Can only start 5 cogs?
eagletalontim
Posts: 1,399
Did I run out of cogs or something? If I null out one of the "cognew" lines, the program continues. I am only counting 5 cogs?
CON
_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000
CR = 13
' Define Pins
CS = 0 'CLK = CS + 1, MISO = CS + 2, MOSI = CS + 3 -> ADC PINS
ACC1 = 4
ACC2 = 5
ACC3 = 6
ACC4 = 7
WIND = 8
W_STOP = 9
E_STOP = 10
XB_IN = 15
XB_OUT = 16
XB_BAUD = 9600
' Output
UP = 11
DOWN = 12
LEFT = 13
RIGHT = 14
' Offsets
east_offset = 0
west_offset = -19
up_offset = 10
down_offset = 0
' Define Specifics
Max_Freq_Count = 4095 ' Max number counted from sensor
SampleRate = 70 ' Time between E/W and U/D sample
MaxSampleCount = 1000 ' Cloud Buffer
Min_EW_move = 164 ' Minimum Pulse count to move East or West
Min_UD_move = 164 ' Minimum Pulse count to move Up or Down
UD_Park_Range = 162
EW_Park_Range = 162 ' Go to Park mode when EW pulse count equals X
Park_Timer = 10000 ' Number of loops before Park is initiated
Wake_Timer = 10000
max_diff = 5
' Serial Terminal Stuff
DEBUG_BAUD = 9_600
DEBUG_HEADING_X = 1 ' Output formatting data
DEBUG_HEADING_Y = 1
DEBUG_DYNAMIC_X = DEBUG_HEADING_X + 8
DEBUG_DYNAMIC_Y = DEBUG_HEADING_Y + 2
VAR
LONG variableStack[400]
LONG moveStack[400]
LONG wifiStack[400]
LONG temp
LONG EWArray[MaxSampleCount]
LONG UDArray[MaxSampleCount]
LONG register, East_Count, West_Count, Up_Count, Down_Count
LONG EWdiff
LONG EWdiffavg
LONG UDdiff
LONG UDdiffavg
BYTE EastSwitch
BYTE WestSwitch
BYTE shutdown
BYTE Park_Flag
BYTE threshold_flag
BYTE moving_flag
BYTE buffer[200]
BYTE cog
OBJ
adc : "ADC_MCP3204_SE_SPI"
Pst : "Parallax Serial Terminal"
xb : "FullDuplexSerial"
PUB go | index, char, EWarray_pointer, UDarray_pointer, aloopcount, arraysum, threshold_count
shutdown := 0
moving_flag := 0
aloopcount := 0
threshold_count := 0
threshold_flag := 0
dira[E_STOP]~
dira[W_STOP]~
Pst.Start(DEBUG_BAUD) '1 Cog
pause(300)
adc.start(CS, 0, @East_Count, @West_Count, @Up_Count, @Down_Count) '1 Cog
pause(1000)
cog := cognew(controlMovement, @moveStack) '1 Cog
pause(500)
cog := cognew(Handle_Wifi, @wifiStack) '2 Cogs
Pst.Dec(cog)
'Pst.Clear
Pst.Position(DEBUG_HEADING_X, DEBUG_HEADING_Y)
Pst.Str(string("Current Position", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("------------------------", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("East ................", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("West ................", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("EWdiff ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("EWavg ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Up .................", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Down ................", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("UDdiff ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("UDavg ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Park ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("West SW ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("East SW ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Thrshld ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Moving ...............", 13))
Pst.PositionX(DEBUG_HEADING_X)
Pst.Str(string("Sending data to XB...", 13))
xb.str(string("Solar Connected!"))
