PIC18F2431 #int_RDA BUG?

[PIC beginner]

I'm beginner of PICMicros.
I've developed 128-microstepping driver board using LMD18201 + 16F873 device.
I'm about to communicate another MCU board(18f2431) between my PC and the microstepping driver board.

<<pc>> - rs232 - <<MCU>>master - i2c - slave<<motor>>

Control of the motor board is accomplished via IO pins, but a message for
the over-current/over-heating condition or other status from the motor board(i2c slave) is need to be read in another way by the i2c master host.

Using a trigger to INT0 external interrupt to the MCU board(i2c master), I think, MCU boad can read the messages-on-wait.

I guess i2c communication will have no problem.

The Problem is.....

I cannot use #int_RDA isr routine and #int_EXT isr routine simultaneousy.
Device can run with each isr routine but not work with the both isr routines.

Because 18F2431 has QEI modue I need, I hope to use it, but I cannot
run with the both interrupt isr routines.

Why?

Please let me know what problem is?

Source file as follows:

<<18201i2chost.h>>====================

#include "c:\pic\khkdriver\sfr18.h" // I made it for Resisters.

#define TRISA_VALUE 0b11111111
#define LATA_VALUE 0b00000000

#bit DCM_RUN =LATB.0
#bit DCM_BRAKE =LATB.1
#bit DCINT =LATB.2
#bit SDO2 =LATB.3
#bit STM_BRAKE =LATB.4
#bit STM_DIR =LATB.5
#bit STEP =LATB.6
#bit SDO1 =LATB.7

#define TRISB_VALUE 0b10001000
#define LATB_VALUE 0b00110010

#bit DCM_TRIG =PORTC.0
#bit DCM_ERR_REL =LATC.1
#bit STM_ERR_REL =LATC.2
#bit STM_TRIG =PORTC.3 //I2C trigger from Stepper
#bit SDA =PORTC.4
#bit SCL =PORTC.5
#bit TX =LATC.6
#bit RX =PORTC.7
#define TRISC_VALUE 0b10111001
#define LATC_VALUE 0b00000000

// Step Mode Value
#define STEP_FULL 0
#define STEP_HALF 1
#define STEP_4 2
#define STEP_8 3
#define STEP_16 4
#define STEP_32 5
#define STEP_64 6
#define STEP_128 7

// I2C Slave address definition
#define STM_ADDR 0xB0
#define DCM_ADDR 0xB2

// Define Macros
#define MASK(x) (~x)
#define TEST(x,y) (x&y)
#define SET(x,y) (x|=y)
#define CLR(x,y) (x&=MASK(y))
#define ON 1
#define OFF 0

#define PSTM_INIT 'A'
#define PSTM_SPEED 'B'
#define PSTM_LL_HOST 'C'
#define PSTM_UL_HOST 'D'
#define PSTM_LL_DEVICE 'E'
#define PSTM_UL_DEVICE 'F'
#define PSTM_CALIBRATED 'G'
#define PSTM_POWER_ON 'H'
#define PSTM_POWER_OFF 'I'
#define PSTM_CW 'J'
#define PSTM_CCW 'K'
#define PSTM_STEP 'L'
#define PSTM_RUN 'M'
#define PSTM_STOP 'N'
#define PSTM_POS 'O'
#define PSTM_OVER_CUR 'P'
#define PSTM_OVER_HEAT 'Q'
#define PSTM_STEPMODE 'R'

#define PDCM_SPEED 'a'
#define PDCM_POWER_ON 'b'
#define PDCM_POWER_OFF 'c'
#define PDCM_RUN 'd'
#define PDCM_STOP 'e'
#define PDCM_OVER_CUR 'f'
#define PDCM_OVER_HEAT 'g'

#define is_dcm_msg (uart_ch>'Z')
#define UART_FAILURE 0xFF

#define ISTM_ZERO 0x10
#define ISTM_SEND_POS 0x11
#define ISTM_STEP_MODE 0x12
#define ISTM_OVER_CUR 0x13
#define ISTM_OVER_HEAT 0x14
#define ISTM_I2C_SUCC 0x1E
#define ISTM_I2C_FAIL 0x1F

#define IDCM_SPEED 0x20
#define IDCM_OVER_CUR 0x21
#define IDCM_OVER_HEAT 0x22
#define IDCM_I2C_SUCC 0x2E
#define IDCM_I2C_FAIL 0x2F


