The 8031 uses three control lines for reads and writes. PSEN* is used for all program instruction fetches. Data memory reads and writes use RD* and WD*. These signals provide separate program and data spaces, as shown in 8031/8051 manufacturer’s data sheets.

Bus memory and control lines use three I/O ports. Eight I/O lines of the fourth port are available for user definition. These eight lines are available directly from the processor at J5.

The NMIY-0031 uses an 11.0592 MHz crystal.

BOARD CONFIGURATION

Configuration is managed by jumper settings. Several configuration jumper groups adjust the board to accommodate various memory options. Others set options for communications standards and miscellaneous items. See Jumpers for configuration details.

NMIY-0031 CIRCUIT DESCRIPTION

MEMORY SOCKETS

U2, U3, and U4 are the memory sockets provided. U2 may be configured as either program only or program & data. U3 may be configured as either data only or program & data. U4 is data only. See Jumpers for additional details. U2, U3, and U4 accept 8Kx8, 16Kx8, or 32K x 8 devices. U2 can also accept 64K x 8 devices.

BASIC, FORTH, and Assembly are EPROM based operating systems as well as languages for the NMIY-0031. U2 is intended to accept the system EPROM, whether it is language based, or a fully custom system. The EPROM installed at U2 determines which language is used. U3 and U4 allow additional memory and EPROM. C is available, via an external cross compiler for PC compatible computers. A compiled C program can be installed in EPROM at either U2 or U3.

DATA and PROGRAM SPACES

U8 is the lower address latch for the U2 - U4 memory devices, U9 (GAL device), J6 (LCD interface), J1, J7, and J9 (VSC connectors). U8 uses the ALE control line, generated by the processor, to latch address outputs A0 - A7.

U9 and U10 are GAL devices providing additional control lines for the NMIY-0031. U9 supports the data I/O latches, U5 and U6, and LCD control. U10 controls chip select for memory and U9, and memory disable for VSC connectors: J1, J7, and J9.

See the memory map description in the section ‘Programming’ for addressing details.

I/O INTERFACES

Parallel I/O

Memory mapped and non-memory mapped parallel I/O are both available on the NMIY-0031. J5 provides direct access to Port 1 of the processor, while J3, J4, and J6 support memory mapped I/O. Memory map details are included in “Programming.” The processor also supports an RS-232 port internally.

Unlatched, or raw, peripheral I/O is available at J5 directly from Port 1 of the processor. J5 also provides direct access to two timer/counter processor pins as well as interrupts 0 and 1. System reset and CSX signals also appear on J5. CSX details are discussed in “Programming.” Care is necessary to ensure that all lines connected to J5 are compatible electrically with 8031 inputs.

J3 is a 9-pin, single row header for latched keypad interface. The keypad interface is externally memory mapped. Details are provided in “Programming.” J4 is an expansion of the signals on J3 to a full 8-bit input and 8-bit output. This allows, among other applications, use of up to an 8x8 matrix keypad. U5 and U6 are transparent latches serving connectors J3 and J4. Connectors J3, J4, and J5 are located between U1 (the processor) and the prototype area.

NMIY-0031 CIRCUIT DESCRIPTION

J6 provides an interface for LCD’s up to 4x40. Two of the three rows of pins in J6 are used by single controller LCD modules. The third row is used with dual controller LCD’s(4x40). Note on the schematic that the two outside rows of the connector are electrically identical. Jumper selector H1 controls contrast range of the LCD, while R4 provides fine contract control. J6 is located between U2 and the prototyping area. H1 and R4 are located between the four electrolytic capacitors and the processor crystal.

Serial I/O

Serial I/O utilizes U11, 12, 13 for communications standards compatibility. RS232 (U11), RS422 (U12/13), and RS485 (U12) formats are available, dependent on hardware installed. RS232 signals are on J10, while RS422/485 signals are on J11. A MAX232CWE (U11) interfaces to RS232C level data lines. S1 and S2 provide two additional RS232C control lines. J10 and J11 are located near the power connectors along the edge of the board. The S1 and S2 headers are located between U11 and U12/13.

PROTOTYPING AREA

One third of the board area is available for user applications. There are 600 pads arranged on 0.1 inch centers for bread-boarding of prototype circuits. A portion of these pads is arranged to accommodate a VME 1/3U connector. The main pad group is arranged as a 3-5/8 x 1-3/4 inch rectangle less a minimal amount of space to accommodate J7, a VSC expansion connector. The prototype area provides the user a facility for custom circuitry. Together with the VSC components available, the prototyping area allows a significant degree of flexibility as well as an increase in computing power under user control.

NMIY-0031 I/O CONNECTORS

I/ O Connectors

The standard configuration of the NMIY-0031 board provides three I/O connectors and one power connector.

POWER - J12

+5 VDC power is applied at J12. J12 is located along a short edge of the board between J1, VSC, and VR1, 7805 locations. The terminal nearest the 7805 is for the positive lead, and the other terminal, nearest to the reset jumper is ground. When connecting power, be certain you use correct polarity.

KEYPAD - J3

J3 is the keypad connector. J3 is located between U1 and J4, near the user component area. Pin 1 is located nearest the edge of the board. J3 is designed to support a 4 x 5 matrix-type keypad. Pin connections are:

Pin # Signal Keypad

Name

1 PB.0 Y1

2 PB.1 Y2

3 PA.2 X3

4 PA.1 X2

5 PB.2 Y3

6 PA.0 X1

7 PA.3 X4

8 PB.3 Y4

9 PB.4 Y5

Input from J3 is latched by U5. See the Programming section for details on using the latch.

NMIY-0031 I/O CONNECTORS

LCD - J6

J6 is the LCD connector. J6 is located between U2, EPROM socket, and J7, VSC, near the user component area. Three rows of pins are available. Only two rows should be used by an LCD. The outside two rows of pins are identical to allow for the two common mirror imaged pinouts of ribbon cable connectors. Pin 1 is located in the row nearest to U2 and closest to the board edge. Pin connections are:

Pin # Signal Pin # Signal Pin # Signal

1 GND 2 +5 VDC 3 GND

4 contrast 5 A0 6 contrast

7 WR1 8 E1 9 WR1

10 D0 11 D1 12 D0

13 D2 14 D3 15 D2

16 D4 17 D5 18 D4

19 D6 20 D7 21 D6

22 N. C. 23 E3 24 N. C.

RS232 - J10

J10 is the RS232 connector. J10 is located on the edge of the board near R4, the pot., and U11, the 232 chip. J10 has 10 pins in a dual row header configuration. Pin 1 is the pin farthest away from U11 and nearest to the corner of the board. Pin connections are:

Pin # Signal Pin # Signal

1 N. C. 2 N. C.

3 SI (data out of board) 4 to J10-6

5 SO (data into board) 6 to J10-4

7 to J10-2 8 N. C.

9 GND 10 N. C.

NMIY-0031 i/o connectors

OPTIONAL CONNECTORS

RS422/485 - J11

J11 is the RS422/485 connector. J11 is located adjacent to J10 and is nearer the corner of the board. Pin 1 is nearest the corner of the board. Pin connections are:

Pin # Signal Pin # Signal

1 N. C. 2 N. C.

3 -422 XMIT 4 +422 XMIT

5 GND 6 GND

7 +422 RCV 8 -485 XCV

9 N. C. 10 N. C.

VERTICAL STACKING CONNECTORS - J1, J7, J9

The Vertical Stacking Connectors, VSC, J1, J7, and J9, allow bus extension to add-on cards that mate with the NMIY-0031. A list of currently available VSC card types is in the section “Circuit Description.” J1 is located next to U4, J7 is located next to the prototype area and near U2, and J9 is located between U2 and U3. Each pin 1 is near the long edge of the board and toward the short edge of the board at J1. J1, J7, and J9 each uses a 34 pin, dual row header. J1, J7, and J9 pin connections are:

Pin # Signal Pin # Signal Pin # Signal Pin # Signal

1 D3 2 GND 17 A11 18 A4

3 D4 4 D2 19 A9 20 A5

5 D5 6 D1 21 A8 22 A6

7 D6 8 D0 23 A13 24 A7

9 D7 10 A0 25 WR* 26 A12

11 ALE 12 A1 27 +5 V 28 A14

13 A10 14 A2 29 INT 30 A15

15 OE* 16 A3 31 RST* 32 E

33 N. C. 34 MEMDIS*

NMIY-0031 i/o connectors

LATCHED and NON-LATCHED I/O - J4 and J5

J4 is a 20 pin connector that accesses latched processor I/O. J5 is a 20 pin connector that accesses the eight lines of Port 1 directly. Care should be exercised at J5 in particular to ensure electrical compatibility with the processor I/O line requirements. J4 lines are latched by U5 and U6. J4 and J5 are located between U1 and the prototype area. Pin is in the direction of U1 and closest to U2.

J4 Connections (LATCHED)

Pin # Signal Pin # Signal

1 +5 V 2 +5 V

3 PA.0 4 PA.1

5 PA.2 6 PA.3

7 PA.4 8 PA.5

9 PA.6 10 PA.7

11 GND 12 GND

13 PB.0 14 PB.1

15 PB.2 16 PB.3

17 PB.4 18 PB.5

19 PB.6 20 PB.7

J5 Connections (NON-LATCHED)

Pin # Signal Pin # Signal

1 GND 2 GND

3 RST* 4 CSX

5 P1.0 6 P1.1

7 P1.2 8 P1.3

9 P1.4 10 P1.5

11 P1.6 12 P1.7

13 GND 14 GND

15 +5 V 16 +5 V

19 T0 20 T1

NMIY-0031 JUMPERS

Jumpers

Board configuration of the NMIY-0031 is managed through the use of jumpers. Standard configuration uses soldered jumpers. Headers are available as an option and are highly recommended for development systems.

Each of the memory locations U2, U3, and U4 have a set of configuration jumpers. U2 has one extra pair of jumper pins to manage both EPROMs and RAM. Standard settings configure all locations for an 8K x 8 memory device. Alternative settings accommodate 64K x 8 (U2 Configuration Jumpers only), 32K x 8, and 16K x 8 devices.

MEMORY CONFIGURATION JUMPERS

Location: below each memory socket U2, U3, and U4( jumpers N, O, and P respectively).

2764, 2864, 6264

N-U2 8K x 8 O-U3, P-U4 8K x8

to Pin 1 to Pin 26 to Pin 27 to Pin 1 to Pin 26 to Pin 27

| | | x | x | | | x | | | x | x | | | x |

27128 EPROM

N-U2 16K x 8 O-U3, P-U4 16K x 8

to Pin 1 to Pin 26 to Pin 27 to Pin 1 to Pin 26 to Pin 27

| | | x | | x | | x | | | x | | x | | x |

NMIY-0031 jumpers

27256 EPROM

N-U2 32K x 8 O-U3, P-U4 32K x 8

to Pin 1 to Pin 26 to Pin 27 to Pin 1 to Pin 26 to Pin 27

| | | x | | x | x | | | | x | | x | x | |

62256 RAM

N-U2 32K x 8 O-U3, P-U4 32K x 8

to Pin 1 to Pin 26 to Pin 27 to Pin 1 to Pin 26 to Pin 27

| | x | | | x | | x | | x | | | x | | x |

27512 EPROM

N-U2 64K x 8

to Pin 1 to Pin 26 to Pin 27

| x | | | | x | x | |

H10, H11, and H12 configure U2, U3, and U4 respectively to allow RAM to emulate EPROM by tying the WR* pin to VCC. To write protect RAM we recommend removal of the corresponding jumper for pin 27 and installing a 100K resistor across the pins of H10, H11, or H12. With battery backup in use, RAM emulates ROM.

RESET

Header Q, Located near J1 and J2, is reset. When shorted, reset is asserted. Q is normally open. A typical developer would install a momentary switch at Q.

NMIY-0031 jumpers

LCD CONTRAST

H1 provides contrast selection for the LCD display. Two ranges are available.

NOTE: Three-pin configuration jumpers should be viewed from the component side of the board with the prototype area positioned to the left. Pin 1 will be toward the top of the board, and pin 3 will be toward the bottom of the board.

Location: Configuration headers H2 - H9 are located between the power supply section and U9 & 10.

H2, H3, and H4 configure memory locations U2 and U3. H2 selects data only(2-3) or code & data(1-2) for U3. H3 selects code & data(2-3) or code only(1-2) for U2. Lastly, H4 selects 32K(1-2) or 64K(2-3) for U2.

H4 H4

U2 32K U2 64K

1 x -

2 x x

3 - x

VERTICAL STACKING COMPONENT (VSC) CONFIGURATION JUMPERS

H5 selects an OE for the VSC connector J1 from either U2 or U3. See figure above.

