Hot to handle multiple interrupt sources?

[mark_s]

Hello

Have you seen this for control of more than one RC servo.

http://www.darreltaylor.com/DT_INTS-14/SPWM.html

Another in the Wiki section.

http://www.picbasic.co.uk/forum/cont...th-2-I-O-lines

Edit.: Never mind I see from the code you are using servos with encoders

[Demon]

I'd suggest getting one motor working first, keep your code as simple as possible as a start. Once that works, add a second motor and see if timing remains stable.

Figure out if issue is in timer interrupt, or having multiple motors.

Robert

Edit: Why GOSUB Encounter? It's only called once that I can see. Why not just plug in the subroutine at the GOSUB?

[elcrcp]

main loop is STANDUP in this code, and program remains in that main loop until all motors get into position, ENCOUNTER subroutine is called every time loop starts, and I'm counting pulses from encoders with it. My encoders giving a pulse every 5ms at full speed and controller can complete that loop in microseconds, so controller can catch up any pulse and count it or thats what I thought =)
But I still have question marks in my mind, I didn't change the code in the end, just added DT-INTS and I belive I added them into code properly, but result is not right. I wonder if there are some tips or things about usage of DT-INTS

[elcrcp]

These are problems I observed in my code with DT-INTS;
1- There is 3 seconds pause command after defining variables and before start motor controls but motors are starting to run directly when i plug the power cable.
2- Program cannot go out of STANDUP loop until all of encoders give 50 pulses but although I unplugged4 motors from system without changing the code, remaining 2 motors running , then pausing (not pausing from the start, it looks like it pauses after a jump) and running again and pausing ....
3- As far as I see, program is not giving a thing about main program and ENCOUNTER subroutine
4- Interrupt subroutine is working, because motors cannot run before int routine run but nothing else is running...

I just cant see what is the problem here, maybe I should give up on DT-INTS and use polling methode for multiple interrupts

[Demon]

I think Timer starts at top with INT_ENABLE.

You have PAUSE 3 seconds at bottom of main loop (no idea why).

DT-INT is by far the easiest method to control interrupts, especially when you have more than one.

As I said, make a copy of your program and keep code for only 1 motor until you debug your logic. Then add 1 motor and see how that goes. Then all 6 only when logic is perfect.

Start small. Have you tried DT's beginner examples?

Edit: I don't see where you set T1CON.

[Demon]

This is all you need to blink an LED.

LED1   VAR  PORTB.1

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   TMR1_INT,  _ToggleLED1,   PBP,  yes
    endm
    INT_CREATE               ; Creates the interrupt processor
ENDASM

T1CON = $31                ; Prescaler = 8, TMR1ON
@ INT_ENABLE  TMR1_INT     ; enable Timer 1 interrupts

Main:
  PAUSE 1
GOTO Main

'---[TMR1 - interrupt handler]--------------------------------------------------
ToggleLED1:
     TOGGLE LED1
@ INT_RETURN

[elcrcp]

This was my trial code, I wrote it with only 1 interrupt source to try DT-INTS so I didn't use TMR1 or any other interrupt source in this code, if I can make this code work then i'll use other sources. I only used TMR0 and set it at the very beginning with "OPTION_REG=%10000100" then providing an interrupt with "TMR0=255"
Pauses are for observing the system, so I can observe rotation amount before it starts run again.
timer may be starting with INT_ENABLE as you said, I'll check it, and I'll apply a few more tests too. I'll report results here.
I didn't try DT beginner examples because I didn't need them but I think I should try them to understand it's logic better.