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Have spin main wait until a newcog pasm is finished. — Parallax Forums

Have spin main wait until a newcog pasm is finished.

JkaneJkane Posts: 113
edited 2014-05-24 12:31 in Propeller 1
Hello,

I have some pasm code, one main routine and about 10 subroutines, all is working fine,

in my main pasm routine i exit with

/CODE

mov ctra, #0
cogid cog_label
cogstop cog_label
CODE/

in my spin code i have:

/CODE

pst.Start(115_200)

waitcnt((clkfreq*4) + cnt)

pst.Str(String(" ",pst#NL))
pst.Str(String("Starting Head firing",pst#NL))

cog := cognew(@Head_interface,0) 'launch new cog for pasm

'do nothing while the cog is working, then continue

pst.Str(String("Stopping Head firing",pst#NL))


PUB Stop''Stops the Cog and the PID controller
if Cog
pst.Str(String("Stopping Head firing",pst#NL))
cogstop(Cog~ - 1)

/CODE

What I am trying to do is =====>

In the spin code, I want to do nothing until the cog (pasm exits), then continue

but as expected, the pst.string "stopping" displays right after the start, which makes sense

but i want the newcog to act as a subroutine, block the current cog while the other cogs executes, then continue

regards

Jeff

Comments

  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 23,514
    edited 2014-05-20 12:34
    attachment.php?attachmentid=78421&d=1297987572

    It would also be helpful if you posted your entire program.

    -Phil
  • JkaneJkane Posts: 113
    edited 2014-05-20 12:47
    Ok, here is the code, not pretty,but functional
    CON
  'Set up the clock mode
'  _clkmode = xtal1 + pll16x
'  _xinfreq = 5_000_000  '5 MHz clock * 16x PLL = 80 MHz system clock speed
   _clkmode = xtal1 + pll16x   'Set up the system clock mode  with 16x PLL
  _xinfreq = 6_250_000             '6.25 MHz clock * 16x PLL = 100 MHz system clock

 Frequency3 = 30_000_000    
VAR
     long cog
OBJ
     pst        : "Parallax Serial Terminal"
PUB Main {launch cog }
     pst.Start(115_200)
     waitcnt((clkfreq*4) + cnt)
     pst.Str(String(" ",pst#NL))
     pst.Str(String("Starting Head firing",pst#NL))
     cog := cognew(@Head_interface,0)   'launch new cog
    
     
PUB Stop''Stops the Cog and the PID controller
      if Cog
        pst.Str(String("Stopping Head firing",pst#NL)) 
       cogstop(Cog~ - 1)
DAT
              ORG 0            'Begin at Cog Ram addr 0
Head_interface
              mov dira, dira_mode
              'mov outa, dira_mode
 
'============================================ leds ===============
               or  outa, Pin13_Power         'Turn on Power Pin
 '              or  outa, Pin15_Trap1         'Turn on trap led
'============================================= turn on traps =====
'Turns on trap one 
'              andn outa, Pin12_Pin36  ' enable low  turns on traps signal 
'              andn outa, Pin14_Pin22  ' enable low, turns on traps signal
'Turns off trap one 
                or outa, Pin12_Pin36  ' enable high  turns off traps signal 
                or outa, Pin14_Pin22  ' enable high, turns off traps signal
'Turns on trap two 
'              andn outa, Pin16_Pin34  ' enable low  turns on traps signal 
'              andn outa, Pin18_Pin20  ' enable low, turns on traps signal                          
'Turns off trap two                 
                or outa, Pin16_Pin34  ' enable high, turns off traps signal
                or outa, Pin18_Pin20  ' enable high, turns off traps signal
 'Turns on trap three 
 '             andn outa, Pin20_Pin32  ' enable low  turns on traps signal 
 '             andn outa, Pin22_Pin18  ' enable low, turns on traps signal              
'Turns off trap three                
                or outa, Pin20_Pin32  ' enable high, turns off traps signal 
                or outa, Pin22_Pin18  ' enable high, turns off traps signal
'Turns on trap four
'               andn outa, Pin24_Pin30  ' enable low  turns on traps signal 
'               andn outa, Pin26_Pin16  ' enable low, turns on traps signal               
'Turns off trap four                
                or outa, Pin24_Pin30  ' enable high, turns off traps signal     
                or outa, Pin26_Pin16  ' enable high, turns off traps signal             

