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

A quick update, I have consolidated most af the variables into arrays. This seems to have solved the problem for the time being. Thanks for the help Jonny Mac.

Here is the updated code for anyone interested (only the modified parts):

[code]
' -------------------------------------------------------------------------
' 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		'To keep unused pins from drifting
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
' -------------------------------------------------------------------------

PWMArray		VAR Byte(3)
PWMCount		VAR PWMArray(0)		'PWM variables, used by interrupt
PWMValueR		VAR PWMArray(1)
PWMValueL		VAR PWMArray(2)

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


tempArray		VAR Byte(5)
temp1			VAR tempArray(0)		'Subroutine work vars
temp2			VAR tempArray(1)
temp3			VAR tempArray(2)
temp4			VAR tempArray(3)
temp5			VAR tempArray(4)
temp6			VAR Bit

StateArray		VAR Byte(3)
CurrentState		VAR StateArray(0)	'State machine current state variable
NextState		VAR StateArray(1)	'State machine next state variable, used for transitions
CycleCount		VAR StateArray(2)	'State machine cycle counter, used for timing
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
[/code]

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