Xabre (7th Semester) Project Report

CERTIFICATE

IRMA ISTITUTE OF TECHOLOGY

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 EF‘SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EF‘SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EF‘SURVEILLANCE ROBOT WITH REMOTE CONTROL AND END EFFECTOR’FECTOR’FECTOR’FECTOR’

atatatat

ARRAYCOM INDIA LTD.ARRAYCOM INDIA LTD.ARRAYCOM INDIA LTD.ARRAYCOM INDIA LTD.

SR. NO. NAME ROLL NO.

1 ABHIJIT KARNIK 00IC28

2 NISHANT KAUSHIK 00IC29

3 HARSH SATYAPANTHI 00IC44

(Prof. J.B. Patel) (Dr. M.D. Desai)

ITERAL GUIDE HEAD OF THE ELECTRICAL

EGIEERIG DEPARTMET

DATE:

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7777thththth Sem I.C.Sem I.C.Sem I.C.Sem I.C.

Nirma Institute of TechnologyNirma Institute of TechnologyNirma Institute of TechnologyNirma Institute of Technology

XABREXABREXABREXABRE

ACKOWLEDGEMET:

As students of the final year of engineering (Instrumentation & Control), we are

required to undertake a project for the 7th and 8

th 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)

ProjecProjecProjecProject Report t Report t Report t Report


Nirma Institute of TechnologyNirma Institute of TechnologyNirma Institute of TechnologyNirma Institute of Technology


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.

Project Report Project Report Project Report Project Report


Nirma Institute of TeNirma Institute of TeNirma Institute of TeNirma Institute of Technologychnologychnologychnology


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..





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





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.





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.

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7 777th ththth Sem

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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.





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.





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.





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)





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





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.


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)





5. Pan/Tilt of Camera.


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)





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.





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

Class

Information Indicated Functions

D4 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 Light and Pan/Tilt Command

111 0 E31 E32 E33 E41 Extension Ops 1

111 1 E21 E22 E11 E51 Extension Ops 2

Detailed explanation:

I. Two bit commands

Bit

Pattern

SRM Pan Tilt Gripper 1 Gripper 2

XY 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.





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





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

P2.x

Information Indicated Functions/Port names

D7 D6 D5 D4 D3 D2 D1 D0

P0.x# x X x x RD RPW

M LD

LPW

M

Locomotion Port

000b SRT SRLI SRC SRA 0 0 1 1 I/P PORT, int. driven

010b SRD SRM 0 0 1 1 1 L SR & Light Port

011b G1M G1D G2M G2D TM TD PM PD Gripper & Pan/Tilt

Port

100b TUL TDL PRL PLL GUL GDL GCL GOL I/P PORT, int. driven

101b H I J K N O Q R 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

1=Forward; 0=Reverse

LPWM Drive PWM signal.

1=ON ; 0=OFF RD RPWM

SR/Gripper 1-2/Pan/Tilt





SRD Direction determining bit.

1 indicates CW / Open / Lift /

Tilt Up / Pan Left

0 indicates ACW / Close / Drop /

Tilt Down / Pan Right

SRM

ON/OFF determining bit. If the

bit is 1, the motor runs else it

doesn’t run.

G1D G1M

G2D G2M

TD TM

PD PM

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 SR Cw Aut_O L

G_Stat_Byte G1D G1M G2D G2M GUL GDL GCL GOL

PT_Stat_Byte TUL TDL PRL PLL TD TM PD PM

Extn_Byte H I J K N O Q R





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:





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.





ZEUS Form Object

VERSION 5.00

Object = "648A5603-2C6E-101B-82B6-

000000000014#1.1#0"; "MSCOMM32.OCX"

Begin VB.Form Zeus

BorderStyle = 1 'Fixed Single

Caption = "Zeus"

ClientHeight = 2490

ClientLeft = 1575

ClientTop = 2400

ClientWidth = 9765

FillColor = &H00C0FFFF&

LinkTopic = "Form1"

LockControls = -1 'True

MaxButton = 0 'False

MinButton = 0 'False

Moveable = 0 'False

ScaleHeight = 2490

ScaleWidth = 9765

Begin MSCommLib.MSComm MSComm1

Left = 0

Top = 960

_ExtentX = 1005

_ExtentY = 1005

_Version = 393216

DTREnable = 0 'False

NullDiscard = -1 'True

RThreshold = 1

InputMode = 1

End

Begin VB.Frame Ext_Ops_frame

BorderStyle = 0 'None

Height = 1095

Left = 3480

TabIndex = 17

Top = 1320

Width = 2535

Begin VB.PictureBox Ext_op_pics

AutoRedraw = -1 'True

AutoSize = -1 'True

Height = 375

Index = 5

Left = 0

Picture = "Xabre 161003.frx":0000

ScaleHeight = 315

ScaleWidth = 480

TabIndex = 24

Top = 600

Width = 540

End



AutoSize = -1 'True

Height = 375

Index = 7

Left = 1440

Picture = "Xabre 161003.frx":03ED

ScaleHeight = 315

ScaleWidth = 480

TabIndex = 23

Top = 600

Width = 540

End



AutoSize = -1 'True

Height = 375

Index = 6

Left = 720

Picture = "Xabre 161003.frx":07DA

ScaleHeight = 315

ScaleWidth = 480

TabIndex = 22

Top = 600

Width = 540

End



AutoSize = -1 'True

Height = 375

Index = 1

Left = 0

Picture = "Xabre 161003.frx":0BC8

ScaleHeight = 315

ScaleWidth = 480

TabIndex = 21

Top = 0

Width = 540

End







AutoSize = -1 'True

Height = 375

Index = 4

Left = 1680

Picture = "Xabre 161003.frx":0FB6

ScaleHeight = 315

ScaleWidth = 240

TabIndex = 20

Top = 0

Width = 300

End



AutoSize = -1 'True

Height = 375

Index = 3

Left = 1080

Picture = "Xabre 161003.frx":1050

ScaleHeight = 315

ScaleWidth = 480

TabIndex = 19

Top = 0

Width = 540

End



AutoSize = -1 'True

Height = 375

Index = 2

Left = 600

Picture = "Xabre 161003.frx":143E

ScaleHeight = 315

ScaleWidth = 240

TabIndex = 18

Top = 0

Width = 300

End

End

Begin VB.PictureBox Light_Pic


AutoSize = -1 'True

Height = 840

Left = 4440

Picture = "Xabre 161003.frx":14D8

ScaleHeight = 780

ScaleWidth = 540

TabIndex = 16

Top = 120

Width = 600

End

Begin VB.Frame Keyboard_Controlled_Frame


Height = 2295

Left = 6480

TabIndex = 8

Top = 120

Width = 2295

Begin VB.PictureBox Kb_pics


AutoSize = -1 'True

Height = 810

Index = 0

Left = 720

Picture = "Xabre 161003.frx":2B0A

ScaleHeight = 750

ScaleWidth = 750

TabIndex = 13

Top = 720

Width = 810

End

Begin VB.CommandButton Kb_Button

DownPicture = "Xabre 161003.frx":48FC

Height = 405

Index = 1

Left = 720

MaskColor = &H8000000F&

Picture = "Xabre 161003.frx":57B2

Style = 1 'Graphical

TabIndex = 12

Top = 120

UseMaskColor = -1 'True

Width = 810

End


DownPicture = "Xabre 161003.frx":66CC

Height = 810

Index = 4

Left = 1680


Picture = "Xabre 161003.frx":759A


TabIndex = 11





Top = 720


Width = 405

End


DownPicture = "Xabre 161003.frx":84B4

Height = 405

Index = 2

Left = 720


Picture = "Xabre 161003.frx":93CE


TabIndex = 10

Top = 1680


Width = 810

End


DownPicture = "Xabre 161003.frx":A2E8

Height = 810

Index = 3

Left = 120


Picture = "Xabre 161003.frx":B1B6


TabIndex = 9

Top = 720


Width = 405

End

Begin VB.Label Label4

Caption = "Keyboard Buttons"

Height = 375

Left = 0

TabIndex = 15

Top = 0

Width = 735

End

End

Begin VB.Frame Joystick_Controlled_frame


Height = 2295

Left = 960

TabIndex = 2

Top = 120

Width = 2295

Begin VB.CommandButton Joy_Button

DownPicture = "Xabre 161003.frx":C0D0

Height = 810

Index = 3

Left = 120


Picture = "Xabre 161003.frx":CF9E


TabIndex = 7

Top = 720


Width = 405

End


DownPicture = "Xabre 161003.frx":DEB8

Height = 405

Index = 2

Left = 720


Picture = "Xabre 161003.frx":EDD2


TabIndex = 6

Top = 1680


Width = 810

End


Appearance = 0 'Flat

DownPicture = "Xabre 161003.frx":FCEC

Height = 810

Index = 4

Left = 1680


Picture = "Xabre 161003.frx":10BBA


TabIndex = 5

Top = 720


Width = 405

End


Default = -1 'True

DownPicture = "Xabre 161003.frx":11AD4

Height = 405

Index = 1

Left = 720


Picture = "Xabre 161003.frx":1298A






TabIndex = 4

Top = 120


Width = 810

End

Begin VB.PictureBox Joy_pics


AutoSize = -1 'True

Height = 810

Index = 0

Left = 720

Picture = "Xabre 161003.frx":138A4

ScaleHeight = 750

ScaleWidth = 750

TabIndex = 3

Top = 720

Width = 810

End


Caption = "Joystick Buttons"

Height = 375

Left = 0

TabIndex = 14

Top = 120

Width = 615

End

End

Begin VB.Timer Op_Mode_Timer

Enabled = 0 'False

Interval = 100

Left = 10

Top = 1560

End

Begin VB.Label TX_label

AutoSize = -1 'True

BackColor = &H000000FF&

BorderStyle = 1 'Fixed Single

Caption = "TX"

BeginProperty Font

Name = "MS Sans Serif"

Size = 8.25

Charset = 0

Weight = 700

Underline = 0 'False

Italic = 0 'False

Strikethrough = 0 'False

EndProperty

ForeColor = &H00FFFFFF&

Height = 255

Left = 4560

TabIndex = 25

Top = 960

Width = 315

End


AutoSize = -1 'True

Caption = "Right"

Height = 195

Left = 0

TabIndex = 1

Top = 2280

Width = 375

End


AutoSize = -1 'True

Caption = "Left"

Height = 195

Left = 0

TabIndex = 0

Top = 2040

Width = 270

End

End

Attribute VB_Name = "Zeus"

Attribute VB_GlobalNameSpace = False

Attribute VB_Creatable = False

Attribute VB_PredeclaredId = True

Attribute VB_Exposed = False

'>>> VARIABLE DECLARATIONS <<<'

Private X() As Integer

Private Y() As Integer

Private ari As Integer

Private joyb_states(4) As Boolean

Private joyb_pressed(4) As Boolean

Private kbb_states(4) As Boolean

Private light_status As Boolean

Private alternate_drive As Boolean

Private ext_ops_status(5) As Integer

Dim JoyInfo As tJoyInfo

Dim OP_vals As JoyVariables

Dim l_drive_matrix(30, 30) As Byte

Dim r_drive_matrix(30, 30) As Byte

Dim r_drive As Byte





Dim l_drive As Byte

Private TX_on As Boolean

'>>> SUBROUTINES <<<'

Private Sub Form_Load()

'>>> Setup form position on the screen <<<'

Call relocate_form

'>>> Initialization ops <<<'

Call init

End Sub

Private Sub init()