H6 selects the interrupt for VSC connectors J1, J7, and J9. Interrupts 0 and 1 are available for use. See figure below. All three VSC connectors J1, J7, and J9 share the same interrupt line.

H5 H5

OE-U2 OE-U3

for VSC for VSC

1 x -

2 x x

3 - x

NMIY-0031 Jumpers

SERIAL COMMUNICATIONS CONFIGURATION JUMPERS

H7 and H8 select which serial format will be used for communications. H8 selects between RS232 format and RS422/485. H7 and H9 select between RS422 and RS485. Standard configuration uses RS232. Optional components must be installed for either RS422 or RS485.

H6 H6 H8 H8

int 0 int 1 RS232 RS422/RS485

1 x - x -

2 x x x x

3 - x - x

H7 H7 H9 H9

RS422 RS485 RS422 RS485

1 x - x -

2 x x x x

3 - x - x

NMIY-0031 troubleshooting

Troubleshooting

Every computer system requires certain resources to run. The immediate availability and correctness of these resources should be checked first.. For a computer, these include:

· correct voltage, polarity, and regulation power supply

· a basic form of operating system

· RAM

· some form of user/application I/O

MOUNTING

Board mounting should be physically sturdy and electrically isolate all circuit traces from any surrounding conductive surface. It is very important that no metal points on the board contact external conductive items. We recommend nylon standoffs for mounting. See the section on Board Mounting for mechanical details.

POWER SUPPLY

+5 VDC @ 250 mA is required at J12 for the standard version (be certain polarity is correct). Boards with the power supply option require 6.3 to 10 VAC (alternatively +9 to +14 VDC) at connector J2. Check for correct power in either version with a meter or scope at the screw terminals of J12. When the supply is correct there will be + 5 VDC +/-5% with less than 80 mV ripple (in either version) at J12. Use of an oscilloscope is recommended whenever there is a question concerning power supply regulation.

OPERATING SYSTEM

Every CPU requires a base program to become functional. Such a program is usually referred to as an operating system. Operating systems provide usability services for the user, and interface directly with the hardware. The NMYI-0031 has four hardware-based operating system options: BASIC, a Monitor, and FORTH in EPROM. There is also an optional PC based C cross compiler that can be used to develop a base operating system and application. One of these or a functional user supplied program, must be in location U2 with jumpers configured for the memory type used to make the board operational. The type of EPROM installed in U2 must match the settings of jumper block N. See the Jumpers for details.

NMIY-0031 TROUBLESHOOTING

MEMORY

The program in U2 usually requires some read/write bus memory, or RAM, to function. Locations U3 and U4 provide this function. An appropriate amount of memory should be installed to satisfy the operating system and program requirements. BASIC and C require a minimum of 8Kx8 in U3 to operate. FORTH requires 32Kx8 in both U3 and U4. Be sure to check for any bent or broken pins on any devices installed in U2, U3, or U4. Occasionally such checking will require removal of the device, but often a careful visual inspection will suffice.

TERMINAL

Useful computers require some form of input/output. Usually a human interface is desirable. For the BASIC, FORTH, or Monitor options, an RS232 terminal or PC with terminal emulator is typical. The RS2332 connector is J10. RS232 settings are 9600 baud, 8N1. J11 provides RS422 or 485 support when U12/13 are installed. Some RS232 terminal equipment requires support lines as well as SO and SI lines. Check that your cable supports these lines if required. See the I/O Connector section to check your cable pinout. Remember to align pin 1 of J10 and your cable. Pin 1 is the J10 pin closest to the corner of the board.

KEYPAD and LCD I/O

Keypad input requires program support. Keypad and LCD connectors are J3 and J6 respectively. NMIY-0031 hardware supplies the necessary hardware control and data lines to make a keypad and LCD interfaces electrically functional. FORTH, BASIC, Assembly, and C options each provide some various levels of interface programmability.

PHYSICAL INSTALLATION OF DEVICES

On the physical side, all socket mounted components should be checked to ensure that:

· each chip is fully seated in its socket

· no pins are bent inward , outward, or curled under

· pin 1 of the device is mated with pin 1 of the socket(correct chip orientation)

· screw terminals are snugly fitted to the appropriate wires

· connectors are fully mated and properly oriented with respect to header pins

Additional product information is available at our world wide web site: www.newmicros.com

Support is available through our bulletin board by modem( 2400 maximum with 8-N-1) at: 214-339-2321. If emergency support is required, contact us by phone at 214-339-2204.

NMIY-0031 BOARD MOUNTING

Board Mounting

NMIY-0031 MOUNTING

Six mounting holes are provided for mounting the NMIY-0031. Each hole is drilled at 0.110 inches giving clearance for 4-40 hardware. Caution is necessary during installation to prevent inadvertent grounding of printed circuit board traces. The mounting holes located near J4 and J6 have traces nearby. These are the holes near the center of the board’s long edges.

Common ¾ inch long hex standoffs with a male screw on one end and a female threaded hole on the other are ideal inter-board connection devices. The VSC connector was designed to work with this size spacer, giving reliable board to board mounting.

The standard spacer length, 0.750 inches, plus the board thickness, 0.061 inches, giving a nominal board to board spacing of 0.811 inches. Should an exact spacing of 0.800 inches be required, as in the case of standard mounting hardware having 0.800 inch PCB card guides, the standard spacer will require milling to reduce its length by 0.011 inches.

VSC MOUNTING

The NMIY-0031 has connector pads for three VSC connectors. When these optional connectors are installed, there are three sites for adding VSC cards. A VSC card plugs into the NMIY-0031 from above the component side of the board. The mounting holes for VSC cards are located in ‘ears’ along both long sides of the NMIY-0031 board. The projecting, mounting ears each extend 3/8 inch from the edge of the board. Connector lengths are designed to accommodate standard ¾ inch standoffs with a male screw on one end and a female threaded hole on the other.

The length of the standard spacer, .750 inches, plus the board thickness, .061 inches, gives a nominal spacing board to board of .811 inches. When an exact spacing of .800 inches is desired, (some standard mounting hardware have .800 inch mounting board guides), .011 inches of the mounting surface at the female end of the soft brass standoff can be removed by mill or metal file.

The extremely small size of the boards means there are no guaranteed limits on how close components will be placed to the edge of the 2x4’s. Board guides will be difficult to use and designs should take this into account. They may be acceptable if non-conductive and very shallow. The main mounting holes are the best point of support.

NMIY-0031 SOFTWARE

PART III

SOFTWARE

The Software section supplies information for programming the NMIY-0031.

Programming gives information on program and data address spaces, and programming locations and commands for hardware resources.

Program Segments provides sample program segments to illustrate use of commands to hardware resources such as the keypad port and LCD interface. Program segments are provided for Monitor, BASIC, C, and FORTH.

NMIY-0031 programming

Programming

Programmable board resources include interfaces for:

· latched 8 bit input and 8 bit output port

· raw (direct) 8 bit I/O port including:

· two interrupts

· two timer/event counters

· 4x5 keypad

· LCD

· serial data port

The 8031 processor has four memory mapped I/O ports; one is available to the user. Two ports are required for bus address and data. The third port provides various signals: serial I/O, external interrupts, timer/counter functions, and data space read/write. The fourth port is available to the user. The eight lines of this port are available on J5.

The raw data port, interrupts, timer/counters, and serial port are implemented internally in the 8031. The other items are memory mapped to the processor externally by the board. The keypad port is created with external logic. An additional port (latched) with eight inputs and eight outputs is available at J4.

MEMORY

Three memory sockets are provided on the NMIY-0031. U2 is intended for the operating system. Available items for U2 are BASIC, FORTH, and Monitor. A Small C compiler is also available on diskette. Using C, the user can install an EPROM with a custom application operating system for production. To support rapid development, electrically alterable devices may be used in any of the three memory sockets to provide rapid development turnaround, avoiding EPROM erase-reprogram cycling.

External memory address space on the 8031 is divided into two parts. A 64K program address space and a 64K data address space. On the NMIY-0031 board, this distinction can be maintained strictly by the user, or configured so that the two spaces overlap in U3.

U2 is mapped to the bottom of program memory space. For example, if an 8Kx8 EPROM is installed then U2 is addressed from 0000 to 1FFF. Through configuration, U2 accepts up to 64K of EPROM program space. See Jumpers for details.

NMIY-0031 PROGRAMMiNG

U3 is configured as either program & data, or data only. The base address of U3 is 8000. When a 16Kx8 device is installed in U3, valid addresses range from 8000 to BFFF. H2 determines whether U3 is addressed as program & data, or data only. Up to a 32Kx8 device may be used in U3. See the Jumpers section for configuration details.

U4 is addressed as data only. The base address of U4 is 0000. Up to a 32Kx8 RAM may be used in U4. A 32Kx8 RAM installed in U4 is addressed from 0000 to 7FFF as data.

ADDRESS SPACES

U2 U3 U4

Program Data Program Data Program Data

NNNN NNNN FFFF NNNN NNNN NNNN NNNN

NNNN NNNN NNNN NNNN FC00 NNNN NNNN

SSSAA NNNN SSSSSS SSSAA NNNN NNNN

SSSAA NNNN 7FFF SSSSSS SSSAA NNNN NNNN

AAAA NNNN NNNN NNNN NNNN AAAA

AAAA NNNN 3FFF NNNN NNNN NNNN AAAA

AAAA NNNN NNNN NNNN NNNN AAAA

AAAA NNNN 1FFF NNNN NNNN NNNN AAAA

AAAA NNNN 0000 NNNN NNNN NNNN AAAA

NNN address space not available SSSS shared address space available

NMIY-0031 PROGRAMMING

DATA PORTS

Two general purpose data ports are available. One port is an externally memory-mapped, latched I/O port. The other is a raw (unprocessed) interface to processor Port 1.

Latched Data Port (J4)

The twenty pins of J4 contain latched input and output. These lines are an augmented alternative to the keypad inputs on J3. All eight lines of both the read and write latches are available. The latched data port and keypad use the same data latches. Please see the keypad information below for programming details on the latches.

Raw Data Port (J5)

J5 gives the user access to Port 1 of the processor, timers 0 and 1, and interrupts 0 and 1.. Caution: be certain that any load/source attached meets the specifications of the 8031 processor. Port 1 pins can source/sink up to four LSTTL loads. Excessive loads or signals can result in processor failure. 8031 data books give timer and interrupt programming information.

The CSX signal is a chip select that maps to FExx in data space for both read and write. The user can use this 256 byte memory block as desired, i.e. for custom memory mapped devices. The lower eight address bits are available on the VSC connectors as needed. RST is the master board reset used throughout the board.

Data lines on J5 are very useful for external control. The interrupts can be used to signal when particular services are needed from the processor. The timer outputs/counter inputs are useful for checking time dependent processes. Also, the direct data inputs are useful for bit oriented input/output. These are a few suggestions for using the direct input/output connections. See an 8031/51A data book for details on timer, counter, and interrupt programming.

KEYPAD I/F

The NMIY-0031 keypad is designed to be used with a matrix type keypad. A matrix keypad works by shorting together the corresponding row and column lines when a key is pressed. To detect a key press, the program writes a value to the column data lines with the output latch. The value sent out has a zero bit in the position corresponding to the column to be examined. The row values, are then latched and examined. Software must determine which row and which column are activated before the operator releases the key. Any column not pressed will return a row value of FF. The column pressed will return a row value with a positional zero bit indicating which key is pressed. Valid returns are FF, FE, FD, FB, and F7. See the “Program Segments” chapter for examples.

The column-data latch address is FFFC. Writing to this address causes the data to be latched. This latched byte is then available at J4 and the lower five bits (D4 - D0) are presented to the column inputs of the keypad. The row data latch address is FFFC. Reading FFFC latches the data of the four keypad row lines (D3 - D0). Until known data is latched onto the columns, returned row data will be meaningless. See “Program Segments” for examples.

NMIY-0031 PROGRAMMING

LCD I/F

The LCD interface is designed for a 2 or 4 row by 16, 20, or 40 character display. There are two addresses for the LCD. One address is used for commands only and the second for display data only. Commands are used to set the operating modes, clear the display, and set cursor position.

The recommended initialization sequence is 38, 38, 06, 0F, 01. The command address for the LCD is FFF8. Command functions available are:

Clear Display is the command 01. When the value 01 is written to address FFF8, any data on the display is removed and the cursor is returned to the home position. Data storage is cleared.

Cursor At Home is the command 02. The cursor is returned to the home position. Also the display string being shifted is returned to the original position. Data storage is unchanged.

Entry Mode Set is a group of related commands. This group determines the cursor move direction and specifies whether to shift the display. Each of these commands sets the mode used when writing data to the LCD:

04	Move cursor to left. Do not shift the display.	06	Move the cursor to the right. Do not shift the display. (normal)
05	Move the cursor to the left. Shift the display.	07	Move the cursor to the right. Shift the display. (normal)

Display On/Off Control turns the display on or off as a whole, turns the cursor on or off, and sets the cursor to blink or not.

