Robonics - My Robotics Start Up

Heyy People
It has been a while since I wrote something here. I have been busy all these days.. Busy with what ???? ..
Well I have been working hard to launch my own company. What does the company deal with ?
What other than robotics (my passion). Presently I am have developed and manufactured some development board, programmers and a few mechanical parts. I hope to extend my catalog to lots of other parts.

Company Name
I have named my company ROBONICS.
etymology: Robo from Robotics and nics from electronics constitute ROBONICS.This name was suggested by my friend gopi.. I liked it and so named it.Some of my friends accused me for the name not being jazzy ... I should have added an X or Z. Well I like to keep it clean and simple .. I am happy with this name.

Why I started this company ?

• One major reason being there arent any robotics company in Chennai , Hyd , Cochin that manufactures and sells kits. Of course there are many players in North India.
• Second reason being, all the kits that you get online are costly which are sold at a huge margin.So I wanted to provide kits for students that is cheap as well as easy to use .(Budget is always a problem for we robotists)
  

Wish me good luck for my business to succeed guys and gals .. For I need you to for this business to succeed.

Shop
There is an online shopping cart that you can use to shop for products. Some of the very useful products that I would like to recommend is

• PIC Development Board.
• Multi PIC Programmer

Please do check out the website guys ..and wish me luck again.

Knowing pic16f877 Interrupt Registers

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INTERRUPTS IN 16F877A

The interrupt sources in PIC can be broadly classified into .
1.External interrupt
2.Internal interrupts .

There are totally 14 sources of interrupts in PIC16F877A .

1. Timer0 overflow interrupt
2. Timer 1 interrupt
   
3. Timer 2 interrupt
   
4. Capture compare interrupt ccp1.
5. Capture compare interrupt ccp2.
6. Comparator Interrupt
   
7. USART Transmitter interrupt
   
8. USART Receiver Interrupt
   
9. Synchronous Serial Port interrupt
   
10. EEPROM Write Interrupt
    
11. Analog to Digital Converter interrupt
    
12. Parallel slave port read write interrupt
    
13. Bus collision interrupt
    
14. External interrupt (RB0/INT0)

Starting with the registers .
The global register for the interrrupt is INTCON .The following tables show you the individual bits .

GIE

PEIE

TOIE

INTE

RBIE

TOIF

INTF

RBIF

The description of the individual bits are given below .The status of different interrupts when set as o and 1 .

BIT	NAME	WHEN SET 1	WHEN SET O
GIE	Global interrupt bit	Enable all	Disable all
PEIE	Peripheral interrupt enable bit	Enable all unmaskable peripheral interrupts	Disable all peripheral interrupts
TOIE	Timer 0 overflow interrupt enable bit	Enable	Disable
INTE	RB0/INT external interrupt enable bit	Enable	Disable
RBIE	RB port change interrupt enable bit	Enable	Disable
TOIF	Timer 0 overflow interrupt flag	TMR0 reg overflows
INTF	RB0/INT external interrupt flag	External interrupt occurs	No interrupt
RBIF	RB port change interrupt flag bit	One line changes its state from RB7 to RB4	No line changes

The first five bits are configuration bits and the next 3 lower bits are FLAGS .That will be set as 1 when the corresponding interrupt occours .It is the programmers responsiblity to clear those bits .It wont be cleared automatically .Its for the reson because if another interrupt occours while processing the previous interrupt it will lead to chaos .So the task is given to the programmer to clear the bits .

In addition to INTCON reg peripheral interrupt also has 4 more reg PIE1 , PIE2 corresponding to PIEX and PIR1 and PIR2 coressponding to PIRX.Let us see these registers in the next tutorials .

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pic16f877a interrupt register config

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PIE1 REGISTER
The Table for PIE1 configuration is given below .

PSPIE

ADIE

RCIE

TXIE

SSPIE

CCPIE1IE

TMR2IE

TMRA11E

Please take a look at the table to configure it according to your needs .For example PIE.6 corresponds to ADIE and setting it as 1 enables the A2D converter interrupt.

EX

PIE.6 = 1 ;

PSPIE























SSPIE






CCPIE1IE

BIT	NAME	ENABLE	DISABLE
Parallel slave port read/write interrupt enable bit	1	0
ADIE	AD conveter interrupt enable bit	1	0
RCIE	USART receive interrupt enable bit	1	0
TXIE	USART transmit interrupt enable bit	1	0
Synchrous serial port interrupt enable bit	1	0
CCP1 interrupt enable bit	1	0
TMR2IE	TMR2 to PR2 match interrupt enable bit	1	0
TMRA11E	TMR! overflow interrupt enable bit	1	0

PIE2 REGISTER

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EEIE

BCLIE

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CCP2IE

	NAME	ENABLE	DISABLE
EEIE	EEPROM write operation interrupt enable bit	1	0
BCLIE	Bus collision interrupt enable bit	1	0
CCP2IE	CCP2 interrupt enable bit	1	0

EEPROM Bus collision and CCP2 interrupt enable bit are available in PIE2 register .All other bits are
kept clear in this register

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PIC16f877a PIR1 and PIR2 Configuration .

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PIR1 REGISTER

The bits are listed below .

PSPIF

ADIF

RCIF

TXIF

SSPIF

CCPIE1IF

TMR2IF

TMRA11F

BIT	NAME	ENABLE	DISABLE
PSPIF	Parallel slave port read/write interrupt flag	1	0
ADIF	AD conveter interrupt flag	1	0
RCIF	USART receive interrupt flag	1	0
TXIF	USART transmit interrupt flag	1	0
SSPIF	Synchrous serial port interrupt flag	1	0
CCPIE1IF	CCP1 interrupt flag	1	0
TMR2IF	TMR2 to PR2 match Interrupt flag	1	0
TMRA11F	TMR! overflow interrupt Flag	1	0

PIR2 REGISTER

The Configuration bits are listed below .Take a look at it to understand .

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EEIF

BCLIE

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CCP2IE

BIT	NAME	ENABLE	DISABLE
EEIF	EEPROM write operation interrupt flag	1	0
BCLIF	Bus collision interrupt flag	1	0
CCP2IF	CCP2 interrupt flag	1	0

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