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Date: Wed, 01 Jul 1998 10:56:30 -0500
From: Douglas Blank <dblank@comp.uark.edu>
Organization: University of Arkansas, CS
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To: Aaron Edsinger <aarone@sirius.com>
Cc: handy <handyboard@media.mit.edu>
Subject: Re: Serial Interface
References: <199807010601.XAA26862@mail3.sirius.com>
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Aaron Edsinger wrote:
 
> Hello,
>         I've been having some problems using my HandyBoard to talk directly to my
> PC via the serial interface.  I disable Interactive C and then Poke() and
> Peek() as has been described on this list.  I  send short character strings
> from my PC to the HandyBoard under Windows 95.  If I send strings longer
> than 2 characters, it seems that some of the characters get lost. This
> behavior seems to be affected by repositioning or slightly modifying the
> code, suggesting perhaps a timing issue.

Although there is the HEXMON program, I too, have been trying to do what
you describe, and encountered the same problems. I found it to be a
timing issue, and, through trial and error, have a found some settings
that seem to work most of the time.

My goal was to make C code that looked the same when compiled and run on
the Host is the code that ran under IC. 

I am including the host and HB programs here. If anyone knows of a
better way of communicating, please let us know.

-Doug Blank
 
=====================================================================
dblank@comp.uark.edu            Douglas Blank, University of Arkansas
Assistant Professor                                  Computer Science
==================== http://www.uark.edu/~dblank ====================

This code was written for MS C++4.0 running on Win95.

//************** BEGIN: serial_HOST.c

/* VC++4.0 HandyBoard Host Programming System
   Dr. Douglas S. Blank
   University of Arkansas, Department of Computer Science
   www.uark.edu/~dblank

   This code runs on a host PC.
*/

#include <ctype.h>
#include <conio.h>
#include <stdlib.h>
#include <stdio.h>

#include "serial_HOST.h"

void main(int argc, char *argv[])
{
        motor(0, 100);
        motor(1, 100);
        motor(2, 100);
        motor(3, 100);
        sleep(1000);
        motor(0, -100); 
        motor(1, -100);
        motor(2, -100);
        motor(3, -100);
        sleep(1000); 
        ao(); 
        print("\nThis is a test");
        printf("Knob is %d\n", knob() );
        printf("Analog(0) is %d\n", analog(0));
        printf("Digital(0) is %d\n", digital(0));
        printf("Analog(1) is %d\n", analog(1));
        printf("Digital(1) is %d\n", digital(1));
        printf("Analog(2) is %d\n", analog(2));
        printf("Digital(2) is %d\n", digital(2));
        printf("Analog(3) is %d\n", analog(3));
        printf("Digital(3) is %d\n", digital(3));
        printf("Analog(4) is %d\n", analog(4));
        printf("Digital(4) is %d\n", digital(4));
        printf("Analog(5) is %d\n", analog(5));
        printf("Digital(5) is %d\n", digital(5));
        printf("Analog(6) is %d\n", analog(6));
        printf("Digital(6) is %d\n", digital(6));
        printf("Analog(7) is %d\n", analog(7));
        printf("Digital(7) is %d\n", digital(7));
        printf("Analog(8) is %d\n", analog(8));
        printf("Digital(8) is %d\n", digital(8));
        printf("Analog(9) is %d\n", analog(9));
        printf("Digital(9) is %d\n", digital(9));
        printf("Analog(10) is %d\n", analog(10));
        printf("Digital(10) is %d\n", digital(10));
        printf("Analog(11) is %d\n", analog(11));
        printf("Digital(11) is %d\n", digital(11));
        printf("Analog(12) is %d\n", analog(12));
        printf("Digital(12) is %d\n", digital(12));
        printf("Analog(13) is %d\n", analog(13));
        printf("Digital(13) is %d\n", digital(13));
        printf("Analog(14) is %d\n", analog(14));
        printf("Digital(14) is %d\n", digital(14));
        printf("Analog(15) is %d\n", analog(15));
        printf("Digital(15) is %d\n", digital(15));
        beep();
        sleep(1000);
        while (! stop_button() ) {
                sprintf(buffer, "%d.0", (knob() * 10));
                tone( buffer, "0.1");
        }
}

//************** END: serial_HOST.c

//************** BEGIN: serial_HOST.h

/* VC++4.0 HandyBoard Host Programming System
   Dr. Douglas S. Blank
   University of Arkansas, Department of Computer Science
   www.uark.edu/~dblank
*/

#define MOTOR     0
#define AO        1
#define ANALOG    2
#define DIGITAL   3
#define PRINTF    4
#define KNOB      5
#define BEEP      6
#define TONE      7
#define START_BUTTON 8
#define STOP_BUTTON  9
#define QUIT    113

