Problems controlling multiple pics

[Archangel]

Awesome coding suggestions. I was able to get rid of 4 pages of code using similar thinking after you showed me that. (guess my brain just finally started working) ^^

also, I tried something just as a blind guess at a way to fix the problem, or help a little, and it worked really well. I put a 470 ohm resistor to the ground from the picin pin on the slave. seems to have gotten rid of noise that was causing it to think it was recieving data when it wasn't, and it lowered the number of errors in general pretty significantly.

Maybe thats standard practice? Or was it really insanity to genius. Anyways hopefully that fixed it. ^^

Hmmmm, What it does is short out the hi impeadence noise, since the noise doesn't have the amperage to carry through, but the signal does.

[gandora]

Hmmmm, What it does is short out the hi impeadence noise, since the noise doesn't have the amperage to carry through, but the signal does.

Thats what I thought it was doing, I did the same thing with the line in from the pc and I haven't had any errors since, but I still have the double buffer system that will make sure i know when i get one.

Now I can move on to the next challenge. Which is, having multiple commands qued to be executed at once.

I will get to work on that task and post my results when I get somewhere with it.

[gandora]

I have now given the master an 8 command buffer. And finnally life is good ^^.

I think I am going to up the buffer to 16, but that will require that I use 2 buffer arrays. For now, heres the master code, feel free to make any suggestions, and just let me know if you use it in any projects.

:MSmaster:

'****************************************************************
'*  Name    : MSERVMASTER.BAS                                      *
'*  Author  : Joseph Dattilo                                    *
'*  Notice  : Copyright (c) 2007 Joseph Dattilo                 *
'*          : All Rights Reserved                               *
'*  Date    : 5/25/2007                                         *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************

        define OSC 8
        OSCCON = %1111110 ' sets internal osc to run at 8MHZ

'----------turn analog on porta off, and use as digital input/output
'----------this is used to allow serial input on the A bus.
        CMCON = 7 'Comparators OFF
        ANSEL = 0 'A/D OFF -- Port pins all digital
'----------

'---**Pins
rsoutpin var porta.0
rsinpin var porta.1

picinpin var portb.4
picoutpin var portb.5

porta=0
portb=0

'---vars

temp var byte
qued var byte
outqued var byte

message  var byte[24]

'-up to 8 commands can be buffered in que array.
que var byte[96]
'---------------


qued = 0 'set number in que to 0
goto pcin

'############################## pc recieve ################################
'que up messages from pc
'##########################################################################

pcin:

        '---- let pc know we are ready to recieve message.      
        serout2 rsoutpin, 16468, ["waiting!"] 'call for data           
        '---- ready to recieve message
        serin2 rsinpin, 16468, [str message\24]
        
    '------------------------------------------------------------------------
    'compare both arrays checking for bad data if data bad request it again.
    for temp = 0 to 11 : if message[temp] <> message[temp+12] then goto baddata
    next temp
    '------------------------------------------------------------------------

    
    serout2 rsoutpin, 16468, [str message\12] 'send confirmation of reciept.
    
    '------------------inque-----------------
     for temp = 0 to 11:que[(12*qued)+temp]=message[temp]:next temp
     serout2 rsoutpin, 16468, ["Qued:",str que\(12*qued+12)] 'display all in que
     
    
    '----------------------------------------
    
    if message[11] = "n" then
    serout2 rsoutpin, 16468, ["still more commands!?"] 'debug statement
    
    qued=qued+1 'go to next position in que
    
    goto pcin   'request the data for the next item.
    
    else
    
    outqued = 0 'set picout que start position to 0 (first item in que first)
    
    goto picout 'we are ready to command the servo controller.
    
    endif
    
    
        
        '-------------------------
        'where bad data takes you.
        baddata:
        serout2 rsoutpin, 16468, ["bad data!"]    
        goto pcin
        '-------------------------



'############################## pic transmit #############################
'---- picout procedure waits for high on picinpin and then transmits data
'#########################################################################

picout:

'---------------------unque next item into message array        
for temp = 0 to 11:message[temp]=que[(12*outqued)+temp]
message[temp+12]=que[(12*outqued)+temp]:next temp
'------------------------------------------------------- 

    input picinpin

        while picinpin = 0
        pause 1
        wend       


    serout2 picoutpin, 16468, [str message\24]
    pause 7

        if picinpin = 1 then      'checks if data was recieved
        goto picout  're-send until recieved
        endif
        
serout2 rsoutpin, 16468, ["SUCCESS|",str message\12,"|"] 'tell computer

if outqued < qued then

outqued = outqued +1 'move to next qued item
goto picout          'proceed to transmit it.
else
serout2 rsoutpin, 16468, ["|ALL",DEC (qued+1),"items transmitted succesfully|"]
qued=0
goto pcin
endif


end

It is important that you attribute for the pause 7 in the master in the slaves procedure to prevent the master from constantly retransmitting the first message in the que.

