Strange lack of RAM issue
spacejunk
Posts: 3
I am working on a minisumo robot, which I have named Panther.
I finished a section of code I was working on and compiled the program. The compiler generated an error. It read:
Line 159, Error 3, Pass 1: Variable exceed available RAM
My problem is my program only uses 19 Bytes and 2 Bits of RAM. Is this more than the SX can handle? It seems to me that it should be able to take more. The data sheet suggests 262 Byte...·I assume some of this is used by SX/B but there should be plenty left for my use. The error occurs at the AddressPointer Variable.
Anyway, I have included·the section of my code that deals with the variables and constants. It is very well commented.
Any help with this issue would be appreciated... I have a feeling it is a simple thing that I'm missing.
Code:
Thank you,
··· Lee Szuba
I finished a section of code I was working on and compiled the program. The compiler generated an error. It read:
Line 159, Error 3, Pass 1: Variable exceed available RAM
My problem is my program only uses 19 Bytes and 2 Bits of RAM. Is this more than the SX can handle? It seems to me that it should be able to take more. The data sheet suggests 262 Byte...·I assume some of this is used by SX/B but there should be plenty left for my use. The error occurs at the AddressPointer Variable.
Anyway, I have included·the section of my code that deals with the variables and constants. It is very well commented.
Any help with this issue would be appreciated... I have a feeling it is a simple thing that I'm missing.
Code:
' ========================================================================= ' ' File...... Main#.SXB ' Purpose... Panther Mini Sumo ' Author.... Lee Szuba ' E-mail.... [url=mailto:spacejunk@magma.ca]spacejunk@magma.ca[/url] ' ' ========================================================================= 'NOTES (To Do) 'Hardware 'Electrical 'Software 'Done ' ------------------------------------------------------------------------- ' Device Settings ' ------------------------------------------------------------------------- DEVICE SX48, OSCHS1 FREQ 20_000_000 ' ------------------------------------------------------------------------- ' IO Pins ' ------------------------------------------------------------------------- 'Motor Pins PWMPinR PIN RD.1 'Pin used by interrupt, right motor PWMPinL PIN RD.2 'Pin used by interrupt, left motor DirPinR PIN RD.0 'Direction pins, set 1 for forward, 0 for reverse DirPinL PIN RD.3 'Line Sensor Pins rLine PIN RB.3 SCHMITT 'Right line sensor, active high lLine PIN RB.6 SCHMITT 'Left line sensor, active high 'Object Sensor Pins lSeek PIN RB.7 'Left front object sensor, active low rSeek PIN RB.4 'Right front object sensor, active low lSideSeek PIN RE.1 'Left side object sensor, active low rSideSeek PIN RE.0 'Right side object sensor, active low 'Close Proximity Sensors FrontProx PIN RB.5 'Front ProxDot, active low BackProx PIN RD.7 'Rear ProxDot, active low 'Control Buttons StartButton PIN RA.2 'Press to start routine (top button) NextButton PIN RA.3 'Cycle routines (bottom button) 'I2C EEPROM Pins SDA PIN RD.4 'Data line SCL PIN RD.5 'Clock out 'ADC SPI Pins 'ADC pinout incorrect, currently not used 'CS pin needs to be controlled, in Rev. G, tied to VSS 'Fixed in current circuit (Rev. H) design CLK PIN RE.2 'Clock signal Dout PIN RE.3 'Data out pin Din PIN RE.4 'Data in pin 'Accelerometer Pins Yacl PIN RB.0 'Y axis, pulse width Xacl PIN RB.1 'X axis, pulse width 'Serial Out (RS232 level) For Debugging RX PIN RA.1 'Serial debug recieve TX PIN RA.0 'Serial