Full Duplex Serial

SailerMan · 2006-11-08 18:43

I currently have my SX28 talking to my Propeller using the Propellers (bs2 Serial Object) I then decided to try the Full Duplex Serial and the poop has hit the fan. I can't seem to get anything working correctly.· I'm Using mode %1010 on the Propeller side.

Does anyone know what could be happening? Any working sample code between the Prop and the SX28 would be apreciated... Just to make sure I have my setup right.

Thanks in Advance,
Eric
·

T Chap · 2006-11-08 19:58

If you posted the code section, someone may see the poblem easily. Full dup is very easy to send to the SX.

SailerMan · 2006-11-08 20:21

I'm using the standard SerOut and SerIn Command but my Baud rate on the SX is unusual because of interupts.. If I am sending and Receiving on the SX28 at 9600 Baud... ( TX = SX Pin RB.0 to Prop Pin 1) and (RX- SX Pin RB.1 to Prop Pin 2) How should I set up the Serial Full Duplex on the Prop Side...Specifically the Mode. Is there anything else I need to know about besides the TX and RX Commands. Do I really need to FLush the RX Buffer.

I'd enclose my code but it's gettting a little hard to read... I need to clean it up.

but if It was working with the spin code (BS2 Object) I can't see why it will not work with the Full Duplex ASM code.

Mike Green · 2006-11-09 00:06

Is there some particular reason why you're using opposite modes (inverted/non-inverted) on receive and transmit? Normally, mode %0010 (or %0000) would be used if you're not using an RS232 adapter that inverts the data. The BS2 serial routines for the Propeller don't even support open-source/drain mode and specify inverted mode with a value of 0 which is opposite from the mode bits with the FullDuplexSerial routines.

SailerMan · 2006-11-09 00:12

ok...Here is the best I can do for the code.

Here is the Prop Code

Con
        _clkmode        = xtal1 + pll16x
        _xinfreq        = 5_000_000
         
        
        SerialOutputPin = 17
        SerialInputPin = 18
        
        
Var
        Long MicroSecond  
        Byte Ramp
        Long LeftEncoder,RightEncoder
        
        long DeltaL,DeltaR
Obj
  Debug : "TV_Text"
  
  Serial : "FullDuplexSerial"
  
Pub Main|LastLeft,LastRight,Command,Dummy
  MicroSecond:= clkfreq / 1_000_000
   
  Serial.Start(SerialInputPin,SerialOutputPin,%1010,9600)
   
  Debug.start(12) 
 
  DirA[noparse][[/noparse]0]:=0
   
  Repeat
      
      Command:=254
      Serial.TX(Command)
      LeftEncoder:=Serial.RX
      RightEncoder:=Serial.RX
       
      Command:=170
      Serial.TX(Command)
       
      Serial.TX(0)
       
      Serial.TX(RAMP) 
     
      Ramp+=1 
      DeltaL:=(~LeftEncoder)
      DeltaR:=(~RightEncoder)
      Display
                              
             
Pub Display 
    
    DEbug.Out(1)
    Debug.Str(String("      ",13)) 
    Debug.Str(String("LeftEncoder ="))
    Debug.Dec(DeltaL)
    Debug.Str(String("      ",13))
    Debug.Str(String("RightEncoder="))
    Debug.Dec(DeltaR)
    Debug.Str(String("           ",13)) 
    Debug.Str(String("RANGE="))
    Debug.Dec(RAMP)
    Debug.Str(String("           ",13))
    Debug.Out(1)

and Here is the SX/B Code

····

DEVICE          SX28, OSCHS2, TURBO, STACKX, OPTIONX, BOR42
FREQ            50_000_000

ID  "ENCODER"
 
Baud  CON "N14585"
 
PWM_Count VAR BYTE
PWM_Values VAR BYTE (4)
 
SerialData VAR BYTE  
DataInPin   Var     RC.0
DataOutPin  Var  RC.1
EncPort         Var     RA                       
 
Index       Var    Byte 
EncodersOld      VAR    byte                  
EncodersNew      VAR    byte   
                
Encoder_A_Count  VAR    Byte 
Encoder_B_Count  VAR    Byte   
tmpB1           VAR     byte
tmpB2           VAR     Byte
Temp   Var  byte 
Value   Var  Byte 
Channel      Var  Byte
Command   Var  byte
 
' =========================================================================
INTERRUPT  
' =========================================================================
 
ISR_Start:
 EncodersNew = EncPort
 TmpB1 = EncodersOld XOR EncodersNew 
 TmpB2 = TmpB1 << 1  
 TmpB1 = TmpB1 OR TmpB2
 EncodersOld = EncodersOld << 1  
 EncodersOld = EncodersOld XOR EncodersNew 
 IF TmpB1.3 = 1 THEN
     IF EncodersOld.3 = 1 THEN 
   INC Encoder_A_Count                          
     ELSE
   DEC Encoder_A_Count                        
      ENDIF
Else
 Asm
  Nop
  Nop
  Nop
  Nop
   