This is the modified recieve part of the function which allows the mserv slave to recieve any number of messages in a row.
:MSslave:

'############################SLAVE RECIEVE################################
       
'######################################################################

recieve:

        '----send serial request, and get user input for motor drive timeout 70 ms       
         
         high picoutpin
                
        '----
        
        serin2 picinpin, 16468,20,drivemotor, [dec2 servonum[0],skip 1,_
        dec3 rate[0],skip 1,dec3 position[0],skip 1,donecommanding[0],_
        dec2 servonum[1],skip 1,dec3 rate[1],skip 1,dec3 position[1],skip 1,_
        donecommanding[1]]
        
        if servonum[0]!=servonum[1] or rate[0]!=rate[1] or _ 
        position[0]!=position[1] or donecommanding[0]!=donecommanding[1] then
        'data is bad recieve again      
        goto recieve 'try again
        endif
        
        low picoutpin
        '-----

            'setup the servo chosen
            goalarray[servonum-1]=position[0]  'set servo goal
            ratearray[servonum-1]=rate[0]      'set servo rate
            '
        'allow for multiple commands.
        if donecommanding[0] = "n" then
        pause 7 'pause long enough to make sure master does not attempt retrans.
        goto recieve
        endif
        
        
        
goto drivemotor

[gandora]

Okay so that wasn't too hard.

The master transmitter now uses pretty much all of the ram available on the 16F88 as a buffer. Allowing 16 commands to be stored and transmitted from 2 seperate buffers.

I am pretty sure I will not be needing more then that for this project and so here it is.

:MSmaster:

'****************************************************************
'*  Name    : MSERVMASTER.BAS                                      *
'*  Author  : Joseph Dattilo                                    *
'*  Notice  : Copyright (c) 2007 Joseph Dattilo                 *
'*          : All Rights Reserved                               *
'*  Date    : 5/25/2007                                         *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************

        define OSC 8
        OSCCON = %1111110 ' sets internal osc to run at 8MHZ

'----------turn analog on porta off, and use as digital input/output
'----------this is used to allow serial input on the A bus.
        CMCON = 7 'Comparators OFF
        ANSEL = 0 'A/D OFF -- Port pins all digital
'----------

'---**Pins
rsoutpin var porta.0
rsinpin var porta.1

picinpin var portb.4
picoutpin var portb.5

porta=0
portb=0

'---vars

temp var byte
qued var byte
outqued var byte

message  var byte[24]

'-up to 8 commands can be buffered in each que array adding up to 16 altogether.
que var byte[96]
que2 var byte[96]
'---------------


qued = 0 'set number in que to 0
goto pcin

'############################## pc recieve ################################
'que up messages from pc
'##########################################################################

pcin:

        '---- let pc know we are ready to recieve message.      
        serout2 rsoutpin, 16468, ["waiting!"] 'call for data           
        '---- ready to recieve message
        serin2 rsinpin, 16468, [str message\24]
        
    '------------------------------------------------------------------------
    'compare both arrays checking for bad data if data bad request it again.
    for temp = 0 to 11 : if message[temp] <> message[temp+12] then goto baddata
    next temp
    '------------------------------------------------------------------------

    
    serout2 rsoutpin, 16468, [str message\12] 'send confirmation of reciept.
    
    '------------------inque-----------------
     
     for temp = 0 to 11
         if qued<8 then  'add to first que
         que[(12*qued)+temp]=message[temp]
         else             'add to second que
         que2[(12*(qued-8))+temp]=message[temp]
         endif
     next temp
     
         if qued>7 then
         serout2 rsoutpin, 16468, ["Que 1:",str que\96, _ 
         "Que 2:",str que2\(12*(qued-8)+12)]
         
         else
         
    serout2 rsoutpin, 16468, ["Que 1:",str que\(12*qued+12)] 'display all in que
    
         endif
    '----------------------------------------
    
    if message[11] = "n" and qued<15 then
    
    serout2 rsoutpin, 16468, ["still more commands!?"] 'debug statement
    
    qued=qued+1 'go to next position in que
    
    goto pcin   'request the data for the next item.
    
    else
    
    outqued = 0 'set picout que start position to 0 (first item in que first)
    
    goto picout 'we are ready to command the servo controller.
    
    endif
    
    
        
        '-------------------------
        'where bad data takes you.
        baddata:
        serout2 rsoutpin, 16468, ["bad data!"]    
        goto pcin
        '-------------------------



'############################## pic transmit #############################
'---- picout procedure waits for high on picinpin and then transmits data
'#########################################################################

picout:

'---------------------unque next item into message array        
for temp = 0 to 11



if outqued<8 then  'add to first que
         message[temp]=que[(12*outqued)+temp]
         message[temp+12]=que[(12*outqued)+temp]
         else             'add to second que
         message[temp]=que2[(12*(outqued-8))+temp]
         message[temp+12]=que2[(12*(outqued-8))+temp]
         endif

next temp
'------------------------------------------------------- 

    input picinpin

        while picinpin = 0
        pause 1
        wend       


    serout2 picoutpin, 16468, [str message\24]
    pause 7

        if picinpin = 1 then      'checks if data was recieved
        goto picout  're-send until recieved
        endif
        
serout2 rsoutpin, 16468, ["SUCCESS|",str message\12,"|"] 'tell computer

if outqued < qued then

outqued = outqued +1 'move to next qued item
goto picout          'proceed to transmit it.
else
serout2 rsoutpin, 16468, ["|ALL",DEC (qued+1),"items transmitted succesfully|"]
qued=0
goto pcin
endif


end

As a note no changes need be made to the slave from last version for cross compatability.