Xabre (7th Semester) Project Report
This document was uploaded by user and they confirmed that they have the permission to share it. If you are author or own the copyright of this book, please report to us by using this DMCA report form. Report DMCA
Overview
Download & View Xabre (7th Semester) Project Report as PDF for free.
More details
- Words: 23,055
- Pages: 87
CERTIFICATE IRMA I STITUTE OF TECH OLOGY AHMEDABAD
I hereby certify that the following students of B.E. IV, Semester VII, Instrumentation and Control have satisfactorily completed their project on ‘SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EFFECTOR’ EFFECTOR’ at ARRAYCOM INDIA LTD.
SR. NO.
NAME
ROLL NO.
1
ABHIJIT KARNIK
00IC28
2
NISHANT KAUSHIK
00IC29
3
HARSH SATYAPANTHI
00IC44
(Prof. J.B. Patel) I TER AL GUIDE
DATE:
(Dr. M.D. Desai) HEAD OF THE ELECTRICAL E GI EERI G DEPARTME T
Project Project Report 7th Sem I.C.
ACKOWLEDGEMET: As students of the final year of engineering (Instrumentation & Control), we are required to undertake a project for the 7th and 8th semesters. Our project is titled “SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EFFECTORS”. Herewith is encapsulated a report of the same. In our attempt, we have come to realize that robotics is a field which is not just an isolated field on its own. It is the fusion of a number of concepts from all the major engineering fields. Hence our journey has had a number of guides, each one from a different field. In submitting this report, we, the undersigned, would like to take the opportunity to thank all these people, without whose help our modest endeavour would never have seen the light of the day. Thereby we take immense pleasure in thanking Mr. Kedar Thanki and Mr. S.J. Dhru (Arraycom (I) Limited) who were our External guides, Dr. M.D. Desai (HOD, Electrical Dept.), Prof. J.B. Patel(Asst. Prof., IC Dept., & Internal Guide), Prof. B.B. Kadam (Prof., Electrical Dept.), Mr. H.K. Patel (Lecturer, IC Dept.), Prof. Y... Trivedi (Asst. Prof., EC Dept.), Ms. Gauri Mudaliar (Lecturer, Mechanical Dept.), Mr. Sudhir Raval (DI. Engg. Ltd) and Mr. Purendere (Syntronics Pvt. Ltd.) We would also like to acknowledge the enthusiastic support that was given to us by the faculty of I.C. Dept., who not only gave us moral support but were actively interested in our project through all its ups and downs. Last but not the least; we would like to acknowledge the unquestioning and untiring support from our families.
Abhijit Karnik (00IC28) ishant Kaushik (00IC29) Harsh Satyapanthi (00IC44)
Nirma Institute of Technology XABRE
Project Project Report 7th Sem I.C.
FOREWORD: The word robot was coined by the Czech writer Kapek in his play ‘Rossum's Universal Robots’. Since then countless devices have been created and have been associated with the word ‘Robot’. The works of Isaac Asimov have laid the foundation of sociology pertaining to the use of robots instead of humans and the word ‘Robotics’ was also coined by him. In today’s world, work on robots, that resemble and look almost human, and others which don’t resemble humans in any way, progresses in leaps and bounds. The world has forerunners in this technology like MIT, CMU, Sony, Honda etc. In this world of ASIMO, AIBO, Packbot etc., we have made an attempt to create a device which we dare call ‘Robot’.
Perhaps the most important work of Isaac Asimov could be considered to be the coining of the 4 Laws of Robotics. One of the fundamental concepts of robots made famous by the Zeroth Law of Robotics by Asimov: “A robot may not injure humanity, or, through inaction, allow humanity to come to harm.” We have tried to create a system which will allow safeguarding of life. We plan to achieve this by way of allowing the robot to take the place of humans in situations which hold a potential threat to human life. Our attempt was to provide a tool to the enforcers of law and order that could allow them to access and assess a situation which could hold avoidable threat to human life.
Nirma Institute of Technology XABRE
Project Report 7th Sem I.C.
ITRODUCTIO: This report is the documentation of all the efforts that went into the making of Xabre. The title of the project was coined as:
‘Surveillance Robot with Remote Control & End Effectors’, shortened to Sabre, (a type of sword) and going with the spirit of prototypes having an ‘X’ in their name, we arrived at ‘Xabre’. Xabre is targeted to be a ‘Technology Demonstrator’ prototype, wherein an attempt has been made such that the presently available systems are integrated in a particular fashion, to accomplish a specific task.
This report is divided into 6 sections. Each section deals with the project from a different viewpoint. The first section deals with the purpose of the robot, the features it has and the system block diagram. The second section deals with the operational description of the different modules of the robot which thereby allow the proper functioning of the features that we have planned to implement on the robot. The third section is the hardware and software section wherein the mind and the nerve control of the robot is explained. The fourth section deals with the mechanical design of the system. The fifth section contains the summary of different technological fundamentals that were considered for use in the system as well as the selection of the integrated circuit chips used in the project. The last section is the annexure containing the selected sections of the datasheets of the electronic components used in our project, bibliography, information about the sources of the system’s components and the future development or design modifications that we can implement but couldn’t due to various constraints..
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SECTIO 1 PROJECT OBJECTIVES: The features that we have planned to implement on the robot are as follows:
1. Locomotion 2. Camera vision 3. Pan/Tilt motions for camera 4. Self-righting mechanism 5. Gripper mechanism 6. Extension operations 7. Path Illumination Locomotion is the fundamental feature of the system since the system is a mobile one. An easily maneuverable system implementing a differential tank-style drive has been thought of. The differential drive also has a multi-speed operation facility too.
The surveillance objective requires a camera to be mounted on the system. The video information that is acquired by the camera has to be transmitted to the base controller (called Zeus from now on) The HMI part of Zeus displays the video to the human operator.
The additional requirement is that the camera should be able to cover the maximum space around it, without the mobile robot (called Xabre from now on) being required to rotate or move. This facility is provided by Pan/Tilt feature. This
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
allows the human controller to change the Point of View (POV) of the camera easily.
The self-righting feature provides for a very versatile operation of the robot over uneven terrain. In case during navigation, Xabre turns upside down, we can actually flip it to right side up without the intervention of the human controller. This is done automatically by the self-righting feature.
The gripper feature is the small object manipulator provided on Xabre to allow it to physically interact with its environment and place or retrieve small objects into the target location. The gripper has a single Degree of Freedom (DoF) apart from the gripping action.
Xabre is targeted to be deployed into environments wherein, it may be loaded with other tools that are required for it to perform desired tasks. Since it would be improper to not provide the facility for the direct control of such tools without additional overhead of hardware, we have already provided for the extension tools. As of now a minimum of 5 such tools can be controlled by Zeus.
At times, Xabre may have to venture into areas where there is minimal light. In such cases, since we can’t implement IR vision systems (reason being cost constraints); we have the path illumination feature. This allows the camera to be able to see the region ahead of it, after being illuminated.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
TARGET APPLICATIOS: The target applications are surveillance and object retrieval purposes, basically where it is practically difficult for humans to venture. The need to have a system like the one we have designed is commonly felt in certain cases very frequently. One of such target applications, for which this project was designed, is the case of hostage situation. Another situation being a criminal is hiding in a house. In either situation, the law enforcement officials would find it very convenient to not risk any human life by sending someone inside. Instead, if Xabre is sent in, it can peruse the surroundings and communicate, to the officials outside, the scene inside through Zeus.
Xabre can also be used to approach and investigate any suspicious object which could be hazardous. For this purpose, the gripper mechanism which has the ability to grasp and extricate small objects, can actually manipulate or extract such objects which are accessible to it. Since the beginning of the project, we have tried to design a system which can easily be upgraded with the minimum effort. As a result of this, the present design allows for the implementation of system upgrades in form of extension operation tools. The extension operations make the Xabre versatile and upgradeable. It can be fitted with upto 5 tools that can perform remotely controllable tasks. For e.g. when equipped with a miniaturized metal detector, Xabre can also be used for detection of personnel landmines which have some metallic structure. Additionally Xabre can be used to navigate into ducts or small places that are not easily accessible by humans and investigate faults in equipment placed there.
Nirma Institute of Technology Technology XABRE
Technology Nirma Institute of Te chnology XABRE
Project Report 7th Sem I.C.
Project Report 7th Sem I.C.
SYSTEM BLOCK DIAGRAM (explanation) The stated target is to implement a robotic vehicle which can be manually controlled using a wireless link and perform specific functions. The application of the device as a mobile surveillance system and a small object manipulator requires the presence of vision and a small gripper system onboard the vehicle. The vehicle also incorporates a feature called self-righting. The additional features to be implemented in the system are the pan/tilt operation of the camera & path lighting. For further development and tool addition, provision for 5 extension operation tools is also provided. The whole project is hence broadly divided into the following modules: Module List M01. PC Control Module (Human Machine Interface or HMI) M02. Locomotion Module M03. Self-Righting Module M04. Pan/Tilt Module M05. Gripper Tool Module M06. Extension Tools Module M07. System Controller & Power Module M08. Control Communication M09. Camera Module (Video Acquisition, Transmission and Reception) M10. Light Module The modules are present over both the Zeus control and Xabre bot. The module definition basically separates out sets of hardware doing a specific common objective task.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
The above modules can be broadly divided into 2 parts by way of location: 1. Zeus (The Control) : The immobile PC side systems including modules: M01, M08 (partially) & M09 (partially) 2. Xabre (Bot): The actual robot including modules: M02, M03, M04, M05, M06, M07, M08 (partially), M09 (partially) & M10 The system block diagram shows how the operation of the Xabre is carried out. The human controller determines an action to be carried out. Then he/she gives the corresponding directive to the Human Machine Interface (HMI) which is a VB form object present on the PC monitor screen. The HMI does the required processing of the directive and generates a bit pattern which is basically a command that the µC on Xabre can understand. It sends the directive to the Transmitter module on Zeus through the COM port. The Transmitter module then transmits the command to Xabre. The receiver module on Xabre receives the command and sends it to the
C
through its Serial UART 0. The µC then processes the command and detects as to for which module the command is for, based on the bit pattern. It then actuates the module as required. Some modules have their own feedbacks to the µC. These are basically limit indicators and for these modules, the µC checks for limit status before actuating the module. The Camera module is kept entirely isolated from this control scheme. This module being a fully separate and ‘plug n play’ system, has its own communication system. It sends back the video data to Zeus, wherein the receiver o/p is converted to PC display compatible form and displayed onto the PC monitor screen. The pan/tilt operation of the camera is listed separately because it is under direct control of the µC and is a separate entity than the Camera module.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
TARGETS FOR 7TH SEMESTER The project development requires the generation of mechanical structure, controller circuitry and operating software for the system. The 7th semester objectives were hence: 1. Complete Design and Analysis: The whole system, its objectives, architecture of the hardware, mechanical systems and finally the software architecture was to be complete on paper so as to serve as a reference for the further steps in development. 2. Mechanical Systems: Piecewise testing of the whole system would prove unsatisfactory in a project as this one, where the electronics play an equal and important role as the mechanical assembly. Hence the most important objective was to have a fully functional mechanical system. 3. Preliminary system integration: We plan to complete the operational integration of the system so that its basic locomotory function can be activated. 4. HMI Software and PC side controller: The system’s HMI that allows commands to be sent to Xabre along with the camera output display on the PC screen. Hence the targeted controller for Xabre also features in the targets for 7th semester.
Ground Reality The projected targets have been somewhat satisfactorily met after a number of obstacles. The whole mechanical design has been carried out by us, without any external help, using AutoCAD 2000i software. The system architecture and the software design for the µC has been completed. The software implementation for the µC for some of the modules has been completed for this semester. The delays caused due to availability of motors, mechanical structure manufacturing etc were the main obstacles in the achievement of the objectives.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SECTIO 2 Function Description: The modules are controlled remotely or otherwise by way of functions, each of which is defined for a specific module. The function defines the activities of the module based on the commands or external input received by the module. These functions are normally executed when either a command is received or any interrupt is received from the interrupt i/ps. The general program then performs the task of continually ascertaining if the control communication link is still active or not. All the actuatory actions are only executed as responses to interrupts. The functions are explained below: Functions: 1. Locomotion (Ref M02): Class: Manual Control Description: The robot works on the tank-style drive. The differential motion generated by the 2 motors gives the required direction navigation and maneuverability. The magnitude and the direction are specified in the commands. The driver IC (the LMD18200T) accepts PWM input only. For this purpose, we are using Timer 0 in mode 1 to generate the PWM output for both the drives simultaneously. The locomotion motors on the right and left of the system are driven by 2 bit signals each. 1 bit determines the direction and the other bit provides PWM o/p. The port P0’s lower nibble is utilized for this purpose. This is the only module under the control of the µC that doesn’t use the system bus (viz. Port P1 as the data bus and bits of Port P2 used for the device select) Sensors: none Inputs: none Command Bytes: 2 (10Y-Di-MMMM) Internal Status Bytes: Locomotion Byte (Loc_Byte) External Port Bytes: 4 bits (RDRPWM-LDLPWM)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
2. Self Righting Auto Class: Auto Control Description: When the system overturns, this function detects the overturning and carries out actions to make sure that the system flips over back to upside up position. This is carried out by first rotating the arms CW until the system flips over properly. When the system has flipped upright, the SR arms are brought back to lock-in position by rotating the Sr arms ACW. Additionally a manual override for the command is also provided. This is obtained by the SR disable command. System carries out the sequence of righting the system if it flips over while disabling locomotion during operation. It also restarts locomotion after sequence is over. Self righting has 2 steps. First, on detection of flip-over through sensor, initiate ‘OPEN’ action of self-righting arms. Second, on detection of flip-right through sensor, initiate ‘CLOSE’ action and continue it till sensor indicates lock-in of arms. Sensors: 1 tilt sensor, 3 IR LED-PXTOR pairs Inputs: 4 bits, interrupt driven Command Bytes: X1 (1 bit) Internal Status Bytes: SR Status Byte (SR_Stat_Byte) External Port Bytes: 2 bits (SRMSRD) 3. Self Righting Manual Class: Manual Control with auto trip Description: In some cases the operation of the SR arms is required to raise the front end of the robot. For this manual operation is implemented to either open the SR arms outwards or inwards as per command issued. Also the limiting position is determined by either the stop command or the lock-in/extremity position being achieved. Hence on receiving Zeus command and if lock-in is true,
C initiates ‘M_OPEN’ action of self-righting arms. Stop opening when
‘M_OPEN’ limit is reached. OR On Zeus command, if lock-in is true, initiate ‘M_CLOSE’ action. Stop closing when ‘M_CLOSE’ limit is reached. If lock-in is not true for either close command continue till lock-in is true. If new Zeus
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
command is received before the end of the previous Zeus command, the older one is discarded. These commands are scrapped if the Self Righting Auto action is triggered. Sensors: 3 IR LED-PXTOR pairs (Same as Self Righting Auto) Inputs: 3 bits, interrupt driven. Command Bytes: 2 bits (XY) Internal Status Bytes: SR Status Byte (SR_Stat_Byte) [Same as Self Righting Auto] External Port Bytes: 2 bits (Same as Self Righting Auto)
4. Gripper Operation. Class: Manual Control with auto trip Description: This function pertains to the micro-manipulator implemented on Xabre used to grip and lift (if required) small objects (size < 10 cm). The implemented system has a total of 4 functions to perform. The first 2 pertain to the direct gripping action. These are namely: Gripper Open and Gripper Close. They are limited by Gripper Open Limit Switch and the Gripper Close Limit Switch. The Gripper Open Limit Switch prevents damage to either motor or gripper if we try to open it beyond its limit. The Gripper Close Limit Switch prevents damage to motor or gripped object when gripper is closing. The additional system functions are namely: Lift and Drop. The Lift function allows the Gripper to rise up by 300o after gripping object, such that the object is lifted off the ground. This allows Xabre to move, after having picked up the object and ensuring that the object is not dragged while Xabre is moving. Drop function is required to place the object back on ground after returning to the base station. Sensors: 4 microswitches Inputs: 4 bits, interrupt driven. Command Bytes: 4 bits (AB UV) Internal Status Bytes: Gripper Status Byte (G_Stat_Byte) External Port Bytes: 2 bits (G1G2 G3G4)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
5. Pan/Tilt of Camera. Class: Manual Control with auto trip Description: The camera module is independent in its operation of image acquisition and data transmission. However the system is not equipped with the ability to change its POV on its own. This requires a setup to physically rotate the camera so as to move its POV Camera panning or tilting is carried out as per the Zeus commands sent to it. The panning action is limited to 300o by limit switches on either extremities and the tilting action is limited to 135o by limit switches on either extremities. The action is continued until one of the microswitches is tripped or Zeus command orders a stop. Sensors: 4 microswitches. Inputs: 4 bits, interrupt mode Command Bytes: 1 byte (110- _ - CD - EF) Internal Status Bytes: P/T Status Byte (PT_Stat_Byte) External Port Bytes: 4 bits (TDTM - PDPM)
6. Light Operation Class: Manual Description: The light function is manually controlled and lights up only when the system is asked to switch it on. This is essential for surveillance as Xabre should let its presence known only when there is explicit need for the same. Light is turned on after receiving ‘Turn_On’ command from Zeus. On receiving ‘Turn_Off’ command from Zeus, the light is turned off. Light provides only forward path lighting only presently. The light system can be attached to the PT System to allow it to have the same POV as the camera. Sensors: none Inputs: none Command Bytes: 1 bit (G) Internal Status Bytes: l (SR_Stat_Byte) External Port Bytes: 1 bit (L)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
7. Extension Operations 1 Class: Manual with no processing Description: Used for allowing additional tools to be added to the system. Extension Ops 1 carries the 3 bit command and a 1 bit command for the extension tools. Sensors: none Inputs: none Command Bytes: 111 - 0 – E31E32E33 – E41 Internal Status Bytes: Higher order nibble of Extension Byte (Extn_Byte) External Port Bytes: 4 bits (HIJK) 8. Extension Operations 2 Class: Manual with no processing Description: Used for allowing additional tools to be added to the system. Extension Ops 2 carries the 2 bit command and two 1 bit commands for the extension tools. Sensors: none Inputs: none Command Bytes: 111 - 1 - E21E22 – E11 – E51 Internal Status Bytes: Lower order nibble of Extension Byte (Extn_Byte) External Port Bytes: 4 bits (NOQR) (same byte as Ext Ops 1) 9. Reset Operation This operation sets Xabre to initial operative stage loading default values for the system.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Zeus Command Byte Definitions: The µC is configured to accept commands over the wireless link from Zeus. These commands are hence called Zeus Commands. The command structure of the same is shown below: Brief definitions Core
Information Indicated
Class D4
Functions
D3
D2
D1
D0
000
1
1
0
0
0
Reset
010
1
0
0
1
1
Test Command 1
011
1
0
1
0
1
Test Command 2
001
0
A
B
V
U
Gripper 1 and 2 Command
001
1
X
Y
1
X1
SRM & SR Auto Override Command
100
Di
M3
M2
M1
M0
Left Drive Command
101
Di
M3
M2
M1
M0
Right Drive Command
110
G
C
D
E
F
111
0
E31
E32
E33
E41
Extension Ops 1
111
1
E21
E22
E11
E51
Extension Ops 2
Light and Pan/Tilt Command
Detailed explanation: I. Two bit commands Bit
SRM
Pattern XY
Pan
Tilt
Gripper 1
Gripper 2
CD
EF
AB
UV
00
Do Nothing
Do Nothing
Do Nothing
Do Nothing
Do Nothing
01
Stop
Stop
Stop
Stop
Stop
10
Open CW*
Pan Left
Tilt Up
Open
Lift Up
11
Open ACW*
Pan Right
Tilt Down
Close
Drop Down
*CW opening is also implemented for SR Auto in the initial phase. To bring the SR arms back into the lock-in position, ACW rotation is applied.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
II. Locomotion commands D4 bit defines the direction. If 1 then rotate motor to generate forward motion. If 0 then rotate motor to generate reverse motion. M3-0 determines magnitude. The locomotion magnitudes are converted to values which are used as Timer0 High load values so that the single timer can be used to generate two PWM signal for both drive motors.
III. Extension Operations: The bits are output as sent by Zeus. A single byte is output and the related nibble is set as per the commands.
Inputs & Sensors: Two ports are used for the inputs. The inputs are from the sensors on the Xabre system and bring in specific information about the system status. The most important information is the overturning detection. For this a tilt sensor is used. This sensor gives a ‘1’ signal for normal state and when the system flips over, the sensor gives a ‘0’ as input. The microswitches used for the remaining inputs give ‘0’ for normal states and for the tripped state gives ‘1’. The photo-transistor systems are arranged as a PXTOR on one side of a disc with 3 holes and the IR LEDs on the other side of the disc. The photo-transistor systems give ‘1’ output for hole and for blank, give ‘0’. During normal operation only the PXTOR for the lock-in indication gives 1 and the remaining two extremity detectors give 0 as output. The arrangement is such that only one system in front of a hole will give output 1 and for the remaining times none of the 3 systems will give output 1. The input port 1, being used for gripper microswitches, is common to the SR inputs. This port is interrupt driven, i.e. when there is any change of state of any of the 8 inputs, an interrupt is generated by the debouncing IC and sent to INT0 of Thor. Then Thor can read in the states of the 8 switches. The input port 2, being used for the Pan/Tilt microswitches, is also an interrupt driven port. The inputs from this port are read in and two steps are carried out by Thor. First, it saves the trip status to the P/T status byte and then writes stop
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
commands to the tripped system (Pan or Tilt for which microswitch has tripped) if the on bits for the same are set.
External Port Bytes: Port
Information Indicated
P2.x
D7
D6
D5
D4
x
X
x
x
P0.x#
Functions/Port names D3 RD
D2 RPW
D1 LD
M
000b
SRT
SRLI SRC
010b
SRD
SRM
011b
G1M
100b 101b
D0 LPW
Locomotion Port
M
SRA
0
0
1
1
I/P PORT, int. driven
0
0
1
1
1
L
SR & Light Port
G1D
G2M
G2D
TM
TD
PM
PD
TUL
TDL
PRL
PLL
GUL
GDL
GCL
GOL
H
I
J
K
N
O
Q
R
Gripper & Pan/Tilt Port I/P PORT, int. driven Extension ops. Port
#Only the locomotion commands don’t use the P1 data bus and P2.x address select system. I. Inputs: Interrupt Driven Inputs -1 SRT: SR Tilt sensor.
SRLI: SR Lock-in sensor.
SRC: SR CW limit sensor.
SRA: SR ACW limit sensor. Interrupt Driven Inputs -2
GUL: Gripper Up limit sensor.
GDL: Gripper Down limit sensor.
GCL: Gripper Close limit sensor.
GOL: Gripper Open limit sensor.
PLL: Pan Left limit sensor.
PRL: Pan Right limit sensor.
TDL: Tilt Down limit sensor.
TUL: Tilt Up limit sensor.
II. Outputs: Locomotion LD
Left or Right Direction
LPWM
Drive PWM signal.
RD
1=Forward; 0=Reverse
RPWM
1=ON ; 0=OFF
SR/Gripper 1-2/Pan/Tilt
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SRD Direction determining bit.
SRM
G1D 1 indicates CW / Open / Lift /
G1M ON/OFF determining bit. If the
G2D Tilt Up / Pan Left
G2M bit is 1, the motor runs else it
TD
0 indicates ACW / Close / Drop /
TM
PD
Tilt Down / Pan Right
PM
doesn’t run.
Light/Extension Operations L, H, I, J, K, N, O, Q, R
1 indicates ON; 0 indicates OFF
Internal Status Bytes: Byte Name
Information Indicated D7
D6
D5
D4
D3
D2
D1
D0
Loc_Byte
LD
LM3
LM2
LM1
RD
RM3
RM2
RM1
SR_Stat_Byte
SRT
SRLI
SRC
SRA
SR On
G_Stat_Byte
G1D
G1M
G2D
G2M
GUL
GDL
GCL
GOL
PT_Stat_Byte
TUL
TDL
PRL
PLL
TD
TM
PD
PM
H
I
J
K
N
O
Q
R
Extn_Byte
Nirma Institute of Technology Technology XABRE
SR Cw Aut_O
L
Project Report 7th Sem I.C.
SECTIO 3 SOFTWARE HMI: The interface is a form object coded in VB6 Enterprise Edition, incorporating Microsoft Communication Control Toolbox ver 6. The HMI is an intuitively designed interface which allows the user to easily control Xabre by using the k/b and a joystick. The interface is shown below:
The joystick interface needs to be calibrated for different PCs and for different temperature regions, since this tends to affect the potentiometers which are integral to the construction of the joystick. To compensate for change in the potentiometer resistance and allow the proper operation, we use the joystick calibration form called Calib as a child form of the main Zeus form. This form is shown below:
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Since we are using RS-232 serial output port viz. Com1 or any other available Com port (usually Com 2), the satisfactory operation of the Com port has to be verified before starting communication with Xabre. For this we use the ‘Serial Settings Select’ form. This form is shown below:
The code for the same consists of 2 .bas modules and 3 form objects. The code listing for the same is as follows next.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
ZEUS Form Object VERSION 5.00
ScaleWidth
Object = "{648A5603-2C6E-101B-82B6-
TabIndex
000000000014}#1.1#0"; "MSCOMM32.OCX"
Top
Begin VB.Form Zeus
Width
BorderStyle Caption
= 1 'Fixed Single = "Zeus"
ClientHeight
= 2490
= 480 = 24 = 600 = 540
End Begin VB.PictureBox Ext_op_pics AutoRedraw
= -1 'True
ClientLeft
= 1575
AutoSize
ClientTop
= 2400
Height
= 375
Index
= 7
ClientWidth FillColor
= 9765 = &H00C0FFFF&
LinkTopic
= "Form1"
Left
= -1 'True
= 1440
Picture
= "Xabre 161003.frx":03ED
LockControls = -1 'True
ScaleHeight
MaxButton
= 0 'False
ScaleWidth
MinButton
= 0 'False
TabIndex
Moveable
= 0 'False
Top
ScaleHeight
= 2490
Width
ScaleWidth
= 9765
Begin MSCommLib.MSComm MSComm1
= 315 = 480 = 23
= 600 = 540
End Begin VB.PictureBox Ext_op_pics
Left
= 0
AutoRedraw
Top
= 960
AutoSize
_ExtentX
= 1005
Height
_ExtentY
= 1005
Index
_Version
= 393216
Left
DTREnable
= 0 'False
NullDiscard
= 375 = 6 = 720
Picture
= "Xabre 161003.frx":07DA
= -1 'True
ScaleHeight
RThreshold
= 1
ScaleWidth
InputMode
= 1
TabIndex
End
Top
Begin VB.Frame Ext_Ops_frame
Width
BorderStyle Height Left
= 0 'None = 1095
= 3480
TabIndex Top Width
= 17 = 1320 = 2535
Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
Nirma Institute of Technology Technology XABRE
= 1 = 0
Picture
= "Xabre 161003.frx":0BC8
ScaleHeight
TabIndex
= 315
= 375
Index Left
Top Width End
= -1 'True = -1 'True
Height
ScaleWidth
= "Xabre 161003.frx":0000
= 540
AutoSize
= 375
ScaleHeight
= 600
AutoRedraw
= 5
Picture
= 480 = 22
End
Index
= 0
= 315
Begin VB.PictureBox Ext_op_pics
Height
Left
= -1 'True = -1 'True
= 315 = 480 = 21
= 0 = 540
Project Report 7th Sem I.C.
Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
Height
= 375
Index
= 4
Left
= 1680
Picture
= "Xabre 161003.frx":0FB6
ScaleWidth
Begin VB.Frame Keyboard_Controlled_Frame BorderStyle Height
= 240
Left
= 20
Width
= 300
= 600
End
= 315
= 0
= 120
Width
ScaleWidth
Top
= 16
Top
ScaleHeight
TabIndex
= 540
TabIndex
= 0 'None = 2295
= 6480
TabIndex Top
= 8 = 120
Width
= 2295
Begin VB.PictureBox Kb_pics
End Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
AutoRedraw
= 375
Index
Index
= 3
Left
= 1080
Picture
= "Xabre 161003.frx":1050 = 315
ScaleWidth
= 480
TabIndex
= 19 = 0
Width
= 540
= "Xabre 161003.frx":2B0A
Top Width
= 750 = 750 = 13
= 720 = 810
End Begin VB.CommandButton Kb_Button
End Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
DownPicture
= 405
Index
= 1
= 375
Left
Index
= 2
MaskColor
Left
= 600
Picture
= "Xabre 161003.frx":143E
= "Xabre 161003.frx":57B2 = 1 'Graphical
= 315
TabIndex
= 240
Top
Top
= 0
Width
= 300
= &H8000000F&
Style
ScaleWidth
= 18
= 720
Picture
ScaleHeight
TabIndex
= "Xabre 161003.frx":48FC
Height
Height
= 12 = 120
UseMaskColor Width
= -1 'True
= 810
End Begin VB.CommandButton Kb_Button
End
DownPicture
End Begin VB.PictureBox Light_Pic AutoRedraw AutoSize
= -1 'True = -1 'True
Height Left
= 0 = 720
ScaleHeight
ScaleWidth
Top
= 810
Picture
ScaleHeight
TabIndex
= -1 'True
Height
Height
Left
= -1 'True
AutoSize
= 840 = 4440
Picture ScaleHeight
= "Xabre 161003.frx":14D8 = 780
Nirma Institute of Technology Technology XABRE
= "Xabre 161003.frx":66CC
Height
= 810
Index
= 4
Left MaskColor
= 1680 = &H8000000F&
Picture
= "Xabre 161003.frx":759A
Style
= 1 'Graphical
TabIndex
= 11
Project Report 7th Sem I.C.
Top
= 720
UseMaskColor Width
= -1 'True
= 405
DownPicture Height Index
End
Left
Begin VB.CommandButton Kb_Button
MaskColor
Index Left
= "Xabre 161003.frx":CF9E
Style
= 1 'Graphical
= 2
TabIndex
MaskColor
= &H8000000F&
Picture
= "Xabre 161003.frx":93CE
Style
= 1 'Graphical
TabIndex
= 10 = 1680
UseMaskColor Width
= -1 'True
= 810
Width End
DownPicture
= 405
Index
= 2
= &H8000000F&
Picture
= "Xabre 161003.frx":EDD2
Style
= 1 'Graphical
= 3
TabIndex
= "Xabre 161003.frx":A2E8
= 120
MaskColor
= &H8000000F&
Picture
= "Xabre 161003.frx":B1B6
Style
= 1 'Graphical = 9 = 720
UseMaskColor Width
= 720
= 810
DownPicture
Top
= "Xabre 161003.frx":DEB8
Height
Left
TabIndex
= -1 'True
= 405
Begin VB.CommandButton Joy_Button
MaskColor
Left
= 720
UseMaskColor
End
Index
= 7
Top
Begin VB.CommandButton Kb_Button
Height
= &H8000000F&
Picture
= "Xabre 161003.frx":84B4
= 720
Top
= 3 = 120
= 405
DownPicture Height
= "Xabre 161003.frx":C0D0
= 810
= -1 'True
= 405
= 6
Top
= 1680
UseMaskColor Width
= -1 'True
= 810
End Begin VB.CommandButton Joy_Button Appearance
= 0 'Flat
DownPicture Height
End
Index
Begin VB.Label Label4
Left
= "Xabre 161003.frx":FCEC
= 810 = 4 = 1680
Caption
= "Keyboard Buttons"
MaskColor
Height
= 375
Picture
= "Xabre 161003.frx":10BBA
Style
= 1 'Graphical
Left
= 0
TabIndex
= 15
Top
= 0
Width
= 735
TabIndex Top
= 5 = 720
UseMaskColor Width
End
= &H8000000F&
= -1 'True
= 405
End
End
Begin VB.Frame Joystick_Controlled_frame
Begin VB.CommandButton Joy_Button
BorderStyle Height Left TabIndex Top Width
= 0 'None = 2295
= 960 = 2 = 120 = 2295
Begin VB.CommandButton Joy_Button
Nirma Institute of Technology Technology XABRE
Default
= -1 'True
DownPicture
= "Xabre 161003.frx":11AD4
Height
= 405
Index
= 1
Left MaskColor Picture
= 720 = &H8000000F& = "Xabre 161003.frx":1298A
Project Report 7th Sem I.C.
Style
= 1 'Graphical
TabIndex
= 4
Top
= 120
UseMaskColor Width
= -1 'True
= 810
EndProperty ForeColor Height Left TabIndex
End
Top
Begin VB.PictureBox Joy_pics
Width
AutoRedraw AutoSize
= -1 'True = -1 'True
= &H00FFFFFF& = 255 = 4560 = 25 = 960 = 315
End Begin VB.Label Label2
Height
= 810
AutoSize
= -1 'True
Index
= 0
Caption
= "Right"
= 720
Height
Left Picture
= "Xabre 161003.frx":138A4
Left
ScaleHeight
= 750
TabIndex
ScaleWidth
= 750
Top
TabIndex
= 3
Top
= 720
Width
= 810
Width
= 195 = 0 = 1 = 2280 = 375
End Begin VB.Label Label1
End
AutoSize
= -1 'True
Begin VB.Label Label3
Caption
= "Left"
Caption
= "Joystick Buttons"
Height
Height
= 375
Left
Left
= 0
TabIndex
= 14
Top
= 120
Width
= 615
TabIndex Top Width
= 195 = 0 = 0 = 2040 = 270
End End
End End
Attribute VB_Name = "Zeus"
Begin VB.Timer Op_Mode_Timer
Attribute VB_GlobalNameSpace = False
Enabled
= 0 'False
Interval
= 100
Attribute VB_Creatable = False Attribute VB_PredeclaredId = True
Left
= 10
Attribute VB_Exposed = False
Top
= 1560
'>>> VARIABLE DECLARATIONS <<<' Private X() As Integer
End Begin VB.Label TX_label AutoSize
= -1 'True
Private Y() As Integer Private ari As Integer
BackColor
= &H000000FF&
Private joyb_states(4) As Boolean
BorderStyle
= 1 'Fixed Single
Private joyb_pressed(4) As Boolean
Caption
= "TX"
BeginProperty Font Name Size
= "MS Sans Serif" = 8.25
Private kbb_states(4) As Boolean Private light_status As Boolean Private alternate_drive As Boolean Private ext_ops_status(5) As Integer
Charset
= 0
Dim JoyInfo As tJoyInfo
Weight
= 700
Dim OP_vals As JoyVariables
Underline
= 0 'False
Dim l_drive_matrix(30, 30) As Byte
Italic
= 0 'False
Strikethrough = 0 'False
Nirma Institute of Technology Technology XABRE
Dim r_drive_matrix(30, 30) As Byte Dim r_drive As Byte
Project Report 7th Sem I.C.