#define sleep(NUM) _sleep(NUM)
#define SERIALWAIT  5

unsigned short PORT = 0x3f8; // LPT1: 0x378 COM1: 0x3f8

int send(int i) {
        int retval;
        retval = _outp( PORT, i);
        _sleep(SERIALWAIT);
        return retval;
}

int receive() {
        int retval;
        retval = _inp( PORT);
        _sleep(SERIALWAIT);
        retval = _inp( PORT);
        return retval;
}

void hangup() {
        send(QUIT);
}

void print(char buffer[]) {
        int i;
        send(PRINTF);
        for (i = 0; buffer[i] != 0; i++)
                send(buffer[i]);
        send('\0');
}

void motor(int motornum, int power) {
        send(MOTOR);
        send(motornum);
        send(power + 100); // taken off on the other end
}

int analog(int sensor) {
        send(ANALOG);
        send(sensor);
        return receive();
}

int digital(int sensor) {
        send(DIGITAL);
        send(sensor);
        return receive();
}

void ao() {
        send(AO);
}

int knob() {
        send(KNOB);
        return receive();
}

void beep() {
        send(BEEP);
}

void tone(char f1[], char f2[]) {
        int i;
        send(TONE);
        for (i = 0; f1[i] != 0; i++)
                send(f1[i]);
        send('\0');
        for (i = 0; f2[i] != 0; i++)
                send(f2[i]);
        send('\0');
        _sleep((unsigned long) (atof(f2) * 1000)); // to keep from
overflowing serial line
}

void interactive()
{
        char c;
        char key = ' ';
        while (key != 'q') {
                key = getch();
                send(key);
                printf("Sent %c\n", key);
                c = receive();
                printf("Got %c as a return value\n", c);
        }
}

int start_button() {
        send(START_BUTTON);
        return receive();
}

int stop_button() {
        send(STOP_BUTTON);
        return receive();
}
//************** END: serial_HOST.h

//************** BEGIN: serial_HB.c

/* VC++4.0 HandyBoard Programming System
   (Parts taken from other HB programs)
   Dr. Douglas S. Blank
   University of Arkansas, Department of Computer Science
   www.uark.edu/~dblank

   This code runs on the HB
*/

#define MOTOR     0
#define AO        1
#define ANALOG    2
#define DIGITAL   3
#define PRINTF    4
#define KNOB      5
#define BEEP    6
#define TONE    7
#define START_BUTTON 8
#define STOP_BUTTON  9
#define QUIT    113

int _isspace(int a)         /* returns 1 for space or tab, 0
otherwise     */
                            /* internal routine used by atof() and
cgets() */

{
    return ((a == 32) || (a == 9));     /* 32 is space, 9 is tab */
}

/*****************************************************************************/

int _isdigit(int a)         /* returns 1 if a digit 0-9, 0 otherwise */
                            /* internal routine used by atof()       */

{
    return ((a >= 48) && (a <= 57));    /* 48 is '0', 57 is '9' */
}

float atof(char s[])    /* Convert a string containing a number in
ASCII     */
                        /* form (integer, float, or exponential float)
to a  */
                        /* float.  Strips whitespace characters (space
and   */
                        /* tab) from the front of the string, but
stops      */
                        /* parsing at the first (unexpected)
non-numeric     */
                        /* character if the string has garbage at the
end.   */
                        /* This means that "  34.3foo78" translates to
34.3. */
                        /* Modified from atof() function in the
standard     */
                        /* library of the Hi-Tec C compiler for
CP/M.        */
                        /* Note:  all string literals converted to
decimal   */
                        /* form because IC can't deal with string
literals   */
                        /* in math
calculations.                             */
                        /* Also note:  very ugly code because IC will
not    */
                        /* allow any math operations on pointers!  Thus,
the */
                        /* the number string has to be treated as an
array!  */
                        /* Also also note:  no error handling; assumes
that  */
                        /* the string is a valid representation of a
number! */
                        /* Valid range for exponential-format numbers
is     */
                        /* approximately 2.0e-38 to
3.4e+38.                 */

{
    int     i=0;            /* index into string array */
    int     sign=0;         /* mantissa sign flag:  0=positive,
1=negative */
    int     exp0=0;         /* mantissa exponent counter */
    int     eexp=0;         /* E-form exponent counter */
    int     expsign=0;      /* exponent sign flag:  0=positive,
1=negative */
    float   m=0.0;          /* mantissa accumulator */

    /* skip any leading whitespace (space, tab) */
    while (_isspace(s[i]))
        i++;                                /* skip it */

    /* check for mantissa sign */
    if (s[i] == 45)                         /* 45 is '-' */
    {
        sign = 1;                           /* flag minus sign */
        i++;                                /* point to next */
    }
    else if (s[i] == 43)                    /* 43 is '+' */
        i++;                                /* point to next */

