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33EP512MU810 Tripple Processor System Working well Communicates at 920Kb+
Hi everyone I have just started my first Proton 24 Project and its going very very well so far
This is my first attempt at using proton 24. The Tripple MCU Project follows on from the thread below
http://www.protonbasic.co.uk/showthr...etween-3-MCU-s
I need a tripple processor voting system for redundancy where each MCU communicates with the other two processors every 1ms the details are long and explained in the above post.
I decided to buy 3 * 33EPMU512MU810 Processor development boards and wire them all together for fast communications.
The hard part was understanding PPS Peripheral Pin Select.
After weeks of hard labour with the data sheet I have got it working. Hurray and I want to share it with you all
TX1, TX2, Rx1, RX2 are used to inter-communicate between all three processors extreemly fast 800KB baud rate and works very reliably.
All of my RX code is completley Interrupt Driven and Hand coded. It took me a long time weeks but I eventually got the data in RX1,RX2 very very quickly using a Hardware ISR for RX1 and RX2 recieve events
The TX code is clever use of HRSout took very long time so I hand coded a char: routine to spit out the data for TX1 and TX2 byte by byte very very quickly. At every stage checking the TXBuff is empty before sending the next byte.
TX3,RX3 simply transmitt the data recieved from the other two processors off to hyper terminal through a MAX232 chip. It works great as I watch TX3 on hyper terminal all 5 words come from the other two MCU's if I individually hang each MCU with MCLR pushbutton then the data for that channle goes blank and then reappears.
Amazing how fast MCU is
I toggle a pin high when doing the TX part and then low untill 1mS Later when a 1mS Interrupt has expired
I have a 1ms Timer so every 1mS it sends a burst of data
The pin toggles high and goes low so I can see I transmitt 22 Bytes of data
5 words = 10 bytes + end of packet (11 bytes tx1)
5 Words = 10 bytes + end of packet (12 bytes tx2)
--_____________________--_________________--_____________--_______ ' portG.13 viewed on an oscilloscope
90uS 1ms 90us 1ms 90us 1ms 90uS
[email protected] baudrate of 920Kb I send 22 complete bytes in 90uS
It is all working nice I can send 22 Bytes of data 10 words with 2 end of packet indicators ina lightening fast 90uS
The next task I have to get the 5 * A/D Inputs working @ 12 bits resoloution
and PWM working to drive a motor
But for now I have proved the concept that this part clocked at 140Mhz 70 Mips is fast enough to send the data all the data every in 90uS once every 1ms.
Please attached files
Code Below.
As I watch any 2 of the 3 MCU channles on the scope the 90uS pulses are drifting past eachother this is expected they are not synchronised at allCode:'TMR Tripple Modular Redundancy 'Tripple MCU Voting system 3 MCU's fast communication Device = 33EP512MU810 '100 pin tqfp Declare Xtal = 140 'was 140 'PLL_Setup(76, 2, 2, $0300) only examples can find are for internal oscillator 'the above macro locks PLL but can nott find an example for ext 8MHz Xtal CLKDIV.7 = 0 'PLL POST (set to divide by 2) CLKDIV.6 = 0 'PLL POST (set to divide by 2) CLKDIV.4=0 ' PLL POST (set to divide by 2) CLKDIV.3=0 ' PLL POST (set to divide by 2) CLKDIV.2=0 ' PLL POST (set to divide by 2) CLKDIV.1=0 ' PLL POST (set to divide by 2) CLKDIV.0=0 ' PLL POST (set to divide by 