Ah! So what you're saying is, use PBP3 alreadyI did purchase the software upgrade but haven't tried converting my existing PBP code yet. Guess I should start sooner than later.
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
Ah! So what you're saying is, use PBP3 already
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
This code works on a PIC 16F628A:
This code does NOT on a PIC 16F1825:Code:'---------Initialization-------- DEFINE OSC 20 ' set oscillator 20Mhz ' *************************************************************** ' Device Fuses ' *************************************************************** #CONFIG __config _HS_OSC & _WDT_ON & _PWRTE_ON & _MCLRE_OFF & _BODEN_ON & _LVP_OFF & _CP_OFF & _CPD_OFF #ENDCONFIG CMCON = 7 ' Turn off comparators TRISA = %00000000 ' Make all PortA pins output TRISB = %00110000 ' Make PortB pins 4-5 input Old_Bits VAR BYTE New_Bits VAR BYTE RotEncDir VAR BIT ' 1=CW, 0=CCW ' Rot Enc pin A connected to PortB.5; ' Rot Enc pin B connected to PortB.4 Old_RPM VAR BYTE I VAR BYTE '*************************************************************************** ' SETUP YOUR LCD HERE!!! '*************************************************************************** ;Define LCD_DREG PORTA ;Define LCD_DBIT 0 ;Define LCD_RSREG PORTA ;define LCD_RSBIT 4 DEFINE LCD_EREG PORTB DEFINE LCD_EBIT 7 ' Use PortB.7 as the Enable (E) bit since PortB.3 ' on the 16F628A is the one-and-only HPWM output ;define LCD_BITS 4 ;define LCD_LINES 2 ;define LCD_COMMANDUS 2000 ;define LCD_DATAUS 50 '---------Includes---------- INCLUDE "EE_Vars.PBP" ' Requires MPASM assembler ' Go to "View > Compile and Program Options..." ' On "Assembler" tab, check "Use MPASM" ' (no need to change any of the default settings) ' --> copy file to PBP main folder (i.e. c:\pbp) MotorRPM VAR BYTE : @ EE_var _MotorRPM, BYTE, 50 INCLUDE "DT_INTS-14.bas" ' Base Interrupt System INCLUDE "ReEnterPBP.bas" ' Include if using PBP interrupts ' --> copy both files to PBP main folder ' (i.e. c:\pbp) ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler RBC_INT, _Rot_Encoder, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM @ INT_ENABLE RBC_INT ;RB Port Change Interrupt ' Set default values Old_Bits = PORTB & (%00110000) Old_RPM = MotorRPM LCDOUT $FE, 1 PAUSE 1000 rpmAdj CON 20 ' PWM cycle seems to be "higher" than HPWM, so need ' to reduce PWM cycle max to be less than HPWM cycle value ' Spin up motor to saved value of _MotorRPM IF MotorRPM > rpmAdj Then FOR i = 0 to (MotorRPM - rpmAdj) PWM PortB.3, I, 100 NEXT I EndIf ' Begin background HPWM GOSUB motorhpwm Main: IF MotorRPM <> Old_RPM Then Old_RPM = MotorRPM GOSUB motorhpwm @ EE_write_var _MotorRPM ; save the new number to EEPROM EndIF LCDOUT $FE, 2, "MotorRPM: ", #MotorRPM, " " pause 10 GOTO Main motorhpwm: HPWM 1, MotorRPM, 20000 ; Tried 245 Hz but it made the motor too loud. ; Supposedly, anything above 20kHz is above ; human hearing RETURN end '---[RBC - interrupt handler]--------------------------------------------------- Rot_Encoder: New_Bits = PORTB & (%00110000) IF (New_Bits & %00110000) = (Old_Bits & %00110000) Then DoneRotEnc RotEncDir = New_Bits.5 ^ Old_Bits.4 IF RotEncDir = 1 Then ; CW rotation - increase speed but only to a max of 255 IF MotorRPM < 255 then MotorRPM = MotorRPM + 1 Else ' CCW rotation - decrease speed to a min of 0 IF MotorRPM > 0 Then MotorRPM = MotorRPM - 1 EndIF DoneRotEnc: Old_Bits = New_Bits @ INT_RETURN
