Starting 2 PASM cogs from 1 object file ???
Anubispod
Posts: 42
Hi , i try to start 2 programs in its own cog and share the same arry one cogs only writes to it one only reads from it , in separate file they run ok,
but here some how th ppm code wonst run , the dsmx code still runs ok ??
but here some how th ppm code wonst run , the dsmx code still runs ok ??
con
_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000
SVO_MIN = 800 ' servo limits in microseconds
SVO_MAX = 2200
SVO_CTR = 1500
var
long testoutdsmx
long testoutppm
long cog1
long cog2
long uscnt ' cnt ticks per microseconds
long ppmpin ' ppm output pin
long state ' lead/lag pulse state
long channels ' servo channels, 1 - 8
long pulsecnt ' cnt ticks for lead/lag puls
long framecnt ' cnt ticks for servo frame
long dsmx_ptr
long rx_head
long rx_tail
long rx_pin
long rxtx_mode
long bit_ticks
long buffer_ptr
long dsmxch_ptr
long swap
long header
byte rx_buffer[16] 'receive buffer
long dsmxch[12]
long error
PUB testme
dsmxch_ptr := @dsmxch
startppm(21, 0, 9, 300, 20000)
waitcnt(clkfreq/100+cnt)
startdsmx(12,0, 115200)
waitcnt(clkfreq/100+cnt)
repeat
testoutdsmx := dsmxch[0]
PUB startdsmx(rxpin,mode, baudrate) : okay
longfill(@dsmxch,1500,12)
stopdsmx
longfill(@rx_head, 0, 4)
longmove(@rx_pin, @rxpin, 3)
bit_ticks := clkfreq / baudrate
buffer_ptr := @rx_buffer
header:= @error
okay := cog2 := cognew(@entry_dsmx, @rx_head) + 1
PUB stopdsmx
'' Stop DSMX driver - frees a cog
if cog2
cogstop(cog2~ - 1)
pub startppm(pin, level, nservos, uspulse, usframe) | ok
'' Starts PPM cog
'' -- pin = output pin
'' -- level = active state of lead/lag pulse
'' -- nservos = number of servos (1 to 8)
'' -- uspulse = microseconds for lead/lag pulse (typically 300, 0.3ms)
'' -- usframe = microseconds for servo frame (typically 20_000, 20ms)
stopppm ' stop if already running
uscnt := clkfreq / 1_000_000 ' ticks per microsecond
dsmx_ptr := @dsmxch
ppmpin := pin ' setup cog parameters
state := level
channels := 1 #> nservos <# 9
pulsecnt := uspulse * uscnt
framecnt := usframe * uscnt
ok := cog1 := cognew(@entry_ppm, @ppmpin) + 1 ' start the cog
return ok
pub stopppm
'' Stops cog (if running)
if cog1
cogstop(cog1~ - 1)
dat
org 0
entry_ppm mov tmp1, par ' start of parameters
rdlong tmp2, tmp1 ' read ppm pin#
mov ppmmask, #1 ' create mask
shl ppmmask, tmp2
add tmp1, #4
rdlong tmp2, tmp1 wz ' read active state of pulse
if_z or outa, ppmmask ' if low, make idle high
if_nz andn outa, ppmmask ' else make idle low
or dira, ppmmask ' make pin an output
add tmp1, #4
rdlong chans, tmp1 ' get # channels
add tmp1, #4
rdlong pulsetix, tmp1 ' get ticks per lead/lag pulse
add tmp1, #4
rdlong frametix, tmp1 ' get ticks per servo frame
add tmp1, #4
mov svopntr, tmp1 ' save hub address of servo[0]
mov ftimer, frametix ' setup frame timer
add ftimer, cnt ' start it
ppmframe waitcnt ftimer, frametix ' idle for sync point
mov count, chans ' set # channels
mov hub, svopntr ' point to servo[0]
:loop2 xor outa, ppmmask ' start pulse
mov stimer, cnt ' setup pulse timer
add stimer, pulsetix
rdlong servotix, hub ' get channel timing from hub
add hub, #4 ' point to next channel
sub servotix, pulsetix ' correct timing for lead/lag pulse
waitcnt stimer, servotix ' let pulse finish
xor outa, ppmmask ' back to idle
waitcnt stimer, pulsetix ' let servo timing finish
djnz count, #:loop2 ' update channels
xor outa, ppmmask ' lag pulse
waitcnt stimer, #0
xor outa, ppmmask
jmp #ppmframe
' --------------------------------------------------------------------------------------------------
ppmmask res 1 ' mask for ppm pin
chans res 1 ' # of channels
pulsetix res 1 ' cnt ticks for lead/lag pulse
frametix res 1 ' cnt ticks in servo frame
dsmxptr res 1
svopntr res 1 ' pointer to servo[0]
ftimer res 1 ' frame (all servos) timer
stimer res 1 ' servo timer
count res 1 ' for servos loop
hub res 1 ' address of activer servo timing
dhub res 1
servotix res 1 ' cnt ticks for current servo
tmp1 res 1 ' work vars
tmp2 res 1
fit
DAT
org 0
entry_dsmx mov t1,par 'get structure address
add t1,#4 << 1 'skip past heads and tails
rdlong t2,t1 'get rx_pin
mov rxmask,#1
shl rxmask,t2
add t1,#4 'get rxtx_mode
rdlong rxtxmode,t1
add t1,#4 'get bit_ticks
rdlong bitticks,t1
add t1,#4 'get buffer_ptr ...
