showing status packet in LCD with atmega8535

[amboaco]

hello all, please help mi for my project...

i want to control dynamixel with mikrokontroller atmega8535 but is constrained to display the status of packet (present load and present speed) on the LCD 16 * 2. I use the language with the compiler c codevision avr (hp.infotech.com). I use the serial interruptions.

following listing program..
------------------------
hitung = 0;
dp_kirim(); // direction port for send " instruction packet"
speed1(); // fungsi for read present speed dynamixel ID1
reset(); // not send instuction packet and receive packet
#asm("sei") // interupsi aktif
dp_terima(); // direction port for receive " status packet packet"
while (hitung == 7) // wait until status packet receive 7
tampilkan ( P1, P2, ID, lengh, error,parameter,CS); // showing LCD

------------------------

listing block interupsi serial
--------------
interrupt [USART_RXC] void usart_rx_isr(void)
{
hitung++;
if (hitung == 1)
{
P1=UDR;
lcd_gotoxy(15,0);
lcd_putsf("B");
}
else if (hitung == 2)
{
P2 = UDR;
}
else if (hitung == 3)
{
ID = UDR;
}
else if (hitung == 4)
{
lengh = UDR;
}
else if (hitung == 5)
{
error = UDR;
}
else if (hitung == 6)
{
parameter = UDR;
}
else if (hitung == 7)
{
CS = UDR;
}
else
{
#asm("cli")
reset();
};
}
--------------------------

problem: data received does not match the actual

thanks before
best regard
amboaco ( student in indonesia)

[ryann2k1]

Try read this thread

http://forums.trossenrobotics.com/tutor ... rvos-3275/

[Fritzoid]

Sounds like a speed or parity issue. What's the setup on the USART? Also, what is the clock speed of the 8535?

[amboaco]

Thanks for the feedback.

In my project, my using microcontroller avr 8535 with eksternal clock 11,0592 Mhz. I am setting baudrate in microcontroller and dynamixel ax-12 as same is 115,2 kbps.

For sending data to the dyanamixel Ax-12 there is not problem, but only in the reading of data from dynamixel Ax-12 for reading ( USING INSTRUCTION "READ" ) internal temperatur and speed. I can just detect the two data and the rests are missing.

Any idea please?
Best regard..
Aco

[i-Bot]

How fast are your LCD routines ? There are only a couple of bytes buffer in the USART and bytes arrive every 87 microseconds.

Does speed1() check all bytes are sent before changing direction ?

[amboaco]

about fast myLCD routines, I am not known. I am using LCD 16X2 and using wizard from CodeWizardAVR V2.03.4 Standard to control it.

this example fungtion want to read and showing in LCD ( reading internal temperatur ID 1)

void temperatur ()
{
putchar(0xFF);
putchar(0xFF);
putchar(0x01);
putchar(0x04);
putchar(0x02);
putchar(0x2B);
putchar(0x01);
putchar(0xCC);
}

And I am sure, all byte has sent before changing direction. This can be evidenced from "alarm led" not blinks...

this listing to show in LCD

---------
lcd_clear();
lcd_gotoxy(0,0);
sprintf(buf1,"%x %x %x %x %x %x %x",datarx[1],datarx[2],datarx[3],datarx[4],datarx[5],datarx[6],datarx[7]);
lcd_puts(buf1);
-----------

Best regards..
Aco

[amboaco]

The new my program:
--------------------------------
void main(void)
{
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 115200
UCSRA=0x00;
UCSRB=0x98; //98
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x05;

PORTA=0x00; DDRA=0x00;
PORTB=0x00; DDRB=0x00;
PORTC=0x00;DDRC=0x00;
PORTD=0x00;DDRD=0x00;

lcd_init(16);

while (1)
{
i = 0;
dp_kirim();
temperatur();
#asm("sei")
dp_terima();
if ( i > 6)
{
lcd_clear();
lcd_gotoxy(0,0);
sprintf(buf1,"%x %x %x %x %x %x %x",datarx[1],datarx[2],datarx[3],datarx[4],datarx[5],datarx[6],datarx[7]);
lcd_puts(buf1);
};
};
}

--------------------

and routin receiver interupsi is

----------------
//USART Receiver interrupt service routine
interrupt [USART_RXC] void usart_rx_isr(void)
{
lcd_gotoxy(0,0);
lcd_putsf("cek");
i++;
datarx [i] = UDR;
lcd_gotoxy(8,1); // for cek how many interuption
sprintf(buf2,"%d",i);
lcd_puts(buf2);
delay_ms(1000);
lcd_clear();
}

best regard
amboaco

[i-Bot]

Interrupt routine have to be short if you want to avoid losing data. This is why I asked about the LCD routines. The long delay you now have in the interrupt routine is crazy. Take all LCD printing and delays out of the interrupt routine. I you can't get out and back into the interrupt routine in less than 100 microseconds, you will lose data.

[amboaco]

thanks all and special thanks for "i-Bot"

I have completed problem my program. Your are right., the problem is delay-time in routine interupsi too long.

amboaco...