(The motor spins at full speed and encoder changes are ignored).Code:' *************************************************************** ' Initialization ' *************************************************************** DEFINE OSC 20 ' Set oscillator 20Mhz ' *************************************************************** ' Device Fuses ' *************************************************************** ' PIC chip data sheets can be found here: C:\Program Files\Microchip\MPASM Suite #CONFIG __config _CONFIG1, _FOSC_HS & _WDTE_ON & _PWRTE_ON & _MCLRE_OFF & _CP_OFF & _CPD_OFF __config _CONFIG2, _LVP_OFF #ENDCONFIG ANSELA = %00000000 ANSELC = %00000000 TRISA = %00000011 ' Make PortA pins 0-1 input for rotary encoder TRISC = %00000000 ' Make all pins on PortC output Old_Bits VAR BYTE New_Bits VAR BYTE RotEncDir VAR BIT ' 1=CW, 0=CCW ' Rot Enc pin A connected to PortB.5; ' Rot Enc pin B connected to PortB.4 Old_RPM VAR BYTE I VAR BYTE ' *************************************************************** ' SETUP YOUR LCD HERE!!! ' *************************************************************** ;Define LCD_DREG PORTA ;Define LCD_DBIT 0 ;Define LCD_RSREG PORTA ;define LCD_RSBIT 4 ;DEFINE LCD_EREG PORTB ;DEFINE LCD_EBIT 7 ' Use PortB.7 as the Enable (E) bit since PortB.3 ' on the 16F628A is the one-and-only HPWM output ;define LCD_BITS 4 ;define LCD_LINES 2 ;define LCD_COMMANDUS 2000 ;define LCD_DATAUS 50 '---------Includes---------- INCLUDE "EE_Vars.PBP" ' Requires MPASM assembler ' Go to "View > Compile and Program Options..." ' On "Assembler" tab, check "Use MPASM" ' (no need to change any of the default settings) ' --> copy file to PBP main folder (i.e. c:\pbp) MotorRPM VAR BYTE : @ EE_var _MotorRPM, BYTE, 50 INCLUDE "DT_INTS-14.bas" ' Base Interrupt System INCLUDE "ReEnterPBP.bas" ' Include if using PBP interrupts ' --> copy both files to PBP main folder ' (i.e. c:\pbp) ASM INT_LIST macro ; IntSource, Label, Type, ResetFlag? INT_Handler IOC_INT, _Rot_Encoder, PBP, yes endm INT_CREATE ; Creates the interrupt processor ENDASM @ INT_ENABLE IOC_INT ; Interrupt-on-Change interrupt ' Set default values Old_Bits = PORTA & (%00000011) Old_RPM = MotorRPM ;LCDOUT $FE, 1 ;PAUSE 1000 ' Spin up motor to saved value of _MotorRPM IF MotorRPM > 1 THEN FOR i = 0 to MotorRPM HPWM 3, I, 20000 NEXT I EndIf Main: IF MotorRPM <> Old_RPM Then Old_RPM = MotorRPM GOSUB motorhpwm @ EE_write_var _MotorRPM ; save the new number to EEPROM EndIF ; LCDOUT $FE, 2, "MotorRPM: ", #MotorRPM, " " ; pause 10 GOTO Main motorhpwm: HPWM 3, MotorRPM, 20000 ; Tried 245 Hz but it made the motor too loud. ; Supposedly, anything above 20kHz is above ; human hearing RETURN end ' *************************************************************** ' [RBC - interrupt handler] ' *************************************************************** Rot_Encoder: New_Bits = PORTA & (%00000011) IF (New_Bits & %00000011) = (Old_Bits & %00000011) Then DoneRotEnc RotEncDir = New_Bits.1 ^ Old_Bits.0 IF RotEncDir = 1 Then ; CW rotation - increase speed but only to a max of 255 IF MotorRPM < 255 then MotorRPM = MotorRPM + 1 Else ' CCW rotation - decrease speed to a min of 0 IF MotorRPM > 0 Then MotorRPM = MotorRPM - 1 EndIF DoneRotEnc: Old_Bits = New_Bits @ INT_RETURN
I've been at this most of the night - any ideas? Apart from the subtle change to spinning up the motor to the saved _MotorRPM EEPROM variable, I can't see what I'm doing wrong. Am I missing a register setting to tell it to use PWM on CCP3?