08	Turn D, C, and B off	0C	Turn D on, C and B off
09	Turn D and C off, B on	0D	Turn D and B on, C off
0A	Turn D and B off, C on	0E	Turn D and C on, B off
0B	Turn D off, B and C on	0F	Turn D, B, and C on (normal)

where D is display, C is cursor, and B is blinking.

Note: The commands are hex numbers and are always upper case. It is recommended that the terminal be set to CAPS LOCK on whenever hex numbers are to be entered.

NMIY-0031 PROGRAMMING

Cursor/Display Shift moves the cursor and shifts the display without changing data. Cursor move direction is also controlled.

10	Move cursor to the left	18	Shift data to left
14	Move cursor to the right	1C	Shift data to the right

Function Set sets the number of display lines and selects character format.

30	Set 1 line display with 5x7 dot format.	38	Set 2 line display with 5x7 dot format.
34	Set 1 line display with 5x10 dot format.	3C	Set 2 line display with 5x10 dot format.

DDRAM Address Set allows the cursor address to be manipulated.

1xxx xxxx binary

where x is a

binary digit

Character position addresses are:

80 to 8F(16) to 93(20) to A7(40) for the first line

C0 to CF(16) to D3(20) TO E7(40) for the second line

(Upper address limits are shown for 16, 20, and 40 character per line LCD’s)

Today most LCD’s use the same controller chip, the Hitachi HD44780, or equivalent, regardless of display line length up to 40 characters and 4 lines. Data memory (DDRAM) will hold up to 40 characters on each line while displaying only a contiguous segment of that line equal to the number of display characters. The position addresses are shown above where the 16, 20 and 40 character display line end addresses are noted. Note that these address limits assume that the first character displayed is the first character of that line in memory. Using the shift feature, the first character displayed can be moved within the memory space in DDRAM. For example, a 16 character per line display could display positions 98 to A7 when shifted fully to the right. See Entry Mode Set for shift instructions. Addresses on each line wrap to the beginning of that line. That is, A7 is adjacent to 80 and E7 is adjacent to C0. LCD’s with fewer than 40 characters per line can still store a full 40 characters, but will display only 16 or 20 of them at a time. The display window’s position will be the same for all lines of the display.

LCD’s have a command and a data address. The LCD data address is FFF9. When data is written to this address it will be displayed according to the display mode previously selected. Display characters are from an enhanced ASCII character set. Numerals, upper and lower case roman letters, and punctuation marks are among the common characters supported.

NMIY-0031 PROGRAMMING

Four line LCD’s use two controllers instead of the single one on 1 and two line models. To access lines three and four, a second control line is provided for the second controller. The second controller addresses are FFFA for commands and FFFB for data.

SERIAL I/O

Serial I/O is available through the 8031 processor’s serial port. For most users, the I/O routines built into BASIC, FORTH, and C will support use of this port. See an 8031/51A data book for details on assembly language usage.

Serial-interface, electrical format is determined by which chips among U11, U12, and U13 are installed and the settings of jumpers H7, H8, and H9. See the section on Jumpers for particulars.

NMIY-0031 program segments

Program Segments

The following examples are provided to display the process of communicating with the LCD and key pad option. The code is written to be first instructive and secondly well written in the usual sense. We assume that the user can produce well-written code after reading and understanding the examples of using board facilities.

MONITOR

The following example will clear the LCD, set the display for blinking cursor on, and display the message:

“HELLO WORLD!”

The monitor ignores embedded spaces in a command line. When the last numeral on each line is entered the monitor will execute the command and give a new line at the control terminal. Note that each line starts with an upper case “O” and all subsequent characters are valid hexadecimal characters (all upper case) or spaces. The CAPS LOCK key is preferred. Spaces are not required by the Monitor, but are allowed and included for readability. The comments on each line are rejected by the monitor and should not be entered.

O 38 FFF8 ; Set 2 line display and 5x7 dot format

O 06 FFF8 ; Entry mode: cursor moves to right, no display shift

O 0F FFF8 ; Set display and blinking cursor on

O 01 FFF8 ; Clear Display

O 80 FFF8 ; Set cursor to left end of line one

O 22 FFF9 ; Display ‘ ” ’

O 48 FFF9 ; Display “H”

O 45 FFF9 ; Display “E”

O 4C FFF9 ; Display “L”

O 4F FFF9 ; Display “O”

O 20 FFF9 ; Display “ “

O 57 FFF9 ; Display “W”

O 4F FFF9 ; Display “O”

O 52 FFF9 ; Display “R”

O 4C FFF9 ; Display “L”

O 44 FFF9 ; Display “D”

O 21 FFF9 ; Display “!”

O 22 FFF9 ; Display ‘ “ ‘

When the entry process is completed, you should see:

“HELLO WORLD!”_

on the LCD with a blinking cursor on the right end.

Keypad access is quite different. Reading is accomplished in a two step process. First, a column value is written to the latch, then the latch is read. Successive column values are written and read until a non-FF value is returned. This column is the one with a key press. The non-FF value returned identifies the row value. The following example and explanation illustrates this:

NMIY-0031 PROGRAM SEGMENTS

O FE FFFC ; Check column 1

D FFFC FE ; Read row

O FD FFFC ; Check column 2

D FFFC FF ; Read row

O FB FFFC ; Check column 3

D FFFC FF ; Read row

O F7 FFFC ; Check column 4

D FFFC FF ; Read row

O EF FFFC ; Check column 5

D FFFC FF ; Read row

Each of the D FFFC commands returns a two digit hex value corresponding to the key pressed. The column value scanned when a non-FF return occurs, indicates the column pressed. Valid return values are FE, FB, FD, and F7. When a key in row 1 is pressed, then the one bit is returned as zero, FE. Row 2 returns FB, row 3 returns FD, and row 4 returns F7. The value returned by any other column will be FF.

Example

If the key in row 3, column 2 is pressed, then after entering:

O FD FFFC

D FFFC FB

the value FB is returned, while all other columns will return FF. The FB hex return value signifies a row 2 key is pressed. Bit 2 of FB has a zero value which identifies the row as 3. Remember to hold the key-pad key down while entering the “ D “ commands. If row 1 has a key pressed, the return value will be FE, row 2 would return FD, row 3 FB, and row 4 F7. Whenever a D command returns a value other than FF, the row pressed is determined by examining the return value.

The examples that follow assume use of a 4 line by 40 character LCD, and a 4 row by 5 column keypad. If other device configurations are used, it will be necessary to adjust either some values or interpretations of results.

NMIY-0031 PROGRAM SEGMENTS

BASIC

The following example clears and resets the LCD, and then displays the coordinates of the key press on the matrix keypad. The LCD and key pad interfaces are mapped into external data memory. BASIC uses the XBY() function to access external memory. Memory mapped facilities such as the built-in LCD and keypad interfaces or an NMIL add-on board can be accessed using XBY(adr, [data]). The keypad is addressed at 0FFFCH and the LCD (up to 4x20 display) is addressed at 0FFF8/9H as detailed below. A 4 line by 40 character LCD will require addresses 0FFFA/BH also, for the second control processor on the LCD.

The LCD will display the coordinates of the last key pressed on the keypad when the following code is executed. The code is organized to show the distinct functions necessary to initialize and control the LCD and keypad. First, the keypad, LCD, and string array are initialized. Then a keypad scan is executed until a key press is detected. The specific coordinates are then determined and written to the next line on the LCD. The keypad scan is then resumed until another key is pressed.

NEW

10 STRING 22,20 :REM Allocate string space

20 I = 0

22 ROW = 0 :REM Initialize row and column indices

24 COL = 0

REM Constants

30 KEYPAD = 0FFFCH :REM Keypad latch write/read address

32 LCDCMD = 0FFF8H :REM Display command address

34 LCDDAT = 0FFF9H :REM Display data address

35 LCDLINE = 20 :REM Display line length

36 NUMROWS = 4 :REM Number of display rows

37 NUMCOLS = 5 :REM Number of display columns

40 DIM B(5) :REM Declare array

100 GOSUB 1100 :REM Initialize the LCD

REM Start scan loop

110 DO

120 FOR I = 1 TO 5 :REM Scan columns for key press

130 XBY(KEYPAD) = B(I) :REM Output column data

140 KPDAT = XBY(KEYPAD) :REM Read row data

REM Save key-press values and exit

150 IF KPDAT <> 0FFH THEN COL = I : ROW = KPDAT : I = 5

160 NEXT I

170 UNTIL ROW <> 0 :REM Loop until key-press

REM De-bounce key-press

200 DO : KPDAT = XBY(KEYPAD) : WHILE (KPDAT = ROW )

REM Convert row value to coordinate

210 FOR I = 1 TO NUMROWS

220 IF B(I) = ROW THEN ROW = I

230 NEXT I

REM Assemble display string

300 ASC($(0), 1) = ROW + 030H

310 ASC($(0), 2) = 02CH :REM comma

320 ASC($(0), 3) = 020H :REM space

330 ASC($(0), 4) = COL + 030H

400 GOSUB 1000 :REM Write key position to display

NMIY-0031 PROGRAM SEGMENTS

450 GOTO 110 :REM Loop until console CTRL-C

500 END

REM Write key position to display

1000 XBY(LCDCMD) = 01H :REM Clear display and return home

1010 FOR I = 1 TO LCDLINE

1020 XBY(LCDDAT) = ASC($(0), I) : NEXT I

1030 COL= 0 : ROW = 0

1040 RETURN

REM INITIALIZATION INSTRUCTIONS

REM Initialize Array

1100 B(1) = 0FEH :REM Initialize column address vector

1110 B(2) = 0FDH

1120 B(3) = 0FBH

1130 B(4) = 0F7H

1140 B(5) = 0EFH

REM Initialize Display

1200 XBY(LCDCMD) = 038H :REM Get attention

1210 XBY(LCDCMD) = 038H :REM Set 2 line display and 5x7 dot format

1220 XBY(LCDCMD) = 006H :REM Entry mode: cursor to right, no shift

1230 XBY(LCDCMD) = 00FH :REM Set display and blinking cursor on

1240 XBY(LCDCMD) = 001H :REM Clear Display

REM Clear string array

1300 FOR I = 1 TO LCDLINE

1310 ASC($(0), I) = 020H : NEXT I

1320 RETURN

NMIY-0031 PROGRAM SEGMENTS

C

The example segment for C does the same function as the BASIC example above. First the key-pad is read until a key press is detected. The key press coordinates are determined and then output to the LCD.

#include ..\clib\common51.c

#include ..\clib\syslib51.c

#include ..\clib\stdio.h

#include ..\clib\alloc.c

#include ..\clib\peekpoke.c

#include ..\clib\getchar.c

#include ..\clib\fgetc.c

main ()

{

char *ch1;

int coldata,

row, col;

_lcdinit();

_lcdbusy();

while (EOF)

{

coldata = 1;

col = 0;

row = 0;

for (col = 1; col < 6; col++) /* scan columns */

{

_kpad_put(coldata ^ 0xFF); /* output column bit */

if (row = _kpad_get(ch1)) /* check for key press */

{

while

(row == _kpad_get(ch1)); /* de-bounce key press */

_lcdhome();

_dispdata(row, col); /* display key press */

}

else

coldata = coldata << 1;

} /* end for */

} /* end while */

} /* end main */

_dispdata(row, col) /* output data to lcd */

int row, col;

{

if ( row == 0x0004)

row = 3;

else if ( row == 0x0008)

row = 4;

lcdput(row+0x0030);

lcdput(',');

lcdput(col+0x0030);

lcdput(' ');

}

NMIY-0031 PROGRAM SEGMENTS

_kpad_put(ch) /* write to keypad latch */

char ch;

{

int *adr;

adr = 0x0FFFC;

_lcdbusy(); /* wait */

pokeb(adr, ch); /* send character */

return(ch);

}

_kpad_get(ch) /* read keypad latch */

char ch;

{

int *adr;

adr = 0xFFFC;

ch = (peekb(adr) ^ 0x00FF);

return(ch);

}

_lcdbusy () /* wait for LCD not busy */

{

int *adr;

adr = 0x0FFF8;

while (peekb(adr) & 0x0080);

}

_lcdput(ch) /* write display data to LCD */

char ch;

{

int *adr;

adr = 0x0FFF9;

_lcdbusy(); /* wait */

pokeb(adr, ch); /* send character */

}

_lcdcr() /* set LCD cursor to other line */

{

char z;

int i,

*adr;

_lcdbusy();

