PWPS Servo Problem

[louislouis]

Hi Richard,

I don't know, I'm just guessing.

Here the code for PIC 16F688 working just fine:

'*  Notes   : PIC16F688                                         *
'****************************************************************
#CONFIG
cfg = _INTRC_OSC_NOCLKOUT
cfg&= _WDT_ON
cfg&= _PWRTE_OFF
cfg&= _MCLRE_OFF
cfg&= _CP_OFF
cfg&= _CPD_OFF
cfg&= _BOD_ON
cfg&= _IESO_ON
cfg&= _FCMEN_ON
  __CONFIG cfg
#ENDCONFIG

DEFINE OSC 4 
OSCCON = %01100100

ANSEL =  0           ; set all digital
TRISA = %00000000    ; PORT A all output
TRISC = %00100001    ; PORT C.5 input RX, C.0 safety, rest output
CMCON0 = 7

; def_ports:
PWPSpin       var portc.1  ; servo signal OUTPUT (must be defined before PWPS_Servo.INC) 
safety        var portc.0  ; safety leash magnetic switch

; def_vars:
n             var byte 
cmd           var byte 

; def HW USART:
DEFINE HSER_BAUD 9600		; Set Baud rate to 9600bps
DEFINE HSER_CLROERR 1 		; Clear overflow error automatically
DEFINE HSER_TXSTA 24h       ; Set receive register to TX en
define HSER_SPBRG 25
DEFINE HSER_SPBRGH 1
DEFINE HSER_RCSTA 90h

; def ext libr:
include "PWPS_Servo.INC"                    ; Software Servo PWM module

init:                                       ; vars start values
position      = 1
cmd           = 245
n             = 0

gosub StartPWPS                             ; start PWPS module 

Main:                                                      

hSerin 20,lost, [wait("Q"),dec cmd]         ; wait for Q and then for CMD

if cmd = 155 then                           ; increment servoimpulse
Position=Position+1
if Position > 1199 then Position = 1200     ; max servoimpulse lenght 2us
gosub SetPWPS
endif

if cmd = 145 then                           ; decrement servoimpulse
Position=Position-1
if Position < 1 then Position = 1           ; min servoimpulse lenght 1us
gosub SetPWPS
n=n+1                                       ; long press decrement  
if n=255 then                               ; switch to minimum servoimpulse after cca. 3. sec.
position=1
endif
endif

if cmd = 245 then                            ; if transmitter is switched OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif

if safety = 1 then                           ; if safety switch is OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif

goto main

lost:                                        
n=0                                           ; clear long press counter value to 0
if safety = 1 then                            ; if safety switch is OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif
goto main

Here the code for PIC 16F1824 it causes collisions, the code is the same except config:

 
'*  Notes   : PIC16F1824                                        *
'****************************************************************

#CONFIG
  __config  _CONFIG1, _FOSC_INTOSC & _WDTE_OFF & _PWRTE_OFF & _MCLRE_OFF & _CP_OFF & _CPD_OFF & _BOREN_ON & _CLKOUTEN_OFF & _IESO_OFF & _FCMEN_OFF
  __config  _CONFIG2, _WRT_OFF & _PLLEN_OFF & _STVREN_OFF & _BORV_19 & _LVP_OFF
#ENDCONFIG

DEFINE OSC 4     ; Use a 4 MHZ internal clock 
OSCCON = %01101000

ANSELA  = 0
ANSELC  = 0 
TRISA = %000000   
TRISC = %00100001 ; PORT C.5 input RX, C.0 safety, rest output
CM1CON0 = 0       ; Disable comparator 1
CM2CON0 = 0       ; Disable comparator 2
OPTION_REG.7=1    ; Disable weak pull ups
APFCON0.7=0
APFCON0.2=0


; def_ports:
PWPSpin       var portc.1  ; servo signal OUTPUT (must be defined before PWPS_Servo.INC) 
safety        var portc.0  ; safety leash magnetic switch

; def_vars:
n             var byte 
cmd           var byte 

; def HW USART:
DEFINE HSER_BAUD 9600		; Set Baud rate to 9600bps
DEFINE HSER_CLROERR 1 		; Clear overflow error automatically
DEFINE HSER_TXSTA 24h       ; Set receive register to TX en
define HSER_SPBRG 25
DEFINE HSER_SPBRGH 1
DEFINE HSER_RCSTA 90h

; def ext libr:
include "PWPS_Servo.INC"                    ; Software Servo PWM module

init:                                       ; vars start values
position      = 1
cmd           = 245
n             = 0

gosub StartPWPS                             ; start PWPS module 

Main:                                                      

hSerin 20,lost, [wait("Q"),dec cmd]         ; wait for Q and then for CMD

if cmd = 155 then                           ; increment servoimpulse
Position=Position+1
if Position > 1199 then Position = 1200     ; max servoimpulse lenght 2us
gosub SetPWPS
endif

if cmd = 145 then                           ; decrement servoimpulse
Position=Position-1
if Position < 1 then Position = 1           ; min servoimpulse lenght 1us
gosub SetPWPS
n=n+1                                       ; long press decrement  
if n=255 then                               ; switch to minimum servoimpulse after cca. 3. sec.
position=1
endif
endif

if cmd = 245 then                            ; if transmitter is switched OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif

if safety = 1 then                           ; if safety switch is OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif

goto main

lost:                                        
n=0                                           ; clear long press counter value to 0
if safety = 1 then                            ; if safety switch is OFF servoimpulse to nimimum
Position=1
gosub SetPWPS
endif
goto main

Here is the PWPS include file:
PWPS_Servo.INC.txt