repeat
ReadSwitches
Update_Debug_Window
if East_Count > West_Count
EWdiff := East_Count - West_Count
else
EWdiff := West_Count - East_Count
'
if Up_Count > Down_Count
UDdiff := Up_Count - Down_Count
else
UDdiff := Down_Count - Up_Count
aloopcount++
if aloopcount => SampleRate
if East_Count > Min_EW_move OR West_Count > Min_EW_move
EWArray[EWarray_pointer] := EWdiff
EWarray_pointer++
if EWarray_pointer == MaxSampleCount
EWarray_pointer := 0
if Up_Count > Min_UD_move OR Down_Count > Min_UD_move
UDArray[UDarray_pointer] := UDdiff
UDarray_pointer++
if UDarray_pointer == MaxSampleCount
UDarray_pointer := 0
EWdiffavg := getAverage(@EWarray)
UDdiffavg := getAverage(@UDarray)
aloopcount := 0
if East_Count > EW_Park_Range OR West_Count > EW_Park_Range OR Up_Count > UD_Park_Range OR Down_Count > UD_Park_Range
threshold_count++
if threshold_count > 2000
threshold_flag := 1
else
threshold_flag := 0
threshold_count := 0
PUB Handle_Wifi | index, char
xb.Start(XB_OUT, XB_IN, %0000, 9_600)
repeat
index~ ' Reset the buffer pointer
repeat
char := xb.rxCheck ' Read port
if char > 31 ' ASCII code of character must be > SPACE
buffer[index++] := char ' Append it to the string buffer
until char == 13 ' Received an end of line character
buffer[index]~ ' Insert a null at the end of the string buffer, so it can a zstring
PUB controlMovement | park_loopcount, wake_loopcount, moving_east, moving_west, moving_up, moving_down
dira[LEFT]~~
dira[RIGHT]~~
dira[UP]~~
dira[DOWN]~~
moving_east := 0
moving_west := 0
moving_up := 0
moving_down := 0
repeat
if EastSwitch == 1
outa[RIGHT] := 0
if WestSwitch == 1
outa[LEFT] := 0
if EWdiffavg => max_diff
if East_Count > West_Count AND moving_west == 0
goEast
moving_east := 1
elseif West_Count > East_Count AND moving_east == 0
goWest
moving_west := 1
else
EWoff
moving_east := 0
moving_west := 0
if UDdiffavg => max_diff
if Up_Count > Down_Count AND moving_down == 0
goUp
moving_up := 1
elseif Down_Count > Up_Count AND moving_up == 0
goDown
moving_down := 1
else
UDoff
moving_down := 0
moving_up := 0
if East_Count < EW_Park_Range AND West_Count < EW_Park_Range AND Up_Count < UD_Park_Range AND Down_Count < UD_Park_Range AND Park_Flag == 0
park_loopcount++
wake_loopcount := 0
if park_loopcount > Park_Timer
Park
Park_Flag := 1
else
if East_Count > EW_Park_Range OR West_Count > EW_Park_Range OR Up_Count > UD_Park_Range OR Down_Count > UD_Park_Range
wake_loopcount++
if Park_Flag == 1 AND moving_flag == 0 AND threshold_flag == 1 AND wake_loopcount > Wake_Timer
Wake
wake_loopcount := 0
park_loopcount := 0
PUB getAverage(the_array) | i, arraysum
arraysum := 0
repeat i from 0 to MaxSampleCount - 1
arraysum += long[the_array][i]
return arraysum / MaxSampleCount
PUB goEast
outa[LEFT] := 0
if EastSwitch == 0
moving_flag := 1
outa[RIGHT] := 1
else
outa[RIGHT] := 0
return
PUB goWest
outa[RIGHT] := 0
if WestSwitch == 0
moving_flag := 1
outa[LEFT] := 1
else
outa[LEFT] := 0
return
PUB goUp
outa[DOWN] := 0
moving_flag := 1
outa[UP] := 1
return
PUB goDown
outa[UP] := 0
moving_flag := 1
outa[DOWN] := 1
return
PUB EWoff
outa[LEFT] := 0
outa[RIGHT] := 0
pause(100)
moving_flag := 0
reset_EW_avg
return
PUB UDoff
outa[UP] := 0
outa[DOWN] := 0
pause(100)
moving_flag := 0
reset_UD_avg
return
PUB reset_EW_avg
longfill(@EWarray, 0, MaxSampleCount)
EWdiffavg := 0
'pause(1000)
return
PUB reset_UD_avg
longfill(@UDarray, 0, MaxSampleCount)
UDdiffavg := 0
'pause(1000)
return
PUB ReadSwitches | i
if ina[W_STOP] == 0
WestSwitch := 0
else
WestSwitch := 1
if ina[E_STOP] == 0
EastSwitch := 0
else
EastSwitch := 1
return
PUB Park | i
Park_Flag := 1
threshold_flag := 0
UDoff
EWoff
pause(100)
i := 0
'goUp
repeat until WestSwitch == 1 or threshold_flag == 1
goWest
EWoff
pause(2000)
repeat until i == 1199 or threshold_flag == 1
goEast
pause(10)
i++
EWoff
pause(2000)
i := 0
repeat until i == 30000 or threshold_flag == 1
goUp
'goDown
pause(10)
i++
UDoff
return
PUB Wake | i
Park_Flag := 0
UDoff
EWoff
pause(100)
repeat until EastSwitch == 1