'>>> Shutoff TX for main form <<<'

TX_on = False

'>>> Stick Control Array Init <<<'

ReDim X(10)

ReDim Y(10)

'>>> Stick Control Array Position Indicator <<<'

ari = 0

'>>> Initialise drive alternation variable <<<'

alternate_drive = True

'>>> Init Op_vals structure <<<'

Call set_Op_vals

'>>> Set frame positions and current kb controlled

module <<<'

Call set_Frames

'>>> Set Ext Ops Frame <<<'

Call set_ext_ops_frame

'>>> Initialise state value arrays <<<'

Call set_button_states

'>>> Light status init <<<"

Call light_setup

'>>> Initialise the drive matrices <<<'

Call init_l_drive

Call init_r_drive

r_drive = 0

l_drive = 0

Zeus.Show

Zeus.Enabled = False

Load Calib_Form

End Sub

Private Sub set_Op_vals()

OP_vals.XCntr = 32767

OP_vals.YCntr = 32767

OP_vals.Xmax = 65535

OP_vals.Xmin = 0

OP_vals.Ymax = 65535

OP_vals.Ymin = 0

OP_vals.X_Lower_Range = OP_vals.XCntr -

OP_vals.Xmin

OP_vals.X_Upper_Range = OP_vals.Xmax -

OP_vals.XCntr

OP_vals.Y_Lower_Range = OP_vals.YCntr -

OP_vals.Ymin

OP_vals.Y_Upper_Range = OP_vals.Ymax -

OP_vals.YCntr

OP_vals.X_Upper_Scale = OP_vals.X_Upper_Range /

15

OP_vals.X_Lower_Scale = OP_vals.X_Lower_Range /

15

OP_vals.Y_Upper_Scale = OP_vals.Y_Upper_Range /

15

OP_vals.Y_Lower_Scale = OP_vals.Y_Lower_Range /

15

OP_vals.Set_val = False

End Sub

Private Sub set_button_states()

'>>> Set values for joystick buttons as false<<<'

For i = 1 To 4

joyb_states(i) = False

joyb_pressed(i) = False

kbb_states(i) = False

Next i

End Sub

Private Sub init_l_drive()

Dim m As Byte

m = 16

For i = 0 To 15

m = m - 1

seed = m

For j = 0 To 30

'>>> Update seed <<<'

seed = seed + 1





'>>> Change if required <<<'

If seed = 32 Then seed = 31

If seed < 16 Then

l_drive_matrix(i, j) = 16 - seed

Else

l_drive_matrix(i, j) = seed

End If

Next j

Next i

m = 16

For i = 30 To 16 Step -1

m = m + 1

seed = m

For j = 30 To 0 Step -1




seed = seed - 1

If seed < 16 Then

l_drive_matrix(i, j) = 16 - seed

If l_drive_matrix(i, j) = 16 Then l_drive_matrix(i,

j) = 15

Else

l_drive_matrix(i, j) = seed

End If

Next j

Next i

'>>> Desensitize Central Paths <<<'

For i = 14 To 16

For j = 0 To 30

l_drive_matrix(i, j) = l_drive_matrix(15, j)

Next j

Next i

For j = 14 To 16

For i = 0 To 30

l_drive_matrix(i, j) = l_drive_matrix(i, 15)

Next i

Next j

'>>> Desensitized Forward Extremities <<<'

For i = 1 To 3

For j = 1 To 30

If j > i Then l_drive_matrix(i, j) = l_drive_matrix(0,

j)

Next j

Next i

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

End Sub

Private Sub init_r_drive()

Dim m As Byte

m = 16

For i = 0 To 15

m = m - 1

seed = m

For j = 30 To 0 Step -1


seed = seed + 1



If seed < 16 Then

r_drive_matrix(i, j) = 16 - seed

Else

r_drive_matrix(i, j) = seed

End If

Next j

Next i

m = 16

For i = 30 To 16 Step -1

m = m + 1

seed = m

For j = 0 To 30




seed = seed - 1

If seed < 16 Then

r_drive_matrix(i, j) = 16 - seed

If r_drive_matrix(i, j) = 16 Then r_drive_matrix(i,

j) = 15

Else

r_drive_matrix(i, j) = seed

End If

Next j

Next i





'>>> Desensitize Central Paths <<<'

For i = 14 To 16

For j = 0 To 30

r_drive_matrix(i, j) = r_drive_matrix(15, j)

Next j

Next i

For j = 14 To 16

For i = 0 To 30

r_drive_matrix(i, j) = r_drive_matrix(i, 15)

Next i

Next j

'>>> Desensitized Forward Extremities <<<'

For i = 1 To 3

For j = 1 To 30

If j < 30 - i Then r_drive_matrix(i, j) =

r_drive_matrix(0, j)

Next j

Next i

For i = 27 To 29

For j = 1 To 30

If j > 30 - i Then r_drive_matrix(i, j) =

r_drive_matrix(30, j)

Next j

Next i

End Sub

Private Sub Form_GotFocus()

Zeus.Joy_Button(1).SetFocus

End Sub

Public Sub xfer_calib()

If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals

End Sub

'>>> Test code <<<'

Private Sub MSComm1_OnComm()

eventid = MSComm1.CommEvent

Select Case eventid

Case comEvReceive:

Call display_received '>>>DEBUG DATA: If event

not being triggered <<<'

End Select

End Sub

Private Sub display_received()

Dim Instring As Variant

Dim bytes As Variant

Dim RX_string As String

RX_string = ""

Instring = MSComm1.Input

bytes = Instring

Debug.Print CInt(bytes(0))

'MsgBox (RX_string)

End Sub

Private Sub Op_Mode_Timer_Timer()

If gSerial_Settings_Sel_loaded Or gCalib_form_loaded

Then Op_Mode_Timer.Enabled = False

If Not gSerial_first_init And Not gCalib_form_loaded

Then


Op_Mode_Timer.Enabled = False

Load Serial_Settings_Sel

GoTo out_of_timer

End If

Call CTSHolding_check

Call Joyread

Call show_joy_buttons_pressed

out_of_timer:

End Sub

Private Sub CTSHolding_check()

If MSComm1.PortOpen = False Then

MSComm1.commport = gPortNumber

TX_label.ToolTipText = "COM" +

CStr(MSComm1.commport)

If MSComm1.CTSHolding Then

TX_label.Caption = "LP"

TX_label.BackColor = vbBlue

TX_label.ForeColor = vbRed

TX_label.ToolTipText = "Make sure Green LED is

ON"

Else

TX_label.Caption = "TX"

If Not TX_on Then

TX_label.BackColor = vbRed

TX_label.ForeColor = vbWhite

If MSComm1.PortOpen = True Then

MSComm1.PortOpen = False

Else





TX_label.BackColor = vbGreen

TX_label.ForeColor = vbBlack

If MSComm1.PortOpen = False Then

MSComm1.PortOpen = True

End If

End If

End Sub

Private Sub Joyread()

Dim state_changed(4) As Boolean

Dim msg1 As String

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

'>>> Process Button changes <<<'

'>>> Transfer Button pressed info from joyinfo to array

<<<'

For i = 1 To 4

If JoyInfo.ButtonDown(i) Then

joyb_pressed(i) = True

Else


End If

Next i

'>>> Filter the array for opposite button pressed

conflicts <<<'

For i = 1 To 4

If joyb_pressed(i) Then

If Not joyb_states(4 - (i + 1) Mod 4) Then

joyb_pressed(i) = True

Else


End If

End If

Next i

'>>> Check for change in state <<<'

state_changed(1) = joyb_pressed(1) Xor joyb_states(1)




'>>> Save Button states <<<'

For i = 1 To 4

joyb_states(i) = joyb_pressed(i)

Next i

'>>> if state has changed, options are"

' 1. both off

' 2. u on

' 3. d on

' 4. both on is not possible

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"

Else

msg1 = "DO NOTHING"

End If

If state_changed(3) Or state_changed(4) Then

If Not joyb_states(3) And Not joyb_states(4) Then

msg2 = "STOP"

If joyb_states(3) And Not joyb_states(4) Then msg2

= "LEFT"

If Not joyb_states(3) And joyb_states(4) Then msg2

= "RIGHT"

Else

msg2 = "DO NOTHING"

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

ari = (ari) Mod 10 + 1

If JoyInfo.X >= OP_vals.XCntr Then

X(ari) = (JoyInfo.X - OP_vals.XCntr) /

OP_vals.X_Upper_Scale + 15

Else





X(ari) = (JoyInfo.X - OP_vals.Xmin) /

OP_vals.X_Lower_Scale

End If

If JoyInfo.Y >= OP_vals.YCntr Then

Y(ari) = (JoyInfo.Y - OP_vals.YCntr) /

OP_vals.Y_Upper_Scale + 15

Else

Y(ari) = (JoyInfo.Y - OP_vals.Ymin) /

OP_vals.Y_Lower_Scale

End If

'>>> Joystick's X is Sideways <<<'

'>>> Joystick's Y is Forward <<<'

side = integrator(X)

frwd = integrator(Y)

If run_locomotion_command Then

frwd = Fix(frwd / 10)

side = Fix(side / 10)

Call locomotion_command(frwd, side)

End If

End Sub

Private Function integrator(fn() As Integer) As Long

Dim val As Double

Dim i As Integer

val = 0

For i = 1 To 10

val = val + fn(i)

Next i

integrator = val

End Function

'>>> Divert the command to the proper destination

subroutine <<<'

'>>> This performs check as to which module is being

controlled by joystk <<<'

'>>> It accordingly calls the relevant module's command

subroutine <<<'

Private Sub joy_command(msg1 As String, msg2 As

String)

If joy_control = "Camera" Then Call camera(msg1,

msg2)

If joy_control = "Gripper" Then

If msg1 = "UP" Then msg1 = "CLOSE"

If msg1 = "DOWN" Then msg1 = "OPEN"

If msg2 = "LEFT" Then msg2 = "LIFT"

If msg2 = "RIGHT" Then msg2 = "DROP"

Call gripper(msg1, msg2)

End If

End Sub

'>>> Module subroutines <<<'

'>>> MODULE LOCOMOTION <<<'

'>>> Locomotion command subroutine <<<'

'>>> Byte format is 10Y-Di-MMMM <<<'

'>>> Drive matrices give direct values for Di-MMMM

<<<'

'>>> Y=0 => Left locomotion command (128) <<<'

'>>> Y=1 => Right locomotion command (160)<<<'

Private Sub locomotion_command(frwd As Integer, side

As Integer)

Dim r_old As Byte

Dim r_new As Byte

Dim l_old As Byte

Dim l_new As Byte

Dim command As Byte

'>>> To prevent access of a array element outside array

size <<<'

'>>> Both drive arrays are of same size <<<'

'>>> So singular check will do <<<'

If frwd > UBound(l_drive_matrix, 1) Then frwd =

UBound(l_drive_matrix, 1)

If side > UBound(l_drive_matrix, 2) Then frwd =

UBound(l_drive_matrix, 2)

l_new = l_drive_matrix(frwd, side)

r_new = r_drive_matrix(frwd, side)

l_old = l_drive

r_old = r_drive

'>>> Send LDRV Command if it is its turn <<<'

If (l_new Xor l_old) <> 0 And alternate_drive Then

l_drive = l_new

command = 128 + l_drive

Label1.Caption = "Left: " + CStr(l_drive)

'>>> Presentation test code <<<'

Zeus.Caption = "Zeus: Command => " +

CStr(command)

