help of the switch). when it hits the wall i want to receive one number. that is all i ask!

[Archangel]

Betcha it is something to do with wait, also You are aware that hser.* is sent true not inverted. Howz about the other end of the equation (what the car sends), and does it send more than once ? Big also, put a pullup resistor on the herserin line.

[mackrackit]

9600 might be a bit fast for 4MHz. So an adjustment there could be in order.

Let work on the interrupt problem first.
The below code has a push button on PORTB.0. PORTB.0 is pulled LOW with an external 10K.
I have an LED on PORTD.2 for testing with a 470 to the zero rail.
Using SEROUT2 so a level converter (MAX232) is not needed at this time.

See if you can make this work and then we can play with the hardware serial and level converters.

'#####################
'16F877A
DEFINE OSC 20
'####################
@ __config _HS_OSC & _WDT_OFF & _LVP_OFF & _CP_OFF &_BODEN_OFF
I	VAR	BYTE
ON INTERRUPT GOTO MACINT
INTCON = %10010000

LOOP:
HIGH PORTD.2
SEROUT2 PORTC.6,16468,["PUSH ME !!!",10,13]
PAUSE 100
GOTO LOOP

'############################################
DISABLE
MACINT:
IF PORTB.0 = 1 THEN
FOR I = 1 TO 10
HIGH PORTD.2
PAUSE 150
LOW PORTD.2
PAUSE 150
SEROUT2 PORTC.6,16468,["MACKRACKIT",10,13]
NEXT I
ENDIF
INTCON.1 = 0
RESUME
ENABLE
 'THE ABOVE WILL ALSO DEBOUNCE THE SWITCH
'#############################################

[mister_e]

9600 baud run perfect @4MHz with the hardware USART (0.16% error), however may suffer with SEROUT, SEROUT2, in this case DEBUG is recommended if you don't want to use the Hardware USART.