Dim l_drive As Byte
Load Calib_Form
Private TX_on As Boolean
End Sub
'>>> SUBROUTINES <<<' Private Sub Form_Load()
Private Sub set_Op_vals()
'>>> Setup form position on the screen <<<'
OP_vals.XCntr = 32767
Call relocate_form
OP_vals.YCntr = 32767
'>>> Initialization ops <<<'
OP_vals.Xmax = 65535
Call init
OP_vals.Xmin = 0
End Sub
OP_vals.Ymax = 65535 OP_vals.Ymin = 0
Private Sub init()
OP_vals.X_Lower_Range = OP_vals.XCntr -
'>>> Shutoff TX for main form <<<'
OP_vals.Xmin
TX_on = False
OP_vals.X_Upper_Range = OP_vals.Xmax OP_vals.XCntr
'>>> Stick Control Array Init <<<'
OP_vals.Y_Lower_Range = OP_vals.YCntr -
ReDim X(10)
OP_vals.Ymin
ReDim Y(10)
OP_vals.Y_Upper_Range = OP_vals.Ymax OP_vals.YCntr
'>>> Stick Control Array Position Indicator <<<'
OP_vals.X_Upper_Scale = OP_vals.X_Upper_Range /
ari = 0
15 OP_vals.X_Lower_Scale = OP_vals.X_Lower_Range /
'>>> Initialise drive alternation variable <<<'
15
alternate_drive = True
OP_vals.Y_Upper_Scale = OP_vals.Y_Upper_Range /
'>>> Init Op_vals structure <<<'
15
Call set_Op_vals
OP_vals.Y_Lower_Scale = OP_vals.Y_Lower_Range / 15
'>>> Set frame positions and current kb controlled
OP_vals.Set_val = False
module <<<'
End Sub
Call set_Frames Private Sub set_button_states() '>>> Set Ext Ops Frame <<<'
'>>> Set values for joystick buttons as false<<<'
Call set_ext_ops_frame
For i = 1 To 4 joyb_states(i) = False
'>>> Initialise state value arrays <<<' Call set_button_states
joyb_pressed(i) = False kbb_states(i) = False Next i
'>>> Light status init <<<"
End Sub
Call light_setup Private Sub init_l_drive() '>>> Initialise the drive matrices <<<'
Dim m As Byte
Call init_l_drive
m = 16
Call init_r_drive
For i = 0 To 15
r_drive = 0
m=m-1
l_drive = 0
seed = m For j = 0 To 30
Zeus.Show
'>>> Update seed <<<'
Zeus.Enabled = False
seed = seed + 1
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
'>>> Change if required <<<' If seed = 32 Then seed = 31
Next j Next i
If seed < 16 Then l_drive_matrix(i, j) = 16 - seed Else l_drive_matrix(i, j) = seed End If Next j
For i = 27 To 29 For j = 1 To 30 If j < i Then l_drive_matrix(i, j) = l_drive_matrix(30, j) Next j Next i
Next i
End Sub m = 16 For i = 30 To 16 Step -1
Private Sub init_r_drive()
m=m+1
Dim m As Byte
seed = m
m = 16
For j = 30 To 0 Step -1
For i = 0 To 15
'>>> Change if required <<<'
m=m-1
If seed = 0 Then seed = 1
seed = m
'>>> Update seed <<<'
For j = 30 To 0 Step -1
seed = seed - 1
'>>> Update seed <<<'
If seed < 16 Then
seed = seed + 1
l_drive_matrix(i, j) = 16 - seed
'>>> Change if required <<<'
If l_drive_matrix(i, j) = 16 Then l_drive_matrix(i,
If seed = 32 Then seed = 31 If seed < 16 Then
j) = 15
r_drive_matrix(i, j) = 16 - seed
Else l_drive_matrix(i, j) = seed
Else r_drive_matrix(i, j) = seed
End If Next j Next i
End If Next j Next i
'>>> Desensitize Central Paths <<<'
m = 16
For i = 14 To 16
For i = 30 To 16 Step -1
For j = 0 To 30 l_drive_matrix(i, j) = l_drive_matrix(15, j) Next j Next i
m=m+1 seed = m For j = 0 To 30 '>>> Change if required <<<' If seed = 0 Then seed = 1
For j = 14 To 16 For i = 0 To 30 l_drive_matrix(i, j) = l_drive_matrix(i, 15)
'>>> Update seed <<<' seed = seed - 1 If seed < 16 Then r_drive_matrix(i, j) = 16 - seed
Next i
If r_drive_matrix(i, j) = 16 Then r_drive_matrix(i,
Next j j) = 15 '>>> Desensitized Forward Extremities <<<'
Else r_drive_matrix(i, j) = seed
For i = 1 To 3 For j = 1 To 30 If j > i Then l_drive_matrix(i, j) = l_drive_matrix(0, j)
Nirma Institute of Technology Technology XABRE
End If Next j Next i
Project Report 7th Sem I.C.
'>>> Desensitize Central Paths <<<'
Private Sub display_received()
For i = 14 To 16
Dim Instring As Variant Dim bytes As Variant
For j = 0 To 30 r_drive_matrix(i, j) = r_drive_matrix(15, j)
Dim RX_string As String RX_string = ""
Next j
Instring = MSComm1.Input
Next i
bytes = Instring Debug.Print CInt(bytes(0))
For j = 14 To 16
'MsgBox (RX_string)
For i = 0 To 30 r_drive_matrix(i, j) = r_drive_matrix(i, 15)
End Sub
Next i Private Sub Op_Mode_Timer_Timer()
Next j
If gSerial_Settings_Sel_loaded Or gCalib_form_loaded '>>> Desensitized Forward Extremities <<<'
Then Op_Mode_Timer.Enabled = False
For i = 1 To 3
If Not gSerial_first_init And Not gCalib_form_loaded Then
For j = 1 To 30 If j < 30 - i Then r_drive_matrix(i, j) =
Zeus.Enabled = False Op_Mode_Timer.Enabled = False
r_drive_matrix(0, j)
Load Serial_Settings_Sel
Next j
GoTo out_of_timer
Next i
End If Call CTSHolding_check
For i = 27 To 29
Call Joyread
For j = 1 To 30 If j > 30 - i Then r_drive_matrix(i, j) =
Call show_joy_buttons_pressed out_of_timer:
r_drive_matrix(30, j)
End Sub
Next j Next i
Private Sub CTSHolding_check()
End Sub
If MSComm1.PortOpen = False Then Private Sub Form_GotFocus()
MSComm1.commport = gPortNumber
Zeus.Joy_Button(1).SetFocus
TX_label.ToolTipText = "COM" +
End Sub
CStr(MSComm1.commport) If MSComm1.CTSHolding Then
Public Sub xfer_calib()
TX_label.Caption = "LP"
If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals
TX_label.BackColor = vbBlue
End Sub
TX_label.ForeColor = vbRed TX_label.ToolTipText = "Make sure Green LED is
'>>> Test code <<<'
ON"
Private Sub MSComm1_OnComm()
Else
eventid = MSComm1.CommEvent
TX_label.Caption = "TX"
Select Case eventid
If Not TX_on Then TX_label.BackColor = vbRed
Case comEvReceive: Call display_received '>>>DEBUG DATA: If event not being triggered
<<<'
End Select End Sub
Nirma Institute of Technology Technology XABRE
TX_label.ForeColor = vbWhite If MSComm1.PortOpen = True Then MSComm1.PortOpen = False Else
Project Report 7th Sem I.C.
TX_label.BackColor = vbGreen TX_label.ForeColor = vbBlack
'>>> Save Button states <<<'
If MSComm1.PortOpen = False Then
For i = 1 To 4
MSComm1.PortOpen = True
joyb_states(i) = joyb_pressed(i) Next i
End If End If
'>>> if state has changed, options are"
End Sub
' 1. both off Private Sub Joyread()
' 2. u on
Dim state_changed(4) As Boolean
' 3. d on
Dim msg1 As String
' 4. both on is not possible
Dim msg2 As String Dim frwd As Integer Dim side As Integer Dim run_locomotion_command As Boolean run_locomotion_command = True rc = GetJoystickPos(JOYSTICK1, JoyInfo) If rc = 0 Then
If state_changed(1) Or state_changed(2) Then If Not joyb_states(1) And Not joyb_states(2) Then msg1 = "STOP" If joyb_states(1) And Not joyb_states(2) Then msg1 = "UP" If Not joyb_states(1) And joyb_states(2) Then msg1 = "DOWN"
'>>> Process Button changes <<<' '>>> Transfer Button pressed info from joyinfo to array
Else msg1 = "DO NOTHING" End If
<<<' For i = 1 To 4 If JoyInfo.ButtonDown(i) Then joyb_pressed(i) = True
If state_changed(3) Or state_changed(4) Then If Not joyb_states(3) And Not joyb_states(4) Then msg2 = "STOP"
Else joyb_pressed(i) = False End If
If joyb_states(3) And Not joyb_states(4) Then msg2 = "LEFT" If Not joyb_states(3) And joyb_states(4) Then msg2
Next i
= "RIGHT" '>>> Filter the array for opposite button pressed conflicts <<<' For i = 1 To 4
Else msg2 = "DO NOTHING" End If
If joyb_pressed(i) Then If Not joyb_states(4 - (i + 1) Mod 4) Then joyb_pressed(i) = True Else joyb_pressed(i) = False End If End If
If state_changed(1) Or state_changed(2) Or state_changed(3) Or state_changed(4) Then Call joy_command(msg1, msg2) run_locomotion_command = False End If End If
Next i
'>>> Check for change in state <<<'
ari = (ari) Mod 10 + 1
state_changed(1) = joyb_pressed(1) Xor joyb_states(1)
If JoyInfo.X >= OP_vals.XCntr Then
state_changed(2) = joyb_pressed(2) Xor joyb_states(2) state_changed(3) = joyb_pressed(3) Xor joyb_states(3) state_changed(4) = joyb_pressed(4) Xor joyb_states(4)
Nirma Institute of Technology Technology XABRE
X(ari) = (JoyInfo.X - OP_vals.XCntr) / OP_vals.X_Upper_Scale + 15 Else
Project Report 7th Sem I.C.
X(ari) = (JoyInfo.X - OP_vals.Xmin) / OP_vals.X_Lower_Scale End If
If msg2 = "RIGHT" Then msg2 = "DROP" Call gripper(msg1, msg2) End If End Sub
If JoyInfo.Y >= OP_vals.YCntr Then Y(ari) = (JoyInfo.Y - OP_vals.YCntr) /
'>>> Module subroutines <<<'
OP_vals.Y_Upper_Scale + 15 Else Y(ari) = (JoyInfo.Y - OP_vals.Ymin) / OP_vals.Y_Lower_Scale End If
'>>> MODULE LOCOMOTION <<<' '>>> Locomotion command subroutine <<<' '>>> Byte format is 10Y-Di-MMMM <<<' '>>> Drive matrices give direct values for Di-MMMM <<<'
'>>> Joystick's X is Sideways <<<'
'>>> Y=0 => Left locomotion command (128) <<<'
'>>> Joystick's Y is Forward <<<'
'>>> Y=1 => Right locomotion command (160)<<<'
side = integrator(X)
Private Sub locomotion_command(frwd As Integer, side
frwd = integrator(Y)
As Integer)
If run_locomotion_command Then
Dim r_old As Byte
frwd = Fix(frwd / 10)
Dim r_new As Byte
side = Fix(side / 10)
Dim l_old As Byte
Call locomotion_command(frwd, side)
Dim l_new As Byte
End If End Sub
Dim command As Byte '>>> To prevent access of a array element outside array size <<<'
Private Function integrator(fn() As Integer) As Long
'>>> Both drive arrays are of same size <<<'
Dim val As Double
'>>> So singular check will do
Dim i As Integer
If frwd > UBound(l_drive_matrix, 1) Then frwd =
val = 0
UBound(l_drive_matrix, 1)
For i = 1 To 10
If side > UBound(l_drive_matrix, 2) Then frwd =
val = val + fn(i)
<<<'
UBound(l_drive_matrix, 2)
Next i integrator = val
l_new = l_drive_matrix(frwd, side)
End Function
r_new = r_drive_matrix(frwd, side) l_old = l_drive
'>>> Divert the command to the proper destination
r_old = r_drive
subroutine <<<' '>>> This performs check as to which module is being
'>>> Send LDRV Command if it is its turn <<<'
controlled by joystk <<<'
If (l_new Xor l_old) <> 0 And alternate_drive Then
'>>> It accordingly calls the relevant module's command
l_drive = l_new
subroutine <<<'
command = 128 + l_drive
Private Sub joy_command(msg1 As String, msg2 As
Label1.Caption = "Left: " + CStr(l_drive)
String)
'>>> Presentation test code <<<'
If joy_control = "Camera" Then Call camera(msg1,
Zeus.Caption = "Zeus: Command => " +
msg2) If joy_control = "Gripper" Then If msg1 = "UP" Then msg1 = "CLOSE" If msg1 = "DOWN" Then msg1 = "OPEN" If msg2 = "LEFT" Then msg2 = "LIFT"
Nirma Institute of Technology Technology XABRE
CStr(command) '>>> Next drive command has to be Right drive command <<<' alternate_drive = False
Project Report 7th Sem I.C.
'>>> Prevent 2 commands being sent simultaneously <<<' GoTo loco_out End If
'>>> MODULE PAN/TILT<<<' '>>> P/T module command subroutines <<<' '>>> Byte format is 110-light-pan-tilt <<<'
If (r_new Xor r_old) <> 0 And Not alternate_drive Then
'>>> Light_status 0 => base Command =192 <<<'
r_drive = r_new
'>>> Light status 1 => base Command =208 <<<'
command = 160 + r_drive
'>>> Pan/tilt 00 => Do nothing; 01 => Stop (P:4 ; T:1);
Label2.Caption = "Right: " + CStr(r_drive)
<<<'
Zeus.Caption = "Zeus: Command => " +
'>>> 10 => PL/TU (P:8 ; T:2) ; 11 => PR/TD (P:12 ; T:3)
CStr(command)
<<<'
alternate_drive = True
Private Sub camera(msg1 As String, msg2 As String)
'>>> Prevent 2 commands being sent simultaneously
Dim command As Byte
<<<'
If TX_on And Not MSComm1.CTSHolding = True Then
GoTo loco_out End If
command = 192 If light_status Then command = command + 16
loco_out: If TX_on Then Call TX_write(command) End Sub
'>>>MSG1 carries the Up/Down strings <<<" If msg1 = "STOP" Then command = command + 1 If msg1 = "UP" Then command = command + 2
'>>> MODULE LIGHT<<<'
If msg1 = "DOWN" Then command = command + 3
'>>> Light module command subroutine <<<'
If msg1 = "DO NOTHING" Then command =
'>>> Byte format is 110-light-pan-tilt <<<'
command + 0
'>>> Light_status 0 => Command =192 <<<' '>>> Light status 1 => Command =208 <<<'
'>>>MSG2 carries the Left/Right strings <<<"
'>>> P/T: 00=> DO NOTHING for Pan/Tilt <<<'
If msg2 = "STOP" Then command = command + 4
Private Sub light_toggle()
If msg2 = "LEFT" Then command = command + 8
Dim command As Byte
If msg2 = "RIGHT" Then command = command + 12
If TX_on And Not MSComm1.CTSHolding = True Then
If msg2 = "DO NOTHING" Then command =
If light_status Then
command + 0
light_status = False Light_Pic.Picture = LoadPicture(App.Path + "\Light off.bmp") command = 192 Else
'Debug.Print command Call TX_write(command) Zeus.Caption = "Zeus: Command => " + CStr(command)
light_status = True
End If
Light_Pic.Picture = LoadPicture(App.Path + "\Light
End Sub
on.bmp") command = 208 End If
'>>> MODULE GRIPPER <<<' '>>> Gripper module command subroutines <<<' '>>> Byte format is 001-0-G1-G2 <<<'
'Debug.Print command
'>>> G1/G2 00 => Do nothing; 01 => Stop (G1:4 ; G2:1);
Call TX_write(command)
<<<'
Zeus.Caption = "Zeus: Command => " +
'>>> 10 => G1_Open/G2_Lift (G1:8 ; G2:2) ; 11 =>
CStr(command)
G1_Close/G2_Drop (G1:12 ; G2:3) <<<'
End If
Private Sub gripper(msg1 As String, msg2 As String)
End Sub
Dim command As Byte
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
End If
If TX_on And Not MSComm1.CTSHolding = True Then
Else
command = 32 '>>>MSG1 carries the G1 related strings <<<"
command <<<' If KeyCode < vbKey4 And KeyCode > vbKey0
If msg1 = "STOP" Then command = command + 4 If msg1 = "CLOSE" Then command = command + 12
'>>> Ext ops 2, Extension Tool 2
Or KeyCode = 192 Then
If msg1 = "OPEN" Then command = command + 8
If KeyCode = 192 Then KeyCode = 48
If msg1 = "DO NOTHING" Then command =
Ext_op_pics(2).Picture = LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +
command + 0
".gif") '>>>MSG2 carries the G2 related strings <<<"
ext_ops_status(2) = KeyCode - 48
If msg2 = "STOP" Then command = command + 1
command = 240 + ext_ops_status(2) * 4 +
If msg2 = "LIFT" Then command = command + 2
ext_ops_status(1) * 2 + ext_ops_status(5) Else
If msg2 = "DROP" Then command = command + 3
GoTo jump_out
If msg2 = "DO NOTHING" Then command =
End If
command + 0
End If 'Debug.Print command Call TX_write(command) Zeus.Caption = "Zeus: Command => " +
Else ext_ops_status(KeyCode) = (ext_ops_status(KeyCode) + 1) Mod 2 Ext_op_pics(Shift).Picture = LoadPicture(App.Path
CStr(command) End If
+ "\E" + CStr(KeyCode) +
End Sub
CStr(ext_ops_status(KeyCode)) + ".gif")
'>>> MODULE EXTENSION OPS 1&2<<<'
4 command <<<'
If KeyCode = 4 Then '>>>Ext ops 1, Extension Tool
command = 224 + ext_ops_status(3) * 2 +
'>>> Extension ops module command subroutines <<<' '>>> Byte format 1: 111 - 0 - E31E32E33 - E41
ext_ops_status(4) Else
(Command 224+) <<<' '>>> Byte format 2: 111 - 1 - E21E22 - E11 - E51
'>>>Ext ops 2, Extension Tool 1 OR 5
command <<<' command = 240 + ext_ops_status(2) * 4 +
(Command 240+) <<<' Private Sub ext_ops_event(KeyCode As Integer, Shift As Integer, toggle As Boolean)
ext_ops_status(1) * 2 + ext_ops_status(5) End If End If
Dim command As Byte If TX_on And Not MSComm1.CTSHolding = True Then
'Debug.Print command
If Not toggle Then If Shift = 0 Then
'>>> Ext ops 1, Extension Tool 3
command <<<' '>>> Key 1 to 7 or Tilde Key (~) representing
Zeus.Caption = "Zeus: Command => " + CStr(command) Call TX_write(command) jump_out:
zero <<<' If KeyCode < vbKey8 And KeyCode > vbKey0 Or KeyCode = 192 Then If KeyCode = 192 Then KeyCode = 48
'>>> Jump out since EOps2 can have a max
value of 3 and not any more <<<' End If End Sub
Ext_op_pics(4).Picture = LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +
'>>> Incomplete CODE FINISH THIS <<<'
".gif")
'>>> MODULE SRM <<<' ext_ops_status(3) = KeyCode - 48
'>>> SRM module command subroutines <<<'
command = 224 + ext_ops_status(3) * 2 +
'>>> Byte format 001-1-XY-1-X1 <<<'
ext_ops_status(4)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
'>>> EO INcomplete code list <<<'
'If the key is already pressed then do nothing If key = 1 And kbb_states(1) Then GoTo l_jump
'>>> TX Label <<<'
If key = 2 And kbb_states(2) Then GoTo l_jump
Private Sub TX_label_Click()
If key = 3 And kbb_states(3) Then GoTo l_jump
If Not MSComm1.CTSHolding Then
If key = 4 And kbb_states(4) Then GoTo l_jump
If TX_on Then TX_label.BackColor = vbRed TX_label.ForeColor = vbWhite MSComm1.PortOpen = False TX_on = False
'Key pressed passes above two test so is a valid keypress kbb_states(key) = True Kb_Button(key).Picture = LoadPicture(App.Path + "\k" + CStr(key) + "on.bmp")
Else TX_label.BackColor = vbGreen TX_label.ForeColor = vbBlack MSComm1.PortOpen = True TX_on = True End If
Else 'Event is a keyup event 'Keyup is a key conflicting with previously pressed key so do nothing If key = 5 And kbb_states(2) Then GoTo l_jump
End If
If key = 6 And kbb_states(1) Then GoTo l_jump
End Sub
If key = 7 And kbb_states(4) Then GoTo l_jump If key = 8 And kbb_states(3) Then GoTo l_jump
'>>> BYTE COMMAND WRITER SUB <<<' Private Sub TX_write(command As Byte) Dim bytes(1) As Byte
kbb_states(key - 4) = False Kb_Button(key - 4).Picture = LoadPicture(App.Path +
Dim tx_buf As Variant
"\k" + CStr(key - 4) + "off.bmp")
bytes(1) = command
End If
tx_buf = bytes If TX_on Then
'>>> Read the stored states and determine required action
tx_buf(1) = command
<<<'
MSComm1.Output = tx_buf
If kbb_states(1) Then
End If End Sub
msg1 = "UP" Else If kbb_states(2) Then msg1 = "DOWN"
Private Sub kb_frame_event(key As Integer) '>>> For keyboard keys: E,S,D,X <<<'
Else If Not kbb_states(1) And Not kbb_states(2) And
'>>> Key = 1 to 4 => key pressed event <<<' '>>> Key = 5 to 8 => key released event <<<'
(key = 5 Or key = 6) Then msg1 = "STOP"
Dim msg1 As String Dim msg2 As String
Else
If key < 5 Then
End If
msg1 = "DO NOTHING"
'IF key pressed conflicts with previously pressed key so do nothing
End If End If
If key = 1 And kbb_states(2) Then GoTo l_jump If key = 2 And kbb_states(1) Then GoTo l_jump
If kbb_states(3) Then
If key = 3 And kbb_states(4) Then GoTo l_jump
msg2 = "LEFT"
If key = 4 And kbb_states(3) Then GoTo l_jump
Else If kbb_states(4) Then
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
msg2 = "RIGHT"
'>>> KEYBOARD KEY EVENTS PROCESSORS <<<' '>>> Total Controls having key events on Form = 6 <<<'
Else If Not kbb_states(3) And Not kbb_states(4) And (key = 7 Or key = 8) Then msg2 = "STOP" Else msg2 = "DO NOTHING" End If End If
'>>> KEYDOWN EVENT Handlers <<<' '>>> Keydown Handler 1 <<<' Private Sub Joy_pics_KeyDown(Index As Integer, KeyCode As Integer, Shift As Integer) Call Form_KeyDown(KeyCode, Shift) End Sub
End If Call kb_command(msg1, msg2)
'>>> Keydown Handler 2 <<<'
l_jump:
Private Sub Joy_Button_KeyDown(Index As Integer,
End Sub
KeyCode As Integer, Shift As Integer) Call Form_KeyDown(KeyCode, Shift)
Private Sub toggle_frames()
End Sub
'Debug.Print "Toggle Called" 'Debug.Print joy_control
'>>> Keydown Handler 3 <<<'
If joy_control = "Camera" Then
Private Sub Kb_pics_KeyDown(Index As Integer,
joy_control = "Gripper"
KeyCode As Integer, Shift As Integer)
Joy_pics(0).Picture = Kb_pics(0).Picture
Call Form_KeyDown(KeyCode, Shift)
Kb_pics(0).Picture = LoadPicture(App.Path +
End Sub
"\Camview.bmp") Else
'>>> Keydown Handler 4 <<<'
joy_control = "Camera"
Private Sub Kb_Button_KeyDown(Index As Integer,
Joy_pics(0).Picture = Kb_pics(0).Picture
KeyCode As Integer, Shift As Integer)
Kb_pics(0).Picture = LoadPicture(App.Path +
Call Form_KeyDown(KeyCode, Shift)
"\Gripper.bmp")
End Sub
End If '>>> Keydown Handler 5 <<<' Zeus.Caption = "Zeus: Current Joystick Control is " +
Private Sub Light_Pic_KeyDown(KeyCode As Integer,
CStr(joy_control)
Shift As Integer)
End Sub
Call Form_KeyDown(KeyCode, Shift) End Sub
Private Sub kb_command(msg1 As String, msg2 As String)
'>>> Keydown Handler 6 <<<'
If joy_control = "Camera" Then
Private Sub ext_op_pics_KeyDown(Index As Integer,
If msg1 = "UP" Then msg1 = "CLOSE"
KeyCode As Integer, Shift As Integer)
If msg1 = "DOWN" Then msg1 = "OPEN"
Call Form_KeyDown(KeyCode, Shift)
If msg2 = "LEFT" Then msg2 = "LIFT"
End Sub
If msg2 = "RIGHT" Then msg2 = "DROP" Call gripper(msg1, msg2) End If
'>>> KEYUP EVENT Handlers <<<'
If joy_control = "Gripper" Then Call camera(msg1,
'>>> Keyup Handler 1 <<<'
msg2)
Private Sub Joy_pics_KeyUp(Index As Integer, KeyCode As Integer, Shift As Integer)
End Sub
Call Form_KeyUp(KeyCode, Shift) End Sub
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
End Select '>>> KeyUp Handler 2 <<<' Private Sub Joy_Button_KeyUp(Index As Integer,
End Sub
KeyCode As Integer, Shift As Integer) Call Form_KeyUp(KeyCode, Shift)
'>>> Form KeyDown Event Handle <<<'
End Sub
Private Sub Form_KeyDown(KeyCode As Integer, Shift As Integer)
'>>> KeyUp Handler 3 <<<'
Select Case KeyCode
Private Sub Kb_pics_KeyUp(Index As Integer, KeyCode
'>>> Cases for normal kb keys <<<'
As Integer, Shift As Integer)
'>>> KB Frame Control Keys <<<'
Call Form_KeyUp(KeyCode, Shift)
Case vbKeyE: ' ^ '
End Sub
Call kb_frame_event(1) Case vbKeyX: ' v '
'>>> KeyUp Handler 4 <<<' Private Sub Kb_Button_KeyUp(Index As Integer, KeyCode As Integer, Shift As Integer) Call Form_KeyUp(KeyCode, Shift) End Sub
Call kb_frame_event(2) Case vbKeyS: ' < ' Call kb_frame_event(3) Case vbKeyD: ' > ' Call kb_frame_event(4) Case vbKey1 To vbKey7, 192:
'>>> KeyUp Handler 5 <<<'
Call ext_ops_event(KeyCode, Shift, False)
Private Sub Light_Pic_KeyUp(KeyCode As Integer, Shift
'>>> Light Control Key <<<"
As Integer)
Case vbKeyL:
Call Form_KeyDown(KeyCode, Shift) End Sub
Call light_toggle '>>> Cases for Function Keys <<<' '>>> Extension Ops Toggles E1, E4 and E5 <<<'
'>>> KeyUp Handler 6 <<<'
'>>> Ext_Op# passed byVal to Keycode <<<'
Private Sub ext_op_pics_KeyUp(Index As Integer,
'>>> Ext_Picture# passed byVal to Shift <<<'
KeyCode As Integer, Shift As Integer)
'>>> Toggle operation is true as passed byVal to Toggle
Call Form_KeyDown(KeyCode, Shift)
<<<'
End Sub
Case vbKeyF2: Call ext_ops_event(1, 5, True)
'>>> Form KeyUp Event Handler <<<' Private Sub Form_KeyUp(KeyCode As Integer, Shift As Integer) '>>> Required to send stop signal to <<<'
Case vbKeyF3: Call ext_ops_event(4, 6, True) Case vbKeyF4: Call ext_ops_event(5, 7, True)
'>>> the currently active kb-controlled <<<' '>>> module subsystem <<<'
'>>> User asks to shutdown Zeus <<<'
Select Case KeyCode
Case vbKeyF10:
'>>> Check which key has been released <<<'
'Set confirm and then unload code here'
Case vbKeyE: ' ^ '
If Not gCalib_form_loaded And Not
Call kb_frame_event(5) Case vbKeyX: ' v ' Call kb_frame_event(6) Case vbKeyS: ' < ' Call kb_frame_event(7) Case vbKeyD: ' > ' Call kb_frame_event(8)
Nirma Institute of Technology Technology XABRE
gSerial_Settings_Sel_loaded Then '>>> Ensure shutdown(=reset) command is fired and only then shutdown Debug.Print "Fire shutdown command" Unload_Check: If check_buffer_empty() Then Unload Me
Project Report 7th Sem I.C.
Else: GoTo Unload_Check End If Else:
Ext_op_pics(1).Picture = LoadPicture(App.Path + "\E2.gif") Ext_op_pics(2).Picture = LoadPicture(App.Path + "\img" + CStr(ext_ops_status(2)) + ".gif")
If gCalib_form_loaded Then Calib_Form.SetFocus
Ext_op_pics(3).Picture = LoadPicture(App.Path +
If gSerial_Settings_Sel_loaded Then
"\E3.gif")
Serial_Settings_Sel.SetFocus End If
Ext_op_pics(4).Picture = LoadPicture(App.Path + "\img" + CStr(ext_ops_status(3)) + ".gif") Ext_op_pics(5).Picture = LoadPicture(App.Path + "\E1"
'>>> User asks to transfer current kb controlled module to
+ CStr(ext_ops_status(1)) + ".gif")
joystick <<<'
Ext_op_pics(6).Picture = LoadPicture(App.Path + "\E4"
Case vbKeyF5:
+ CStr(ext_ops_status(4)) + ".gif")
Call toggle_frames
Ext_op_pics(7).Picture = LoadPicture(App.Path + "\E5" + CStr(ext_ops_status(5)) + ".gif")
'>>> User wants to re-calibrate locomotion controller <<<'
'>>> Position Pictures in Ext_Ops Frame <<<'
Case vbKeyF9:
Ext_Ops_frame.Width = 4 * (50 +
Zeus.Op_Mode_Timer = False
Ext_op_pics(1).Width)
Zeus.Enabled = False Calib_Form.SetFocus
Ext_op_pics(1).Left = (Ext_Ops_frame.Width -
Load Calib_Form
Ext_op_pics(1).Width) * 0.05
If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals
Ext_op_pics(2).Left = ((Ext_Ops_frame.Width * 0.45 -
End Select
Ext_op_pics(2).Width)) * 0.95
End Sub
Ext_op_pics(3).Left = Ext_Ops_frame.Width * 0.55 + (Ext_Ops_frame.Width * 0.5 - Ext_op_pics(3).Width) *
'>>> Cosmetics <<<'
0.05
Private Sub relocate_form()
Ext_op_pics(4).Left = (Ext_Ops_frame.Width -
Me.Width = (Screen.Width * 0.95)
Ext_op_pics(4).Width) * 0.95
Me.Move (Screen.Width * 0.05) / 2, (0.95 *
Ext_op_pics(5).Left = (Ext_Ops_frame.Width -
Screen.Height - Me.Height)
Ext_op_pics(5).Width) * 0.05
End Sub
Ext_op_pics(6).Left = (Ext_Ops_frame.Width Ext_op_pics(6).Width) * 0.5
Private Sub set_Frames()
Ext_op_pics(7).Left = (Ext_Ops_frame.Width -
Joystick_Controlled_frame.Left = (Zeus.Width -
Ext_op_pics(7).Width) * 0.95
Joystick_Controlled_frame.Width) * 0.1 Keyboard_Controlled_Frame.Left = (Zeus.Width -
Ext_Ops_frame.Left = (Zeus.Width -
Keyboard_Controlled_Frame.Width) * 0.9
Ext_Ops_frame.Width) / 2
joy_control = "Camera"
TX_label.Left = Ext_Ops_frame.Left
End Sub
End Sub
Private Sub set_ext_ops_frame()
Private Sub light_setup()
'>>> Init the ext_ops_status array <<<'
light_status = False
For i = 1 To 5
Light_Pic.Left = (Zeus.Width - Light_Pic.Width) / 2
ext_ops_status(i) = 0
Light_Pic.Top = Joystick_Controlled_frame.Top
Next i
End Sub
'>>> Load Default Pictures to the Ext_Ops Frame <<<'
Private Sub show_joy_buttons_pressed()
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Joy_Button(i).Picture = LoadPicture(App.Path + "\j"
For i = 1 To 4 If joyb_pressed(i) Then
+ CStr(i) + "off.bmp") joyb_states(i) = False
Joy_Button(i).Picture = LoadPicture(App.Path + "\j" + CStr(i) + "on.bmp") joyb_states(i) = True Else
End If Next i End Sub End Sub
The Vbjoy32.bas module takes care of reading the joystick’s potentiometers using the Windows API called winmm.dll. The code listing for the same is as follows: ' Joystick Capabilities
Declare Function joyGetPos Lib "winmm.dll" (ByVal
Const MAXPNAMELEN = 32
IDDevice As Integer, JPos As tJoyInfo) As Integer
Const MAXOEMVXD = 128
Function GetJoystickPos(IDDevice As Long, JoyInfo As
Type tJoyCaps
tJoyInfo) As Integer
Mid As Integer
'-------------------------------------------------------
Pid As Integer
' This function is a wrapper around the joyGetPos API
Pname As String * MAXPNAMELEN
' call. That call returns coordinates as unsigned
Xmin As Long
' long integers, which VB doesn't support. We move
Xmax As Long
' these coordinates into long values so that they
Ymin As Long
' can be easily evaluated.
Ymax As Long
'-------------------------------------------------------
Zmin As Long
Dim rc As Integer
Zmax As Long
Static NotFirstTime As Integer
NumButtons As Long
If Not NotFirstTime Then NotFirstTime = False
PeriodMin As Long
rc
PeriodMax As Long wRmin As Long
=
joyGetDevCaps(IDDevice,
JoyCaps,
Len(JoyCaps)) If rc <> 0 Then
wRmax As Long
GetJoystickPos = rc
wUmin As Long
Exit Function
wUmax As Long
End If
wVmin As Long wVmax As Long
End If
wCaps As Long
rc = joyGetPos(IDDevice, JoyInfo)
wMaxAxes As Long
GetJoystickPos = rc
wNumAxes As Long
If rc <> 0 Then Exit Function
wMaxButtons As Long
JoyInfo.ButtonDown(1) = (JoyInfo.ButtonStates And
szRegKey As String * MAXPNAMELEN szOEMVxD As String * MAXOEMVXD End Type Global JoyCaps As tJoyCaps ' Joystick API Calls Declare Function joyGetDevCaps Lib "winmm.dll" Alias
JOY_BUTTON1) = JOY_BUTTON1 JoyInfo.ButtonDown(2) = (JoyInfo.ButtonStates And JOY_BUTTON2) = JOY_BUTTON2 JoyInfo.ButtonDown(3) = (JoyInfo.ButtonStates And JOY_BUTTON3) = JOY_BUTTON3 JoyInfo.ButtonDown(4) = (JoyInfo.ButtonStates And
"joyGetDevCapsA" (ByVal IDDevice As Integer, JCaps
JOY_BUTTON4) = JOY_BUTTON4
As tJoyCaps, ByVal CapSize As Integer) As Integer
End
Nirma Institute of Technology Technology XABRE
Function
Project Report 7th Sem I.C.
The global declarations of variables accessed all over the program are declared in globalvariables.bas as shown below: Attribute VB_Name = "Module2" Public Type JoyVariables Xmin As Long Xmax As Long Ymin As Long Ymax As Long XCntr As Long YCntr As Long X_Upper_Range As Long X_Lower_Range As Long Y_Upper_Range As Long Y_Lower_Range As Long X_Upper_Scale As Long X_Lower_Scale As Long Y_Upper_Scale As Long Y_Lower_Scale As Long Set_val As Boolean End Type Public OP_tf_vals As JoyVariables Global gCalib_form_loaded As Boolean Global gSerial_Settings_Sel_loaded As Boolean Global gSerial_first_init As Boolean Global joy_control As String
The serial port settings are done through the Serial port settings form object which has the following code listing
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
µC Operations Flowcharts and Algorithms: Some of the flowcharts & algorithms used for the development of the µC software are shown below: Function Algorithms 1. SRM Auto: IF tilt_sw = open SET Sr_History=true; ROTATE acw; REPEAT TILL tilt_sw = close; END IF IF Sr_History=true; ROTATE cw; REPEAT TILL lock_in = close; SET Sr_History=false;
‘indicates overturning, sensed thru interrupt. ‘Indicate SR Action is going on ‘acw wrt to Xabre’s upright left view ‘Xabre is upright now, ‘sensed thru interrupt Indicates that previous action was SR Action ‘cw wrt to Xabre’s upright left view ‘SR arm is locked-in ‘Indicate SR Action completed
2. SRM Manual IF Command=Open_CW_manual ROTATE cw; ROTATE TILL Command = Stop_Rotation; IF Command=Open_ACW_manual ROTATE acw; ROTATE TILL Command = Stop_Rotation; IF Command=Open_CW_auto ROTATE cw; ROTATE TILL lock_in = close; ‘SR arm is locked-in IF Command=Open_ACW_auto ROTATE acw; ROTATE TILL lock_in = close; ‘SR arm is locked-in; 3. P/T Operation a. Command Operation IF PLL = open ON PL_Command: Pan Left; IF PRL = open ON PR_Command: Pan Right; IF TUL = open ON TU_Command: Tilt Up; IF TDL = open ON TD_Command: Tilt Down; b. Limit switch actuation Recognize Switch IF Switch = closed STOP Motion;
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
4. Light Operation: ON Light_ON_Command: Light = ON; ON Ligth_OFF_Command: Light = OFF;
Function flowcharts:
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
HARDWARE A PCB for the implementation of the circuit was manufactured. The schematic design was prepared in Orcad V9.0 and the final layout was generated using Protel V3.0. This sub section includes the PCB layout diagrams.