2) PLLFBD.8=0'70MIPS PLLFBD.7=0 PLLFBD.6=1 PLLFBD.5=0 PLLFBD.4=0 PLLFBD.3=0 PLLFBD.2=1 PLLFBD.1=0 PLLFBD.0=0 Config FICD = ICS_PGD1,JTAGEN_OFF Config FPOR = ALTI2C1_ON,BOREN_OFF,FPWRT_PWR32 Config FWDT = WDTPOST_PS256,PLLKEN_OFF,WINDIS_OFF,FWDTEN_OFF Config FOSC = POSCMD_HS,OSCIOFNC_OFF,FCKSM_CSECME Config FOSCSEL = FNOSC_PRIPLL,IESO_OFF Config FGS = GWRP_OFF Config FAS = AWRP_OFF,APLK_OFF '------------------------------------------------------------------------- 'Output PORTG.15 cant use that its for the bootloader mode !! Input PORTF.12 'pin 40 RP108 U1RX Output PORTF.13 'pin 39 RP109 U1TX '----------U1 TX RX Setup -------------------------------------------------- U1MODEbits_STSEL = 0 '1 STOP BIT 'U1MODEbits_PDSEL = 0 'NO Parity, 8 data COMPILER WONT RECOGNISE COMMAND U1MODEbits_ABAUD = 0 U1MODEbits_brgh = 0 U1BRG = 4 '37=115200'75=56700bps '(140mhZ / 115,200)/16 - 1 = 74.95 ~ 75 INTEGER 'DECIDED NOT TO HAVE INTERRUPT DRIVEN TX FOR NOW MIGHT USE LATER TO OPTIMISE 'u1sta.15 = 0 'interrupt after one tx character 'u1sta.13 = 0 'is transmitted 'IEC0bits_U1TXIE = 1 'enable tx interrupt u1modebits_uarten = 1 'enable uart U1STA.10 = 1 'Enable uart TX Bit 10 RPOR12 = 0 'clears RPOR12 = 00000000000001 ' pps output reg mapped u1tx pin 39 RPINR18 = 0 'CLEARS RPINR18 = 00000001101100 'pps output reg mapped U1RXPIN 40 Clear IEC0bits_U1RXIE 'clear U1 RX Interrupt Clear IFS0bits_U1RXIF 'clear U1 RX Interrupt flag Set IEC0bits_U1RXIE 'Set U1 RX Interrupt U1STA.7=0'0 interrupt is set when any character is recieved U1STA.6=0'x interrupt enabled when any character is recieved '-------- end of u1 tx and rx setup ---------------------------------- '--------- u2 TX and RX setup ---------------------------------------- Input PORTD.14 'pin 47 RPI78 U2 RX 'RPI78 not RP178!!!!! Output PORTD.15 'pin 48 RP79 U2 TX U2MODEbits_STSEL = 0 '1 STOP BIT 'U2MODEbits_PDSEL = 0 'NO Parity, 8 data COMPILER WONT RECOGNISE COMMAND U2MODEbits_ABAUD = 0 U2MODEbits_brgh = 0 U2BRG = 4'37 '37=115200'75=56700bps '(140mhZ / 115,200)/16 - 1 = 74.95 ~ 75 INTEGER 'DECIDED NOT TO HAVE INTERRUPT DRIVEN TX FOR NOW MIGHT USE LATER TO OPTIMISE 'u2sta.15 = 0 'interrupt after one tx character 'u2sta.13 = 0 'is transmitted 'IEC0bits_U2TXIE = 1 'enable tx interrupt u2modebits_uarten = 1 'enable uart U2STA.10 = 1 'Enable uart TX Bit 10 RPOR4 = 0 'clears RPOR4 = 00000000000011 ' pps output reg mapped u2tx pin 48 RPINR19 = 0 'CLEARS RPINR19 = 00000001001110'pps input reg mapped U1RXPIN 40 Clear IEC1bits_U2RXIE 'clear U1 RX Interrupt Clear IFS1bits_U2RXIF 'clear U1 RX Interrupt flag Set IEC1bits_U2RXIE 'Set U1 RX Interrupt U2STA.7=0'0 interrupt is set when any character is recieved U2STA.6=0'x interrupt enabled when any character is recieved '-------- end of U2 Tx and Rx setup ---------------------------------- '''''''''''' U3 Tx and Rx Setup -------------------------------------- Input PORTG.0 'pin 90 RP112 U3 RX ' Output PORTG.1 'pin 89 RP113 U2 TX 'U3MODEbits_STSEL = 0 '1 STOP BIT ''U2MODEbits_PDSEL = 0 'NO Parity, 8 data COMPILER WONT RECOGNISE COMMAND 'U3MODEbits_ABAUD = 0 'U3MODEbits_brgh = 0 'U3BRG = 37'37 '37=115200'75=56700bps '(140mhZ / 115,200)/16 - 1 = 74.95 ~ 75 INTEGER 'DECIDED NOT TO HAVE INTERRUPT DRIVEN TX FOR NOW MIGHT USE LATER TO OPTIMISE 'u2sta.15 = 0 'interrupt after one tx character 'u2sta.13 = 0 'is transmitted 'IEC0bits_U2TXIE = 1 'enable tx interrupt 'u3modebits_uarten = 1 'enable uart 'U3STA.10 = 1 'Enable uart TX Bit 10 Declare Hserial3_Baud = 115200'9600 