Tobias
- 10th March 2011, 13:29
I am using a function generator for the input on this board. Based on the PWM, the 4431 will change its PWM channels too. The input signal is 100 hz. There is a 'pause' in the output side on PWM1,3,5,7. I am assuming I have something set up wrong and its not a hardware problem. I have tried this on four 4431's. The PWM will be fine then go high for an amount of time then go back to pulsing. If I am at 50% duty cycle the pause is the smallest. 20 and 80% is the worst. My function generator won't go lower or higher.
define CODE_SIZE 32
define osc 20
Include "modedefs.bas" ' Mode definitions for Serout
Include "Elapsed-18.bas"
OnOff1 var PortE.1 'Input Signal from GPS to activate/deactivate row
OnOff2 var PortE.0 'Input Signal from GPS to activate/deactivate row
OnOff3 var PortA.5 'Input Signal from GPS to activate/deactivate row
OnOff4 var PortB.5 'Input Signal from GPS to activate/deactivate row
Switch1 var PortD.0 ''Output to 4066; activates Speed1
Switch2 var PortE.2 ''Output to 4066; activates Speed2
Switch3 var PortC.0 ''Output to 4066; activates Speed3
Switch4 var PortC.3 ''Output to 4066; activates Speed4
MotorSpeed var PortC.1 'Input from 4066
Population var PortC.2 'Input from GPS
Enable1 var PortD.1 ''Output Turns on Motor1 driver
Enable2 var PortD.2 ''Output Turns on Motor2 driver
Enable3 var PortD.3 ''Output Turns on Motor3 driver
Enable4 var PortD.4 ''Output Turns on Motor4 driver
SinglePair var PortD.7 'Input Determines code path
Input1 var PortB.0 'PWM0
Input2 var PortB.1 'PWM1
Input3 var PortB.2 'PWM2
Input4 var PortB.3 'PWM3
LCD var PortD.5
Duty1 Var Word
Duty2 Var Word
Duty3 Var Word
Duty4 Var Word
BCD1 var byte
BCD10 var byte
Rate var word
DisplayTenths var word
MotorCount var byte 'Tracks motorspeed input
Mod1 var byte 'Offset tracker to correct motorspeed
Mod2 Var Byte 'Offset tracker to correct motorspeed
Mod3 var byte 'Offset tracker to correct motorspeed
Mod4 Var byte 'Offset tracker to correct motorspeed
PosMin1 var bit
PosMin2 var bit
PosMin3 var bit
PosMin4 var bit
HighTime var word
LowTime var word
TotalTime var word
Freq var word
Prefix con $FE ' needed before each command
LcdCls CON $51 ' clear LCD (use PAUSE 5 after)
LcdLine1 CON $00 ' move cursor to line 1
LcdLine2 con $40 ' move curson to line 2
LcdLine3 con $14 ' move curson to line 3
lcdLine4 con $54 ' move curson to line 4
LcdCol1 con $00 ' move cursor to column 1
LcdCol2 con $07 ' move cursor to column 7
Backlight con $53 ' Backlighting 1-8
CursorPS con $45 'Cursor Position
CursorOn con $47 'Cursof On
CursorOff con $48 'Cursor Off
INTCON = 0 'Interrupts off for now
INTCON2.7 = 1 'Pull Ups disabled
ADCON0 = 0 'A/D OFF
ANSEL0 = %00000000 'All analogue channels to digital
ANSEL1 = %00000000 'All analogue channels to digital
TRISA = %111111 'PortA to inputs
TRISB = %00010000 'PortB to outputs, except B5
TRISC = %00000110 'PortC, Switch3 and Switch4 outputs; Motorspeed and Population inputs
TRISD = %00000000 'PortD, Switch 1 output; Enable1-4
TRISE = %011
PWMCON0=%01111111 'All odd PWMs enabled, all independent
SSPCON=%00000000 'Disables Serial Port
'DTCON = %00000101 ' ~500nS dead-time (for complementary outputs only)
PTCON0 = %00000010 ' 1:1 postscale, Fosc/4 1:1 prescale, free running mode
Freq=%11111111
PTPERL =0'Freq.LowByte
PTPERH =1'Freq.HighByte
PWMCON1 = 1 ' updates enabled, overrides sync w/timebase
PTCON1 = %11000000 ' PWM time base is ON, counts up 500hz
FLTCONFIG = %00000010 ' enable fault A, cycle-by-cycle mode
Serout2 LCD, 84, [Prefix,LcdCLS]
pause 5
Test:
Gosub BCD
'Open Loop Motor Control
If BCD1 = 0 then
'gosub RowControl
HIGH Enable1
HIGH Enable2
HIGH Enable3
HIGH Enable4
pulsin Population, 0, Rate
Duty1 = (Rate*10)/492 '10% 489
Duty2 = (Rate*10)/492 '20% 977
Duty3 = (Rate*10)/492 '50% 2461
Duty4 = (Rate*10)/492 '80% 3924
Duty1 = Duty1*10
Duty2 = Duty2*10
Duty3 = Duty3*10
Duty4 = Duty4*10
PDC0L = Duty4.LowByte
PDC0H = Duty4.HighByte
PDC1L = Duty2.LowByte
PDC1H = Duty2.HighByte
PDC2L = Duty3.LowByte
PDC2H = Duty3.HighByte
PDC3L = Duty1.LowByte
PDC3H = Duty1.HighByte
DisplayTenths=Duty1-(Duty1/10*10)