Nirma Institute of Technology Technology XABRE
5
4
3
2
1
PRIMARY CONTROL CARD
12V
EA/VP RST
11 1 XTAL 11.0592 Mhz
C4 30pF
3 4 7 8 13 14 17 18
C5 10uF VCC R6 100E
5V U2
PB
1 2 3 4 5 6 7 8 9 10
5V
0
J4 C
1 2 3 4 5 6
5V
0.1uF
EN IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 GND
Vcc OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 CH
20 19 18 17 16 15 14 13 12 11
1
5V U5 C34 D0 D1 D2 D3 D4 D5 D6 D7
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
12V R12 10K 9 8
RESISTOR SIP 10 5K
D0 D1 D2 D3 D4 D5 D6 D7
J11
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
C32
RS3
Vcc OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 CH
2 3 4 5 6 7 8 9 10
EN IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 GND
BS2
11
OUT2
C11 10nF
6
GND
Q3 2N2222
PM2
12V
U12 R19 6K8
12V
D3 LED
12V
LED
R14 10K
D5
LE OE
LED R15 6K8
LED
9 8
D7
TH OUT CS OUT
LMD18200T OUT1 2 BS1
TH OUT CS OUT
LMD18200T OUT1 2 BS1
LED
3 5 4
G2M1
C19
1
HEADER 14
DIR PWM BRAKE
BS2 OUT2
10 C20 10nF
11
TM2
C13
1
D8
G2 MOTOR 3 5 4
D9 LED
DIR PWM BRAKE
BS2 OUT2
10 C14 10nF
11
C
12V
G2M2
12V 100uF
LED
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
C18
J5 1 2 3 4 5 6 7 8 9 10 11 12 13 14
TILT MOTOR U10
D6
9 8
C12
100uF
D4
D10
20 19 18 17 16 15 14 13 12 11
1N4007
10
R18 10K
LED
5V
7 1 2
100uF
5V
5V
DIR PWM BRAKE
6
12V
2 5 6 9 12 15 16 19
J13
0.1uF
D11
PAN MOTOR 3 5 4
0.1uF Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
PM1 C10
1
5V
LE OE
5V C35 U6
TH OUT CS OUT
5 8 Q2 2N2222
R20 10K U13 R21 6K8
9 8
TH OUT CS OUT
C21
LMD18200T OUT1 2 BS1
G1M1 C22
1
G1 MOTOR 3 5 4
12V
DIR PWM BRAKE
BS2 OUT2
10 C23 10nF
11
G1M2
7
U3
RM2
LS2 RELAY DPDT 4 3 SRM1 5 8 SRM MOTOR 6 SRM2 7 1 RM1 2 RM2 LM1 LM2 PM1 PM2 G2M1 G2M2 G1M1 G1M2 SRM1 SRM2 TM1 TM2 TM1
3
12V
LMD18200T OUT1 2 BS1
MAX6818
5V
C17 10nF
11
LS1 RELAY DPDT 4
12V
1N4007 U9
R13 6K8
D12
C9
100uF
2 5 6 9 12 15 16 19
74LS373
5V
OUT2
10
12V 12V
0.1uF
J12 JUMPER1 R9 1K
HEADER 6
to various LIMIT SENSORS
11 1
2
BS2
D
7
to SRM LIMIT SENSORS
C31
LM2
DIR PWM BRAKE
LE OE
74LS373
EOPs LATCH
R5 10K
11
OUT2
3 5 4
7
3 4 7 8 13 14 17 18
DS89C420 C3 30pF
C8 10nF
7
30 29
RDRV MOTOR
10
BS2
GND
ALE/P PSEN
DIR PWM BRAKE
74LS373
G-PT LATCH
RM1 C16
1
LDRV MOTOR 3 5 4
GND
11 1
2 5 6 9 12 15 16 19
6
31 9
21 22 23 24 25 26 27 28
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
BS1
VCC
5V
X1 X2
P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7
D0 D1 D2 D3 D4 D5 D6 D7
GND
INT0 INT1 RD RXD T0 T1 TXD WR
19 18
3 4 7 8 13 14 17 18
LMD18200T 2 OUT1
7
12 13 17 10 14 15 11 16
HEADER 4
1 2 3 4 5 6 7 8
TH OUT CS OUT
C7
1
BS1
9 8
6
5V
P1.0/T2 P1.1/T2X P1.2 P1.3 P1.4 P1.5 P1.6 P1.7
R11 6K8
7
1 2 3 4
P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7
0.1uF
U11 R17 6K8
LM1
VCC
J9
39 38 37 36 35 34 33 32
C33
LMD18200T 2 OUT1
GND
R R R R
U4
SRM LATCH
TH OUT CS OUT
GND
R1 R2 R3 R4
0.1uF
9 8
6
C2 10uF
HEADER 2
D
C30
U1
U8
R10 10K
VCC
3
1
1N4007 C1 10uF
VOUT
5V
2 3 4 5 6 7 8 9 10
VIN
5V
5V
2
1 2
GND
1
J1
12V
7805/TO
VCC
5V U7
D1
6
EXT 12V
C15
100uF R16 10K
6
1N4007
12V
C6
100uF
VCC
12V
VCC
12V
D2
D17
J3 HEADER 15
1N4007
1 2 HEADER 2
Q1 2N2222
MAX6818
HEADER 10 RESISTOR SIP 10 5K RS1
1
VCC
B
B
TRANSMITTER CARD
D14 DIODE U18
TLP916F
ANTENNA
U15
C25 1uF
1 3 4 5
C26 1uF
2 6
C27 2.2uF
R1OUT R2OUT
3
RXD TTL CTS TTL
C2+ C2-
VIN
VOUT
ADJ LM317/TO220
2 R8 330E
R7 VAR R
5V
16
C28 2.2uF
U14
1
C1+ C1-
V+ V-
SW2 SW DPDT 12 9
8
Vcc Vcc
R1IN R2IN
Ant Gnd Gnd Gnd
T1OUT T2OUT
DOut
T1IN T2IN
14 7
RLP916F
4 5
13 8
TXD HEADER 4
11 10
GND
CTS TTL RXD TTL
HIN232
2
U17
15
CTS RXD GND
VCC
1 2 3 4
LOut
5V
1 6 7
1 J7
Ant
RECEIVER CARD
3
5V
GND
E1 ANT
R22 4K7
VCC
D15
4
LED
DATA IN
3
3
C24 0.1uF
7805 VOUT
2
LED R23 10K
VCC
VIN
GND
1
2
U16
D13
GND
SW DPDT SW1
D16 LED
J8
RLP916F Conn. 1 2 3 4
R24 10K
0
5V C29 A
A
C
(On PC Side)
Title
XABRE HARDWARE Size Date:
5
4
3
2
Document Number 1
Rev 1
Thursday, December 11, 2003
Sheet
1
1
of
1
Project Report 7th Sem I.C.
SECTIO 5 Dual PWM Generation This is required to control the driving of the two locomotion motors which have speed control implement in them by way of use of the H-bridge IC. Phase 3
Phase 2
Phase 1 Small_Val
Diff
Big_Val
Delay FFh
Drv_bit2=1 =>Drive magnitudes equal (Drv_bit1=0 then) Drv_bit1=1 =>LD lesser than RD (Drv_bit2=0 then) Drv_bit1=0 =>RD lesser than LD (Drv_bit2=0 then)
Phase_bits 3,2,1 Phase_bit3 for phase 3 Phase_bit2 for phase 2 Phase_bit1 for phase 1 1 indicates currently active phase, while rest of the bits will be zero Port Bits (Hardware defined) P0.0: Left Drv PWM Bit P0.1: Left Drv Direction Bit P0.2: Right Drv PWM Bit P0.3: Right Drv Direction Bit Phases Phase 1: Delay part of the whole time period. Value equal to 255-Small_val-Diff Load 255-40 Phase 3 indicated by 100 If 100 stop both On overflow set 255-50 Phase 2 indicated by 010 If 010 stop LD else stop RD On overflow set 255-6F Phase 1 indicated by 001 Both Drives off On LD command Save value to Left Locomotion Reg. M4M3M2M1-D-000 Call Set_Timer
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
On RD command Save value to Right Locomotion Reg. M4M3M2M1-D-000 Call Set_Timer
Set_Timer: Load L magnitude to temp1 Load R magnitude to temp2 Compare both magnitudes If L_Mag=R_Mag Set Drv_bit2 Clr Drv_bit1 Small_val=L_mag Big_val=R_mag Diff=01h Delay=255-Big_val If L_MagR_Mag Clr Drv_bit2 Clr Drv_bit1 Small_val=255-R_mag Big_val=L_mag Diff=Small_val-Big_val) Delay=255-Big_val On overflow Goto PWM_sub;
;At µC’s ISR for TF0 ;Jump to prog’s ISR
PWM_sub: Stop Timer0; If Phase_bit3 set Set Phase_bit2; Clr Phase_bit3; 3 Load Diff to TL0 Goto PWM_writer; Else If Phase_bit2 set Set Phase_bit1;
;Prog’s ISR ;Stop the timer0 ;Indicates end of phase 3 ;Set start of phase 2 ;Reset bit to show end of phase
Nirma Institute of Technology Technology XABRE
;Phase 2 counts for Diff period ;Perform PWM toggling ;Indicates end of phase 2 ;Set start of phase 1
Project Report 7th Sem I.C.
Clr Phase_bit2;
;Reset bit to show end of phase
Load Delay to TL0
;Phase 1 counts for Delay
2 period Goto PWM_writer; Else Set Phase_bit3; Clr Phase_bit1;
;Indicates end of phase 1 ;Set start of phase 3 ;Reset bit to show end of phase
Load Small_val to TL0;
;Phase 3 counts for Small val
1 period Goto PWM_writer; PWM_writer Start Timer0; If Phase_bit3 set P0.1 = 1; P0.2 = 1; Write Mag_bits; Else If Phase_bit2 set OFF If Drv_bit2set OFF P0.1 = 0; P0.2 = 0; Else If Drv_bit1 set OFF P0.1 = 0; Else OFF P0.0 = 0; Else If Phase_bit1 set P0.1 = 0; P0.2 = 0;
Nirma Institute of Technology Technology XABRE
;Perform PWM toggling
;Phase 3 ON, so both drives ON ;Turn ON LD ;Turn ON RD ;Magnitude bits are also set ;Phase 2 ON so lesser drive ;Both drives equal, turn ‘em ;Turn OFF LD ;Turn OFF RD ;Drv_bits=01 so LD is less, so ;Turn OFF LD ;Drv_bits=00 so RD is less, so ;Turn OFF RD ;Phase 1 ON so both drive OFF ;Turn OFF LD ;Turn OFF RD
Project Report 7th Sem I.C.
H-Bridge Logic (Extracted from Mag I.C. ’03, the annual magazine of IC Dept irma Institute of Technology. Authored by Abhijit Karnik.) There’s this nice idea you have floating about in your mind about a tank style robot you would like to build. All goes well till you decide to have the ability to reverse and there you have a nice pitfall. You can’t find a way to make your motor to get voltage in the reverse direction except use cumbersome relays with a number of switches. If you have been using a digital logic operation mode then again even relays are difficult to use. So what do you do? The answer lies in the H-bridge. The H-Bridge is basically a configuration which allows you to run the D.C. motor in any direction you want. The D.C. motor has 2 terminals. If one of the terminals is given positive D.C and the second terminal is grounded, the motor rotates in one direction. If the connections are reversed then, the motor rotates in the other direction. Now this means we need a circuit which allows either terminal to be connected to positive supply and the other one to ground as per our wish. As in figure 1 we have path A indicating connection for CCW motion, and path B for CW motion and arrangement that at a time only one path is active, then the resulting configuration is the basic H-bridge. The blocks marked 1, 1’, 2 and 2’ in the figure are devices which allow the above requirement to be fulfilled. The simplest option would be to use n-channel MOSFETs, as the blocks, which have the adequate power rating. The gate signal would be delivered from a logic gate that turns ON FETs 1 and 1’ while FETs 2 and 2’ would be OFF. This can be achieved by connecting the gates of FETs Figure 1 1 and 1’ directly to gate output while the gates of FETs 2 and 2’ are connected to the inverted output of the same gate. The operation of the H-Bridge is then as follows: If the gate output is high, FETs 1 and 1’ are ON and FETs 2 and 2’ are OFF. Path A is open while path B is closed and we have CCW motion. When the gate output is low, FETs 2 and 2’ are ON and FETs 1 and 1’ are OFF. Path B is open while path A is closed and we have CW motion. This arrangement is seemingly quite simple and easy to setup. So there should be some problems too. The 2 most basic problems in this arrangement are speed control and switching transients. For the first problem, we see that the H-bridge has no arrangements for controlling the speed of the motor. Either the motor is rotating CCW or CW at full power. The solution to this problem lies in pulse width modulation or PWM method. In short this method varies the operational duty cycle, i.e. the on time of the motor. The average DC delivered to the motor is varied by providing to the gate, pulses of variable time duration, ensuring that the motor speed is controlled. If we ‘AND’ the output of the control gate before it is supplied to any of the FET gate terminals, with a variable pulse width generator, PWM input is available to the FET gate terminals. The variable pulse width generator can be an IC555 in monostable mode with the time constant being varied by a pot and another IC555 in astable mode providing trigger input. The duty cycle can be varied from nearly 0% to ~99% of the frequency
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
of the astable IC555. Accordingly the motor speed varies from 0 rpm to full rated value. The second problem (which is a bigger problem) is the switching transients. The motor coil can be considered to be an inductor. An inductor tries to oppose changes in current magnitude flowing through it. Abruptly switching off the current supply induces large transient spikes in voltage due to the collapsing magnetic field in the motor coil. This transient voltage and current can fry your FETs if they are not built to handle the voltages. Another possible source of transient current is known as ‘free wheeling’. Due to motor inertia, the rotation of the motor may not stop immediately. During this time the motor can act as a generator sourcing large current values. These problems are more complicated and need more control circuitry that keep both FETs 1’ and 2’ ON during switching and allow transients to run to ground. Another option would be to use zener diodes with knee voltage greater than supply and with enough power dissipation ratings connected between ground and both terminals (Cathodes towards motor). In any case the FETs tend to dissipate a lot of heat while switching, which needs to be diverted to a sink properly. Another solution to this problem is using one of the H-bridge ICs that are available. These ICs come with internal arrangements for transient protection and thermal shutdown. There is simple arrangement for direction control and speed control in form of separate pins. Normally you would find a pin labeled PWM input and another labeled direction. Their limitations are in terms of peak voltages and current ratings. Another limitation is cost. They are a trifle bit too expensive. One of the H-bridge ICs is LMD18200T from National Semiconductor. I have mentioned this IC since it allows 3A and 55V and best of all, National sends free samples (it costs $8.5) so experiments are easier to conduct. Texas Instruments also has similar ICs. Specific part numbers of FETs are not mentioned since it depends on your motor and supply and mostly because I haven’t used any. I learnt about the existence of H-bridge and directly headed for National’s website to search for a related IC and found the LMD18200T. The H-bridge is a very good solution for speed-direction control of a DC motor and if your motor is not going to take large currents, even FETs without arrangements for transient bypassing can do the job satisfactorily. With the HBridge, direction and speed control should never come in way of realizing the dream of your very own bot!
Nirma Institute of Technology Technology XABRE
-
DS89C420 Ultra-High-Speed Microcontroller www.maxim-ic.com
GENERAL DESCRIPTION
FEATURES
The DS89C420 offers the highest performance available in 8051-compatible microcontrollers. It features a redesigned processor core that executes every 8051 instruction (depending on the instruction type) up to 12 times faster than the original for the same crystal speed. Typical applications see a speed improvement of 10 times using the same code and crystal. The DS89C420 offers a maximum crystal speed of 33MHz, achieving execution rates up to 33 million instructions per second (MIPS).
§
80C52 Compatible 8051 Pin- and Instruction-Set Compatible Four Bidirectional I/O Ports Three 16-Bit Timer Counters 256 Bytes Scratchpad RAM
§
On-Chip Memory 16kB Flash Memory In-System Programmable through Serial Port 1kB SRAM for MOVX
§
ROMSIZE Feature Selects Internal Program Memory Size from 0 to 16k Allows Access to Entire External Memory Map Dynamically Adjustable by Software
§
High-Speed Architecture 1 Clock-Per-Machine Cycle DC to 33MHz Operation Single-Cycle Instruction in 30ns Optional Variable Length MOVX to Access Fast/Slow Peripherals Dual Data Pointers with Auto Increment/Decrement and Toggle Select Supports Four Paged Modes
APPLICATIONS Data Logging Vending Automotive Test Equipment Motor Control Magstripe Reader/Scanner Consumer Electronics Gaming Equipment Appliances (Washers, Microwaves, etc.) Telephones HVAC Building Security and Door Access Control Building Energy Control and Management Uninterruptible Power Supplies Programmable Logic Controllers Industrial Control and Automation
§ Power Management Mode Programmable Clock Divider Automatic Hardware and Software Exit
ORDERING INFORMATION
§
Two Full-Duplex Serial Ports
§
Programmable Watchdog Timer
§
13 Interrupt Sources (Six External)
§
Five Levels of Interrupt Priority
PART
TEMP RANGE
DS89C420-MNG
-40°C to +85°C
MAX CLOCK SPEED (MHz) 25
DS89C420-QNG
-40°C to +85°C
25
44 PLCC
§
Power-Fail Reset
DS89C420-ENG
-40°C to +85°C
25
44 TQFP
§
Early Warning Power-Fail Interrupt
PINPACKAGE 40 PDIP
DS89C420-MCL
0°C to +70°C
33
40 PDIP
DS89C420-QCL
0°C to +70°C
33
44 PLCC
DS89C420-ECL
0°C to +70°C
33
44 TQFP
DS89C420-MNL
-40°C to +85°C
33
40 PDIP
DS89C420-QNL
-40°C to +85°C
33
44 PLCC
DS89C420-ENL
-40°C to +85°C
33
44 TQFP
Pin Configurations appear at end of data sheet.
Note: Some revisions of this device may incorporate deviations from published specifications known as errata. Multiple revisions of any device may be simultaneously available through various sales channels. For information about device errata, click here: www.maxim-ic.com/errata.
1 of 47
REV: 102203
DS89C420 Ultra-High-Speed Microcontroller
PIN CONFIGURATIONS TOP VIEW
TOP VIEW 33 6
1
23
40
7
39 34
22
Dallas Semiconductor DS89C420
Dallas Semiconductor DS89C420
44 17
12
29 18
28 1
PLCC
11
TQFP
TOP VIEW P1.0/T2 P1.1/T2EX P1.2/RXD1 P1.3/TXD1 P1.4/INT2 P1.5/INT3 P1.6/INT4 P1.7/INT5 RST P3.0/RXD0 P3.1/TXD0 P3.2/INT0 P3.3/INT1 P3.4/T0 P3.5/T1 P3.6/WR P3.7/RD XTAL2 XTAL1 VSS
1 2 3 4 5 6 7 8 9 10 DS89C420 11 12 13 14 15 16 17 18 19 20
DIP
46 of 47
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21
VCC P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7 EA/VPP ALE/PROG PSEN P2.7 P2.6 P2.5 P2.4 P2.3 P2.2 P2.1 P2.0
Ultra-High-Speed Flash Microcontroller User’s Guide UHSM
UHSM
8051
8051
UHSM vs.
HEX
CLOCK
TIME
CLOCK
TIME
8051 SPEED
INSTRUCTION
CODE
CYCLES
@ 25MHz
CYCLES
@ 25MHz
ADVANTAGE
CJNE A, #data, rel
B4
4
160 ns
24
960 ns
6
CJNE Rn, #data, rel
B8..BF
4
160 ns
24
960 ns
6
CJNE @Ri, #data, rel
B6..B7
5
200 ns
24
960 ns
4.8
DJNZ Rn, rel
D8..DF
4
160 ns
24
960 ns
6
DJNZ direct, rel
D5
5
200 ns
24
960 ns
4.8
NOP
00
1
40 ns
12
480 ns
12
Table 5-2. INSTRUCTION SPEED SUMMARY INSTRUCTION CATEGORY
SPEED ADVANTAGE
QUANTITY
4.0 4.8 5.3 6.0 8.0 12.0 24.0 4.0 6.0 8.0 12.0 4.8 6.0 8.0 8.5
2 1 1 12 5 27 1 1 27 5 13 3 5 8 111
SPEED ADVANTAGE
QUANTITY
4.0 4.8 5.3 6.0 8.0 12.0 24.0 4.0 6.0 8.0 12.0 4.8 6.0 8.0 9.4
4 1 1 35 5 93 1 1 42 5 43 4 12 8 255
Total instructions: 1 byte
Total instructions: 2 byte
Total instructions: 3 byte
Average across all instructions OPCODE CATEGORY Total opcodes: 1 byte
Total opcodes: two byte
Total opcodes: three byte
Average across all opcodes
SECTION 6: MEMORY ACCESS The DS89C420 ultra-high-speed microcontroller supports the memory interface convention established for the industry standard 80C51, but also implements two new page mode memory interfaces needed to support ultra-high-speed external operation. These external page mode interfaces are described later in this section. 53
_____________________________________________________________________________________________
Ultra-High-Speed Flash Microcontroller User’s Guide the watchdog reset function automatically. Other bits of this register are undefined and are at logic 1 when read. The value of this register can be read at address FCh in parallel programming mode or by executing the verify option control register instruction in ROM Loader or in-application programming mode.
FFFF
FFFF
Note: The hatched areas shown on the internal and external memory are disabled on power-up (Default)
INTERNAL MEMORY 03FF
INTERNAL REGISTERS
SCRATCH PAD
128 Bytes SFR
0000
1kB x 8 SRAM
External Program Memory
Data OR prog mem addr from 400–7FF
External Data Memory
4000 3FFF
FF
8kB x 8 Flash Memory (Program)
128 Bytes Indirect Addressing 2000
80 7F
1FFF 2F 20 1F
8kB x 8 Flash Memory (Program)
Bit Addressable
Bank 3 Bank 2 Bank 1
00
Bank 0
0000
03FF
0000
0000
Non-usable if Internal SRAM is activated
Figure 6-1. Memory Map
INTERNAL SRAM MEMORY The DS89C420 ultra-high-speed microcontroller incorporates an internal 1kB SRAM that is usable as data, program, or merged program/data memory. Upon a power-on reset, the internal 1kB memory is disabled and transparent to both program and data memory maps. When used for data, the memory is addressed through MOVX commands, and is in addition to the 256 bytes of scratchpad memory. To enable the 1kB SRAM as internal data memory, software must set the DME0 bit (PMR.0). After setting this bit, all MOVX accesses within the first 1kB (0000h–03FFh) is directed to the internal SRAM. Any data memory accesses outside of this range are still directed to the expanded bus. One advantage of using the internal data memory is that MOVX operations automatically default to the fastest access possible. Note that the DME0 bit is cleared after any reset, so access to the internal data memory is prohibited until this bit is modified. The contents of the internal data memory are not affected by the changing of the data memory enable (DME0) bit. Table 63 shows how the DME1, DME0 bits affect the data memory map. _____________________________________________________________________________________________
56
Ultra-High-Speed Flash Microcontroller User’s Guide Mode 1 Mode 1 is asynchronous and full duplex, using a total of 10 bits. The 10 bits consist of a start bit (logic 0), 8 data bits, and 1 stop bit (logic 1) as illustrated in Figure 12-2. The data is transferred LSb first. As described above, the baud rates for mode 1 are generated by either a divide-by-16 of timer 1 rollover, a divide-by-16 of the timer 2 rollover, or a divide-by-32 of timer 1 rollover. The UART begins transmission after the first rollover of the divide-by-16 counter following a software write to SBUF. Transmission takes place on the TXD pin. It begins by the start bit being placed on the pin. Data is then shifted out onto the pin, LSb first. The stop bit follows. The TI bit is set by hardware after the stop bit is placed on the pin. All bits are shifted out at the rate determined by the baud-rate generator. Once the baud-rate generator is active, reception can begin at any time. The REN bit (SCON0.4 or SCON1.4) must be set to a logic 1 to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data is shifted in at the selected baud rate. At the middle of the stop bit time, certain conditions must be met to load SBUF with the received data: •
RI must = 0, and either
•
If SM2 = 0, the state of the stop bit does not matter, or
•
If SM2 = 1, the state of the stop bit must = 1.
If these conditions are true, then SBUF (hex address 99h or C1h) is loaded with the received byte, the RB8 bit (SCON0.2 or SCON1.2) is loaded with the stop bit, and the RI bit (SCON0.0 or SCON1.0) is set. If these conditions are false, then the received data is lost (SBUF and RB8 not loaded) and RI is not set. Regardless of the receive word status, after the middle of the stop bit time, the receiver goes back to looking for a 1 to 0 transition on the RXD pin. Each data bit received is sampled on the 7th, 8th, and 9th clock used by the divide-by-16 counter. Using majority voting, two equal samples out of the three determine the logic level for each received bit. If the start bit was determined to be invalid ( = 1), then the receiver goes back to looking for a 1 to 0 transition on the RXD pin in order to start the reception of data.
Mode 2 Mode 2 uses a total of 11 bits in asynchronous full-duplex communication, as illustrated in Figure 12-3. The 11 bits consist of 1 start bit (a logic 0), 8 data bits, 1 programmable 9th bit, and one stop bit (a logic 1). Like mode 1, the transmissions occur on the TXD signal pin and receptions on RXD. For transmission purposes, the 9th bit can be stuffed as a logic 0 or 1. A common use is to put the parity bit in this location. The 9th bit is transferred from the TB8 bit position in the SCON register (SCON0.3 or SCON1.3) during the write to SBUF. Baud rates are generated as a fixed function of the crystal frequency, as described earlier in this section. Like mode 1, mode 2’s transmission begins after the first rollover of the divide-by-16 counter following a software write to SBUF. It begins by the start bit being placed on the TXD pin. The data is then shifted out onto the pin LSb first, followed by the 9th bit, and finally the stop bit. The TI bit (SCON0.1 or SCON1.1) is set when the stop bit is placed on the pin. Reception begins when a falling edge is detected as part of the incoming start bit on the RXD pin. The RXD pin is then sampled according to the baud-rate speed. The 9th bit is placed in the RB8 bit location in SCON (SCON0.2 or SCON1.2). When a stop bit has been received, the data value is transferred to the SBUF receive register (hex address 99 or C1). The RI bit (SCON0.0 or SCON1.0) is set to indicate that a byte has been received. At this time, the UART can receive another byte. Once the baud-rate generator is active, reception can begin at any time. The REN bit (SCON0.4 or SCON1.4) must be set to a logic 1 to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data must be shifted in at the selected baud rate. At the middle of the 9th bit time, certain conditions must be met to load SBUF with the received data. •
RI must = 0, and either
•
If SM2 = 0, the state of the 9th bit does not matter, or
•
If SM2 = 1, the state of the 9th bit must = 1.
If these conditions are true, then SBUF is loaded with the received byte, RB8 is loaded with the 9th bit, and RI is set. If these conditions are false, then the received data is lost (SBUF and RB8 not loaded) and RI is set. Regardless of the receive word status, after the middle of the stop bit time, the receiver goes back to looking for a 1 to 0 transition on RXD. Data is sampled in a similar fashion to mode 1 with the majority voting on three consecutive samples. Mode 2 uses the sample divideby-16 counter with either the oscillator divided by 2 or 4.
____________________________________________________________________________________________
114
Ultra-High-Speed Flash Microcontroller User’s Guide
SMOD_0 = PCON.7 OR SMOD_1 = WDCON.7
0
1
0
TCLK = T2CON.4
1
D1 D0 START
D4 D3 D2
D5
TXD PIN
0
DATA BUS
DIVIDEBY-16
0
P3.1 LATCH
S0
LDSBUF RDSBUF LOAD SERIAL BUFFER
RCLK = T2CON.5
D7 D6
STOP
LOAD
1
BAUD CLOCK
1
SHIFT SERIAL I/O CONTROL
DIVIDEBY-2
AVAILABLE TO SERIAL PORT 0 ONLY
TIMER 2 OVERFLOW
TIMER 1 OVERFLOW
CLOCK
SBUF TRANSMIT SHIFT REGISTER
SBUF
READ SERIAL BUFFER
RECEIVE DATA BUFFER
RD
WR
LOAD
RESET
D4 D3 D2
D5
D1 D0 START
SI SERIAL INTERRUPT
D7 D6
R1 FLAG = SCONx.0
CLOCK
T1 FLAG = SCONx.1
STOP
INTS
RB8 = SCONx.2
RECEIVE SHIFT REGISTER
DIVIDEBY-16
RXD PIN
BIT DETECTION
TRANSMIT TIMING LDSBUF SHIFT TXD
START
D0
D1
D2
D3
D4
D5
D6
D7
STOP
TI RECEIVE TIMING RXD
START
D0
D1
D2
D3
D4
D5
BIT DETECTOR SAMPLING SHIFT RI
Figure 12-2. Serial Port Mode 1
115
____________________________________________________________________________________________
D6
D7
STOP
Ultra-High-Speed Flash Microcontroller User’s Guide SECTION 15: PROGRAM LOADING INTRODUCTION The DS89C420 family has the ability to perform program loading or reloading in a number of ways. First, ROM loader mode can be invoked to create a serial communication channel, which permits in-system program/erase of the internal and external program memory. Secondly, parallel programming mode allows programming and erasure of the internal flash memory using industry-standard EPROM or flash parallel programmers. Finally, user code in-application programming allows the capability to in-application erase and reprogram the upper 8kb block of flash memory through a special function register interface. Note: The terms ROM loader, serial loader, and bootstrap loader are used interchangeably in this section and refer to the same functional entity.
ROM LOADER MODE The DS89C420 defaults to the normal operating (nonloader) mode without external hardware. ROM loader mode can be invoked at any time, as described later in this section. Once the loader session is complete, the device performs a hardware reset and begin operation. This is identical to an external reset, except that the ROM loader during the loader session may modify locations in scratchpad RAM in order to execute properly. The Table 15-1 shows which areas of scratchpad RAM are guaranteed preserved and which ones are of indeterminate state after exiting the loader.
Table 15-1. Preserved and Indeterminate Scratchpad Memory DS89C420 SCRATCHPAD MEMORY Guaranteed Preserved Indeterminate
80h–FFh 00h–7Fh
The guaranteed preserved locations are areas in scratchpad RAM that are be changed by the bootstrap loader. The indeterminate area contains various stacks and buffers used by the loader, and a given byte in this area may or may not be modified by the loader. As such, the user should not rely on the loader preserving any data in this area. It should also be noted that the loader, upon being invoked, clears the EWT bit (WDCON.1) so that the watchdog timer is prevented from generating an internal reset during the loader session.
Invoking the ROM Loader Mode The ROM loader mode is invoked by simultaneously applying a logic 1 to the RST pin, a logic 0 to the EA pin, and driving the PSEN pin to a logic 0 level. If power were to cycle while the required input stimuli were present, the loader would be invoked on power-up. When the ROM loader mode is invoked, the device awaits an incoming character (0Dh) on serial port 0 at a baud rate that can be detected by the autobaud routine. The autobaud routine is described later in this section. The autobaud routine receives and transmits data only on serial port 0, ignoring activity on serial port 1. Upon successful baud-rate detection, the bootstrap loader transmits a banner similar to the one shown below, signaling to the host that loader mode has successfully been invoked. The banner is followed by a “>” prompt, which indicates the device is ready to receive a command. The command set recognizable by the ROM loader is also detailed later in this section. The flow of these conditions is shown in Figure 15-1.
Exiting the Loader In order to exit ROM loader mode on the DS89C420 device, first float the PSEN signal, and then float or drive the RST pin low. The RST pin has an internal pulldown. The PSEN signal is an output and drives itself high. When the loader stimulus is removed, the processor performs a hardware reset and begin execution at location 0000h. Note that both of these conditions must occur, or the loader is exited. The flow of these conditions is shown in Figure 15-1.
127
____________________________________________________________________________________________
Ultra-High-Speed Flash Microcontroller User’s Guide
PROGRAM EXECUTION INTERNAL MEMORY DISABLED EA\ =0 INTERNAL MEMORY ENABLED EA\ =1
N
RST = 1
Y N DEVICE IN RESET (INTERNAL MEMORY ENABLED)
EA\ = 0
Y N DEVICE IN RESET (INTERNAL MEMORY DISABLED)
PSEN\ = 0 Y AUTOBAUD ROUTINE AWAITING CHARACTER ON RXD OF SERIAL PORT 0
N Y SERIAL COMMUNICATION WITH THE ROM LOADER CAN PROCEED AS ESTABLISHED ON SERIAL PORT 0
N
PSEN\ TOGGLED 0
1
Y
POWER-ON RESET
Figure 15-1. Invoking and Exiting the Loader on the DS89C420
____________________________________________________________________________________________
128
Ultra-High-Speed Flash Microcontroller User’s Guide Serial Program Load Operation Program loading through a serial port is a convenient method of loading application software into the flash memory or external memory. Communication is performed over a standard, asynchronous serial communications port using a terminal emulator program with 8-N-1 (8 data bits, no parity, 1 stop bit) protocol settings. A typical application would use a simple RS-232 serial interface to in-system program the device as part of a final production procedure. The hardware configuration for the serial program load operation is illustrated in Figure 15-2. A variety of crystals can be used to produce standard baud rates. The serial loader is designed to operate across a 3-wire interface from a standard UART. The receive, transmit, and ground wires are all that are necessary to establish communication with the device. The serial loader implements an easy-to-use command line interface, which allows an Intel hex file to be loaded and read back from the device. Intel hex is the standard format output by 8051 cross-assemblers. TO PC TD ROOUT
RXDO
TOOUT DS232A TOIN
TXDO
ROIN RD
DTR R1IN
R1OUT
T1OUT
T1IN
DS89C420 VCC
RST
EA
PSEN
HC/AC125 Figure 15-2. Serial Load Hardware Configuration
AUTOBAUD-RATE DETECTION The serial bootstrap loader can automatically detect, within certain limits, the external baud rate and configure itself to that speed. The loader controls serial port 0 in mode 1 (asynchronous, 1 start bit, 8 data bits, no parity, 1 stop bit, full duplex), using timer 1 in 8-bit autoreload mode with the serial port 0 doubler bit (PCON.7) set. For these settings, an equation to calculate possible serial loader baud rates is provided as a function of crystal frequency and timer reload value. Table 15-1 shows baud rates generated using the equation:
Serial Loader_Baud rate =
Crystal Frequency 192 x ( 256-Timer Reload )
** Timer reload values attempted by the loader: FF, FE, FD, FC, FB, FA, F8, F6, F5, F4, F3, F0, EC, EA, E8, E6, E0, DD, D8, D4, D0, CC, C0, BA, B0, A8, A0, 98, 80, 60, 40 When communicating with a PC COM port having a standard 8250/16450 UART, attempt to match the loader baud rate and PC COM port baud rate within 3% in order to maintain a reliable communication channel. If baud rates cannot be matched exactly, it is suggested configuring the loader to the faster baud rate to avoid the possibility of overflowing the DS89C420 serial input buffer.
129
____________________________________________________________________________________________
LMD18200 3A, 55V H-Bridge General Description The LMD18200 is a 3A H-Bridge designed for motion control applications. The device is built using a multi-technology process which combines bipolar and CMOS control circuitry with DMOS power devices on the same monolithic structure. Ideal for driving DC and stepper motors; the LMD18200 accommodates peak output currents up to 6A. An innovative circuit which facilitates low-loss sensing of the output current has been implemented.
Features n n n n
Delivers up to 3A continuous output Operates at supply voltages up to 55V Low RDS(ON) typically 0.3Ω per switch TTL and CMOS compatible inputs
n n n n n n
No “shoot-through” current Thermal warning flag output at 145˚C Thermal shutdown (outputs off) at 170˚C Internal clamp diodes Shorted load protection Internal charge pump with external bootstrap capability
Applications n n n n n
DC and stepper motor drives Position and velocity servomechanisms Factory automation robots Numerically controlled machinery Computer printers and plotters
Functional Diagram
DS010568-1
FIGURE 1. Functional Block Diagram of LMD18200
© 1999 National Semiconductor Corporation
DS010568
www.national.com
LMD18200 3A, 55V H-Bridge
December 1999
LMD18200
Connection Diagrams and Ordering Information
DS010568-2
11-Lead TO-220 Package Top View Order Number LMD18200T See NS Package TA11B
DS010568-25
24-Lead Dual-in-Line Package Top View Order Number LMD18200-2D-QV 5962-9232501VXA LMD18200-2D/883 5962-9232501MXA See NS Package DA24B
www.national.com
2
LMD18200
Electrical Characteristics Notes Note 1: Absolute Maximum Ratings indicate limits beyond which damage to the device may occur. DC and AC electrical specifications do not apply when operating the device beyond its rated operating conditions. Note 2: See Application Information for details regarding current limiting. Note 3: The maximum power dissipation must be derated at elevated temperatures and is a function of TJ(max), θJA, and TA. The maximum allowable power dissipation at any temperature is PD(max) = (TJ(max) − TA)/θJA, or the number given in the Absolute Ratings, whichever is lower. The typical thermal resistance from junction to case (θJC) is 1.0˚C/W and from junction to ambient (θJA) is 30˚C/W. For guaranteed operation TJ(max) = 125˚C. Note 4: Human-body model, 100 pF discharged through a 1.5 kΩ resistor. Except Bootstrap pins (pins 1 and 11) which are protected to 1000V of ESD. Note 5: All limits are 100% production tested at 25˚C. Temperature extreme limits are guaranteed via correlation using accepted SQC (Statistical Quality Control) methods. All limits are used to calculate AOQL, (Average Outgoing Quality Level). Note 6: Output currents are pulsed (tW < 2 ms, Duty Cycle < 5%). Note 7: Regulation is calculated relative to the current sense output value with a 1A load. Note 8: Selections for tighter tolerance are available. Contact factory.