'>>> Next drive command has to be Right drive

command <<<'

alternate_drive = False





'>>> Prevent 2 commands being sent simultaneously

<<<'

GoTo loco_out

End If

If (r_new Xor r_old) <> 0 And Not alternate_drive Then

r_drive = r_new

command = 160 + r_drive

Label2.Caption = "Right: " + CStr(r_drive)


CStr(command)

alternate_drive = True

'>>> Prevent 2 commands being sent simultaneously

<<<'

GoTo loco_out

End If

loco_out:

If TX_on Then Call TX_write(command)

End Sub

'>>> MODULE LIGHT<<<'

'>>> Light module command subroutine <<<'

'>>> Byte format is 110-light-pan-tilt <<<'

'>>> Light_status 0 => Command =192 <<<'

'>>> Light status 1 => Command =208 <<<'

'>>> P/T: 00=> DO NOTHING for Pan/Tilt <<<'

Private Sub light_toggle()

Dim command As Byte

If TX_on And Not MSComm1.CTSHolding = True Then

If light_status Then

light_status = False

Light_Pic.Picture = LoadPicture(App.Path + "\Light

off.bmp")

command = 192

Else

light_status = True

Light_Pic.Picture = LoadPicture(App.Path + "\Light

on.bmp")

command = 208

End If

'Debug.Print command

Call TX_write(command)


CStr(command)

End If

End Sub

'>>> MODULE PAN/TILT<<<'

'>>> P/T module command subroutines <<<'

'>>> Byte format is 110-light-pan-tilt <<<'

'>>> Light_status 0 => base Command =192 <<<'

'>>> Light status 1 => base Command =208 <<<'

'>>> Pan/tilt 00 => Do nothing; 01 => Stop (P:4 ; T:1);

<<<'

'>>> 10 => PL/TU (P:8 ; T:2) ; 11 => PR/TD (P:12 ; T:3)

<<<'

Private Sub camera(msg1 As String, msg2 As String)

Dim command As Byte


command = 192

If light_status Then command = command + 16

'>>>MSG1 carries the Up/Down strings <<<"

If msg1 = "STOP" Then command = command + 1

If msg1 = "UP" Then command = command + 2

If msg1 = "DOWN" Then command = command + 3

If msg1 = "DO NOTHING" Then command =

command + 0

'>>>MSG2 carries the Left/Right strings <<<"


If msg2 = "LEFT" Then command = command + 8

If msg2 = "RIGHT" Then command = command + 12


command + 0




CStr(command)

End If

End Sub

'>>> MODULE GRIPPER <<<'

'>>> Gripper module command subroutines <<<'

'>>> Byte format is 001-0-G1-G2 <<<'

'>>> G1/G2 00 => Do nothing; 01 => Stop (G1:4 ; G2:1);

<<<'

'>>> 10 => G1_Open/G2_Lift (G1:8 ; G2:2) ; 11 =>

G1_Close/G2_Drop (G1:12 ; G2:3) <<<'

Private Sub gripper(msg1 As String, msg2 As String)

Dim command As Byte






command = 32

'>>>MSG1 carries the G1 related strings <<<"


If msg1 = "CLOSE" Then command = command + 12

If msg1 = "OPEN" Then command = command + 8


command + 0

'>>>MSG2 carries the G2 related strings <<<"


If msg2 = "LIFT" Then command = command + 2

If msg2 = "DROP" Then command = command + 3


command + 0




CStr(command)

End If

End Sub

'>>> MODULE EXTENSION OPS 1&2<<<'

'>>> Extension ops module command subroutines <<<'

'>>> Byte format 1: 111 - 0 - E31E32E33 - E41

(Command 224+) <<<'

'>>> Byte format 2: 111 - 1 - E21E22 - E11 - E51

(Command 240+) <<<'

Private Sub ext_ops_event(KeyCode As Integer, Shift As

Integer, toggle As Boolean)

Dim command As Byte


If Not toggle Then

If Shift = 0 Then '>>> Ext ops 1, Extension Tool 3

command <<<'

'>>> Key 1 to 7 or Tilde Key (~) representing

zero <<<'

If KeyCode < vbKey8 And KeyCode > vbKey0

Or KeyCode = 192 Then

If KeyCode = 192 Then KeyCode = 48

Ext_op_pics(4).Picture =

LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +

".gif")

ext_ops_status(3) = KeyCode - 48

command = 224 + ext_ops_status(3) * 2 +

ext_ops_status(4)

End If

Else '>>> Ext ops 2, Extension Tool 2

command <<<'

If KeyCode < vbKey4 And KeyCode > vbKey0

Or KeyCode = 192 Then

If KeyCode = 192 Then KeyCode = 48

Ext_op_pics(2).Picture =

LoadPicture(App.Path + "\img" + CStr(KeyCode - 48) +

".gif")

ext_ops_status(2) = KeyCode - 48


ext_ops_status(1) * 2 + ext_ops_status(5)

Else

GoTo jump_out

End If

End If

Else

ext_ops_status(KeyCode) =

(ext_ops_status(KeyCode) + 1) Mod 2

Ext_op_pics(Shift).Picture = LoadPicture(App.Path

+ "\E" + CStr(KeyCode) +

CStr(ext_ops_status(KeyCode)) + ".gif")

If KeyCode = 4 Then '>>>Ext ops 1, Extension Tool

4 command <<<'


ext_ops_status(4)

Else '>>>Ext ops 2, Extension Tool 1 OR 5

command <<<'


ext_ops_status(1) * 2 + ext_ops_status(5)

End If

End If



CStr(command)


jump_out: '>>> Jump out since EOps2 can have a max

value of 3 and not any more <<<'

End If

End Sub

'>>> Incomplete CODE FINISH THIS <<<'

'>>> MODULE SRM <<<'

'>>> SRM module command subroutines <<<'

'>>> Byte format 001-1-XY-1-X1 <<<'





'>>> EO INcomplete code list <<<'

'>>> TX Label <<<'

Private Sub TX_label_Click()

If Not MSComm1.CTSHolding Then

If TX_on Then

TX_label.BackColor = vbRed

TX_label.ForeColor = vbWhite

MSComm1.PortOpen = False

TX_on = False

Else

TX_label.BackColor = vbGreen

TX_label.ForeColor = vbBlack

MSComm1.PortOpen = True

TX_on = True

End If

End If

End Sub

'>>> BYTE COMMAND WRITER SUB <<<'

Private Sub TX_write(command As Byte)

Dim bytes(1) As Byte

Dim tx_buf As Variant

bytes(1) = command

tx_buf = bytes

If TX_on Then

tx_buf(1) = command

MSComm1.Output = tx_buf

End If

End Sub

Private Sub kb_frame_event(key As Integer)

'>>> For keyboard keys: E,S,D,X <<<'

'>>> Key = 1 to 4 => key pressed event <<<'

'>>> Key = 5 to 8 => key released event <<<'

Dim msg1 As String

Dim msg2 As String

If key < 5 Then

'IF key pressed conflicts with previously pressed key

so do nothing

If key = 1 And kbb_states(2) Then GoTo l_jump




'If the key is already pressed then do nothing





'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

'Event is a keyup event

'Keyup is a key conflicting with previously pressed key

so do nothing





kbb_states(key - 4) = False

Kb_Button(key - 4).Picture = LoadPicture(App.Path +

"\k" + CStr(key - 4) + "off.bmp")

End If

'>>> Read the stored states and determine required action

<<<'

If kbb_states(1) Then

msg1 = "UP"

Else


msg1 = "DOWN"

Else

If Not kbb_states(1) And Not kbb_states(2) And

(key = 5 Or key = 6) Then

msg1 = "STOP"

Else

msg1 = "DO NOTHING"

End If

End If

End If


msg2 = "LEFT"

Else






msg2 = "RIGHT"

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

End If

Call kb_command(msg1, msg2)

l_jump:

End Sub

Private Sub toggle_frames()

'Debug.Print "Toggle Called"

'Debug.Print joy_control

If joy_control = "Camera" Then

joy_control = "Gripper"

Joy_pics(0).Picture = Kb_pics(0).Picture

Kb_pics(0).Picture = LoadPicture(App.Path +

"\Camview.bmp")

Else

joy_control = "Camera"

Joy_pics(0).Picture = Kb_pics(0).Picture

Kb_pics(0).Picture = LoadPicture(App.Path +

"\Gripper.bmp")

End If

Zeus.Caption = "Zeus: Current Joystick Control is " +

CStr(joy_control)

End Sub

Private Sub kb_command(msg1 As String, msg2 As

String)

If joy_control = "Camera" Then

If msg1 = "UP" Then msg1 = "CLOSE"

If msg1 = "DOWN" Then msg1 = "OPEN"

If msg2 = "LEFT" Then msg2 = "LIFT"

If msg2 = "RIGHT" Then msg2 = "DROP"

Call gripper(msg1, msg2)

End If

If joy_control = "Gripper" Then Call camera(msg1,

msg2)

End Sub

'>>> KEYBOARD KEY EVENTS PROCESSORS <<<'

'>>> Total Controls having key events on Form = 6 <<<'

'>>> 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


Private Sub Joy_Button_KeyDown(Index As Integer,



End Sub


Private Sub Kb_pics_KeyDown(Index As Integer,



End Sub


Private Sub Kb_Button_KeyDown(Index As Integer,



End Sub


Private Sub Light_Pic_KeyDown(KeyCode As Integer,

Shift As Integer)


End Sub


Private Sub ext_op_pics_KeyDown(Index As Integer,



End Sub

'>>> KEYUP EVENT Handlers <<<'

'>>> Keyup Handler 1 <<<'

Private Sub Joy_pics_KeyUp(Index As Integer, KeyCode

As Integer, Shift As Integer)

Call Form_KeyUp(KeyCode, Shift)

End Sub





'>>> KeyUp Handler 2 <<<'

Private Sub Joy_Button_KeyUp(Index As Integer,



End Sub


Private Sub Kb_pics_KeyUp(Index As Integer, KeyCode

As Integer, Shift As Integer)


End Sub


Private Sub Kb_Button_KeyUp(Index As Integer,



End Sub


Private Sub Light_Pic_KeyUp(KeyCode As Integer, Shift

As Integer)


End Sub


Private Sub ext_op_pics_KeyUp(Index As Integer,



End Sub

'>>> Form KeyUp Event Handler <<<'

Private Sub Form_KeyUp(KeyCode As Integer, Shift As

Integer)

'>>> Required to send stop signal to <<<'

'>>> the currently active kb-controlled <<<'

'>>> module subsystem <<<'

Select Case KeyCode

'>>> Check which key has been released <<<'

Case vbKeyE: ' ^ '

Call kb_frame_event(5)

Case vbKeyX: ' v '


Case vbKeyS: ' < '


Case vbKeyD: ' > '


End Select

End Sub

'>>> Form KeyDown Event Handle <<<'

Private Sub Form_KeyDown(KeyCode As Integer, Shift

As Integer)

Select Case KeyCode

'>>> Cases for normal kb keys <<<'

'>>> KB Frame Control Keys <<<'

Case vbKeyE: ' ^ '


Case vbKeyX: ' v '


Case vbKeyS: ' < '


Case vbKeyD: ' > '


Case vbKey1 To vbKey7, 192:

Call ext_ops_event(KeyCode, Shift, False)

'>>> Light Control Key <<<"

Case vbKeyL:

Call light_toggle

'>>> Cases for Function Keys <<<'

'>>> Extension Ops Toggles E1, E4 and E5 <<<'

'>>> Ext_Op# passed byVal to Keycode <<<'

