In SX Microcontrollers, SX/B Compiler and SX-Key Tool, spacejunk wrote:

I still should be able to access the full RAM area though? Should I not?

I would rather find out why it isn't working, than try and modify my code. Is this a know issue?
 

Here is the full code listing:

 



[code]
' =========================================================================
'
'   File...... Main#.SXB
'   Purpose... Panther Mini Sumo
'   Author.... Lee Szuba
'   E-mail.... [url=spacejunk@magma.ca]spacejunk@magma.ca[/url]
'
' ========================================================================= 

'NOTES (To Do) 

'Hardware 


'Electrical 


'Software 


'Done 


' -------------------------------------------------------------------------
' Device Settings
' ------------------------------------------------------------------------- 

DEVICE          SX48, OSCHS1
FREQ            20_000_000 

' -------------------------------------------------------------------------
' IO Pins
' ------------------------------------------------------------------------- 

'Motor Pins
PWMPinR   PIN RD.1  'Pin used by interrupt, right motor
PWMPinL   PIN RD.2  'Pin used by interrupt, left motor
DirPinR   PIN RD.0  'Direction pins, set 1 for forward, 0 for reverse
DirPinL   PIN RD.3 

'Line Sensor Pins
rLine     PIN RB.3 SCHMITT 'Right line sensor, active high
lLine     PIN RB.6 SCHMITT 'Left line sensor, active high 

'Object Sensor Pins
lSeek     PIN RB.7   'Left front object sensor, active low
rSeek     PIN RB.4   'Right front object sensor, active low
lSideSeek  PIN RE.1   'Left side object sensor, active low
rSideSeek  PIN RE.0   'Right side object sensor, active low 

'Close Proximity Sensors
FrontProx  PIN RB.5  'Front ProxDot, active low
BackProx  PIN RD.7  'Rear ProxDot, active low 

'Control Buttons
StartButton  PIN RA.2  'Press to start routine (top button)
NextButton  PIN RA.3  'Cycle routines (bottom button) 

'I2C EEPROM Pins
SDA   PIN RD.4  'Data line
SCL   PIN RD.5  'Clock out 

'ADC SPI Pins
'ADC pinout incorrect, currently not used
'CS pin needs to be controlled, in Rev. G, tied to VSS
'Fixed in current circuit (Rev. H) design 

CLK   PIN RE.2  'Clock signal
Dout   PIN RE.3  'Data out pin
Din   PIN RE.4  'Data in pin 

'Accelerometer Pins
Yacl   PIN RB.0  'Y axis, pulse width
Xacl   PIN RB.1  'X axis, pulse width 

'Serial Out (RS232 level) For Debugging
RX   PIN RA.1  'Serial debug recieve
TX   PIN RA.0  'Serial debug transmit 

'Unused Pins
RB_Unused  PIN RB.2 PULLUP  'Set weak internal pullups
RD_Unused  PIN RD.6 PULLUP
RE_Unused1  PIN RE.5 PULLUP
RE_Unused2  PIN RE.6 PULLUP
RE_Unused3  PIN RE.7 PULLUP 

' -------------------------------------------------------------------------
' Constants
' ------------------------------------------------------------------------- 

Baud   CON "N38400" 'Serial Baud rate, 38400, Inverted 

True   CON 1  'Constants used by state machine
False   CON 2 

' -------------------------------------
' Seven Segment Numbers
' ------------------------------------- 

'Table of seven segment display numbers
'Zero is on, one is off 

NumberOne  CON %01011111
NumberTwo  CON %00100011
NumberThree  CON %00000111
NumberFour  CON %01001101
NumberFive  CON %10000101
NumberSix  CON %10000001
NumberSeven  CON %00011111
NumberEight  CON %00000001
NumberNine  CON %00001101
NumberZero  CON %00010001 

LetterP   CON %00101001
LetterD   CON %01000011 

' -------------------------------------------------------------------------
' Variables
' ------------------------------------------------------------------------- 

PWMCount  VAR Byte  'PWM variables, used by interrupt
PWMValueR  VAR Byte
PWMValueL  VAR Byte 

