[nizar83]

hi...

i have a problem with "Write PI Command".
i write the Pterm, Iterm and Pscalar with value : 100, 20, 14

when i write it into EEprom it's succesful,
but after i power off the power and i try again to read PI,
the value back to the default,
pterm = 100
iterm = 20
skalar = 14

I'am using Basic stamp BS2P40

any one can help me?

[Lon]

Can you post a portion of the code that writes to the MMBe?

Lon

[nizar83]

this is my code:

'-----------------------------------------------
'{$stamp BS2P}
'{$PBasic 2.5}

baud con 1021

motorkananin con 5
motorkananout con 7
motorkiriin con 1
motorkiriout con 3

'-------------------------
ptermkanan var byte
itermkanan var byte
skalarkanan var byte

ptermkiri var byte
itermkiri var byte
skalarkiri var byte



ptermkanan = 100
itermkanan = 20
skalarkanan =14

serout motorkananout,baud,[Ptermkanan,itermkanan,skalarkanan]

ptermkiri = 100
itermkiri = 20
skalarkiri = 14
serout motorkiriout,baud,[Ptermkiri,itermkiri,skalarkiri]

end

'-----------------------------------------------

thank's

[nizar83]

i'm sorry, my previous code not correct
this is the correct program code :

'{$STAMP BS2p}
BAUD CON 1021

motorkiriin CON 1 '>
motorkiriout CON 3 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananin CON 5 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananout CON 7 '>


PTERM VAR Byte 'Proportional constant term
ITERM VAR Byte 'Intergal constant term
SCALAR VAR Byte 'Magnitude of PI scalar


PTERMKANAN VAR Byte 'Proportional constant term
ITERMKANAN VAR Byte 'Intergal constant term
SCALARKANAN VAR Byte 'Magnitude of PI scalar





PTERMKANAN = 64
ITERMKANAN = 1
SCALARKANAN = 14
SEROUT motorkananout,BAUD,[$55,$10,PTERMKANAN,ITERMKANAN,SCALARKANAN] 'Write PI variables to EEPROM

PTERM = 64 '100
ITERM = 1 '5
SCALAR = 14 ' 100
SEROUT motorkiriout,BAUD,[$55,$10,PTERM,ITERM,SCALAR] 'Write PI variables to EEPROM

END

[Lon]

Your code looks okay. I don't see anywhere that you check to see that the terms are actually being read back. You might consider adding a READ PI command after one of the write commands, and using the Stamp DEBUG command to display the data. How do you know the PI commands are not being written?

Lon

[nizar83]

I have two programs to write to the EEPROM and to read the results,


This is a program to write EEPROM :

'{$STAMP BS2p}
'AN-263 Device = MMBe:
'This application note can be used to test PI or inc/dec modes
'of SPDCON in the MMBe. Commands assocaited with programming the PTERM,
'ITERM, and PISCALAR are implemented.
'
'TM CON 10 'Data to Stamp, select pin appropriate to your hardware (motorkiriin)
'FM CON 11 'Data sent by Stamp, select pin appropriate to your hardware (motorkiriout)
'TMKANAN CON 12 'Data to Stamp, select pin appropriate to your hardware (motorkananin)
'FMKANAN CON 13 '(motorkananout)
BAUD CON 240'1021

motorkiriin CON 1 '>
motorkiriout CON 3 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananin CON 5 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananout CON 7 '>


PTERM VAR Byte 'Proportional constant term
ITERM VAR Byte 'Intergal constant term
SCALAR VAR Byte 'Magnitude of PI scalar


PTERMKANAN VAR Byte 'Proportional constant term
ITERMKANAN VAR Byte 'Intergal constant term
SCALARKANAN VAR Byte 'Magnitude of PI scalar


PTERMKANAN = 100
ITERMKANAN = 5'1
SCALARKANAN = 14
SEROUT motorkananout,BAUD,[$55,$10,PTERMKANAN,ITERMKANAN,SCALARKANAN] 'Write PI variables to EEPROM

PTERM = 100
ITERM = 5
SCALAR = 14
SEROUT motorkiriout,BAUD,[$55,$10,PTERM,ITERM,SCALAR] 'Write PI variables to EEPROM

END

and This is a program to read EEPROM :

' {$STAMP BS2p}
' {$PBASIC 2.5}

'================================================================
' MOTOR
'================================================================
motorkiriin PIN 1 '>
motorkiriout PIN 3 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananin PIN 5 '> ' }} jalur komunikasi serial BS2p (main) to MMBe
motorkananout PIN 7 '>

'==============================================================
' VARIABEL-VARIABEL
'==============================================================

i VAR Byte

status VAR Byte
dummy VAR Byte
BAUD CON 240
pimode VAR status.BIT5
freqlow VAR status.BIT4
baudrate VAR status.BIT3
PTERMKANAN VAR Byte
ITERMKANAN VAR Byte
SCALARKANAN VAR Byte
PTERM VAR Byte
ITERM VAR Byte
SCALAR VAR Byte


GOSUB cekpi
GOSUB cekfrek
GOSUB baudrate3
GOSUB mode
END
'==============================================================
' CEK PIMODE
'=============================================================
cekpi:
SEROUT motorkananout,BAUD,[$55,$05]
SERIN motorkananin,BAUD,[STATUS,DUMMY]
IF PIMODE = 1 THEN
DEBUG "kanan = pimode",CR
ELSE
DEBUG "kanan = inc/dec",CR
ENDIF