'>>> Ext_Picture# passed byVal to Shift <<<'

'>>> Toggle operation is true as passed byVal to Toggle

<<<'

Case vbKeyF2:

Call ext_ops_event(1, 5, True)

Case vbKeyF3:


Case vbKeyF4:


'>>> User asks to shutdown Zeus <<<'

Case vbKeyF10:

'Set confirm and then unload code here'

If Not gCalib_form_loaded And Not

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





Else:

GoTo Unload_Check

End If

Else:

If gCalib_form_loaded Then Calib_Form.SetFocus

If gSerial_Settings_Sel_loaded Then

Serial_Settings_Sel.SetFocus

End If

'>>> User asks to transfer current kb controlled module to

joystick <<<'

Case vbKeyF5:

Call toggle_frames

'>>> User wants to re-calibrate locomotion controller

<<<'

Case vbKeyF9:

Zeus.Op_Mode_Timer = False


Calib_Form.SetFocus

Load Calib_Form

If OP_tf_vals.Set_val Then OP_vals = OP_tf_vals

End Select

End Sub

'>>> Cosmetics <<<'

Private Sub relocate_form()

Me.Width = (Screen.Width * 0.95)

Me.Move (Screen.Width * 0.05) / 2, (0.95 *

Screen.Height - Me.Height)

End Sub

Private Sub set_Frames()

Joystick_Controlled_frame.Left = (Zeus.Width -

Joystick_Controlled_frame.Width) * 0.1

Keyboard_Controlled_Frame.Left = (Zeus.Width -

Keyboard_Controlled_Frame.Width) * 0.9

joy_control = "Camera"

End Sub

Private Sub set_ext_ops_frame()

'>>> Init the ext_ops_status array <<<'

For i = 1 To 5

ext_ops_status(i) = 0

Next i

'>>> Load Default Pictures to the Ext_Ops Frame <<<'

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")

Ext_op_pics(3).Picture = LoadPicture(App.Path +

"\E3.gif")

Ext_op_pics(4).Picture = LoadPicture(App.Path + "\img"


Ext_op_pics(5).Picture = LoadPicture(App.Path + "\E1"






'>>> Position Pictures in Ext_Ops Frame <<<'

Ext_Ops_frame.Width = 4 * (50 +

Ext_op_pics(1).Width)

Ext_op_pics(1).Left = (Ext_Ops_frame.Width -

Ext_op_pics(1).Width) * 0.05

Ext_op_pics(2).Left = ((Ext_Ops_frame.Width * 0.45 -

Ext_op_pics(2).Width)) * 0.95

Ext_op_pics(3).Left = Ext_Ops_frame.Width * 0.55 +

(Ext_Ops_frame.Width * 0.5 - Ext_op_pics(3).Width) *

0.05









Ext_Ops_frame.Left = (Zeus.Width -

Ext_Ops_frame.Width) / 2

TX_label.Left = Ext_Ops_frame.Left

End Sub

Private Sub light_setup()

light_status = False

Light_Pic.Left = (Zeus.Width - Light_Pic.Width) / 2

Light_Pic.Top = Joystick_Controlled_frame.Top

End Sub

Private Sub show_joy_buttons_pressed()





For i = 1 To 4

If joyb_pressed(i) Then

Joy_Button(i).Picture = LoadPicture(App.Path + "\j"

+ CStr(i) + "on.bmp")

joyb_states(i) = True

Else

Joy_Button(i).Picture = LoadPicture(App.Path + "\j"

+ CStr(i) + "off.bmp")

joyb_states(i) = False

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

Const MAXPNAMELEN = 32

Const MAXOEMVXD = 128

Type tJoyCaps

Mid As Integer

Pid As Integer

Pname As String * MAXPNAMELEN

Xmin As Long

Xmax As Long

Ymin As Long

Ymax As Long

Zmin As Long

Zmax As Long

NumButtons As Long

PeriodMin As Long

PeriodMax As Long

wRmin As Long

wRmax As Long

wUmin As Long

wUmax As Long

wVmin As Long

wVmax As Long

wCaps As Long

wMaxAxes As Long

wNumAxes As Long

wMaxButtons As Long

szRegKey As String * MAXPNAMELEN

szOEMVxD As String * MAXOEMVXD

End Type

Global JoyCaps As tJoyCaps

' Joystick API Calls

Declare Function joyGetDevCaps Lib "winmm.dll" Alias

"joyGetDevCapsA" (ByVal IDDevice As Integer, JCaps

As tJoyCaps, ByVal CapSize As Integer) As Integer

Declare Function joyGetPos Lib "winmm.dll" (ByVal

IDDevice As Integer, JPos As tJoyInfo) As Integer

Function GetJoystickPos(IDDevice As Long, JoyInfo As

tJoyInfo) As Integer

'-------------------------------------------------------

' This function is a wrapper around the joyGetPos API

' call. That call returns coordinates as unsigned

' long integers, which VB doesn't support. We move

' these coordinates into long values so that they

' can be easily evaluated.

'-------------------------------------------------------

Dim rc As Integer

Static NotFirstTime As Integer

If Not NotFirstTime Then

NotFirstTime = False

rc = joyGetDevCaps(IDDevice, JoyCaps,

Len(JoyCaps))

If rc <> 0 Then

GetJoystickPos = rc

Exit Function

End If

End If

rc = joyGetPos(IDDevice, JoyInfo)

GetJoystickPos = rc

If rc <> 0 Then Exit Function

JoyInfo.ButtonDown(1) = (JoyInfo.ButtonStates And

JOY_BUTTON1) = JOY_BUTTON1







End Function





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





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 ‘indicates overturning, sensed thru interrupt. SET Sr_History=true; ‘Indicate SR Action is going on ROTATE acw; ‘acw wrt to Xabre’s upright left view REPEAT TILL tilt_sw = close; ‘Xabre is upright now, ‘sensed thru interrupt END IF IF Sr_History=true; Indicates that previous action was SR Action ROTATE cw; ‘cw wrt to Xabre’s upright left view REPEAT TILL lock_in = close; ‘SR arm is locked-in SET Sr_History=false; ‘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;





4. Light Operation: ON Light_ON_Command: Light = ON; ON Ligth_OFF_Command: Light = OFF; Function flowcharts:

































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.

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

PRIMARY CONTROL CARD

G2 MOTOR

TRANSMITTER CARD

G1 MOTOR

(On PC Side)

PAN MOTOR

TILT MOTOR

LDRV MOTOR RDRV MOTOR

SRM MOTOR

SRM LATCH

EOPs LATCH

G-PT LATCH

RECEIVER CARD

to variousLIMITSENSORS

to SRMLIMITSENSORS

1 1

XABRE HARDWARE

1 1Thursday, December 11, 2003

Title

Size Document Number Rev

Date: Sheet of

CTS TTLCTS TTL

CTS TTLCTS TTL

RXD TTL

CTS

TXD

RXD TTLRXD TTLRXD

12V

EXT 12V

5V

Ant

GND

RM1RM2LM1LM2PM1PM2G2M1G2M2G1M1G1M2SRM1SRM2TM1TM2

PM1

SRM1

RM2

G1M1

RM1

G2M1

TM1

G2M2

LM2

PM2

TM2

SRM2

G1M2

LM1

VCC

5V

12V

12V

12V

5V

12V

12V

12V

12V

12V

12V

5V

VCC

5V

5V

5V

5V

VCC

5V

5V

5V

5V

5V

5V

5V

5V

5V

5V

5V

5V

0

0

5V

GND

12V

12V

12V

12V

12V

12V

12V

C261uF

R2 R

C32 0.1uF

E1

ANTENNA

C35 0.1uF

J13

HEADER 15

123456789

101112131415

U1

DS89C420

2122232425262728

17

16

2930

11

10

31

1918

9

3938373635343332

12345678

1213

1415

P2.0P2.1P2.2P2.3P2.4P2.5P2.6P2.7

RD

WR

PSENALE/P

TXD

RXD

EA/VP

X1X2

RST

P0.0P0.1P0.2P0.3P0.4P0.5P0.6P0.7

P1.0/T2P1.1/T2X

P1.2P1.3P1.4P1.5P1.6P1.7

INT0INT1

T0T1

R6100E

C810nF

U6

74LS373

3478

13141718

111

256912151619

D0D1D2D3D4D5D6D7

OELE

Q0Q1Q2Q3Q4Q5Q6Q7

U9 LMD18200T2

11

9

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8

6

7

354

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OUT2

TH OUT

BS1

BS2

CS OUT VC

C

GN

D

DIRPWMBRAKE

U12 LMD18200T2

11

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BS1

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C

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DIRPWMBRAKE

R216K8

U2

MAX6818

20

11

1918171615141312

1

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23456789

Vcc

CH

OUT1OUT2OUT3OUT4OUT5OUT6OUT7OUT8

EN

GND

IN1IN2IN3IN4IN5IN6IN7IN8

C1710nF

C13

C282.2uF

R224K7

U5

74LS373

3478

13141718

111

256912151619

D0D1D2D3D4D5D6D7

OELE

Q0Q1Q2Q3Q4Q5Q6Q7

C1110nF

R1610K

C2010nF

J9

HEADER 4

1234

U4

74LS373

3478

13141718

111

256912151619

D0D1D2D3D4D5D6D7

OELE

Q0Q1Q2Q3Q4Q5Q6Q7

LS1RELAY DPDT

34

5

68

712

C330pF

C22

C272.2uF

D10LED

U10 LMD18200T2

11

9

1

10

8

6

7

354

OUT1

OUT2

TH OUT

BS1

BS2

CS OUT VC

C

GN

D

DIRPWMBRAKE

R3 R

D14 DIODE

330ER8

C15100uFD2

1N4007

C510uF

R196K8

J8 RLP916F Conn.

1234

C6100uF

R2010K

11.0592 MhzXTAL

C1410nF

U13 LMD18200T2

11

9

1

10

8

6

7

354

OUT1

OUT2

TH OUT

BS1

BS2

CS OUT VC

C

GN

D

DIRPWMBRAKE

R2410K

R10 10K

C210uF

U18 TLP916F

1 32 4

GN

D

VC

C

DA

TA

IN

AN

T

J5

HEADER 14

123456789

1011121314

D17

1N4007

R156K8

R11 6K8

C9100uF

C18100uF

SW1SW DPDT

Q3

2N2222

J1

HEADER 2

12

C430pF

D5LED

R4 R

C2310nF

R1210K

D7LED

J12JUMPER1

1 2

C34 0.1uF

U3

MAX6818

20

11

1918171615141312

1

10

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CH

OUT1OUT2OUT3OUT4OUT5OUT6OUT7OUT8

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GND

IN1IN2IN3IN4IN5IN6IN7IN8

R1810K

RS1RESISTOR SIP 10 5K

12 3 4 5 6 7 8 9 1

0

C31 0.1uF

U14

LM317/TO220

3

1

2VIN

ADJ

VOUT

R2310K

R136K8

C30 0.1uF

Q1

2N2222

D12

1N4007

Q2

2N2222

C29

C

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11

9

1

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8

6

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354

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BS1

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C

GN

D

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RS3RESISTOR SIP 10 5K 1

2 3 4 5 6 7 8 9 10

C12100uF

C33 0.1uF

SW2 SW DPDT

D3LED

D13

LED

U7 7805/TO1 3

2

VIN VOUT

GN

D

R1410K

D6LED

R9 1K

D1

1N4007

D9LED

C21100uF

U16 7805

1 3

2

VIN VOUT

GN

D

LS2RELAY DPDT

34

5

68

712

U15 RLP916F

4 56 712

8

3

Vcc

Vcc

Gn

dG

nd

Gn

d

DO

ut Ant

LO

ut

D15LED

J11

HEADER 10

12345678910

J4

HEADER 6

123456

R7VAR R

C251uF

R1 R

J7

HEADER 4

1234

C7

J3

HEADER 2

12

C16

C240.1uF

U17 HIN232

12

14710

11

15

16

138 9

13

45

26

R1OUT

T1OUTT2OUTT2IN

T1IN

GN

D

VC

C

R1INR2IN R2OUT

C1+C1-

C2+C2-

V+V-

D11

1N4007

C110uF

C10

D8LED

PB

C19

U8 LMD18200T2

11

9

1

10

8

6

7

354

OUT1

OUT2

TH OUT

BS1

BS2

CS OUT VC

C

GN

D

DIRPWMBRAKE

R176K8

D16LED

R510K

D4LED





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.

