Everything you say is right
Your suggestions will be for a new version, especially the last one is not easy (and can be overcome if you follow the steps described in the wiki).As for the resets, this is really strange. My module never resets. Some other users have had resets, but most of the time they were using heavy servos on the same 5V as the module.
I updated the microcontroller.c code:
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#include "microcontroller/microcontroller.h"
#include "uart1_queue/uart1_queue.h"
RCONBITS RCONbits_backup;
_FOSCSEL(FNOSC_PRIPLL);
_FOSC(FCKSM_CSDCMD & OSCIOFNC_OFF & POSCMD_XT);
//_FWDT(FWDTEN_OFF); // Watchdog Timer Enabled/disabled by user software
void microcontroller_init()
{
INTCON2bits.ALTIVT = 0; // Don't use alternate interrupt vector
// Disable Watch Dog Timer
RCONbits.SWDTEN=0;
/* Configure Oscillator to operate the device at 80Mhz (40MIPS)
Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
Fosc= 4M*80/(2*2)=80Mhz for 4MHz input clock */
CLKDIVbits.PLLPRE = 0; // N1=2
CLKDIVbits.PLLPOST = 0; // N2=2
PLLFBDbits.PLLDIV = 78; // ->F_XT / 2 * (78 + 2) / 2
RCONbits_backup = RCONbits;
RCON = 0; // we have to do this to make sure we can read RCON correctly on a (next) reset
}
/*!
* Delay function
* @param ms Number of milliseconds (0.001s) the function needs to wait.
*/
void microcontroller_delay_ms(unsigned long ms)
{
//__delay32((long)FCY/1000L*ms);
unsigned long i = FCY/1000/12*ms;
for(;i > 0 ;i--)
asm("clrwdt");
}
/*!
* Delay function
* @param us Number of microseconds (0.000001s) the function needs to wait.
*/
void microcontroller_delay_us(unsigned long us)
{
long i = FCY/1000/1000/12*us;
for(;i > 0 ;i--)
asm("clrwdt");
}
void microcontroller_reset_type()
{
if (RCONbits_backup.BOR)
{
uart1_puts("A Brown-out Reset has occurred\r\n");
}
if (RCONbits_backup.EXTR)
{
uart1_puts("A Master Clear (pin) Reset has occurred\r\n");
}
if (RCONbits_backup.IDLE)
{
uart1_puts("Device was in Idle mode\r\n");
}
if (RCONbits_backup.IOPUWR)
{
uart1_puts("An illegal opcode detection, an illegal address mode or uninitialized W register used as an Address Pointer caused a Reset\r\n");
}
if (RCONbits_backup.POR)
{
uart1_puts("A Power-up Reset has occurred\r\n");
}
if (RCONbits_backup.SLEEP)
{
uart1_puts("Device has been in Sleep mode\r\n");
}
if (RCONbits_backup.SWDTEN)
{
uart1_puts("WDT is enabled\r\n");
}
if (RCONbits_backup.SWR)
{
uart1_puts("A RESET instruction has been executed\r\n");
}
if (RCONbits_backup.TRAPR)
{
uart1_puts("A Trap Conflict Reset has occurred\r\n");
}
/*if (RCONbits_backup.VREGS)
{
uart1_puts("Voltage regulator is active during Sleep\r\n");
}*/
if (RCONbits_backup.WDTO)
{
uart1_puts("WDT time-out has occurred\r\n");
}
}
int microcontroller_after_reboot()
{
return !(RCONbits_backup.EXTR || RCONbits_backup.POR); // We are in a reboot if there was no external reset
}
/* ****************************************************************
* Standard Exception Vector handlers if ALTIVT (INTCON2<15>) = 0 *
* *
* Not required for labs but good to always include *
******************************************************************/
#define _trapISR __attribute__((interrupt,no_auto_psv))
void _trapISR _OscillatorFail(void)
{
INTCON1bits.OSCFAIL = 0;
uart1_puts("Oscillator error!\n\r");
//while(1);
}
void _trapISR _AddressError(void)
{
INTCON1bits.ADDRERR = 0;
uart1_puts("Address error!\n\r");
//while(1);
asm("reset");
}
void _trapISR _StackError(void)
{
INTCON1bits.STKERR = 0;
uart1_puts("Stack error!\n\r");
//while(1);
asm("reset");
}
void _trapISR _MathError(void)
{
INTCON1bits.MATHERR = 0;
uart1_puts("Math error!\n\r");
//while(1);
asm("reset");
}
void __attribute__((interrupt, no_auto_psv)) _AltOscillatorFail(void)
{
INTCON1bits.OSCFAIL = 0;
uart1_puts("Oscillator error!\n\r");
//while(1);
}
void __attribute__((interrupt, no_auto_psv)) _AltAddressError(void)
{
INTCON1bits.ADDRERR = 0;
uart1_puts("Address error!\n\r");
//while(1);
asm("reset");
}
void __attribute__((interrupt, no_auto_psv)) _AltStackError(void)
{
INTCON1bits.STKERR = 0;
uart1_puts("Stack error!\n\r");
//while(1);
asm("reset");
}
void __attribute__((interrupt, no_auto_psv)) _AltMathError(void)
{
INTCON1bits.MATHERR = 0;
uart1_puts("Math error!\n\r");
//while(1);
asm("reset");
}
The traps are printed to screen (so keep your terminal or config tool open).
On boot-up, the module prints the reason for reset. On a normal reset I get:
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A Brown-out Reset has occurred
A Power-up Reset has occurred
I don't know where the Brown-out reset comes from at a normal start-up...
Attached this latest firmware.
Can this help you?
