 |
 |
| View previous topic :: View next topic |
| Author |
Message |
amith.srivatsa
Joined: 09 Sep 2009
Posts: 1
|
| Problems in code, changing from PIC16F690 to PIC16F876A |
 Posted: Wed Sep 09, 2009 5:47 am |
 |
|
Dear all,
I just changed from PIC16f690 to PIC16F876A. The PIC is used for motor driver application and it sends PWM to the H-bridge VNH2SP30. The code written for PIC16f690 worked well with no errors.
But now, I am getting some errors, mainly unknown keyword, unknown identifier when I try to compile the same code but this time for PIC16F876A. I just have changed the header files. Can anyone help me in debugging these errors ?
The error messages:
1.
| Quote: |
Unknown keyword in #FUSES "INTRC_IO"
Unknown keyword in #FUSES "MCLR"
Unknown keyword in #FUSES "IESO"
Unknown keyword in #FUSES "FCMEN"
|
2.
| Quote: |
Undefined identifier VSS_VDD
Undefined identifier setup_oscillator
Undefined identifier CCP_PWM_H_H
|
Would appreciate your help a lot, Many thanks in advance...
The code is below:
| Code: |
/*
Sample - To test: Send via i2c to address 0x50 this data--> 0x02107F in order to set the motors to "Forward" & Half speed.
Setup: pin A5: serial communication
pin C0,C1: INA and INB for Motor1 (left)
pin C6,C7: INA and INB for Motor2 (right)
pin C2,C3: PWM for motor 1 & 2 respectively (speed control)
pinB4,B6: I2C communication, SDA & SCL
History:
Version 2:
-Automatic Stop after 600 ms function to stop motors when no i2c command has been send
still problems with prescale and div value but is working
Version 1:
- To control speed and direction of two DC motors using two Full H-Bridge VNH2SP30 and a PIC
*/
#include <16F876A.h>
#device adc=8
#FUSES NOWDT //No Watch Dog Timer
#FUSES INTRC_IO //Internal RC Osc, no CLKOUT
#FUSES NOPROTECT //Code not protected from reading
#FUSES BROWNOUT //Reset when brownout detected
#FUSES MCLR //Master Clear pin enabled
#FUSES NOCPD //No EE protection
#FUSES NOPUT //No Power Up Timer
#FUSES IESO //Internal External Switch Over mode enabled
#FUSES FCMEN //Fail-safe clock monitor enabled
#use delay(clock=8000000)
#use rs232(baud=19200, xmit=PIN_A5 ) // used for the serial com
#use i2c(Slave, sda=PIN_B4, scl=PIN_B6 )// used for i2c
/*
Pin defines
*/
#define led PIN_A4
#define driver_a PIN_C0 //INA and INB for motor1
#define driver_b PIN_C1
#define driver_c PIN_C6 //INA and INB for motor2
#define driver_d PIN_C7
#define TYPE 0x01
#define VERSION "V1.4"
#define VERSION_MAJOR 1
#define VERSION_MINOR 4
#define GET_TYPE 0x00
#define GET_VERSION 0x01
#define SET_MOTOR 0x02
/*
Variables
*/
int8 address;
int8 state;
int1 dataready = false;
int1 counting = false;
long int timerone = 0;
int overflow = 0;
int8 mode = 0;
int8 databyte1 = 0;
int8 databyte2 = 0;
/*
Function prototypes
*/
// description: This funtion enables or disables INA,INB imputs for both VNH2SP30 Full-bridges.
// arguments: Boolean enable
// return: None
void EnableDrivers( int1 enable );
// description: This funtion sets pwm according to the speed and INA, INB according to command for both motors
// arguments: int8 config
// int8 duty
// return: None
void SetDCControl( int8 config, int8 duty );
// There are some issues with the PWM module, before changing pinout please clear.
void clear( void );
// describtion: this function reads the address
// arguments: none
// return : the full adress ( 8bit wise)
int8 ReadAddress ( void );
// describtion: this function is used to process received data from the I2C bus.
// arguments: recieved byte 1 and received byte 2
// return : none
void ProcessData( int8 byte1, int8 byte2 );
// Interrupt service routine for i2c activty
#int_SSP
void SSP_isr(){
output_high(led);
// you will only be interrupted if the address is correct.