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

Big_Val

FFh

Delay

Phase 3

Phase 2

Phase 1

Small_Val Diff





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<R_Mag Clr Drv_bit2 Set Drv_bit1 Small_val=255-L_mag Big_val=R_mag Diff=Small_val-Big_val)

Delay=255-Big_val If L_Mag>R_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 ;At µC’s ISR for TF0 Goto PWM_sub; ;Jump to prog’s ISR PWM_sub: ;Prog’s ISR Stop Timer0; ;Stop the timer0 If Phase_bit3 set ;Indicates end of phase 3 Set Phase_bit2; ;Set start of phase 2 Clr Phase_bit3; ;Reset bit to show end of phase 3 Load Diff to TL0 ;Phase 2 counts for Diff period Goto PWM_writer; ;Perform PWM toggling Else If Phase_bit2 set ;Indicates end of phase 2 Set Phase_bit1; ;Set start of phase 1





Clr Phase_bit2; ;Reset bit to show end of phase 2 Load Delay to TL0 ;Phase 1 counts for Delay period Goto PWM_writer; Else ;Indicates end of phase 1 Set Phase_bit3; ;Set start of phase 3 Clr Phase_bit1; ;Reset bit to show end of phase 1 Load Small_val to TL0; ;Phase 3 counts for Small val period Goto PWM_writer; ;Perform PWM toggling PWM_writer Start Timer0; If Phase_bit3 set ;Phase 3 ON, so both drives ON P0.1 = 1; ;Turn ON LD P0.2 = 1; ;Turn ON RD Write Mag_bits; ;Magnitude bits are also set Else If Phase_bit2 set ;Phase 2 ON so lesser drive OFF If Drv_bit2set ;Both drives equal, turn ‘em OFF P0.1 = 0; ;Turn OFF LD P0.2 = 0; ;Turn OFF RD Else If Drv_bit1 set ;Drv_bits=01 so LD is less, so OFF P0.1 = 0; ;Turn OFF LD Else ;Drv_bits=00 so RD is less, so OFF P0.0 = 0; ;Turn OFF RD Else If Phase_bit1 set ;Phase 1 ON so both drive OFF P0.1 = 0; ;Turn OFF LD P0.2 = 0; ;Turn OFF RD





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 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

Figure 1





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 H-Bridge, direction and speed control should never come in way of realizing the dream of your very own bot!

1 of 47 REV: 102203

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.

-

GENERAL DESCRIPTION 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). 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 ORDERING INFORMATION

PART TEMP RANGE MAX

CLOCK SPEED (MHz)

PIN-PACKAGE

DS89C420-MNG -40°C to +85°C 25 40 PDIP DS89C420-QNG -40°C to +85°C 25 44 PLCC DS89C420-ENG -40°C to +85°C 25 44 TQFP 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.

FEATURES 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

Power Management Mode Programmable Clock Divider Automatic Hardware and Software Exit

Two Full-Duplex Serial Ports Programmable Watchdog Timer 13 Interrupt Sources (Six External) Five Levels of Interrupt Priority Power-Fail Reset Early Warning Power-Fail Interrupt

www.maxim-ic.com

DS89C420Ultra-High-Speed Microcontroller

http://www.maxim-ic.com/errata

DS89C420 Ultra-High-Speed Microcontroller

46 of 47

PIN CONFIGURATIONS

6 1 40

18 28

7 39

17 29

Dallas Semiconductor

DS89C420

TOP VIEW

PLCC

33 23

1 11

34 22

44 12

Dallas Semiconductor

DS89C420

TOP VIEW

TQFP

P1.0/T2P1.1/T2EXP1.2/RXD1P1.3/TXD1P1.4/INT2P1.5/INT3P1.6/INT4P1.7/INT5

RSTP3.0/RXD0P3.1/TXD0P3.2/INT0P3.3/INT1

P3.4/T0P3.5/T1

P3.6/WRP3.7/RD

XTAL2XTAL1

VSS

VCC P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7 EA/VPP ALE/PROGPSEN P2.7 P2.6 P2.5 P2.4 P2.3 P2.2 P2.1 P2.0

40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21

123456789

1011121314151617181920

DS89C420

DIP

TOP VIEW

Ultra-High-Speed FlashMicrocontroller User’s Guide

53 _____________________________________________________________________________________________

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

SECTION 6: MEMORY ACCESSThe DS89C420 ultra-high-speed microcontroller supports the memory interface convention established for the industry standard80C51, but also implements two new page mode memory interfaces needed to support ultra-high-speed external operation. Theseexternal page mode interfaces are described later in this section.

INSTRUCTION CATEGORY SPEEDADVANTAGE QUANTITY

Total instructions: 1 byte 4.0 24.8 15.3 16.0 128.0 512.0 2724.0 1

Total instructions: 2 byte 4.0 16.0 278.0 512.0 13

Total instructions: 3 byte 4.8 36.0 58.0 8

Average across all instructions 8.5 111

OPCODE CATEGORYSPEED

ADVANTAGE QUANTITY

Total opcodes: 1 byte 4.0 44.8 15.3 16.0 358.0 512.0 9324.0 1

Total opcodes: two byte 4.0 16.0 428.0 512.0 43

Total opcodes: three byte 4.8 46.0 128.0 8

Average across all opcodes 9.4 255


_____________________________________________________________________________________________ 56

the watchdog reset function automatically. Other bits of this register are undefined and are at logic 1 when read. The value of this reg-ister can be read at address FCh in parallel programming mode or by executing the verify option control register instruction in ROMLoader or in-application programming mode.

INTERNAL SRAM MEMORYThe DS89C420 ultra-high-speed microcontroller incorporates an internal 1kB SRAM that is usable as data, program, or merged pro-gram/data memory. Upon a power-on reset, the internal 1kB memory is disabled and transparent to both program and data memorymaps.

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 accesseswithin the first 1kB (0000h–03FFh) is directed to the internal SRAM. Any data memory accesses outside of this range are still directedto the expanded bus. One advantage of using the internal data memory is that MOVX operations automatically default to the fastestaccess possible. Note that the DME0 bit is cleared after any reset, so access to the internal data memory is prohibited until this bit ismodified. The contents of the internal data memory are not affected by the changing of the data memory enable (DME0) bit. Table 6-3 shows how the DME1, DME0 bits affect the data memory map.

ExternalData

Memory

8kB x 8

Flash Memory

(Program)

1kB x 8SRAM

Data ORprog mem addr from 400–7FF

128 BytesIndirect

Addressing

Bit Addressable

Bank 3Bank 2Bank 1Bank 000

1F202F

7F80

128 Bytes SFR

FF

0000

1FFF

2000

3FFF

INTERNALMEMORY

03FF

0000

FFFF FFFF

4000

00000000

03FF

ExternalProgramMemoryINTERNAL

REGISTERS

8kB x 8Flash

Memory(Program)

SCRATCHPAD

Note: The hatched areas shown on the internal and external memory are disabled on power-up (Default)

Non-usable if Internal SRAM is activated

Figure 6-1. Memory Map


Mode 1Mode 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 generatedby 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 beginstransmission after the first rollover of the divide-by-16 counter following a software write to SBUF. Transmission takes place on the TXDpin. 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 isset 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 1to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data is shifted in at the selected baudrate. 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 receivergoes 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 equalsamples out of the three determine the logic level for each received bit. If the start bit was determined to be invalid ( = 1), then thereceiver goes back to looking for a 1 to 0 transition on the RXD pin in order to start the reception of data.

Mode 2Mode 2 uses a total of 11 bits in asynchronous full-duplex communication, as illustrated in Figure 12-3. The 11 bits consist of 1 startbit (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 sig-nal 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 par-ity 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 writeto SBUF. Baud rates are generated as a fixed function of the crystal frequency, as described earlier in this section. Like mode 1, mode2’s transmission begins after the first rollover of the divide-by-16 counter following a software write to SBUF. It begins by the start bitbeing 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 TIbit (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 accord-ing 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 beenreceived, 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 toindicate 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 1to allow reception. The falling edge of a start bit on the RXD pin begins the reception process. Data must be shifted in at the selectedbaud 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 condi-tions are false, then the received data is lost (SBUF and RB8 not loaded) and RI is set. Regardless of the receive word status, after themiddle 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 divide-by-16 counter with either the oscillator divided by 2 or 4.

____________________________________________________________________________________________ 114


115 ____________________________________________________________________________________________

SBUF

DIVIDE-BY-2

D7LO

AD

CLO

CK

TRANSMIT SHIFT REGISTER

S0P3.1

LATCHTXDPIN

RECEIVE DATA BUFFER WRRD

CLO

CK

RECEIVE SHIFT REGISTER

SI

READSERIAL

BUFFERBAUDCLOCK

LOADSERIALBUFFER

LOAD

INT

S

SE

RIA

L I/

OC

ON

TR

OL

SHIFT

T1FLAG =

SCONx.1

RXDPIN

SERIALINTERRUPT

LDSBUFRDSBUF

ST

OP

ST

AR

T

1 0

ST

OP

ST

AR

T

RB8 =SCONx.2

R1FLAG =

SCONx.0

DIVIDE-BY-16

BITDETECTION

DATA BUS

SBUF

RESET

DIVIDE-BY-16

SMOD_0 =PCON.7ORSMOD_1 =WDCON.7

D6

D5

D4

D3

D2

D1

D0

D7

D5

D4

D3

D2

D1

D0

D6

TIMER 2OVERFLOWTIMER 1

OVERFLOWA

VA

ILA

BLE

TO

SE

RIA

LP

OR

T 0

ON

LY

10

10

10

TCLK =T2CON.4

RCLK =T2CON.5

RECEIVE TIMING

BIT DETECTORSAMPLING

SHIFT

RI

RXDD0 D1 D2 D3 D4 D5 D6 D7 STOPSTART

TRANSMIT TIMING

LDSBUF

SHIFT

TI

TXDD0 D1 D2 D3 D4 D5 D6 D7 STOPSTART

Figure 12-2. Serial Port Mode 1


127 ____________________________________________________________________________________________

SECTION 15: PROGRAM LOADING INTRODUCTIONThe DS89C420 family has the ability to perform program loading or reloading in a number of ways. First, ROM loader mode can beinvoked to create a serial communication channel, which permits in-system program/erase of the internal and external program mem-ory. Secondly, parallel programming mode allows programming and erasure of the internal flash memory using industry-standardEPROM or flash parallel programmers. Finally, user code in-application programming allows the capability to in-application erase andreprogram 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 func-tional entity.