/* compute other line address */

adr = 0xFFF8;

z = peekb(adr) & 0x0040 ^ 0x00C0;

pokeb(adr, z); /* set cursor at BOL */

for (i=0; i++; i<40) /* clear to LCD EOL */

{

_lcdput(' '); /* clear next position */

_lcdbusy(); /* wait */

}

pokeb(adr, z); /* reposition cursor */

}

NMIY-0031 PROGRAM SEGMENTS

_lcdhome() /* set LCD cursor at home position */

{

int *adr;

adr = 0xFFF8;

_lcdbusy();

pokeb(adr, 0x0001);

}

_lcdinit() /* reset LCD display */

{

int *adr;

adr = 0xFFF8;

_lcdbusy(); /* wait */

pokeb(adr, 0x0038); /* get attention */

_lcdbusy();

pokeb(adr, 0x0038); /* 8 bit data, 2 lines, 5x7 dots */

_lcdbusy();

pokeb(adr, 0x0006); /* cursor inc, no display shift */

_lcdbusy();

pokeb(adr, 0x000F); /* display on, blinking cursor on */

_lcdbusy();

pokeb(adr, 0x0001); /* clear display, set cursor to home */

}

NMIY-0031 PROGRAM SEGMENTS

FORTH

( GENERIC KEYPAD INPUT AND LCD OUTPUT ROUTINES

( -----

HEX

( LCD DISPLAY ROUTINES

( -----

0FFF8 CONSTANT DSP-CMD

0FFF9 CONSTANT DSP-DATA

0FFFC CONSTANT KPAD

5 CONSTANT TOT-COL

4 CONSTANT TOT-ROW

VARIABLE COL

VARIABLE ROW

: WAIT-NOT-BUSY BEGIN DSP-CMD C@ 080 AND 0= UNTIL ;

: DSP-CLEAR WAIT-NOT-BUSY 01 DSP-CMD C! ;

: DSP-HOME WAIT-NOT-BUSY 02 DSP-CMD C! ;

028 CONSTANT DC/L

( position cursor on top 00-27 or bottom 28-4F line -- 2x40 DISPLAY

: DSP-AT ( n -- )

DUP DC/L MOD 080 OR SWAP DC/L 1- > IF 040 OR THEN

WAIT-NOT-BUSY DSP-CMD C! ;

( return cursor position

: C-URSOR? ( -- n )

WAIT-NOT-BUSY DSP-CMD C@ 07F AND ;

( print a character, move cursor to left

: DSP-EMIT ( char -- ) WAIT-NOT-BUSY DSP-DATA C! ;

( print a string on the LCD, writes past end of line.......

: DSP-TYPE ( addr n -- )

?DUP IF 0 DO COUNT DSP-EMIT LOOP THEN DROP ;

( init the display

: DSP-ON

WAIT-NOT-BUSY

038 DSP-CMD C! ( get attention )

038 DSP-CMD C! ( set 2 line display, 2x40 )

06 DSP-CMD C! ( character entry right )

0F DSP-CMD C! ( display & cursor on, blinking )

01 DSP-CMD C! ( clear display, set cursor home )

;

( COMPILE NON-PRINTING STRINGS

( -----

: (")

R@ COUNT DUP 1+ R> + >R ;

: "

COMPILE (") 022 WORD C@ 1+ ALLOT ; IMMEDIATE

: DSP-SPACES ( n -- )

?DUP IF 0 DO BL DSP-EMIT LOOP THEN ;

NMIY-0031 PROGRAM SEGMENTS

: (D.) ( d -- addr # )

SWAP OVER DABS <# #S SIGN #> ;

: DSP-D. ( d -- )

(D.) DSP-TYPE BL DSP-EMIT ;

: DSP-D.R ( d n -- )

>R (D.) R> OVER - 0 MAX DSP-SPACES DSP-TYPE ;

: DSP-. ( n -- ) S->D DSP-D. ;

: TEST

DSP-ON

DSP-CLEAR " THIS IS A TEST " DSP-TYPE ;

: 2** ( input X 0-F --- OUT 2**X

BEGIN

OVER ( 0= NOT

WHILE

SWAP

REPEAT

SWAP DROP

;

( read keypad latch

: KPAD? ( -- n ) KPAD C@ FF XOR ;

( write to keypad latch

: KPAD! ( n-- ) KPAD C! ;

( detect keypress

: ?KPAD ( -- row# ) 0 KPAD! BEGIN KPAD? UNTIL KPAD? ;

( determine which row and column are pressed

( values are saved in variables ROW and COL

: SCAN

0FFFF ROW !

0FFFF COL !

TOT-COL 0

I 2** 0FF XOR

KPAD!

TOT-ROW 0

KPAD? I 2** AND IF I ROW ! J COL ! THEN

LOOP

;

: CONVERT-KPAD ( ROW COL -- n ) (map key coordinates to single ASCII character

ROW @ TOT-COL * COL @ +

DUP 04 = IF DROP 017 ELSE ( convert unlabeled keys

DUP 09 = IF DROP 018 ELSE

DUP 0E = IF DROP 019 ELSE

DUP 013 =

IF DROP 01A THEN THEN THEN THEN ( bias #s and letters

DUP 017 <

IF DUP 03 > IF 1- DUP 07 > IF 1- DUP 0B > IF 1- THEN THEN THEN THEN

DUP 09 > OVER 017 < AND

IF 07 + THEN

030 +

;

NMIY-0031 PROGRAM SEGMENTS

( detect key press

: KPAD-PRESS?

BEGIN SCAN COL @ ROW @ AND 0FFFF = NOT UNTIL

;

( de-bounce key pad

: KPAD-RELEASE?

COL @ 2** 0FF XOR KPAD! BEGIN KPAD? ROW @ 2** AND 0= UNTIL

;

( get and de-bounce key press

: GET-KPAD

KPAD-PRESS?

CONVERT-KPAD

KPAD-RELEASE?

;

( get key press and display on LCD

: KPAD>DSP

DSP-ON

BEGIN

GET-KPAD

DSP-EMIT

?TERMINAL

UNTIL

;

DECIMAL

NMIY-0031 PART IV DRAWINGS

PART IV

DRAWINGS

The Drawings section contains the parts list, silk screen for the board, mechanical detail drawing, and board schematic.

NMIY-0031 parts list

Parts List

Component Location Component Location

Capacitor, 0.1 uF C1, 5-9, 12, 17-18 IC, 74HC573 U8

Capacitor, 22 pF C2-4 IC, SN75176 U12-13

Capacitor, 10 uF C10, 13-16 80C51A U1

16V electrolytic Jumper pin double

Capacitor, 100 uF C19-20 Jumper pin single

16V electrolytic PCB, NMIY-0031 BOARD

Connector 34 pin VSC, J1 Resistor, 1K, 5%, ¼ W R8

dual row header Resistor, 4.7K, 5%, ¼ W R2-3

Spacer 34 pin VSC Resistor, 10K, 5%, ¼ W R5-7,9

Diode, 1N4148 D1-3 Resistor, 10K, 10P9E RN1

Bridge rectifier, DB101 CR1 Resistor, 10K, pot. R4

Regulator, 7805 VR1 Resistor, 10M, 5%, ¼ W R1

IC, GAL16V8 U9-10 Socket, 8 pin U12-13

IC, MAX232 U11 Socket, 16 pin U11

IC, 8K BASIC EPROM U2 Socket, 20 pin U5, 6, 8, 9, 10

IC, 8K MONITOR U2 Socket, 28 pin wide U2-4

IC, HY6264ALP-12 U3 Socket, 44 pin PLCC U1

IC, 74HC245 U5 Shunt various

IC, 74HC273 U6 Terminal, 2 pin, screw down J2, 12

XTAL, 11.053 Y1

NMIY-0031 SILK SCREEN

Silk Screen

NMIY-0031 MECHANICAL DRAWING

Mechanical Drawing

U5

U8

U6

C5

C1

C7

J11

NMIY-0031 Schematic

Schematic

APPENDICES

The appendices included contain example code using various NMIL series cards. These cards provide extended functionality for the NMIY-0031. NMIL cards attach to the NMIY-0031 processor card through the vertical stacking connectors (VSC). The NMIY-0031 has three VSC connectors for adding up to three cards in low profile. The VSC connection system can accept many more than three cards, however, since each NMIL card also has a VSC. Cards using the VSC system may be added to a stack as needed until bus loading becomes an issue.

Sample code is included in BASIC, C, and FORTH for:

· LCD and Keypad interfaces on NMIY-0031

· NMIL-1055 24-BIT I/O board

· NMIL-3003 64 Input HC compatible board

· NMIL-3004 64 Output HC compatible board

· NMIL-4000 8-Channel, 8-Bit, Digital-to-Analog board

· NMIL-4004 1-Channel, 12-Bit, Analog-to-Digital board

· NMIL-5000 ACIA 1-Channel Serial Communications board

· NMIL-7001 16-Channel OPTO Isolator Output board

· NMIL-7003 8-Channel Input, 8-Channel Output OPTO Isolator board

· NMIL-7022 8-Channel, Mechanical Relay (SPST) board

· NMIL-7040 4-Channel Stepper Motor Controller board

· NMIL-7056 Servo Motor Driver board

· NMIL-9003 Real Time Clock board

Appendix A BASIC Sample Programs

Appendix A contains a BASIC sample program for each of the listed NMIL cards. Sample programs show the requirements for using the boards. Fundamental communications routines are given and typically brought together with a user interface. Many of the routines are coded to stress clarity in reading rather than efficiency relative to BASIC.

LCD Keypad Interface

BASIC Sample Program

REM LCD-KEYPAD is a sample program that demonstrates use of the LCD

REM and keypad interfaces on the NMIY-0031 processor board.

REM

REM When the program is loaded and run, the LCD is cleared. Then the

REM program waits for an input on the keypad. When a key press is

REM detected, the row number and the column number are displayed on

REM the next line of the LCD(in the order first line, then second line

REM then first line again). The keypad used for development was a 4x5

REM matrix. The LCD used was a 2 line by 40 character display.

REM

REM The LCD interface can control up to a 4 x 40 display.

REM Matrix keypads are pinned out so that the pad can be plugged in

REM two ways and still "work". However, if plugged in the other way,

REM then the key pressed coordinates will be reversed. That is row 1

REM would report as row 4, row 2 as row 3, row 3 as row 2, ... .

REM Similarly for the columns.

NEW

10 STRING 22,20 :REM Allocate string space

20 I = 0

22 ROW = 0 :REM Initialize row and column indices

24 COL = 0

REM Constants

30 KEYPAD = 0FFFCH :REM Keypad latch write/read address

32 LCDCMD = 0FFF8H :REM Display command address

34 LCDDAT = 0FFF9H :REM Display data address

35 LCDLINE = 20 :REM Display line length

36 NUMROWS = 4 :REM Number of display rows

37 NUMCOLS = 5 :REM Number of display columns

REM Arrays

40 DIM B(5)

100 GOSUB 1100 :REM Initialize the array

REM Start scan loop

110 DO

120 FOR I = 1 TO 5 :REM Scan columns for key press

130 XBY(KEYPAD) = B(I) :REM Output column data

140 KPDAT = XBY(KEYPAD) :REM Read row data

REM Get key-press value

150 IF KPDAT <> 0FFH THEN COL = I : ROW = KPDAT : I = 5

160 NEXT I

170 UNTIL ROW <> 0 :REM Loop until key-press

REM Debounce key-press

200 DO : KPDAT = XBY(KEYPAD) : WHILE (KPDAT = ROW )

REM Convert row value to coordinate

210 FOR I = 1 TO NUMROWS

220 IF B(I) = ROW THEN ROW = I

230 NEXT I

REM Assemble display string

300 ASC($(0), 1) = ROW + 030H

310 ASC($(0), 2) = 02CH :REM comma

320 ASC($(0), 3) = 020H :REM space

330 ASC($(0), 4) = COL + 030H

400 GOSUB 1000 :REM Write key position to display

450 GOTO 110 :REM Loop until console CTRL-C

500 END

LCD Keypad Interface

BASIC Sample Program

REM Write key position to display

1000 XBY(LCDCMD) = 01H :REM Clear display and return home

1010 FOR I = 1 TO LCDLINE

1020 XBY(LCDDAT) = ASC($(0), I) : NEXT I

1030 COL= 0 : ROW = 0

1040 RETURN

REM INITIALIZATION INSTRUCTIONS

REM Initialize Array

1100 B(1) = 0FEH :REM Initialize column address vector

1110 B(2) = 0FDH

1120 B(3) = 0FBH

1130 B(4) = 0F7H

1140 B(5) = 0EFH

REM Initialize Display

1200 XBY(LCDCMD) = 038H :REM Get attention

1210 XBY(LCDCMD) = 038H :REM Set 2 line display and 5x7 dot format

1220 XBY(LCDCMD) = 006H :REM Entry mode: cursor to right, no shift

1230 XBY(LCDCMD) = 00FH :REM Set display and blinking cursor on

1240 XBY(LCDCMD) = 001H :REM Clear Display

REM Clear string array

1300 FOR I = 1 TO LCDLINE

1310 ASC($(0), I) = 020H : NEXT I

1320 RETURN

NMIL-1055 24-Bit i/o

basic sample program

NEW

REM

REM This program demonstrates use of the NMIL-1055 24-bit I/O

REM board with the NMIY-0031 processor card.