Typical Performance Characteristics VSAT vs Flag Current
RDS(ON) vs Temperature
DS010568-16
RDS(ON) vs Supply Voltage
DS010568-17 DS010568-18
Supply Current vs Supply Voltage
Supply Current vs Frequency (VS = 42V)
DS010568-19
DS010568-21
DS010568-20
Current Sense Output vs Load Current
Current Sense Operating Region
DS010568-22
www.national.com
Supply Current vs Temperature (VS = 42V)
DS010568-23
4
LMD18200
Test Circuit
DS010568-8
Switching Time Definitions
DS010568-9
Pinout Description
it is also necessary to apply logic high to PWM input, pin 5. The drivers that short the motor are determined by the logic level at the DIRECTION input (Pin 3): with Pin 3 logic high, both current sourcing output transistors are ON; with Pin 3 logic low, both current sinking output transistors are ON. All output transistors can be turned OFF by applying a logic high to Pin 4 and a logic low to PWM input Pin 5; in this case only a small bias current (approximately −1.5 mA) exists at each output pin. Pin 5, PWM Input: See Table 1. How this input (and DIRECTION input, Pin 3) is used is determined by the format of the PWM Signal.
(See Connection Diagram)
Pin 1, BOOTSTRAP 1 Input: Bootstrap capacitor pin for half H-bridge number 1. The recommended capacitor (10 nF) is connected between pins 1 and 2. Pin 2, OUTPUT 1: Half H-bridge number 1 output. Pin 3, DIRECTION Input: See Table 1. This input controls the direction of current flow between OUTPUT 1 and OUTPUT 2 (pins 2 and 10) and, therefore, the direction of rotation of a motor load. Pin 4, BRAKE Input: See Table 1. This input is used to brake a motor by effectively shorting its terminals. When braking is desired, this input is taken to a logic high level and 5
www.national.com
LMD18200
Pinout Description (See Connection Diagram) (Continued) Pin 6, VS Power Supply Pin 7, GROUND Connection: This pin is the ground return, and is internally connected to the mounting tab. Pin 8, CURRENT SENSE Output: This pin provides the sourcing current sensing output signal, which is typically 377 µA/A. Pin 9, THERMAL FLAG Output: This pin provides the thermal warning flag output signal. Pin 9 becomes active-low at 145˚C (junction temperature). However the chip will not shut itself down until 170˚C is reached at the junction. Pin 10, OUTPUT 2: Half H-bridge number 2 output.
DS010568-4
FIGURE 2. Locked Anti-Phase PWM Control Sign/magnitude PWM consists of separate direction (sign) and amplitude (magnitude) signals (see Figure 3). The (absolute) magnitude signal is duty-cycle modulated, and the absence of a pulse signal (a continuous logic low level) represents zero drive. Current delivered to the load is proportional to pulse width. For the LMD18200, the DIRECTION input (pin 3) is driven by the sign signal and the PWM input (pin 5) is driven by the magnitude signal.
Pin 11, BOOTSTRAP 2 Input: Bootstrap capacitor pin for Half H-bridge number 2. The recommended capacitor (10 nF) is connected between pins 10 and 11. TABLE 1. Logic Truth Table PWM
Dir
Brake
H
H
L
Source 1, Sink 2
Active Output Drivers
H
L
L
Sink 1, Source 2
L
X
L
Source 1, Source 2
H
H
H
Source 1, Source 2
H
L
H
Sink 1, Sink 2
L
X
H
NONE
Application Information TYPES OF PWM SIGNALS The LMD18200 readily interfaces with different forms of PWM signals. Use of the part with two of the more popular forms of PWM is described in the following paragraphs. Simple, locked anti-phase PWM consists of a single, variable duty-cycle signal in which is encoded both direction and amplitude information (see Figure 2). A 50% duty-cycle PWM signal represents zero drive, since the net value of voltage (integrated over one period) delivered to the load is zero. For the LMD18200, the PWM signal drives the direction input (pin 3) and the PWM input (pin 5) is tied to logic high.
www.national.com
DS010568-5
FIGURE 3. Sign/Magnitude PWM Control SIGNAL TRANSITION REQUIREMENTS To ensure proper internal logic performance, it is good practice to avoid aligning the falling and rising edges of input signals. A delay of at least 1 µsec should be incorporated between transitions of the Direction, Brake, and/or PWM input signals. A conservative approach is be sure there is at least 500ns delay between the end of the first transition and the beginning of the second transition. See Figure 4.
6
19-4770; Rev 1; 1/99
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers The MAX6816/MAX6817/MAX6818 are single, dual, and octal switch debouncers that provide clean interfacing of mechanical switches to digital systems. They accept one or more bouncing inputs from a mechanical switch and produce a clean digital output after a short, preset qualification delay. Both the switch opening bounce and the switch closing bounce are removed. Robust switch inputs handle ±25V levels and are ±15kV ESDprotected for use in harsh industrial environments. They feature single-supply operation from +2.7V to +5.5V. Undervoltage lockout circuitry ensures the output is in the correct state upon power-up. The single MAX6816 and dual MAX6817 are offered in SOT packages and require no external components. Their low supply current makes them ideal for use in portable equipment. The MAX6818 octal switch debouncer is designed for data-bus interfacing. The MAX6818 monitors switches and provides a switch change-of-state output (CH), simplifying microprocessor (µP) polling and interrupts. Additionally, the MAX6818 has three-state outputs controlled by an enable (EN) pin, and is pin-compatible with the ‘LS573 octal latch (except for the CH pin), allowing easy interfacing to a digital data bus.
Applications µP Switch Interfacing Industrial Instruments
Features ♦ Robust Inputs can Exceed Power Supplies up to ±25V ♦ ESD Protection for Input Pins ±15kV—Human Body Model ±8kV—IEC 1000-4-2, Contact Discharge ±15kV—IEC 1000-4-2, Air-Gap Discharge ♦ Small SOT Packages (4 and 6 pins) ♦ Single-Supply Operation from +2.7V to +5.5V ♦ Single (MAX6816), Dual (MAX6817), and Octal (MAX6818) Versions Available ♦ No External Components Required ♦ 6µA Supply Current ♦ Three-State Outputs for Directly Interfacing Switches to µP Data Bus (MAX6818) ♦ Switch Change-of-State Output Simplifies Polling and Interrupts (MAX6818) ♦ Pin-Compatible with ’LS573 (MAX6818)
Ordering Information PART
TEMP. RANGE
PINSOT PACKAGE TOP MARK
MAX6816EUS-T
-40°C to +85°C
4 SOT143
KABA
MAX6817EUT-T -40°C to +85°C 6 SOT23-6 AAAU MAX6818EAP -40°C to +85°C 20 SSOP — Note: There is a minimum order increment of 2500 pieces for SOT packages.
PC-Based Instruments Portable Instruments Automotive Applications Membrane Keypads
Pin Configurations
Typical Operating Circuit
TOP VIEW
VCC GND
4
VCC
3
OUT
MAX6816
MAX6816
MECHANICAL SWITCH
1
µP 0.1µF
IN
OUT GND
DEBOUNCED OUTPUT
RESET
IN
2
SOT143
Pin Configurations continued at end of data sheet. ________________________________________________________________ Maxim Integrated Products
1
For free samples & the latest literature: http://www.maxim-ic.com, or phone 1-800-998-8800. For small orders, phone 1-800-835-8769.
MAX6816/MAX6817/MAX6818
General Description
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers MAX6816/MAX6817/MAX6818
Pin Description PIN
NAME
FUNCTION
MAX6816
MAX6817
MAX6818
1
2
10
GND
2
—
—
IN
Switch Input
—
1, 3
—
IN1, IN2
Switch Inputs
—
—
2–9
IN1–IN8
Switch Inputs
3
—
—
OUT
CMOS Debounced Output
—
4, 6
—
OUT2, OUT1
CMOS Debounced Outputs
—
—
12–19
OUT8–OUT1
CMOS Debounced Outputs
4
5
20
VCC
+2.7V to +5.5V Supply Voltage
—
—
1
EN
Active-Low, Three-State Enable Input for outputs. Resets CH. Tie to GND to “always enable” outputs.
—
—
11
CH
Change-of-State Output. Goes low on switch input change of state. Resets on EN. Leave unconnected if not used.
Ground
D
VCC VCC
D VCC
OSC.
COUNTER
Q
OUT
Q
LOAD
R
RPU UNDERVOLTAGE LOCKOUT
IN ESD PROTECTION
MAX6816 MAX6817 MAX6818
Figure 1. Block Diagram
_______________Detailed Description Theory of Operation The MAX6816/MAX6817/MAX6818 are designed to eliminate the extraneous level changes that result from interfacing with mechanical switches (switch bounce). Virtually all mechanical switches bounce upon opening or closing. These switch debouncers remove bounce when a switch opens or closes by requiring that sequentially clocked inputs remain in the same state for a number of sampling periods. The output does not change until the input is stable for a duration of 40ms. The circuit block diagram (Figure 1) shows the functional blocks consisting of an on-chip oscillator, counter, exclusive-NOR gate, and D flip-flop. When the 4
input does not equal the output, the XNOR gate issues a counter reset. When the switch input state is stable for the full qualification period, the counter clocks the flip-flop, updating the output. Figure 2 shows the typical opening and closing switch debounce operation. On the MAX6818, the change output (CH) is updated simultaneously with the switch outputs.
Undervoltage Lockout The undervoltage lockout circuitry ensures that the outputs are at the correct state on power-up. While the supply voltage is below the undervoltage threshold (typically 1.9V), the debounce circuitry remains transparent. Switch states are present at the logic outputs without delay.
_______________________________________________________________________________________
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers EN
tEN
IN1
1/2 VCC
1/2 VCC
tPE
OUT1–OUT8 OUT1
1/2 VCC
tPE OUT1–OUT8
IN2
tPD
OUT NORMALLY LOW
VOL + 0.5V
1/2 VCC OUT NORMALLY
VOH - 0.5V
HIGH tPC
CH
OUT2
MAX6816/MAX6817/MAX6818
tDP
tPD
1/2 VCC
Figure 4. MAX6818 µP-Interface Timing Diagram CH +VCC MAX6818 ONLY
+VCC
0.1µF
Figure 2. Input Characteristics SW1 IN1 20V IN (20V/div)
EN
I/O
CH
IRQ
OUT1
D0
OUT8
D7
µP
MAX6818
0 -20V IN8 SW8 4V
OUT (2V/div)
Figure 5. MAX6818 Typical µP Interfacing Circuit
0
20ms/div
Figure 3. Switch Input ±25V Fault Tolerance
Robust Switch Inputs The switch inputs on the MAX6816/MAX6817/MAX6818 have overvoltage clamping diodes to protect against damaging fault conditions. Switch input voltages can safely swing ±25V to ground (Figure 3). Proprietary ESD-protection structures protect against high ESD encountered in harsh industrial environments, membrane keypads, and portable applications. They are designed to withstand ±15kV per the IEC1000-4-2 Air Gap Discharge Test and ±8kV per the IEC1000-4-2 Contact Discharge Test. Since there are 63kΩ (typical) pull-up resistors connected to each input, driving an input to -25V will draw
approximately 0.5mA (up to 4mA for eight inputs) from the VCC supply. Driving an input to +25V will cause approximately 0.32mA of current (up to 2.6mA for eight inputs) to flow back into the VCC supply. If the total system VCC supply current is less than the current flowing back into the VCC supply, VCC will rise above normal levels. In some low-current systems, a zener diode on VCC may be required.
±15kV ESD Protection As with all Maxim devices, ESD-protection structures are incorporated on all pins to protect against electrostatic discharges encountered during handling and assembly. The MAX6816/MAX6817/MAX6818 have extra protection against static electricity. Maxim's engineers have developed state-of-the-art structures to protect against ESD of ±15kV at the switch inputs without
_______________________________________________________________________________________
5
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers
The major difference between tests done using the Human Body Model and IEC1000-4-2 is higher peak current in IEC1000-4-2, because series resistance is lower in the IEC1000-4-2 model. Hence, the ESD withstand voltage measured to IEC1000-4-2 is generally lower than that measured using the Human Body Model. Figure 7a shows the IEC1000-4-2 model and Figure 7b shows the current waveform for the 8kV, IEC1000-4-2, Level 4, ESD Contact-Discharge test. The Air-Gap test involves approaching the device with a charged probe. The Contact-Discharge method connects the probe to the device before the probe is energized.
Machine Model The Machine Model for ESD tests all pins using a 200pF storage capacitor and zero discharge resistance. Its objective is to emulate the stress caused by contact that occurs with handling and assembly during manufacturing.
MAX6818 µP Interfacing The MAX6818 has an output enable (EN) input that allows switch outputs to be three-stated on the µP data bus until polled by the µP. Also, state changes at the switch inputs are detected, and an output (CH) goes low after the debounce period to signal the µP. Figure 4 shows the timing diagram for enabling outputs and reading data. If the output enable is not used, tie EN to GND to “always enable’’ the switch outputs. If EN is low, CH is always high. If a change of state is not required, leave CH unconnected.
Pin Configurations (continued) TOP VIEW
IN1 1
GND 2
6
MAX6817
IN2 3
SOT23-6
OUT1
EN 1
20 VCC
IN1 2
19 OUT1
IN2 3
18 OUT2
IN3 4 IN4 5
5
VCC
4
OUT2
17 OUT3
MAX6818
16 OUT4
IN5 6
15 OUT5
IN6 7
14 OUT6
IN7 8
13 OUT7
IN8 9
12 OUT8
GND 10
11 CH
SSOP
___________________Chip Information MAX6816 TRANSISTOR COUNT: 284 MAX6817 TRANSISTOR COUNT: 497 MAX6818 TRANSISTOR COUNT: 2130 SUBSTRATE CONNECTED TO GND
_______________________________________________________________________________________
7
MAX6816/MAX6817/MAX6818
meets Level 4 (the highest level) of IEC1000-4-2, without the need for additional ESD-protection components.
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
D D D D D D
Choice of Eight Latches or Eight D-Type Flip-Flops in a Single Package 3-State Bus-Driving Outputs Full Parallel Access for Loading Buffered Control Inputs Clock-Enable Input Has Hysteresis to Improve Noise Rejection (’S373 and ’S374) P-N-P Inputs Reduce DC Loading on Data Lines (’S373 and ’S374)
SN54LS373, SN74LS373 . . . DW, N, OR NS PACKAGE SN74S373 . . . DW OR N PACKAGE (TOP VIEW)
OC 1Q 1D 2D 2Q 3Q 3D 4D 4Q GND
description
19
3
18
4
17
5
16
6
15
7
14
8
13
9
12
10
11
VCC 8Q 8D 7D 7Q 6Q 6D 5D 5Q C
C for ’LS373 and ’S373; SN54LS373, SN54S373, . . . FK PACKAGE (TOP VIEW)
The eight latches of the ’LS373 and ’S373 are transparent D-type latches, meaning that while the enable (C or CLK) input is high, the Q outputs follow the data (D) inputs. When C or CLK is taken low, the output is latched at the level of the data that was set up.
2D 2Q 3Q 3D 4D
4
3 2 1 20 19 18
5
17
6
16
7
15
8
14 9 10 11 12 13
8D 7D 7Q 6Q 6D
4Q GND C 5Q 5D
The eight flip-flops of the ’LS374 and ’S374 are edge-triggered D-type flip-flops. On the positive transition of the clock, the Q outputs are set to the logic states that were set up at the D inputs.
20
2
1D 1Q OC VCC 8Q
These 8-bit registers feature 3-state outputs designed specifically for driving highly capacitive or relatively low-impedance loads. The high-impedance 3-state and increased high-logic-level drive provide these registers with the capability of being connected directly to and driving the bus lines in a bus-organized system without need for interface or pullup components. These devices are particularly attractive for implementing buffer registers, I/O ports, bidirectional bus drivers, and working registers.
1
C for ’LS373 and ’S373;
Schmitt-trigger buffered inputs at the enable/clock lines of the ’S373 and ’S374 devices simplify system design as ac and dc noise rejection is improved by typically 400 mV due to the input hysteresis. A buffered output-control (OC) input can be used to place the eight outputs in either a normal logic state (high or low logic levels) or the high-impedance state. In the high-impedance state, the outputs neither load nor drive the bus lines significantly. OC does not affect the internal operation of the latches or flip-flops. That is, the old data can be retained or new data can be entered, even while the outputs are off.
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. Copyright 2002, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
On products compliant to MIL-PRF-38535, all parameters are tested unless otherwise noted. On all other products, production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
Function Tables ’LS373, ’S373 (each latch) INPUTS OC
C
D
OUTPUT Q
L
H
H
H
L
H
L
L
L
L
X
Q0
H
X
X
Z
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
3
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
logic diagrams (positive logic) ’LS373, ’S373 Transparent Latches OC
C
1
OC
11
CLK C1
1D
3
4
3D
4D
5D
6D
7D
8D
16
1D
13
14
17
8D
18
for ’S373 Only
4
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
15
1D
16
1D
1D
for ’S374 Only
Pin numbers shown are for DB, DW, J, N, NS, and W packages.
12
1D
C1 8Q
9
1D
C1 7Q 7D
19
8
6
1D
C1 6Q 6D
1D
C1 18
15
7
5
1D
C1 5Q 5D
1D
C1 17
12
4
2
1D
C1 4Q 4D
1D
C1 14
9
3
C1 3Q 3D
1D
C1 13
6
11
C1 2Q 2D
1D
C1 8
5
1
C1 1Q 1D
1D
C1 7
2
1D
C1 2D
’LS374, ’S374 Positive-Edge-Triggered Flip-Flops
19
1Q
2Q
3Q
4Q
5Q
6Q
7Q
8Q
µA7800 SERIES POSITIVE-VOLTAGE REGULATORS SLVS056G – MAY 1976 – REVISED OCTOBER 2001
D D D D D D D
KC PACKAGE (TOP VIEW)
3-Terminal Regulators Output Current up to 1.5 A Internal Thermal-Overload Protection High Power-Dissipation Capability Internal Short-Circuit Current Limiting Output Transistor Safe-Area Compensation Direct Replacements for Fairchild µA7800 Series
OUTPUT COMMON INPUT The COMMON terminal is in electrical contact with the mounting base. TO-220AB
O
C
description This series of fixed-voltage monolithic integrated-circuit voltage regulators is designed for a wide range of applications. These applications include on-card regulation for elimination of noise and distribution problems associated with single-point regulation. Each of these regulators can deliver up to 1.5 A of output current. The internal current-limiting and thermal-shutdown features of these regulators essentially make them immune to overload. In addition to use as fixed-voltage regulators, these devices can be used with external components to obtain adjustable output voltages and currents, and also can be used as the power-pass element in precision regulators.
I
KTE PACKAGE (TOP VIEW)
OUTPUT COMMON INPUT The COMMON terminal is in electrical contact with the mounting base.
The µA7800C series is characterized for operation over the virtual junction temperature range of 0°C to 125°C.
O
C
I
AVAILABLE OPTIONS PACKAGED DEVICES TJ
0°C to 125°C
VO(NOM) (V)
PLASTIC FLANGE MOUNT (KC)
HEAT-SINK MOUNTED (KTE)
5
µA7805CKC
µA7805CKTE
8
µA7808CKC
µA7808CKTE
10
µA7810CKC
µA7810CKTE
12
µA7812CKC
µA7812CKTE
15
µA7815CKC
µA7815CKTE
24
µA7824CKC
µA7824CKTE
The KTE package is only available taped and reeled. Add the suffix R to the device type (e.g., µA7805CKTER).
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. Copyright 2001, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
µA7800 SERIES POSITIVE-VOLTAGE REGULATORS SLVS056G – MAY 1976 – REVISED OCTOBER 2001
APPLICATION INFORMATION µA78xx
+V
+VO
0.33 µF
0.1 µF
Figure 1. Fixed-Output Regulator
IN
+
µA78xx
VI
OUT
G IL
COM
–VO
–
Figure 2. Positive Regulator in Negative Configuration (VI Must Float)
Input
µA78xx
Output R1
IO 0.33 µF
0.1 µF R2
ǒ )Ǔ
NOTE A: The following formula is used when Vxx is the nominal output voltage (output to common) of the fixed regulator: VO
+V ) xx
V xx R1
I Q R2
Figure 3. Adjustable-Output Regulator
µA78xx
Input 0.33 µF
R1
VO(Reg)
Output IO IO = (VO/R1) + IO Bias Current
Figure 4. Current Regulator
6
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
HIN232, HIN236, HIN237,HIN238, HIN239, HIN240, HIN241
®
Data Sheet
June 2003
FN3138.13
+5V Powered RS-232 Transmitters/Receivers
Features
The HIN232-HIN241 family of RS-232 transmitters/receivers interface circuits meet all ElA RS-232E and V.28 specifications, and are particularly suited for those applications where ±12V is not available. They require a single +5V power supply (except HIN239) and feature onboard charge pump voltage converters which generate +10V and -10V supplies from the 5V supply. The family of devices offer a wide variety of RS-232 transmitter/receiver combinations to accommodate various applications (see Selection Table).
• Requires Only Single +5V Power Supply - (+5V and +12V - HIN239)
The drivers feature true TTL/CMOS input compatibility, slewrate-limited output, and 300Ω power-off source impedance. The receivers can handle up to ±30V, and have a 3kΩ to 7kΩ input impedance. The receivers also feature hysteresis to greatly improve noise rejection.
• Multiple Drivers - ±10V Output Swing for 5V lnput - 300Ω Power-Off Source Impedance - Output Current Limiting - TTL/CMOS Compatible - 30V/µs Maximum Slew Rate
• Meets All RS-232E and V.28 Specifications
• High Data Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . 120kbps • Onboard Voltage Doubler/Inverter • Low Power Consumption • Low Power Shutdown Function • Three-State TTL/CMOS Receiver Outputs
• Multiple Receivers - ±30V Input Voltage Range - 3kΩ to 7kΩ Input Impedance - 0.5V Hysteresis to Improve Noise Rejection
Applications • Any System Requiring RS-232 Communication Ports - Computer - Portable, Mainframe, Laptop - Peripheral - Printers and Terminals - Instrumentation - Modems
Selection Table POWER SUPPLY VOLTAGE
NUMBER OF RS-232 DRIVERS
NUMBER OF RS-232 RECEIVERS
EXTERNAL COMPONENTS
LOW POWER SHUTDOWN/TTL THREE-STATE
NUMBER OF LEADS
HIN232
+5V
2
2
4 Capacitors
No/No
16
HIN236
+5V
4
3
4 Capacitors
Yes/Yes
24
HIN237
+5V
5
3
4 Capacitors
No/No
24
HIN238
+5V
4
4
4 Capacitors
No/No
24
HIN239
+5V and +7.5V to 13.2V
3
5
2 Capacitors
No/Yes
24
HIN240
+5V
5
5
4 Capacitors
Yes/Yes
44
HIN241
+5V
4
5
4 Capacitors
Yes/Yes
28
PART NUMBER
1
CAUTION: These devices are sensitive to electrostatic discharge; follow proper IC Handling Procedures. 1-888-INTERSIL or 321-724-7143 | Intersil (and design) is a registered trademark of Intersil Americas Inc. Copyright © Intersil Americas Inc. 2003. All Rights Reserved. All other trademarks mentioned are the property of their respective owners.
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Pin Descriptions PIN VCC
FUNCTION Power Supply Input 5V ±10%.
V+
Internally generated positive supply (+10V nominal), HIN239 requires +7.5V to +13.2V.
V-
Internally generated negative supply (-10V nominal).
GND
Ground lead. Connect to 0V.
C1+
External capacitor (+ terminal) is connected to this lead.
C1-
External capacitor (- terminal) is connected to this lead.
C2+
External capacitor (+ terminal) is connected to this lead.
C2-
External capacitor (- terminal) is connected to this lead.
TIN
Transmitter Inputs. These leads accept TTL/CMOS levels. An internal 400kΩ pull-up resistor to VCC is connected to each lead.
TOUT RIN ROUT
Transmitter Outputs. These are RS-232 levels (nominally ±10V). Receiver Inputs. These inputs accept RS-232 input levels. An internal 5kΩ pull-down resistor to GND is connected to each input. Receiver Outputs. These are TTL/CMOS levels.
EN
Enable input. This is an active low input which enables the receiver outputs. With EN = 5V, the receiver outputs are placed in a high impedance state.
SD
Shutdown Input. With SD = 5V, the charge pump is disabled, the receiver outputs are in a high impedance state and the transmitters are shut off.
NC
No Connect. No connections are made to these leads.
Ordering Information PART NUMBER
TEMP. RANGE (oC)
PACKAGE
HIN232CB
0 to 70
16 Ld SOIC
HIN232CB-T
0 to 70
Tape and Reel
PKG. DWG. # M16.3
HIN232CP
0 to 70
16 Ld PDIP
E16.3
HIN232IB
-40 to 85
16 Ld SOIC
M16.3
HIN232IP
-40 to 85
16 Ld PDIP
E16.3
HIN236CB
0 to 70
24 Ld SOIC
M24.3
HIN236IB
-40 to 85
24 Ld SOIC
M24.3
HIN237CB
0 to 70
24 Ld SOIC
M24.3
HIN237CB-T
0 to 70
Tape and Reel
HIN238CB
0 to 70
24 Ld SOIC
HIN238CB-T
0 to 70
Tape and Reel
HIN238CP
0 to 70
24 Ld PDIP
E24.3
HIN238IB
-40 to 85
24 Ld SOIC
M24.3
HIN239CB
0 to 70
24 Ld SOIC
M24.3
HIN239CB-T
0 to 70
Tape and Reel
M24.3
HIN239CP
0 to 70
24 Ld PDIP
E24.3
HIN240CN
0 to 70
44 Ld MQFP
Q44.10X10
HIN241CA
0 to 70
28 Ld SSOP
M28.209
HIN241CB
0 to 70
28 Ld SOIC
M28.3
HIN241IB
-40 to 85
28 Ld SOIC
M28.3
2
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Pinouts HIN232 (PDIP, SOIC) TOP VIEW
HIN236 (SOIC) TOP VIEW T3OUT
1
24 T4OUT
15 GND
T1OUT
2
23 R2IN
14 T1OUT
T2OUT
3
22 R2OUT
R1IN
4
21 SD
R1OUT
5
20 EN
T2IN
6
19 T4IN
16 VCC
C1+ 1 V+ 2 C1- 3
13 R1IN
C2+ 4
12 R1OUT
C2- 5 6
11 T1IN
T2OUT 7
10 T2IN
V-
9 R2OUT
R2IN 8
T1IN
7
18 T3IN
GND
8
17 R3OUT
VCC
9
16 R3IN
C1+ 10
14 C2-
C1- 12
13 C2+
+5V
+5V
+ 1µF
16 1µF
1 NOTE 1
+ 3 4
NOTE 1
T1IN
+ 5
11
VCC C1+ C1C2+ C2-
+5V TO 10V VOLTAGE DOUBLER
+10V TO -10V VOLTAGE INVERTER
+5V 400kΩ
V+
2
+
NOTE 1 1µF
T1IN
V- 6 +
T2IN
T1
14
T2IN
10
T1OUT
T2 7
12
T2OUT
T4IN
R1IN
T1
+5V 400kΩ
T2
6
18
+5V 400kΩ
T3
+5V 400kΩ 19
T4
2
3
1
24
R2OUT
8
1µF
1µF T1OUT
T2OUT
T3OUT T4OUT
4 R1IN 5kΩ
R1 22
9
+
V- 15
R1OUT
5kΩ
R1
V+
11
+
+5V 400kΩ 7
5
13
R1OUT
9 10 VCC C1+ + +5V TO 10V 12 C1- VOLTAGE DOUBLER 13 C2+ + +10V TO -10V 14 VOLTAGE INVERTER C2-
NOTE 1
T3IN +5V 400kΩ
15 V-
V+ 11
23 R2IN
R2OUT R2IN
5kΩ
R2
5kΩ
R2
17
16 R3IN
R3OUT 15
20
5kΩ
R3
SD
EN
NOTE:
8
1. Either 0.1µF or 1µF capacitors may be used. The V+ capacitor may be terminated to VCC or to GND.
3
21
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Test Conditions: VCC = +5V ±10%, TA = Operating Temperature Range (Continued)
Electrical Specifications PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNITS
120
-
-
kbps
TIMING CHARACTERISTICS Baud Rate (1 Transmitter Switching)
RL = 3kΩ
Output Enable Time, tEN
HIN236, HIN239, HIN240, HIN241
-
400
-
ns
Output Disable Time, tDIS
HIN236, HIN239, HIN240, HIN241
-
250
-
ns
Propagation Delay, tPD
RS-232 to TTL
-
0.5
-
µs
Instantaneous Slew Rate SR
CL = 10pF, RL = 3kΩ, TA = 25oC (Note 4)
-
-
30
V/µs
Transition Region Slew Rate, SRT
RL = 3kΩ, CL = 2500pF Measured from +3V to -3V or -3V to +3V, 1 Transmitter Switching
-
3
-
V/µs
TRANSMITTER OUTPUTS Output Voltage Swing, TOUT
Transmitter Outputs, 3kΩ to Ground
±5
±9
±10
V
Output Resistance, TOUT
VCC = V+ = V- = 0V, VOUT = ±2V
300
-
-
Ω
RS-232 Output Short Circuit Current, ISC
TOUT shorted to GND
-
±10
-
mA
NOTE: 4.
Guaranteed by design.
VOLTAGE DOUBLER C1+
S1
VOLTAGE INVERTER
S2
V+ = 2VCC
S5
C2+
S6
VCC
GND + -
+ C1
-
+
C3
VCC
GND
C1-
S3
S4
GND S7
C2-
+
C2
-
C4 V- = -(V+)
S8
RC OSCILLATOR
FIGURE 1. CHARGE PUMP
Detailed Description The HIN232 thru HIN241 family of RS-232 transmitters/receivers are powered by a single +5V power supply (except HIN239), feature low power consumption, and meet all ElA RS-232C and V.28 specifications. The circuit is divided into three sections: The charge pump, transmitter, and receiver.
Charge Pump An equivalent circuit of the charge pump is illustrated in Figure 1. The charge pump contains two sections: the voltage doubler and the voltage inverter. Each section is driven by a two phase, internally generated clock to generate +10V and -10V. The nominal clock frequency is 16kHz. During phase one of the clock, capacitor C1 is charged to VCC . During phase two, the voltage on C1 is added to VCC , producing a signal across C3 equal to twice VCC . During phase one, C2 is also charged to 2VCC , and then during phase two, it is inverted with respect to ground to produce a signal across C4 equal to -2VCC . The charge pump accepts input voltages up 8
to 5.5V. The output impedance of the voltage doubler section (V+) is approximately 200Ω, and the output impedance of the voltage inverter section (V-) is approximately 450Ω. A typical application uses 1µF capacitors for C1-C4, however, the value is not critical. Increasing the values of C1 and C2 will lower the output impedance of the voltage doubler and inverter, increasing the values of the reservoir capacitors, C3 and C4, lowers the ripple on the V+ and V- supplies. During shutdown mode (HIN236, HIN240 and HIN241), SHUTDOWN control line set to logic “1”, the charge pump is turned off, V+ is pulled down to VCC , V- is pulled up to GND, and the supply current is reduced to less than 10µA. The transmitter outputs are disabled and the receiver outputs are placed in the high impedance state.
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Transmitters
Receivers
The transmitters are TTL/CMOS compatible inverters which translate the inputs to RS-232 outputs. The input logic threshold is about 26% of VCC , or 1.3V for VCC = 5V. A logic 1 at the input results in a voltage of between -5V and V- at the output, and a logic 0 results in a voltage between +5V and (V+ -0.6V). Each transmitter input has an internal 400kΩ pullup resistor so any unused input can be left unconnected and its output remains in its low state. The output voltage swing meets the RS-232C specifications of ±5V minimum with the worst case conditions of: all transmitters driving 3kΩ minimum load impedance, VCC = 4.5V, and maximum allowable operating temperature. The transmitters have an internally limited output slew rate which is less than 30V/µs. The outputs are short circuit protected and can be shorted to ground indefinitely. The powered down output impedance is a minimum of 300Ω with ±2V applied to the outputs and VCC = 0V.
The receiver inputs accept up to ±30V while presenting the required 3kΩ to 7kΩ input impedance even if the power is off (VCC = 0V). The receivers have a typical input threshold of 1.3V which is within the ±3V limits, known as the transition region, of the RS-232 specifications. The receiver output is 0V to VCC . The output will be low whenever the input is greater than 2.4V and high whenever the input is floating or driven between +0.8V and -30V. The receivers feature 0.5V hysteresis to improve noise rejection. The receiver Enable line EN, when set to logic “1”, (HIN236, 239, 240, and 241) disables the receiver outputs, placing them in the high impedance mode. The receiver outputs are also placed in the high impedance state when in shutdown mode. VCC RXIN -30V < RXIN < +30V
V+
ROUT 5kΩ
GND < VROUT < VCC
GND VCC 400kΩ
300Ω
TXIN
TOUT
GND < TXIN < VCC
V- < VTOUT < V+
FIGURE 3. RECEIVER
V-
FIGURE 2. TRANSMITTER
TIN OR RIN TOUT OR ROUT
VOL VOL tPHL
Average Propagation Delay =
tPLH
tPHL + tPLH 2
FIGURE 4. PROPAGATION DELAY DEFINITION
9
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Applications
+5V
The HIN2XX may be used for all RS-232 data terminal and communication links. It is particularly useful in applications where ±12V power supplies are not available for conventional RS-232 interface circuits. The applications presented represent typical interface configurations.
C2 + 1µF TD
TD TTL/CMOS INPUTS AND OUTPUTS
RTS
HIN232 6
5 11
-
RS-232 INPUTS AND OUTPUTS
+ T1
14 T2
10
TTL/CMOS RTS INPUTS AND 12 RD OUTPUTS R2 9 CTS
7 13
R1
8
15
TD (2) TRANSMIT DATA RTS (4) REQUEST TO SEND RD (3) RECEIVE DATA CTS (5) CLEAR TO SEND SIGNAL GROUND (7)
FIGURE 9. SIMPLE DUPLEX RS-232 PORT WITH CTS/RTS HANDSHAKING
-
14 T2
10
+ C2 1µF
5
T1
11
12
TD (2) TRANSMIT DATA
7
RTS (4) REQUEST TO SEND
13
RD (3) RECEIVE DATA
RD 9
3
4 HIN232
3
CTS
DTR (20) DATA TERMINAL READY DSRS (24) DATA SIGNALING RATE SELECT
2 4
In applications requiring four RS-232 inputs and outputs (Figure 10), note that each circuit requires two charge pump capacitors (C1 and C2) but can share common reservoir capacitors (C3 and C4). The benefit of sharing common reservoir capacitors is the elimination of two capacitors and the reduction of the charge pump source impedance which effectively increases the output swing of the transmitters.
1
16
1 C1 + 1µF -
A simple duplex RS-232 port with CTS/RTS handshaking is illustrated in Figure 9. Fixed output signals such as DTR (data terminal ready) and DSRS (data signaling rate select) is generated by driving them through a 5kΩ resistor connected to V+.
C1 + 1µF -
+
R2
R1
8
CTS (5) CLEAR TO SEND
15 16 2
-
C3
+
+
C4
6 V- V+
2µF
6
-
2µF
2 16
+5V RS-232 INPUTS AND OUTPUTS
HIN232 C1 + 1µF DTR TTL/CMOS INPUTS AND OUTPUTS
DSRS
1
4
3
5 T1
11
14 T2
10 12
7 13
DCD R1
9
R2
R1
15
8
+ C2 1µF
-
DTR (20) DATA TERMINAL READY DSRS (24) DATA SIGNALING RATE SELECT DCD (8) DATA CARRIER DETECT R1 (22) RING INDICATOR SIGNAL GROUND (7)
FIGURE 10. COMBINING TWO HIN232s FOR 4 PAIRS OF RS-232 INPUTS AND OUTPUTS
11
Wireless Video Camera 208CV LYD208CV
(Wireless)
•
Camera apparatus: 1/3, 1/4 picture sensor
•
System: PAL/CCIR/NTSC/EIR ( Not multi system )
•
Validity pixel: PAL: 628X582 or NTSC: 510X492
•
Picture area:
•
Horizontal definition: 380line
•
Scan frequency: PAL/CCIR:50Hz or NTSC/EIA: 60Hz
•
Miniumum illumination: 3LUX
•
Sensitivity :
•
Output power :
•
Output frequency : 0.9G / 1.2G
•
Frequency control : adopt CPU frequency lock the wreath to control, with high
PAL:5.78X4.19mm or NTSC:4.69X3.45mm
+18DB=AGL NO-OFF 50MW / 300MB
frequency stability. •
Transmission signal : Video Only
•
Deliver the distance : 50-100M / 300-500M
•
Voltage : DC+8V
•
Current : 200mA
•
Power consumption < or = 640MW
•
Size : 25X35X15(mm)
Include Power Adapter 9V and 8V Input 110V or 220V
RC100
Manual-modulated receiver •
High receive sensitivity : +18DB
•
Receive frequency : 0.9G/1.2G
•
Receive signal : Video Only
•
Voltage : DC 9V
•
Current : 500mA
•
Size : 115X60X20(mm)
I hereby certify that the following students of B.E. IV, Semester VII, Instrumentation and Control have satisfactorily completed their project on ‘SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EFFECTOR’ EFFECTOR’ at ARRAYCOM INDIA LTD.