debug transmit 'Unused Pins RB_Unused PIN RB.2 PULLUP 'Set weak internal pullups RD_Unused PIN RD.6 PULLUP RE_Unused1 PIN RE.5 PULLUP RE_Unused2 PIN RE.6 PULLUP RE_Unused3 PIN RE.7 PULLUP ' ------------------------------------------------------------------------- ' Constants ' ------------------------------------------------------------------------- Baud CON "N38400" 'Serial Baud rate, 38400, Inverted True CON 1 'Constants used by state machine False CON 2 ' ------------------------------------- ' Seven Segment Numbers ' ------------------------------------- 'Table of seven segment display numbers 'Zero is on, one is off NumberOne CON %01011111 NumberTwo CON %00100011 NumberThree CON %00000111 NumberFour CON %01001101 NumberFive CON %10000101 NumberSix CON %10000001 NumberSeven CON %00011111 NumberEight CON %00000001 NumberNine CON %00001101 NumberZero CON %00010001 LetterP CON %00101001 LetterD CON %01000011 ' ------------------------------------------------------------------------- ' Variables ' ------------------------------------------------------------------------- PWMCount VAR Byte 'PWM variables, used by interrupt PWMValueR VAR Byte PWMValueL VAR Byte Temp VAR Byte 'General work/counter SensFlags VAR Byte 'Order (LSB first) - Edge_L, Edge_R, Obj_L, Obj_R, Obj_LS, Obj_RS, Prox_F, Prox_R CurPos VAR Byte 'Seven segment display work variables CurNum VAR Byte 'DirR VAR Bit Currently unused, may be used to improve motor control 'DirL VAR Bit DebugByte VAR Byte temp1 VAR Byte 'Subroutine work vars temp2 VAR Byte temp3 VAR Byte temp4 VAR Byte temp5 VAR Byte temp6 VAR Bit CurrentState VAR Byte 'State machine current state variable NextState VAR Byte 'State machine next state variable, used for transitions CycleCount VAR Byte 'State machine cycle counter, used for timeing InitState VAR Bit 'State machine initiate state flag, 1 when state change LineFlagL VAR SensFlags.0 'SensFlags Var broken out into individual variables LineFlagR VAR SensFlags.1 ObjFlagL VAR SensFlags.2 ObjFlagR VAR SensFlags.3 ObjFlagSL VAR SensFlags.4 ObjFlagSR VAR SensFlags.5 ProxFlagF VAR SensFlags.6 ProxFlagR VAR SensFlags.7 AddressPointer VAR Byte AddressVal VAR Word
Thank you,
··· Lee Szuba
Comments
Note that by not posting your entire program those that would help you can only make minor suggestions; with the entire listing we may be able to point out other opportunities to save GP RAM space.
I would rather find out why it isn't working, than try and modify my code. Is this a know issue?
Here is the full code listing:
' ========================================================================= ' ' File...... Main#.SXB ' Purpose... Panther Mini Sumo ' Author.... Lee Szuba ' E-mail.... [url=mailto:spacejunk@magma.ca]spacejunk@magma.ca[/url] ' ' ========================================================================= 'NOTES (To Do) 'Hardware 'Electrical 'Software 'Done ' ------------------------------------------------------------------------- ' Device Settings ' ------------------------------------------------------------------------- DEVICE SX48, OSCHS1 FREQ 20_000_000 ' ------------------------------------------------------------------------- ' IO Pins ' ------------------------------------------------------------------------- 'Motor Pins PWMPinR PIN RD.1 'Pin used by interrupt, right motor PWMPinL PIN RD.2 'Pin used by interrupt, left motor DirPinR PIN RD.0 'Direction pins, set 1 for forward, 0 for reverse DirPinL PIN RD.3 'Line Sensor Pins rLine PIN RB.3 SCHMITT 'Right line sensor, active high lLine PIN RB.6 SCHMITT 'Left line sensor, active high 