ROM LOADER MODEThe DS89C420 defaults to the normal operating (nonloader) mode without external hardware. ROM loader mode can be invoked atany time, as described later in this section. Once the loader session is complete, the device performs a hardware reset and beginoperation. This is identical to an external reset, except that the ROM loader during the loader session may modify locations in scratch-pad RAM in order to execute properly. The Table 15-1 shows which areas of scratchpad RAM are guaranteed preserved and whichones are of indeterminate state after exiting the loader.

Table 15-1. Preserved and Indeterminate Scratchpad Memory

The guaranteed preserved locations are areas in scratchpad RAM that are be changed by the bootstrap loader. The indeterminatearea 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 preventedfrom 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 PSENpin 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 <CR> character (0Dh) on serial port 0 at a baud rate that canbe detected by the autobaud routine. The autobaud routine is described later in this section. The autobaud routine receives and trans-mits data only on serial port 0, ignoring activity on serial port 1. Upon successful baud-rate detection, the bootstrap loader transmitsa banner similar to the one shown below, signaling to the host that loader mode has successfully been invoked. The banner is followedby a “>” prompt, which indicates the device is ready to receive a command. The command set recognizable by the ROM loader is alsodetailed later in this section. The flow of these conditions is shown in Figure 15-1.

Exiting the LoaderIn 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 RSTpin has an internal pulldown. The PSEN signal is an output and drives itself high. When the loader stimulus is removed, the processorperforms a hardware reset and begin execution at location 0000h. Note that both of these conditions must occur, or the loader is exit-ed. The flow of these conditions is shown in Figure 15-1.

DS89C420SCRATCHPAD MEMORY

Guaranteed Preserved 80h–FFhIndeterminate 00h–7Fh


____________________________________________________________________________________________ 128

PROGRAM EXECUTION

INTERNAL MEMORY DISABLED EA\ =0

INTERNAL MEMORY ENABLED EA\ =1

PSEN\TOGGLED 0 1

RST = 1

EA\ = 0

PSEN\ = 0

POWER-ONRESET

AUTOBAUD ROUTINEAWAITING <CR> CHARACTER ON RXD OF SERIAL PORT 0

SERIAL COMMUNICATION WITH THE ROM LOADER CANPROCEED AS ESTABLISHED ON SERIAL PORT 0

DEVICE IN RESET(INTERNAL MEMORY DISABLED)

DEVICE IN RESET(INTERNAL MEMORY ENABLED)

N

N

N

N Y

Y

Y

Y

Y

N

Figure 15-1. Invoking and Exiting the Loader on the DS89C420


129 ____________________________________________________________________________________________

Serial Program Load OperationProgram loading through a serial port is a convenient method of loading application software into the flash memory or external mem-ory. Communication is performed over a standard, asynchronous serial communications port using a terminal emulator program with8-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-systemprogram 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 pro-duce standard baud rates. The serial loader is designed to operate across a 3-wire interface from a standard UART. The receive, trans-mit, 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 fromthe device. Intel hex is the standard format output by 8051 cross-assemblers.

AUTOBAUD-RATE DETECTIONThe serial bootstrap loader can automatically detect, within certain limits, the external baud rate and configure itself to that speed. Theloader 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-bitautoreload mode with the serial port 0 doubler bit (PCON.7) set. For these settings, an equation to calculate possible serial loaderbaud rates is provided as a function of crystal frequency and timer reload value. Table 15-1 shows baud rates generated using theequation:

** 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 COMport baud rate within 3% in order to maintain a reliable communication channel. If baud rates cannot be matched exactly, it is suggest-ed configuring the loader to the faster baud rate to avoid the possibility of overflowing the DS89C420 serial input buffer.

)(x192

Crystal Frequency

256-Timer ReloadSerial Loader_Baud rate =

TO PC

ROIN

TD

HC/AC125

TOOUTRD

R1IN

DTR

ROOUT

VCC

TOIN

R1OUT

DS232A

DS89C420

T1OUT

RXDO

TXDO

RST

EA

PSEN

T1IN

Figure 15-2. Serial Load Hardware Configuration

LMD182003A, 55V H-BridgeGeneral DescriptionThe LMD18200 is a 3A H-Bridge designed for motion controlapplications. The device is built using a multi-technology pro-cess which combines bipolar and CMOS control circuitrywith DMOS power devices on the same monolithic structure.Ideal for driving DC and stepper motors; the LMD18200 ac-commodates peak output currents up to 6A. An innovativecircuit which facilitates low-loss sensing of the output currenthas been implemented.

Featuresn Delivers up to 3A continuous outputn Operates at supply voltages up to 55Vn Low RDS(ON) typically 0.3Ω per switchn TTL and CMOS compatible inputs

n No “shoot-through” currentn Thermal warning flag output at 145˚Cn Thermal shutdown (outputs off) at 170˚Cn Internal clamp diodesn Shorted load protectionn Internal charge pump with external bootstrap capability

Applicationsn DC and stepper motor drivesn Position and velocity servomechanismsn Factory automation robotsn Numerically controlled machineryn Computer printers and plotters

Functional Diagram

DS010568-1

FIGURE 1. Functional Block Diagram of LMD18200

December 1999

LMD

182003A

,55VH

-Bridge

© 1999 National Semiconductor Corporation DS010568 www.national.com

Connection Diagrams and Ordering Information

DS010568-2

11-Lead TO-220 PackageTop View

Order Number LMD18200TSee NS Package TA11B

DS010568-25

24-Lead Dual-in-Line PackageTop View

Order Number LMD18200-2D-QV5962-9232501VXALMD18200-2D/8835962-9232501MXA

See NS Package DA24B

LMD

1820

0

www.national.com 2

Electrical Characteristics NotesNote 1: Absolute Maximum Ratings indicate limits beyond which damage to the device may occur. DC and AC electrical specifications do not apply when op-erating 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 dis-sipation 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 junc-tion 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

DS010568-16

RDS(ON) vs Temperature

DS010568-17

RDS(ON) vsSupply Voltage

DS010568-18

Supply Current vsSupply Voltage

DS010568-19

Supply Current vsFrequency (V S = 42V)

DS010568-20

Supply Current vsTemperature (V S = 42V)

DS010568-21

Current Sense Outputvs Load Current

DS010568-22

Current SenseOperating Region

DS010568-23

LMD

1820

0

www.national.com 4

Test Circuit

Switching Time Definitions

Pinout Description (See Connection Diagram)

Pin 1, BOOTSTRAP 1 Input: Bootstrap capacitor pin for halfH-bridge number 1. The recommended capacitor (10 nF) isconnected between pins 1 and 2.

Pin 2, OUTPUT 1: Half H-bridge number 1 output.

Pin 3, DIRECTION Input: See Table 1. This input controlsthe direction of current flow between OUTPUT 1 and OUT-PUT 2 (pins 2 and 10) and, therefore, the direction of rotationof a motor load.

Pin 4, BRAKE Input: See Table 1. This input is used tobrake a motor by effectively shorting its terminals. Whenbraking is desired, this input is taken to a logic high level and

it is also necessary to apply logic high to PWM input, pin 5.The drivers that short the motor are determined by the logiclevel at the DIRECTION input (Pin 3): with Pin 3 logic high,both current sourcing output transistors are ON; with Pin 3logic low, both current sinking output transistors are ON. Alloutput transistors can be turned OFF by applying a logic highto Pin 4 and a logic low to PWM input Pin 5; in this case onlya small bias current (approximately −1.5 mA) exists at eachoutput pin.

Pin 5, PWM Input: See Table 1. How this input (and DIREC-TION input, Pin 3) is used is determined by the format of thePWM Signal.

DS010568-8

DS010568-9

LMD

18200

www.national.com5

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 thesourcing current sensing output signal, which is typically377 µA/A.

Pin 9, THERMAL FLAG Output: This pin provides the ther-mal warning flag output signal. Pin 9 becomes active-low at145˚C (junction temperature). However the chip will not shutitself down until 170˚C is reached at the junction.

Pin 10, OUTPUT 2: Half H-bridge number 2 output.

Pin 11, BOOTSTRAP 2 Input: Bootstrap capacitor pin forHalf H-bridge number 2. The recommended capacitor(10 nF) is connected between pins 10 and 11.

TABLE 1. Logic Truth Table

PWM Dir Brake Active Output Drivers

H H L Source 1, Sink 2

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 ofPWM signals. Use of the part with two of the more popularforms of PWM is described in the following paragraphs.

Simple, locked anti-phase PWM consists of a single, vari-able duty-cycle signal in which is encoded both direction andamplitude information (see Figure 2). A 50% duty-cyclePWM signal represents zero drive, since the net value ofvoltage (integrated over one period) delivered to the load iszero. For the LMD18200, the PWM signal drives the direc-tion input (pin 3) and the PWM input (pin 5) is tied to logichigh.

Sign/magnitude PWM consists of separate direction (sign)and amplitude (magnitude) signals (see Figure 3). The (ab-solute) magnitude signal is duty-cycle modulated, and theabsence of a pulse signal (a continuous logic low level) rep-resents zero drive. Current delivered to the load is propor-tional to pulse width. For the LMD18200, the DIRECTION in-put (pin 3) is driven by the sign signal and the PWM input(pin 5) is driven by the magnitude signal.

SIGNAL TRANSITION REQUIREMENTS

To ensure proper internal logic performance, it is good prac-tice to avoid aligning the falling and rising edges of input sig-nals. A delay of at least 1 µsec should be incorporated be-tween transitions of the Direction, Brake, and/or PWM inputsignals. A conservative approach is be sure there is at least500ns delay between the end of the first transition and thebeginning of the second transition. See Figure 4.

DS010568-4

FIGURE 2. Locked Anti-Phase PWM Control

DS010568-5

FIGURE 3. Sign/Magnitude PWM Control

LMD

1820

0

www.national.com 6

General DescriptionThe MAX6816/MAX6817/MAX6818 are single, dual, andoctal switch debouncers that provide clean interfacingof mechanical switches to digital systems. They acceptone or more bouncing inputs from a mechanical switchand produce a clean digital output after a short, presetqualification delay. Both the switch opening bounceand the switch closing bounce are removed. Robustswitch inputs handle ±25V levels and are ±15kV ESD-protected for use in harsh industrial environments. Theyfeature single-supply operation from +2.7V to +5.5V.Undervoltage lockout circuitry ensures the output is inthe correct state upon power-up.

The single MAX6816 and dual MAX6817 are offered inSOT packages and require no external components.Their low supply current makes them ideal for use inportable equipment.

The MAX6818 octal switch debouncer is designed fordata-bus interfacing. The MAX6818 monitors switchesand provides a switch change-of-state output (CH),simplifying microprocessor (µP) polling and interrupts.Additionally, the MAX6818 has three-state outputs con-trolled by an enable (EN) pin, and is pin-compatiblewith the ‘LS573 octal latch (except for the CH pin),allowing easy interfacing to a digital data bus.