 EndAsm 
  ENDIF
' ========================================================================= 
 IF tmpB1.1 = 1 THEN                  
     IF EncodersOld.1 = 1 THEN 
        INC Encoder_B_Count                          
      ELSE
        DEC Encoder_B_Count 
     ENDIF
 Else
 Asm
  Nop
  Nop
  Nop
  Nop
   
 EndAsm 
  
 ENDIF
 EncodersOld=EncodersNew
ASM
      ' ** Setup variables
 MOV __PARAM1,#4        ' (2) Number of bits per port
 MOV __PARAM2,#1        ' (2) OR Mask for turning a bit ON
 MOV __PARAM3,#254      ' (2) AND Mask for turning a bit OFF
 INC PWM_Count          ' (1) Adjust the PWM count 
                        '     If the PWM value for each channel is
                        '     less than PWM_Count then it should
                        '     be high, othewise it should be low
 MOV __PARAM4,PWM_Count ' (2) Make copy of PWM_Count in global memory
 MOV FSR,#PWM_Values    ' (2) Set FSR to address of 1st element of PWM values
:NEXT_BIT
         ' ** First do port B bits
  CJA IND,__PARAM4,@:MAKE_HIGH_B  ' (5/7) If this element is above PWM_Count
                                               ' Then jump to MAKE_HIGH_B
  AND RB,__PARAM3          ' (2) Value is below or equal to PWM_Count so
                                     '      make it low.
  JMP @:DONE_BIT_B     ' (4) Jump over MAKE_HIGH code
:MAKE_HIGH_B
  OR RB,__PARAM2       ' (2) Value is above PWM_Count so make it HIGH
  NOP                  ' (1) Waste time
  NOP                  ' (1) Waste time
:DONE_BIT_B
  STC                  ' (1) Need to shift a 1 into AND mask value
  RL __PARAM3          ' (1) Shift AND mask value
  CLC                  ' (1) Need to shift a 0 into OR mask value
  RL __PARAM2          ' (1) Shift OR mask value
  Inc FSR
 DJNZ __PARAM1,@:NEXT_BIT     ' (3/5) Repeat until done
ENDASM 
RETURNINT                                 
 ' =========================================================================
GetEncoders Sub 0
ChangePWM Sub 0
SendCommand Sub 1
GetData Func 1
PROGRAM Start NOSTARTUP 
 
Start:
  EncodersNew = EncPort
  EncodersOld = EncodersNew
  OPTION = $80        
                      
Main:
TRIS_B=%00000000
Tris_C=%00000000
Input DataInPin   
Output DataOutPin
Encoder_A_Count=0
Encoder_B_Count=0
Do
  RC.4=1   
    Command=GetData
  
 RC.4=0
 RC.7=1
 RC.6=1 
 If Command=254 then GetEncoders
 If Command=170 then ChangePWM
Loop
GetEncoders: 
   Pauseus 100
  SendCommand Encoder_A_Count
  SendCommand Encoder_B_Count
  Encoder_A_Count=0
  Encoder_B_Count=0
Return  
ChangePWM:
   
  Channel=GetData
  Value=GetData  
  
   If Value>128 Then
   
    
   PWM_Values(1)=255-Value
     
   PWM_Values(0)=0
   High RC.7
   Low  RC.6  
  Else
   High RC.6
   Low  RC.7    
   PWM_Values(1)=0
    
   PWM_Values(0)=Value*2 
  Endif
Return
 
SendCommand:
 SerOut DataOutPin,Baud,__Param1
Return 
GetData:
 SerIn  DataInPin,Baud,__Param1
Return __Param1

My SX Baud Rate is to compensate for the ISR

Basically The SX counts encoder pulses and creates PWM on·2 channels.

The Propeller Sends Command (254) to read the Encoders, and Command (170) to set the PWM Channel (0 or 1) + Duty (0-255)

I am noticing that I can Set the Motor Speed. But I can't read the Encoders. Hmmm....

Any help like always would be greatly appreciated

Thanks,

Eric

Post Edited (SailerMan) : 11/9/2006 12:51:12 AM GMT

T Chap · 2006-11-09 03:08

Serial.Start(SerialInputPin,SerialOutputPin,%1010,9600)

Did you try using 0,1, or 2 instead of %1010? Start with 0

I could be off but I didn't think there were any other options besides 0 1 2 and maybe 3

Post Edited (originator99) : 11/9/2006 3:14:24 AM GMT

SailerMan · 2006-11-09 03:31

I Changed my Baud declaration to T-True and used Serial.Start(SerialInputPin,SerialOutputPin,%0000,9600)

All is good now... I hope!! [noparse]:)[/noparse]

Thanks

Eric

Full Duplex Serial

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