    /* now get all digits up to either a decimal point or an e/E */
    while (_isdigit(s[i]))
    {
        m = 10.0*m + (float)(s[i] - 48);    /* 48 is '0' */
        i++;                                /* point to next */
    }

    /* no more digits, so check for decimal point */
    if (s[i] == 46)                         /* 46 is '.' */
    {
        i++;                                /* point to next */
        /* get all digits after decimal point */
        while (_isdigit(s[i]))
        {
            exp0--;
            m = 10.0*m + (float)(s[i] - 48);    /* 48 is '0' */
            i++;                                /* point to next */
        }
    }

    /* check for e/E exponential form */
    if ((s[i] == 101) || (s[i] == 69))      /* 101 is 'e', 69 is 'E' */
    {
        i++;                                /* point to next */
        /* check for exponent sign */
        if (s[i] == 45)                     /* 45 is '-' */
        {
            expsign = 1;                    /* flag negative exponent */
            i++;                            /* point to next */
        }
        else if (s[i] == 43)                /* 43 is '+' */
            i++;                            /* point to next */

        /* now get exponent */
        while (_isdigit(s[i]))
        {
            eexp = eexp*10 + s[i] - 48;     /* 48 is '0' */
            i++;                            /* point to next */
        }

        /* adjust exponent sign */
        if (expsign)
            eexp = -eexp;                   /* make it negative */
    }

    /* compute absolute value of final float */
    exp0 += eexp;
    while (exp0 < 0)                    /* for negative exponents */
    {
        m = m / 10.0;
        exp0++;
    }
    while (exp0 > 0)                    /* for positive exponents */
    {
        m = m * 10.0;
        exp0--;
    }

    /* adjust final float sign from mantissa */
    if (sign)
        return (-m);                    /* negative */
    else
        return (m);                     /* positive */
}

void disable_pcode_serial()
/* necessary to receive characters using serial_getchar */
{
   poke(0x3c, 1);
}

void reenable_pcode_serial()
/* necessary for IC to interact with board again */
{
   poke(0x3c, 0);
}

/*
======================================================================
For sending and receiving single bytes, you can use Randy's IC code:
*/

void serial_putchar(int c)
{
   while (!(peek(0x102e) & 0x80));  /* wait until serial transmit empty
*/
   poke(0x102f, c);  /* send character */
}

int serial_getchar()
{
   while (!(peek(0x102e) & 0x20)); /* wait for received character */
   return peek(0x102f);
}

void main(void) {
        int pos, c = ' ', var1, var2;
        float f1, f2;
        char buffer[80];
        disable_pcode_serial();
        beep();
        printf("\nSerial IO Mode!");
        printf("Listening...");
        msleep(500L);
        while (c != 'q') {
                c = serial_getchar();
/*              printf("[%d] ", c); */
                if (c == MOTOR) {
                        var1 = serial_getchar();
                        var2 = serial_getchar() - 100;
                        motor(var1, var2);
                } else if (c == AO) {
                        ao();
                } else if (c == ANALOG) {
                        var1 = serial_getchar();
                        serial_putchar(analog(var1));
                } else if (c == DIGITAL) {
                        var1 = serial_getchar();
                        serial_putchar(digital(var1));
                } else if (c == PRINTF) {
                        pos = 0;
                        while (c != 0) {
                                buffer[pos++] = c;
                                c = serial_getchar();
                        }
                        buffer[pos] = '\0';
                        printf(buffer);
                } else if (c == TONE) {
                        pos = 0;
                        c = serial_getchar();
                        while (c != 0) {
                                buffer[pos++] = c;
                                c = serial_getchar();
                        }
                        buffer[pos] = '\0';
                        f1 = atof(buffer);
                        pos = 0;
                        c = serial_getchar();
                        while (c != 0) {
                                buffer[pos++] = c;
                                c = serial_getchar();
                        }
                        buffer[pos] = '\0';
                        f2 = atof(buffer);
                        tone(f1, f2);
                } else if (c == START_BUTTON) {
                        serial_putchar(start_button());
                } else if (c == STOP_BUTTON) {
                        serial_putchar(stop_button());
                } else if (c == BEEP) {
                        beep();
                } else if (c == KNOB) {
                        serial_putchar(knob());
                }
      }
        reenable_pcode_serial();
        printf("\nHB Mode!");
}

//************** END: serial_HB.c

From goldt@et.byu.edu  Tue Jul  7 20:33:03 1998
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Date: Tue, 07 Jul 1998 17:48:41 -0600
From: "Timothy B. Gold" <goldt@et.byu.edu>
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To: handyboard@media.mit.edu
Subject: Interrupt Handler for Serial communication
Content-Type: multipart/mixed; boundary="------------18CC6AC44E2E"

This is a multi-part message in MIME format.