rdlong rxbuff,t1 'for the receiver
add t1,#4 'get sync_ptr ...
rdlong ptr_ch,t1 'for the receiver
add t1,#4 'get sync_ptr ...
rdlong ptr_swap,t1 'for the receiver
add t1,#4 'get sync_ptr ...
rdlong ptr_header,t1 'for the receiver
test rxtxmode,#%100 wz 'if_nz = open drain Tx
test rxtxmode,#%010 wc 'if_c = inverted output
mov count_byte,#0
or dira,power_mask
or outa,power_mask
mov t7,#12
' Receive
timer neg t3, cnt
mov t1,#0
receive mov t4,ptr_ch
add t1,#1
cmps t1,fail_save_time wc
add t4,#16
if_nc wrword set_fail_save,t4
test rxtxmode,#%001 wz 'wait for start bit on rx pin
test rxmask,ina wc
if_z_eq_c jmp #receive
mov rxbits,#9 'ready to receive byte
mov rxcnt,bitticks
shr rxcnt,#1 'half a bit tick
add rxcnt,cnt '+ the current clock
:bit add rxcnt,bitticks 'ready for the middle of the bit period
:wait
mov t1,rxcnt 'check if bit receive period done
sub t1,cnt
cmps t1,#0 wc
if_nc jmp #:wait
test rxmask,ina wc 'receive bit on rx pin into carry
rcr rxdata,#1 'shift carry into receiver
djnz rxbits,#:bit 'go get another bit till done
test rxtxmode,#%001 wz 'find out if rx is inverted
if_z_ne_c jmp #timer 'abort if no stop bit
shr rxdata,#32-9 'justify and trim received byte
and rxdata,#$FF
if_nz xor rxdata,#$FF 'if rx inverted, invert byte
add t3, cnt
sub t3, #4
CMP time_mask,t3 wc
if_c mov count_byte,#0
if_nc add count_byte,#1
mov t2,rxbuff 'get
add t2,count_byte
wrbyte rxdata,t2 'write the byte to position count_byte
CMP count_byte,#15 wz 'see if we have now time to decode buffer next 9 ms
if_nz jmp #timer
decodedsmx
mov t2,rxbuff ' Set pointer behinde byte 1 to 2
add t2,#1
mov t5,ptr_swap
mov rxbits,#7
rdbyte decode,t2
sub t2,#1
wrbyte decode,t5
add t5,#1
rdbyte decode,t2
wrbyte decode,t5
add t2,#3
sub t5,#1
rdword decode,t5
mov t4,ptr_header
wrlong decode,t4
:loop
mov t4,ptr_ch
rdbyte decode,t2
sub t2,#1
wrbyte decode,t5
add t5,#1
rdbyte decode,t2
wrbyte decode,t5
add t2,#3
sub t5,#1
rdword decode,t5
shl decode,#17
shr decode,#17
mov ch,decode
mov value,decode
shr ch,#11
shl value,#21
shr value,#22
mov t6,ch
shl t6,#2
add t4,t6
CMP t7,#12 wc
add value,base
if_nc wrword value,t4
djnz rxbits,#:loop 'loop 7 mal
jmp #timer
'
power_mask long %100000000000000000000000000
time_mask long 600000
decode long 0
ch long 0
value long 0
fail_save_time long 6_00_000
set_fail_save long 1010
base long 988
t1 res 1
t2 res 1
t3 res 1
t4 res 1
t5 res 1
t6 res 1
t7 res 1
count_byte res 1
rxtxmode res 1
bitticks res 1
rxmask res 1
rxbuff res 1
rxdata res 1
rxbits res 1
rxcnt res 1
rxcode res 1
dsmch res 1
ptr_ch res 1
ptr_swap res 1
ptr_header res 1
fit
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