SEROUT motorkiriout,BAUD,[$55,$05]
SERIN motorkiriin,BAUD,[STATUS,DUMMY]
IF PIMODE = 1 THEN
DEBUG "kiri = pimode",CR
ELSE
DEBUG "kiri = inc/dec",CR
ENDIF
RETURN
'==============================================================
' CEK freqlow
'=============================================================
cekfrek:
SEROUT motorkananout,BAUD,[$55,$05]
SERIN motorkananin,BAUD,[STATUS,DUMMY]
IF freqlow = 1 THEN
DEBUG "frekanan = 242Hz",CR
ELSE
DEBUG "frekanan = 15Khz",CR
ENDIF

SEROUT motorkiriout,BAUD,[$55,$05]
SERIN motorkiriin,BAUD,[STATUS,DUMMY]
IF freqlow = 1 THEN
DEBUG "frekiri = 242Hz",CR
ELSE
DEBUG "frekiri = 15Khz",CR
ENDIF
RETURN
'==============================================================
' CEK BAUDRATE
'=============================================================
baudrate3:
SEROUT motorkananout,BAUD,[$55,$05]
SERIN motorkananin,BAUD,[STATUS,DUMMY]
IF baudrate = 1 THEN
DEBUG "baudkanan = 9600/240",CR
ELSE
DEBUG "baudkanan = 2400/1021",CR
ENDIF

SEROUT motorkiriout,BAUD,[$55,$05]
SERIN motorkiriin,BAUD,[STATUS,DUMMY]
IF baudrate = 1 THEN
DEBUG "baudkiri = 9600/240",CR
ELSE
DEBUG "baudkiri = 2400/1021",CR
ENDIF

RETURN
mode:
SEROUT motorkananout,BAUD,[$55,15] 'Send Read PI variable command
SERIN motorkananin,BAUD,[PTERMKANAN,ITERMKANAN,SCALARKANAN] 'receive PI variables
SEROUT motorkiriout,BAUD,[$55,15] 'Send Read PI variable command
SERIN motorkiriin,BAUD,[PTERM,ITERM,SCALAR] 'receive PI variables
DEBUG ? PTERMKANAN
DEBUG ? ITERMKANAN
DEBUG ? SCALARKANAN
DEBUG ? PTERM
DEBUG ? ITERM
DEBUG ? SCALAR
RETURN

thank's

[nizar83]

first i write the MMBE with first program (program to write eeprom)
and then i read mmbe with second program (program to read EEPROM)
it's no problem, the result of Pterm, Iterm and scalar is same as written,
example:

i write to eeprom:
PTERM = 60
ITERM = 20
SCALAR = 10

the result after read :
PTERM = 60
ITERM = 20
SCALAR = 10

but when i turn off the power (MMBE & stamp), then i turn it on again,
and then i read it, the result of Pterm, Iterm and scalar back to default values
this is the result :
PTERM = 100
ITERM = 4
SCALAR = 10

are the values of Pterm, Iterm and scalar not written into EEPROM?,
or there's something wrong with my program?

[Lon]

I have to apologize. I thought I reviewed the firmware for this issue before I asked to see your code. When I set up a test code for the BS2 and ran it I saw the same problem you've described. I went back to the MMBe firmware and double checked the WRITE_PI function, and it does not try to write the data to EEPROM.

You could create a work-around by writing/reading the PI data to EEPROM using the WRITE_EEPROM/READ_EEPROM commands (example below). The simpler alternative it to execute a WRITE_PI as part of your start up routine that loads the values you want into the MMBe.

Example of using the EEPROM commands to store the PI values:

' {$STAMP BS2}
' {$PORT COM3}
'
TM CON 15
FM CON 14
RELAY CON 12
'

PTerm VAR Byte
ITerm VAR Byte
PIScalar VAR Byte
EERegister VAR Byte
EEAddress VAR Byte

Baud CON 396

START:
OUTS = %0000111000000000
DIRS = %0111101000111111

READY:
HIGH FM
PAUSE 250

'Write PI Data to EEPROM, PTerm, then ITerm, then PIScalar
EERegister = 200
EEAddress = 10
SEROUT FM,Baud,[$55,$09,EEAddress,EERegister]
EERegister = 10
EEAddress = EEAddress+1
SEROUT FM,Baud,[$55,$09,EEAddress,EERegister]
EERegister = 14
EEAddress = EEAddress+1
SEROUT FM,Baud,[$55,$09,EEAddress,EERegister]

'Read PI Data from EEPROM, PTerm, then ITerm, then PIScalar
EEAddress = 10
SEROUT FM,Baud,[$55,$0A,EEAddress]
SERIN TM,Baud,[PTerm]
EEAddress = EEAddress+1
SEROUT FM,Baud,[$55,$0A,EEAddress]
SERIN TM,Baud,[ITerm]
EEAddress = EEAddress+1
SEROUT FM,Baud,[$55,$0A,EEAddress]
SERIN TM,Baud,[PIScalar]

'Write EEPROM received data to the MMBe PI registers
SEROUT FM,Baud,[$55,$10,PTerm,ITerm,PIScalar]

END:

I will update the datasheet to reflect the fact that the WRITE_PI routine does not store the data in EEPROM.

Lon