--------------18CC6AC44E2E
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Here's a bit of code that will buffer incoming serial information so
that no information will be lost when transmitting to the handy board. 
There are two files: serial_isr.c and serial_isr.asm.  You'll need to
assemble the .asm file using as11_ic, and then both the .c file and the
.icb file need to be loaded onto the handy board.  I'm sure improvements
could be made to the code to clean it up a little, but it's a start (and
I haven't had any problems with it yet).  Enjoy!

--------------18CC6AC44E2E
Content-Type: text/plain; charset=us-ascii; name="serial_isr.c"
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/* C program to read serial port with interrupt service routine */
/* First version:  Written by Anton Wirsch   20 Nov 1997 */

/*

   Second Version: Written by Tim Gold   27 May 1998
                              BYU Robotics Lab
			      goldt@et.byu.edu        

     Really, the only thing left from the original code are a few
     lines in the .asm file.  Everything else I pretty much had to
     rewrite from scratch to get it to work the way I wanted to.
     But the orignal code by Anton was a very helpful starting point.

  Needed files:   serial_isr.c
                  serial_isr.icb
		  serial_isr.asm (needed to change the buffer size)

  The buffer size here is 32 bytes (probably much larger than it needs
  to be.)  To change the buffer size, do the following:
              1. Change the BUFFER_SIZE constant below to the
	         desired number of bytes.
	      2. Edit the line(s) in the serial_isr.asm which contain
	         the word "EDIT" in the comment so that the value
		 matches that of BUFFER_SIZE.
	      3. Recreate the serial_isr.icb file by typing the following:
	         > as11_ic serial_isr.asm 

 */




#define BUFFER_SIZE 32  /* change buffer size here  -- see above */

/* various constants used by the program... */
#define BAUD 0x102b   /* baud rate set to 9600 */
#define SCCR2 0x102d
#define SCCR1 0x102c
#define SCSR 0x102e
#define SCDR 0x102f

int buffer[BUFFER_SIZE]; /* this is the actual buffer */


void initSerial()
{
  /* Call this routine to activate the serial interrupt handler. */
  int i,temp;

  /* clear out buffer */
  for(i=0; i<BUFFER_SIZE; i++)
    buffer[i] = 0;

  /* clear vairous flags */
  DATA_FLAG = 0;
  INCOMING = 0;
  CURRENT = 0;

  /* pass address of buffer to interrupt routine */
  buffer_ptr = (int) buffer; 
  BASE_ADDR = (int) buffer;
  
  /* activate interrupt routine */
  temp = peek(SCCR2);
  temp |= 0x24;
  poke(SCCR2, temp);
  poke(0x3c, 1);
}

void closeSerial() 
{
  int temp;
  
  /* deactivate the interrupt routine */
  temp = peek(SCCR2);
  temp &= 0xdf;
  poke(SCCR2, temp);
  READ_SERIAL = 0x0000;
  poke(0x3c, 0);

}

void serialPutChar(int c)
{
  /* call this function to write a character to the serial port */

  while (!(peek(0x102e) & 0x80));
  poke(0x102f, c);               

}


int dataAvailable()
{
  /* This function can be used to check to see if any data is available */
  return DATA_FLAG;
}


int serialGetChar()
{
  /* Create blocking getchar for serial port... */
  int return_char;
  
  /* loop until data is available */
  while(!DATA_FLAG);

  /* get the character to return */
  return_char = buffer[CURRENT];

  /* check for wrap around... */
  CURRENT++;
  if(CURRENT == BUFFER_SIZE)
    CURRENT = 0;
  if(CURRENT == INCOMING)
    DATA_FLAG = 0;
  return return_char;

}





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/* This sets up the serial interrupt service routine */
/* First Version:	Written by Anton L. Wirsch  20 Nov 1997 */
/* Second Version: Written by Tim Gold   27 May 1998
                              BYU Robotics Lab
		              goldt@et.byu.edu        

     Really, the only thing left from the original code are a few
     lines in the .asm file.  Everything else I pretty much had to
     rewrite from scratch to get it to work the way I wanted to.
     But the orignal code by Anton was a very helpful starting point.

  Needed files:   serial_isr.c
                  serial_isr.icb
		  serial_isr.asm (needed to change the buffer size)

  The buffer size here is 32 bytes (probably much larger than it needs
  to be.)  To change the buffer size, do the following:
              1. Change the BUFFER_SIZE constant in serial_isr.c to the
	         desired number of bytes.
	      2. Edit the line in this fils which contains
	         the word "EDIT" in the comment so that the value
		 matches that of BUFFER_SIZE.
	      3. Recreate the serial_isr.icb file by typing the following:
	         > as11_ic serial_isr.asm 
*/


/* change this line to match your library path... */
#include "/usr/local/ic/libs/6811regs.asm"