'========================================= init for tx transmission
                
             
             'mov time,cnt
             'add time, long_wait5   '5 second wait
             'waitcnt    Time,Period200us     'wait for 5 seconds
                      
             ' mov time, cnt
              'add time, Period200us  ' 200 us
'=============================================
' testing io pin 15 thru propeller
             'or  outa, Pin3_Pin15         'set pin 15  high  next time is 500ns 
             'jmpret cp_Pin15_ret, #cp_Pin15  
'============================================
              jmpret  run_init39_ret,#run_init39
              jmpret  run_traps_ret,#run_traps
              mov ctra, #0
              cogid cog_label
              cogstop cog_label
run_init39
              'xor  outa, Pin10_Pin39        'Make pin 39 high TX transmission
             jmpret Init_P39_ret, #Init_P39
             jmpret Init_P39_ret, #Init_P39
             jmpret Init_P39_ret, #Init_P39
run_init39_ret   jmp# 0 
             
                                                    

'========================================== init for data send
              'xor  outa, Pin0_Pin37         'make pin 37 high
              'xor  outa, Pin1_Pin38         'make pin 38 high
'              jmpret  run_traps_ret,#run_traps
'              cogid cog_label
'              cogstop cog_label
run_traps             
'===================================================================================
'=============================== send data subroutine ==============================
'===================================================================================
'================================================ turn on trap1 led and run routine
'Turns on trap one
               mov  Transmit_t,#0
               add  Transmit_t,Transmit_r     
               andn outa, Pin12_Pin36  ' enable low  turns on traps signal 
               andn outa, Pin14_Pin22  ' enable low, turns on traps signal
'====================================================================================
'Turns on led and sends data, then turns off led          
               or    outa, Pin15_Trap1         'Turn on trap led
               jmpret  Send_data_ret,#Send_data
               andn  outa, Pin15_Trap1        'Turn off trap led
'now Turn off trap one 
                or outa, Pin12_Pin36  ' enable high  turns off traps signal 
                or outa, Pin14_Pin22  ' enable high, turns off traps signal
'===================================================================================
'===================================================================================
'=================================================================================== 
'================================================ turn on trap2 led and run routine
'Turns on trap two
                mov  Transmit_t,#0     
               add  Transmit_t,Transmit_r      
               andn outa, Pin16_Pin34  ' enable low  turns on traps signal
               andn outa, Pin18_Pin20  ' enable low, turns on traps signal  
'====================================================================================
'Turns on led and sends data, then turns off led          
               or  outa, Pin17_Trap2         'Turn on trap led
               jmpret  Send_data_ret,#Send_data
               andn  outa, Pin17_Trap2        'Turn off trap led
'Turns off trap two                 
                or outa, Pin16_Pin34  ' enable high, turns off traps signal
                or outa, Pin18_Pin20  ' enable high, turns off traps signal
'===================================================================================
'===================================================================================
'=================================================================================== 
'================================================ turn on trap3 led and run routine
 'Turns on trap three
                mov  Transmit_t,#0     
               add  Transmit_t,Transmit_r          
               andn outa, Pin20_Pin32  ' enable low  turns on traps signal 
               andn outa, Pin22_Pin18  ' enable low, turns on traps signal   
'====================================================================================
'Turns on led and sends data, then turns off led          
               or   outa, Pin19_Trap3         'Turn on trap led
               jmpret  Send_data_ret,#Send_data
               andn  outa, Pin19_Trap3        'Turn off trap led
'Turns off trap three                
                or outa, Pin20_Pin32  ' enable high, turns off traps signal 
                or outa, Pin22_Pin18  ' enable high, turns off traps signal
'===================================================================================
'===================================================================================
'=================================================================================== 
'================================================ turn on trap4 led and run routine
'Turns on trap four
                mov  Transmit_t,#0    
               add  Transmit_t,Transmit_r     
               andn outa, Pin24_Pin30  ' enable low  turns on traps signal 
               andn outa, Pin26_Pin16  ' enable low, turns on traps signal       
'====================================================================================
'Turns on led and sends data, then turns off led          
               or  outa, Pin21_Trap4         'Turn on trap led
               jmpret  Send_data_ret,#Send_data
               andn  outa, Pin21_Trap4        'Turn off trap led
'Turns off trap four                
                or outa, Pin24_Pin30  ' enable high, turns off traps signal     
                or outa, Pin26_Pin16  ' enable high, turns off traps signal 
'===================================================================================
'===================================================================================
                andn   outa, Pin13_Power         'Turn off run light      
run_traps_ret   jmp# 0            
               'add  Transmit_t,Transmit_r
'               or  outa, Pin15_Trap1         'Turn on trap led
'               jmpret  Send_data_ret,#Send_data
'               andn  outa, Pin15_Trap1         'Turn off trap led    
               