Temp   VAR Byte  'General work/counter 

SensFlags  VAR Byte  'Order (LSB first) - Edge_L, Edge_R, Obj_L, Obj_R, Obj_LS, Obj_RS, Prox_F, Prox_R 

CurPos   VAR Byte  'Seven segment display work variables
CurNum   VAR Byte 

'DirR   VAR Bit   Currently unused, may be used to improve motor control
'DirL   VAR Bit 

DebugByte  VAR Byte 

temp1   VAR Byte  'Subroutine work vars
temp2   VAR Byte
temp3   VAR Byte
temp4   VAR Byte
temp5   VAR Byte
temp6   VAR Bit 

CurrentState  VAR Byte  'State machine current state variable
NextState  VAR Byte  'State machine next state variable, used for transitions
CycleCount  VAR Byte  'State machine cycle counter, used for timeing
InitState  VAR Bit   'State machine initiate state flag, 1 when state change 

LineFlagL  VAR SensFlags.0  'SensFlags Var broken out into individual variables
LineFlagR  VAR SensFlags.1
ObjFlagL  VAR SensFlags.2
ObjFlagR  VAR SensFlags.3
ObjFlagSL  VAR SensFlags.4
ObjFlagSR  VAR SensFlags.5
ProxFlagF  VAR SensFlags.6
ProxFlagR  VAR SensFlags.7 

AddressPointer  VAR Byte 

AddressVal  VAR Word 

' -------------------------------------------------------------------------
  INTERRUPT 10000 'Interrupt speed in Hz (10kHz)
' ------------------------------------------------------------------------- 

ISR_Start:
  \ADD PWMCount, #1 

  IF PWMCount >= PWMValueR THEN  'Right PWM code
    \CLRB PWMPinR
  ELSE
    \SETB PWMPinR
  ENDIF 


  IF PWMCount >= PWMValueL THEN  'Left PWM code
    \CLRB PWMPinL
  ELSE
    \SETB PWMPinL
  ENDIF 

ISR_Exit:
  RETURNINT '250                                 


' =========================================================================
  PROGRAM Start
' ========================================================================= 


' -------------------------------------------------------------------------
' Subroutine Declarations
' ------------------------------------------------------------------------- 

WAIT_US  SUB 1, 2  'Delay in microseconds
WAIT_MS  SUB 1, 2  'Delay in milliseconds
RX_BYTE  SUB   'Receive a serial byte
TX_BYTE  SUB 1  'Transmit a serial byte
TX_OUT  SUB 1, 2  'Transmit byte or string
Check_Sens SUB   'Check sensors
I2C_RX_BYTE SUB 2  'Transmit a byte to EEPROM
I2C_TX_BYTE SUB 3  'Recieve a byte from EEPROM
WRITE_STATE SUB 2  'Write a state number to EEPROM 

' -------------------------------------------------------------------------
' Program Code
' ------------------------------------------------------------------------- 

' -------------------------------------------------------------------------
' Start Sequence
' ------------------------------------------------------------------------- 


Start:
  TX_OUT Start_Message 

  TRIS_D = %11110000 'Motor pins outputs
  OPTION = %10001000 'Enable RTCC interrupts, RTCC Prescaler = 1:1 

  \CLRB DirPinR
  \CLRB DirPinL 

  PWMValueR = 0  'Standard PWM values
  PWMValueL = 0 

  TRIS_C = %00000000 'Set seven segment pins output
  RC = %11111111 'Set seven segment pins high (display off) 

  CurrentState = 1
  NextState = 1
  InitState = True
  CycleCount = 0 

  AddressPointer = 0 

ChooseRoutine: 

  RC = NumberOne 'Start with number one 

  CurPos = 0
  
  DO
    LOOKUP CurPos, NumberOne, NumberTwo, NumberThree, NumberFour, NumberFive, NumberSix, CurNum 'Lookup numbers 