'Object Sensor Pins lSeek PIN RB.7 'Left front object sensor, active low rSeek PIN RB.4 'Right front object sensor, active low lSideSeek PIN RE.1 'Left side object sensor, active low rSideSeek PIN RE.0 'Right side object sensor, active low 'Close Proximity Sensors FrontProx PIN RB.5 'Front ProxDot, active low BackProx PIN RD.7 'Rear ProxDot, active low 'Control Buttons StartButton PIN RA.2 'Press to start routine (top button) NextButton PIN RA.3 'Cycle routines (bottom button) 'I2C EEPROM Pins SDA PIN RD.4 'Data line SCL PIN RD.5 'Clock out 'ADC SPI Pins 'ADC pinout incorrect, currently not used 'CS pin needs to be controlled, in Rev. G, tied to VSS 'Fixed in current circuit (Rev. H) design CLK PIN RE.2 'Clock signal Dout PIN RE.3 'Data out pin Din PIN RE.4 'Data in pin 'Accelerometer Pins Yacl PIN RB.0 'Y axis, pulse width Xacl PIN RB.1 'X axis, pulse width 'Serial Out (RS232 level) For Debugging RX PIN RA.1 'Serial debug recieve TX PIN RA.0 'Serial debug transmit 'Unused Pins RB_Unused PIN RB.2 PULLUP 'Set weak internal pullups RD_Unused PIN RD.6 PULLUP RE_Unused1 PIN RE.5 PULLUP RE_Unused2 PIN RE.6 PULLUP RE_Unused3 PIN RE.7 PULLUP ' ------------------------------------------------------------------------- ' Constants ' ------------------------------------------------------------------------- Baud CON "N38400" 'Serial Baud rate, 38400, Inverted True CON 1 'Constants used by state machine False CON 2 ' ------------------------------------- ' Seven Segment Numbers ' ------------------------------------- 'Table of seven segment display numbers 'Zero is on, one is off NumberOne CON %01011111 NumberTwo CON %00100011 NumberThree CON %00000111 NumberFour CON %01001101 NumberFive CON %10000101 NumberSix CON %10000001 NumberSeven CON %00011111 NumberEight CON %00000001 NumberNine CON %00001101 NumberZero CON %00010001 LetterP CON %00101001 LetterD CON %01000011 ' ------------------------------------------------------------------------- ' Variables ' ------------------------------------------------------------------------- PWMCount VAR Byte 'PWM variables, used by interrupt PWMValueR VAR Byte PWMValueL VAR Byte Temp VAR Byte 'General work/counter SensFlags VAR Byte 'Order (LSB first) - Edge_L, Edge_R, Obj_L, Obj_R, Obj_LS, Obj_RS, Prox_F, Prox_R CurPos VAR Byte 'Seven segment display work variables CurNum VAR Byte 'DirR VAR Bit Currently unused, may be used to improve motor control 'DirL VAR Bit DebugByte VAR Byte temp1 VAR Byte 'Subroutine work vars temp2 VAR Byte temp3 VAR Byte temp4 VAR Byte temp5 VAR Byte temp6 VAR Bit CurrentState VAR Byte 'State machine current state variable NextState VAR Byte 'State machine next state variable, used for transitions CycleCount VAR Byte 'State machine cycle counter, used for timeing InitState VAR Bit 'State machine initiate state flag, 1 when state change LineFlagL VAR SensFlags.0 'SensFlags Var broken out into individual variables LineFlagR VAR SensFlags.1 ObjFlagL VAR SensFlags.2 ObjFlagR VAR SensFlags.3 ObjFlagSL VAR SensFlags.4 ObjFlagSR VAR SensFlags.5 ProxFlagF VAR SensFlags.6 ProxFlagR VAR SensFlags.7 AddressPointer VAR Byte AddressVal VAR Word ' ------------------------------------------------------------------------- INTERRUPT 10000 'Interrupt speed in Hz (10kHz) ' ------------------------------------------------------------------------- ISR_Start: \ADD PWMCount, #1 IF PWMCount >= PWMValueR THEN 'Right PWM code \CLRB PWMPinR ELSE \SETB PWMPinR ENDIF IF PWMCount >= PWMValueL THEN 'Left PWM code \CLRB PWMPinL ELSE \SETB PWMPinL ENDIF ISR_Exit: RETURNINT '250 ' ========================================================================= PROGRAM Start ' ========================================================================= ' ------------------------------------------------------------------------- ' Subroutine Declarations ' ------------------------------------------------------------------------- WAIT_US SUB 1, 2 'Delay in microseconds WAIT_MS SUB 1, 2 'Delay in milliseconds RX_BYTE SUB 'Receive a serial byte TX_BYTE SUB 1 'Transmit a serial byte TX_OUT SUB 1, 2 'Transmit byte or string Check_Sens SUB 'Check sensors I2C_RX_BYTE SUB 2 'Transmit a byte to EEPROM I2C_TX_BYTE SUB 3 'Recieve a byte from EEPROM WRITE_STATE SUB 2 'Write a state number to EEPROM ' ------------------------------------------------------------------------- ' Program Code ' ------------------------------------------------------------------------- ' ------------------------------------------------------------------------- ' Start Sequence ' ------------------------------------------------------------------------- Start: TX_OUT Start_Message TRIS_D = %11110000 'Motor pins outputs OPTION = %10001000 'Enable RTCC interrupts, RTCC Prescaler = 1:1 \CLRB DirPinR \CLRB DirPinL PWMValueR = 0 'Standard PWM values PWMValueL = 0 TRIS_C = %00000000 'Set seven segment pins output RC = %11111111 'Set seven segment pins high (display off) CurrentState = 1 NextState = 1 InitState = True CycleCount = 0 AddressPointer = 0 ChooseRoutine: RC = NumberOne 'Start with number one CurPos = 0 DO LOOKUP CurPos, NumberOne, NumberTwo, NumberThree, NumberFour, NumberFive, NumberSix, CurNum 'Lookup numbers RC = CurNum 'Display numbers IF CurPos = 6 THEN 'Overflow to zero CurPos = 0 ENDIF IF StartButton = 0 THEN GOTO Countdown 'If start button is pressed jump to start routine IF NextButton = 0 THEN 'Cycle through routine choices INC CurPos WAIT_MS 60 'Start debounce DO LOOP UNTIL NextButton = 0 WAIT_MS 150 'End debounce ENDIF LOOP Countdown: 'Five Second Startup RC = NumberFive WAIT_MS 200, 5 RC = NumberFour WAIT_MS 200, 5 RC = NumberThree WAIT_MS 200, 5 RC = NumberTwo WAIT_MS 200, 5 RC = NumberOne WAIT_MS 200, 5 BRANCH CurPos, Turn1, Turn2, Turn3, Turn4, Turn5, Turn6 'Goto turn routine GOTO ChooseRoutine Turn1: PWMValueR = 0 PWMValueL = 255 \SETB DirPinR \CLRB DirPinL WAIT_MS 110 GOTO Main Turn2: PWMValueR = 255 PWMValueL = 0 \SETB DirPinL \CLRB DirPinR WAIT_MS 110 GOTO Main Turn3: PWMValueR = 0 PWMValueL = 255 \SETB DirPinR \CLRB DirPinL WAIT_MS 165 GOTO Main Turn4: PWMValueR = 255 PWMValueL = 0 \SETB DirPinL \CLRB DirPinR WAIT_MS 165 GOTO Main Turn5: PWMValueR = 0 PWMValueL = 255 \SETB DirPinR \CLRB DirPinL WAIT_MS 220 GOTO Main Turn6: GOTO Main ' ------------------------------------------------------------------------- ' Main State Handler ' ------------------------------------------------------------------------- Main: 'Main state handler IF StartButton = 0 THEN GOTO End_Sumo 'Pause button SensFlags = CHECK_SENS IF LineFlagL = 1 THEN 'Check Sensors NextState = 2 ENDIF IF LineFlagR = 1 THEN NextState = 3 ENDIF IF ProxFlagF = 1 THEN NextState = 4 ENDIF IF ObjFlagL = 1 THEN NextState = 5 ENDIF IF ObjFlagR = 1 THEN NextState = 6 ENDIF IF ProxFlagR = 1 THEN NextState = 7 ENDIF IF CurrentState <> NextState THEN 'Run next state if required InitState = True CycleCount = 0 CurrentState = NextState ENDIF INC CycleCount 'Increment counter BRANCH CurrentState, Forward, Back_Turn_L, Back_Turn_R, Fast_Forward, Slow_L, Slow_R, Spin_R 'Goto state GOTO Main ' ------------------------------------------------------------------------- ' States ' ------------------------------------------------------------------------- Forward: IF InitState = True THEN PWMValueR = 100 PWMValueL = 100 \SETB DirPinR \SETB DirPinL WRITE_STATE 1, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF GOTO Main Fast_Forward: IF InitState = True THEN PWMValueR = 255 PWMValueL = 255 \SETB DirPinR \SETB DirPinL WRITE_STATE 2, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF GOTO Main Back_Turn_L: IF InitState = True THEN PWMValueR = 200 PWMValueL = 150 \CLRB DirPinR \SETB DirPinL WRITE_STATE 3, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF IF CycleCount = 255 THEN NextState = 1 ENDIF GOTO Main Back_Turn_R: IF InitState = True THEN PWMValueL = 200 PWMValueR = 150 \CLRB DirPinL \SETB DirPinR WRITE_STATE 4, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF IF CycleCount = 255 THEN NextState = 1 ENDIF GOTO Main Slow_L: IF InitState = True THEN PWMValueR = PWMValueR + 100 \SETB DirPinL \SETB DirPinR WRITE_STATE 5, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF IF ObjFlagL = 0 THEN NextState = 1 ENDIF GOTO Main Slow_R: IF InitState = True THEN PWMValueL = PWMValueL + 100 \SETB DirPinL \SETB DirPinR WRITE_STATE 6, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF IF ObjFlagR = 0 THEN NextState = 1 ENDIF GOTO Main Spin_R: IF InitState = True THEN PWMValueL = 0 PWMValueR = 255 \CLRB DirPinL \SETB DirPinR WRITE_STATE 7, AddressPointer AddressPointer = AddressPointer + 1 InitState = False ENDIF IF ObjFlagR = 0 THEN NextState = 1 ENDIF GOTO Main ' ------------------------------------------------------------------------- ' Debug Code ' ------------------------------------------------------------------------- End_Sumo: 'Pause routine RC = LetterP \CLRB DirPinR \CLRB DirPinL PWMValueR = 0 'Stopped PWM values PWMValueL = 0 DO LOOP UNTIL StartButton = 0 'Wait until start button returns to normal DO IF NextButton = 0 THEN WAIT_MS 60 'Debounce DO LOOP UNTIL NextButton = 1 EXIT ENDIF IF StartButton = 0 THEN WAIT_MS 60 DO LOOP UNTIL StartButton = 1 RC = NumberOne GOTO Main ENDIF LOOP RC = LetterD DO IF NextButton = 0 THEN WAIT_MS 60 DO LOOP UNTIL NextButton = 1 GOTO Debug_States ENDIF IF StartButton = 0 THEN WAIT_MS 60 DO LOOP UNTIL StartButton = 1 GOTO Start ENDIF LOOP Debug_States: OPTION = %11001000 'Disable RTCC interrupts, this prevents serial timing errors AddressVal = 0 TX_OUT Debug_Message DO DebugByte = I2C_RX_Byte AddressVal_MSB, AddressVal_LSB IF DebugByte = 0 THEN EXIT TX_BYTE DebugByte INC AddressValue LOOP GOTO Start ' ------------------------------------------------------------------------- ' Subroutine Code ' ------------------------------------------------------------------------- ' Use: WAIT_US microseconds {, multiplier} ' -- multiplier is optional WAIT_US: temp1 = __PARAM1 ' get microseconds IF __PARAMCNT = 1 THEN ' if no multiplier temp2 = 1 ' set to 1 ELSE ' else temp2 = __PARAM2 ' get multiplier ENDIF IF temp1 > 0 THEN ' no delay if either 0 IF temp2 > 0 THEN PAUSEUS temp1 * temp2 ' do the delay ENDIF ENDIF RETURN ' ------------------------------------------------------------------------- ' Use: WAIT_MS milliseconds {, multiplier} ' -- multiplier is optional WAIT_MS: temp1 = __PARAM1 ' get milliseconds IF __PARAMCNT = 1 THEN ' if no multiplier temp2 = 1 ' set to 1 ELSE ' else temp2 = __PARAM2 ' get multiplier ENDIF IF temp1 > 0 THEN ' no delay if either 0 IF temp2 > 0 THEN PAUSE temp1 * temp2 ' do the delay ENDIF ENDIF RETURN ' ------------------------------------------------------------------------- ' Use: aByte = RX_BYTE ' -- receives one byte from serial I/O pin RX_BYTE: SERIN RX, Baud, temp1 