'====================================================
              
Send_data
              mov time, cnt
              add time, Pin15_20us  'zero_job

'========================================== Start of data send                  
Send_data_L
             
              'xor  outa, Pin3_Pin15        'toggle pin  15  next time is 20us
              or  outa, Pin3_Pin15         'set pin 15  high  next time is 500ns    
              waitcnt    Time,Pin37_38_500ns  'wait on pin 15 20us
              'xor  outa, Pin3_Pin15         'toggle pin  37  next time is 500ns
             ' or  outa, Pin3_Pin15         'set pin 15  high  next time is 500ns  
               andn outa, Pin3_Pin15         'set pin 15 low next time is 500ns
              'delay between pin 15 and pin 37
              waitcnt    Time, Pin37_38_1us  'wait 1 us
              ' waiting over turn on pin 37
              xor  outa, Pin0_Pin37         'toggle pin  37  next time is 1 us
              waitcnt    Time, Pin37_38_500ns  'wait 1 us
              xor  outa, Pin0_Pin37         'turn off pin 37 and wait for ping 38 500ns
              ' turn off pin 37 and wait 500 ns before turning on pin 38 
              waitcnt    Time, Pin37_38_1us  'waiting for 500ns
              'waiting is over turn on ping 38 and wait for 1 us
              xor  outa, Pin1_Pin38         'toggle pin  37  next time is 1 us
              waitcnt    Time, Period       'setting up for next loop
              xor  outa, Pin1_Pin38         'now turn off pin 38 and wait for next cycle
                         
              waitcnt    Time,Pin15_20us    'after waiting get ready to turn on pin 15 20us next loop   
'              jmp #:Send_data
              djnz Transmit_t,#Send_data_L
             Send_data_ret  jmp# 0 
'========================================================== init subroutine
Init_P39
              mov time,cnt
              add time, Wait_620ms          
              waitcnt    Time,Period200us     'wait for 5 seconds
              xor outa, Pin10_Pin39
              waitcnt    Time,Period105ms  
              xor outa, Pin10_Pin39
              waitcnt    Time,Period200us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period105ms
              xor outa, Pin10_Pin39
              waitcnt    Time,Period200us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period105ms 
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period640us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period210us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period320us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period540us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period280us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period105ms
              xor outa, Pin10_Pin39
              waitcnt    Time,Period220us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period640us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period200us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period200us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period420us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period300us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period100us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period210us
              xor outa, Pin10_Pin39
              waitcnt    Time,Period200us
              xor outa, Pin10_Pin39
Init_P39_ret  jmp# 0
              