    RC = CurNum  'Display numbers 

    IF CurPos = 6 THEN 'Overflow to zero
      CurPos = 0
    ENDIF 

    IF StartButton = 0 THEN GOTO Countdown 'If start button is pressed jump to start routine 

    IF NextButton = 0 THEN 'Cycle through routine choices
      INC CurPos
      WAIT_MS 60  'Start debounce
      DO
      LOOP UNTIL NextButton = 0
      WAIT_MS 150  'End debounce
    ENDIF
  LOOP 

Countdown:  'Five Second Startup
  RC = NumberFive
  WAIT_MS 200, 5
  RC = NumberFour
  WAIT_MS 200, 5
  RC = NumberThree
  WAIT_MS 200, 5
  RC = NumberTwo
  WAIT_MS 200, 5
  RC = NumberOne
  WAIT_MS 200, 5 

  BRANCH CurPos, Turn1, Turn2, Turn3, Turn4, Turn5, Turn6 'Goto turn routine
GOTO ChooseRoutine 


Turn1:
  PWMValueR = 0
  PWMValueL = 255 

  \SETB DirPinR
  \CLRB DirPinL 

  WAIT_MS 110
GOTO Main 

Turn2:
  PWMValueR = 255
  PWMValueL = 0 

  \SETB DirPinL
  \CLRB DirPinR 

  WAIT_MS 110
GOTO Main 

Turn3:
  PWMValueR = 0
  PWMValueL = 255 

  \SETB DirPinR
  \CLRB DirPinL 

  WAIT_MS 165
GOTO Main 

Turn4:
  PWMValueR = 255
  PWMValueL = 0 

  \SETB DirPinL
  \CLRB DirPinR 

  WAIT_MS 165
GOTO Main 

Turn5:
  PWMValueR = 0
  PWMValueL = 255 

  \SETB DirPinR
  \CLRB DirPinL 

  WAIT_MS 220
GOTO Main 

Turn6:
GOTO Main 


' -------------------------------------------------------------------------
' Main State Handler
' ------------------------------------------------------------------------- 


Main:   'Main state handler
  IF StartButton = 0 THEN GOTO End_Sumo 'Pause button 


  SensFlags = CHECK_SENS 


  IF LineFlagL = 1 THEN  'Check Sensors
    NextState = 2
  ENDIF 

  IF LineFlagR = 1 THEN
    NextState = 3
  ENDIF 

  IF ProxFlagF = 1 THEN
    NextState = 4
  ENDIF 

  IF ObjFlagL = 1 THEN
    NextState = 5
  ENDIF 

  IF ObjFlagR = 1 THEN
    NextState = 6
  ENDIF 

  IF ProxFlagR = 1 THEN
    NextState = 7
  ENDIF 


  IF CurrentState <> NextState THEN 'Run next state if required
    InitState = True
    CycleCount = 0
    CurrentState = NextState
  ENDIF 

  INC CycleCount 'Increment counter 

  BRANCH CurrentState, Forward, Back_Turn_L, Back_Turn_R, Fast_Forward, Slow_L, Slow_R, Spin_R 'Goto state
GOTO Main 


' -------------------------------------------------------------------------
' States
' ------------------------------------------------------------------------- 