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
I'll double check the connections, but can someone please confirm if I need this to enable the interrupt-on-change feature?
Code:INTCON.3 = 1 'IOCIE bit set to 1
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
That doesn't explain why the HPWM doesn't work, though. Is there something that needs to be configured for PWM use of CCP3?
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
Ross,
The IOC interrupts work differently than the RBC interrupts on the 628A.
To fully understand them, you'll need to read section 13.0 INTERRUPT-ON-CHANGE in the datasheet.
But essentially each IOC pin operates independantly, with individual selection of rising/falling edges, and individual interrupt flags.
Each pin must be enabled with edge selects, and the flags must be cleared on each interrupt.
The registers you need to look at are ...
IOCAP: INTERRUPT-ON-CHANGE PORTA POSITIVE EDGE REGISTERI
IOCAN: INTERRUPT-ON-CHANGE PORTA NEGATIVE EDGE REGISTER
IOCAF: INTERRUPT-ON-CHANGE PORTA FLAG REGISTER
After being setup properly, you can use the interrupt flags to tell what pins changed, instead of reading the port and doing the newbits-oldbits stuff.
If you don't clear the flags, you end up in a continuous interrupt loop and none of the rest of your program will execute.
DT
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
Thanks Darrel. IOC is definitely more complicated than the RBC interrupt but it's always good to learn new things
This is the config I have so far:
Are you saying that for my PBP interrupt routine I can change the code to look at IOCAF.0 and IOCAF.1 values instead of the NewBits/OldBits? The values on A/B from the rotary encoder (incremental quadrature) are:Code:ANSELA = %00000000 ' Digital only (PortA) ANSELC = %00000000 ' Digital only (PortC) TRISA = %00000011 ' Make PortA pins 0-1 input for rotary encoder TRISC = %00000000 ' Make all pins on PortC output INTCON.3 = 1 ' Enable interrupt-on-change (IOCIE) IOCAP.0 = 1 IOCAP.1 = 1 IOCAN.0 = 1 IOCAN.1 = 1 IOCAF.0 = 0 IOCAF.1 = 0
CW
00
10
11
01
CCW
00
01
11
10
I think I still need to track the old values on A/B pins (RA1 & RA0 in my application) and do something like this pseudo code:
If A caused the interrupt then
Compare A & B
If different then
CW rotation
Else
CCW rotation
End If
End If
If B caused the interrupt then
Compare A & B
If same then
CW rotation
Else
CCW rotation
End If
End If
Does that make sense?
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Re: Convert Rotary Encoder Code from 16F628A to 16F1825
(I realize I'm jumping around a bit here but I didn't anticipate that switching from a 16F628A to a 16F1825 (in order to have 2 CCPs) was going to be so complicated)
First things first - getting the rotary encoder code to alter the PWM frequency doesn't matter if I can't get the HPWM command to work at all. In this thread (http://www.picbasic.co.uk/forum/showthread.php?t=1770), it seems to infer that HPWM will only work with channels 1 & 2, not 3 (and greater) and hence manually coding of all the applicable registers is needed. Is that true?
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