cp_Pin15
                  mov dira, dira_modeIO
                'pin 6 is output
                'pin 5 is input 
:loop_15
                test inmask, ina wc
                waitpeq Pin5_pin15I,inmask
                muxz OUTA,#outmask
              ' xor  OUTA,Pin6_Pin15O 
                                
                jmp #:loop_15
                
cp_Pin15_ret    jmp# 0
                
          
 '=====================================================================             
Pin3_Pin15     long |< 3
Pin0_Pin37     long |< 0
Pin1_Pin38     long |< 1
Pin10_Pin39    long |< 10
'=================================== data pins
Pin12_Pin36     long |< 12
Pin14_Pin22     long |< 14
Pin16_Pin34     long |< 16
Pin18_Pin20     long |< 18
Pin20_Pin32     long |< 20
Pin22_Pin18     long |< 22
Pin24_Pin30     long |< 24
Pin26_Pin16     long |< 26
'==================================================
'============================= led pins ===========
Pin13_Power     long |< 13
Pin15_Trap1     long |< 15
Pin17_Trap2     long |< 17
Pin19_Trap3     long |< 19
Pin21_Trap4     long |< 21
'===================================================
Pin5_Pin15I    long |< 5
Pin6_Pin15O    long |< 6
long_wait5     long 50000000 ' 5 second wait
Wait_620ms     long 62000000 ' 1 second wait
tmp            long 0

'Transmit_t     long %00100111_00010000 ' 10,000 cycles
'Transmit_r     long %00100111_00010000 ' reset to 10,000
'Transmit_t     long %10011100_01000000 ' 40,000 cycles
Transmit_t     long %00000000_00000000 ' 00,000 cycles 
Transmit_r     long %10011100_01000000 ' reset to 40,000 cycles   
'Wait_620ms     long  6200000 ' 1 second wait 
'Period        long 100000 ' 1.25  ms
'Period        long  50000 '  500  us
'Period        long  10000 '  100  us
'Period        long   5000 '   60  us
'Period        long   2500 '   28  us
'Period        long   2300 '   24  us
'Period15_on   long   2000 '   20  us
'Period15_onb   long   5000 '   20  us  
'Period15_off  long  50000 '  500  us
'Period15_offb  long 60000 '  500  us 
'Period15_offa long  40000 '  500  us   
'Period37_on    long   2000 '   20  us
'Period37_off   long   2000 '   20  us    
'Period38_on    long   2000 '   20  us    
'Period_38off   long   2000 '   20  us
'Delay37_38     long   1000 '   10  us
'Delay37_38_1     long   100 '   1  us
'Delay37_38_2     long   50 '   500ns
'zero_job      long    10
'====================================== init cycles ==============
Period100us     long  10000 '  100  us
Period200us     long  20000 '  200  us
Period205us     long  20500 '  205  us
Period105ms     long  104000  ' 1.05 ms
Period150ms     long  150000  ' 2  ms 
Period640us     long  64000  '  640  us
Period220us     long  22000  '  220  us
Period210us     long  21000  '  210  us 
Period280us     long  28000  '  280  us
Period300us     long  30000  '  300  us
Period320us     long  32000  '  300  us 
Period510us     long  51000  '  510  us
Period540us     long  54000   ' 520 us
Period104ms     long  100000  ' 1.04 ms
Period420us     long  42000   ' 420  us
'======================================= delays ==================
Period          long  50000 '  500  us   
Pin15_20us      long   2000    ' 20  us
Pin37_38_500ns  long   50      ' 500ns
Pin37_38_1us    long   100     ' us
Pin15_next_C    long   50000   ' 500us
'=================================================================
dira_mode     long  %00001111_11111111_11111111_11111111

dira_modeIO   long   %00000000_00000000_11111111_11011111
test_modeIO   long  %0010_0000
inmask        long  %0010_0000
outmask       long  %0100_0000 

