Trying to inch my way to the finish line w/ a 16F1829.........

[thasatelliteguy]

When my internet went down last night, I was forced into the manual with no outside help... it forced me to finally figure out and understand the commands to set bit in registers...YAY! But still I can't get the damn thing to work. Could ya take a look and see what's hanging me up in moving from serin/serout to hserin/hserout?


*** Also notice, for some reason when I made the change away from HIGH/LOW, my interrupt stopped being able to "see" the status of the output pin. I had to add a variable to be set along side each time before it'd trigger the if/then's again. Seems like I wasted more memory than I saved... Is there a better fix?

INCLUDE "DT_INTS-14.bas"
INCLUDE "ReEnterPBP.bas"

#CONFIG
    __config _CONFIG1, _FOSC_HS & _WDTE_OFF & _PWRTE_OFF & _MCLRE_ON & _CP_OFF & _CPD_OFF & _BOREN_OFF &  _CLKOUTEN_OFF & _IESO_OFF
    __config _CONFIG2, _PLLEN_OFF & _LVP_OFF
#ENDCONFIG

DEFINE OSC 20 
ANSELA = 0        'DISABLE ANALOG
TRISA.1 = 1       'RX PIN AS INPUT
ADCON1 = 7
TXSTA.4 = 0       'SYNC BIT OFF
RCSTA.7 = 1       'SPEN BIT ON
RCSTA.4 = 1       'CREN BIT ON
PIE1.5 = 1        'RCIE BIT ON
INTCON.6 = 1      'PEIE BIT ON
INTCON.7 = 1      'GIE BIT ON


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


avg var word
UP var PORTC.0
TRISC.0 = 0
UP = 0
DOWN var PORTC.1
TRISC.1 = 0
DOWN = 0
WEST var PORTC.2
TRISC.2 = 0
WEST = 0
EAST var PORTC.7
TRISC.7 = 0
EAST = 0
RX var PORTC.5
TRISB.6 = 1
TX var PORTC.4
TRISB.5 = 0
azLIMIT var PORTC.6
TRISC.6 = 1
LED var PORTB.7
TRISB.7 = 0
LED = 1
newpos var word
oldpos var word
distance var word
Eencoder0Pos var word
Aencoder0Pos var word
Enewposition var word
Eoldposition var word
elHOMEpos var word
elSTOWpos var word
Anewposition var word
Aoldposition var word
azPOS var word
azSTOWpos var word
azHOMEpos var word
cereal var word
apple var word
apple = 0
stowed var word
stowed = 0
wsave var byte $70 SYSTEM
wsave1 var byte $A0 SYSTEM
wsave2 VAR BYTE $120 SYSTEM
wsave3 VAR BYTE $1A0 SYSTEM
HEL var byte
HAZ var byte
b0 var byte
i var byte
el_UP var byte
el_UP = 0
el_DN var byte
el_DN = 0
az_EAST var byte
az_EAST = 0
az_WEST var byte
az_WEST = 0

goto MainMenu

disable
doEncoder:
    if el_UP = 1 then Eencoder0Pos = Eencoder0Pos + 1
    iF el_DN = 1 THEN Eencoder0Pos = Eencoder0Pos - 1
    IF az_WEST = 1 THEN Aencoder0Pos = Aencoder0Pos + 1
    IF az_EAST = 1 THEN Aencoder0Pos = Aencoder0Pos - 1
@ INT_RETURN

allSTOP:
GOSUB POS
WEST = 0
EAST = 0
UP = 0
DOWN = 0
el_UP = 0
el_DN = 0
az_EAST = 0
az_WEST = 0
pause 2000
return


CLR:
    For i = 0 to 30
        hserout [10]
    next i
return


TEST1:
Eencoder0Pos = 0
avg = 0
testloop:
gosub POS
el_UP = 1
UP = 1
for i = 1 to 30
pause 250
oldpos = newpos
newpos = Eencoder0POS
if oldpos > newpos then distance = oldpos - newpos
if newpos > oldpos then distance = newpos - oldpos
avg = avg + distance
hserout  ["Distance Travelled: ", #distance, 13, 10]
next i
gosub allSTOP
avg = avg/30
pause 1500
hserout  ["Test Complete. 1/4 Second Average was: ", #avg, 13, 10]
pause 5000
goto MainMenu
 