SR. NO.
NAME
ROLL NO.
1
ABHIJIT KARNIK
00IC28
2
NISHANT KAUSHIK
00IC29
3
HARSH SATYAPANTHI
00IC44
(Prof. J.B. Patel) I TER AL GUIDE
DATE:
(Dr. M.D. Desai) HEAD OF THE ELECTRICAL E GI EERI G DEPARTME T
Project Project Report 7th Sem I.C.
ACKOWLEDGEMET: As students of the final year of engineering (Instrumentation & Control), we are required to undertake a project for the 7th and 8th semesters. Our project is titled “SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EFFECTORS”. Herewith is encapsulated a report of the same. In our attempt, we have come to realize that robotics is a field which is not just an isolated field on its own. It is the fusion of a number of concepts from all the major engineering fields. Hence our journey has had a number of guides, each one from a different field. In submitting this report, we, the undersigned, would like to take the opportunity to thank all these people, without whose help our modest endeavour would never have seen the light of the day. Thereby we take immense pleasure in thanking Mr. Kedar Thanki and Mr. S.J. Dhru (Arraycom (I) Limited) who were our External guides, Dr. M.D. Desai (HOD, Electrical Dept.), Prof. J.B. Patel(Asst. Prof., IC Dept., & Internal Guide), Prof. B.B. Kadam (Prof., Electrical Dept.), Mr. H.K. Patel (Lecturer, IC Dept.), Prof. Y... Trivedi (Asst. Prof., EC Dept.), Ms. Gauri Mudaliar (Lecturer, Mechanical Dept.), Mr. Sudhir Raval (DI. Engg. Ltd) and Mr. Purendere (Syntronics Pvt. Ltd.) We would also like to acknowledge the enthusiastic support that was given to us by the faculty of I.C. Dept., who not only gave us moral support but were actively interested in our project through all its ups and downs. Last but not the least; we would like to acknowledge the unquestioning and untiring support from our families.
Abhijit Karnik (00IC28) ishant Kaushik (00IC29) Harsh Satyapanthi (00IC44)
Nirma Institute of Technology XABRE
Project Project Report 7th Sem I.C.
FOREWORD: The word robot was coined by the Czech writer Kapek in his play ‘Rossum's Universal Robots’. Since then countless devices have been created and have been associated with the word ‘Robot’. The works of Isaac Asimov have laid the foundation of sociology pertaining to the use of robots instead of humans and the word ‘Robotics’ was also coined by him. In today’s world, work on robots, that resemble and look almost human, and others which don’t resemble humans in any way, progresses in leaps and bounds. The world has forerunners in this technology like MIT, CMU, Sony, Honda etc. In this world of ASIMO, AIBO, Packbot etc., we have made an attempt to create a device which we dare call ‘Robot’.
Perhaps the most important work of Isaac Asimov could be considered to be the coining of the 4 Laws of Robotics. One of the fundamental concepts of robots made famous by the Zeroth Law of Robotics by Asimov: “A robot may not injure humanity, or, through inaction, allow humanity to come to harm.” We have tried to create a system which will allow safeguarding of life. We plan to achieve this by way of allowing the robot to take the place of humans in situations which hold a potential threat to human life. Our attempt was to provide a tool to the enforcers of law and order that could allow them to access and assess a situation which could hold avoidable threat to human life.
Nirma Institute of Technology XABRE
Project Report 7th Sem I.C.
ITRODUCTIO: This report is the documentation of all the efforts that went into the making of Xabre. The title of the project was coined as:
‘Surveillance Robot with Remote Control & End Effectors’, shortened to Sabre, (a type of sword) and going with the spirit of prototypes having an ‘X’ in their name, we arrived at ‘Xabre’. Xabre is targeted to be a ‘Technology Demonstrator’ prototype, wherein an attempt has been made such that the presently available systems are integrated in a particular fashion, to accomplish a specific task.
This report is divided into 6 sections. Each section deals with the project from a different viewpoint. The first section deals with the purpose of the robot, the features it has and the system block diagram. The second section deals with the operational description of the different modules of the robot which thereby allow the proper functioning of the features that we have planned to implement on the robot. The third section is the hardware and software section wherein the mind and the nerve control of the robot is explained. The fourth section deals with the mechanical design of the system. The fifth section contains the summary of different technological fundamentals that were considered for use in the system as well as the selection of the integrated circuit chips used in the project. The last section is the annexure containing the selected sections of the datasheets of the electronic components used in our project, bibliography, information about the sources of the system’s components and the future development or design modifications that we can implement but couldn’t due to various constraints..
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SECTIO 1 PROJECT OBJECTIVES: The features that we have planned to implement on the robot are as follows:
1. Locomotion 2. Camera vision 3. Pan/Tilt motions for camera 4. Self-righting mechanism 5. Gripper mechanism 6. Extension operations 7. Path Illumination Locomotion is the fundamental feature of the system since the system is a mobile one. An easily maneuverable system implementing a differential tank-style drive has been thought of. The differential drive also has a multi-speed operation facility too.
The surveillance objective requires a camera to be mounted on the system. The video information that is acquired by the camera has to be transmitted to the base controller (called Zeus from now on) The HMI part of Zeus displays the video to the human operator.
The additional requirement is that the camera should be able to cover the maximum space around it, without the mobile robot (called Xabre from now on) being required to rotate or move. This facility is provided by Pan/Tilt feature. This
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
allows the human controller to change the Point of View (POV) of the camera easily.
The self-righting feature provides for a very versatile operation of the robot over uneven terrain. In case during navigation, Xabre turns upside down, we can actually flip it to right side up without the intervention of the human controller. This is done automatically by the self-righting feature.
The gripper feature is the small object manipulator provided on Xabre to allow it to physically interact with its environment and place or retrieve small objects into the target location. The gripper has a single Degree of Freedom (DoF) apart from the gripping action.
Xabre is targeted to be deployed into environments wherein, it may be loaded with other tools that are required for it to perform desired tasks. Since it would be improper to not provide the facility for the direct control of such tools without additional overhead of hardware, we have already provided for the extension tools. As of now a minimum of 5 such tools can be controlled by Zeus.
At times, Xabre may have to venture into areas where there is minimal light. In such cases, since we can’t implement IR vision systems (reason being cost constraints); we have the path illumination feature. This allows the camera to be able to see the region ahead of it, after being illuminated.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
TARGET APPLICATIOS: The target applications are surveillance and object retrieval purposes, basically where it is practically difficult for humans to venture. The need to have a system like the one we have designed is commonly felt in certain cases very frequently. One of such target applications, for which this project was designed, is the case of hostage situation. Another situation being a criminal is hiding in a house. In either situation, the law enforcement officials would find it very convenient to not risk any human life by sending someone inside. Instead, if Xabre is sent in, it can peruse the surroundings and communicate, to the officials outside, the scene inside through Zeus.
Xabre can also be used to approach and investigate any suspicious object which could be hazardous. For this purpose, the gripper mechanism which has the ability to grasp and extricate small objects, can actually manipulate or extract such objects which are accessible to it. Since the beginning of the project, we have tried to design a system which can easily be upgraded with the minimum effort. As a result of this, the present design allows for the implementation of system upgrades in form of extension operation tools. The extension operations make the Xabre versatile and upgradeable. It can be fitted with upto 5 tools that can perform remotely controllable tasks. For e.g. when equipped with a miniaturized metal detector, Xabre can also be used for detection of personnel landmines which have some metallic structure. Additionally Xabre can be used to navigate into ducts or small places that are not easily accessible by humans and investigate faults in equipment placed there.
Nirma Institute of Technology Technology XABRE
Technology Nirma Institute of Te chnology XABRE
Project Report 7th Sem I.C.
Project Report 7th Sem I.C.
SYSTEM BLOCK DIAGRAM (explanation) The stated target is to implement a robotic vehicle which can be manually controlled using a wireless link and perform specific functions. The application of the device as a mobile surveillance system and a small object manipulator requires the presence of vision and a small gripper system onboard the vehicle. The vehicle also incorporates a feature called self-righting. The additional features to be implemented in the system are the pan/tilt operation of the camera & path lighting. For further development and tool addition, provision for 5 extension operation tools is also provided. The whole project is hence broadly divided into the following modules: Module List M01. PC Control Module (Human Machine Interface or HMI) M02. Locomotion Module M03. Self-Righting Module M04. Pan/Tilt Module M05. Gripper Tool Module M06. Extension Tools Module M07. System Controller & Power Module M08. Control Communication M09. Camera Module (Video Acquisition, Transmission and Reception) M10. Light Module The modules are present over both the Zeus control and Xabre bot. The module definition basically separates out sets of hardware doing a specific common objective task.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
The above modules can be broadly divided into 2 parts by way of location: 1. Zeus (The Control) : The immobile PC side systems including modules: M01, M08 (partially) & M09 (partially) 2. Xabre (Bot): The actual robot including modules: M02, M03, M04, M05, M06, M07, M08 (partially), M09 (partially) & M10 The system block diagram shows how the operation of the Xabre is carried out. The human controller determines an action to be carried out. Then he/she gives the corresponding directive to the Human Machine Interface (HMI) which is a VB form object present on the PC monitor screen. The HMI does the required processing of the directive and generates a bit pattern which is basically a command that the µC on Xabre can understand. It sends the directive to the Transmitter module on Zeus through the COM port. The Transmitter module then transmits the command to Xabre. The receiver module on Xabre receives the command and sends it to the
C
through its Serial UART 0. The µC then processes the command and detects as to for which module the command is for, based on the bit pattern. It then actuates the module as required. Some modules have their own feedbacks to the µC. These are basically limit indicators and for these modules, the µC checks for limit status before actuating the module. The Camera module is kept entirely isolated from this control scheme. This module being a fully separate and ‘plug n play’ system, has its own communication system. It sends back the video data to Zeus, wherein the receiver o/p is converted to PC display compatible form and displayed onto the PC monitor screen. The pan/tilt operation of the camera is listed separately because it is under direct control of the µC and is a separate entity than the Camera module.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
TARGETS FOR 7TH SEMESTER The project development requires the generation of mechanical structure, controller circuitry and operating software for the system. The 7th semester objectives were hence: 1. Complete Design and Analysis: The whole system, its objectives, architecture of the hardware, mechanical systems and finally the software architecture was to be complete on paper so as to serve as a reference for the further steps in development. 2. Mechanical Systems: Piecewise testing of the whole system would prove unsatisfactory in a project as this one, where the electronics play an equal and important role as the mechanical assembly. Hence the most important objective was to have a fully functional mechanical system. 3. Preliminary system integration: We plan to complete the operational integration of the system so that its basic locomotory function can be activated. 4. HMI Software and PC side controller: The system’s HMI that allows commands to be sent to Xabre along with the camera output display on the PC screen. Hence the targeted controller for Xabre also features in the targets for 7th semester.
Ground Reality The projected targets have been somewhat satisfactorily met after a number of obstacles. The whole mechanical design has been carried out by us, without any external help, using AutoCAD 2000i software. The system architecture and the software design for the µC has been completed. The software implementation for the µC for some of the modules has been completed for this semester. The delays caused due to availability of motors, mechanical structure manufacturing etc were the main obstacles in the achievement of the objectives.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SECTIO 2 Function Description: The modules are controlled remotely or otherwise by way of functions, each of which is defined for a specific module. The function defines the activities of the module based on the commands or external input received by the module. These functions are normally executed when either a command is received or any interrupt is received from the interrupt i/ps. The general program then performs the task of continually ascertaining if the control communication link is still active or not. All the actuatory actions are only executed as responses to interrupts. The functions are explained below: Functions: 1. Locomotion (Ref M02): Class: Manual Control Description: The robot works on the tank-style drive. The differential motion generated by the 2 motors gives the required direction navigation and maneuverability. The magnitude and the direction are specified in the commands. The driver IC (the LMD18200T) accepts PWM input only. For this purpose, we are using Timer 0 in mode 1 to generate the PWM output for both the drives simultaneously. The locomotion motors on the right and left of the system are driven by 2 bit signals each. 1 bit determines the direction and the other bit provides PWM o/p. The port P0’s lower nibble is utilized for this purpose. This is the only module under the control of the µC that doesn’t use the system bus (viz. Port P1 as the data bus and bits of Port P2 used for the device select) Sensors: none Inputs: none Command Bytes: 2 (10Y-Di-MMMM) Internal Status Bytes: Locomotion Byte (Loc_Byte) External Port Bytes: 4 bits (RDRPWM-LDLPWM)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
2. Self Righting Auto Class: Auto Control Description: When the system overturns, this function detects the overturning and carries out actions to make sure that the system flips over back to upside up position. This is carried out by first rotating the arms CW until the system flips over properly. When the system has flipped upright, the SR arms are brought back to lock-in position by rotating the Sr arms ACW. Additionally a manual override for the command is also provided. This is obtained by the SR disable command. System carries out the sequence of righting the system if it flips over while disabling locomotion during operation. It also restarts locomotion after sequence is over. Self righting has 2 steps. First, on detection of flip-over through sensor, initiate ‘OPEN’ action of self-righting arms. Second, on detection of flip-right through sensor, initiate ‘CLOSE’ action and continue it till sensor indicates lock-in of arms. Sensors: 1 tilt sensor, 3 IR LED-PXTOR pairs Inputs: 4 bits, interrupt driven Command Bytes: X1 (1 bit) Internal Status Bytes: SR Status Byte (SR_Stat_Byte) External Port Bytes: 2 bits (SRMSRD) 3. Self Righting Manual Class: Manual Control with auto trip Description: In some cases the operation of the SR arms is required to raise the front end of the robot. For this manual operation is implemented to either open the SR arms outwards or inwards as per command issued. Also the limiting position is determined by either the stop command or the lock-in/extremity position being achieved. Hence on receiving Zeus command and if lock-in is true,
C initiates ‘M_OPEN’ action of self-righting arms. Stop opening when
‘M_OPEN’ limit is reached. OR On Zeus command, if lock-in is true, initiate ‘M_CLOSE’ action. Stop closing when ‘M_CLOSE’ limit is reached. If lock-in is not true for either close command continue till lock-in is true. If new Zeus
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
command is received before the end of the previous Zeus command, the older one is discarded. These commands are scrapped if the Self Righting Auto action is triggered. Sensors: 3 IR LED-PXTOR pairs (Same as Self Righting Auto) Inputs: 3 bits, interrupt driven. Command Bytes: 2 bits (XY) Internal Status Bytes: SR Status Byte (SR_Stat_Byte) [Same as Self Righting Auto] External Port Bytes: 2 bits (Same as Self Righting Auto)
4. Gripper Operation. Class: Manual Control with auto trip Description: This function pertains to the micro-manipulator implemented on Xabre used to grip and lift (if required) small objects (size < 10 cm). The implemented system has a total of 4 functions to perform. The first 2 pertain to the direct gripping action. These are namely: Gripper Open and Gripper Close. They are limited by Gripper Open Limit Switch and the Gripper Close Limit Switch. The Gripper Open Limit Switch prevents damage to either motor or gripper if we try to open it beyond its limit. The Gripper Close Limit Switch prevents damage to motor or gripped object when gripper is closing. The additional system functions are namely: Lift and Drop. The Lift function allows the Gripper to rise up by 300o after gripping object, such that the object is lifted off the ground. This allows Xabre to move, after having picked up the object and ensuring that the object is not dragged while Xabre is moving. Drop function is required to place the object back on ground after returning to the base station. Sensors: 4 microswitches Inputs: 4 bits, interrupt driven. Command Bytes: 4 bits (AB UV) Internal Status Bytes: Gripper Status Byte (G_Stat_Byte) External Port Bytes: 2 bits (G1G2 G3G4)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
5. Pan/Tilt of Camera. Class: Manual Control with auto trip Description: The camera module is independent in its operation of image acquisition and data transmission. However the system is not equipped with the ability to change its POV on its own. This requires a setup to physically rotate the camera so as to move its POV Camera panning or tilting is carried out as per the Zeus commands sent to it. The panning action is limited to 300o by limit switches on either extremities and the tilting action is limited to 135o by limit switches on either extremities. The action is continued until one of the microswitches is tripped or Zeus command orders a stop. Sensors: 4 microswitches. Inputs: 4 bits, interrupt mode Command Bytes: 1 byte (110- _ - CD - EF) Internal Status Bytes: P/T Status Byte (PT_Stat_Byte) External Port Bytes: 4 bits (TDTM - PDPM)
6. Light Operation Class: Manual Description: The light function is manually controlled and lights up only when the system is asked to switch it on. This is essential for surveillance as Xabre should let its presence known only when there is explicit need for the same. Light is turned on after receiving ‘Turn_On’ command from Zeus. On receiving ‘Turn_Off’ command from Zeus, the light is turned off. Light provides only forward path lighting only presently. The light system can be attached to the PT System to allow it to have the same POV as the camera. Sensors: none Inputs: none Command Bytes: 1 bit (G) Internal Status Bytes: l (SR_Stat_Byte) External Port Bytes: 1 bit (L)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
7. Extension Operations 1 Class: Manual with no processing Description: Used for allowing additional tools to be added to the system. Extension Ops 1 carries the 3 bit command and a 1 bit command for the extension tools. Sensors: none Inputs: none Command Bytes: 111 - 0 – E31E32E33 – E41 Internal Status Bytes: Higher order nibble of Extension Byte (Extn_Byte) External Port Bytes: 4 bits (HIJK) 8. Extension Operations 2 Class: Manual with no processing Description: Used for allowing additional tools to be added to the system. Extension Ops 2 carries the 2 bit command and two 1 bit commands for the extension tools. Sensors: none Inputs: none Command Bytes: 111 - 1 - E21E22 – E11 – E51 Internal Status Bytes: Lower order nibble of Extension Byte (Extn_Byte) External Port Bytes: 4 bits (NOQR) (same byte as Ext Ops 1) 9. Reset Operation This operation sets Xabre to initial operative stage loading default values for the system.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Zeus Command Byte Definitions: The µC is configured to accept commands over the wireless link from Zeus. These commands are hence called Zeus Commands. The command structure of the same is shown below: Brief definitions Core
Information Indicated
Class D4
Functions
D3
D2
D1
D0
000
1
1
0
0
0
Reset
010
1
0
0
1
1
Test Command 1
011
1
0
1
0
1
Test Command 2
001
0
A
B
V
U
Gripper 1 and 2 Command
001
1
X
Y
1
X1
SRM & SR Auto Override Command
100
Di
M3
M2
M1
M0
Left Drive Command
101
Di
M3
M2
M1
M0
Right Drive Command
110
G
C
D
E
F
111
0
E31
E32
E33
E41
Extension Ops 1
111
1
E21
E22
E11
E51
Extension Ops 2
Light and Pan/Tilt Command
Detailed explanation: I. Two bit commands Bit
SRM
Pattern XY
Pan
Tilt
Gripper 1
Gripper 2
CD
EF
AB
UV
00
Do Nothing
Do Nothing
Do Nothing
Do Nothing
Do Nothing
01
Stop
Stop
Stop
Stop
Stop
10
Open CW*
Pan Left
Tilt Up
Open
Lift Up
11
Open ACW*
Pan Right
Tilt Down
Close
Drop Down
*CW opening is also implemented for SR Auto in the initial phase. To bring the SR arms back into the lock-in position, ACW rotation is applied.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
II. Locomotion commands D4 bit defines the direction. If 1 then rotate motor to generate forward motion. If 0 then rotate motor to generate reverse motion. M3-0 determines magnitude. The locomotion magnitudes are converted to values which are used as Timer0 High load values so that the single timer can be used to generate two PWM signal for both drive motors.
III. Extension Operations: The bits are output as sent by Zeus. A single byte is output and the related nibble is set as per the commands.
Inputs & Sensors: Two ports are used for the inputs. The inputs are from the sensors on the Xabre system and bring in specific information about the system status. The most important information is the overturning detection. For this a tilt sensor is used. This sensor gives a ‘1’ signal for normal state and when the system flips over, the sensor gives a ‘0’ as input. The microswitches used for the remaining inputs give ‘0’ for normal states and for the tripped state gives ‘1’. The photo-transistor systems are arranged as a PXTOR on one side of a disc with 3 holes and the IR LEDs on the other side of the disc. The photo-transistor systems give ‘1’ output for hole and for blank, give ‘0’. During normal operation only the PXTOR for the lock-in indication gives 1 and the remaining two extremity detectors give 0 as output. The arrangement is such that only one system in front of a hole will give output 1 and for the remaining times none of the 3 systems will give output 1. The input port 1, being used for gripper microswitches, is common to the SR inputs. This port is interrupt driven, i.e. when there is any change of state of any of the 8 inputs, an interrupt is generated by the debouncing IC and sent to INT0 of Thor. Then Thor can read in the states of the 8 switches. The input port 2, being used for the Pan/Tilt microswitches, is also an interrupt driven port. The inputs from this port are read in and two steps are carried out by Thor. First, it saves the trip status to the P/T status byte and then writes stop
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
commands to the tripped system (Pan or Tilt for which microswitch has tripped) if the on bits for the same are set.
External Port Bytes: Port
Information Indicated
P2.x
D7
D6
D5
D4
x
X
x
x
P0.x#
Functions/Port names D3 RD
D2 RPW
D1 LD
M
000b
SRT
SRLI SRC
010b
SRD
SRM
011b
G1M
100b 101b
D0 LPW
Locomotion Port
M
SRA
0
0
1
1
I/P PORT, int. driven
0
0
1
1
1
L
SR & Light Port
G1D
G2M
G2D
TM
TD
PM
PD
TUL
TDL
PRL
PLL
GUL
GDL
GCL
GOL
H
I
J
K
N
O
Q
R
Gripper & Pan/Tilt Port I/P PORT, int. driven Extension ops. Port
#Only the locomotion commands don’t use the P1 data bus and P2.x address select system. I. Inputs: Interrupt Driven Inputs -1 SRT: SR Tilt sensor.
SRLI: SR Lock-in sensor.
SRC: SR CW limit sensor.
SRA: SR ACW limit sensor. Interrupt Driven Inputs -2
GUL: Gripper Up limit sensor.
GDL: Gripper Down limit sensor.
GCL: Gripper Close limit sensor.
GOL: Gripper Open limit sensor.
PLL: Pan Left limit sensor.
PRL: Pan Right limit sensor.
TDL: Tilt Down limit sensor.
TUL: Tilt Up limit sensor.
II. Outputs: Locomotion LD
Left or Right Direction
LPWM
Drive PWM signal.
RD
1=Forward; 0=Reverse
RPWM
1=ON ; 0=OFF
SR/Gripper 1-2/Pan/Tilt
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
SRD Direction determining bit.
SRM
G1D 1 indicates CW / Open / Lift /
G1M ON/OFF determining bit. If the
G2D Tilt Up / Pan Left
G2M bit is 1, the motor runs else it
TD
0 indicates ACW / Close / Drop /
TM
PD
Tilt Down / Pan Right
PM
doesn’t run.
Light/Extension Operations L, H, I, J, K, N, O, Q, R
1 indicates ON; 0 indicates OFF
Internal Status Bytes: Byte Name
Information Indicated D7
D6
D5
D4
D3
D2
D1
D0
Loc_Byte
LD
LM3
LM2
LM1
RD
RM3
RM2
RM1
SR_Stat_Byte
SRT
SRLI
SRC
SRA
SR On
G_Stat_Byte
G1D
G1M
G2D
G2M
GUL
GDL
GCL
GOL
PT_Stat_Byte
TUL
TDL
PRL
PLL
TD
TM
PD
PM
H
I
J
K
N
O
Q
R
Extn_Byte
Nirma Institute of Technology Technology XABRE
SR Cw Aut_O
L
Project Report 7th Sem I.C.
SECTIO 3 SOFTWARE HMI: The interface is a form object coded in VB6 Enterprise Edition, incorporating Microsoft Communication Control Toolbox ver 6. The HMI is an intuitively designed interface which allows the user to easily control Xabre by using the k/b and a joystick. The interface is shown below:
The joystick interface needs to be calibrated for different PCs and for different temperature regions, since this tends to affect the potentiometers which are integral to the construction of the joystick. To compensate for change in the potentiometer resistance and allow the proper operation, we use the joystick calibration form called Calib as a child form of the main Zeus form. This form is shown below:
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Since we are using RS-232 serial output port viz. Com1 or any other available Com port (usually Com 2), the satisfactory operation of the Com port has to be verified before starting communication with Xabre. For this we use the ‘Serial Settings Select’ form. This form is shown below:
The code for the same consists of 2 .bas modules and 3 form objects. The code listing for the same is as follows next.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
ZEUS Form Object VERSION 5.00
ScaleWidth
Object = "{648A5603-2C6E-101B-82B6-
TabIndex
000000000014}#1.1#0"; "MSCOMM32.OCX"
Top
Begin VB.Form Zeus
Width
BorderStyle Caption
= 1 'Fixed Single = "Zeus"
ClientHeight
= 2490
= 480 = 24 = 600 = 540
End Begin VB.PictureBox Ext_op_pics AutoRedraw
= -1 'True
ClientLeft
= 1575
AutoSize
ClientTop
= 2400
Height
= 375
Index
= 7
ClientWidth FillColor
= 9765 = &H00C0FFFF&
LinkTopic
= "Form1"
Left
= -1 'True
= 1440
Picture
= "Xabre 161003.frx":03ED
LockControls = -1 'True
ScaleHeight
MaxButton
= 0 'False
ScaleWidth
MinButton
= 0 'False
TabIndex
Moveable
= 0 'False
Top
ScaleHeight
= 2490
Width
ScaleWidth
= 9765
Begin MSCommLib.MSComm MSComm1
= 315 = 480 = 23
= 600 = 540
End Begin VB.PictureBox Ext_op_pics
Left
= 0
AutoRedraw
Top
= 960
AutoSize
_ExtentX
= 1005
Height
_ExtentY
= 1005
Index
_Version
= 393216
Left
DTREnable
= 0 'False
NullDiscard
= 375 = 6 = 720
Picture
= "Xabre 161003.frx":07DA
= -1 'True
ScaleHeight
RThreshold
= 1
ScaleWidth
InputMode
= 1
TabIndex
End
Top
Begin VB.Frame Ext_Ops_frame
Width
BorderStyle Height Left
= 0 'None = 1095
= 3480
TabIndex Top Width
= 17 = 1320 = 2535
Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
Nirma Institute of Technology Technology XABRE
= 1 = 0
Picture
= "Xabre 161003.frx":0BC8
ScaleHeight
TabIndex
= 315
= 375
Index Left
Top Width End
= -1 'True = -1 'True
Height
ScaleWidth
= "Xabre 161003.frx":0000
= 540
AutoSize
= 375
ScaleHeight
= 600
AutoRedraw
= 5
Picture
= 480 = 22
End
Index
= 0
= 315
Begin VB.PictureBox Ext_op_pics
Height
Left
= -1 'True = -1 'True
= 315 = 480 = 21
= 0 = 540
Project Report 7th Sem I.C.
Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
Height
= 375
Index
= 4
Left
= 1680
Picture
= "Xabre 161003.frx":0FB6
ScaleWidth
Begin VB.Frame Keyboard_Controlled_Frame BorderStyle Height
= 240
Left
= 20
Width
= 300
= 600
End
= 315
= 0
= 120
Width
ScaleWidth
Top
= 16
Top
ScaleHeight
TabIndex
= 540
TabIndex
= 0 'None = 2295
= 6480
TabIndex Top
= 8 = 120
Width
= 2295
Begin VB.PictureBox Kb_pics
End Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
AutoRedraw
= 375
Index
Index
= 3
Left
= 1080
Picture
= "Xabre 161003.frx":1050 = 315
ScaleWidth
= 480
TabIndex
= 19 = 0
Width
= 540
= "Xabre 161003.frx":2B0A
Top Width
= 750 = 750 = 13
= 720 = 810
End Begin VB.CommandButton Kb_Button
End Begin VB.PictureBox Ext_op_pics AutoRedraw AutoSize
= -1 'True = -1 'True
DownPicture
= 405
Index
= 1
= 375
Left
Index
= 2
MaskColor
Left
= 600
Picture
= "Xabre 161003.frx":143E
= "Xabre 161003.frx":57B2 = 1 'Graphical
= 315
TabIndex
= 240
Top
Top
= 0
Width
= 300
= &H8000000F&
Style
ScaleWidth
= 18
= 720
Picture
ScaleHeight
TabIndex
= "Xabre 161003.frx":48FC
Height
Height
= 12 = 120
UseMaskColor Width
= -1 'True
= 810
End Begin VB.CommandButton Kb_Button
End
DownPicture
End Begin VB.PictureBox Light_Pic AutoRedraw AutoSize
= -1 'True = -1 'True
Height Left
= 0 = 720
ScaleHeight
ScaleWidth
Top
= 810
Picture
ScaleHeight
TabIndex
= -1 'True
Height
Height
Left
= -1 'True
AutoSize
= 840 = 4440
Picture ScaleHeight
= "Xabre 161003.frx":14D8 = 780
Nirma Institute of Technology Technology XABRE
= "Xabre 161003.frx":66CC
Height
= 810
Index
= 4
Left MaskColor
= 1680 = &H8000000F&
Picture
= "Xabre 161003.frx":759A
Style
= 1 'Graphical
TabIndex
= 11
Project Report 7th Sem I.C.
Top
= 720
UseMaskColor Width
= -1 'True
= 405
DownPicture Height Index
End
Left
Begin VB.CommandButton Kb_Button
MaskColor
Index Left
= "Xabre 161003.frx":CF9E
Style
= 1 'Graphical
= 2
TabIndex
MaskColor
= &H8000000F&
Picture
= "Xabre 161003.frx":93CE
Style
= 1 'Graphical
TabIndex
= 10 = 1680
UseMaskColor Width
= -1 'True
= 810
Width End
DownPicture
= 405
Index
= 2
= &H8000000F&
Picture
= "Xabre 161003.frx":EDD2
Style
= 1 'Graphical
= 3
TabIndex
= "Xabre 161003.frx":A2E8
= 120
MaskColor
= &H8000000F&
Picture
= "Xabre 161003.frx":B1B6
Style
= 1 'Graphical = 9 = 720
UseMaskColor Width
= 720
= 810
DownPicture
Top
= "Xabre 161003.frx":DEB8
Height
Left
TabIndex
= -1 'True
= 405
Begin VB.CommandButton Joy_Button
MaskColor
Left
= 720
UseMaskColor
End
Index
= 7
Top
Begin VB.CommandButton Kb_Button
Height
= &H8000000F&
Picture
= "Xabre 161003.frx":84B4
= 720
Top
= 3 = 120
= 405
DownPicture Height
= "Xabre 161003.frx":C0D0
= 810
= -1 'True
= 405
= 6
Top
= 1680
UseMaskColor Width
= -1 'True
= 810
End Begin VB.CommandButton Joy_Button Appearance
= 0 'Flat
DownPicture Height
End
Index
Begin VB.Label Label4
Left
= "Xabre 161003.frx":FCEC
= 810 = 4 = 1680
Caption
= "Keyboard Buttons"
MaskColor
Height
= 375
Picture
= "Xabre 161003.frx":10BBA
Style
= 1 'Graphical
Left
= 0
TabIndex
= 15
Top
= 0
Width
= 735
TabIndex Top
= 5 = 720
UseMaskColor Width
End
= &H8000000F&
= -1 'True
= 405
End
End
Begin VB.Frame Joystick_Controlled_frame
Begin VB.CommandButton Joy_Button
BorderStyle Height Left TabIndex Top Width
= 0 'None = 2295
= 960 = 2 = 120 = 2295
Begin VB.CommandButton Joy_Button
Nirma Institute of Technology Technology XABRE
Default
= -1 'True
DownPicture
= "Xabre 161003.frx":11AD4
Height
= 405
Index
= 1
Left MaskColor Picture
= 720 = &H8000000F& = "Xabre 161003.frx":1298A
Project Report 7th Sem I.C.
Style
= 1 'Graphical
TabIndex
= 4
Top
= 120
UseMaskColor Width
= -1 'True
= 810
EndProperty ForeColor Height Left TabIndex
End
Top
Begin VB.PictureBox Joy_pics
Width
AutoRedraw AutoSize
= -1 'True = -1 'True
= &H00FFFFFF& = 255 = 4560 = 25 = 960 = 315
End Begin VB.Label Label2
Height
= 810
AutoSize
= -1 'True
Index
= 0
Caption
= "Right"
= 720
Height
Left Picture
= "Xabre 161003.frx":138A4
Left
ScaleHeight
= 750
TabIndex
ScaleWidth
= 750
Top
TabIndex
= 3
Top
= 720
Width
= 810
Width
= 195 = 0 = 1 = 2280 = 375
End Begin VB.Label Label1
End
AutoSize
= -1 'True
Begin VB.Label Label3
Caption
= "Left"
Caption
= "Joystick Buttons"
Height
Height
= 375
Left
Left
= 0
TabIndex
= 14
Top
= 120
Width
= 615
TabIndex Top Width
= 195 = 0 = 0 = 2040 = 270
End End
End End
Attribute VB_Name = "Zeus"
Begin VB.Timer Op_Mode_Timer
Attribute VB_GlobalNameSpace = False
Enabled
= 0 'False
Interval
= 100
Attribute VB_Creatable = False Attribute VB_PredeclaredId = True
Left
= 10
Attribute VB_Exposed = False
Top
= 1560
'>>> VARIABLE DECLARATIONS <<<' Private X() As Integer
End Begin VB.Label TX_label AutoSize
= -1 'True
Private Y() As Integer Private ari As Integer
BackColor
= &H000000FF&
Private joyb_states(4) As Boolean
BorderStyle
= 1 'Fixed Single
Private joyb_pressed(4) As Boolean
Caption
= "TX"
BeginProperty Font Name Size
= "MS Sans Serif" = 8.25
Private kbb_states(4) As Boolean Private light_status As Boolean Private alternate_drive As Boolean Private ext_ops_status(5) As Integer
Charset
= 0
Dim JoyInfo As tJoyInfo
Weight
= 700
Dim OP_vals As JoyVariables
Underline
= 0 'False
Dim l_drive_matrix(30, 30) As Byte
Italic
= 0 'False
Strikethrough = 0 'False
Nirma Institute of Technology Technology XABRE
Dim r_drive_matrix(30, 30) As Byte Dim r_drive As Byte
Project Report 7th Sem I.C.
Dim l_drive As Byte
Load Calib_Form
Private TX_on As Boolean
End Sub
'>>> SUBROUTINES <<<' Private Sub Form_Load()
Private Sub set_Op_vals()
'>>> Setup form position on the screen <<<'
OP_vals.XCntr = 32767
Call relocate_form
OP_vals.YCntr = 32767
'>>> Initialization ops <<<'
OP_vals.Xmax = 65535
Call init
OP_vals.Xmin = 0
End Sub
OP_vals.Ymax = 65535 OP_vals.Ymin = 0
Private Sub init()
OP_vals.X_Lower_Range = OP_vals.XCntr -
'>>> Shutoff TX for main form <<<'
OP_vals.Xmin
TX_on = False
OP_vals.X_Upper_Range = OP_vals.Xmax OP_vals.XCntr
'>>> Stick Control Array Init <<<'
OP_vals.Y_Lower_Range = OP_vals.YCntr -
ReDim X(10)
OP_vals.Ymin
ReDim Y(10)
OP_vals.Y_Upper_Range = OP_vals.Ymax OP_vals.YCntr
'>>> Stick Control Array Position Indicator <<<'
OP_vals.X_Upper_Scale = OP_vals.X_Upper_Range /
ari = 0
15 OP_vals.X_Lower_Scale = OP_vals.X_Lower_Range /
'>>> Initialise drive alternation variable <<<'
15
alternate_drive = True
OP_vals.Y_Upper_Scale = OP_vals.Y_Upper_Range /
'>>> Init Op_vals structure <<<'
15
Call set_Op_vals
OP_vals.Y_Lower_Scale = OP_vals.Y_Lower_Range / 15
'>>> Set frame positions and current kb controlled
OP_vals.Set_val = False
module <<<'
End Sub
Call set_Frames Private Sub set_button_states() '>>> Set Ext Ops Frame <<<'
'>>> Set values for joystick buttons as false<<<'
Call set_ext_ops_frame
For i = 1 To 4 joyb_states(i) = False
'>>> Initialise state value arrays <<<' Call set_button_states
joyb_pressed(i) = False kbb_states(i) = False Next i
'>>> Light status init <<<"
End Sub
Call light_setup Private Sub init_l_drive() '>>> Initialise the drive matrices <<<'
Dim m As Byte
Call init_l_drive
m = 16
Call init_r_drive
For i = 0 To 15
r_drive = 0
m=m-1
l_drive = 0
seed = m For j = 0 To 30
Zeus.Show
'>>> Update seed <<<'
Zeus.Enabled = False
seed = seed + 1
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
'>>> Change if required <<<' If seed = 32 Then seed = 31
Next j Next i
If seed < 16 Then l_drive_matrix(i, j) = 16 - seed Else l_drive_matrix(i, j) = seed End If Next j
For i = 27 To 29 For j = 1 To 30 If j < i Then l_drive_matrix(i, j) = l_drive_matrix(30, j) Next j Next i
Next i
End Sub m = 16 For i = 30 To 16 Step -1
Private Sub init_r_drive()
m=m+1
Dim m As Byte
seed = m
m = 16
For j = 30 To 0 Step -1
For i = 0 To 15
'>>> Change if required <<<'
m=m-1
If seed = 0 Then seed = 1
seed = m
'>>> Update seed <<<'
For j = 30 To 0 Step -1
seed = seed - 1
'>>> Update seed <<<'
If seed < 16 Then
seed = seed + 1
l_drive_matrix(i, j) = 16 - seed
'>>> Change if required <<<'
If l_drive_matrix(i, j) = 16 Then l_drive_matrix(i,
If seed = 32 Then seed = 31 If seed < 16 Then
j) = 15
r_drive_matrix(i, j) = 16 - seed
Else l_drive_matrix(i, j) = seed
Else r_drive_matrix(i, j) = seed
End If Next j Next i
End If Next j Next i
'>>> Desensitize Central Paths <<<'
m = 16
For i = 14 To 16
For i = 30 To 16 Step -1
For j = 0 To 30 l_drive_matrix(i, j) = l_drive_matrix(15, j) Next j Next i
m=m+1 seed = m For j = 0 To 30 '>>> Change if required <<<' If seed = 0 Then seed = 1
For j = 14 To 16 For i = 0 To 30 l_drive_matrix(i, j) = l_drive_matrix(i, 15)
'>>> Update seed <<<' seed = seed - 1 If seed < 16 Then r_drive_matrix(i, j) = 16 - seed
Next i
If r_drive_matrix(i, j) = 16 Then r_drive_matrix(i,
Next j j) = 15 '>>> Desensitized Forward Extremities <<<'
Else r_drive_matrix(i, j) = seed
For i = 1 To 3 For j = 1 To 30 If j > i Then l_drive_matrix(i, j) = l_drive_matrix(0, j)
Nirma Institute of Technology Technology XABRE
End If Next j Next i
Project Report 7th Sem I.C.