REM

REM The user is queried first for Port configuration, then for output

REM DATA. The NMIL-1055 ports are then read and the values written

REM to COM1.

REM

REM First get configuration and setup each port

1000 CNTROL = 080H

1010 PRINT "Is Port A input or output? Enter a 1 for input,"

1020 PRINT "or a 0 for output: ",

1030 INPUT PAVALUE : PRINT

1040 IF(PAVALUE <> 0) THEN CNTROL = CNTROL + 010H

1050 PRINT "Is Port B input or output? Enter a 1 for input,"

1060 PRINT "or a 0 for output: ",

1070 INPUT PBVALUE : PRINT

1080 IF(PBVALUE <> 0) THEN CNTROL = CNTROL + 02H

1090 PRINT "Is Port C BITS 0-3 input or output?"

1100 PRINT "Enter a 1 for input or a 0 for output: ",

1110 INPUT PCLVALUE : PRINT

1120 IF(PCLVALUE <> 0) THEN CNTROL = CNTROL + 01H

1130 PRINT "Is Port C BITS 4-7 input or output?"

1140 PRINT "Enter a 1 for input or a 0 for output: ",

1150 INPUT PCHVALUE : PRINT

1160 IF(PCHVALUE <> 0) THEN CNTROL = CNTROL + 08H

1170 XBY(0FFE3H) = CNTROL

REM Get and set port output values

1200 GOSUB 10700 :REM Get value and output to Port A

1210 IF(PBVALUE) THEN GOTO 1230

1220 GOSUB 10800 :REM Get value and output to Port B

1230 IF(PCHVALUE .OR. PCLVALUE) THEN GOTO 1300

1240 GOSUB 10900 :REM Get value and output to Port C

REM Now read and output the port data values

1300 GOSUB 10300 :REM Read and Print Port A

1310 GOSUB 10400 :REM Read and Print Port B

1320 GOSUB 10500 :REM Read and Print Port C

1380 GOTO 1000

REM Utility Routines

REM Read Port A and output to COM1

10300 PORTA = XBY(0FFE0H)

10310 PH0. "Port A value is ", PORTA

10320 RETURN

REM Read Port B and output to COM1

10400 PORTA = XBY(0FFE1H)

10410 PH0. "Port B value is ", PORTA

10420 RETURN

REM Read Port C and output to COM1

10500 PORTA = XBY(0FFE2H)

10510 PH0. "Port C value is ", PORTA

10520 RETURN

REM Read Control Word Register

10600 CTRLREG = XBY(0FFE3H)

10610 PRINT "Control Word register value is ", CTRLREG

10620 RETURN

NMIL-1055 24-Bit i/o

basic sample program

REM Get value and output to Port A

10700 PRINT "Enter value to output to Port A: ",

10710 INPUT PORTA

10720 XBY(0FFE0H) = PORTA

10730 RETURN

REM Get value and output to Port B

10800 PRINT "Enter value to output to Port B: ",

10810 INPUT PORTB

10820 XBY(0FFE1H) = PORTB

10830 RETURN

REM Get value and output to Port C

10900 PRINT "Enter value to output to Port C: ",

10910 INPUT PORTC

10920 XBY(0FFE2H) = PORTC

10930 RETURN

NMIL-3003 64 Input

BASIC Sample Program

NEW

REM This program demonstrates the use of the NMIL-3003 64 input board

REM with the NMIY-0031 processor card. The NMIL-3003 connects to the

REM NMIY-0031 using a Vertical Stacking Connector. Additional

REM Vertical Stacking connector boards may also be used in a system

REM subject only to the user's needs and bus loading requirements.

REM

REM The NMIL-3003 is a 64 input HC compatible board. This sample

REM program segment will read the ports consecutively and display

REM the values read across the screen.

REM

REM First read all ports

REM

1000 PORTA = XBY(0FFE0H)

1010 PORTB = XBY(0FFE1H)

1020 PORTC = XBY(0FFE2H)

1030 PORTD = XBY(0FFE3H)

1040 PORTE = XBY(0FFE4H)

1050 PORTF1 = XBY(0FFE5H)

1060 PORTG = XBY(0FFE6H)

1070 PORTH = XBY(0FFE7H)

REM Now display all ports across the screen as HEXADECIMAL values.

REM

1100 PRINT "PORT A B C D E F G H"

1110 PRINT " ",

1120 PH0. PORTA, PORTB, PORTC, PORTD, PORTE, PORTF1, PORTG, PORTH

1130 INPUT "Press 0 and enter to read again.", PORTA

1200 GOTO 1000 :REM Loop forever

NMIL-3004 64-Output

BASIC Sample Program

NEW

REM

REM The NMIL-3004 is a 64 output HC compatible board. This sample

REM program segment will input new port values consecutively and

REM then write the values to the NMIL-3004 from the NMIY-0031

REM processor board.

REM

1000 INPUT "Enter a value to write to port A: ", PORTA

1010 INPUT "Enter a value to write to port B: ", PORTB

1020 INPUT "Enter a value to write to port C: ", PORTC

1030 INPUT "Enter a value to write to port D: ", PORTD

1040 INPUT "Enter a value to write to port E: ", PORTE

1050 INPUT "Enter a value to write to port F: ", PORTF1

1060 INPUT "Enter a value to write to port G: ", PORTG

1070 INPUT "Enter a value to write to port H: ", PORTH

REM Write all ports

REM

1100 XBY(0FFE0H) = PORTA

1110 XBY(0FFE1H) = PORTB

1120 XBY(0FFE2H) = PORTC

1130 XBY(0FFE3H) = PORTD

1140 XBY(0FFE4H) = PORTE

1150 XBY(0FFE5H) = PORTF1

1160 XBY(0FFE6H) = PORTG

1170 XBY(0FFE7H) = PORTH

1200 GOTO 1000

NMIL-4000 8-Channel, 8-Bit, D/A

BASIC Sample Program

NEW

REM

REM A sample program segment to demonstrate the use of the

REM NMIL-4000 8-channel, 8-bit, D/A board with the NMIY-0031

REM processor board.

REM

REM TEST will generate a rising ramp waveform on each channel

REM with a DAC chip installed. The rising ramp will repeat until the

REM program is terminated.

REM

REM Initialize

10 DIM CH(9)

20 BASEADDRESS = 0FFE0H

30 GOSUB 10000

REM TEST CODE TO GENERATE STAIRSTEP OUTPUT VOLTAGE

100 FOR OUTVAL = 1 TO 255 :REM write each value in the D/A range

110 FOR CHNUM = 1 TO 8 :REM write the same output to each channel

120 XBY(CH(CHNUM)) = OUTVAL

160 NEXT CHNUM

REM Uncomment lines 100 and 130 below for meter testing

REM These lines slow down the changes to fast meter response time

REM 100 FOR I = 1 TO 255 STEP 39

REM 130 FOR K = 1 TO 1000 : NEXT K

180 NEXT OUTVAL

200 GOTO 100

REM Initialize DAC channel address pointers and outputs

10000 CH(1) = (BASEADDRESS + 0)

10010 CH(2) = (BASEADDRESS + 1)

10020 CH(3) = (BASEADDRESS + 2)

10030 CH(4) = (BASEADDRESS + 3)

10040 CH(5) = (BASEADDRESS + 4)

10050 CH(6) = (BASEADDRESS + 5)

10060 CH(7) = (BASEADDRESS + 6)

10070 CH(8) = (BASEADDRESS + 7)

REM Init outputs

10100 XBY(CH(1)) = 0

10110 XBY(CH(2)) = 0

10120 XBY(CH(3)) = 0

10130 XBY(CH(4)) = 0

10140 XBY(CH(5)) = 0

10150 XBY(CH(6)) = 0

10160 XBY(CH(7)) = 0

10170 XBY(CH(8)) = 0

10190 RETURN

REM Output to specified channel

REM CHNUM (channel number) must be set by caller with value in OUTVAL

10200 XBY(CH(CHNUM)) = OUTVAL

10290 RETURN

REM 10.0 mV Scaled output to channel

REM CHNUM (channel number) must be set by caller with value in OUTVAL

10300 XBY(CH(CHNUM)) = OUTVAL / 39

10390 RETURN

REM 2.56 mV Scaled output to channel

REM CHNUM (channel number) must be set by caller with value in OUTVAL

10400 XBY(CH(CHNUM)) = OUTVAL / 10

10490 RETURN

NMIL-4004 8-Channel A/D

BASIC Sample Program

NEW

REM This program demonstrates use of the NMIL-4004 8-channel A/D board

REM used with the NMIY-0031 processor board. Routines are provided for

REM calibration, test, and monitoring of inputs (scanning).

REM Constant to control delay after starting A/D conversion

10 DELAY = 125

20 BASEADR = 0FFE0H

30 BASEPL1 = 0FFE1H

30 BASEPL2 = 0FFE2H

30 BASEPL3 = 0FFE3H

REM User menu

1000 FOR I = 1 TO 24 : PRINT : NEXT I

1010 PRINT " Enter the number of your choice:": PRINT

1020 PRINT " 0 Calibration loop (channel 0)"

1030 PRINT " 1 Report loop for all channels"

1040 PRINT " 2 Scan loop (scaled X 1)"

1050 PRINT " 3 Scan loop (scaled X 10)"

1060 PRINT " 4 Scan loop (scaled X 20)"

1070 INPUT CHOICE : PRINT

1080 IF ((CHOICE < 0) .OR. (CHOICE > 4)) GOTO 1000

1090 ON CHOICE GOSUB 11500, 11000, 10100, 10200, 10240

1095 GOTO 1000

REM Set channel, start conversion, wait, then read

10000 XBY(BASEADR) = CHNUM

10010 XBY(BASEPL1) = 0

10020 FOR I = 0 TO DELAY : NEXT I

10030 RDVALUE = (XBY(BASEPL2)*010H) + (XBY(BASEPL3)/010H)

10099 RETURN

REM Scan outputs, scales by 1, and prints to screen in a loop

10100 GOSUB 10800 :REM Make title

10110 DO

10120 GOSUB 10300 :REM Unitary scale and display

10130 WHILE (1 = 1)

10199 RETURN

REM Scan outputs, scales by 10, and prints to screen in a loop

10200 GOSUB 10800 :REM Make title

10210 DO

10220 GOSUB 10400 :REM scale by 10 and display

10230 WHILE (1 = 1)

10239 RETURN

REM Scan outputs, scales by 20, and prints to screen in a loop

10240 GOSUB 10800 :REM Make title

10250 DO

10260 GOSUB 10600 :REM Scale by 20 and display

10270 WHILE (1 = 1)

10279 RETURN

REM Some utilities

REM Unitary scaled display, decimal printout

10300 FOR J = 0 TO 7

10310 CHNUM = J

10320 GOSUB 10000 :REM read channel

10330 GOSUB 10520 :REM Convert to scale

10340 PRINT RDVALUE,

10350 NEXT J

10360 PRINT

10390 RETURN

NMIL-4004 8-Channel A/D

BASIC Sample Program

REM Scaled by 10 display, decimal printout

10400 FOR J = 0 TO 7

10410 CHNUM = J

10420 GOSUB 10000 :REM read channel

10430 GOSUB 10510 :REM Scale for 10V input

10440 PRINT RDVALUE,

10460 NEXT J

10470 PRINT

10479 RETURN

REM Scaling for 20V inputs

10500 RDVALUE = RDVALUE*20 : GOTO 10520

REM Scaling for 10V inputs

10510 RDVALUE = RDVALUE*10

REM Convert to 10 V scale(0FFFH/0AH ==> 409.5 decimal) and round-off

10520 RDVALUE = (INT((RDVALUE/409.5)*100))/100

10529 RETURN

REM Scaled by 20 display, decimal printout

10600 FOR J = 0 TO 7

10610 CHNUM = J

10620 GOSUB 10000 :REM read channel

10630 GOSUB 10500 :REM Scale for 20V input

10640 PRINT RDVALUE,

10660 NEXT J

10670 PRINT

10679 RETURN

REM Make title

10800 FOR I = 1 TO 26 : PRINT : NEXT I

10810 PRINT" Channel Readings" : PRINT

10820 PRINT " 0 1 2 3 4 5 6 7"

10830 PRINT

10899 RETURN

REM Routine to test and report all channels.

