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Because Y can be either X^^2 or X^^2 + 1 at any one time, we have no way of knowing when a cog is going to read the value because we are not using a data valid flag handshake. We have to code this as follows:
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Then, no matter when another cog reads Y, it will be valid. Although this is a rather trivial programming example, variations of this error will cause you many problems if you are not following the validity rule. As a general practical rule, a shared variable may be set once and only once (in the relevant loop) by the cog that controls it. No other cog may manipulate the value of the variable, meaning that it is to be considered a read-only value by all other cogs. This example also explains why more than one cog cannot be allowed to manipulate a variable. Answers using a variable that can be used in intermediate calculations will inevitably be incorrect because there is no way of guaranteeing when the variable will be valid (unless you are using locks). Another common conflict has to do with trying to use lines that are being used to control the LCD for other purposes. Although this can be done, it is best that you not. Keep in mind that the LCD is often called from within other programs. In the other programs we forget that the LCD is actually connected to the Propeller, and if we are constantly updating the LCD it is connected with some very busy lines. These lines cannot be used for any other purposes. This rule also applies to all pins that are dedicated for use by common utilities. Make a list of all the Propeller lines used by your program and by all the methods you are going to call from your program. The lines used in the called methods may not be used for other purposes. Table 4-1 (in 4) shows how the lines are used in the programs we are developing in this book. You may want to post a copy of that table where you can refer to it as you develop your programs.
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Almost every cog sets the parameters (such as I/O line specifications and initial variable values) it needs for its operation and then launches a loop. Loops are used to perform the following tasks, for example, among a myriad of other uses:
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Update the LCD. Read the potentiometers. Make calculations. Read sensors.
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Loops can be called once, any number of times, or forever, depending on the method s needs. Loops can be nested, and they can perform more than one task. It is the responsibility of the programmer to make sure that the loops do not crash. Special attention has to be given to this because the Propeller does not provide safeguards against division by zero, counter underflows and overflows, register underflows and overflows, and other mathematical transgressions. This means that it may be necessary to provide checks on the ranges of variables and provide clamping within minimum and maximum values. Integer math can be negatively affected by the answer to a calculation when the order of the mathematical operations is picked without thought to register under- and overflows. Although 32-bit numbers are huge, this can still cause problems. Iterations that seem harmless when executed a few times can wreck havoc when executed infinitely. All cogs must also create and manipulate variables in such a way that they are guaranteed to be valid at all times and therefore can be used by other cogs without having to confirm their validity. If you start to get jittery LCD displays or motor operations in the programs we develop later in the book, chances are good some invalid data resides in a loop in one of the cogs. When a cog is started, all its variables are set to zero. This can cause problems in circumstances that depend on the values of variables to be nonzero. For example, the waitcnt instruction is sensitive to this and can be compromised. This situation can be avoided by setting variables to the appropriate values within the cog at the top of the code for the cog.
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