          



Startup:
    pause 2000
    gosub CLR
    hserout  ["Running Startup Procedures!", 13, 10]
    hserout ["PLEASE WAIT....", 13, 10]
    pause 3000
    Eencoder0Pos = 0
    hserout  [10, 10, "Eencoder0Pos Before is: ", #Eencoder0Pos, 13, 10]
	pause 2000
    Eoldposition = Eencoder0Pos
	DOWN = 1
	el_DN = 1
    pause 1000
	gosub allSTOP
    hserout  [10, "Eencoder0Pos After is: ", #Eencoder0Pos, 13, 10]
	pause 2000
    Enewposition = Eencoder0Pos
    hserout  [10, "Eoldposition is: ", #Eoldposition, 13, 10]
    hserout  [10, "Enewposition is: ", #Enewposition, 13, 10]
    pause 2000
    IF Eoldposition = Enewposition THEN
		stowed = 1
		apple = 1
		pause 5000
        gosub CLR
		hserout  ["Startup Sequence Good!", 13, 10]
		hserout  ["Continuing to Main Menu...", 13, 10]
        pause 3500
        goto MainMenu
	ENDIF
	IF Enewposition <> Eoldposition THEN
		stowed = 0
		apple = 0
		UP = 1
		el_UP = 1
        pause 1000
		gosub allSTOP
		gosub CLR
		hserout  ["Startup Error!", 13, 10]
		hserout  ["Dish will need homing before move will be allowed!", 13, 10]
        hserout  ["Continuing to Main Menu...", 13, 10]
        pause 5000
        goto Mainmenu
    ENDIF

MainMenu:
    gosub CLR
    hserout  ["******** MAIN MENU ********", 13, 10, 10]
    hserout  [" 1. Start Homing Sequence", 13, 10]
    hserout  [" 2. Manual JOG Mode", 13, 10]
    hserout  [" 3. Auto-Acquire Satellite", 13, 10]
    hserout  [" 4. Stow Dish for Travel", 13, 10, 10]
    hserout  ["Enter Your Selection:"]
    hserin [b0]
    If b0 = "1" then goto HomeDish 
    If b0 = "2" then goto JogMenu
    If b0 = "3" then goto TEST1
    If b0 = "4" then goto Startup
goto MainMenu

HomeDish:
    gosub CLR
    hserout ["******** HOME DISH ********", 13, 10, 10]
    hserout [" 1. Start Homing Sequence", 13, 10, 10]
    hserout [" 2 Abort Homing", 13, 10, 10]
    hserout ["Enter Your Selection:"]
    hserin [b0]
    if b0 = "2" then goto MainMenu
    homeloop:
    IF b0 = "1" THEN 
        gosub HomeEL
        'gosub HomeAZ
        HAZ = 1
        IF (HEL = 1) AND (HAZ = 1) THEN
            gosub clr
            hserout ["HOME PROCESS WAS SUCCESSFUL!", 13, 10]
            goto MainMenu
        ENDIF
        IF (HEL = 0) OR (HAZ = 0 ) THEN
            gosub clr
            hserout  ["DIS HOME PROCESS CAN SUCK MY DICK!", 13, 10]
            goto MainMenu
        ENDIF
    ENDIF
    pause(200)
    goto homeloop
goto HomeDish