11000 PRINT

11010 DO

11020 FOR J = 0 TO 7

11030 CHNUM = J

11040 GOSUB 10000 :REM read channel

11050 PH0. USING(###.##), RDVALUE,

11060 NEXT J

11070 PRINT

11080 WHILE (1 = 1)

11089 RETURN

REM Routine to perform calibration. Uses channel 0.

11500 CHNUM = 0

11510 DO

11520 GOSUB 10000 :REM read channel

11530 PH0. USING(###.##), RDVALUE,

11540 WHILE (1 = 1)

11599 RETURN

REM Additional Examples

REM Set Channel

13000 XBY(BASEADR) = CHNUM

13009 RETURN

REM Alternate Channel set

13100 XBY(BASEPL1) = CHNUM

13109 RETURN

NMIL-4004 8-Channel A/D

BASIC Sample Program

REM Start 8 bit conversion

13110 XBY(BASEPL3) = 0

13119 RETURN

REM Alternate start 8 bit conversion

13120 XBY(BASEPL3) = 0FFH

13129 RETURN

REM Read 8 bit

13130 RDVAL = XBY(BASEPL2)

13139 RETURN

REM Start 12 bit conversion

13140 XBY(BASEPL2) = 0

13149 RETURN

REM Alternate start 12 bit conversion

13150 XBY(BASEPL2) = 0FFH

13159 RETURN

REM Read 12 bit

13160 RDVAL = XBY(BASEPL2) : RDVAL2 = XBY(BASEPL3)

13169 RETURN

REM Scale 12 bit reading

13170 RDVAL = (RDVAL / 10) .AND. 0FFFH

13179 RETURN

NMIL-5000 ACIA Serial Communication

BASIC Sample Program

NEW

REM

REM This program demonstrates the use of the NMIL-5000 ACIA board

REM with the NMIY-0031 processor card as controller.

REM

REM The user is presented with a menu of various ACIA modes. The

REM selection made is executed. Some of the modes may be interrupted

REM through use of cntrl-C on the remote terminal. When the cntrl-C

REM is entered, the PC terminal program will reprint the menu.

REM

10 DIM BAADS(16)

11 BAADS(1) = 0

12 BAADS(2) = 100

13 BAADS(3) = 150

14 BAADS(4) = 220

15 BAADS(5) = 269

16 BAADS(6) = 300

17 BAADS(7) = 600

18 BAADS(8) = 1200

19 BAADS(9) = 2400

20 BAADS(10) = 3600

21 BAADS(11) = 4800

22 BAADS(12) = 7200

23 BAADS(13) = 9600

24 BAADS(14) = 14400

25 BAADS(15) = 19200

26 BAADS(16) = 38400

REM Initialize NMIL-5000

110 CMMAND = 0CBH

120 CNTROL = 01CH

130 GOSUB 10000 :REM Initialize registers

REM Main control loop menu

1000 ?:?:?:?

1010 ?"0 Report status register"

1020 ?"1 Report command register"

1030 ?"2 Report control register"

1040 ?"3 Send a test pattern to remote"

1050 ?"4 Receive test1"

1060 ?"5 Receive test w/ RTS handshaking for RS232"

1070 ?"6 Test full duplex"

1080 ?"7 Receive test with no RTS handshaking":?:?

1090 INPUT "Please enter the number of your choice:"CHOICE

1100 IF (CHOICE = 0) THEN GOSUB 20100

1110 IF (CHOICE = 1) THEN GOSUB 20600

1120 IF (CHOICE = 2) THEN GOSUB 20800

1130 IF (CHOICE = 3) THEN GOSUB 30000

1140 IF (CHOICE = 4) THEN GOSUB 30100

1150 IF (CHOICE = 5) THEN GOSUB 30200

1160 IF (CHOICE = 6) THEN GOSUB 30300

1170 IF (CHOICE = 7) THEN GOSUB 30400

1200 GOTO 1000 :REM Loop forever

REM Initialize setup registers

9999 CMMAND = 0CBH : CNTROL = 01CH

REM default settings for serial

10000 XBY(0FFE1H) = 0

REM data 8-N-1 at 9600 baud

10010 XBY(0FFE2H) = CMMAND

10020 XBY(0FFE3H) = CNTROL

10090 RETURN

NMIL-5000 ACIA serial Communication

BASIC Sample Program

REM Check transmit status: return 1 --> ready for next char

10100 TDSTATUS = XBY(0FFE1H) .AND. 10H : RETURN

REM Check receive status: 1 ==> character received

10200 RDSTATUS = XBY(0FFE1H) .AND. 08H : RETURN

REM Send next character

10300 TDSTATUS = 0

10310 DO

10312 GOSUB 10100 :REM Check transmit status

10314 UNTIL (TDSTATUS > 0)

10316 TDSTATUS = 0

10320 XBY(0FFE0H) = NEXOUT

10390 RETURN

REM Get next character

10400 RDSTATUS = 0

10410 DO

10412 GOSUB 10200 :REM Check receive status

10414 UNTIL (RDSTATUS > 0)

10420 NEXIN = XBY(0FFE0H)

10490 RETURN

REM Debug commands (to use as needed)

REM Report Status Register

20100 STATUS = XBY(0FFE1H)

20110 IF (STATUS .AND. 80H) THEN PRINT " Interrupt has occurred "

20120 IF (STATUS .AND. 40H) THEN PRINT " DSR High (not ready) "

20130 IF (STATUS .AND. 20H) THEN PRINT " DCD High ( not ready) "

20140 IF ((STATUS .AND. 10H) = 0) THEN PRINT " Transmitter not empty "

20145 IF (STATUS .AND. 10H) THEN PRINT " Transmitter empty "

20150 IF (STATUS .AND. 8H) THEN PRINT " Receiver data register full "

20160 IF (STATUS .AND. 4H) THEN PRINT " Overrun has occurred "

20170 IF (STATUS .AND. 2H) THEN PRINT " Framing error detected "

20180 IF (STATUS .AND. 1H) THEN PRINT " Parity error detected "

20185 IF (STATUS = 010H) THEN PRINT " Status is: waiting for data."

20190 RETURN

REM Parity-type report

20200 CMMANDN = CMMAND

20210 IF ((CMMANDN .AND. 20H) <> 0) THEN GOTO 20230

20220 PRINT " Parity disabled, not sent, no checking ": GOTO 20290

20230 PRINT " Parity enabled ",

20240 CMMANDN = CMMANDN .AND. 0C0H

20250 IF (CMMANDN = 0H) THEN PRINT " Odd parity "

20260 IF (CMMANDN = 40H) THEN PRINT " Even parity "

20270 IF (CMMANDN = 80H) THEN PRINT " Mark parity set, no checking "

20280 IF (CMMANDN = 0C0H) THEN PRINT " Space parity set, no checking "

20290 RETURN

REM RTS setting report

20300 CMMANDN = CMMAND

20310 IF((CMMANDN.AND.010H)=0)THEN?" Receiver normal mode ": GOTO 20390

20320 PRINT " Receiver echoes ",

20330 CMMANDN = CMMANDN .AND. 0CH

20340 IF (CMMANDN = 0H) THEN ? " RTS high, xmit disabled "

20350 IF (CMMANDN = 4H) THEN ? " RTS low, xmit int. enabled "

20360 IF (CMMANDN = 8H) THEN ? " RTS low, xmit int. disabled "

20370 IF (CMMANDN <> 0CH) THEN GOTO 20390

20380 PRINT " RTS low, xmit int. disabled, xmit break on TxD "

20390 RETURN

NMIL-5000 ACIA Serial communication

BASIC Sample Program

REM Report receiver interrupt request disable

20400 CMMANDN = CMMAND .AND. 02H

20410 IF(CMMANDN)THEN PRINT " Int. Requests Disabled ": GOTO 20490

20420 PRINT " Int. Requests Enabled "

20490 RETURN

REM Report DTR Status

20500 CMMANDN = CMMAND .AND. 1H

20510 IF(CMMANDN)THEN PRINT" Data terminal ready (DTR' low)":GOTO 20590

20520 PRINT " Data terminal NOT ready (DTR' high)"

20590 RETURN

REM Report Command register

20600 CMMAND = XBY(0FFE2H)

20610 GOSUB 20200 :REM Report parity type

20620 GOSUB 20300 :REM Report RTS setting

20630 GOSUB 20400 :REM Report receiver interrupt request disable setting

20640 GOSUB 20500 :REM Report DTR Status

20690 RETURN

REM Report stop bits

20700 CNTROL = XBY(0FFE3H) .AND. 0E0H

20702 IF ((CNTROL .AND. 060H) = 0H) THEN PRINT " 8 bits ",

20704 IF ((CNTROL .AND. 060H) = 020H) THEN PRINT " 7 bits ",

20706 IF ((CNTROL .AND. 060H) = 040H) THEN PRINT " 6 bits ",

20708 IF ((CNTROL .AND. 060H) = 060H) THEN PRINT " 5 bits ",

20710 IF (CNTROL < 080H) THEN PRINT " 1 stop bit " : GOTO 20790

REM Get Receiver Echo Mode

20720 CMMAND = XBY(0FFE2H).AND.020H

REM Get WL1 and WL0

20730 CNTROL = CNTROL.AND.60H

20740 IF((CNTROL=0).AND.(CMMAND=20H))THEN?" 1 stop bit ":GOTO 20790

20750 IF((CNTROL <> 60H).OR.(CMMAND <> 0))THEN GOTO 20770

20760 PRINT " 1.5 stop bits " : GOTO 20790

20770 PRINT " 2 stop bits "

20790 RETURN

REM Report Control Register

20800 GOSUB 20700 :REM Report stop bits

20810 CNTROL = XBY(0FFE3H).AND.1FH

20820 IF ((CNTROL.AND.10H)=0) THEN PRINT " external clock ": GOTO 20890

20830 CNTROL = CNTROL .AND. 0FH

20840 PRINT BAADS(CNTROL + 1), " baud "

20890 RETURN

REM Report all registers

20900 GOSUB 20600 :REM Report command register

20910 GOSUB 20800 :REM Report control register

20920 GOSUB 20100 :REM Report status register

20929 RETURN

NMIL-5000 ACIA serial Communication

BASIC Sample Program

REM TEST ROUTINES

REM Send a test pattern

REM Initialize

30000 CMMAND = 0CBH

30002 CNTROL = 01CH

30004 GOSUB 10000 :REM Initialize parameters

30010 TDSTATUS = 0

30020 DO

30030 I = 32

30040 DO

30050 NEXOUT = I

30055 GOSUB 10300 :REM Send next character

30060 I = I+1

30070 UNTIL (I > 127)

30080 UNTIL (0 = 1) :REM Loop forever

30090 RETURN

REM Receive test 1

REM Initialize

30100 GOSUB 9999 :REM Initialize board

30110 RDSTATUS = 0

30112 NUCHAR = 0

30120 DO

REM Get next character

30130 GOSUB 10400 :REM Get next character

30140 PRINT CHR(NEXIN),

REM Exit on control-C

30150 UNTIL (NEXIN = 3)

30160 NEXIN = 0

30190 RETURN

REM Receive test with RTS handshaking for RS232

REM Initialize

30200 GOSUB 9999 :REM Initialize board

30210 RDSTATUS = 0

30212 NUCHAR = 0

30220 DO

30230 XBY(0FFE2H) = XBY(0FFE2H) .OR. 08H

30240 DO

30242 GOSUB 10200 :REM Check receive status

30244 UNTIL (RDSTATUS = 08H)

30246 RDSTATUS = 0

REM Set RTS high

30250 XBY(0FFE2H) = XBY(0FFE2H) .AND. 0F3H

30260 NEXIN = XBY(0FFE0H)

30270 PRINT CHR(NEXIN),

REM Exit on control-C

30280 UNTIL (NEXIN = 3)

30282 NEXIN = 0

30290 RETURN

NMIL-5000 ACIA Serial Communication

BASIC Sample Program

REM Test full duplex

REM Initialize

30300 GOSUB 9999 :REM Initialize board

30310 RDSTATUS = 0

30312 TDSTATUS = 0

30320 DO

30330 FOR I = 32 TO 127

30340 GOSUB 10200 :REM Check receive status

30350 IF(RDSTATUS)THEN NEXIN=XBY(0FFE0H):?CHR(NEXIN),:RDSTATUS = 0

30360 NEXOUT = I

30370 GOSUB 10300 :REM Send next character

REM Delay for slow remote

30380 NEXT I

30390 UNTIL (NEXIN = 03H)

30392 NEXIN = 0

30399 RETURN

REM Test receive with no RTS handshaking

REM Initialize

30400 CMMAND = 0D3H

30402 CNTROL = 01CH

30404 GOSUB 10000 :REM Initialize comm. parameters

30410 RDSTATUS = 0

30420 DO

30430 GOSUB 10400 :REM Get next character

30440 PRINT CHR(NEXIN),

REM Exit on control-C

30450 UNTIL (NEXIN = 03H)

30460 NEXIN = 0

30490 RETURN

NMIL-7001 16-Ch OPTO-Out

BASIC Sample Program

NEW

REM This program demonstrates use of the NMIL-7001 16-Channel OPTO-Output

REM board with the NMIY-0031 processor. The COM1 port of the NMIY-0031

REM communicates with the user, typically through a PC serial port and

REM communications program such as MAX-TERM. The user is queried for

REM values to use in setting the outputs of the NMIL-7001.

