I've finished the whole code.
Its contains of:
1, A Word[] array:
its for storing each channel value between 1000-2000uS-> 1-2mS
Or when using 10bit ADC-> we add ~988 to the adc value
0-1023
+988
988-2011 uS -> 0.98-2mS instead of 1-2mS
engineering is realy a tread of
maximum resolution is 16bit because of Word is 16bit.
you can add many channels as your PIC can handle,
simply extend the numbers of elements of the A array.
like A var word[10]
And you also must change the biggest element number
at line 31.
2, B Byte[] array:
it has the same numbers of elements as A.
I use this array as an index of the A array.
On startup I fill it up with [0,1,2,3]
this index is used for "linking" (or pointing) to the A array.
3. sorting
the sorting was do it on the B index array,
4, temp is just a byte because its temporaly holds
the value of a the B elements, which is far less then
255.
5, send out routine
high all servo pins
because the B array is the sorted form of the A
we can easily obtain the lowest channel value.
calculate the delta times
pauseus out the delta times
and low the lowest channel's pin.
You can learn more on delta timing on my previous posts.
and more infos are in the code.
The whole code is just 283 Word
and its MAX runoff time is 3mS! (at a channel config of:1000,1435,1140,2000uS)
when you want to sendout like this: pulseout ch1,ch2,ch3,ch4... itt would took
5,6mS.!!! So my code is really effecient, especially when you use more channels.
array setup: http://kepfeltoltes.eof.hu/gallery.p...1158505218.gif
-------------------------------------------------------------------------
'startup
counter var BYTE
Temp var byte
A var WORD[4]
B var byte[4]
trisa=0
trisb=0
for counter=0 to 3 'DONT delete!!!!
b[counter]=counter 'its for fill B[] on start up
next counter
'end of startup
a[0]=1000 'CH0 'assign any value between 1000-2000uS->1-2mS
a[1]=1435 'CH1 'in 1uS resolution!
a[2]=1140 'CH2
a[3]=2000 'CH3
'sorting routine (from Melanie)
'B[0] smallest, B[3] biggest
counter=0
SortLoop: 'dont delete this label,its for looping
If a[b[counter]] > a[b[counter+1]] then
Temp=b[counter]
b[counter]=b[counter+1]
b[counter+1]=Temp
If counter>0 then counter=counter-2
endif
counter=counter+1
If counter<3 then goto SortLoop
'end sorting of B index array
'this was 500-725 uS from start,depend a little on
'how much sorting was needed
'next routine will be as long as the biggest ch value
'max 2mS + some uS
'Sendout:
high portb.0 'CH0
high portb.1 'CH1
high portb.2 'CH2
high portb.3 'CH3
for counter=0 to 3
pauseus a[b[counter]]-a[b[counter-1]]
'calc delta times
'if counter=0 -> a[b[0-1]] -> WILL BE 0, TESTED!
'so it'll be: Pauseus a[b[counter]]-0 !
Portb.0(B[counter])=0
'LOW portb# given back from B
next counter
end
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