'>>> Desensitize Central Paths <<<'
Private Sub display_received()
For i = 14 To 16
Dim Instring As Variant Dim bytes As Variant
For j = 0 To 30 r_drive_matrix(i, j) = r_drive_matrix(15, j)
Dim RX_string As String RX_string = ""
Next j
Instring = MSComm1.Input
Next i
bytes = Instring Debug.Print CInt(bytes(0))
For j = 14 To 16
'MsgBox (RX_string)
For i = 0 To 30 r_drive_matrix(i, j) = r_drive_matrix(i, 15)
End Sub
Next i Private Sub Op_Mode_Timer_Timer()
Next j
If gSerial_Settings_Sel_loaded Or gCalib_form_loaded '>>> Desensitized Forward Extremities <<<'
Then Op_Mode_Timer.Enabled = False
For i = 1 To 3
If Not gSerial_first_init And Not gCalib_form_loaded Then
For j = 1 To 30 If j < 30 - i Then r_drive_matrix(i, j) =
Zeus.Enabled = False Op_Mode_Timer.Enabled = False
r_drive_matrix(0, j)
Load Serial_Settings_Sel
Next j
GoTo out_of_timer
Next i
End If Call CTSHolding_check
For i = 27 To 29
Call Joyread
For j = 1 To 30 If j > 30 - i Then r_drive_matrix(i, j) =
Call show_joy_buttons_pressed out_of_timer:
r_drive_matrix(30, j)
End Sub
Next j Next i
Private Sub CTSHolding_check()
End Sub
If MSComm1.PortOpen = False Then Private Sub Form_GotFocus()
MSComm1.commport = gPortNumber
Zeus.Joy_Button(1).SetFocus
TX_label.ToolTipText = "COM" +
End Sub
CStr(MSComm1.commport) If MSComm1.CTSHolding Then
Public Sub xfer_calib()
TX_label.Caption = "LP"
If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals
TX_label.BackColor = vbBlue
End Sub
TX_label.ForeColor = vbRed TX_label.ToolTipText = "Make sure Green LED is
'>>> Test code <<<'
ON"
Private Sub MSComm1_OnComm()
Else
eventid = MSComm1.CommEvent
TX_label.Caption = "TX"
Select Case eventid
If Not TX_on Then TX_label.BackColor = vbRed
Case comEvReceive: Call display_received '>>>DEBUG DATA: If event not being triggered
<<<'
End Select End Sub
Nirma Institute of Technology Technology XABRE
TX_label.ForeColor = vbWhite If MSComm1.PortOpen = True Then MSComm1.PortOpen = False Else
Project Report 7th Sem I.C.
TX_label.BackColor = vbGreen TX_label.ForeColor = vbBlack
'>>> Save Button states <<<'
If MSComm1.PortOpen = False Then
For i = 1 To 4
MSComm1.PortOpen = True
joyb_states(i) = joyb_pressed(i) Next i
End If End If
'>>> if state has changed, options are"
End Sub
' 1. both off Private Sub Joyread()
' 2. u on
Dim state_changed(4) As Boolean
' 3. d on
Dim msg1 As String
' 4. both on is not possible
Dim msg2 As String Dim frwd As Integer Dim side As Integer Dim run_locomotion_command As Boolean run_locomotion_command = True rc = GetJoystickPos(JOYSTICK1, JoyInfo) If rc = 0 Then
If state_changed(1) Or state_changed(2) Then If Not joyb_states(1) And Not joyb_states(2) Then msg1 = "STOP" If joyb_states(1) And Not joyb_states(2) Then msg1 = "UP" If Not joyb_states(1) And joyb_states(2) Then msg1 = "DOWN"
'>>> Process Button changes <<<' '>>> Transfer Button pressed info from joyinfo to array
Else msg1 = "DO NOTHING" End If
<<<' For i = 1 To 4 If JoyInfo.ButtonDown(i) Then joyb_pressed(i) = True
If state_changed(3) Or state_changed(4) Then If Not joyb_states(3) And Not joyb_states(4) Then msg2 = "STOP"
Else joyb_pressed(i) = False End If
If joyb_states(3) And Not joyb_states(4) Then msg2 = "LEFT" If Not joyb_states(3) And joyb_states(4) Then msg2
Next i
= "RIGHT" '>>> Filter the array for opposite button pressed conflicts <<<' For i = 1 To 4
Else msg2 = "DO NOTHING" End If
If joyb_pressed(i) Then If Not joyb_states(4 - (i + 1) Mod 4) Then joyb_pressed(i) = True Else joyb_pressed(i) = False End If End If
If state_changed(1) Or state_changed(2) Or state_changed(3) Or state_changed(4) Then Call joy_command(msg1, msg2) run_locomotion_command = False End If End If
Next i
'>>> Check for change in state <<<'
ari = (ari) Mod 10 + 1
state_changed(1) = joyb_pressed(1) Xor joyb_states(1)
If JoyInfo.X >= OP_vals.XCntr Then
state_changed(2) = joyb_pressed(2) Xor joyb_states(2) state_changed(3) = joyb_pressed(3) Xor joyb_states(3) state_changed(4) = joyb_pressed(4) Xor joyb_states(4)
Nirma Institute of Technology Technology XABRE
X(ari) = (JoyInfo.X - OP_vals.XCntr) / OP_vals.X_Upper_Scale + 15 Else
Project Report 7th Sem I.C.
X(ari) = (JoyInfo.X - OP_vals.Xmin) / OP_vals.X_Lower_Scale End If
If msg2 = "RIGHT" Then msg2 = "DROP" Call gripper(msg1, msg2) End If End Sub
If JoyInfo.Y >= OP_vals.YCntr Then Y(ari) = (JoyInfo.Y - OP_vals.YCntr) /
'>>> Module subroutines <<<'
OP_vals.Y_Upper_Scale + 15 Else Y(ari) = (JoyInfo.Y - OP_vals.Ymin) / OP_vals.Y_Lower_Scale End If
'>>> MODULE LOCOMOTION <<<' '>>> Locomotion command subroutine <<<' '>>> Byte format is 10Y-Di-MMMM <<<' '>>> Drive matrices give direct values for Di-MMMM <<<'
'>>> Joystick's X is Sideways <<<'
'>>> Y=0 => Left locomotion command (128) <<<'
'>>> Joystick's Y is Forward <<<'
'>>> Y=1 => Right locomotion command (160)<<<'
side = integrator(X)
Private Sub locomotion_command(frwd As Integer, side
frwd = integrator(Y)
As Integer)
If run_locomotion_command Then
Dim r_old As Byte
frwd = Fix(frwd / 10)
Dim r_new As Byte
side = Fix(side / 10)
Dim l_old As Byte
Call locomotion_command(frwd, side)
Dim l_new As Byte
End If End Sub
Dim command As Byte '>>> To prevent access of a array element outside array size <<<'
Private Function integrator(fn() As Integer) As Long
'>>> Both drive arrays are of same size <<<'
Dim val As Double
'>>> So singular check will do
Dim i As Integer
If frwd > UBound(l_drive_matrix, 1) Then frwd =
val = 0
UBound(l_drive_matrix, 1)
For i = 1 To 10
If side > UBound(l_drive_matrix, 2) Then frwd =
val = val + fn(i)
<<<'
UBound(l_drive_matrix, 2)
Next i integrator = val
l_new = l_drive_matrix(frwd, side)
End Function
r_new = r_drive_matrix(frwd, side) l_old = l_drive
'>>> Divert the command to the proper destination
r_old = r_drive
subroutine <<<' '>>> This performs check as to which module is being
'>>> Send LDRV Command if it is its turn <<<'
controlled by joystk <<<'
If (l_new Xor l_old) <> 0 And alternate_drive Then
'>>> It accordingly calls the relevant module's command
l_drive = l_new
subroutine <<<'
command = 128 + l_drive
Private Sub joy_command(msg1 As String, msg2 As
Label1.Caption = "Left: " + CStr(l_drive)
String)
'>>> Presentation test code <<<'
If joy_control = "Camera" Then Call camera(msg1,
Zeus.Caption = "Zeus: Command => " +
msg2) If joy_control = "Gripper" Then If msg1 = "UP" Then msg1 = "CLOSE" If msg1 = "DOWN" Then msg1 = "OPEN" If msg2 = "LEFT" Then msg2 = "LIFT"
Nirma Institute of Technology Technology XABRE
CStr(command) '>>> Next drive command has to be Right drive command <<<' alternate_drive = False
Project Report 7th Sem I.C.
'>>> Prevent 2 commands being sent simultaneously <<<' GoTo loco_out End If
'>>> MODULE PAN/TILT<<<' '>>> P/T module command subroutines <<<' '>>> Byte format is 110-light-pan-tilt <<<'
If (r_new Xor r_old) <> 0 And Not alternate_drive Then
'>>> Light_status 0 => base Command =192 <<<'
r_drive = r_new
'>>> Light status 1 => base Command =208 <<<'
command = 160 + r_drive
'>>> Pan/tilt 00 => Do nothing; 01 => Stop (P:4 ; T:1);
Label2.Caption = "Right: " + CStr(r_drive)
<<<'
Zeus.Caption = "Zeus: Command => " +
'>>> 10 => PL/TU (P:8 ; T:2) ; 11 => PR/TD (P:12 ; T:3)
CStr(command)
<<<'
alternate_drive = True
Private Sub camera(msg1 As String, msg2 As String)
'>>> Prevent 2 commands being sent simultaneously
Dim command As Byte
<<<'
If TX_on And Not MSComm1.CTSHolding = True Then
GoTo loco_out End If
command = 192 If light_status Then command = command + 16
loco_out: If TX_on Then Call TX_write(command) End Sub
'>>>MSG1 carries the Up/Down strings <<<" If msg1 = "STOP" Then command = command + 1 If msg1 = "UP" Then command = command + 2
'>>> MODULE LIGHT<<<'
If msg1 = "DOWN" Then command = command + 3
'>>> Light module command subroutine <<<'
If msg1 = "DO NOTHING" Then command =
'>>> Byte format is 110-light-pan-tilt <<<'
command + 0
'>>> Light_status 0 => Command =192 <<<' '>>> Light status 1 => Command =208 <<<'
'>>>MSG2 carries the Left/Right strings <<<"
'>>> P/T: 00=> DO NOTHING for Pan/Tilt <<<'
If msg2 = "STOP" Then command = command + 4
Private Sub light_toggle()
If msg2 = "LEFT" Then command = command + 8
Dim command As Byte
If msg2 = "RIGHT" Then command = command + 12
If TX_on And Not MSComm1.CTSHolding = True Then
If msg2 = "DO NOTHING" Then command =
If light_status Then
command + 0
light_status = False Light_Pic.Picture = LoadPicture(App.Path + "\Light off.bmp") command = 192 Else
'Debug.Print command Call TX_write(command) Zeus.Caption = "Zeus: Command => " + CStr(command)
light_status = True
End If
Light_Pic.Picture = LoadPicture(App.Path + "\Light
End Sub
on.bmp") command = 208 End If
'>>> MODULE GRIPPER <<<' '>>> Gripper module command subroutines <<<' '>>> Byte format is 001-0-G1-G2 <<<'
'Debug.Print command
'>>> G1/G2 00 => Do nothing; 01 => Stop (G1:4 ; G2:1);
Call TX_write(command)
<<<'
Zeus.Caption = "Zeus: Command => " +
'>>> 10 => G1_Open/G2_Lift (G1:8 ; G2:2) ; 11 =>
CStr(command)
G1_Close/G2_Drop (G1:12 ; G2:3) <<<'
End If
Private Sub gripper(msg1 As String, msg2 As String)
End Sub
Dim command As Byte
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
End If
If TX_on And Not MSComm1.CTSHolding = True Then
Else
command = 32 '>>>MSG1 carries the G1 related strings <<<"
command <<<' If KeyCode < vbKey4 And KeyCode > vbKey0
If msg1 = "STOP" Then command = command + 4 If msg1 = "CLOSE" Then command = command + 12
'>>> Ext ops 2, Extension Tool 2
Or KeyCode = 192 Then
If msg1 = "OPEN" Then command = command + 8
If KeyCode = 192 Then KeyCode = 48
If msg1 = "DO NOTHING" Then command =
Ext_op_pics(2).Picture = LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +
command + 0
".gif") '>>>MSG2 carries the G2 related strings <<<"
ext_ops_status(2) = KeyCode - 48
If msg2 = "STOP" Then command = command + 1
command = 240 + ext_ops_status(2) * 4 +
If msg2 = "LIFT" Then command = command + 2
ext_ops_status(1) * 2 + ext_ops_status(5) Else
If msg2 = "DROP" Then command = command + 3
GoTo jump_out
If msg2 = "DO NOTHING" Then command =
End If
command + 0
End If 'Debug.Print command Call TX_write(command) Zeus.Caption = "Zeus: Command => " +
Else ext_ops_status(KeyCode) = (ext_ops_status(KeyCode) + 1) Mod 2 Ext_op_pics(Shift).Picture = LoadPicture(App.Path
CStr(command) End If
+ "\E" + CStr(KeyCode) +
End Sub
CStr(ext_ops_status(KeyCode)) + ".gif")
'>>> MODULE EXTENSION OPS 1&2<<<'
4 command <<<'
If KeyCode = 4 Then '>>>Ext ops 1, Extension Tool
command = 224 + ext_ops_status(3) * 2 +
'>>> Extension ops module command subroutines <<<' '>>> Byte format 1: 111 - 0 - E31E32E33 - E41
ext_ops_status(4) Else
(Command 224+) <<<' '>>> Byte format 2: 111 - 1 - E21E22 - E11 - E51
'>>>Ext ops 2, Extension Tool 1 OR 5
command <<<' command = 240 + ext_ops_status(2) * 4 +
(Command 240+) <<<' Private Sub ext_ops_event(KeyCode As Integer, Shift As Integer, toggle As Boolean)
ext_ops_status(1) * 2 + ext_ops_status(5) End If End If
Dim command As Byte If TX_on And Not MSComm1.CTSHolding = True Then
'Debug.Print command
If Not toggle Then If Shift = 0 Then
'>>> Ext ops 1, Extension Tool 3
command <<<' '>>> Key 1 to 7 or Tilde Key (~) representing
Zeus.Caption = "Zeus: Command => " + CStr(command) Call TX_write(command) jump_out:
zero <<<' If KeyCode < vbKey8 And KeyCode > vbKey0 Or KeyCode = 192 Then If KeyCode = 192 Then KeyCode = 48
'>>> Jump out since EOps2 can have a max
value of 3 and not any more <<<' End If End Sub
Ext_op_pics(4).Picture = LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +
'>>> Incomplete CODE FINISH THIS <<<'
".gif")
'>>> MODULE SRM <<<' ext_ops_status(3) = KeyCode - 48
'>>> SRM module command subroutines <<<'
command = 224 + ext_ops_status(3) * 2 +
'>>> Byte format 001-1-XY-1-X1 <<<'
ext_ops_status(4)
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
'>>> EO INcomplete code list <<<'
'If the key is already pressed then do nothing If key = 1 And kbb_states(1) Then GoTo l_jump
'>>> TX Label <<<'
If key = 2 And kbb_states(2) Then GoTo l_jump
Private Sub TX_label_Click()
If key = 3 And kbb_states(3) Then GoTo l_jump
If Not MSComm1.CTSHolding Then
If key = 4 And kbb_states(4) Then GoTo l_jump
If TX_on Then TX_label.BackColor = vbRed TX_label.ForeColor = vbWhite MSComm1.PortOpen = False TX_on = False
'Key pressed passes above two test so is a valid keypress kbb_states(key) = True Kb_Button(key).Picture = LoadPicture(App.Path + "\k" + CStr(key) + "on.bmp")
Else TX_label.BackColor = vbGreen TX_label.ForeColor = vbBlack MSComm1.PortOpen = True TX_on = True End If
Else 'Event is a keyup event 'Keyup is a key conflicting with previously pressed key so do nothing If key = 5 And kbb_states(2) Then GoTo l_jump
End If
If key = 6 And kbb_states(1) Then GoTo l_jump
End Sub
If key = 7 And kbb_states(4) Then GoTo l_jump If key = 8 And kbb_states(3) Then GoTo l_jump
'>>> BYTE COMMAND WRITER SUB <<<' Private Sub TX_write(command As Byte) Dim bytes(1) As Byte
kbb_states(key - 4) = False Kb_Button(key - 4).Picture = LoadPicture(App.Path +
Dim tx_buf As Variant
"\k" + CStr(key - 4) + "off.bmp")
bytes(1) = command
End If
tx_buf = bytes If TX_on Then
'>>> Read the stored states and determine required action
tx_buf(1) = command
<<<'
MSComm1.Output = tx_buf
If kbb_states(1) Then
End If End Sub
msg1 = "UP" Else If kbb_states(2) Then msg1 = "DOWN"
Private Sub kb_frame_event(key As Integer) '>>> For keyboard keys: E,S,D,X <<<'
Else If Not kbb_states(1) And Not kbb_states(2) And
'>>> Key = 1 to 4 => key pressed event <<<' '>>> Key = 5 to 8 => key released event <<<'
(key = 5 Or key = 6) Then msg1 = "STOP"
Dim msg1 As String Dim msg2 As String
Else
If key < 5 Then
End If
msg1 = "DO NOTHING"
'IF key pressed conflicts with previously pressed key so do nothing
End If End If
If key = 1 And kbb_states(2) Then GoTo l_jump If key = 2 And kbb_states(1) Then GoTo l_jump
If kbb_states(3) Then
If key = 3 And kbb_states(4) Then GoTo l_jump
msg2 = "LEFT"
If key = 4 And kbb_states(3) Then GoTo l_jump
Else If kbb_states(4) Then
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
msg2 = "RIGHT"
'>>> KEYBOARD KEY EVENTS PROCESSORS <<<' '>>> Total Controls having key events on Form = 6 <<<'
Else If Not kbb_states(3) And Not kbb_states(4) And (key = 7 Or key = 8) Then msg2 = "STOP" Else msg2 = "DO NOTHING" End If End If
'>>> KEYDOWN EVENT Handlers <<<' '>>> Keydown Handler 1 <<<' Private Sub Joy_pics_KeyDown(Index As Integer, KeyCode As Integer, Shift As Integer) Call Form_KeyDown(KeyCode, Shift) End Sub
End If Call kb_command(msg1, msg2)
'>>> Keydown Handler 2 <<<'
l_jump:
Private Sub Joy_Button_KeyDown(Index As Integer,
End Sub
KeyCode As Integer, Shift As Integer) Call Form_KeyDown(KeyCode, Shift)
Private Sub toggle_frames()
End Sub
'Debug.Print "Toggle Called" 'Debug.Print joy_control
'>>> Keydown Handler 3 <<<'
If joy_control = "Camera" Then
Private Sub Kb_pics_KeyDown(Index As Integer,
joy_control = "Gripper"
KeyCode As Integer, Shift As Integer)
Joy_pics(0).Picture = Kb_pics(0).Picture
Call Form_KeyDown(KeyCode, Shift)
Kb_pics(0).Picture = LoadPicture(App.Path +
End Sub
"\Camview.bmp") Else
'>>> Keydown Handler 4 <<<'
joy_control = "Camera"
Private Sub Kb_Button_KeyDown(Index As Integer,
Joy_pics(0).Picture = Kb_pics(0).Picture
KeyCode As Integer, Shift As Integer)
Kb_pics(0).Picture = LoadPicture(App.Path +
Call Form_KeyDown(KeyCode, Shift)
"\Gripper.bmp")
End Sub
End If '>>> Keydown Handler 5 <<<' Zeus.Caption = "Zeus: Current Joystick Control is " +
Private Sub Light_Pic_KeyDown(KeyCode As Integer,
CStr(joy_control)
Shift As Integer)
End Sub
Call Form_KeyDown(KeyCode, Shift) End Sub
Private Sub kb_command(msg1 As String, msg2 As String)
'>>> Keydown Handler 6 <<<'
If joy_control = "Camera" Then
Private Sub ext_op_pics_KeyDown(Index As Integer,
If msg1 = "UP" Then msg1 = "CLOSE"
KeyCode As Integer, Shift As Integer)
If msg1 = "DOWN" Then msg1 = "OPEN"
Call Form_KeyDown(KeyCode, Shift)
If msg2 = "LEFT" Then msg2 = "LIFT"
End Sub
If msg2 = "RIGHT" Then msg2 = "DROP" Call gripper(msg1, msg2) End If
'>>> KEYUP EVENT Handlers <<<'
If joy_control = "Gripper" Then Call camera(msg1,
'>>> Keyup Handler 1 <<<'
msg2)
Private Sub Joy_pics_KeyUp(Index As Integer, KeyCode As Integer, Shift As Integer)
End Sub
Call Form_KeyUp(KeyCode, Shift) End Sub
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
End Select '>>> KeyUp Handler 2 <<<' Private Sub Joy_Button_KeyUp(Index As Integer,
End Sub
KeyCode As Integer, Shift As Integer) Call Form_KeyUp(KeyCode, Shift)
'>>> Form KeyDown Event Handle <<<'
End Sub
Private Sub Form_KeyDown(KeyCode As Integer, Shift As Integer)
'>>> KeyUp Handler 3 <<<'
Select Case KeyCode
Private Sub Kb_pics_KeyUp(Index As Integer, KeyCode
'>>> Cases for normal kb keys <<<'
As Integer, Shift As Integer)
'>>> KB Frame Control Keys <<<'
Call Form_KeyUp(KeyCode, Shift)
Case vbKeyE: ' ^ '
End Sub
Call kb_frame_event(1) Case vbKeyX: ' v '
'>>> KeyUp Handler 4 <<<' Private Sub Kb_Button_KeyUp(Index As Integer, KeyCode As Integer, Shift As Integer) Call Form_KeyUp(KeyCode, Shift) End Sub
Call kb_frame_event(2) Case vbKeyS: ' < ' Call kb_frame_event(3) Case vbKeyD: ' > ' Call kb_frame_event(4) Case vbKey1 To vbKey7, 192:
'>>> KeyUp Handler 5 <<<'
Call ext_ops_event(KeyCode, Shift, False)
Private Sub Light_Pic_KeyUp(KeyCode As Integer, Shift
'>>> Light Control Key <<<"
As Integer)
Case vbKeyL:
Call Form_KeyDown(KeyCode, Shift) End Sub
Call light_toggle '>>> Cases for Function Keys <<<' '>>> Extension Ops Toggles E1, E4 and E5 <<<'
'>>> KeyUp Handler 6 <<<'
'>>> Ext_Op# passed byVal to Keycode <<<'
Private Sub ext_op_pics_KeyUp(Index As Integer,
'>>> Ext_Picture# passed byVal to Shift <<<'
KeyCode As Integer, Shift As Integer)
'>>> Toggle operation is true as passed byVal to Toggle
Call Form_KeyDown(KeyCode, Shift)
<<<'
End Sub
Case vbKeyF2: Call ext_ops_event(1, 5, True)
'>>> Form KeyUp Event Handler <<<' Private Sub Form_KeyUp(KeyCode As Integer, Shift As Integer) '>>> Required to send stop signal to <<<'
Case vbKeyF3: Call ext_ops_event(4, 6, True) Case vbKeyF4: Call ext_ops_event(5, 7, True)
'>>> the currently active kb-controlled <<<' '>>> module subsystem <<<'
'>>> User asks to shutdown Zeus <<<'
Select Case KeyCode
Case vbKeyF10:
'>>> Check which key has been released <<<'
'Set confirm and then unload code here'
Case vbKeyE: ' ^ '
If Not gCalib_form_loaded And Not
Call kb_frame_event(5) Case vbKeyX: ' v ' Call kb_frame_event(6) Case vbKeyS: ' < ' Call kb_frame_event(7) Case vbKeyD: ' > ' Call kb_frame_event(8)
Nirma Institute of Technology Technology XABRE
gSerial_Settings_Sel_loaded Then '>>> Ensure shutdown(=reset) command is fired and only then shutdown Debug.Print "Fire shutdown command" Unload_Check: If check_buffer_empty() Then Unload Me
Project Report 7th Sem I.C.
Else: GoTo Unload_Check End If Else:
Ext_op_pics(1).Picture = LoadPicture(App.Path + "\E2.gif") Ext_op_pics(2).Picture = LoadPicture(App.Path + "\img" + CStr(ext_ops_status(2)) + ".gif")
If gCalib_form_loaded Then Calib_Form.SetFocus
Ext_op_pics(3).Picture = LoadPicture(App.Path +
If gSerial_Settings_Sel_loaded Then
"\E3.gif")
Serial_Settings_Sel.SetFocus End If
Ext_op_pics(4).Picture = LoadPicture(App.Path + "\img" + CStr(ext_ops_status(3)) + ".gif") Ext_op_pics(5).Picture = LoadPicture(App.Path + "\E1"
'>>> User asks to transfer current kb controlled module to
+ CStr(ext_ops_status(1)) + ".gif")
joystick <<<'
Ext_op_pics(6).Picture = LoadPicture(App.Path + "\E4"
Case vbKeyF5:
+ CStr(ext_ops_status(4)) + ".gif")
Call toggle_frames
Ext_op_pics(7).Picture = LoadPicture(App.Path + "\E5" + CStr(ext_ops_status(5)) + ".gif")
'>>> User wants to re-calibrate locomotion controller <<<'
'>>> Position Pictures in Ext_Ops Frame <<<'
Case vbKeyF9:
Ext_Ops_frame.Width = 4 * (50 +
Zeus.Op_Mode_Timer = False
Ext_op_pics(1).Width)
Zeus.Enabled = False Calib_Form.SetFocus
Ext_op_pics(1).Left = (Ext_Ops_frame.Width -
Load Calib_Form
Ext_op_pics(1).Width) * 0.05
If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals
Ext_op_pics(2).Left = ((Ext_Ops_frame.Width * 0.45 -
End Select
Ext_op_pics(2).Width)) * 0.95
End Sub
Ext_op_pics(3).Left = Ext_Ops_frame.Width * 0.55 + (Ext_Ops_frame.Width * 0.5 - Ext_op_pics(3).Width) *
'>>> Cosmetics <<<'
0.05
Private Sub relocate_form()
Ext_op_pics(4).Left = (Ext_Ops_frame.Width -
Me.Width = (Screen.Width * 0.95)
Ext_op_pics(4).Width) * 0.95
Me.Move (Screen.Width * 0.05) / 2, (0.95 *
Ext_op_pics(5).Left = (Ext_Ops_frame.Width -
Screen.Height - Me.Height)
Ext_op_pics(5).Width) * 0.05
End Sub
Ext_op_pics(6).Left = (Ext_Ops_frame.Width Ext_op_pics(6).Width) * 0.5
Private Sub set_Frames()
Ext_op_pics(7).Left = (Ext_Ops_frame.Width -
Joystick_Controlled_frame.Left = (Zeus.Width -
Ext_op_pics(7).Width) * 0.95
Joystick_Controlled_frame.Width) * 0.1 Keyboard_Controlled_Frame.Left = (Zeus.Width -
Ext_Ops_frame.Left = (Zeus.Width -
Keyboard_Controlled_Frame.Width) * 0.9
Ext_Ops_frame.Width) / 2
joy_control = "Camera"
TX_label.Left = Ext_Ops_frame.Left
End Sub
End Sub
Private Sub set_ext_ops_frame()
Private Sub light_setup()
'>>> Init the ext_ops_status array <<<'
light_status = False
For i = 1 To 5
Light_Pic.Left = (Zeus.Width - Light_Pic.Width) / 2
ext_ops_status(i) = 0
Light_Pic.Top = Joystick_Controlled_frame.Top
Next i
End Sub
'>>> Load Default Pictures to the Ext_Ops Frame <<<'
Private Sub show_joy_buttons_pressed()
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Joy_Button(i).Picture = LoadPicture(App.Path + "\j"
For i = 1 To 4 If joyb_pressed(i) Then
+ CStr(i) + "off.bmp") joyb_states(i) = False
Joy_Button(i).Picture = LoadPicture(App.Path + "\j" + CStr(i) + "on.bmp") joyb_states(i) = True Else
End If Next i End Sub End Sub
The Vbjoy32.bas module takes care of reading the joystick’s potentiometers using the Windows API called winmm.dll. The code listing for the same is as follows: ' Joystick Capabilities
Declare Function joyGetPos Lib "winmm.dll" (ByVal
Const MAXPNAMELEN = 32
IDDevice As Integer, JPos As tJoyInfo) As Integer
Const MAXOEMVXD = 128
Function GetJoystickPos(IDDevice As Long, JoyInfo As
Type tJoyCaps
tJoyInfo) As Integer
Mid As Integer
'-------------------------------------------------------
Pid As Integer
' This function is a wrapper around the joyGetPos API
Pname As String * MAXPNAMELEN
' call. That call returns coordinates as unsigned
Xmin As Long
' long integers, which VB doesn't support. We move
Xmax As Long
' these coordinates into long values so that they
Ymin As Long
' can be easily evaluated.
Ymax As Long
'-------------------------------------------------------
Zmin As Long
Dim rc As Integer
Zmax As Long
Static NotFirstTime As Integer
NumButtons As Long
If Not NotFirstTime Then NotFirstTime = False
PeriodMin As Long
rc
PeriodMax As Long wRmin As Long
=
joyGetDevCaps(IDDevice,
JoyCaps,
Len(JoyCaps)) If rc <> 0 Then
wRmax As Long
GetJoystickPos = rc
wUmin As Long
Exit Function
wUmax As Long
End If
wVmin As Long wVmax As Long
End If
wCaps As Long
rc = joyGetPos(IDDevice, JoyInfo)
wMaxAxes As Long
GetJoystickPos = rc
wNumAxes As Long
If rc <> 0 Then Exit Function
wMaxButtons As Long
JoyInfo.ButtonDown(1) = (JoyInfo.ButtonStates And
szRegKey As String * MAXPNAMELEN szOEMVxD As String * MAXOEMVXD End Type Global JoyCaps As tJoyCaps ' Joystick API Calls Declare Function joyGetDevCaps Lib "winmm.dll" Alias
JOY_BUTTON1) = JOY_BUTTON1 JoyInfo.ButtonDown(2) = (JoyInfo.ButtonStates And JOY_BUTTON2) = JOY_BUTTON2 JoyInfo.ButtonDown(3) = (JoyInfo.ButtonStates And JOY_BUTTON3) = JOY_BUTTON3 JoyInfo.ButtonDown(4) = (JoyInfo.ButtonStates And
"joyGetDevCapsA" (ByVal IDDevice As Integer, JCaps
JOY_BUTTON4) = JOY_BUTTON4
As tJoyCaps, ByVal CapSize As Integer) As Integer
End
Nirma Institute of Technology Technology XABRE
Function
Project Report 7th Sem I.C.
The global declarations of variables accessed all over the program are declared in globalvariables.bas as shown below: Attribute VB_Name = "Module2" Public Type JoyVariables Xmin As Long Xmax As Long Ymin As Long Ymax As Long XCntr As Long YCntr As Long X_Upper_Range As Long X_Lower_Range As Long Y_Upper_Range As Long Y_Lower_Range As Long X_Upper_Scale As Long X_Lower_Scale As Long Y_Upper_Scale As Long Y_Lower_Scale As Long Set_val As Boolean End Type Public OP_tf_vals As JoyVariables Global gCalib_form_loaded As Boolean Global gSerial_Settings_Sel_loaded As Boolean Global gSerial_first_init As Boolean Global joy_control As String
The serial port settings are done through the Serial port settings form object which has the following code listing
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
µC Operations Flowcharts and Algorithms: Some of the flowcharts & algorithms used for the development of the µC software are shown below: Function Algorithms 1. SRM Auto: IF tilt_sw = open SET Sr_History=true; ROTATE acw; REPEAT TILL tilt_sw = close; END IF IF Sr_History=true; ROTATE cw; REPEAT TILL lock_in = close; SET Sr_History=false;
‘indicates overturning, sensed thru interrupt. ‘Indicate SR Action is going on ‘acw wrt to Xabre’s upright left view ‘Xabre is upright now, ‘sensed thru interrupt Indicates that previous action was SR Action ‘cw wrt to Xabre’s upright left view ‘SR arm is locked-in ‘Indicate SR Action completed
2. SRM Manual IF Command=Open_CW_manual ROTATE cw; ROTATE TILL Command = Stop_Rotation; IF Command=Open_ACW_manual ROTATE acw; ROTATE TILL Command = Stop_Rotation; IF Command=Open_CW_auto ROTATE cw; ROTATE TILL lock_in = close; ‘SR arm is locked-in IF Command=Open_ACW_auto ROTATE acw; ROTATE TILL lock_in = close; ‘SR arm is locked-in; 3. P/T Operation a. Command Operation IF PLL = open ON PL_Command: Pan Left; IF PRL = open ON PR_Command: Pan Right; IF TUL = open ON TU_Command: Tilt Up; IF TDL = open ON TD_Command: Tilt Down; b. Limit switch actuation Recognize Switch IF Switch = closed STOP Motion;
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
4. Light Operation: ON Light_ON_Command: Light = ON; ON Ligth_OFF_Command: Light = OFF;
Function flowcharts:
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
HARDWARE A PCB for the implementation of the circuit was manufactured. The schematic design was prepared in Orcad V9.0 and the final layout was generated using Protel V3.0. This sub section includes the PCB layout diagrams.