outa_mode     long  %00000000_00000000_00000000_00000000
outa_P3_1     long  %00000000_00000000_00000000_00001000
outa_P3_0     long  %00000000_00000000_00000000_00000000
outa_P0_1     long  %00000000_00000000_00000000_00000001
outa_P0_0     long  %00000000_00000000_00000000_00000000
outa_P1_1     long  %00000000_00000000_00000000_00000010
outa_P1_0     long  %00000000_00000000_00000000_00000000  
Time          res 1
cog_label     res  1
  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 23,514
    edited 2014-05-20 13:09
    The first thing that comes to mind:
    cog := cognew(@Head_interface,0)

    should read
    cog := cognew(@Head_interface,0) + 1

    -Phil
  • JonnyMacJonnyMac Posts: 9,105
    edited 2014-05-20 15:32
    At the moment you're not passing anything in the par register. What I would do (have done), is pass the hub address of a variable that you can use as a flag. Have your Spin code set the flag to a non-zero value (true) just before calling your PASM routine.
    flag := true
  cog := cognew(@head_interface, @flag) + 1

  ' wait for cog to stop

  repeat
  while (flag == true)


    Before you have the cog commit hari-kari, write zero to this variable
    pasm_exit               mov     r1, #0
                        wrlong  r1, par                 ' alert Spin cog

                        cogid   r1                      ' get this cog id
                        cogstop r1                      ' stop it

                        jmp     #$


    The only thing the cog variable is telling you is that you did in fact launch the cog -- you don't need this to shut-down as that's being done in PASM.
  • JkaneJkane Posts: 113
    edited 2014-05-20 20:42
    Jon,

    thanks,

    makes sense, I'll set it up tomorrow,

    regards

    Jeff
  • JkaneJkane Posts: 113
    edited 2014-05-21 07:12
    JonnyMac wrote: »
    At the moment you're not passing anything in the par register. What I would do (have done), is pass the hub address of a variable that you can use as a flag. Have your Spin code set the flag to a non-zero value (true) just before calling your PASM routine.
    flag := true
  cog := cognew(@head_interface, @flag) + 1

  ' let cog start
  
  waitcnt(cnt + (clkfreq / 1000))

  ' wait for cog to stop

  repeat
  while (flag == true)


    Before you have the cog commit hari-kari, write zero to this variable
    pasm_exit               mov     r1, #0
                        wrlong  r1, par                 ' flag Spin cog

                        cogid   r1                      ' get this cog id
                        cogstop r1                      ' stop it

                        jmp     #$


    The only thing the cog variable is telling you is that you did in fact launch the cog -- you don't need this to shut-down as that's being done in PASM.
  • JkaneJkane Posts: 113
    edited 2014-05-21 07:12
    Jon,

    works very well, thanks

    Jeff
  • __red____red__ Posts: 470
    edited 2014-05-24 06:08
    Could you use an io pin as a semaphore so the spin cog could sleep until pin state change as a power optimization?
  • kuronekokuroneko Posts: 3,623
    edited 2014-05-24 06:36
    __red__ wrote: »
    Could you use an io pin as a semaphore so the spin cog could sleep until pin state change as a power optimization?
    If a pin is available, sure.
  • __red____red__ Posts: 470
    edited 2014-05-24 10:08
    Could you use one of those mythical portb pins?
  • JonnyMacJonnyMac Posts: 9,105
    edited 2014-05-24 12:31
    I don't think so -- the registers are implemented but not connected to physical circuitry. This little test fails:
    var

  long  stack[16]


pub main 

  term.start(RX1, TX1, %0000, 115_200)
  waitcnt(cnt + (clkfreq >> 3))       

  cognew(toggle_portb, @stack)

  repeat
    term.tx("0" + inb[16])
    waitcnt(cnt + (clkfreq >> 3))
   

pri toggle_portb

  dirb[16] := 1

  repeat
    !outb[16]
    waitcnt(cnt + (clkfreq >> 1))


    Yes, I did try it with the A port and it works fine.
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