goEast
pause(10)
EWoff
pause(2000)
i := 0
repeat until i == 20000 or threshold_flag == 1 and i => 5000
'goUp
goDown
pause(10)
i++
UDoff
return
PUB Update_Debug_Window
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y)
Pst.Dec(East_Count)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 1)
Pst.Dec(West_Count)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 2)
Pst.Dec(EWdiff)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 3)
Pst.Dec(EWdiffavg)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 4)
Pst.Dec(Up_Count)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 5)
Pst.Dec(Down_Count)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 6)
Pst.Dec(UDdiff)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 7)
Pst.Dec(UDdiffavg)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 8)
Pst.Dec(Park_Flag)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 9)
Pst.Dec(WestSwitch)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 10)
Pst.Dec(EastSwitch)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 11)
Pst.Dec(threshold_flag)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 12)
Pst.Dec(moving_flag)
Pst.Str(string("..."))
Pst.Position(DEBUG_DYNAMIC_X, DEBUG_DYNAMIC_Y + 13)
Pst.Str(@buffer)
'Pst.Str(string("..."))
return
PUB pause(Duration)
if(Duration > 0)
waitcnt((clkfreq / 1_000 * Duration) + cnt)
return
Comments
COGS
0 spin
1 pst
2 adc
3 controlMovement
4 Handle_Wifi
5 xb
6 ?
7 ?
As we can see in the code posted that Handle_WiFi also starts the xb cog as well. I don't know about pst and adc if they do anything extra.
Edit. It is modified a bit from the original posted as I keep trying different things to make it work. Still no luck yet
That didn't include "Parallax Serial Terminal" but if you use the "archive" function in the File menu it will include all files.
Since the original code didn't include coginit calls I'm guessing you added them out of desperation.
What are you expecting the code to do which it's not doing?
I noticed your buffer index in "Handle_Wifi" is not checked to make sure it doesn't overflow the buffer. It's not uncommon for FDS to pick up $FF values from an idle line. There's chance your buffer is overflowing though I kind of doubt this.
I don't think you're running out of cogs. I think your problem is elsewhere (where it is I don't know).
EDIT * : The weird thing is, I can null out any of the lines that start a new cog and the program will run....just without that feature.
Why do you coginit instead of cognew? Are you saying that this program as is won't work unless you disable one of the cog start lines? Example?
EDIT: you are taking chances hoping that the "buffer" does not overflow which could easily happen with transmission errors and noise etc. Always put a limit on your buffer writes, easy to just make this buffer 256 bytes and limit the write index to a single byte.
But what is going on here!!!!!! 400 longs ---- wahhhh!!!
LONG variableStack[400]
LONG moveStack[400]
LONG wifiStack[400]
If you run the code and open the serial terminal, you will see what is happening
It's working fine with all cogs as far as I can tell. The only thing I did extra was insert a 3 second startup delay so I could switch to the terminal. As each cog starts up it draws a little more current but unless your hardware was really underpowered I can't see that being a problem. But if it is not adequately decoupled then that is probably your problem.
I tried coginit out of desperation to get this working. Did not help.
Yes, if I disable any cog start, the program will run.
I never did understand the Stack part of a cog and I usually put 100 or 200. I tried 400 out of desperation as well....
100 is already way over the top but your problem seems to be hardware decoupling.
Here is the last screen shot of my circuit board layout before I ordered them.
Is there something that was missed? Should I use a different value decoupling cap on the Prop pins?
