(Picbasic Pro Compiler) Distinct management of two servos per timer(s) of 12F675?

[Acetronics2]

Salut Zorglub, salue Champignac pour moi ... ce pseudo ne m'est pas totalement inconnu

The question is ...
what happens is quite predictable ... BUT, having a look to your code and knowing your application goal could lead to an adequate answer ... or better, closer solution.

Alain

[zorgloub]

Bien le bonjour Alain et... salutations de Champignac


Hello Alain.
My application is to read two servo control signals from a classic radio -controlled receiver.
These signals are "processed" and redirected to two outings.

We find, on these outputs, the inverted signals, or not, depending on various possible combinations.

A configuration jumper allows three possible modes (recorded in EEPROM).

I note that for a condition giving a defined pulsout of 1 or 2 msec the servo is stable.
But for pulsout "copying" or reversing the Pulsin values to outputs, they are no longer stable!
It is therefore not the inversion calculation (3msec - Pulsin) which induces the problem. (Look at the PRG0 which does not include a reversal calculation but just a "copy" of the pulsin value.)

Finally, note that if I connect the servos directly to the receivers' outputs, they remain stable. We cannot therefore incriminate an instability of the signals from the receiver!

Thank you for your ideas.

CODE: (PBP v2.4)

'**********************************************************************
'   Programme: Test1.PBP   (c)RGL 05-2023
'     ---> PIC 12F675
'***********************************************************************
' PicBasicPro Compiler V:2.40    448 Words compiled

'*** PIC Pinouts/Specifications
'------------------------------------
'       PIC 12F675  (Internal 4Mhz Osc) DEFINE OSC =Default.Value =4
'                   __ __
'             Vcc +|  U  |- Gnd
'         (nc)GP5 x|     |< GP0 _Config Jumper
' _Horizontal GP4 >|     |> GP1 _Servo1 
' _Vertical   GP3 >|     |> GP2 _Servo2 
'                   -----
@ Device Pic12F675, intrc_osc, wdt_off, pwrt_on, mclr_off, protect_off

DEFINE OSC 4    '10us Pulsout Unit: 100 = 1ms  @4Mhz
                ' 1ms Pause Unit  :   1 = 1ms  @4Mhz

CMCON  = 7   'Comparator Off
ANSEL  = 0   'Set Port to Digital i/o         
ADCON0 = 0   'All ADC Off

TRISIO = %011001  ; 1=Input
GPIO   = %00      ; Make all pins 0 except input pins

OSCCAL = $38  ' $38=56d ' Also to be manually placed at 3FF Address (3438)!

'*** In/Out pins ..................................................
                                              'GND        pin8 - Gnd
 Input 0 : Symbol _Config     = GPIO.0    'Jumper        pin7 - In0
Output 1 : Symbol _Servo1     = GPIO.1     'Servo1        pin6 - Out1
Output 2 : Symbol _Servo2     = GPIO.2     'Servo2        pin5 - Out2
 Input 3 : Symbol _Vertical   = GPIO.3     'Vertical Position    pin4 - In3
 Input 4 : Symbol _Horizontal = GPIO.4     'Horizontal Position    pin3 - In4
;Input 5 : Symbol _xxx        = GPIO.5                pin2 - nc
'                                       'Vcc        pin1 - Vcc
'*** Variables

 Menu         VAR byte    'Program Mode index (0 to 3)
 Vertical    VAR word    'Vertical Position
 Horizontal  VAR word    'Horizontal Position
 RVertical   VAR word    'Reverse Vertical Position Value  (3msec - Vertical)
 RHorizontal VAR word    'Reverse Horizontal Value (3msec - Horizontal)

'=== MAIN PROGRAM =====================================================
Init:
READ 0, Menu      'Read Eeprom when starting (Check Mode Prg)

MainLoop:

 IF _Config=0 Then Gosub MODE    ' Enabled Mode Configuration Jumper

 Pulsin _Vertical,1,Vertical  'Read Vertical Position
  gosub Tri
 Pulsin _Horizontal,1,Horizontal  'Read Horizontal Position
  gosub Tri

Goto MainLoop

'=======================================================================
' --- SUBROUTINES ---
'=======================================================================
TRI:

 Select Case Menu
  Case 0
    Gosub PRG0
  Case 1        
    Gosub PRG1
  Case 2        
    Gosub PRG2    
  End Select
Return
'-------------------------------------------------
MODE:  'Change and memorize the 3 Menu Program index (0 to 2)

 Menu = Menu + 1
 IF Menu > 2 Then Menu = 0
  WRITE 0,Menu 'Write to Eeprom @Addr.0 the menu index
  PAuse 1000   '1 sec
Return
'-------------------------------------------------
PRG0:

 IF Horizontal <120 then '1ms (<1,2ms)
  Pulsout _Servo1,Horizontal
  Pulsout _Servo2,Vertical
 Else
   IF Horizontal < 170 then '1,5ms (<1,7ms)
    Pulsout _Servo1,100  '1ms
    Pulsout _Servo2,100  '1ms
   Else '2ms (>=1,7ms)
     Pulsout _Servo1,Vertical
     Pulsout _Servo2,Horizontal
   Endif
 Endif  
Return
'-------------------------------------------------
PRG1:

  RHorizontal = 300-Horizontal  'Reverse Horizontal Pösition (3msec-Horizontal)
 
 IF Horizontal <120 then '1ms (<1,2ms)
  Pulsout _Servo1,RHorizontal
  Pulsout _Servo2,Vertical
   Else
   IF Horizontal < 170 then '1,5ms (<1,7ms)
    Pulsout _Servo1,200  '2ms
    Pulsout _Servo2,100  '1ms
   Else '2ms (>=1,7ms)
     Pulsout _Servo1,Vertical
     Pulsout _Servo2,Horizontal
   Endif
 Endif
Return
'-------------------------------------------------
 PRG2:

  RHorizontal = 300-Horizontal  'Reverse Horizontal Pösition (3msec-Horizontal)
  RVertical = 300-Vertical  'Reverse Vertical Position (3msec-Vertical)
 
 IF Horizontal <120 then '1ms (<1,2ms)
  Pulsout _Servo1,Horizontal
  Pulsout _Servo2,Vertical
   Else
   IF Horizontal < 170 then '1,5ms (<1,7ms)
    Pulsout _Servo1,100  '1ms
    Pulsout _Servo2,200  '2ms
   Else '2ms (>=1,7ms)
     Pulsout _Servo1,RVertical
     Pulsout _Servo2,RHorizontal
   Endif
 Endif
Return
'-------------------------------------------------

'====  END OF PRG ===============================================