REM

REM Port A is addressed at 0FFE0H and

REM Port B is addressed at 0FFE1H.

REM

1000 PRINT "NMIL-7001 outputs are inverted. Setting a bit to 1"

1010 PRINT "turns the output off, setting a bit to 0 turns the"

1020 PRINT "corresponding output on.": PRINT

1030 INPUT "Please enter a value for port A output: "PORTA

1050 XBY(0FFE0H) = PORTA

1060 INPUT "Please enter a value for port B output: "PORTB

1080 XBY(0FFE1H) = PORTB

1090 GOTO 1000

NMIL-7003 8-CH in/Out OPTO

BASIC Sample Program

NEW

REM This program demonstrates use of the NMIL-7003 OPTO 8-Channel Input and

REM 8-Channel Output with the NMIY-0031 processor. The COM1 port of the

REM NMIY-0031 is used to communicate with the user, typically using a PC

REM serial port and communications program such as MAX-TERM. The user

REM is queried for values to use in setting the outputs of the

REM NMIL-7003. the values are then output and the inputs are read and

REM displayed through COM1.

REM

REM The user is queried for a value to output to port B. The value is

REM then sent to port B and the value of port A is read and displayed.

REM The sequence is then repeated until run is terminated.

REM

REM Port A is addressed at 0FFE0H and

REM Port B is addressed at 0FFE1H.

1000 PRINT

1010 INPUT "Please enter a value for port B output: "PORTB

1020 XBY(0FFE1H) = PORTB

1030 PORTA = XBY(0FFE0H)

1040 PRINT "Port A value is: ",

1050 PH0. PORTA

1090 GOTO 1000

NMIL-7022 8 OUT Relay

BASIC Sample Program

NEW

REM This program demonstrates use of the NMIL-7022 8 output relay card

REM with the NMIY-0031 processor. The NMIY-0031 COM1 port is used to

REM communicate with the user, typically through a PC serial port and

REM a communications program such as MAX-TERM. The user is queried for

REM output values to use in setting the NMIL-7022 outputs.

REM

REM Port A is addressed at 0FFE0H

10 PORTADR = 0FFE0H

REM INITIALIZE

100 COPYR = 0

110 XBY(PORTADR) = COPYR

1000 PRINT "To turn a relay on, enter a 1,"

1010 PRINT "To turn a relay off, enter a 2,"

1020 INPUT "To change a relay, enter a 3: "CHOICE

1030 IF(CHOICE=1)THENGOTO1100ELSEIF(CHOICE=2)THENGOTO1200ELSEGOTO1300

REM Get a relay to turn on and turn it on

1100 INPUT "Please enter a relay number to turn on: "RELAYNUM

1110 IF (RELAYNUM = 0) THEN GOTO 1180

1120 IF (RELAYNUM < 1) THEN RELAYNUM = 1

1130 IF (RELAYNUM > 8) THEN RELAYNUM = 8

1140 MASK = 1 : RELAYNUM = RELAYNUM - 1

1150 IF (RELAYNUM > 0) THEN FOR I = 1 TO RELAYNUM : MASK = MASK * 2 : NEXT I

1160 COPYR = COPYR .OR. MASK

1170 XBY(PORTADR) = COPYR

1180 GOTO 1000

REM Get a relay to turn off and turn it off

1200 INPUT "Please enter a relay number to turn off: "RELAYNUM

1210 IF (RELAYNUM = 0) THEN GOTO 1280

1220 IF (RELAYNUM < 0) THEN RELAYNUM = 1

1230 IF (RELAYNUM > 8) THEN RELAYNUM = 8

1240 MASK = 1 : RELAYNUM = RELAYNUM - 1

1250 IF (RELAYNUM > 0) THEN FOR I = 1 TO RELAYNUM : MASK = MASK * 2 : NEXT I

1260 COPYR = COPYR .AND. (MASK .XOR. 0FFH)

1270 XBY(PORTADR) = COPYR

1280 GOTO 1000

REM Get relay to change and change it

1300 INPUT "Please enter a relay number to change: "RELAYNUM

1310 IF (RELAYNUM = 0) THEN GOTO 1380

1320 IF (RELAYNUM < 1) THEN RELAYNUM = 1

1330 IF (RELAYNUM > 8) THEN RELAYNUM = 8

1340 MASK = 1 : RELAYNUM = RELAYNUM - 1

1350 IF (RELAYNUM > 0) THEN FOR I = 1 TO RELAYNUM : MASK = MASK * 2 : NEXT I

1360 COPYR = COPYR .XOR. MASK

1370 XBY(PORTADR) = COPYR

1380 GOTO 1000

NMIL-7040 Stepper Motor Controller

BASIC Sample Program

NEW

REM The NMIL-7040 stepper motor controller can be with the NMIY-0031

REM processor board to implement a stepper motor control system. This

REM program illustrates the commands used to control a stepper in such

REM a system. The program uses 0FFE0H as the address of the NMIL-7040.

REM

REM Initialize Parameters

REM No initialization of the NMIL-7040 is needed. In an actual system,

REM it may be desirable to position the motor to an initial starting

REM position.

10 DUMMY = 17 : REM Used by delay loop

20 DELAY = 4 : REM Number of times through delay loop

30 MNUMBER = 1 : REM Motor number

40 DIRECT = 1 : REM Motor direction

50 STEEPS = 10 : REM Number of steps to make in one move

60 BASEADR = 0FFE0H : REM Base address of NMIL-7040

100 PRINT " 0 Enter a motor to control (1-4, default = 1)"

110 PRINT " 1 Change motor direction (default = CW)"

120 PRINT " 2 Enter the number of steps to move"

130 PRINT " 3 Issue motor command"

140 PRINT " 4 Put motor in search mode (does not return to menu)"

150 INPUT " Enter the number of your selection: ", CHOICE

160 ON (CHOICE) GOTO 200, 210, 220, 300, 500

REM Get motor number and check range

200 INPUT "Enter a motor number (1, 2, 3, 4) to control: ", MNUMBER

205 IF ((MNUMBER < 1) .OR. (MNUMBER > 4)) THEN MNUMBER = 1 ELSE GOTO 100

REM Flip direction bit

210 DIRECT = DIRECT .XOR. 1 : GOTO 100

REM Get number of steps and check range

220 INPUT "Enter the number (positive integer) of steps to make: ", STEEPS

225 IF (STEEPS < 1) THEN STEEPS = 10 ELSE GOTO 100

REM Lines 300 to 350 use MNUMBER (motor number) and REGMASK

REM to generate the output data for controlling the selected motor.

REM DIRECT is used to set the direction of motor rotation.

300 REGMASK = 2

310 IF (MNUMBER = 1) THEN GOTO 350

320 FOR I = 2 TO MNUMBER

330 REGMASK = REGMASK * 4

340 NEXT I

350 COMMND = REGMASK + ((REGMASK/2)*DIRECT)

REM Lines 360 to 420 then toggle the step line for the selected motor

REM the requested number of times. Lines 1070 and 1090 are delays.

360 FOR I = 1 TO STEEPS

370 XBY(BASEADR) = COMMND

380 FOR J = 1 TO DELAY : NEXT J

390 XBY(BASEADR) = COMMND .XOR. REGMASK

400 FOR J = 1 TO DELAY : NEXT J

410 NEXT I

420 IF (CHOICE = 4) THEN GOTO 510 ELSE GOTO 100

REM Setup for nearly 1 revolution with fast response, then loop forever

500 STEEPS = 200 : DELAY = 3

510 DIRECT = DIRECT .XOR. 01H

520 GOTO 300

NMIL-7056 Servo Motor DRIVER

BASIC Sample Program

NEW

REM

REM This program demonstrates use of the NMIL-7056 servo motor

REM driver board with the NMIY-0031. The NMIL-7056 is assumed

REM to have a base-address (jumpers) of 0FFE0H.

REM

REM Two registers are used. 0FFE0H is the command port and 0FFE1H

REM is the data port. Some arithmetic adjustments are necessary

REM to accommodate the difference in results between BASIC's floating

REM point and fixed point real used by the controller.

REM

REM Filter parameters should be loaded as the first menu operation.

REM Appropriate filter parameters will need to be determined for

REM your system. I have used Kd=50, Ki=25, Kd=10, and Il=35 with

REM my system. These numbers are sensitive to the motor, encoder,

REM and load in your system. Please refer to LM629 data and

REM application sheets for additional detail.