// Structure definition
union INTVAL
{
unsigned int ui;
int i;
unsigned char ub[2];
char b[2];
};

union LONGVAL
{
float f;
unsigned long ul;
long l;
unsigned int ui[2];
int i[2];
unsigned char ub[4];
char b[4];
};

union COMM_STATUS
{
unsigned char value;
struct
{
unsigned pc_msg:1;
unsigned stm_msg:1;
unsigned dcm_msg:1;
unsigned txing:1;
unsigned txrdy:1;
unsigned fill:3;
} items;
};

union STM_STATUS
{
unsigned char value;
struct
{
unsigned init:1;
unsigned power:1;
unsigned in_step:1;
unsigned in_run:1;
unsigned dir:1;
unsigned l_lim_set:1;
unsigned u_lim_set:1;
unsigned calibrated:1;
} items;
};

union DCM_STATUS
{
unsigned char value;
struct
{
unsigned power:1;
unsigned in_run:1;
unsigned fill:6;
} items;
};


#define STM_ON STM_BRAKE=OFF,stm_stat.power=ON,delay_ms(10)
#define STM_OFF STM_BRAKE=ON, stm_stat.items.power=OFF,stm_stat.items. in_run=OFF
#define DCM_ON DCM_BRAKE=OFF, dcm_stat.items.power=ON, delay_ms(10)
#define DCM_OFF DCM_BRAKE=ON, DCM_RUN=0, dcm_stat.value=0

union COMM_STATUS comm_stat;
union STM_STATUS stm_stat;
union DCM_STATUS dcm_stat;

char stm_i2c_cnt;
char dcm_i2c_cnt;

char stm_stepmode;
char read_stepmode;
union INTVAL stm_stepcnt;
union INTVAL stm_enccnt;
union LONGVAL stm_position;
int stm_velcnt;
union INTVAL stm_speed;

union LONGVAL stm_ulimit;
union INTVAL stm_svolt;
union INTVAL dcm_speed;
union INTVAL dcm_svolt;

char uart_ch;
union LONGVAL uart_buf;
char uart_rxbuf[13];
char uart_rxptr;
char uart_rxcnt;
char uart_txbuf[14];
char uart_valbuf[9];


char i2c_rxch;
union LONGVAL i2c_rxbuf;
char *i2c_txbuf;
int timer2_cnt;

void do_dcm(void);
void do_stm_inrun(void);
void do_stm_instop(void);
void do_i2c(char);
void stm_pulse(void);
void send_msg(char,char *);
void send_daughter_msg(char);
void reset_limit(void);
void i2c_get_msg(char);
void i2c_send_msg(char,char,char);
void setup(void);
void setup_variables(void);
void init_qei(void);


<<18201i2chost.c>>====================


#include <18f2431.h>
#device adc=10

#fuses HS,NOWDT,NOPUT,NOLVP

#use delay(clock=20000000)
#use rs232(baud=115200,xmit=PIN_C6,rcv=PIN_C7,parity=N,bits=8)
#use i2c(master,sda=PIN_C4,scl=PIN_C5)

#type int=16, long=32

#include "c:\pic\ccs-c\18201host_ccsm.h"
#include "c:\pic\khkdriver\util.h" // itohex(),ltohex(),hextoi(),hextol(),toupper() defined.
#include "c:\pic\khkdriver\qei.h" // for QEI module

#int_RDA
RDA_isr()
{
char c;
c=getc();

if(c=='<')
uart_rxptr=0;
uart_rxbuf[uart_rxptr++]=c;

if(c=='>')
{
uart_rxbuf[uart_rxptr-1]='\0';
uart_rxptr=0;
uart_ch=uart_rxbuf[1];
uart_buf.l=hextol(uart_rxbuf+3);
comm_stat.items.pc_msg=ON;
}
}

#int_EXT
EXT_isr()
{
stm_i2c_cnt++;
INT0IF=0;
}


void main(void)
{
setup();

while(1)
{
if(comm_stat.items.pc_msg)
{
/*if(TEST_PDCM_MSG)
//do_dcm();
else if(TEST_STM_RUN)
do_stm_inrun();
else*/
do_stm_instop();
comm_stat.items.pc_msg=OFF;
}

if(stm_i2c_cnt)
{
i2c_get_msg(STM_ADDR);
stm_i2c_cnt--;
}

if(dcm_i2c_cnt)
{
i2c_get_msg(DCM_ADDR);
dcm_i2c_cnt--;
}

if(comm_stat.value&0x06);
{
do_i2c(i2c_rxch);
comm_stat.value&=(~0x06);
}

if(comm_stat.items.txrdy)
{
send_daughter_msg(i2c_rxch);
comm_stat.items.txrdy=OFF;
}
}
}

void do_stm_instop(void)
{
switch(uart_ch)
{
case PSTM_INIT:
stm_enccnt.ui=uart_buf.ui[1];
stm_stepcnt.ui=uart_buf.ui[0];
stm_stepcnt.ui<<4>>4);
stm_stepmode=(uart_buf.ui[0]&0x0F);
stm_stat.items.init=ON;
send_msg(PSTM_INIT,0);
i2c_send_msg(STM_ADDR,ISTM_STEP_MODE,0);
break;
default:
send_msg(UART_FAILURE,0);
break;
}
if(~stm_stat.items.calibrated & stm_stat.items.l_lim_set & stm_stat.items.u_lim_set)
{
stm_stat.items.calibrated=ON;
send_msg(PSTM_CALIBRATED,0);
}
}

