Assembly code problem
Owen
Posts: 100
can anyone help me with my first assembly code program? it drives step direction and enable for a stepper motor project? I can get the motors to move and change direction when this code is omitted:
test _stoped, #1 wz
if_z jmp #:reload
but with the previouse two lines the program waits untill the clock rolls back over before the program will resume every time stoped is equal to 0. I'm stumped
Thank's for any help
test _stoped, #1 wz
if_z jmp #:reload
but with the previouse two lines the program waits untill the clock rolls back over before the program will resume every time stoped is equal to 0. I'm stumped
Thank's for any help
var
long stepPin, enablePin, dirPin
long Spd
long Dir
long coordinate
long movingindicator
long stoped
long Cog
long previouseActual_speed
long joyspeed
long requested_speed
long raw_temp
long joyTemp
Long JoystickRaw
long joystick_temp
OBJ
psx : "psx_v1.5"
pub Start(pulsPin, goPin, directionPin, coordAddress, movingAddress) | coordAdress
stepPin := |< pulsPin
enablePin := |< goPin
dirPin := |< directionPin
movingindicator:= |< movingAddress
stoped:=1
spd:=255000
'Stop
Cog := cognew(@entry, @stepPin)+1
PUB ChangeSpeed(joy_stick, stp) | smooth, joystick_scaled
smooth := 90
if stp == 0
stoped := 1
byte[noparse][[/noparse]movingindicator]:=0
return
stoped:=0
byte[noparse][[/noparse]movingindicator]:=1
joystick_scaled := 1000 * (joy_stick + 1)
joystick_temp:= (joystick_temp * smooth + joystick_scaled * (100 - smooth))/100
if joystick_temp < 127000
spd:= 255000 - ||((joystick_temp - 128000) * 2)
dir:= 1
else
spd:= 255000 - ((joystick_temp - 129000) * 2)
dir:= 0
raw_temp := joystick_temp
joyTemp := joystick_scaled
JoystickRaw := joy_stick
PUB Stop
{{Stop toggling process, if any.}}
if Cog
cogstop(Cog~ -1)
DAT
entry
mov p,par ' load parameter pointer into p (points to global variables)
' p is just a copy and keeps par unchanged for later.
rdlong _stepPin,p ' load first parameter into _steppin (cog ram)
add p,#4 ' Increment address to next global variable
rdlong _enablePin,p ' Load second parameter _enablepin
add p,#4
rdlong _dirPin,p
add p,#4
rdlong _Spd,p
add p,#4
rdlong _Dir,p
add p,#4
rdlong _coordinate,p
add p,#4
rdlong _movingindicator,p
add p,#4
rdlong _stoped, p
mov _pinmask,_stepPin
or _pinmask,_enablePin
or _pinmask,_dirPin
or dira, _pinmask ' Set the pins as outputs
'Make pins high
'or outa, _pinmask
mov time,cnt ' find the current time
add time,on_time ' create target time
:loop
test _stoped, #1 wz 'if variable is set to stop loop reloading variables untill stoped is cleared
if_z jmp #:reload
waitcnt time,_Spd ' wait for delay to pass
test _dir,#1 wz
muxz outa, _dirPin
xor outa ,_steppin ' toggle the pins
waitcnt time,on_time ' wait for delay to pass
xor outa,_steppin ' toggle
' reload the variables from hub ram as they may have been changed
:reload mov p,par
add p,#12 ' we add 8 to skip the first two variables (pin1 and pin2)
rdlong _Spd,p ' and off time
add p,#4
rdlong _Dir,p
add p,#12
rdlong _stoped,p
jmp #:loop ' and loop away
on_time long 100 ' delay in clock cycles
' Uninitialized data
_stepPin res 1
_enablePin res 1
_dirPin res 1
_Spd res 1
_Dir res 1
_coordinate res 1
_movingindicator res 1
_stoped res 1
time res 1
_pinmask res 1
p res 1
Comments
This code skips to :reload if _stoped is zero. I suspect you want to skip if _stoped is equal to one.
You need to look up the way that TEST works in the manual. It works like AND.
(You might want to spell it "stopped" too
test _stoped, #0 wz if_z jmp #:reloadAm I missing how "test" works? is there another way to do this?
I believe now it will always jump
I think the following may work:
········test_stopped, #1 wc
if_c·· jump· #:reload··
c is set when result contains an odd number of high bits (that is waht will happen when test_stopped is 1).
Gennady
What you had originally:
if (_stoped AND 1) = false then jump.
What you have now:
if (_stoped AND 0) = false then jump.
I'd suggest this conveys your meaning best:
Graham
CMP _stoped,#0 wz
if_ne JMP :reload
and
test _stopped, #1 wc
if_c jump #:reload
both with no luck but if I use:
test _stopped, #1 wc
if_c jump #:reload
the motors wait a minute or so and then they move until stoped becomes 0 then they wait for another minute before they move again. Makes me think there is a problem with waitcnt somewhere but I don't see it.
Not a prop assembler programmer, but if i were thinking how i were to do it in spin, i would notice that on_time is 100, and
·mov time,cnt ' find the current time
·add time,on_time ' create target time
then some instructions, then
·waitcnt time,_Spd ' wait for delay to pass
·test····_dir,#1··wz
·muxz····outa,·_dirPin
·xor·····outa·,_steppin·····'·toggle·the·pins
·waitcnt·time,on_time
I couldn't see where you set your clock speed, but is there any chance that when a waitcnt is finally executed that enough cycles have passed so that cnt is already past what the value of "time" is? I've seen it said that it takes about a minute for cnt to cycle through at highest clock speed which seems to match your symptoms for "...then they wait for another minute or so before they move again." Just a thought.
Post Edited (codemonkey) : 7/2/2007 12:11:47 AM GMT
Your problem I think is your use of waitcnt. If the program is looping reloading the variables then the target for the waitcnt:
Will have already passed when it comes to that line hence the long delay as the target comes around again.
So just do
There may be other issues but I'm sure this is one.
Graham
Thanks for all the help,
Owen