The two caps look ok where they are but just check they are intact (or wrong value) but just to make sure just tack a known through-hole 0.1uf across 9 and 12 directly. Unplug your XBee as that may be drawing a bit of current on start-up and the Prop could have benefited from either its own regulator or at least a direct track back to the main regulator (not via a potential noise source). If your XBee is a 100mW version it could draw quite a bit of current which the regulator should handle but obviously something is happening, so unplug it and check.
Edit * : I have also unplugged the Xbee and tried to run it, but no luck
That's better. You know that regulators don't have to stay in "the power supply area", they work even better when you place them close to the load. Just a tip.
But make no assumptions here, solder a known 0.1uF cap directly to the Prop socket and also measure the supply voltages because if your 5V supply drops then this may affect your 3.3V supplies depending upon what type of regulators you are using there. If you put an LED on the EEPROM SCL line to 3.3V through a 1K resistor you will be able to see it light up when the Prop boots, or in this case, if it reboots because of a supply glitch.
I supposed do this to both decoupling caps?
To be safe for this test solder it direct to the socket pins with a cap that you know for sure is 0.1uF or thereabouts. SMD caps can get mixed up and you can't easily tell what it is in that case. For this test you really only need one but if it's easy enough to do two, then do two. If the problem still persists then try the scope but not before you put a simple diagnostic LED on the board as I mentioned. You just want to know when it reboots.
The code seems to be running Ok and the COG leds indicate 6 x cogs running.
I agree with Peter that decoupling seems to be the gremlin.
I went ahead and soldered on 2 known 0.1uF caps directly to the socket pins and noticed no difference on the O-Scope. The line is pretty flat honestly.
So... having checked all this, I feel as though I something else may be the issue. Right now, the code seems to be running just fine with all cogs fired up.
To better understand about overflowing a variable, is there any "simple" explanation of how to prevent this? Do I just set BYTE index[200] and be done with it?
If you allow for a bleed resistor across your 3.3V supply then this will help with regulation by maintaining a minimum current, and also help with discharging supply capacitance as well as "load up" leakage currents that result from external devices such as USB feeding current through I/O pins back into the supply. Try a value of 1K.
Depending upon what you are using there I doubt very much that the "O-Scope" will pick up glitches, they only have to be tens of nanoseconds long. I know that the Tektronix scopes have a "peak detect" mode to make sure you see where those glitches are.
As for writing to array variables I would always put in index limiting, either in the form of ANDing a mask, or modulus. The other way that I have already mentioned to you is to just declare a byte variable for the index and create a 256 element buffer, that way there is no need to mask as even if you progress past 255 it will just wrap to 0 etc.
I know there is a shorter way to write that, just can't seem to remember how :P I know I have seen it before.
EDIT : This is the O-scope I have : http://www.ebay.com/itm/Mini-Digital-Storage-Color-Oscilloscope-Metal-Handheld-scope-DSO-203-Nano-Black-/221079075360
because if index is 255 when you do index++ it will become zero. A byte cannot exceed 255, and 255 + 1 = 0.
In fact, will never be true.
The whole idea of declaring index as a byte is so that it can never exceed 255 so there is no need to test and reset which btw would normally test for anything in excess of 255 rather than equality (just in case). But remember to allocate 256 elements for your buffer then. I don't think you can declare a local variable as a byte in Spin but just make it a global variable (maybe rename it) like this:
BYTE index,buffer[256]
That scope is just a baby scope so don't expect any wonders from it, handy as it is, it just doesn't have the performance and features of a digital bench scope, so it is not likely that it will show or even trigger on those little glitches. One good thing about them though, as you said "The line is pretty flat honestly" so the display is nice n smooth
Just start a new thread and tell us what you do know, what we should know, and what you don't know. That way those of us in the know will be able to let you know, if you know what I mean, no?
What I am thinking is going on is I am possibly "over running" a variable somewhere in my "PUB go". Problem is...I don't know how to find which one unless I start nulling out lines.
Blah.....
EDIT *** :I have nulled out pretty much the entire PUB go and it is still not working. The Prop is not resetting and the PST is still updating properly as I can see when "East switch" is on or off.