Instant Int and encoder (Elect. Gearing)

[Darrel Taylor]

My understanding was that the INT_INT was for RB0 (external Int) only and that RBC_INT was for the "change on RB 4-7".

Correct!

Steve had found that bug later in the thread. I forgot to mention it.

It should be RBC_INT.
<br>

[boroko]

Hi All,
Been banging my head for a while now and I am getting closer. Thank you for the time you have taken to add life to this forum.

The Travel encoder section works pretty well, but the Manual encoder is erratic and sometimes take over the travel section and not let it work. A bump on Manual, and the Travel works again.

As a reminder. The Travel generates Pulse and Direction in one direction only. The Manual is for bi-directional fine adjustment after the Travel section's movement is complete (automatic). Target: 12F675 @ 4mHz INT_OSC

Anybody see what I'm missing?
Thanks
Bo

A_trav  VAR GPIO.0          'Travel encoder A  input
B_trav  VAR GPIO.1          'Travel encoder B  input
A_man   var GPIO.2          'Manual Encoder A input
B_man   var GPIO.3          'Manual Encoder B input
P_out   var GPIO.4          'Pulse output to motor
D_out   var GPIO.5          'level output for direction                               
Dir         VAR bit            'Direction
Scratch     var byte            'dummy byte
Old_Bits    VAR BYTE
New_Bits    VAR BYTE
TravEncOld  var byte            'TRAVel Measurement ENCoder
TravEncNew  Var byte            '
ManEncOld   var byte            'MANual input ENCoder
ManEncNew   var byte            '
             
P_out = 1                   'servo I/P = LO pulse, start HI 
 
INTCON = %10001000          'GLOBAL ON, GPIO Int ON
CMCON =  7                   'Comparator off, Digital I/O
OPTION_REG = %00000000      'GPIO Pull-up Enabled
TRISIO = %001111 
WPU = %000111               'pull-ups 0-2 (3 added on board) 
IOC = %001111               'Int On Change GPIO 1-3
ANSEL = 0

INCLUDE "DT_INTS-14-0.bas"     '..-14-0 = ALL Banks REM'd 

ASM
INT_LIST  macro    ; IntSource,    label,  Type, ResetFlag?
        INT_Handler    RBC_INT,  _EncChg,   ASM,  yes
    endm
    INT_CREATE                   ; Creates the interrupt processor
    INT_ENABLE   RBC_INT         ;RB Port Change Interrupt
ENDASM                                           

Old_Bits = GPIO & (%001111)                 'Get initial inputs

Main:
         
GOTO Main

'---[RBC - interrupt handler]---------------------------------------------------
EncChg:
    New_Bits = GPIO & (%001111)                'Get inputs
    TravEncNew = New_Bits & (%000011)          'strip New Travel encoder
    TravEncOld = Old_Bits & (%000011)          'Strip Old Travel Encoder
    if TravEncNew = TravEncOld then ManEnc   ' If no chg -> Manual Encoder
    Dir = TravEncNew.1 ^ TravEncOld.0            'Check direction
    D_out = Dir                                  'Direction LEVEL out
    if Dir = 1 then                              'Only travel 1 direction
    pulsout P_out,20                             'drive servo controller 
    Endif                                'Controller is STEP/DIRECTION I/P
    goto DoneRotEnc                      'skip Manual Encoder
         
ManEnc:            
    ManEncNew = New_Bits & (%001100)           'strip Manual Encoder
    ManEncOld = Old_Bits & (%001100)
    Dir = ManEncNew.3 ^ ManEncOld.2           'Direction of Manual input
    D_out = Dir
    pulsout P_out,20                        'Pulse for either direction

DoneRotEnc:
     Old_Bits = New_Bits                    'reset reference 
     Scratch = GPIO                         'read GPIO to clear mis-match
@ INT_RETURN

[Darrel Taylor]

The interrupt type should be PBP.

ASM
INT_LIST  macro    ; IntSource,    label,  Type, ResetFlag?
        INT_Handler    RBC_INT,  _EncChg,   PBP,  yes
    endm

And you'll need to INCLUDE "ReEnterPBP.bas", for it to work.

[boroko]

Thanks,
I need to point out that this in on a 12F675.

I commented out the bank lines in DT_INTS-14 (hence the "DT_INTS-14-0.bas" on the include)
and removed ReEnterPBP

I tried to use things in the way that was discussed in http://www.picbasic.co.uk/forum/show...9510#post49510

Does that help this make sense a bit more?

Thanks
Bo

[Darrel Taylor]

Does that help this make sense a bit more?

Yes it does.

Since you don't have anything in the Main loop, you can probably get away with it.
But the PULSOUT statement uses PBP system vars. So if you add anything to the the Main loop, something will need to be changed.

I'm wondering how you got past the GPIF/GPIE problem. Should have been something like this ...

ASM
RBIF = GPIF
RBIE = GPIE
INT_LIST  macro    ; IntSource,    label,  Type, ResetFlag?
        INT_Handler    RBC_INT,  _EncChg,   ASM,  yes
    endm

As for the main problem, the only thing I can see that might cause it is the Scratch = GPIO at the end of the handler.

The mismatch is cleared in the first line New_Bits = GPIO & (%001111)

Reading it again at the end of the handler, may be causing it to miss changes on the port. Try commenting it out.