// first check the mode: read or write
state = i2c_isr_state();
if(state < 0x80){ //Master is sending data
if(state == 0){}
else if(state == 1)
{
mode = i2c_read();
}
else if(state == 2)
{
databyte1 = i2c_read();
}
else if(state == 3)
{
databyte2 = i2c_read();
if( mode == SET_MOTOR)
{
dataready = true;
}
}
}
else if( state == 0x80 ) // master is reading data
{
if( mode == GET_TYPE )
{
i2c_write( TYPE );
}
else if( mode == GET_VERSION)
{
i2c_write( VERSION_MAJOR );
}
}
else if( state == 0x81 ) // master is reading data
{
i2c_write( VERSION_MINOR );
}
output_low(led);
return;
}
////////////////////////////////////////////////////////////////////////////
void main(){
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
//setup_timer_1(T1_DISABLED);
setup_timer_1(T1_INTERNAL | T1_DIV_BY_8);//timer1 for automatic stop after 600ms function
setup_timer_2(T2_DIV_BY_16, 124, 1); // 1000 Hz, the pwm frequency
setup_comparator(NC_NC_NC_NC);
enable_interrupts(INT_SSP);
enable_interrupts(GLOBAL);
setup_oscillator(OSC_8MHZ);
printf("I2C motor driver with I2C\n\r");//print to serial
printf("Version %s\n\r", VERSION);
printf("Made by ROBODOMUS \n\r");
EnableDrivers( false );//True --> INA and INB automatically enabled at startup, False-->Vice-versa
address = ReadAddress();
printf("The address = '%X'\n\r", address);
I2C_SlaveAddr( address );
clear();
while(1){
if( dataready == true ){
printf("Command = '%02x' '%02X'\n\r", databyte1, databyte2);
ProcessData( databyte1, databyte2 );
set_timer1(0);
overflow = 0;
counting = true;
dataready = false;
}
if((counting == true)){
timerone = (get_timer1()/625);
if(timerone>=97){
overflow += 1;
}
if(( overflow >= 5) ) {
EnableDrivers(False);
printf("Its friday & the rover has stopped !\n\r");
overflow = 0;
counting= false;
}
}
delay_ms(10);
}
}
/////////////////////////////////////////////////////////////////////////////
/*
Funtion boddies
*/
void EnableDrivers( values ){
if( values ){
output_high( driver_a );
output_high( driver_b );
output_high( driver_c );
output_high( driver_d );
}
else{
output_low( driver_a );
output_low( driver_b );
output_low( driver_c );
output_low( driver_d );
}
}
void SetDCControl( int8 config, unsigned int duty ){
int secs = 3;
int i;
duty >>= 1;
set_pwm1_duty( duty );
printf("Duty %u\n\r", duty);
switch( config )
{
case 0:
printf("Forward\n\r");
clear();
setup_ccp1(CCP_PWM | CCP_PWM_H_H | CCP_PULSE_STEERING_D | CCP_PULSE_STEERING_C ); // forward correspond to pin RC2 and RC3
output_high(driver_a);
output_low(driver_b);
output_high(driver_c);
output_low(driver_d);
break;
case 1:
for(i=0;i<secs;i++)
{
printf("Turn left\n\r");
clear();
setup_ccp1(CCP_PWM | CCP_PWM_H_H | CCP_PULSE_STEERING_D | CCP_PULSE_STEERING_C ); // turn left
output_high(driver_a);
output_low(driver_b);
output_low(driver_c);
output_high(driver_d);
}
dataready = false;
break;
case 2:
printf("Turn right\n\r");
clear();
setup_ccp1(CCP_PWM | CCP_PWM_H_H | CCP_PULSE_STEERING_D | CCP_PULSE_STEERING_C ); // turn rightt
output_low(driver_a);
output_high(driver_b);
output_high(driver_c);
output_low(driver_d);
break;
case 3:
printf("Backward\n\r");
clear();
setup_ccp1(CCP_PWM | CCP_PWM_H_H | CCP_PULSE_STEERING_D | CCP_PULSE_STEERING_C ); // backward
output_low(driver_a);
output_high(driver_b);
output_low(driver_c);
output_high(driver_d);
break;
default:
printf("Invalid Argument!\n\r");
clear();
setup_ccp1(CCP_PWM | CCP_PWM_H_H );
output_low( PIN_C2);
output_low( PIN_C3);
output_low( PIN_C4);
output_low( PIN_C5);
break;
}
}
void clear( void ){
setup_ccp1(CCP_PWM | CCP_PWM_H_H | CCP_PULSE_STEERING_A | CCP_PULSE_STEERING_B | CCP_PULSE_STEERING_C | CCP_PULSE_STEERING_D );
output_low( PIN_C2);
output_low( PIN_C3);
output_low( PIN_C4);
output_low( PIN_C5);
}
int8 ReadAddress(){
int8 temp = 0xA0;// the base address is 1010000 (i2c address has only 7 bits!!), corresponds to address 0x50
return temp;
}
void ProcessData( int8 Data1, int8 Data2)
{
int8 Mode;
int8 Directions;
// determine wich mode is used
Mode = Data1;
Mode >>= 4;
switch( Mode )
{
case 1:
printf( "mode1\n\r" );
Directions = Data1 & 0x03; // only the two LSB are needed
SetDCControl( Directions, Data2);
break;
default:
printf( "mode unknown\n\r" );
break;
}
return;
} |
|
|
 |
asmboy
Joined: 20 Nov 2007
Posts: 2128
Location: albany ny
|
|
| Posted: Wed Sep 09, 2009 7:15 am |
|
|
look in the F876 .h file
#FUSES "INTRC_IO" // 876 has NO internal oscillator
#FUSES "MCLR" // 876 always has MCLR
#FUSES "IESO" // ditto
#FUSES "FCMEN" /ditto ditto
are NOT valid fuses for the 876
the same for the other problems too
the lack of function/ definition in the.h file ( and , verily - in the PART itself !!) is the root of your problems
very simple on that score
if its not in the header file for fuses && function - its not recognized |
|
|
|
|
You cannot post new topics in this forum
You cannot reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot vote in polls in this forum
|
Powered by phpBB © 2001, 2005 phpBB Group
|
FAQ 
Search
Register
Profile 
Log in to check your private messages 
Log in