        ORG MAIN_START
variable_CURRENT:
	FDB    00        * ptr to next data to be read by user
	
variable_INCOMING:
        FDB    00        * number of bytes received (circular count)

variable_BASE_ADDR:
	FDB    00        * base address of buffer (to be set by init routine)
	
variable_DATA_FLAG:
        FDB    00        * flag set when data is available

variable_buffer_ptr:     
        FDB    00        * pointer to CURRENT buffer

subroutine_initialize_module:
/* change this line to match your library path... */
#include "/usr/local/ic/libs/ldxibase.asm"

        ldd     SCIINT,X
        std     interrupt_code_exit+1
        ldd     #interrupt_code_start
        std     SCIINT,X
        
	rts

interrupt_code_start:
        ldad    variable_INCOMING       * store INCOMING into AB
        cmpb    #00                     * compare B with 0
        bhi     skip                    * goto "skip" if (B > 0)
        ldx     variable_BASE_ADDR      * STORE ADDRESS OF ARRY IN X
        inx                             * SKIP THE FIRST (?)
        inx                             * TWO BYTES      (?)
        inx                             * OFFSET TO THE HIGHER BYTE (?)
        stx     variable_buffer_ptr     * SAVE PTR VALUE 
        bra     cont

skip:
        ldx     variable_buffer_ptr     * load buffer pointer into x
cont:
        ldad    variable_INCOMING       * load INCOMING into AB
        incb                            * increment INCOMING
	cmpb    #32                     * compare B and 32   --EDIT TO CHANGE BUFFER SIZE--
	beq     reset_count             * if a=32, goto reset_count
	bra     cont1
reset_count:
	ldad    #00                     * set count to zero
cont1:	
        stad    variable_INCOMING       * store AB into INCOMING
        
        ldab    SCSR                    * load SCSR (SCI status register) into B (why?)
        ldab    SCDR                    * load SCSR (SCI data register) into B

        stab    ,X                      * store data in array
        inx                             * increment by two bytes
        inx                             
        stx     variable_buffer_ptr     * save the pointer value
	ldad    #01                     * load 1 into AB
	stad    variable_DATA_FLAG      * store AB into DATA_FLAG (indicating data is available)
interrupt_code_exit:
        jmp     $0000
















--------------18CC6AC44E2E--



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	for <handyboard@media.mit.edu>; Tue, 30 Jun 1998 23:01:54 -0700 (PDT)
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From: "Aaron Edsinger" <aarone@sirius.com>
To: "handy" <handyboard@media.mit.edu>
Subject: Serial Interface
Date: Wed, 1 Jul 1998 02:06:39 +0100
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Hello,	
	I've been having some problems using my HandyBoard to talk directly to my
PC via the serial interface.  I disable Interactive C and then Poke() and
Peek() as has been described on this list.  I  send short character strings
from my PC to the HandyBoard under Windows 95.  If I send strings longer
than 2 characters, it seems that some of the characters get lost. This
behavior seems to be affected by repositioning or slightly modifying the
code, suggesting perhaps a timing issue.
 
Why might this be?  Is there any way to check for an error situation?

Thanks for any help,
		Aaron
From cmcmanis@freegate.com  Thu Jul 16 03:13:49 1998
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Date: Wed, 15 Jul 1998 23:21:14 -0700
From: Chuck McManis <cmcmanis@freegate.com>
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To: David Rye <rye@mech.eng.usyd.edu.au>
Cc: handyboard@media.mit.edu
Subject: Re: Handyboard/RWP without p-code
References: <3.0.32.19980716151646.00809d20@nemo.mech.eng.usyd.edu.au>
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Get a copy of icc11 v5.0 or later (from www.imagecraft.com) and use the
handyboard library from their site. 

--Chuck

From Scott.Seaton@Aus.Sun.COM  Thu Jul 16 03:42:38 1998
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Date: Thu, 16 Jul 1998 16:41:56 +1000 (EST)
From: Scott Seaton - Systems Consultant - ESG <Scott.Seaton@Aus.Sun.COM>
Reply-To: Scott Seaton - Systems Consultant - ESG <Scott.Seaton@Aus.Sun.COM>
Subject: Re: Handyboard/RWP without p-code
To: handyboard@media.mit.edu, rye@mech.eng.usyd.edu.au
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Hi

I suggest that you contact ImageCraft.
http://www.imagecraft.com/software/index.html  or  info@imagecraft.com 

They have a C compiler for 68HC11 CPU's that will do what you want, including a
library for the HandyBoard (see attached e-mail) !

I have no affiliation with ImageCraft (other than as a satisfied customer).