HomeAZ:
    gosub clr
    hserout  ["HOMING AZIMUTH - PLEASE WAIT..", 13, 10]
    PAUSE(500)
    Aencoder0Pos = 0
    oldpos = 0
    WEST = 1
    az_WEST = 1
    PAUSE(250)
    IF Aencoder0Pos = 0 THEN
        gosub allSTOP
        EAST = 1
        az_EAST = 1
        PAUSE(250)
        gosub allSTOP
        PAUSE(500)
        Aencoder0Pos = 0
        WEST = 1
        az_WEST = 1
        PAUSE(500)
        IF Aencoder0Pos = 0 THEN goto moveerror
    ENDIF
    pause 1000
    loop4:
    pause 250
    oldpos = newpos
    newpos = Aencoder0POS
    if oldpos > newpos then distance = oldpos - newpos
    if newpos > oldpos then distance = newpos - oldpos
    if distance < 100 then
        gosub allSTOP
        Aencoder0Pos = 65000
        hserout  ["HOMING AZIMUTH WAS SUCCESSFUL!", 13, 10]
        HAZ = 1
    endif
    goto loop4
    az_EAST = 1
    EAST = 1
    loop8:
    pause 100
    if Aencoder0Pos > 0 then goto loop8
    return
  

HomeEL:
gosub clr
hserout  ["HOMING ELEVATION - PLEASE WAIT..", 13, 10]
PAUSE(500)
Eencoder0Pos = 0
el_UP = 1
UP = 1
PAUSE(250)
IF Eencoder0Pos = 0 THEN
    gosub allSTOP
    DOWN = 1
    el_DN = 1
    PAUSE(250)
    gosub allSTOP
    PAUSE(500)
    Eencoder0Pos = 0
    UP = 1
    el_UP = 1
    PAUSE(500)
    IF Eencoder0Pos = 0 THEN goto moveerror
ENDIF
    pause 1000
    oldpos = Eencoder0Pos
    loop3:
    pause 250
    newpos = Eencoder0POS
    hserout  ["oldpos = ", #oldpos, 13, 10]
    hserout  ["newpos = ", #newpos, 13, 10]
    if oldpos > newpos then distance = oldpos - newpos
    if newpos > oldpos then distance = newpos - oldpos
    if oldpos = newpos then distance = 0
    hserout  ["distance = ", #distance, 13, 10]
    oldpos = newpos
    if distance < 1 then
        gosub allSTOP
        Eencoder0Pos = 3000
        HAZ = 1
    hserout  ["HOMING ELEVATION WAS SUCCESSFUL!", 13, 10]
    goto safe_el
    endif
    goto loop3
    safe_el:
    el_DN = 1
    DOWN = 1
    loop9:
    pause 100
    gosub pos
    if Eencoder0Pos > 1500 then goto loop9
    return
  
JogMenu:
gosub CLR
pause 250
hserout  ["***** JOG MENU *****", 13, 10, 10]
hserout  ["U - UP", 13, 10]
hserout  ["D - DOWN", 13, 10]
hserout  ["E - EAST", 13, 10]
hserout  ["W - WEST", 13, 10]
hserout  ["S - ALL STOP", 13, 10]
hSEROUT  ["X - MAIN MENU", 13, 10, 10]
hserin [b0]
if b0 = "U" Then
    gosub allSTOP
    HIGH UP
    el_UP = 1
endif
if b0 = "D" then
    gosub allSTOP
    HIGH DOWN
    el_DN = 1
endif
if b0 = "E" then
    gosub allSTOP
    high EAST
    az_EAST = 1
endif
if b0 = "W" then
    gosub allSTOP
    HIGH WEST
    az_WEST = 1
endif
if b0 = "S" then gosub allSTOP
if b0 = "X" then 
    gosub allSTOP
    goto MainMenu
endif
goto JOGMenu

ACQUIRE:
goto MainMenu

STOW:
goto MainMenu



abort:
gosub allSTOP
gosub clr
hserout  ["USER STOP! -- MOVE ABORTED!", 13, 10]
PAUSE(5000)
goto MainMenu

moveerror:
gosub allSTOP
gosub clr
hserout  ["SYSTEM ERROR! -- MOVE ABORTED!", 13, 10]
PAUSE(5000)
goto MainMenu

POS:
pause 100
hserout  ["  EL -- ", #Eencoder0Pos, "  AZ -- ", #Aencoder0Pos, 13, 10]
return