Still looking.
<br>

[boroko]

Back to this project.
Imagine a sewing machine. When the needle goes down, the thread is held steady and travels with the needle. When the needle goes up, the thread is fed out at the same rate that it travels up, feeding slack. There is a servo motor with an encoder feeding the thread and a matching encoder reading the travel distance and speed. There is also an aux encoder (ManDrive) that can be used to retract or feed the thread to trim or allow for excess so you can cut the thread. The manual feed/trim works as expected, but after a manual encoder change, sometimes the travel feed operates on both directions of input from the travel encoder instead of just retract. The feed is the correct direction, but when bad, the "down" feeds at twice the input rate while the "up" feeds normally. A change on the Man encoder allows it to work correctly again.

' 1) Quadrature encoder reading direction and speed of mechanical slide.
' 2) Motor (servo) driven in ONE direction of slide movement, 
'    not driven for other direction. Pulse & Direction drive LOW.
' 3) Manual Encoder to drive servo either direction manually.
'    ADD pull-up to GPIO.3 on 12F675
' DEBUG splash on power-up on GPIO.5
'                  12F675
'                    -----------u----------
'                  -|Vdd(+)              (-)Vss |-         
'   D_out       -|GP5                GP0/PGD|-  A_trav       
'   P_out       -|GP4                GP1/PGC|-  B_trav        
'   B_man      -|GP3/MCLR/Vpp  GP2/INT|-  A_man     
'                   ----------------------  
DEFINE DEBUG_REG GPIO 
DEFINE DEBUG_BIT 5
DEFINE DEBUG_BAUD 2400     '
DEFINE DEBUG_MODE 0 
DEFINE OSC 4	
clear
A_trav  VAR GPIO.0          ' Travel encoder A  input
B_trav  VAR GPIO.1          ' Travel encoder B  input
A_man   var GPIO.2          ' Manual Encoder A input
B_man   var GPIO.3          ' Manual Encoder B input
P_out   var GPIO.4          ' PULSE output to motor, Active LOW
D_out   var GPIO.5          ' LEVEL output for direction                     
AutoCnt     var word            'preprogrammed feed @ end of cycle
Dir         VAR byte             'Direction
EncOld      var byte
EncNew      var byte
ManCnt      var byte            'Counter for recent Man Pulses
TrvCnt      var byte        ' Travel Encoder before change 
INTCON = %10001000          ' GLOBAL ON, GPIO Int ON
CMCON =  7                  ' Comparator off, Digital I/O
OPTION_REG = %00000000      ' GPIO Pull-up Enabled
TRISIO = %001111 
WPU = %11111111             ' weak p/u on 0-2,4,5, GPPU must be enabled for p/u
IOC = %00001111             ' Interrupt on Change for GPIO: 0-3
ANSEL = 0                   ' Analog off
ManCnt = 0
TrvCnt = 0 
P_out = 1                   ' start out HI. Moves on LOW pulse 
INCLUDE "DT_INTS-14-0.bas"    'Base Inturrupt program:0 banks
'include "ReEnterPBP-0.pbp"    'allow PBP int

ASM
RBIF = GPIF
RBIE = GPIE
INT_LIST  macro    ;IntSource,   Label,  Type,   ResetFlag?
    INT_Handler     RBC_INT, _EncChg, ASM, yes
    endm
    INT_CREATE          ;creates the INT processor
    INT_ENABLE  RBC_INT         ;enable RB change int 
ENDASM 
debug "LW-FiberDrive-7"

Main:
ManualDrive:                               ' MANUAL first: set direction bit 
      if ManCnt > 0 then
       Dir = EncNew.3 ^ EncOld.2    ' XOR new L bit > Old Rt bit=Direction
       D_out = Dir                             'set direction pin
       pauseus 2
       P_out = 0                               'send drive pulse either dir
       pauseus 2
       P_out = 1                               'reset drive pulse 
       ManCnt = ManCnt - 1                     ' empty out pulse counter
      endif
      D_out = 1                             'set direction pin
TravelDrive:
      D_out = 1                             'set direction pin
      if TrvCnt > 0 then     
       Dir = EncNew.1 ^ EncOld.0    ' XOR new L bit > Old Rt bit=Direction
        If DIR = 0 then TravDown                'end if travel DOWN
       
       pauseus 2
       P_out = 0                               'send drive pulse retract only
       pauseus 2
       P_out = 1                               'reset drive pulse 
TravDown:
       TrvCnt = TrvCnt - 1
      endif 
goto main
       
'++++++++ Motor Drive Pulse Out interrupt handler ++++++++++++++++++
EncChg:            'got here if GPIO 0-3 changed
     EncOld = EncNew
     EncNew = GPIO
     if (EncNew & (%00001100)) = (EncOld & (%00001100))then ' man enc same?
        TrvCnt = TrvCnt + 1     ' trav moved: count travel interrupts        
     endif
     ManCnt = ManCnt + 1     ' else: Man moved:count man interrupts 
@ INT_RETURN 
end

Anyone care to take another look?

[boroko]

HI all,
I'm in the process of moving this over to a larger PIC so that I can have a chance to get some debugging info out of it. I have some 16F627's that will run at 20MHz instead of the 12F675 @ 4MHz. That will allow some HSEROUT data to give me a better look at what's happening and some headroom in the speed area. Thought I could just whip this one out, but alas, too big for my pants again...
Bo