Hello Jalians,
I found this http://www.mikroe.com/forum/viewtopic.php?t=13607 post
with a great program for a 8 channel servo controller! The program is
in mikroBasic, I have translated it to JAL. It works very well, and
there is plenty of time in the main loop for doing other things.
I would like to share this code with you, maybe it will be usefull for
the library.
Best regards,
Sander
-- jal 2.4m
include 16f876a
pragma target OSC HS -- HS crystal or resonator
pragma target clock 4_000_000 -- oscillator frequency
pragma target WDT disabled
pragma target LVP disabled
pragma eedata "xorservo"
-- don't need analog
enable_digital_io()
alias blink is pin_A5
pin_A5_direction = output
-- servo values range from 1000 to 2000, 1500 is the center position
var word servo_value[8] = {1000,1142,1284,1426,1568,1710,1852,2000}
PORTC_direction = all_output -- 8 servos on port C
T1CON = 0b_0000_0000 -- prescaler = 1 = 1us ticks ;
timer1 off
TMR1 = 0x0000 -- Timer1 starts at 0
CCP1CON = 0b_0000_1011 -- Compare mode, trigger
special event
CCP2CON = 0b_0000_1010 -- Compare mode, generate
software interrupt
on match
CCPR1 = 2_500 -- special event
interrupt every 2500us
INTCON = 0b_1100_0000 -- enable GIE and PEIE
PIE1 = 0b_0000_0100 -- CCP1 Interrupt Enable bit on
PIE2 = 0b_0000_0001 -- CCP2 Interrupt Enable bit on
PIR1_CCP1IF = 0 -- CCP1 Interrupt Flag
bit off
PIR2_CCP2IF = 0 -- CCP2 Interrupt Flag
bit off
var bit*3 sn = 0b_000 -- servo number rolls over from
7 to 0
-- configure ADC
const bit ADC_HIGH_RESOLUTION = high
const byte ADC_NCHANNEL = 1
const byte ADC_NVREF = 0
include adc
adc_init()
var word measure
procedure servo_control() is
pragma interrupt
if PIR1_CCP1IF == 1 then -- CCP1 resets TMR1;
PORTC = (1 << sn) -- Active Servo High
CCPR2 = servo_value[sn] -- Active Servo Value loaded in CCPR2
PIR1_CCP1IF = 0
else -- CCP2 Normal Compare
Event Interrupt
PORTC_low = 0 -- Turn Off Active Servo
sn = sn + 1 -- Get Ready for next Servo
PIR2_CCP2IF = 0
end if
end procedure
T1CON_TMR1ON = 1 -- Timer1 On
forever loop
-- set the first servo value with adc
measure = adc_read(0)
servo_value[0] = (1000 + measure)
-- do usefull stuf here
-- update servo_value[n] with adc, serial, ...
blink = !blink
delay_100ms(1)
end loop
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