Nirma Institute of Technology Technology XABRE
5
4
3
2
1
PRIMARY CONTROL CARD
12V
EA/VP RST
11 1 XTAL 11.0592 Mhz
C4 30pF
3 4 7 8 13 14 17 18
C5 10uF VCC R6 100E
5V U2
PB
1 2 3 4 5 6 7 8 9 10
5V
0
J4 C
1 2 3 4 5 6
5V
0.1uF
EN IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 GND
Vcc OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 CH
20 19 18 17 16 15 14 13 12 11
1
5V U5 C34 D0 D1 D2 D3 D4 D5 D6 D7
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
12V R12 10K 9 8
RESISTOR SIP 10 5K
D0 D1 D2 D3 D4 D5 D6 D7
J11
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
C32
RS3
Vcc OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 CH
2 3 4 5 6 7 8 9 10
EN IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 GND
BS2
11
OUT2
C11 10nF
6
GND
Q3 2N2222
PM2
12V
U12 R19 6K8
12V
D3 LED
12V
LED
R14 10K
D5
LE OE
LED R15 6K8
LED
9 8
D7
TH OUT CS OUT
LMD18200T OUT1 2 BS1
TH OUT CS OUT
LMD18200T OUT1 2 BS1
LED
3 5 4
G2M1
C19
1
HEADER 14
DIR PWM BRAKE
BS2 OUT2
10 C20 10nF
11
TM2
C13
1
D8
G2 MOTOR 3 5 4
D9 LED
DIR PWM BRAKE
BS2 OUT2
10 C14 10nF
11
C
12V
G2M2
12V 100uF
LED
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
C18
J5 1 2 3 4 5 6 7 8 9 10 11 12 13 14
TILT MOTOR U10
D6
9 8
C12
100uF
D4
D10
20 19 18 17 16 15 14 13 12 11
1N4007
10
R18 10K
LED
5V
7 1 2
100uF
5V
5V
DIR PWM BRAKE
6
12V
2 5 6 9 12 15 16 19
J13
0.1uF
D11
PAN MOTOR 3 5 4
0.1uF Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
PM1 C10
1
5V
LE OE
5V C35 U6
TH OUT CS OUT
5 8 Q2 2N2222
R20 10K U13 R21 6K8
9 8
TH OUT CS OUT
C21
LMD18200T OUT1 2 BS1
G1M1 C22
1
G1 MOTOR 3 5 4
12V
DIR PWM BRAKE
BS2 OUT2
10 C23 10nF
11
G1M2
7
U3
RM2
LS2 RELAY DPDT 4 3 SRM1 5 8 SRM MOTOR 6 SRM2 7 1 RM1 2 RM2 LM1 LM2 PM1 PM2 G2M1 G2M2 G1M1 G1M2 SRM1 SRM2 TM1 TM2 TM1
3
12V
LMD18200T OUT1 2 BS1
MAX6818
5V
C17 10nF
11
LS1 RELAY DPDT 4
12V
1N4007 U9
R13 6K8
D12
C9
100uF
2 5 6 9 12 15 16 19
74LS373
5V
OUT2
10
12V 12V
0.1uF
J12 JUMPER1 R9 1K
HEADER 6
to various LIMIT SENSORS
11 1
2
BS2
D
7
to SRM LIMIT SENSORS
C31
LM2
DIR PWM BRAKE
LE OE
74LS373
EOPs LATCH
R5 10K
11
OUT2
3 5 4
7
3 4 7 8 13 14 17 18
DS89C420 C3 30pF
C8 10nF
7
30 29
RDRV MOTOR
10
BS2
GND
ALE/P PSEN
DIR PWM BRAKE
74LS373
G-PT LATCH
RM1 C16
1
LDRV MOTOR 3 5 4
GND
11 1
2 5 6 9 12 15 16 19
6
31 9
21 22 23 24 25 26 27 28
Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7
BS1
VCC
5V
X1 X2
P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7
D0 D1 D2 D3 D4 D5 D6 D7
GND
INT0 INT1 RD RXD T0 T1 TXD WR
19 18
3 4 7 8 13 14 17 18
LMD18200T 2 OUT1
7
12 13 17 10 14 15 11 16
HEADER 4
1 2 3 4 5 6 7 8
TH OUT CS OUT
C7
1
BS1
9 8
6
5V
P1.0/T2 P1.1/T2X P1.2 P1.3 P1.4 P1.5 P1.6 P1.7
R11 6K8
7
1 2 3 4
P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7
0.1uF
U11 R17 6K8
LM1
VCC
J9
39 38 37 36 35 34 33 32
C33
LMD18200T 2 OUT1
GND
R R R R
U4
SRM LATCH
TH OUT CS OUT
GND
R1 R2 R3 R4
0.1uF
9 8
6
C2 10uF
HEADER 2
D
C30
U1
U8
R10 10K
VCC
3
1
1N4007 C1 10uF
VOUT
5V
2 3 4 5 6 7 8 9 10
VIN
5V
5V
2
1 2
GND
1
J1
12V
7805/TO
VCC
5V U7
D1
6
EXT 12V
C15
100uF R16 10K
6
1N4007
12V
C6
100uF
VCC
12V
VCC
12V
D2
D17
J3 HEADER 15
1N4007
1 2 HEADER 2
Q1 2N2222
MAX6818
HEADER 10 RESISTOR SIP 10 5K RS1
1
VCC
B
B
TRANSMITTER CARD
D14 DIODE U18
TLP916F
ANTENNA
U15
C25 1uF
1 3 4 5
C26 1uF
2 6
C27 2.2uF
R1OUT R2OUT
3
RXD TTL CTS TTL
C2+ C2-
VIN
VOUT
ADJ LM317/TO220
2 R8 330E
R7 VAR R
5V
16
C28 2.2uF
U14
1
C1+ C1-
V+ V-
SW2 SW DPDT 12 9
8
Vcc Vcc
R1IN R2IN
Ant Gnd Gnd Gnd
T1OUT T2OUT
DOut
T1IN T2IN
14 7
RLP916F
4 5
13 8
TXD HEADER 4
11 10
GND
CTS TTL RXD TTL
HIN232
2
U17
15
CTS RXD GND
VCC
1 2 3 4
LOut
5V
1 6 7
1 J7
Ant
RECEIVER CARD
3
5V
GND
E1 ANT
R22 4K7
VCC
D15
4
LED
DATA IN
3
3
C24 0.1uF
7805 VOUT
2
LED R23 10K
VCC
VIN
GND
1
2
U16
D13
GND
SW DPDT SW1
D16 LED
J8
RLP916F Conn. 1 2 3 4
R24 10K
0
5V C29 A
A
C
(On PC Side)
Title
XABRE HARDWARE Size Date:
5
4
3
2
Document Number 1
Rev 1
Thursday, December 11, 2003
Sheet
1
1
of
1
Project Report 7th Sem I.C.
SECTIO 5 Dual PWM Generation This is required to control the driving of the two locomotion motors which have speed control implement in them by way of use of the H-bridge IC. Phase 3
Phase 2
Phase 1 Small_Val
Diff
Big_Val
Delay FFh
Drv_bit2=1 =>Drive magnitudes equal (Drv_bit1=0 then) Drv_bit1=1 =>LD lesser than RD (Drv_bit2=0 then) Drv_bit1=0 =>RD lesser than LD (Drv_bit2=0 then)
Phase_bits 3,2,1 Phase_bit3 for phase 3 Phase_bit2 for phase 2 Phase_bit1 for phase 1 1 indicates currently active phase, while rest of the bits will be zero Port Bits (Hardware defined) P0.0: Left Drv PWM Bit P0.1: Left Drv Direction Bit P0.2: Right Drv PWM Bit P0.3: Right Drv Direction Bit Phases Phase 1: Delay part of the whole time period. Value equal to 255-Small_val-Diff Load 255-40 Phase 3 indicated by 100 If 100 stop both On overflow set 255-50 Phase 2 indicated by 010 If 010 stop LD else stop RD On overflow set 255-6F Phase 1 indicated by 001 Both Drives off On LD command Save value to Left Locomotion Reg. M4M3M2M1-D-000 Call Set_Timer
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
On RD command Save value to Right Locomotion Reg. M4M3M2M1-D-000 Call Set_Timer
Set_Timer: Load L magnitude to temp1 Load R magnitude to temp2 Compare both magnitudes If L_Mag=R_Mag Set Drv_bit2 Clr Drv_bit1 Small_val=L_mag Big_val=R_mag Diff=01h Delay=255-Big_val If L_Mag
;At µC’s ISR for TF0 ;Jump to prog’s ISR
PWM_sub: Stop Timer0; If Phase_bit3 set Set Phase_bit2; Clr Phase_bit3; 3 Load Diff to TL0 Goto PWM_writer; Else If Phase_bit2 set Set Phase_bit1;
;Prog’s ISR ;Stop the timer0 ;Indicates end of phase 3 ;Set start of phase 2 ;Reset bit to show end of phase
Nirma Institute of Technology Technology XABRE
;Phase 2 counts for Diff period ;Perform PWM toggling ;Indicates end of phase 2 ;Set start of phase 1
Project Report 7th Sem I.C.
Clr Phase_bit2;
;Reset bit to show end of phase
Load Delay to TL0
;Phase 1 counts for Delay
2 period Goto PWM_writer; Else Set Phase_bit3; Clr Phase_bit1;
;Indicates end of phase 1 ;Set start of phase 3 ;Reset bit to show end of phase
Load Small_val to TL0;
;Phase 3 counts for Small val
1 period Goto PWM_writer; PWM_writer Start Timer0; If Phase_bit3 set P0.1 = 1; P0.2 = 1; Write Mag_bits; Else If Phase_bit2 set OFF If Drv_bit2set OFF P0.1 = 0; P0.2 = 0; Else If Drv_bit1 set OFF P0.1 = 0; Else OFF P0.0 = 0; Else If Phase_bit1 set P0.1 = 0; P0.2 = 0;
Nirma Institute of Technology Technology XABRE
;Perform PWM toggling
;Phase 3 ON, so both drives ON ;Turn ON LD ;Turn ON RD ;Magnitude bits are also set ;Phase 2 ON so lesser drive ;Both drives equal, turn ‘em ;Turn OFF LD ;Turn OFF RD ;Drv_bits=01 so LD is less, so ;Turn OFF LD ;Drv_bits=00 so RD is less, so ;Turn OFF RD ;Phase 1 ON so both drive OFF ;Turn OFF LD ;Turn OFF RD
Project Report 7th Sem I.C.
H-Bridge Logic (Extracted from Mag I.C. ’03, the annual magazine of IC Dept irma Institute of Technology. Authored by Abhijit Karnik.) There’s this nice idea you have floating about in your mind about a tank style robot you would like to build. All goes well till you decide to have the ability to reverse and there you have a nice pitfall. You can’t find a way to make your motor to get voltage in the reverse direction except use cumbersome relays with a number of switches. If you have been using a digital logic operation mode then again even relays are difficult to use. So what do you do? The answer lies in the H-bridge. The H-Bridge is basically a configuration which allows you to run the D.C. motor in any direction you want. The D.C. motor has 2 terminals. If one of the terminals is given positive D.C and the second terminal is grounded, the motor rotates in one direction. If the connections are reversed then, the motor rotates in the other direction. Now this means we need a circuit which allows either terminal to be connected to positive supply and the other one to ground as per our wish. As in figure 1 we have path A indicating connection for CCW motion, and path B for CW motion and arrangement that at a time only one path is active, then the resulting configuration is the basic H-bridge. The blocks marked 1, 1’, 2 and 2’ in the figure are devices which allow the above requirement to be fulfilled. The simplest option would be to use n-channel MOSFETs, as the blocks, which have the adequate power rating. The gate signal would be delivered from a logic gate that turns ON FETs 1 and 1’ while FETs 2 and 2’ would be OFF. This can be achieved by connecting the gates of FETs Figure 1 1 and 1’ directly to gate output while the gates of FETs 2 and 2’ are connected to the inverted output of the same gate. The operation of the H-Bridge is then as follows: If the gate output is high, FETs 1 and 1’ are ON and FETs 2 and 2’ are OFF. Path A is open while path B is closed and we have CCW motion. When the gate output is low, FETs 2 and 2’ are ON and FETs 1 and 1’ are OFF. Path B is open while path A is closed and we have CW motion. This arrangement is seemingly quite simple and easy to setup. So there should be some problems too. The 2 most basic problems in this arrangement are speed control and switching transients. For the first problem, we see that the H-bridge has no arrangements for controlling the speed of the motor. Either the motor is rotating CCW or CW at full power. The solution to this problem lies in pulse width modulation or PWM method. In short this method varies the operational duty cycle, i.e. the on time of the motor. The average DC delivered to the motor is varied by providing to the gate, pulses of variable time duration, ensuring that the motor speed is controlled. If we ‘AND’ the output of the control gate before it is supplied to any of the FET gate terminals, with a variable pulse width generator, PWM input is available to the FET gate terminals. The variable pulse width generator can be an IC555 in monostable mode with the time constant being varied by a pot and another IC555 in astable mode providing trigger input. The duty cycle can be varied from nearly 0% to ~99% of the frequency
Nirma Institute of Technology Technology XABRE
Project Report 7th Sem I.C.
of the astable IC555. Accordingly the motor speed varies from 0 rpm to full rated value. The second problem (which is a bigger problem) is the switching transients. The motor coil can be considered to be an inductor. An inductor tries to oppose changes in current magnitude flowing through it. Abruptly switching off the current supply induces large transient spikes in voltage due to the collapsing magnetic field in the motor coil. This transient voltage and current can fry your FETs if they are not built to handle the voltages. Another possible source of transient current is known as ‘free wheeling’. Due to motor inertia, the rotation of the motor may not stop immediately. During this time the motor can act as a generator sourcing large current values. These problems are more complicated and need more control circuitry that keep both FETs 1’ and 2’ ON during switching and allow transients to run to ground. Another option would be to use zener diodes with knee voltage greater than supply and with enough power dissipation ratings connected between ground and both terminals (Cathodes towards motor). In any case the FETs tend to dissipate a lot of heat while switching, which needs to be diverted to a sink properly. Another solution to this problem is using one of the H-bridge ICs that are available. These ICs come with internal arrangements for transient protection and thermal shutdown. There is simple arrangement for direction control and speed control in form of separate pins. Normally you would find a pin labeled PWM input and another labeled direction. Their limitations are in terms of peak voltages and current ratings. Another limitation is cost. They are a trifle bit too expensive. One of the H-bridge ICs is LMD18200T from National Semiconductor. I have mentioned this IC since it allows 3A and 55V and best of all, National sends free samples (it costs $8.5) so experiments are easier to conduct. Texas Instruments also has similar ICs. Specific part numbers of FETs are not mentioned since it depends on your motor and supply and mostly because I haven’t used any. I learnt about the existence of H-bridge and directly headed for National’s website to search for a related IC and found the LMD18200T. The H-bridge is a very good solution for speed-direction control of a DC motor and if your motor is not going to take large currents, even FETs without arrangements for transient bypassing can do the job satisfactorily. With the HBridge, direction and speed control should never come in way of realizing the dream of your very own bot!
Nirma Institute of Technology Technology XABRE
-
DS89C420 Ultra-High-Speed Microcontroller www.maxim-ic.com
GENERAL DESCRIPTION
FEATURES
The DS89C420 offers the highest performance available in 8051-compatible microcontrollers. It features a redesigned processor core that executes every 8051 instruction (depending on the instruction type) up to 12 times faster than the original for the same crystal speed. Typical applications see a speed improvement of 10 times using the same code and crystal. The DS89C420 offers a maximum crystal speed of 33MHz, achieving execution rates up to 33 million instructions per second (MIPS).
§
80C52 Compatible 8051 Pin- and Instruction-Set Compatible Four Bidirectional I/O Ports Three 16-Bit Timer Counters 256 Bytes Scratchpad RAM
§
On-Chip Memory 16kB Flash Memory In-System Programmable through Serial Port 1kB SRAM for MOVX
§
ROMSIZE Feature Selects Internal Program Memory Size from 0 to 16k Allows Access to Entire External Memory Map Dynamically Adjustable by Software
§
High-Speed Architecture 1 Clock-Per-Machine Cycle DC to 33MHz Operation Single-Cycle Instruction in 30ns Optional Variable Length MOVX to Access Fast/Slow Peripherals Dual Data Pointers with Auto Increment/Decrement and Toggle Select Supports Four Paged Modes
APPLICATIONS Data Logging Vending Automotive Test Equipment Motor Control Magstripe Reader/Scanner Consumer Electronics Gaming Equipment Appliances (Washers, Microwaves, etc.) Telephones HVAC Building Security and Door Access Control Building Energy Control and Management Uninterruptible Power Supplies Programmable Logic Controllers Industrial Control and Automation
§ Power Management Mode Programmable Clock Divider Automatic Hardware and Software Exit
ORDERING INFORMATION
§
Two Full-Duplex Serial Ports
§
Programmable Watchdog Timer
§
13 Interrupt Sources (Six External)
§
Five Levels of Interrupt Priority
PART
TEMP RANGE
DS89C420-MNG
-40°C to +85°C
MAX CLOCK SPEED (MHz) 25
DS89C420-QNG
-40°C to +85°C
25
44 PLCC
§
Power-Fail Reset
DS89C420-ENG
-40°C to +85°C
25
44 TQFP
§
Early Warning Power-Fail Interrupt
PINPACKAGE 40 PDIP
DS89C420-MCL
0°C to +70°C
33
40 PDIP
DS89C420-QCL
0°C to +70°C
33
44 PLCC
DS89C420-ECL
0°C to +70°C
33
44 TQFP
DS89C420-MNL
-40°C to +85°C
33
40 PDIP
DS89C420-QNL
-40°C to +85°C
33
44 PLCC
DS89C420-ENL
-40°C to +85°C
33
44 TQFP
Pin Configurations appear at end of data sheet.
Note: Some revisions of this device may incorporate deviations from published specifications known as errata. Multiple revisions of any device may be simultaneously available through various sales channels. For information about device errata, click here: www.maxim-ic.com/errata.
1 of 47
REV: 102203
DS89C420 Ultra-High-Speed Microcontroller
PIN CONFIGURATIONS TOP VIEW
TOP VIEW 33 6
1
23
40
7
39 34
22
Dallas Semiconductor DS89C420
Dallas Semiconductor DS89C420
44 17
12
29 18
28 1
PLCC
11
TQFP
TOP VIEW P1.0/T2 P1.1/T2EX P1.2/RXD1 P1.3/TXD1 P1.4/INT2 P1.5/INT3 P1.6/INT4 P1.7/INT5 RST P3.0/RXD0 P3.1/TXD0 P3.2/INT0 P3.3/INT1 P3.4/T0 P3.5/T1 P3.6/WR P3.7/RD XTAL2 XTAL1 VSS
1 2 3 4 5 6 7 8 9 10 DS89C420 11 12 13 14 15 16 17 18 19 20
DIP
46 of 47
40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21
VCC P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7 EA/VPP ALE/PROG PSEN P2.7 P2.6 P2.5 P2.4 P2.3 P2.2 P2.1 P2.0
Ultra-High-Speed Flash Microcontroller User’s Guide UHSM
UHSM
8051
8051
UHSM vs.
HEX
CLOCK
TIME
CLOCK
TIME
8051 SPEED
INSTRUCTION
CODE
CYCLES
@ 25MHz
CYCLES
@ 25MHz
ADVANTAGE
CJNE A, #data, rel
B4
4
160 ns
24
960 ns
6
CJNE Rn, #data, rel
B8..BF
4
160 ns
24
960 ns
6
CJNE @Ri, #data, rel
B6..B7
5
200 ns
24
960 ns
4.8
DJNZ Rn, rel
D8..DF
4
160 ns
24
960 ns
6
DJNZ direct, rel
D5
5
200 ns
24
960 ns
4.8
NOP
00
1
40 ns
12
480 ns
12
Table 5-2. INSTRUCTION SPEED SUMMARY INSTRUCTION CATEGORY
SPEED ADVANTAGE
QUANTITY
4.0 4.8 5.3 6.0 8.0 12.0 24.0 4.0 6.0 8.0 12.0 4.8 6.0 8.0 8.5
2 1 1 12 5 27 1 1 27 5 13 3 5 8 111
SPEED ADVANTAGE
QUANTITY
4.0 4.8 5.3 6.0 8.0 12.0 24.0 4.0 6.0 8.0 12.0 4.8 6.0 8.0 9.4
4 1 1 35 5 93 1 1 42 5 43 4 12 8 255
Total instructions: 1 byte
Total instructions: 2 byte
Total instructions: 3 byte
Average across all instructions OPCODE CATEGORY Total opcodes: 1 byte
Total opcodes: two byte
Total opcodes: three byte
Average across all opcodes
SECTION 6: MEMORY ACCESS The DS89C420 ultra-high-speed microcontroller supports the memory interface convention established for the industry standard 80C51, but also implements two new page mode memory interfaces needed to support ultra-high-speed external operation. These external page mode interfaces are described later in this section. 53
_____________________________________________________________________________________________
Ultra-High-Speed Flash Microcontroller User’s Guide the watchdog reset function automatically. Other bits of this register are undefined and are at logic 1 when read. The value of this register can be read at address FCh in parallel programming mode or by executing the verify option control register instruction in ROM Loader or in-application programming mode.
FFFF
FFFF
Note: The hatched areas shown on the internal and external memory are disabled on power-up (Default)
INTERNAL MEMORY 03FF
INTERNAL REGISTERS
SCRATCH PAD
128 Bytes SFR
0000
1kB x 8 SRAM
External Program Memory
Data OR prog mem addr from 400–7FF
External Data Memory
4000 3FFF
FF
8kB x 8 Flash Memory (Program)
128 Bytes Indirect Addressing 2000
80 7F
1FFF 2F 20 1F
8kB x 8 Flash Memory (Program)
Bit Addressable
Bank 3 Bank 2 Bank 1
00
Bank 0
0000
03FF
0000
0000
Non-usable if Internal SRAM is activated
Figure 6-1. Memory Map
INTERNAL SRAM MEMORY The DS89C420 ultra-high-speed microcontroller incorporates an internal 1kB SRAM that is usable as data, program, or merged program/data memory. Upon a power-on reset, the internal 1kB memory is disabled and transparent to both program and data memory maps. When used for data, the memory is addressed through MOVX commands, and is in addition to the 256 bytes of scratchpad memory. To enable the 1kB SRAM as internal data memory, software must set the DME0 bit (PMR.0). After setting this bit, all MOVX accesses within the first 1kB (0000h–03FFh) is directed to the internal SRAM. Any data memory accesses outside of this range are still directed to the expanded bus. One advantage of using the internal data memory is that MOVX operations automatically default to the fastest access possible. Note that the DME0 bit is cleared after any reset, so access to the internal data memory is prohibited until this bit is modified. The contents of the internal data memory are not affected by the changing of the data memory enable (DME0) bit. Table 63 shows how the DME1, DME0 bits affect the data memory map. _____________________________________________________________________________________________
56
Ultra-High-Speed Flash Microcontroller User’s Guide Mode 1 Mode 1 is asynchronous and full duplex, using a total of 10 bits. The 10 bits consist of a start bit (logic 0), 8 data bits, and 1 stop bit (logic 1) as illustrated in Figure 12-2. The data is transferred LSb first. As described above, the baud rates for mode 1 are generated by either a divide-by-16 of timer 1 rollover, a divide-by-16 of the timer 2 rollover, or a divide-by-32 of timer 1 rollover. The UART begins transmission after the first rollover of the divide-by-16 counter following a software write to SBUF. Transmission takes place on the TXD pin. It begins by the start bit being placed on the pin. Data is then shifted out onto the pin, LSb first. The stop bit follows. The TI bit is set by hardware after the stop bit is placed on the pin. All bits are shifted out at the rate determined by the baud-rate generator. Once the baud-rate generator is active, reception can begin at any time. The REN bit (SCON0.4 or SCON1.4) must be set to a logic 1 to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data is shifted in at the selected baud rate. At the middle of the stop bit time, certain conditions must be met to load SBUF with the received data: •
RI must = 0, and either
•
If SM2 = 0, the state of the stop bit does not matter, or
•
If SM2 = 1, the state of the stop bit must = 1.
If these conditions are true, then SBUF (hex address 99h or C1h) is loaded with the received byte, the RB8 bit (SCON0.2 or SCON1.2) is loaded with the stop bit, and the RI bit (SCON0.0 or SCON1.0) is set. If these conditions are false, then the received data is lost (SBUF and RB8 not loaded) and RI is not set. Regardless of the receive word status, after the middle of the stop bit time, the receiver goes back to looking for a 1 to 0 transition on the RXD pin. Each data bit received is sampled on the 7th, 8th, and 9th clock used by the divide-by-16 counter. Using majority voting, two equal samples out of the three determine the logic level for each received bit. If the start bit was determined to be invalid ( = 1), then the receiver goes back to looking for a 1 to 0 transition on the RXD pin in order to start the reception of data.
Mode 2 Mode 2 uses a total of 11 bits in asynchronous full-duplex communication, as illustrated in Figure 12-3. The 11 bits consist of 1 start bit (a logic 0), 8 data bits, 1 programmable 9th bit, and one stop bit (a logic 1). Like mode 1, the transmissions occur on the TXD signal pin and receptions on RXD. For transmission purposes, the 9th bit can be stuffed as a logic 0 or 1. A common use is to put the parity bit in this location. The 9th bit is transferred from the TB8 bit position in the SCON register (SCON0.3 or SCON1.3) during the write to SBUF. Baud rates are generated as a fixed function of the crystal frequency, as described earlier in this section. Like mode 1, mode 2’s transmission begins after the first rollover of the divide-by-16 counter following a software write to SBUF. It begins by the start bit being placed on the TXD pin. The data is then shifted out onto the pin LSb first, followed by the 9th bit, and finally the stop bit. The TI bit (SCON0.1 or SCON1.1) is set when the stop bit is placed on the pin. Reception begins when a falling edge is detected as part of the incoming start bit on the RXD pin. The RXD pin is then sampled according to the baud-rate speed. The 9th bit is placed in the RB8 bit location in SCON (SCON0.2 or SCON1.2). When a stop bit has been received, the data value is transferred to the SBUF receive register (hex address 99 or C1). The RI bit (SCON0.0 or SCON1.0) is set to indicate that a byte has been received. At this time, the UART can receive another byte. Once the baud-rate generator is active, reception can begin at any time. The REN bit (SCON0.4 or SCON1.4) must be set to a logic 1 to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data must be shifted in at the selected baud rate. At the middle of the 9th bit time, certain conditions must be met to load SBUF with the received data. •
RI must = 0, and either
•
If SM2 = 0, the state of the 9th bit does not matter, or
•
If SM2 = 1, the state of the 9th bit must = 1.
If these conditions are true, then SBUF is loaded with the received byte, RB8 is loaded with the 9th bit, and RI is set. If these conditions are false, then the received data is lost (SBUF and RB8 not loaded) and RI is set. Regardless of the receive word status, after the middle of the stop bit time, the receiver goes back to looking for a 1 to 0 transition on RXD. Data is sampled in a similar fashion to mode 1 with the majority voting on three consecutive samples. Mode 2 uses the sample divideby-16 counter with either the oscillator divided by 2 or 4.
____________________________________________________________________________________________
114
Ultra-High-Speed Flash Microcontroller User’s Guide
SMOD_0 = PCON.7 OR SMOD_1 = WDCON.7
0
1
0
TCLK = T2CON.4
1
D1 D0 START
D4 D3 D2
D5
TXD PIN
0
DATA BUS
DIVIDEBY-16
0
P3.1 LATCH
S0
LDSBUF RDSBUF LOAD SERIAL BUFFER
RCLK = T2CON.5
D7 D6
STOP
LOAD
1
BAUD CLOCK
1
SHIFT SERIAL I/O CONTROL
DIVIDEBY-2
AVAILABLE TO SERIAL PORT 0 ONLY
TIMER 2 OVERFLOW
TIMER 1 OVERFLOW
CLOCK
SBUF TRANSMIT SHIFT REGISTER
SBUF
READ SERIAL BUFFER
RECEIVE DATA BUFFER
RD
WR
LOAD
RESET
D4 D3 D2
D5
D1 D0 START
SI SERIAL INTERRUPT
D7 D6
R1 FLAG = SCONx.0
CLOCK
T1 FLAG = SCONx.1
STOP
INTS
RB8 = SCONx.2
RECEIVE SHIFT REGISTER
DIVIDEBY-16
RXD PIN
BIT DETECTION
TRANSMIT TIMING LDSBUF SHIFT TXD
START
D0
D1
D2
D3
D4
D5
D6
D7
STOP
TI RECEIVE TIMING RXD
START
D0
D1
D2
D3
D4
D5
BIT DETECTOR SAMPLING SHIFT RI
Figure 12-2. Serial Port Mode 1
115
____________________________________________________________________________________________
D6
D7
STOP
Ultra-High-Speed Flash Microcontroller User’s Guide SECTION 15: PROGRAM LOADING INTRODUCTION The DS89C420 family has the ability to perform program loading or reloading in a number of ways. First, ROM loader mode can be invoked to create a serial communication channel, which permits in-system program/erase of the internal and external program memory. Secondly, parallel programming mode allows programming and erasure of the internal flash memory using industry-standard EPROM or flash parallel programmers. Finally, user code in-application programming allows the capability to in-application erase and reprogram the upper 8kb block of flash memory through a special function register interface. Note: The terms ROM loader, serial loader, and bootstrap loader are used interchangeably in this section and refer to the same functional entity.
ROM LOADER MODE The DS89C420 defaults to the normal operating (nonloader) mode without external hardware. ROM loader mode can be invoked at any time, as described later in this section. Once the loader session is complete, the device performs a hardware reset and begin operation. This is identical to an external reset, except that the ROM loader during the loader session may modify locations in scratchpad RAM in order to execute properly. The Table 15-1 shows which areas of scratchpad RAM are guaranteed preserved and which ones are of indeterminate state after exiting the loader.
Table 15-1. Preserved and Indeterminate Scratchpad Memory DS89C420 SCRATCHPAD MEMORY Guaranteed Preserved Indeterminate
80h–FFh 00h–7Fh
The guaranteed preserved locations are areas in scratchpad RAM that are be changed by the bootstrap loader. The indeterminate area contains various stacks and buffers used by the loader, and a given byte in this area may or may not be modified by the loader. As such, the user should not rely on the loader preserving any data in this area. It should also be noted that the loader, upon being invoked, clears the EWT bit (WDCON.1) so that the watchdog timer is prevented from generating an internal reset during the loader session.
Invoking the ROM Loader Mode The ROM loader mode is invoked by simultaneously applying a logic 1 to the RST pin, a logic 0 to the EA pin, and driving the PSEN pin to a logic 0 level. If power were to cycle while the required input stimuli were present, the loader would be invoked on power-up. When the ROM loader mode is invoked, the device awaits an incoming
Exiting the Loader In order to exit ROM loader mode on the DS89C420 device, first float the PSEN signal, and then float or drive the RST pin low. The RST pin has an internal pulldown. The PSEN signal is an output and drives itself high. When the loader stimulus is removed, the processor performs a hardware reset and begin execution at location 0000h. Note that both of these conditions must occur, or the loader is exited. The flow of these conditions is shown in Figure 15-1.
127
____________________________________________________________________________________________
Ultra-High-Speed Flash Microcontroller User’s Guide
PROGRAM EXECUTION INTERNAL MEMORY DISABLED EA\ =0 INTERNAL MEMORY ENABLED EA\ =1
N
RST = 1
Y N DEVICE IN RESET (INTERNAL MEMORY ENABLED)
EA\ = 0
Y N DEVICE IN RESET (INTERNAL MEMORY DISABLED)
PSEN\ = 0 Y AUTOBAUD ROUTINE AWAITING
N Y SERIAL COMMUNICATION WITH THE ROM LOADER CAN PROCEED AS ESTABLISHED ON SERIAL PORT 0
N
PSEN\ TOGGLED 0
1
Y
POWER-ON RESET
Figure 15-1. Invoking and Exiting the Loader on the DS89C420
____________________________________________________________________________________________
128
Ultra-High-Speed Flash Microcontroller User’s Guide Serial Program Load Operation Program loading through a serial port is a convenient method of loading application software into the flash memory or external memory. Communication is performed over a standard, asynchronous serial communications port using a terminal emulator program with 8-N-1 (8 data bits, no parity, 1 stop bit) protocol settings. A typical application would use a simple RS-232 serial interface to in-system program the device as part of a final production procedure. The hardware configuration for the serial program load operation is illustrated in Figure 15-2. A variety of crystals can be used to produce standard baud rates. The serial loader is designed to operate across a 3-wire interface from a standard UART. The receive, transmit, and ground wires are all that are necessary to establish communication with the device. The serial loader implements an easy-to-use command line interface, which allows an Intel hex file to be loaded and read back from the device. Intel hex is the standard format output by 8051 cross-assemblers. TO PC TD ROOUT
RXDO
TOOUT DS232A TOIN
TXDO
ROIN RD
DTR R1IN
R1OUT
T1OUT
T1IN
DS89C420 VCC
RST
EA
PSEN
HC/AC125 Figure 15-2. Serial Load Hardware Configuration
AUTOBAUD-RATE DETECTION The serial bootstrap loader can automatically detect, within certain limits, the external baud rate and configure itself to that speed. The loader controls serial port 0 in mode 1 (asynchronous, 1 start bit, 8 data bits, no parity, 1 stop bit, full duplex), using timer 1 in 8-bit autoreload mode with the serial port 0 doubler bit (PCON.7) set. For these settings, an equation to calculate possible serial loader baud rates is provided as a function of crystal frequency and timer reload value. Table 15-1 shows baud rates generated using the equation:
Serial Loader_Baud rate =
Crystal Frequency 192 x ( 256-Timer Reload )
** Timer reload values attempted by the loader: FF, FE, FD, FC, FB, FA, F8, F6, F5, F4, F3, F0, EC, EA, E8, E6, E0, DD, D8, D4, D0, CC, C0, BA, B0, A8, A0, 98, 80, 60, 40 When communicating with a PC COM port having a standard 8250/16450 UART, attempt to match the loader baud rate and PC COM port baud rate within 3% in order to maintain a reliable communication channel. If baud rates cannot be matched exactly, it is suggested configuring the loader to the faster baud rate to avoid the possibility of overflowing the DS89C420 serial input buffer.
129
____________________________________________________________________________________________
LMD18200 3A, 55V H-Bridge General Description The LMD18200 is a 3A H-Bridge designed for motion control applications. The device is built using a multi-technology process which combines bipolar and CMOS control circuitry with DMOS power devices on the same monolithic structure. Ideal for driving DC and stepper motors; the LMD18200 accommodates peak output currents up to 6A. An innovative circuit which facilitates low-loss sensing of the output current has been implemented.
Features n n n n
Delivers up to 3A continuous output Operates at supply voltages up to 55V Low RDS(ON) typically 0.3Ω per switch TTL and CMOS compatible inputs
n n n n n n
No “shoot-through” current Thermal warning flag output at 145˚C Thermal shutdown (outputs off) at 170˚C Internal clamp diodes Shorted load protection Internal charge pump with external bootstrap capability
Applications n n n n n
DC and stepper motor drives Position and velocity servomechanisms Factory automation robots Numerically controlled machinery Computer printers and plotters
Functional Diagram
DS010568-1
FIGURE 1. Functional Block Diagram of LMD18200
© 1999 National Semiconductor Corporation
DS010568
www.national.com
LMD18200 3A, 55V H-Bridge
December 1999
LMD18200
Connection Diagrams and Ordering Information
DS010568-2
11-Lead TO-220 Package Top View Order Number LMD18200T See NS Package TA11B
DS010568-25
24-Lead Dual-in-Line Package Top View Order Number LMD18200-2D-QV 5962-9232501VXA LMD18200-2D/883 5962-9232501MXA See NS Package DA24B
www.national.com
2
LMD18200
Electrical Characteristics Notes Note 1: Absolute Maximum Ratings indicate limits beyond which damage to the device may occur. DC and AC electrical specifications do not apply when operating the device beyond its rated operating conditions. Note 2: See Application Information for details regarding current limiting. Note 3: The maximum power dissipation must be derated at elevated temperatures and is a function of TJ(max), θJA, and TA. The maximum allowable power dissipation at any temperature is PD(max) = (TJ(max) − TA)/θJA, or the number given in the Absolute Ratings, whichever is lower. The typical thermal resistance from junction to case (θJC) is 1.0˚C/W and from junction to ambient (θJA) is 30˚C/W. For guaranteed operation TJ(max) = 125˚C. Note 4: Human-body model, 100 pF discharged through a 1.5 kΩ resistor. Except Bootstrap pins (pins 1 and 11) which are protected to 1000V of ESD. Note 5: All limits are 100% production tested at 25˚C. Temperature extreme limits are guaranteed via correlation using accepted SQC (Statistical Quality Control) methods. All limits are used to calculate AOQL, (Average Outgoing Quality Level). Note 6: Output currents are pulsed (tW < 2 ms, Duty Cycle < 5%). Note 7: Regulation is calculated relative to the current sense output value with a 1A load. Note 8: Selections for tighter tolerance are available. Contact factory.
Typical Performance Characteristics VSAT vs Flag Current
RDS(ON) vs Temperature
DS010568-16
RDS(ON) vs Supply Voltage
DS010568-17 DS010568-18
Supply Current vs Supply Voltage
Supply Current vs Frequency (VS = 42V)
DS010568-19
DS010568-21
DS010568-20
Current Sense Output vs Load Current
Current Sense Operating Region
DS010568-22
www.national.com
Supply Current vs Temperature (VS = 42V)
DS010568-23
4
LMD18200
Test Circuit
DS010568-8
Switching Time Definitions
DS010568-9
Pinout Description
it is also necessary to apply logic high to PWM input, pin 5. The drivers that short the motor are determined by the logic level at the DIRECTION input (Pin 3): with Pin 3 logic high, both current sourcing output transistors are ON; with Pin 3 logic low, both current sinking output transistors are ON. All output transistors can be turned OFF by applying a logic high to Pin 4 and a logic low to PWM input Pin 5; in this case only a small bias current (approximately −1.5 mA) exists at each output pin. Pin 5, PWM Input: See Table 1. How this input (and DIRECTION input, Pin 3) is used is determined by the format of the PWM Signal.