ApplicationsµP Switch Interfacing

Industrial Instruments

PC-Based Instruments

Portable Instruments

Automotive Applications

Membrane Keypads

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 InterfacingSwitches to µP Data Bus (MAX6818)

♦ Switch Change-of-State Output Simplifies Polling and Interrupts (MAX6818)

♦ Pin-Compatible with ’LS573 (MAX6818)

MA

X6

81

6/M

AX

68

17

/MA

X6

81

8

±15kV ESD-Protected, Single/Dual/Octal,CMOS Switch Debouncers

________________________________________________________________ Maxim Integrated Products 1

1

2

4

3

VCC

OUTIN

GND

MAX6816

SOT143

TOP VIEW

IN

MECHANICALSWITCH

RESET

GNDDEBOUNCED

OUTPUT

VCC

µP

0.1µF

OUT

MAX6816

Typical Operating Circuit

19-4770; Rev 1; 1/99

PART

MAX6816EUS-T

MAX6817EUT-T

MAX6818EAP -40°C to +85°C

-40°C to +85°C

-40°C to +85°C

TEMP. RANGEPIN-PACKAGE

4 SOT143

6 SOT23-6

20 SSOPNote: There is a minimum order increment of 2500 pieces forSOT packages.

Pin Configurations

Ordering InformationSOT

TOP MARK

KABA

AAAU

—

Pin Configurations continued at end of data sheet.

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.

_______________Detailed DescriptionTheory of Operation

The MAX6816/MAX6817/MAX6818 are designed toeliminate the extraneous level changes that result frominterfacing with mechanical switches (switch bounce).Virtually all mechanical switches bounce upon openingor closing. These switch debouncers remove bouncewhen a switch opens or closes by requiring thatsequentially clocked inputs remain in the same state fora number of sampling periods. The output does notchange until the input is stable for a duration of 40ms.

The circuit block diagram (Figure 1) shows the func-tional blocks consisting of an on-chip oscillator,counter, exclusive-NOR gate, and D flip-flop. When the

input does not equal the output, the XNOR gate issuesa counter reset. When the switch input state is stablefor the full qualification period, the counter clocks theflip-flop, updating the output. Figure 2 shows the typicalopening and closing switch debounce operation. Onthe MAX6818, the change output (CH) is updatedsimultaneously with the switch outputs.

Undervoltage LockoutThe undervoltage lockout circuitry ensures that the out-puts are at the correct state on power-up. While the sup-ply voltage is below the undervoltage threshold(typically 1.9V), the debounce circuitry remains trans-parent. Switch states are present at the logic outputswithout delay.

MA

X6

81

6/M

AX

68

17

/MA

X6

81

8


4 _______________________________________________________________________________________

PIN

2 — —

— 1, 3 —

— — 12–19

— 4, 6 —

3 — —

— — 2–9

— — 11

— — 1

4 5 20

Pin Description

FUNCTION

Switch Input

Switch Inputs

CMOS Debounced Outputs

CMOS Debounced Outputs

CMOS Debounced Output

Switch Inputs

Change-of-State Output. Goes low on switch input change ofstate. Resets on EN. Leave unconnected if not used.

Active-Low, Three-State Enable Input for outputs. Resets CH.Tie to GND to “always enable” outputs.

+2.7V to +5.5V Supply Voltage

NAME

IN

IN1, IN2

OUT8–OUT1

OUT2, OUT1

OUT

IN1–IN8

CH

EN

VCC

VCC

VCC

VCC

RPU

D Q

R

QDCOUNTER LOAD

OUT

IN

ESDPROTECTION

UNDER-VOLTAGELOCKOUT

OSC.

MAX6816MAX6817MAX6818

Figure 1. Block Diagram

1 2 10 GroundGND

MAX6816 MAX6817 MAX6818

Robust Switch InputsThe switch inputs on the MAX6816/MAX6817/MAX6818have overvoltage clamping diodes to protect againstdamaging fault conditions. Switch input voltages can safely swing ±25V to ground (Figure 3). ProprietaryESD-protection structures protect against high ESD encountered in harsh industrial environments,membrane keypads, and portable applications. They are designed to withstand ±15kV per theIEC1000-4-2 Air Gap Discharge Test and ±8kV per theIEC1000-4-2 Contact Discharge Test.

Since there are 63kΩ (typical) pull-up resistors con-nected to each input, driving an input to -25V will draw

approximately 0.5mA (up to 4mA for eight inputs) fromthe VCC supply. Driving an input to +25V will causeapproximately 0.32mA of current (up to 2.6mA for eightinputs) to flow back into the VCC supply. If the total sys-tem VCC supply current is less than the current flowingback into the VCC supply, VCC will rise above normallevels. In some low-current systems, a zener diode onVCC may be required.

±15kV ESD ProtectionAs with all Maxim devices, ESD-protection structuresare incorporated on all pins to protect against electro-static discharges encountered during handling andassembly. The MAX6816/MAX6817/MAX6818 haveextra protection against static electricity. Maxim's engi-neers have developed state-of-the-art structures to pro-tect against ESD of ±15kV at the switch inputs without

MA

X6

81

6/M

AX

68

17

/MA

X6

81

8


_______________________________________________________________________________________ 5

tDP

IN1

OUT1

IN2

OUT2

CH

MAX6818 ONLY

20ms/div

20V

0

-20V

4V

OUT(2V/div)

IN(20V/div)

0

tEN

OUT NORMALLYLOW

OUT NORMALLYHIGH

OUT1–OUT8

1/2 VCC 1/2 VCC

1/2 VCC

1/2 VCC

1/2 VCC

EN

tPE tPD

tPD

VOL + 0.5V

VOH - 0.5VtPE

tPC

OUT1–OUT8

CH

Figure 2. Input Characteristics

Figure 3. Switch Input ±25V Fault Tolerance

Figure 4. MAX6818 µP-Interface Timing Diagram

IN1

SW1

SW8IN8

+VCC

+VCC

µP

0.1µF

OUT1

OUT8

EN I/O

IRQ

D0

D7

CH

MAX6818

Figure 5. MAX6818 Typical µP Interfacing Circuit

MA

X6

81

6/M

AX

68

17

/MA

X6

81

8


_______________________________________________________________________________________ 7

meets Level 4 (the highest level) of IEC1000-4-2, with-out the need for additional ESD-protection compo-nents.

The major difference between tests done using theHuman Body Model and IEC1000-4-2 is higher peakcurrent in IEC1000-4-2, because series resistance islower in the IEC1000-4-2 model. Hence, the ESD with-stand voltage measured to IEC1000-4-2 is generallylower than that measured using the Human BodyModel. Figure 7a shows the IEC1000-4-2 model andFigure 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 isenergized.

Machine Model The Machine Model for ESD tests all pins using a200pF storage capacitor and zero discharge resis-tance. Its objective is to emulate the stress caused bycontact that occurs with handling and assembly duringmanufacturing.

MAX6818 µP Interfacing The MAX6818 has an output enable (EN) input thatallows switch outputs to be three-stated on the µP databus until polled by the µP. Also, state changes at theswitch inputs are detected, and an output (CH) goes lowafter the debounce period to signal the µP. Figure 4shows the timing diagram for enabling outputs and read-ing data. If the output enable is not used, tie EN to GNDto “always enable’’ the switch outputs. If EN is low, CH isalways high. If a change of state is not required, leaveCH unconnected.

Pin Configurations (continued)

20

19

18

17

16

15

14

13

1

2

3

4

5

6

7

8

VCC

OUT1

OUT2

OUT3IN3

IN2

IN1

EN

TOP VIEW

OUT4

OUT5

OUT6

OUT7IN7

IN6

IN5

IN4

12

11

9

10

OUT8

CHGND

IN8

MAX6818

SSOP

GND

OUT2IN2

1 6 OUT1

5 VCC

IN1

MAX6817

SOT23-6

2

3 4

MAX6816 TRANSISTOR COUNT: 284



SUBSTRATE CONNECTED TO GND

___________________Chip Information

SN54LS373, SN54LS374, SN54S373, SN54S374,SN74LS373, SN74LS374, SN74S373, SN74S374

OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS

SDLS165B – OCTOBER 1975 – REVISED AUGUST 2002

1POST OFFICE BOX 655303 • DALLAS, TEXAS 75265

Choice of Eight Latches or Eight D-TypeFlip-Flops in a Single Package

3-State Bus-Driving Outputs

Full Parallel Access for Loading

Buffered Control Inputs

Clock-Enable Input Has Hysteresis toImprove Noise Rejection (’S373 and ’S374)

P-N-P Inputs Reduce DC Loading on DataLines (’S373 and ’S374)

description

These 8-bit registers feature 3-state outputsdesigned specifically for driving highly capacitiveor relatively low-impedance loads. Thehigh-impedance 3-state and increasedhigh-logic-level drive provide these registers withthe capability of being connected directly to anddriving the bus lines in a bus-organized systemwithout need for interface or pullup components.These devices are particularly attractive forimplementing buffer registers, I/O ports,bidirectional bus drivers, and working registers.

The eight latches of the ’LS373 and ’S373 aretransparent D-type latches, meaning that whilethe enable (C or CLK) input is high, the Q outputsfollow the data (D) inputs. When C or CLK is takenlow, the output is latched at the level of the datathat was set up.

The eight flip-flops of the ’LS374 and ’S374 areedge-triggered D-type flip-flops. On the positivetransition of the clock, the Q outputs are set to thelogic states that were set up at the D inputs.

Schmitt-trigger buffered inputs at the enable/clock lines of the ’S373 and ’S374 devices simplify system designas ac and dc noise rejection is improved by typically 400 mV due to the input hysteresis. A bufferedoutput-control (OC) input can be used to place the eight outputs in either a normal logic state (high or low logiclevels) or the high-impedance state. In the high-impedance state, the outputs neither load nor drive the bus linessignificantly.

OC does not affect the internal operation of the latches or flip-flops. That is, the old data can be retained or newdata can be entered, even while the outputs are off.

Copyright 2002, Texas Instruments Incorporated

Please be aware that an important notice concerning availability, standard warranty, and use in critical applications ofTexas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.

SN54LS373,

SN74LS373 . . . DW, N, OR NS PACKAGE

SN74S373 . . . DW OR N PACKAGE(TOP VIEW)

3 2 1 20 19

9 10 11 12 13

4

5

6

7

8

18

17

16

15

14

8D7D7Q6Q6D

2D2Q3Q3D4D

SN54LS373, SN54S373,. . . FK PACKAGE

(TOP VIEW)

1D 1Q OC

5Q 5D8Q

4QG

ND C

V CC

1

2

3

4

5

6

7

8

9

10

20

19

18

17

16

15

14

13

12

11

OC1Q1D2D2Q3Q3D4D4Q

GND

VCC8Q8D7D7Q6Q6D5D5QC

C for ’LS373 and ’S373;

C for ’LS373 and ’S373;

PRODUCTION DATA information is current as of publication date.Products conform to specifications per the terms of Texas Instrumentsstandard warranty. Production processing does not necessarily includetesting of all parameters.

On products compliant to MIL-PRF-38535, all parameters are testedunless otherwise noted. On all other products, productionprocessing does not necessarily include testing of all parameters.

SN54LS373, SN54LS374, SN54S373, SN54S374,SN74LS373, SN74LS374, SN74S373, SN74S374

OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS



Function Tables

’LS373, ’S373(each latch)

INPUTS OUTPUTOC C D Q

L H H H

L H L L

L L X Q0

H X X Z

SN54LS373, SN54LS374, SN54S373, SN54S374,SN74LS373, SN74LS374, SN74S373, SN74S374OCTAL D-TYPE TRANSPARENT LATCHES AND EDGE-TRIGGERED FLIP-FLOPS


4 POST OFFICE BOX 655303 • DALLAS, TEXAS 75265

logic diagrams (positive logic)

OC

for ’S373 Only

1

11

32

C

1D

C1

1D1Q

45

2D

C1

1D2Q

76

3D

C1

1D3Q

89

4D

C1

1D4Q

1312

5D

C1

1D5Q

1415

6D

C1

1D6Q

1716

7D

C1

1D7Q

1819

8D

C1

1D8Q

Pin numbers shown are for DB, DW, J, N, NS, and W packages.