Hope this helps
Scott
============================================================================== 
 ,-_|\       Scott Seaton - Sun Enterprise Services -  Systems Consultant      
/     \  Sun Microsystems Australia Pty Ltd  E-mail : scott.seaton@aus.sun.com 
\_,-\_+  828 Pacific Highway                  Phone : +61 2 9844 5381          
     v   Gordon, N.S.W., 2072, AUSTRALIA        Fax : +61 2 9844 5161          
============================================================================== 

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From dakott@alpha.delta.edu  Wed Jul  1 05:33:51 1998
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Date: Tue, 30 Jun 1998 22:34:31 -0400 (EDT)
From: David Kott <dakott@alpha.delta.edu>
Sender: dakott@kott.my.domain
To: brian-c@technologist.com
Cc: handyboard@media.mit.edu
Subject: Re: microcontroller
In-Reply-To: <199806291430.KAA07909@web01.globecomm.net>
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On Mon, 29 Jun 1998 brian-c@technologist.com wrote:

> -I'd like to say thanks to all the folks who replied
> to my question on the microcontroller speeds.
> 
> Here's another general question about them though.
> Should any unused pins be left open or should they 
> be grounded?
> 

Eeeeeeeeeeek!  Outputs left floating, CMOS inputs taken to ground with a
4.7K resistor... presuming, of course, that a Logic 0 on that input won't
generate adverse effects, e.g. a grounded active low interrupt line
might be a problem.  Such inputs should be taken to +5 with a 4.7K
resistor.

Floating CMOS inputs have a tendency to oscillate with the merest whisper
of a voltage.

TTL inputs may be left floating.

Driving an output externally will just heat up your CPU.. or worse.

							-d

-- 
 The box said "Requires Windows 95/NT or better"...
                                                 So I got Unix.

Free the Source.  Free your Computer... http://www.FreeBSD.org
                                          http://www.NetBSD.org
                                            http://www.OpenBSD.org

From rshirk@sfgate.com  Sun Mar 22 01:52:45 1998
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From: Richard <rshirk@sfgate.com>
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To: handyboard@media.mit.edu
Subject: Frob nobs and IR
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  This message is in MIME format.  The first part should be readable text,
  while the remaining parts are likely unreadable without MIME-aware tools.
  Send mail to mime@docserver.cac.washington.edu for more info.

---559023410-1804928587-890546857=:21628
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OK...Im now pretty happy with states of things but I still have a few
questions I hope you can help me answer. The code attached works and
everything, but only when i take the bit about playing the songs out. 

problem 1)
 It
keeps saying that play is undefined.  I saw that before and fixed it by
changing the names of the labels of the songs.  I tried it this time and
it didnt work...i was wondering if anyone out there knows why it does this
and how to correct it....

problem 2)

I figured out (thanks to you guys) how to work the built in IR sensor to
detect and act upon 4 signals. One is for behing hostile, 3 is for
seeking, signal 5 is when it gets annoyed, and 7 it just beeps and ignores
it. 
The signal for being Hostile responds quickly and prints H on the screen
but the others lag and  i was wondering if you knew why this was.

-Richard

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ICB9DQ0gICB9DX0N
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From wallace@theory.phys.vt.edu  Mon Jul 27 18:34:05 1998
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Date: Mon, 27 Jul 1998 17:22:24 -0400 (EDT)
From: Mark Wallace <wallace@theory.phys.vt.edu>
To: handyboard@media.mit.edu
Subject: sonar.c for the handyboard
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Hello,
	I have a handyboard and 6500 series poloroid ultrasonic ranging
system.  I have downloaded the sonar.c programs used to drive the
transducer for distance measurements.  There appears to be a problem, or
atleast I think there is, with it.  The sonar device is supposed to give
distances of up to 35ft but the TCNC time register is 16 bit and in the
program it says "if ((peekwork(0x100e)-start_time) < 0)" too much time has
elapsed and it returns -1.  Therefore as soon as about 32700 counts goes
by, that value will go negative. I believe hex goes from 0 to 32768 then
-32768 to -1. In this case the difference will be < 0 if the object
is greater then about 9 ft.  I have taken this out of the program and can
get accurate measurements up to atleast 30 ft but I have to look at the
value given and add multiples of 2^16 to it to figure out where it is.
Taking this out of the program also can get you stuck if you really are
out of range.
	I have looked on the motorola web pages to see about this clock
and it says that the clock goes till it reachs $ffff and then flags
somewhere that there is an overflow and then starts over.  I don't know
how to find out were in the chip this information might be stored.  I know
the TCNT time register is at 0x100e from the notes on Simplified Sonar for
the Handy Board but I don't know where that overflow flag is stored.  I
thought that maybe by setting this flag and using it in the loop you might
be about to get a greater distance out of you measurement.
	Another question I have is about IC.  I would like to display
numbers greater then 32000 and right now there are several int type
variables and normal C comands don't seem to work to make a "long" or any
other type that are larger then 32000.  How does IC handle larger numbers?
	I am only a student and don't have much experience with this stuff
so I would appreciate any feedback I can get on either of these problems.
Thanks.