Forward:
  IF InitState = True THEN
    PWMValueR = 100
    PWMValueL = 100 

    \SETB DirPinR
    \SETB DirPinL 

    WRITE_STATE 1, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF
GOTO Main 


Fast_Forward:
  IF InitState = True THEN
    PWMValueR = 255
    PWMValueL = 255 

    \SETB DirPinR
    \SETB DirPinL 

    WRITE_STATE 2, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF
GOTO Main 


Back_Turn_L:
  IF InitState = True THEN
    PWMValueR = 200
    PWMValueL = 150 

    \CLRB DirPinR
    \SETB DirPinL 

    WRITE_STATE 3, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF 

  IF CycleCount = 255 THEN
    NextState = 1
  ENDIF
GOTO Main 


Back_Turn_R:
  IF InitState = True THEN
    PWMValueL = 200
    PWMValueR = 150 

    \CLRB DirPinL
    \SETB DirPinR 

    WRITE_STATE 4, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF 

  IF CycleCount = 255 THEN
    NextState = 1
  ENDIF
GOTO Main 


Slow_L:
  IF InitState = True THEN
    PWMValueR = PWMValueR + 100 

    \SETB DirPinL
    \SETB DirPinR 

    WRITE_STATE 5, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF 

  IF ObjFlagL = 0 THEN
    NextState = 1
  ENDIF
GOTO Main 


Slow_R:
  IF InitState = True THEN
    PWMValueL = PWMValueL + 100 

    \SETB DirPinL
    \SETB DirPinR 

    WRITE_STATE 6, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF 

  IF ObjFlagR = 0 THEN
    NextState = 1
  ENDIF
GOTO Main 

Spin_R:
  IF InitState = True THEN
    PWMValueL = 0
    PWMValueR = 255 

    \CLRB DirPinL
    \SETB DirPinR 

    WRITE_STATE 7, AddressPointer
    AddressPointer = AddressPointer + 1 

    InitState = False
  ENDIF 

  IF ObjFlagR = 0 THEN
    NextState = 1
  ENDIF
GOTO Main 

' -------------------------------------------------------------------------
' Debug Code
' ------------------------------------------------------------------------- 

End_Sumo:  'Pause routine
  RC = LetterP 

  \CLRB DirPinR
  \CLRB DirPinL 

  PWMValueR = 0  'Stopped PWM values
  PWMValueL = 0 

  DO
  LOOP UNTIL StartButton = 0 'Wait until start button returns to normal 

  DO
    IF NextButton = 0 THEN
      WAIT_MS 60  'Debounce
      DO
      LOOP UNTIL NextButton = 1
      EXIT
    ENDIF 

    IF StartButton = 0 THEN
      WAIT_MS 60
      DO
      LOOP UNTIL StartButton = 1
      RC = NumberOne
      GOTO Main
    ENDIF
  LOOP 

  RC = LetterD 

  DO
    IF NextButton = 0 THEN
      WAIT_MS 60
      DO
      LOOP UNTIL NextButton = 1
      GOTO Debug_States
    ENDIF 

    IF StartButton = 0 THEN
      WAIT_MS 60
      DO
      LOOP UNTIL StartButton = 1
      GOTO Start
    ENDIF
  LOOP 


Debug_States:
  OPTION = %11001000 'Disable RTCC interrupts, this prevents serial timing errors 

  AddressVal = 0 

  TX_OUT Debug_Message 

  DO
    DebugByte = I2C_RX_Byte AddressVal_MSB, AddressVal_LSB
    IF DebugByte = 0 THEN EXIT 

    TX_BYTE DebugByte
    INC AddressValue
  LOOP
    
GOTO Start 

  

' -------------------------------------------------------------------------
' Subroutine Code
' ------------------------------------------------------------------------- 

' Use: WAIT_US microseconds {, multiplier}
' -- multiplier is optional 

WAIT_US:
  temp1 = __PARAM1                              ' get microseconds
  IF __PARAMCNT = 1 THEN                        ' if no multiplier
    temp2 = 1                                   '   set to 1
  ELSE                                          ' else
    temp2 = __PARAM2                            '   get multiplier
  ENDIF
  IF temp1 > 0 THEN                             ' no delay if either 0
    IF temp2 > 0 THEN
      PAUSEUS temp1 * temp2                     ' do the delay
    ENDIF
  ENDIF
RETURN 

' ------------------------------------------------------------------------- 

' Use: WAIT_MS milliseconds {, multiplier}
' -- multiplier is optional 

WAIT_MS:
  temp1 = __PARAM1                              ' get milliseconds
  IF __PARAMCNT = 1 THEN                        ' if no multiplier
    temp2 = 1                                   '   set to 1
  ELSE                                          ' else
    temp2 = __PARAM2                            '   get multiplier
  ENDIF
  IF temp1 > 0 THEN                             ' no delay if either 0
    IF temp2 > 0 THEN
      PAUSE temp1 * temp2                       ' do the delay
    ENDIF
  ENDIF
RETURN 