Declare Hrsout3_Pin = PORTG.1 Declare HRSin3_pin = PORTG.0 RPOR13 = 0 'clears RPOR13 = 00000000011011 ' pps output reg mapped u3tx pin 89 RPINR27 = 0 'CLEARS RPINR27 = 00000001110000'pps input reg mapped U3RXPIN 90 'Clear IEC5bits_U3RXIE 'clear U1 RX Interrupt 'Clear IFS5bits_U3RXIF 'clear U1 RX Interrupt flag 'Set IEC5bits_U3RXIE 'Set U1 RX Interrupt 'U3STA.7=0'0 interrupt is set when any character is recieved 'U3STA.6=0'x interrupt enabled when any character is recieved '-------- end of U3 Tx and Rx setup ---------------------------------- Output PORTG.13 'pin 97 Toggle pin see how fast MCU executes loop on scope Output PORTG.14 'tells other 2 mcus full valid packet recieved Input PORTD.13 'checks if other MCU has recieved ful packet Input PORTD.12 'checks if other MCU has recieved full packet PORTG.14 = 0 'initially clear sync control Dim a As Float 'float var1 a = 1000 Dim b As Float 'float var2 b = 10000 Dim c As Float 'float var3 c = 100000 Dim loop As Byte 'floating point repeat loop pointer loop = 0 Dim d As Word 'test variable d = 1000 Dim REC As Byte 'char recieved U1 Rx Interrupt REC = 0 Dim REC1 As Byte 'char recieved U2 Rx Interrupt REC1 = 0 Dim my_demand As Word 'word1 my_demand = 1000 Dim my_demandA As Word 'word1 my_demandA = 0 Dim my_demandB As Word 'word1 my_demandB = 0 Dim my_feedback As Word 'word2 my_feedback = 2000 Dim my_feedbackA As Word 'word2 my_feedbackA = 0 Dim my_feedbackB As Word 'word2 my_feedbackB = 0 Dim my_error As Word 'word3 my_error = 3000 Dim my_errorA As Word 'word3 my_errorA = 0 Dim my_errorB As Word 'word3 my_errorB = 0 Dim my_current1 As Word 'word4 my_current1 = 4000 Dim my_current1A As Word 'word4 my_current1A = 0 Dim my_current1B As Word 'word4 my_current1B = 0 Dim my_current2 As Word 'word5 my_current2 = 5000 Dim my_current2A As Word 'word5 my_current2A = 0 Dim my_current2B As Word 'word5 my_current2B = 0 Dim loop1 As Byte loop1 = 0 Dim intout [13] As Byte Dim bufcount As Byte bufcount = 0 Dim bufcount2 As Byte bufcount2 = 0 Dim tx1 [13] As Byte Dim tx2 [13] As Byte Dim sendrecieved As Word sendrecieved = 0 'timer1 initialise stolen from a c program I wrote for 33fj32gp202 T1CONbits_TON = 0'; T1CONbits_TCS=0'; T1CONbits_TGATE =0'; 'T1CONbits_TCKPS = 0b00'; TMR1=0x00'; PR1 = 297'250'1000'; '// PIR settings PIR = 500 was 8uS /PIR = 1600 was 25uS /PIR = 65000 was 1ms '//IPC1bits.T1IP = 0x01; '//IFS0bits.T1IF = 0; IEC0bits_T1IE = 1'; T1CONbits_TON = 1'; Dim flag As Byte flag = 0 Dim gotdata As Byte gotdata = 0 Main: ''''''''''''''''''''''coms to hyper terminal to show characters recieved Inc sendrecieved Select sendrecieved Case 100 my_demandA.LowByte = tx1[1] my_demandA.HighByte = tx1[2] my_demandB.LowByte = tx2[1] my_demandB.HighByte = tx2[2] HRSOut3 Dec my_demandA,13 HRSOut3 Dec my_demandB,13 Case 200 my_feedbackA.LowByte = tx1[3] my_feedbackA.HighByte = tx1[4] my_feedbackB.LowByte = tx2[3] my_feedbackB.HighByte = tx2[4] HRSOut3 Dec my_feedbackA,13 HRSOut3 Dec my_feedbackB,13 Case 300 my_errorA.LowByte = tx1[5] my_errorA.HighByte = tx1[6] my_errorB.LowByte = tx2[5] my_errorB.HighByte = tx2[6] HRSOut3 Dec my_errorA,13 HRSOut3 Dec my_errorB,13 Case 400 my_current1A.LowByte = tx1[7] my_current1A.HighByte = tx1[8] my_current1B.LowByte = tx2[7] my_current1B.HighByte = tx2[8] HRSOut3 Dec my_current1A,13 HRSOut3 Dec my_current1B,13 Case 500 my_current2A.LowByte = tx1[9] my_current2A.HighByte = tx1[10] my_current2B.LowByte = tx2[9] my_current2B.HighByte = tx2[10] HRSOut3 