Mark Wallace

 e-mail  mawalla3@vt.edu
         wallace@astro.phys.vt.edu
Web page http://sps1.phys.vt.edu/~mwallace/index.html

"What a waste it would be after 4 billion tortuous years of evolution if
the dominant organism contrived its own self-destruction"
                                        Carl Sagan


From mwallace@sps1.phys.vt.edu  Mon Aug  3 12:05:51 1998
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Date: Mon, 3 Aug 1998 11:16:50 -0400 (EDT)
From: Mark Wallace <mwallace@sps1.phys.vt.edu>
To: alf.kuchenbuch@usa.net
Cc: handyboard@media.mit.edu
Subject: Re: Polaroid trouble again
In-Reply-To: <35C5C521.446B@eikon.e-technik.tu-muenchen.de>
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	I had this same problem when I got mine a few weeks ago.  I ended up
putting a capacitor from pin 1 to pin 3 on U2 of the sonar driver board.
I also had to take out the 1k resistor from the BINH.  It kept
BINH at 1 V instead of Zero and that seamed to cause problems.
	As for the 6 ft problem,  it should be closer to 9 ft.  I think
the problem there is the IC code you used.  If you used the code for
SONAR.C from the HB web site then there is a problem with it.  What that
program does is take the difference in time from the internal clock.  the
problem is that in the code it says that if the difference between start
time and currnet time is negative too much time has elapsed.  Well,  this
has a 16 bit counter so when the difference is greater the about 32,700 it
becomes negative.  If you do the math, that means at about 9 ft that
happens so it tell you you are out of range.  
	The way I fixed this was to slow the clock down.
	
I looked up information on the motorola web page and found where the
prescalers were for the clock. 
	If you want to slow it down by a factor of four you can just add
this line to you program in sonar_init()

	bit_set(0x1024, 1);

I believe bit_set(0x1024, 2); will slow it down by a factor of 8 and
bit_set(0x1024, 3); will slow it down by a factor of 16.  
	There are better ways of fixing this problem but they appear much
more complicated.  For example the motorola chip has an overflow flag that
says when the internal clock flips.  You could incorporate that into your
code instead of slowing the clock down.  Good luck and I hope this helps.

Mark Wallace

 e-mail  mawalla3@vt.edu
         mwallace@sps1.phys.vt.edu
Web page http://sps1.phys.vt.edu/~mwallace/index.html

"What a waste it would be after 4 billion tortuous years of evolution if
the dominant organism contrived its own self-destruction"
                                        Carl Sagan

On Mon, 3 Aug 1998, Alf Kuchenbuch wrote:

> Hi!
> I am having trouble with my Polaroid sonar: 
> When I keep my HB hooked up
> to external power, I will only get correct readings up to 20 inches. As
> soon as I use battery power without hooking it up to external power, the
> readings are correct up to 6 feet, not more! This sound like EMI, I
> guess. I tried all the capacitor tricks from HB mailing list, but in
> vain. Do you know a fix that works? 
>  
> Alf H. Kuchenbuch
> 


From mawalla3@vt.edu  Wed Aug 12 13:10:06 1998
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Date: Wed, 12 Aug 1998 12:13:45 -0400
To: Handyboard@media.mit.edu
From: Mark Wallace <mawalla3@vt.edu>
Subject: serial library for C++ 
Mime-Version: 1.0
Content-Type: text/plain; charset="us-ascii"

Hello,
	I have a handy board with poloroid transducers and I am trying use the
results of my distance measurments in a C++ program on the computer.  I
have found programs on the handyboard web page that should alow the
handyboard to transmit information over the serial line.  What I am looking
for is if anyone knows were I could find a serial for Microsofts
Visual C++ 5.0.  I would like to find one that is free or sharware but any
information on any serial that will work would be appreciated.
Thanks.
Mark Wallace

 e-mail  mawalla3@vt.edu
	 mwallace@sps1.phys.vt.edu
web page http://sps1.phys.vt.ede/~mwallace

"What a waist it would be after 4 billion tortuous years of evolution if
the dominant organism contrived its own self-distruction"
			Carl Sagan


From aarone@sirius.com  Wed Sep 30 12:35:05 1998
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From: "Aaron Edsinger" <aarone@sirius.com>
To: "Keith - Lui" <luikeith@egr.msu.edu>
Cc: "handy" <handyboard@media.mit.edu>
Subject: Re: output to file
Date: Wed, 30 Sep 1998 10:47:58 -0700
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Yes,
        Write a dos/windows client that reads the serial line and then
writes it to file using the C stdio library.