OC

for ’S374 Only

1

11

32

CLK

1D

C1

1D1Q

45

2D 1D2Q

76

3D 1D3Q

89

4D 1D4Q

1312

5D 1D5Q

1415

6D 1D6Q

1716

7D 1D7Q

1819

8D 1D8Q

’LS373, ’S373Transparent Latches

’LS374, ’S374Positive-Edge-Triggered Flip-Flops

C1

C1

C1

C1

C1

C1

C1

µA7800 SERIESPOSITIVE-VOLTAGE REGULATORS

SLVS056G – MAY 1976 – REVISED OCTOBER 2001


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 µA7800Series

description

This series of fixed-voltage monolithicintegrated-circuit voltage regulators is designedfor a wide range of applications. Theseapplications include on-card regulation forelimination of noise and distribution problemsassociated with single-point regulation. Each ofthese regulators can deliver up to 1.5 A of outputcurrent. The internal current-limiting andthermal-shutdown features of these regulatorsessentially make them immune to overload. Inaddition to use as fixed-voltage regulators, thesedevices can be used with external components toobtain adjustable output voltages and currents,and also can be used as the power-pass elementin precision regulators.

The µA7800C series is characterized foroperation over the virtual junction temperaturerange of 0°C to 125°C.

AVAILABLE OPTIONS

PACKAGED DEVICES

TJVO(NOM)

(V)PLASTIC

FLANGE MOUNT(KC)

HEAT-SINKMOUNTED

(KTE)

5 µA7805CKC µA7805CKTE


0°C to 125°C10 µA7810CKC µA7810CKTE

0°C to 125°C12 µA7812CKC µA7812CKTE



The KTE package is only available taped and reeled. Add the suffix R to thedevice type (e.g., µA7805CKTER).

Please be aware that an important notice concerning availability, standard warranty, and use in critical applications ofTexas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.

Copyright 2001, Texas Instruments IncorporatedPRODUCTION DATA information is current as of publication date.Products conform to specifications per the terms of Texas Instrumentsstandard warranty. Production processing does not necessarily includetesting of all parameters.

KC PACKAGE(TOP VIEW)

The COMMON terminal is in electricalcontact with the mounting base.

TO-220AB

OUTPUTCOMMONINPUT

KTE PACKAGE(TOP VIEW)

The COMMON terminal is inelectrical contact with the mountingbase.

OC

I

OUTPUT

COMMON

INPUT

OC

I

µA7800 SERIESPOSITIVE-VOLTAGE REGULATORS

SLVS056G – MAY 1976 – REVISED OCTOBER 2001

6 POST OFFICE BOX 655303 • DALLAS, TEXAS 75265

APPLICATION INFORMATION

+VO+V

0.1 µF0.33 µF

µA78xx

Figure 1. Fixed-Output Regulator

OUTING

–VO

COM

+

–

VI IL

µA78xx

Figure 2. Positive Regulator in Negative Configuration (VI Must Float)

R1

0.33 µF

Input OutputµA78xx

0.1 µF

IO

R2

VO Vxx Vxx

R1 IQR2

NOTE A: The following formula is used when Vxx is the nominal output voltage (output to common) of the fixed regulator:

Figure 3. Adjustable-Output Regulator

VO(Reg)R1

Input

IO

IO = (VO/R1) + IO Bias Current

0.33 µF

µA78xx

Output

Figure 4. Current Regulator

1

®
HIN232, HIN236, HIN237,HIN238,
HIN239, HIN240, HIN241
FN3138.13Data Sheet June 2003
+5V Powered RS-232 Transmitters/ReceiversThe 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).

The drivers feature true TTL/CMOS input compatibility, slew-rate-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.

Features• Meets All RS-232E and V.28 Specifications

• Requires Only Single +5V Power Supply- (+5V and +12V - HIN239)

• High Data Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . 120kbps

• Onboard Voltage Doubler/Inverter

• Low Power Consumption

• Low Power Shutdown Function

• Three-State TTL/CMOS Receiver Outputs

• Multiple Drivers

- ±10V Output Swing for 5V lnput

- 300Ω Power-Off Source Impedance- Output Current Limiting

- TTL/CMOS Compatible

- 30V/µs Maximum Slew Rate

• 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

PARTNUMBER

POWER SUPPLYVOLTAGE

NUMBER OF RS-232

DRIVERS

NUMBER OF RS-232

RECEIVERSEXTERNAL

COMPONENTS

LOW POWERSHUTDOWN/TTL THREE-STATE

NUMBER OF LEADS

HIN232 +5V 2 2 4 Capacitors No/No 16

HIN236 +5V 4 3 4 Capacitors Yes/Yes 24



HIN239 +5V and +7.5V to 13.2V 3 5 2 Capacitors No/Yes 24



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 FUNCTION

VCC 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 Transmitter Outputs. These are RS-232 levels (nominally ±10V).

RIN Receiver Inputs. These inputs accept RS-232 input levels. An internal 5kΩ pull-down resistor to GND is connected to each input.

ROUT 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 placedin 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 thetransmitters are shut off.

NC No Connect. No connections are made to these leads.

Ordering InformationPART

NUMBERTEMP.

RANGE (oC) PACKAGE PKG. DWG. #

HIN232CB 0 to 70 16 Ld SOIC M16.3

HIN232CB-T 0 to 70 Tape and Reel

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












HIN240CN 0 to 70 44 Ld MQFP Q44.10X10

HIN241CA 0 to 70 28 Ld SSOP M28.209



2


Pinouts HIN232 (PDIP, SOIC)

TOP VIEW HIN236 (SOIC)

TOP VIEW

14

15

16

9

13

12

11

10

1

2

3

4

5

7

6

8

C1+

V+

C1-

C2+

C2-

R2IN

T2OUT

VCC

T1OUT

R1IN

R1OUT

T1IN

T2IN

R2OUT

GND

V-

T3OUT

T1OUT

T2OUT

R1IN

R1OUT

T2IN

T1IN

GND

VCC

C1+

V+

C1-

T4OUT

R2OUT

SD

EN

T4IN

R3OUT

V-

C2-

C2+

R2IN

T3IN

R3IN

1

2

3

4

5

6

7

8

9

10

11

12

16

17

18

19

20

21

22

23

24

15

14

13

VCC

+5V

2V+

16

T1OUT

T2OUT

T1IN

T2IN

T1

T2

11

10

14

7+5V

400kΩ

+5V400kΩ

R1OUT R1IN

R1

1312

5kΩ

R2OUT R2IN

R2

89

5kΩ

+10V TO -10VVOLTAGE INVERTER

NOTE 1

6 V-C2+

C2-

+NOTE 1

4

5

+5V TO 10VVOLTAGE DOUBLER

C1+

C1-

+NOTE 1

1

3+

NOTE 1

+

+1µF

15

NOTE:

1. Either 0.1µF or 1µF capacitors may be used. The V+ capacitor may be terminated to VCC or to GND.

9

VCC

+5V TO 10VVOLTAGE DOUBLER

+10V TO -10VVOLTAGE INVERTER

T1OUT

T2OUT

T3OUT

T4OUTT4IN

T1IN

T2IN

T3IN

T1

T2

T3

T4

+5V

+1µF

+1µF

+1µF

7

6

2

3

18 1

19 24

10

1211

15

V+

V-

C1+

C1-

C2+

C2-

+5V400kΩ

+5V400kΩ

+5V400kΩ

+5V400kΩ

+1µF

13

14

R1OUT R1IN

R1

45

5kΩ

R2OUT R2IN

R2

2322

5kΩ

R3OUT R3IN

R3

1617

5kΩ

EN20 21

SD

8

3


Detailed DescriptionThe 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 PumpAn 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

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.

TIMING CHARACTERISTICS

Baud Rate (1 Transmitter Switching) RL = 3kΩ 120 - - kbps

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.

Electrical Specifications Test Conditions: VCC = +5V ±10%, TA = Operating Temperature Range (Continued)

PARAMETER TEST CONDITIONS MIN TYP MAX UNITS

+

-C1

+

-C3

+

-C2

+

-C4

S1 S2 S5 S6

S3 S4 S7 S8VCC GND

RCOSCILLATOR

VCC

GND

V+ = 2VCCGND

V- = -(V+)

C1+

C1- C2-

C2+

VOLTAGE INVERTERVOLTAGE DOUBLER

FIGURE 1. CHARGE PUMP

8


TransmittersThe 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.

ReceiversThe 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.

TOUT

V- < VTOUT < V+

300Ω400kΩ

TXIN

GND < TXIN < VCC

V-

V+

VCC

FIGURE 2. TRANSMITTER

ROUT

GND < VROUT < VCC5kΩ

RXIN

-30V < RXIN < +30V

GND

VCC

FIGURE 3. RECEIVER

TIN

VOL

VOLtPLHtPHL

Average Propagation Delay =tPHL + tPLH

2

ORRIN

TOUTOR

ROUT

FIGURE 4. PROPAGATION DELAY DEFINITION

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ApplicationsThe 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.

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+.

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.

-+

-+

-+

DTR (20) DATATERMINAL READYDSRS (24) DATASIGNALING RATE

RS-232INPUTS AND OUTPUTS

TD (2) TRANSMIT DATA

RTS (4) REQUEST TO SEND

RD (3) RECEIVE DATA

CTS (5) CLEAR TO SEND

SIGNAL GROUND (7)15

8

13

7

14

16

-+

6

R2 R1

T2

T1

9

12

10

11

4

5

3

1

HIN232

C11µF

C21µF

TD

RTS

RD

CTS

SELECT

+5V

INPUTS ANDOUTPUTS

TTL/CMOS

FIGURE 9. SIMPLE DUPLEX RS-232 PORT WITH CTS/RTS HANDSHAKING

2

FIGURE 10. COMBINING TWO HIN232s FOR 4 PAIRS OF RS-232 INPUTS AND OUTPUTS

-+

RS-232INPUTS AND OUTPUTS

DTR (20) DATA TERMINAL READY

DSRS (24) DATA SIGNALING RATE SELECT

DCD (8) DATA CARRIER DETECT

R1 (22) RING INDICATOR

SIGNAL GROUND (7)15

8

13

7

14

2

-+

4

R2 R1

T2

T1

9

12

10

11

3

1HIN232

C11µF

DTR

DSRS

DCD

R1

+5V

INPUTS ANDOUTPUTS

TTL/CMOS

-+

-+

TD (2) TRANSMIT DATA

RTS (4) REQUEST TO SEND

RD (3) RECEIVE DATA

CTS (5) CLEAR TO SEND8

13

7

14

15

R2 R1

T2

T1

9

12

10

11

4

53

1

HIN232C11µF

C21µF

TD

RTS

RD

CTS

INPUTS ANDOUTPUTS

TTL/CMOS

-+

5C21µF

16

C3

2µF6

26

V- V+-+

C4

2µF

16

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: PAL:5.78X4.19mm or NTSC:4.69X3.45mm

• Horizontal definition: 380line

• Scan frequency: PAL/CCIR:50Hz or NTSC/EIA: 60Hz

• Miniumum illumination: 3LUX

• Sensitivity : +18DB=AGL NO-OFF

• Output power : 50MW / 300MB

• Output frequency : 0.9G / 1.2G

• Frequency control : adopt CPU frequency lock the wreath to control, with high

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)

Documents

Xabre (7th Semester) Project Report