Dec my_current2A,13 HRSOut3 Dec my_current2B,13,13 sendrecieved = 0 'clear the variables so if rx / tx wires come loose data vanishes tx1[1] = 0 tx1[2] = 0 tx2[1] = 0 tx2[2] = 0 tx1[3] = 0 tx1[4] = 0 tx2[3] = 0 tx2[4] = 0 tx1[5] = 0 tx1[6] = 0 tx2[5] = 0 tx2[6] = 0 tx1[7] = 0 tx1[8] = 0 tx2[7] = 0 tx2[8] = 0 tx1[9] = 0 tx1[10] = 0 tx2[9] = 0 tx2[10] = 0 EndSelect 'For loop = 0 To 100 'do 4 CPU Intensive floating point operations 'a = b * c 'b = a * 1000 'c = b / 100000 'c = a * 10 'Next loop 'loads up the data to be transmitted to the other two mcu's intout[0]= my_demand.LowByte '1000 intout[1]= my_demand.HighByte intout[2]= my_feedback.LowByte '2000 intout[3]= my_feedback.HighByte intout[4]= my_error.LowByte '3000 intout[5]= my_error.HighByte intout[6]= my_current1.LowByte '4000 intout[7]= my_current1.HighByte intout[8]= my_current2.LowByte '5000 intout[9]= my_current2.HighByte intout[10]=$AA 'end of data packet marker $AA = 10101010 ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' '''''''''''''transmits the 22 bytes of data via charout subroutine '''''''''''''' hold: If flag = 1 Then '1ms has passed from 1ms timer PORTG.13 = 1 '100us pulse to oscillscope time to transmit 22 bytes every 1ms For loop = 0 To 10 'tx 22 bytes ,5 words to UTX1 5 words UTX2 + end of packets GoSub charout 'sub routine to transmit tx1 and tx2 bytes Next loop1 'repeats the transmit subroutine 10 times flag = 0 'clears flag so another 1mS must pass before another tx loop Else GoTo hold EndIf 'end of tx loop PORTG.13 = 0 'turns 100us pulse off will goe low till 1ms passes and repeats GoTo Main '---------------------------------------------------------------------------- charout: 'Fast TX Routine to transmit data to the other 2 Processors If U1STA.9 = 1 Then 'if U1 Transmit buffer is full wait GoTo charout: Else 'otherwise U1 Transmitt buffer is empty send next byte U1TXREG = intout [loop] EndIf holdTX2: If U2STA.9 = 1 Then 'if U2 Transmitt buffer is full wait GoTo holdTX2 Else 'otherwise u2 transmitt buffer is empty send next byte U2TXREG = intout [loop] EndIf Return 'exits txout function back to main prog ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''interrupts for individual sources '''''''''''''''''''' Isr U1RXInterrupt Inc bufcount 'If bufcount= 11 Then bufcount = 1 'resets counter next packet of 10 bytes arrived tx1[bufcount] = U1RXREG If tx1[bufcount] = $AA Then bufcount = 0 Clear IFS0bits_U1RXIF EndIsr ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' Isr U2RXInterrupt Inc bufcount2 'If bufcount2 = 11 Then bufcount2 = 1 tx2 [bufcount2] = U2RXREG If tx2[bufcount2] = $AA Then bufcount2 = 0 Clear IFS1bits_U2RXIF EndIsr ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' Isr U3RXInterrupt REC = U3RXREG Clear IFS5bits_U3RXIF EndIsr ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' Isr T1Interrupt 'Toggle portg.13 Clear IFS0bits_T1IF flag = 1 EndIsr ''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' '''''''''''''''not used''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' 'ISR U1TXInterrupt 'this can be used in future to optimes tx speed 'Clear IFS0bits_u1txif 'u1txreg = rec 'endisr
Next i have to figure out how to synchronise the 3 MCU's together so when viewed on a scope the 90uS pulse or tx happens at the same time on all three MCU's so they are in step with each other.
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Re: 33EP512MU810 Tripple Processor System Working well Communicates at 920Kb+