SEROUT2 LCD,84, [Prefix,CursorPS,0, "Rate ", #Rate, " ", "Duty ", #Duty1/10, ".", #DisplayTenths, "%"]
endif
gosub TEst
BCD:
BCD1=PORTA
BCD1=BCD1 & $0F
BCD1=BCD1^ $0F
'BCD10=PORTC
'BCD10=BCD10 & $F0
'BCD10=BCD10^ $F0
'BCD10 = BCD10 >>4
BCD10=PORTC
BCD10=BCD10 & $0F
BCD10=BCD10^ $0F
return
define CODE_SIZE 32
define osc 20
Include "modedefs.bas" ' Mode definitions for Serout
Include "Elapsed-18.bas"
OnOff1 var PortE.1 'Input Signal from GPS to activate/deactivate row
OnOff2 var PortE.0 'Input Signal from GPS to activate/deactivate row
OnOff3 var PortA.5 'Input Signal from GPS to activate/deactivate row
OnOff4 var PortB.5 'Input Signal from GPS to activate/deactivate row
Switch1 var PortD.0 ''Output to 4066; activates Speed1
Switch2 var PortE.2 ''Output to 4066; activates Speed2
Switch3 var PortC.0 ''Output to 4066; activates Speed3
Switch4 var PortC.3 ''Output to 4066; activates Speed4
MotorSpeed var PortC.1 'Input from 4066
Population var PortC.2 'Input from GPS
Enable1 var PortD.1 ''Output Turns on Motor1 driver
Enable2 var PortD.2 ''Output Turns on Motor2 driver
Enable3 var PortD.3 ''Output Turns on Motor3 driver
Enable4 var PortD.4 ''Output Turns on Motor4 driver
SinglePair var PortD.7 'Input Determines code path
Input1 var PortB.0 'PWM0
Input2 var PortB.1 'PWM1
Input3 var PortB.2 'PWM2
Input4 var PortB.3 'PWM3
LCD var PortD.5
Duty1 Var Word
Duty2 Var Word
Duty3 Var Word
Duty4 Var Word
BCD1 var byte
BCD10 var byte
Rate var word
DisplayTenths var word
MotorCount var byte 'Tracks motorspeed input
Mod1 var byte 'Offset tracker to correct motorspeed
Mod2 Var Byte 'Offset tracker to correct motorspeed
Mod3 var byte 'Offset tracker to correct motorspeed
Mod4 Var byte 'Offset tracker to correct motorspeed
PosMin1 var bit
PosMin2 var bit
PosMin3 var bit
PosMin4 var bit
HighTime var word
LowTime var word
TotalTime var word
Freq var word
Prefix con $FE ' needed before each command
LcdCls CON $51 ' clear LCD (use PAUSE 5 after)
LcdLine1 CON $00 ' move cursor to line 1
LcdLine2 con $40 ' move curson to line 2
LcdLine3 con $14 ' move curson to line 3
lcdLine4 con $54 ' move curson to line 4
LcdCol1 con $00 ' move cursor to column 1
LcdCol2 con $07 ' move cursor to column 7
Backlight con $53 ' Backlighting 1-8
CursorPS con $45 'Cursor Position
CursorOn con $47 'Cursof On
CursorOff con $48 'Cursor Off
INTCON = 0 'Interrupts off for now
INTCON2.7 = 1 'Pull Ups disabled
ADCON0 = 0 'A/D OFF
ANSEL0 = %00000000 'All analogue channels to digital
ANSEL1 = %00000000 'All analogue channels to digital
TRISA = %111111 'PortA to inputs
TRISB = %00010000 'PortB to outputs, except B5
TRISC = %00000110 'PortC, Switch3 and Switch4 outputs; Motorspeed and Population inputs
TRISD = %00000000 'PortD, Switch 1 output; Enable1-4
TRISE = %011
PWMCON0=%01111111 'All odd PWMs enabled, all independent
SSPCON=%00000000 'Disables Serial Port
'DTCON = %00000101 ' ~500nS dead-time (for complementary outputs only)
PTCON0 = %00000010 ' 1:1 postscale, Fosc/4 1:1 prescale, free running mode
Freq=%11111111
PTPERL =0'Freq.LowByte
PTPERH =1'Freq.HighByte
PWMCON1 = 1 ' updates enabled, overrides sync w/timebase
PTCON1 = %11000000 ' PWM time base is ON, counts up 500hz
FLTCONFIG = %00000010 ' enable fault A, cycle-by-cycle mode
Serout2 LCD, 84, [Prefix,LcdCLS]
pause 5
Test:
Gosub BCD
'Open Loop Motor Control
If BCD1 = 0 then
'gosub RowControl
HIGH Enable1
HIGH Enable2
HIGH Enable3
HIGH Enable4
pulsin Population, 0, Rate
Duty1 = (Rate*10)/492 '10% 489
Duty2 = (Rate*10)/492 '20% 977
Duty3 = (Rate*10)/492 '50% 2461
Duty4 = (Rate*10)/492 '80% 3924
Duty1 = Duty1*10
Duty2 = Duty2*10
Duty3 = Duty3*10
Duty4 = Duty4*10
PDC0L = Duty4.LowByte
PDC0H = Duty4.HighByte
PDC1L = Duty2.LowByte
PDC1H = Duty2.HighByte
PDC2L = Duty3.LowByte
PDC2H = Duty3.HighByte
PDC3L = Duty1.LowByte
PDC3H = Duty1.HighByte
DisplayTenths=Duty1-(Duty1/10*10)
SEROUT2 LCD,84, [Prefix,CursorPS,0, "Rate ", #Rate, " ", "Duty ", #Duty1/10, ".", #DisplayTenths, "%"]
endif
gosub TEst
BCD:
BCD1=PORTA
BCD1=BCD1 & $0F
BCD1=BCD1^ $0F
'BCD10=PORTC
'BCD10=BCD10 & $F0
'BCD10=BCD10^ $F0
'BCD10 = BCD10 >>4
BCD10=PORTC
BCD10=BCD10 & $0F
BCD10=BCD10^ $0F
return