' ------------------------------------------------------------------------- 

' Use: aByte = RX_BYTE
' -- receives one byte from serial I/O pin 

RX_BYTE:
  SERIN RX, Baud, temp1
RETURN temp1     ' return byte to caller 

' ------------------------------------------------------------------------- 

' Use: TX_BYTE aByte
' -- transmits one byte to serial I/O pin 

TX_BYTE:
  temp1 = __PARAM1                              ' copy outgoing byte
  SEROUT TX, Baud, temp1   ' send it
  RETURN 

' ------------------------------------------------------------------------- 

' Use: TX_OUT [ byte | string | label ]
' -- "aByte" is variable or constant byte value
' -- "string" is an embedded literal string
' -- "label" is DATA statement label for stored z-String 

TX_OUT:
  temp3 = __PARAM1                              ' get byte or string offset
  IF __PARAMCNT = 2 THEN
    temp4 = __PARAM2                          ' get string base
    DO
      READ temp4 + temp3, temp5              ' read a character
      IF temp5 = 0 THEN EXIT                  ' if 0, string complete
      TX_BYTE temp5                      ' send the byte
      INC temp3                               ' point to next character
      temp4 = temp4 + Z                      ' update base on overflow
    LOOP
  ELSE
    TX_BYTE temp3    ' transmit the byte value
  ENDIF
RETURN 

' ------------------------------------------------------------------------- 

CHECK_SENS:
  temp1.0 = lLine
  temp1.1 = rLine
  temp1.2 = ~lSeek
  temp1.3 = ~rSeek
  temp1.4 = ~lSideSeek
  temp1.5 = ~rSideSeek
  temp1.6 = ~FrontProx
  temp1.7 = ~BackProx
RETURN temp1 

' ------------------------------------------------------------------------- 

' Use: aByte = I2C_RX_BYTE [ address high | address low ]
' -- "address high" is the high byte of the address value
' -- "address low" is the low byte of the address value 

I2C_RX_BYTE:
  temp2 = __PARAM1  'Address high byte
  temp3 = __PARAM2  'Address low byte 

  I2CSTART SDA   'Send I2C start
  I2CSEND SDA, %10100000 'Send control code (write)
  I2CSEND SDA, temp2  'Address high byte
  I2CSEND SDA, temp3  'Address low byte 

  I2CSTART SDA   'Restart transmission
  I2CSEND SDA, %10100001 'Send control code (read)
  I2CRECV SDA, temp1, 1  'Read byte, no ack
  I2CSTOP SDA   'Finish read
RETURN temp1   'Return with byte read 

' ------------------------------------------------------------------------- 

' Use: I2C_TX_BYTE [ address high | address low | byte ]
' -- "address high" is the high byte of the address value
' -- "address low" is the low byte of the address value
' -- "byte" is the byte to be transmitted 

I2C_TX_BYTE:
  temp2 = __PARAM1  'Address high byte
  temp3 = __PARAM2  'Address low byte
  temp4 = __PARAM3  'Byte to be sent 

  I2CSTART SDA   'Send I2C start
  I2CSEND SDA, %10100000 'Send control code (write)
  I2CSEND SDA, temp2  'Address high byte
  I2CSEND SDA, temp3  'Address low byte
  I2CSEND SDA, temp4  'Transmit byte
  I2CSTOP SDA   'Finish write
RETURN 

' ------------------------------------------------------------------------- 

' Use: WRITE_STATE [ state | addressPointer ]
' -- "state" is state number to be transmitted 

WRITE_STATE:
  temp1 = __PARAM1  'State value
  temp2 = __PARAM2 

  I2C_TX_BYTE %00000000, temp2, temp1
RETURN 

' -------------------------------------------------------------------------
' Data Tables
' ------------------------------------------------------------------------- 

Start_Message:
  DATA "Panther V2.0... Starting..." 

Debug_Message:
  DATA "Panther V2.0... Transmitting states..." 
[/code]

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