(See Connection Diagram)
Pin 1, BOOTSTRAP 1 Input: Bootstrap capacitor pin for half H-bridge number 1. The recommended capacitor (10 nF) is connected between pins 1 and 2. Pin 2, OUTPUT 1: Half H-bridge number 1 output. Pin 3, DIRECTION Input: See Table 1. This input controls the direction of current flow between OUTPUT 1 and OUTPUT 2 (pins 2 and 10) and, therefore, the direction of rotation of a motor load. Pin 4, BRAKE Input: See Table 1. This input is used to brake a motor by effectively shorting its terminals. When braking is desired, this input is taken to a logic high level and 5
www.national.com
LMD18200
Pinout Description (See Connection Diagram) (Continued) Pin 6, VS Power Supply Pin 7, GROUND Connection: This pin is the ground return, and is internally connected to the mounting tab. Pin 8, CURRENT SENSE Output: This pin provides the sourcing current sensing output signal, which is typically 377 µA/A. Pin 9, THERMAL FLAG Output: This pin provides the thermal warning flag output signal. Pin 9 becomes active-low at 145˚C (junction temperature). However the chip will not shut itself down until 170˚C is reached at the junction. Pin 10, OUTPUT 2: Half H-bridge number 2 output.
DS010568-4
FIGURE 2. Locked Anti-Phase PWM Control Sign/magnitude PWM consists of separate direction (sign) and amplitude (magnitude) signals (see Figure 3). The (absolute) magnitude signal is duty-cycle modulated, and the absence of a pulse signal (a continuous logic low level) represents zero drive. Current delivered to the load is proportional to pulse width. For the LMD18200, the DIRECTION input (pin 3) is driven by the sign signal and the PWM input (pin 5) is driven by the magnitude signal.
Pin 11, BOOTSTRAP 2 Input: Bootstrap capacitor pin for Half H-bridge number 2. The recommended capacitor (10 nF) is connected between pins 10 and 11. TABLE 1. Logic Truth Table PWM
Dir
Brake
H
H
L
Source 1, Sink 2
Active Output Drivers
H
L
L
Sink 1, Source 2
L
X
L
Source 1, Source 2
H
H
H
Source 1, Source 2
H
L
H
Sink 1, Sink 2
L
X
H
NONE
Application Information TYPES OF PWM SIGNALS The LMD18200 readily interfaces with different forms of PWM signals. Use of the part with two of the more popular forms of PWM is described in the following paragraphs. Simple, locked anti-phase PWM consists of a single, variable duty-cycle signal in which is encoded both direction and amplitude information (see Figure 2). A 50% duty-cycle PWM signal represents zero drive, since the net value of voltage (integrated over one period) delivered to the load is zero. For the LMD18200, the PWM signal drives the direction input (pin 3) and the PWM input (pin 5) is tied to logic high.
www.national.com
DS010568-5
FIGURE 3. Sign/Magnitude PWM Control SIGNAL TRANSITION REQUIREMENTS To ensure proper internal logic performance, it is good practice to avoid aligning the falling and rising edges of input signals. A delay of at least 1 µsec should be incorporated between transitions of the Direction, Brake, and/or PWM input signals. A conservative approach is be sure there is at least 500ns delay between the end of the first transition and the beginning of the second transition. See Figure 4.
6
19-4770; Rev 1; 1/99
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers The MAX6816/MAX6817/MAX6818 are single, dual, and octal switch debouncers that provide clean interfacing of mechanical switches to digital systems. They accept one or more bouncing inputs from a mechanical switch and produce a clean digital output after a short, preset qualification delay. Both the switch opening bounce and the switch closing bounce are removed. Robust switch inputs handle ±25V levels and are ±15kV ESDprotected for use in harsh industrial environments. They feature single-supply operation from +2.7V to +5.5V. Undervoltage lockout circuitry ensures the output is in the correct state upon power-up. The single MAX6816 and dual MAX6817 are offered in SOT packages and require no external components. Their low supply current makes them ideal for use in portable equipment. The MAX6818 octal switch debouncer is designed for data-bus interfacing. The MAX6818 monitors switches and provides a switch change-of-state output (CH), simplifying microprocessor (µP) polling and interrupts. Additionally, the MAX6818 has three-state outputs controlled by an enable (EN) pin, and is pin-compatible with the ‘LS573 octal latch (except for the CH pin), allowing easy interfacing to a digital data bus.
Applications µP Switch Interfacing Industrial Instruments
Features ♦ Robust Inputs can Exceed Power Supplies up to ±25V ♦ ESD Protection for Input Pins ±15kV—Human Body Model ±8kV—IEC 1000-4-2, Contact Discharge ±15kV—IEC 1000-4-2, Air-Gap Discharge ♦ Small SOT Packages (4 and 6 pins) ♦ Single-Supply Operation from +2.7V to +5.5V ♦ Single (MAX6816), Dual (MAX6817), and Octal (MAX6818) Versions Available ♦ No External Components Required ♦ 6µA Supply Current ♦ Three-State Outputs for Directly Interfacing Switches to µP Data Bus (MAX6818) ♦ Switch Change-of-State Output Simplifies Polling and Interrupts (MAX6818) ♦ Pin-Compatible with ’LS573 (MAX6818)
Ordering Information PART
TEMP. RANGE
PINSOT PACKAGE TOP MARK
MAX6816EUS-T
-40°C to +85°C
4 SOT143
KABA
MAX6817EUT-T -40°C to +85°C 6 SOT23-6 AAAU MAX6818EAP -40°C to +85°C 20 SSOP — Note: There is a minimum order increment of 2500 pieces for SOT packages.
PC-Based Instruments Portable Instruments Automotive Applications Membrane Keypads
Pin Configurations
Typical Operating Circuit
TOP VIEW
VCC GND
4
VCC
3
OUT
MAX6816
MAX6816
MECHANICAL SWITCH
1
µP 0.1µF
IN
OUT GND
DEBOUNCED OUTPUT
RESET
IN
2
SOT143
Pin Configurations continued at end of data sheet. ________________________________________________________________ Maxim Integrated Products
1
For free samples & the latest literature: http://www.maxim-ic.com, or phone 1-800-998-8800. For small orders, phone 1-800-835-8769.
MAX6816/MAX6817/MAX6818
General Description
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers MAX6816/MAX6817/MAX6818
Pin Description PIN
NAME
FUNCTION
MAX6816
MAX6817
MAX6818
1
2
10
GND
2
—
—
IN
Switch Input
—
1, 3
—
IN1, IN2
Switch Inputs
—
—
2–9
IN1–IN8
Switch Inputs
3
—
—
OUT
CMOS Debounced Output
—
4, 6
—
OUT2, OUT1
CMOS Debounced Outputs
—
—
12–19
OUT8–OUT1
CMOS Debounced Outputs
4
5
20
VCC
+2.7V to +5.5V Supply Voltage
—
—
1
EN
Active-Low, Three-State Enable Input for outputs. Resets CH. Tie to GND to “always enable” outputs.
—
—
11
CH
Change-of-State Output. Goes low on switch input change of state. Resets on EN. Leave unconnected if not used.
Ground
D
VCC VCC
D VCC
OSC.
COUNTER
Q
OUT
Q
LOAD
R
RPU UNDERVOLTAGE LOCKOUT
IN ESD PROTECTION
MAX6816 MAX6817 MAX6818
Figure 1. Block Diagram
_______________Detailed Description Theory of Operation The MAX6816/MAX6817/MAX6818 are designed to eliminate the extraneous level changes that result from interfacing with mechanical switches (switch bounce). Virtually all mechanical switches bounce upon opening or closing. These switch debouncers remove bounce when a switch opens or closes by requiring that sequentially clocked inputs remain in the same state for a number of sampling periods. The output does not change until the input is stable for a duration of 40ms. The circuit block diagram (Figure 1) shows the functional blocks consisting of an on-chip oscillator, counter, exclusive-NOR gate, and D flip-flop. When the 4
input does not equal the output, the XNOR gate issues a counter reset. When the switch input state is stable for the full qualification period, the counter clocks the flip-flop, updating the output. Figure 2 shows the typical opening and closing switch debounce operation. On the MAX6818, the change output (CH) is updated simultaneously with the switch outputs.
Undervoltage Lockout The undervoltage lockout circuitry ensures that the outputs are at the correct state on power-up. While the supply voltage is below the undervoltage threshold (typically 1.9V), the debounce circuitry remains transparent. Switch states are present at the logic outputs without delay.
_______________________________________________________________________________________
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers EN
tEN
IN1
1/2 VCC
1/2 VCC
tPE
OUT1–OUT8 OUT1
1/2 VCC
tPE OUT1–OUT8
IN2
tPD
OUT NORMALLY LOW
VOL + 0.5V
1/2 VCC OUT NORMALLY
VOH - 0.5V
HIGH tPC
CH
OUT2
MAX6816/MAX6817/MAX6818
tDP
tPD
1/2 VCC
Figure 4. MAX6818 µP-Interface Timing Diagram CH +VCC MAX6818 ONLY
+VCC
0.1µF
Figure 2. Input Characteristics SW1 IN1 20V IN (20V/div)
EN
I/O
CH
IRQ
OUT1
D0
OUT8
D7
µP
MAX6818
0 -20V IN8 SW8 4V
OUT (2V/div)
Figure 5. MAX6818 Typical µP Interfacing Circuit
0
20ms/div
Figure 3. Switch Input ±25V Fault Tolerance
Robust Switch Inputs The switch inputs on the MAX6816/MAX6817/MAX6818 have overvoltage clamping diodes to protect against damaging fault conditions. Switch input voltages can safely swing ±25V to ground (Figure 3). Proprietary ESD-protection structures protect against high ESD encountered in harsh industrial environments, membrane keypads, and portable applications. They are designed to withstand ±15kV per the IEC1000-4-2 Air Gap Discharge Test and ±8kV per the IEC1000-4-2 Contact Discharge Test. Since there are 63kΩ (typical) pull-up resistors connected to each input, driving an input to -25V will draw
approximately 0.5mA (up to 4mA for eight inputs) from the VCC supply. Driving an input to +25V will cause approximately 0.32mA of current (up to 2.6mA for eight inputs) to flow back into the VCC supply. If the total system VCC supply current is less than the current flowing back into the VCC supply, VCC will rise above normal levels. In some low-current systems, a zener diode on VCC may be required.
±15kV ESD Protection As with all Maxim devices, ESD-protection structures are incorporated on all pins to protect against electrostatic discharges encountered during handling and assembly. The MAX6816/MAX6817/MAX6818 have extra protection against static electricity. Maxim's engineers have developed state-of-the-art structures to protect against ESD of ±15kV at the switch inputs without
_______________________________________________________________________________________
5
±15kV ESD-Protected, Single/Dual/Octal, CMOS Switch Debouncers
The major difference between tests done using the Human Body Model and IEC1000-4-2 is higher peak current in IEC1000-4-2, because series resistance is lower in the IEC1000-4-2 model. Hence, the ESD withstand voltage measured to IEC1000-4-2 is generally lower than that measured using the Human Body Model. Figure 7a shows the IEC1000-4-2 model and Figure 7b shows the current waveform for the 8kV, IEC1000-4-2, Level 4, ESD Contact-Discharge test. The Air-Gap test involves approaching the device with a charged probe. The Contact-Discharge method connects the probe to the device before the probe is energized.
Machine Model The Machine Model for ESD tests all pins using a 200pF storage capacitor and zero discharge resistance. Its objective is to emulate the stress caused by contact that occurs with handling and assembly during manufacturing.
MAX6818 µP Interfacing The MAX6818 has an output enable (EN) input that allows switch outputs to be three-stated on the µP data bus until polled by the µP. Also, state changes at the switch inputs are detected, and an output (CH) goes low after the debounce period to signal the µP. Figure 4 shows the timing diagram for enabling outputs and reading data. If the output enable is not used, tie EN to GND to “always enable’’ the switch outputs. If EN is low, CH is always high. If a change of state is not required, leave CH unconnected.
Pin Configurations (continued) TOP VIEW
IN1 1
GND 2
6
MAX6817
IN2 3
SOT23-6
OUT1
EN 1
20 VCC
IN1 2
19 OUT1
IN2 3
18 OUT2
IN3 4 IN4 5
5
VCC
4
OUT2
17 OUT3
MAX6818
16 OUT4
IN5 6
15 OUT5
IN6 7
14 OUT6
IN7 8
13 OUT7
IN8 9
12 OUT8
GND 10
11 CH
SSOP
___________________Chip Information MAX6816 TRANSISTOR COUNT: 284 MAX6817 TRANSISTOR COUNT: 497 MAX6818 TRANSISTOR COUNT: 2130 SUBSTRATE CONNECTED TO GND
_______________________________________________________________________________________
7
MAX6816/MAX6817/MAX6818
meets Level 4 (the highest level) of IEC1000-4-2, without the need for additional ESD-protection components.
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
D D D D D D
Choice of Eight Latches or Eight D-Type Flip-Flops in a Single Package 3-State Bus-Driving Outputs Full Parallel Access for Loading Buffered Control Inputs Clock-Enable Input Has Hysteresis to Improve Noise Rejection (’S373 and ’S374) P-N-P Inputs Reduce DC Loading on Data Lines (’S373 and ’S374)
SN54LS373, SN74LS373 . . . DW, N, OR NS PACKAGE SN74S373 . . . DW OR N PACKAGE (TOP VIEW)
OC 1Q 1D 2D 2Q 3Q 3D 4D 4Q GND
description
19
3
18
4
17
5
16
6
15
7
14
8
13
9
12
10
11
VCC 8Q 8D 7D 7Q 6Q 6D 5D 5Q C
C for ’LS373 and ’S373; SN54LS373, SN54S373, . . . FK PACKAGE (TOP VIEW)
The eight latches of the ’LS373 and ’S373 are transparent D-type latches, meaning that while the enable (C or CLK) input is high, the Q outputs follow the data (D) inputs. When C or CLK is taken low, the output is latched at the level of the data that was set up.
2D 2Q 3Q 3D 4D
4
3 2 1 20 19 18
5
17
6
16
7
15
8
14 9 10 11 12 13
8D 7D 7Q 6Q 6D
4Q GND C 5Q 5D
The eight flip-flops of the ’LS374 and ’S374 are edge-triggered D-type flip-flops. On the positive transition of the clock, the Q outputs are set to the logic states that were set up at the D inputs.
20
2
1D 1Q OC VCC 8Q
These 8-bit registers feature 3-state outputs designed specifically for driving highly capacitive or relatively low-impedance loads. The high-impedance 3-state and increased high-logic-level drive provide these registers with the capability of being connected directly to and driving the bus lines in a bus-organized system without need for interface or pullup components. These devices are particularly attractive for implementing buffer registers, I/O ports, bidirectional bus drivers, and working registers.
1
C for ’LS373 and ’S373;
Schmitt-trigger buffered inputs at the enable/clock lines of the ’S373 and ’S374 devices simplify system design as ac and dc noise rejection is improved by typically 400 mV due to the input hysteresis. A buffered output-control (OC) input can be used to place the eight outputs in either a normal logic state (high or low logic levels) or the high-impedance state. In the high-impedance state, the outputs neither load nor drive the bus lines significantly. OC does not affect the internal operation of the latches or flip-flops. That is, the old data can be retained or new data can be entered, even while the outputs are off.
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. Copyright 2002, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
On products compliant to MIL-PRF-38535, all parameters are tested unless otherwise noted. On all other products, production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
Function Tables ’LS373, ’S373 (each latch) INPUTS OC
C
D
OUTPUT Q
L
H
H
H
L
H
L
L
L
L
X
Q0
H
X
X
Z
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
3
SN54LS373, SN54LS374, SN54S373, SN54S374, SN74LS373, SN74LS374, SN74S373, SN74S374 OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002
logic diagrams (positive logic) ’LS373, ’S373 Transparent Latches OC
C
1
OC
11
CLK C1
1D
3
4
3D
4D
5D
6D
7D
8D
16
1D
13
14
17
8D
18
for ’S373 Only
4
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
15
1D
16
1D
1D
for ’S374 Only
Pin numbers shown are for DB, DW, J, N, NS, and W packages.
12
1D
C1 8Q
9
1D
C1 7Q 7D
19
8
6
1D
C1 6Q 6D
1D
C1 18
15
7
5
1D
C1 5Q 5D
1D
C1 17
12
4
2
1D
C1 4Q 4D
1D
C1 14
9
3
C1 3Q 3D
1D
C1 13
6
11
C1 2Q 2D
1D
C1 8
5
1
C1 1Q 1D
1D
C1 7
2
1D
C1 2D
’LS374, ’S374 Positive-Edge-Triggered Flip-Flops
19
1Q
2Q
3Q
4Q
5Q
6Q
7Q
8Q
µA7800 SERIES POSITIVE-VOLTAGE REGULATORS SLVS056G – MAY 1976 – REVISED OCTOBER 2001
D D D D D D D
KC PACKAGE (TOP VIEW)
3-Terminal Regulators Output Current up to 1.5 A Internal Thermal-Overload Protection High Power-Dissipation Capability Internal Short-Circuit Current Limiting Output Transistor Safe-Area Compensation Direct Replacements for Fairchild µA7800 Series
OUTPUT COMMON INPUT The COMMON terminal is in electrical contact with the mounting base. TO-220AB
O
C
description This series of fixed-voltage monolithic integrated-circuit voltage regulators is designed for a wide range of applications. These applications include on-card regulation for elimination of noise and distribution problems associated with single-point regulation. Each of these regulators can deliver up to 1.5 A of output current. The internal current-limiting and thermal-shutdown features of these regulators essentially make them immune to overload. In addition to use as fixed-voltage regulators, these devices can be used with external components to obtain adjustable output voltages and currents, and also can be used as the power-pass element in precision regulators.
I
KTE PACKAGE (TOP VIEW)
OUTPUT COMMON INPUT The COMMON terminal is in electrical contact with the mounting base.
The µA7800C series is characterized for operation over the virtual junction temperature range of 0°C to 125°C.
O
C
I
AVAILABLE OPTIONS PACKAGED DEVICES TJ
0°C to 125°C
VO(NOM) (V)
PLASTIC FLANGE MOUNT (KC)
HEAT-SINK MOUNTED (KTE)
5
µA7805CKC
µA7805CKTE
8
µA7808CKC
µA7808CKTE
10
µA7810CKC
µA7810CKTE
12
µA7812CKC
µA7812CKTE
15
µA7815CKC
µA7815CKTE
24
µA7824CKC
µA7824CKTE
The KTE package is only available taped and reeled. Add the suffix R to the device type (e.g., µA7805CKTER).
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. Copyright 2001, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
1
µA7800 SERIES POSITIVE-VOLTAGE REGULATORS SLVS056G – MAY 1976 – REVISED OCTOBER 2001
APPLICATION INFORMATION µA78xx
+V
+VO
0.33 µF
0.1 µF
Figure 1. Fixed-Output Regulator
IN
+
µA78xx
VI
OUT
G IL
COM
–VO
–
Figure 2. Positive Regulator in Negative Configuration (VI Must Float)
Input
µA78xx
Output R1
IO 0.33 µF
0.1 µF R2
ǒ )Ǔ
NOTE A: The following formula is used when Vxx is the nominal output voltage (output to common) of the fixed regulator: VO
+V ) xx
V xx R1
I Q R2
Figure 3. Adjustable-Output Regulator
µA78xx
Input 0.33 µF
R1
VO(Reg)
Output IO IO = (VO/R1) + IO Bias Current
Figure 4. Current Regulator
6
POST OFFICE BOX 655303
• DALLAS, TEXAS 75265
HIN232, HIN236, HIN237,HIN238, HIN239, HIN240, HIN241
®
Data Sheet
June 2003
FN3138.13
+5V Powered RS-232 Transmitters/Receivers
Features
The HIN232-HIN241 family of RS-232 transmitters/receivers interface circuits meet all ElA RS-232E and V.28 specifications, and are particularly suited for those applications where ±12V is not available. They require a single +5V power supply (except HIN239) and feature onboard charge pump voltage converters which generate +10V and -10V supplies from the 5V supply. The family of devices offer a wide variety of RS-232 transmitter/receiver combinations to accommodate various applications (see Selection Table).
• Requires Only Single +5V Power Supply - (+5V and +12V - HIN239)
The drivers feature true TTL/CMOS input compatibility, slewrate-limited output, and 300Ω power-off source impedance. The receivers can handle up to ±30V, and have a 3kΩ to 7kΩ input impedance. The receivers also feature hysteresis to greatly improve noise rejection.
• Multiple Drivers - ±10V Output Swing for 5V lnput - 300Ω Power-Off Source Impedance - Output Current Limiting - TTL/CMOS Compatible - 30V/µs Maximum Slew Rate
• Meets All RS-232E and V.28 Specifications
• High Data Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . 120kbps • Onboard Voltage Doubler/Inverter • Low Power Consumption • Low Power Shutdown Function • Three-State TTL/CMOS Receiver Outputs
• Multiple Receivers - ±30V Input Voltage Range - 3kΩ to 7kΩ Input Impedance - 0.5V Hysteresis to Improve Noise Rejection
Applications • Any System Requiring RS-232 Communication Ports - Computer - Portable, Mainframe, Laptop - Peripheral - Printers and Terminals - Instrumentation - Modems
Selection Table POWER SUPPLY VOLTAGE
NUMBER OF RS-232 DRIVERS
NUMBER OF RS-232 RECEIVERS
EXTERNAL COMPONENTS
LOW POWER SHUTDOWN/TTL THREE-STATE
NUMBER OF LEADS
HIN232
+5V
2
2
4 Capacitors
No/No
16
HIN236
+5V
4
3
4 Capacitors
Yes/Yes
24
HIN237
+5V
5
3
4 Capacitors
No/No
24
HIN238
+5V
4
4
4 Capacitors
No/No
24
HIN239
+5V and +7.5V to 13.2V
3
5
2 Capacitors
No/Yes
24
HIN240
+5V
5
5
4 Capacitors
Yes/Yes
44
HIN241
+5V
4
5
4 Capacitors
Yes/Yes
28
PART NUMBER
1
CAUTION: These devices are sensitive to electrostatic discharge; follow proper IC Handling Procedures. 1-888-INTERSIL or 321-724-7143 | Intersil (and design) is a registered trademark of Intersil Americas Inc. Copyright © Intersil Americas Inc. 2003. All Rights Reserved. All other trademarks mentioned are the property of their respective owners.
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Pin Descriptions PIN VCC
FUNCTION Power Supply Input 5V ±10%.
V+
Internally generated positive supply (+10V nominal), HIN239 requires +7.5V to +13.2V.
V-
Internally generated negative supply (-10V nominal).
GND
Ground lead. Connect to 0V.
C1+
External capacitor (+ terminal) is connected to this lead.
C1-
External capacitor (- terminal) is connected to this lead.
C2+
External capacitor (+ terminal) is connected to this lead.
C2-
External capacitor (- terminal) is connected to this lead.
TIN
Transmitter Inputs. These leads accept TTL/CMOS levels. An internal 400kΩ pull-up resistor to VCC is connected to each lead.
TOUT RIN ROUT
Transmitter Outputs. These are RS-232 levels (nominally ±10V). Receiver Inputs. These inputs accept RS-232 input levels. An internal 5kΩ pull-down resistor to GND is connected to each input. Receiver Outputs. These are TTL/CMOS levels.
EN
Enable input. This is an active low input which enables the receiver outputs. With EN = 5V, the receiver outputs are placed in a high impedance state.
SD
Shutdown Input. With SD = 5V, the charge pump is disabled, the receiver outputs are in a high impedance state and the transmitters are shut off.
NC
No Connect. No connections are made to these leads.
Ordering Information PART NUMBER
TEMP. RANGE (oC)
PACKAGE
HIN232CB
0 to 70
16 Ld SOIC
HIN232CB-T
0 to 70
Tape and Reel
PKG. DWG. # M16.3
HIN232CP
0 to 70
16 Ld PDIP
E16.3
HIN232IB
-40 to 85
16 Ld SOIC
M16.3
HIN232IP
-40 to 85
16 Ld PDIP
E16.3
HIN236CB
0 to 70
24 Ld SOIC
M24.3
HIN236IB
-40 to 85
24 Ld SOIC
M24.3
HIN237CB
0 to 70
24 Ld SOIC
M24.3
HIN237CB-T
0 to 70
Tape and Reel
HIN238CB
0 to 70
24 Ld SOIC
HIN238CB-T
0 to 70
Tape and Reel
HIN238CP
0 to 70
24 Ld PDIP
E24.3
HIN238IB
-40 to 85
24 Ld SOIC
M24.3
HIN239CB
0 to 70
24 Ld SOIC
M24.3
HIN239CB-T
0 to 70
Tape and Reel
M24.3
HIN239CP
0 to 70
24 Ld PDIP
E24.3
HIN240CN
0 to 70
44 Ld MQFP
Q44.10X10
HIN241CA
0 to 70
28 Ld SSOP
M28.209
HIN241CB
0 to 70
28 Ld SOIC
M28.3
HIN241IB
-40 to 85
28 Ld SOIC
M28.3
2
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Pinouts HIN232 (PDIP, SOIC) TOP VIEW
HIN236 (SOIC) TOP VIEW T3OUT
1
24 T4OUT
15 GND
T1OUT
2
23 R2IN
14 T1OUT
T2OUT
3
22 R2OUT
R1IN
4
21 SD
R1OUT
5
20 EN
T2IN
6
19 T4IN
16 VCC
C1+ 1 V+ 2 C1- 3
13 R1IN
C2+ 4
12 R1OUT
C2- 5 6
11 T1IN
T2OUT 7
10 T2IN
V-
9 R2OUT
R2IN 8
T1IN
7
18 T3IN
GND
8
17 R3OUT
VCC
9
16 R3IN
C1+ 10
14 C2-
C1- 12
13 C2+
+5V
+5V
+ 1µF
16 1µF
1 NOTE 1
+ 3 4
NOTE 1
T1IN
+ 5
11
VCC C1+ C1C2+ C2-
+5V TO 10V VOLTAGE DOUBLER
+10V TO -10V VOLTAGE INVERTER
+5V 400kΩ
V+
2
+
NOTE 1 1µF
T1IN
V- 6 +
T2IN
T1
14
T2IN
10
T1OUT
T2 7
12
T2OUT
T4IN
R1IN
T1
+5V 400kΩ
T2
6
18
+5V 400kΩ
T3
+5V 400kΩ 19
T4
2
3
1
24
R2OUT
8
1µF
1µF T1OUT
T2OUT
T3OUT T4OUT
4 R1IN 5kΩ
R1 22
9
+
V- 15
R1OUT
5kΩ
R1
V+
11
+
+5V 400kΩ 7
5
13
R1OUT
9 10 VCC C1+ + +5V TO 10V 12 C1- VOLTAGE DOUBLER 13 C2+ + +10V TO -10V 14 VOLTAGE INVERTER C2-
NOTE 1
T3IN +5V 400kΩ
15 V-
V+ 11
23 R2IN
R2OUT R2IN
5kΩ
R2
5kΩ
R2
17
16 R3IN
R3OUT 15
20
5kΩ
R3
SD
EN
NOTE:
8
1. Either 0.1µF or 1µF capacitors may be used. The V+ capacitor may be terminated to VCC or to GND.
3
21
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Test Conditions: VCC = +5V ±10%, TA = Operating Temperature Range (Continued)
Electrical Specifications PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNITS
120
-
-
kbps
TIMING CHARACTERISTICS Baud Rate (1 Transmitter Switching)
RL = 3kΩ
Output Enable Time, tEN
HIN236, HIN239, HIN240, HIN241
-
400
-
ns
Output Disable Time, tDIS
HIN236, HIN239, HIN240, HIN241
-
250
-
ns
Propagation Delay, tPD
RS-232 to TTL
-
0.5
-
µs
Instantaneous Slew Rate SR
CL = 10pF, RL = 3kΩ, TA = 25oC (Note 4)
-
-
30
V/µs
Transition Region Slew Rate, SRT
RL = 3kΩ, CL = 2500pF Measured from +3V to -3V or -3V to +3V, 1 Transmitter Switching
-
3
-
V/µs
TRANSMITTER OUTPUTS Output Voltage Swing, TOUT
Transmitter Outputs, 3kΩ to Ground
±5
±9
±10
V
Output Resistance, TOUT
VCC = V+ = V- = 0V, VOUT = ±2V
300
-
-
Ω
RS-232 Output Short Circuit Current, ISC
TOUT shorted to GND
-
±10
-
mA
NOTE: 4.
Guaranteed by design.
VOLTAGE DOUBLER C1+
S1
VOLTAGE INVERTER
S2
V+ = 2VCC
S5
C2+
S6
VCC
GND + -
+ C1
-
+
C3
VCC
GND
C1-
S3
S4
GND S7
C2-
+
C2
-
C4 V- = -(V+)
S8
RC OSCILLATOR
FIGURE 1. CHARGE PUMP
Detailed Description The HIN232 thru HIN241 family of RS-232 transmitters/receivers are powered by a single +5V power supply (except HIN239), feature low power consumption, and meet all ElA RS-232C and V.28 specifications. The circuit is divided into three sections: The charge pump, transmitter, and receiver.
Charge Pump An equivalent circuit of the charge pump is illustrated in Figure 1. The charge pump contains two sections: the voltage doubler and the voltage inverter. Each section is driven by a two phase, internally generated clock to generate +10V and -10V. The nominal clock frequency is 16kHz. During phase one of the clock, capacitor C1 is charged to VCC . During phase two, the voltage on C1 is added to VCC , producing a signal across C3 equal to twice VCC . During phase one, C2 is also charged to 2VCC , and then during phase two, it is inverted with respect to ground to produce a signal across C4 equal to -2VCC . The charge pump accepts input voltages up 8
to 5.5V. The output impedance of the voltage doubler section (V+) is approximately 200Ω, and the output impedance of the voltage inverter section (V-) is approximately 450Ω. A typical application uses 1µF capacitors for C1-C4, however, the value is not critical. Increasing the values of C1 and C2 will lower the output impedance of the voltage doubler and inverter, increasing the values of the reservoir capacitors, C3 and C4, lowers the ripple on the V+ and V- supplies. During shutdown mode (HIN236, HIN240 and HIN241), SHUTDOWN control line set to logic “1”, the charge pump is turned off, V+ is pulled down to VCC , V- is pulled up to GND, and the supply current is reduced to less than 10µA. The transmitter outputs are disabled and the receiver outputs are placed in the high impedance state.
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Transmitters
Receivers
The transmitters are TTL/CMOS compatible inverters which translate the inputs to RS-232 outputs. The input logic threshold is about 26% of VCC , or 1.3V for VCC = 5V. A logic 1 at the input results in a voltage of between -5V and V- at the output, and a logic 0 results in a voltage between +5V and (V+ -0.6V). Each transmitter input has an internal 400kΩ pullup resistor so any unused input can be left unconnected and its output remains in its low state. The output voltage swing meets the RS-232C specifications of ±5V minimum with the worst case conditions of: all transmitters driving 3kΩ minimum load impedance, VCC = 4.5V, and maximum allowable operating temperature. The transmitters have an internally limited output slew rate which is less than 30V/µs. The outputs are short circuit protected and can be shorted to ground indefinitely. The powered down output impedance is a minimum of 300Ω with ±2V applied to the outputs and VCC = 0V.
The receiver inputs accept up to ±30V while presenting the required 3kΩ to 7kΩ input impedance even if the power is off (VCC = 0V). The receivers have a typical input threshold of 1.3V which is within the ±3V limits, known as the transition region, of the RS-232 specifications. The receiver output is 0V to VCC . The output will be low whenever the input is greater than 2.4V and high whenever the input is floating or driven between +0.8V and -30V. The receivers feature 0.5V hysteresis to improve noise rejection. The receiver Enable line EN, when set to logic “1”, (HIN236, 239, 240, and 241) disables the receiver outputs, placing them in the high impedance mode. The receiver outputs are also placed in the high impedance state when in shutdown mode. VCC RXIN -30V < RXIN < +30V
V+
ROUT 5kΩ
GND < VROUT < VCC
GND VCC 400kΩ
300Ω
TXIN
TOUT
GND < TXIN < VCC
V- < VTOUT < V+
FIGURE 3. RECEIVER
V-
FIGURE 2. TRANSMITTER
TIN OR RIN TOUT OR ROUT
VOL VOL tPHL
Average Propagation Delay =
tPLH
tPHL + tPLH 2
FIGURE 4. PROPAGATION DELAY DEFINITION
9
HIN232, HIN236, HIN237, HIN238, HIN239, HIN240, HIN241 Applications
+5V
The HIN2XX may be used for all RS-232 data terminal and communication links. It is particularly useful in applications where ±12V power supplies are not available for conventional RS-232 interface circuits. The applications presented represent typical interface configurations.
C2 + 1µF TD
TD TTL/CMOS INPUTS AND OUTPUTS
RTS
HIN232 6
5 11
-
RS-232 INPUTS AND OUTPUTS
+ T1
14 T2
10
TTL/CMOS RTS INPUTS AND 12 RD OUTPUTS R2 9 CTS
7 13
R1
8
15
TD (2) TRANSMIT DATA RTS (4) REQUEST TO SEND RD (3) RECEIVE DATA CTS (5) CLEAR TO SEND SIGNAL GROUND (7)
FIGURE 9. SIMPLE DUPLEX RS-232 PORT WITH CTS/RTS HANDSHAKING
-
14 T2
10
+ C2 1µF
5
T1
11
12
TD (2) TRANSMIT DATA
7
RTS (4) REQUEST TO SEND
13
RD (3) RECEIVE DATA
RD 9
3
4 HIN232
3
CTS
DTR (20) DATA TERMINAL READY DSRS (24) DATA SIGNALING RATE SELECT
2 4
In applications requiring four RS-232 inputs and outputs (Figure 10), note that each circuit requires two charge pump capacitors (C1 and C2) but can share common reservoir capacitors (C3 and C4). The benefit of sharing common reservoir capacitors is the elimination of two capacitors and the reduction of the charge pump source impedance which effectively increases the output swing of the transmitters.
1
16
1 C1 + 1µF -
A simple duplex RS-232 port with CTS/RTS handshaking is illustrated in Figure 9. Fixed output signals such as DTR (data terminal ready) and DSRS (data signaling rate select) is generated by driving them through a 5kΩ resistor connected to V+.
C1 + 1µF -
+
R2
R1
8
CTS (5) CLEAR TO SEND
15 16 2
-
C3
+
+
C4
6 V- V+
2µF
6
-
2µF
2 16
+5V RS-232 INPUTS AND OUTPUTS
HIN232 C1 + 1µF DTR TTL/CMOS INPUTS AND OUTPUTS
DSRS
1
4
3
5 T1
11
14 T2
10 12
7 13
DCD R1
9
R2
R1
15
8
+ C2 1µF
-
DTR (20) DATA TERMINAL READY DSRS (24) DATA SIGNALING RATE SELECT DCD (8) DATA CARRIER DETECT R1 (22) RING INDICATOR SIGNAL GROUND (7)
FIGURE 10. COMBINING TWO HIN232s FOR 4 PAIRS OF RS-232 INPUTS AND OUTPUTS
11
Wireless Video Camera 208CV LYD208CV
(Wireless)
•
Camera apparatus: 1/3, 1/4 picture sensor
•
System: PAL/CCIR/NTSC/EIR ( Not multi system )
•
Validity pixel: PAL: 628X582 or NTSC: 510X492
•
Picture area:
•
Horizontal definition: 380line
•
Scan frequency: PAL/CCIR:50Hz or NTSC/EIA: 60Hz
•
Miniumum illumination: 3LUX
•
Sensitivity :
•
Output power :
•
Output frequency : 0.9G / 1.2G
•
Frequency control : adopt CPU frequency lock the wreath to control, with high
PAL:5.78X4.19mm or NTSC:4.69X3.45mm
+18DB=AGL NO-OFF 50MW / 300MB
frequency stability. •
Transmission signal : Video Only
•
Deliver the distance : 50-100M / 300-500M
•
Voltage : DC+8V
•
Current : 200mA
•
Power consumption < or = 640MW
•
Size : 25X35X15(mm)
Include Power Adapter 9V and 8V Input 110V or 220V
RC100
Manual-modulated receiver •
High receive sensitivity : +18DB
•
Receive frequency : 0.9G/1.2G
•
Receive signal : Video Only
•
Voltage : DC 9V
•
Current : 500mA
•
Size : 115X60X20(mm)
Related Documents
Xabre (7th Semester) Project Report
October 2019 26
(8th Semester) Project Report
October 2019 21
7th Semster Project File.docx
June 2020 7
First Semester Project
May 2020 11
Poster Project 2nd Semester
November 2019 11
Project Report : Minor Project
October 2019 46More Documents from ""
Being Icy Cool
December 2019 9
(8th Semester) Project Report
October 2019 21
Xabre (7th Semester) Project Report
October 2019 26
Bharti
November 2019 42
Currency Trading
November 2019 38