RETURN temp1 ' return byte to caller ' ------------------------------------------------------------------------- ' Use: TX_BYTE aByte ' -- transmits one byte to serial I/O pin TX_BYTE: temp1 = __PARAM1 ' copy outgoing byte SEROUT TX, Baud, temp1 ' send it RETURN ' ------------------------------------------------------------------------- ' Use: TX_OUT [noparse][[/noparse] byte | string | label ] ' -- "aByte" is variable or constant byte value ' -- "string" is an embedded literal string ' -- "label" is DATA statement label for stored z-String TX_OUT: temp3 = __PARAM1 ' get byte or string offset IF __PARAMCNT = 2 THEN temp4 = __PARAM2 ' get string base DO READ temp4 + temp3, temp5 ' read a character IF temp5 = 0 THEN EXIT ' if 0, string complete TX_BYTE temp5 ' send the byte INC temp3 ' point to next character temp4 = temp4 + Z ' update base on overflow LOOP ELSE TX_BYTE temp3 ' transmit the byte value ENDIF RETURN ' ------------------------------------------------------------------------- CHECK_SENS: temp1.0 = lLine temp1.1 = rLine temp1.2 = ~lSeek temp1.3 = ~rSeek temp1.4 = ~lSideSeek temp1.5 = ~rSideSeek temp1.6 = ~FrontProx temp1.7 = ~BackProx RETURN temp1 ' ------------------------------------------------------------------------- ' Use: aByte = I2C_RX_BYTE [noparse][[/noparse] address high | address low ] ' -- "address high" is the high byte of the address value ' -- "address low" is the low byte of the address value I2C_RX_BYTE: temp2 = __PARAM1 'Address high byte temp3 = __PARAM2 'Address low byte I2CSTART SDA 'Send I2C start I2CSEND SDA, %10100000 'Send control code (write) I2CSEND SDA, temp2 'Address high byte I2CSEND SDA, temp3 'Address low byte I2CSTART SDA 'Restart transmission I2CSEND SDA, %10100001 'Send control code (read) I2CRECV SDA, temp1, 1 'Read byte, no ack I2CSTOP SDA 'Finish read RETURN temp1 'Return with byte read ' ------------------------------------------------------------------------- ' Use: I2C_TX_BYTE [noparse][[/noparse] address high | address low | byte ] ' -- "address high" is the high byte of the address value ' -- "address low" is the low byte of the address value ' -- "byte" is the byte to be transmitted I2C_TX_BYTE: temp2 = __PARAM1 'Address high byte temp3 = __PARAM2 'Address low byte temp4 = __PARAM3 'Byte to be sent I2CSTART SDA 'Send I2C start I2CSEND SDA, %10100000 'Send control code (write) I2CSEND SDA, temp2 'Address high byte I2CSEND SDA, temp3 'Address low byte I2CSEND SDA, temp4 'Transmit byte I2CSTOP SDA 'Finish write RETURN ' ------------------------------------------------------------------------- ' Use: WRITE_STATE [noparse][[/noparse] state | addressPointer ] ' -- "state" is state number to be transmitted WRITE_STATE: temp1 = __PARAM1 'State value temp2 = __PARAM2 I2C_TX_BYTE %00000000, temp2, temp1 RETURN ' ------------------------------------------------------------------------- ' Data Tables ' ------------------------------------------------------------------------- Start_Message: DATA "Panther V2.0... Starting..." Debug_Message: DATA "Panther V2.0... Transmitting states..."▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
"Everyone in the world is crazy but you and me, and I wonder about you sometimes."
When in doubt, go with your first instinct; get that mistake out of the way.
Here is the updated code for anyone interested (only the modified parts):
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"Everyone in the world is crazy but you and me, and I wonder about you sometimes."
When in doubt, go with your first instinct; get that mistake out of the way.