-----Original Message-----
From: Keith - Lui <luikeith@egr.msu.edu>
To: handyboard@media.mit.edu <handyboard@media.mit.edu>
Date: Wednesday, September 30, 1998 6:55 AM
Subject: output to file


>Dear all,
>
>I would like to output some HB data to a file, is that possible?
>
>Keith
>



From aarone@sirius.com  Wed Aug 12 13:42:19 1998
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From: "Aaron Edsinger" <aarone@sirius.com>
To: "Mark Wallace" <mawalla3@vt.edu>
Cc: "handy" <handyboard@media.mit.edu>
Subject: Re: serial library for C++ 
Date: Wed, 12 Aug 1998 12:53:41 -0700
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  Check out this site.  It works well.  The only problem I had was timing
issues when trying to read and write to the port too quickly.

http://www.codeguru.com/show.cgi?general=/misc/misc_toc.shtml


-----Original Message-----
From: Mark Wallace <mawalla3@vt.edu>
To: Handyboard@media.mit.edu <Handyboard@media.mit.edu>
Date: Wednesday, August 12, 1998 9:25 AM
Subject: serial library for C++


>Hello,
> I have a handy board with poloroid transducers and I am trying use the
>results of my distance measurments in a C++ program on the computer.  I
>have found programs on the handyboard web page that should alow the
>handyboard to transmit information over the serial line.  What I am looking
>for is if anyone knows were I could find a serial library for Microsofts
>Visual C++ 5.0.  I would like to find one that is free or sharware but any
>information on any serial librarys that will work would be appreciated.
>Thanks.
>Mark Wallace
>
> e-mail  mawalla3@vt.edu
> mwallace@sps1.phys.vt.edu
>web page http://sps1.phys.vt.ede/~mwallace
>
>"What a waist it would be after 4 billion tortuous years of evolution if
>the dominant organism contrived its own self-distruction"
> Carl Sagan
>

From Scott.Seaton@Aus.Sun.COM  Thu Jul 16 03:42:38 1998
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From: Scott Seaton - Systems Consultant - ESG <Scott.Seaton@Aus.Sun.COM>
Reply-To: Scott Seaton - Systems Consultant - ESG <Scott.Seaton@Aus.Sun.COM>
Subject: Re: Handyboard/RWP without p-code
To: handyboard@media.mit.edu, rye@mech.eng.usyd.edu.au
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Hi

I suggest that you contact ImageCraft.
http://www.imagecraft.com/software/index.html  or  info@imagecraft.com 

They have a C compiler for 68HC11 CPU's that will do what you want, including a
library for the HandyBoard (see attached e-mail) !

I have no affiliation with ImageCraft (other than as a satisfied customer).

Hope this helps
Scott
============================================================================== 
 ,-_|\       Scott Seaton - Sun Enterprise Services -  Systems Consultant      
/     \  Sun Microsystems Australia Pty Ltd  E-mail : scott.seaton@aus.sun.com 
\_,-\_+  828 Pacific Highway                  Phone : +61 2 9844 5381          
     v   Gordon, N.S.W., 2072, AUSTRALIA        Fax : +61 2 9844 5161          
============================================================================== 

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From someone@imagecraft.com  Fri Jul 10 18:59:26 1998
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From: Christina Willrich & Richard Man <someone@imagecraft.com>
Subject: icc11 Handyboard library available
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At long last, I dusted off Chuck McManis Handyboard library and ported it
to V5. No reason why it can't work with V4.5 either ;-) Anyway, to try it
out, point your browser to

ftp://ftp.imagecraft.com/pub/libhb.zip

Chuck really did a great job with the LCD. There are commands to scroll,
move etc. Make sure you try the lcdtest2.c test.

// richard
someone@imagecraft.com http://www.imagecraft.com


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From brian-c@technologist.com  Mon Jul  6 11:54:19 1998
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To: Terri A Mortvedt <terrim@iastate.edu>, handyboard@media.mit.edu
Subject: Re: Steppers

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Dear Terri,

If the motors turn sparatically, that means the coils
are probably not hooked up in the correct order. Try
swapping them around and see if anything improves.

The motors you are using are the bipolar type. There=20
is a decent way of hooking up unipolar steppers to
the HB at http://www.cctc.demon.co.uk/stepper.htm
A basic difference between bipolar and unipolar is
that unipolar motors have additional wires are=20
connected to the power supply. Bipolars also have more
torque.

Using fd(); and bk(); commands to power steppers is
probably a lot to handle. I recommend trying the=20
method found on that link. There's even sample coding.
You will have to modify some variables for the turn
functions because your turning radius varies according
to your distance between motors.

I modified the step(); function to produce a gradual=20
increase in speed, and a gradual decrease in speed once
the specified steps are almost complete.=20

I will attach my motors.c file as is.



_________________________________________________
=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=
=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF
Brian Carvalho              [ brian-c@ieee.org ]
DeVRY Institute
New Jersey
_________________________________________________
=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=
=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF
---------------------------------------------------
Get free personalized email at http://www.iname.com

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Ow0KDQp9ICAgICAgICAgICAgICAgICAgICAgICAgICAgICANCg0K


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