void do_i2c(char msg)
{
switch(msg)
{
case ISTM_STEP_MODE:
read_stepmode=i2c_rxbuf.ub[3];
comm_stat.items.txrdy=ON;
break;
case ISTM_OVER_CUR:
case ISTM_OVER_HEAT:
case IDCM_OVER_CUR:
case IDCM_OVER_HEAT:
comm_stat.items.txrdy=ON;
break;
default:
break;
}
}

void send_msg(char msg,char *data)
{
char *s;

while(comm_stat.items.txing);

comm_stat.items.txing=ON;

uart_txbuf[1]=msg;

if(data==0)
{
uart_txbuf[3]='0';
uart_txbuf[4]='>';
uart_txbuf[5]='\0';
}
else
{
s=uart_txbuf+3;
do
{
*s++=*data;
} while (*data++);
*--s='>';
*++s='\0';
}
puts(uart_txbuf);

comm_stat.items.txing=OFF;
}

void send_daughter_msg(char msg)
{
char c;

switch(msg)
{
case ISTM_STEP_MODE:
ltohex((long)read_stepmode,uart_valbuf);
c=PSTM_STEPMODE;
break;
case ISTM_OVER_CUR:
c=PSTM_OVER_CUR;
break;
case ISTM_OVER_HEAT:
c=PSTM_OVER_HEAT;
break;
case IDCM_OVER_CUR:
c=PDCM_OVER_CUR;
break;
case IDCM_OVER_HEAT:
c=PDCM_OVER_HEAT;
break;
default:
c=UART_FAILURE;
break;
}

if(msg==ISTM_STEP_MODE)
send_msg(c,uart_valbuf);
else
send_msg(c,0);
}

void reset_limit(void)
{
long lval;

if(stm_ulimit.l<stm_llimit.l)
{
lval=stm_llimit.l;
stm_llimit.l=stm_ulimit.l;
stm_ulimit.l=lval;
}
}

void i2c_get_msg(char addr)
{
char n;

i2c_start();
i2c_write(addr+1);
for(n=0;n<4;n++)
{
if(n==3)
i2c_rxbuf.ub[n]=i2c_read(0);
else
i2c_rxbuf.ub[n]=i2c_read(1);
}
i2c_stop();
i2c_rxch=i2c_rxbuf.ub[0];
if(i2c_rxch<0x20)
comm_stat.items.stm_msg=ON;
else
comm_stat.items.dcm_msg=ON;
}

void i2c_send_msg(char addr,char msg,char num)
{
char i;
i=0;

i2c_start();
i2c_write(addr);
i2c_write(msg);
while(i<num)
i2c_write(*(i2c_txbuf+(i++)));
i2c_stop();
}

void setup(void)
{
comm_stat.value=0;
setup_variables();

setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF|ADC_TAD_MUL_0|ADC_CONT_A|ADC_WHEN_INT0|ADC_INT_EVERY_OTHER);
setup_spi(FALSE);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_OFF);
setup_timer_1(T1_EXTERNAL_SYNC|T1_DIV_BY_1);
setup_timer_2(T2_DIV_BY_1,249,1);
setup_oscillator(FALSE);

set_timer1(0xFFFF);

LATA=LATA_VALUE;
LATB=LATB_VALUE;
LATC=LATC_VALUE;
TRISA=TRISA_VALUE;
TRISB=TRISB_VALUE;
TRISC=TRISC_VALUE;

enable_interrupts(INT_RDA);
enable_interrupts(INT_EXT); // if this line is deleted, rs232 comm is enabled!!!!!!!!
enable_interrupts(GLOBAL);

STM_OFF;
DCM_OFF;
}

void setup_variables(void)
{
stm_stat.value=0;
dcm_stat.value=0;

stm_i2c_cnt=0;
dcm_i2c_cnt=0;

stm_stepmode=-1;
stm_stepcnt.i=0;
stm_enccnt.i=0;
stm_position.l=0;
stm_velcnt=0;

stm_step_pos.l=0;

stm_speed.i=10;
stm_ulimit.l=0;
stm_llimit.l=0;
stm_svolt.i=0;

dcm_speed.i=0;
dcm_svolt.i=0;

uart_ch=0;
uart_buf.l=0;
uart_rxptr=0;
uart_rxcnt=0;
memset(uart_rxbuf,0,13);
memset(uart_txbuf,0,14);
uart_txbuf[0]='<';
uart_txbuf[2]='|';
memset(uart_valbuf,0,9);

i2c_rxch=0;
i2c_rxbuf.l=0;

timer2_cnt=0;
}


Thanks for reading.

[Humberto]

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http://www.ccsinfo.com/forum/viewtopic.php?t=29483


Humberto