REM

REM Initialize NMIL-7056

REM Software reset

10 CLEAR

15 STRING 10, 8

20 CMDADR = 0FFE0H

25 DAT1ADR = 0FFE1H

30 GOTO 10500 :REM Initialize system

REM Main User Loop

100 REM FOR I=1 TO 26 : PRINT : NEXT I

105 PRINT " 0 Absolute Move: requires a numerical position input "

110 PRINT " 1 Load Trajectory"

115 PRINT " 2 Relative Move: requires a numerical offset input"

120 PRINT " 3 Left Velocity Move"

125 PRINT " 4 Right Velocity Move"

130 PRINT " 5 Jog Left"

135 PRINT " 6 Jog Right"

140 PRINT " 7 Load Filter Parameters"

145 PRINT " 8 Motor Power Off"

150 PRINT : INPUT " Enter the number of your choice: ", CHOICE

155 IF ((CHOICE <0) .OR. (CHOICE > 8)) THEN GOTO 100

160 ON CHOICE GOTO 1000,1040,1130,1150,1170,1190,1200,1210,1250

169 GOTO 105

REM High Level Routines

REM ABS Move

1000 ACCELER4 = 000H : ACCELER3 = 002H : ACCELER2 = 010H : ACCELER1 = 000H

1005 VELOCTY4 = 000H : VELOCTY3 = 010H : VELOCTY2 = 000H : VELOCTY1 = 000H

1010 TRAJCW2 = 000H : TRAJCW1 = 02AH

1015 PRINT

1020 $(0) = "Position" : GOSUB 9000 : REM Get Position to seek

1025 POSITIN4 = I2 : POSITIN3 = I1 : POSITIN2 = I4 : POSITIN1 = I3

1030 GOSUB 10160 :REM Load trajectory parameters and issue STT

1039 GOTO 105

NMIL-7056 Servo Motor Driver

BASIC Sample Program

REM Load Trajectory

1040 TRAJCW2 = 000H : TRAJCW1 = 000H

1045 ACCELER2 = 000H : ACCELER1 = 000H

1050 VELOCTY2 = 000H : VELOCTY1 = 000H

1055 $(0) = "Position" : GOSUB 9000

1057 POSITIN4 = I4 : POSITIN3 = I3 : POSITIN2 = I2 : POSITIN1 = I1

1060 GOSUB 9030

1075 IF(NREL)THEN TRAJCW1=(TRAJCW1.OR.002H)ELSE TRAJCW1=(TRAJCW1.OR.003H)

1080 $(0) = "Acceleration" : GOSUB 9000

1085 ACCELER4 = I2 : ACCELER3 = I1

1087 IF (ACCELER4 > VELOCTY4) THEN ACCELER4 = VELOCTY4

1088 IF (ACCELER3 > VELOCTY3) THEN ACCELER3 = VELOCTY3

1090 GOSUB 9030

1100 IF (NREL) THEN TRAJCW1 = (TRAJCW1 .OR. 020H)

1101 IF ((TRAJCW1 .AND. 020H) = 000H) THEN TRAJCW1 = (TRAJCW1 .OR. 030H)

1105 $(0) = "Velocity" : GOSUB 9000

1110 VELOCTY4 = I2 : VELOCTY3 = I1

1115 GOSUB 9030

1125 IF (NREL) THEN TRAJCW1=TRAJCW1 .OR. 008H ELSE TRAJCW1=TRAJCW1 .OR. 00CH

REM Load and activate trajectory parameters

1129 GOSUB 10160 : GOTO 105 :REM Load traj. param. and issue STT

REM Relative Move

1130 $(0) = "Position" : GOSUB 9000

1135 GOSUB 10005 : XBY(CMDADR) = 01FH

REM Send Trajectory Control Word

1136 DATBYTE2 = 000H : DATBYTE1 = 003H : GOSUB 10010

REM Send position data

1137 DATBYTE2 = I4 : DATBYTE1 = I3 : GOSUB 10010

1138 DATBYTE2 = I2 : DATBYTE1 = I1 : GOSUB 10010

REM Load and Start trajectory

1139 GOSUB 10099 : GOTO 105

REM Left Velocity Move

1150 $(0) = "Velocity" : GOSUB 9000

1153 GOSUB 10005 : XBY(CMDADR) = 01FH

REM Send Trajectory Control Word

1154 DATBYTE2 = 018H : DATBYTE1 = 028H : GOSUB 10010

REM Send Acceleration data

1155 DATBYTE2 = I2 : DATBYTE1 = I1 : GOSUB 10010

1156 DATBYTE2 = I4 : DATBYTE1 = I3 : GOSUB 10010

REM Send velocity data

1157 DATBYTE2 = I2 : DATBYTE1 = I1 : GOSUB 10010

1158 DATBYTE2 = I4 : DATBYTE1 = I3 : GOSUB 10010

REM Load and Start trajectory

1159 GOSUB 10099 : GOTO 105

REM Right Velocity Move

1170 $(0) = "Velocity" : GOSUB 9000

1173 GOSUB 10005 : XBY(CMDADR) = 01FH

REM Send Trajectory Control Word

1174 DATBYTE2 = 008H : DATBYTE1 = 028H : GOSUB 10010

REM Send Acceleration data

1175 DATBYTE2 = I2 : DATBYTE1 = I1 : GOSUB 10010

1176 DATBYTE2 = I4 : DATBYTE1 = I3 : GOSUB 10010

REM Send velocity data

1177 DATBYTE2 = I2 : DATBYTE1 = I1 : GOSUB 10010

1178 DATBYTE2 = I4 : DATBYTE1 = I3 : GOSUB 10010

REM Load and Start trajectory

1179 GOSUB 10099 : GOTO 105

NMIL-7056 Servo Motor Driver

BASIC Sample Program

REM Jog Left

1190 GOSUB 10005 : XBY(CMDADR) = 01FH

REM Send Trajectory Control Word

1192 DATBYTE2 = 000H : DATBYTE1 = 023H : GOSUB 10010

REM Send accel data

1194 DATBYTE2 = 000H : DATBYTE1 = 005H : GOSUB 10010

1195 DATBYTE2 = 000H : DATBYTE1 = 000H : GOSUB 10010

REM Send position data

1196 DATBYTE2 = 000H : DATBYTE1 = 000H : GOSUB 10010

1197 DATBYTE2 = 002H : DATBYTE1 = 000H : GOSUB 10010

1199 GOSUB 10099 : GOTO 1250

REM Jog Right

1200 GOSUB 10005 : XBY(CMDADR) = 01FH

REM Send Trajectory Control Word

1202 DATBYTE2 = 000H : DATBYTE1 = 023H : GOSUB 10010

REM Send accel data

1203 DATBYTE2 = 000H : DATBYTE1 = 005H : GOSUB 10010

1204 DATBYTE2 = 000H : DATBYTE1 = 000H : GOSUB 10010

REM Send position data

1205 DATBYTE2 = 0FFH : DATBYTE1 = 0FFH : GOSUB 10010

1206 DATBYTE2 = 0FDH : DATBYTE1 = 0F8H : GOSUB 10010

1209 GOSUB 10099 : GOTO 1250

REM Load Filter Parameters

1210 $(0) = "Kp" : GOSUB 9000 : KP2 = I2 : KP1 = I1

1220 $(0) = "Ki" : GOSUB 9000 : KI2 = I2 : KI1 = I1

1230 $(0) = "Kd" : GOSUB 9000 : KD4 = I2 : KD3 = I1

1240 $(0) = "Il" : GOSUB 9000 : IL4 = I2 : IL3 = I1

1247 FILTCW1 = 00FH

1249 GOSUB 10120 : GOTO 105 :REM Load filter param. and issue UDF

REM Motor Power OFF

REM Load "Turn Off Motor" command

1250 GOSUB 10005 : XBY(CMDADR) = 01FH

1255 DATBYTE2 = 001H : DATBYTE1 = 000H : GOSUB 10010

REM Issue STT to activate command

1259 GOSUB 10099 : GOTO 105

REM Input Routines

REM User data entry routine

9000 PRINT "Enter a ", $(0), " value between 0 and 65535 inclusive:",

9001 INPUT INPVAL

9005 IF (INPVAL < 0) THEN INPVAL = 0

9010 IF (INPVAL > 65535) THEN INPVAL = 65535

9015 I2 = INT(INPVAL/256)

9017 I1 = INPVAL - (I2 * 256)

9020 I4 = 000H : I3 = 000H

9025 RETURN

REM Absolute/Relative input

9030 PRINT "Is this value absolute or relative?"

9035 INPUT "Enter a 1 for absolute, or a 0 for relative:", NREL

9039 RETURN

NMIL-7056 Servo Motor Driver

BASIC Sample Program

REM Low Level Routines

REM Get status and Reset Interrupts

10000 STATUS = XBY(CMDADR) : RETURN

REM Reset Interrupts

10001 GOSUB 10005 : XBY(CMDADR) = 01DH : GOSUB 10005

10002 DATBYTE2 = 000H : DATBYTE1 = 000H : GOSUB 10010 : RETURN

REM Wait for cleared Busy Bit

REM This subroutine is used as a return by multiple entry points

10005 DO

10006 GOSUB 10000 :REM Read status port

10007 UNTIL ( (STATUS .AND. 01H) = 000H )

10009 RETURN

REM Write double byte and check for cleared busy bit

10010 GOSUB 10005

10012 XBY(DAT1ADR) = DATBYTE2 : XBY(DAT1ADR) = DATBYTE1

10016 GOSUB 10005

10019 RETURN

REM Read double byte and check for cleared busy bit

10020 GOSUB 10005

10022 DATBYTE2 = XBY(DAT1ADR)

10024 GOSUB 10005

10026 DATBYTE1 = XBY(DAT1ADR)

10029 RETURN

REM Stop & wait for move end

10030 GOSUB 10005

10032 XBY(CMDADR) = 01FH

10035 DATBYTE2 = 002H

10036 DATBYTE1 = 000H : GOSUB 10010

REM Issue STT to activate motor stop command

10037 GOSUB 10005

10038 XBY(CMDADR) = 001H

REM Wait For Move End

10040 DO

10045 TEMP = XBY(CMDADR) .AND. 004H

10050 GOSUB 10005

10055 UNTIL ( TEMP )

10059 RETURN

REM Motor ON

REM Clear Trajectory Control Word

10090 GOSUB 10005

10092 XBY(CMDADR) = 01FH

10093 GOSUB 10005

10095 BYTE2 = 000H

10096 BYTE1 = 000H

10097 GOSUB 10010

REM STT: STarT Motor Command

10099 GOSUB 10005 : XBY(CMDADR) = 001H : GOTO 10005

REM DFH: DeFine Home

10100 GOSUB 10005 : XBY(CMDADR) = 002H : GOTO 10005

REM SIP: Set Index Position

10110 GOSUB 10005 : XBY(CMDADR) = 003H : GOTO 10005

NMIL-7056 Servo Motor Driver

BASIC Sample Program

REM LFIL: Load FILter Parameters

10120 GOSUB 10005 : XBY(CMDADR) = 01EH

REM Set Filter Control Word to load KP, KI, KD, and IL values

10125 DATBYTE2 = FILTCW2 : DATBYTE1 = FILTCW1 : GOSUB 10010

REM Load KP, KI, KD, and IL values

10130 DATBYTE2 = KP2 : DATBYTE1 = KP1 : GOSUB 10010

10135 DATBYTE2 = KI2 : DATBYTE1 = KI1 : GOSUB 10010

10140 DATBYTE2 = KD2 : DATBYTE1 = KD1 : GOSUB 10010

10145 DATBYTE2 = IL2 : DATBYTE1 = IL1 : GOSUB 10010

REM Issue UDF to activate changes, UDF: UpDate Filter

10149 XBY(CMDADR) = 004H : GOTO 10005

REM LTRJ: Load TRaJectory Parameters

REM This routine loads all three parameters. Therefore, the

REM Trajectory control must be set to load all three before

REM calling this routine.

10160 GOSUB 10005 : XBY(CMDADR) = 01FH : GOSUB 10005

10165 DATBYTE2 = TRAJCW2 : DATBYTE1 = TRAJCW1 : GOSUB 10010

10170 DATBYTE2 = ACCELER4 : DATBYTE1 = ACCELER3 : GOSUB 10010

10175 DATBYTE2 = ACCELER2 : DATBYTE1 = ACCELER1 : GOSUB 10010

10180 DATBYTE2 = VELOCTY4 : DATBYTE1 = VELOCTY3 : GOSUB 10010

10185 DATBYTE2 = VELOCTY2 : DATBYTE1 = VELOCTY1 : GOSUB 10010

10190 DATBYTE2 = POSITIN4 : DATBYTE1 = POSITIN3 : GOSUB 10010

10195 DATBYTE2 = POSITIN2 : DATBYTE1 = POSITIN1 : GOSUB 10010

REM Issue STT to activate changes

10199 GOTO 10099

REM RDSIGS: ReaD SIGnalS Register

10200 GOSUB 10005 : XBY(CMDADR) = 00CH : GOSUB 10005

10205 RDSIGS2 = XBY(DAT1ADR) : GOSUB 10005

10209 RDSIGS1 = XBY(DAT1ADR) : GOTO 10005

REM RDIP: ReaD Index Position

10220 GOSUB 10005 : XBY(CMDADR) = 009H : GOSUB 10005

10225 RDIP4 = XBY(DAT1ADR) : GOSUB 10005

10230 RDIP3 = XBY(DAT1ADR) : GOSUB 10005

10235 RDIP2 = XBY(DAT1ADR) : GOSUB 10005

10239 RDIP1 = XBY(DAT1ADR) : GOTO 10005

REM RDDP: ReaD Desired Position

10240 GOSUB 10005 : XBY(CMDADR) = 008H : GOSUB 10005

10245 RDDP4 = XBY(DAT1ADR) : GOSUB 10005

10250 RDDP3 = XBY(DAT1ADR) : GOSUB 10005

10255 RDDP2 = XBY(DAT1ADR) : GOSUB 10005

10259 RDDP1 = XBY(DAT1ADR) : GOTO 10005

REM RDRP: ReaD Real Position

10260 GOSUB 10005 : XBY(CMDADR) = 00AH : GOSUB 10005

10265 RDRP4 = XBY(DAT1ADR) : GOSUB 10005

10270 RDRP3 = XBY(DAT1ADR) : GOSUB 10005

10275 RDRP2 = XBY(DAT1ADR) : GOSUB 10005

10279 RDRP1 = XBY(DAT1ADR) : GOTO 10005

REM RDDV: ReaD Desired Velocity

10280 GOSUB 10005 : XBY(CMDADR) = 007H : GOSUB 10005

10285 RDDV4 = XBY(DAT1ADR) : GOSUB 10005

10290 RDDV3 = XBY(DAT1ADR) : GOSUB 10005

10295 RDDV2 = XBY(DAT1ADR) : GOSUB 10005

10299 RDDV1 = XBY(DAT1ADR) : GOTO 10005

NMIL-7056 Servo Motor Driver

BASIC Sample Program

REM RDRV: ReaD Real Velocity

10300 GOSUB 10005 : XBY(CMDADR) = 00BH : GOSUB 10005

10305 RDRV4 = XBY(DAT1ADR) : GOSUB 10005

10310 RDRV3 = XBY(DAT1ADR) : GOSUB 10005

10315 RDRV2 = 000H : RDRV1 = 000H

10319 GOTO 10005

REM RDSUM: ReaD Integration-Term SUMmation

10320 GOSUB 10005 : XBY(CMDADR) = 009H : GOSUB 10005

10325 RDRV4 = XBY(DAT1ADR) : GOSUB 10005

10330 RDRV3 = XBY(DAT1ADR) : GOSUB 10005

10335 RDRV2 = XBY(DAT1ADR) : GOSUB 10005

10339 RDRV1 = XBY(DAT1ADR) : GOTO 10005

REM Initialize Parameters

REM Mask interrupts

REM Wait for 1.5 mS minimum

10500 FOR I = 1 TO 750 : NEXT I

REM Load "Turn Off Motor" command

10510 GOSUB 10005 : XBY(CMDADR) = 01FH : GOSUB 10005

10520 DATBYTE2 = 001H : DATBYTE1 = 000H : GOSUB 10010

REM Issue STT to activate command

10530 GOSUB 10099

REM Read status byte

10540 GOSUB 10005 : GOSUB 10000

REM Check status and reset

10550 TEMP = (STATUS <> 084H) .AND. (STATUS <> 0C4H)

10560 IF (TEMP) THEN PH0." Status = ", STATUS

10570 GOSUB 10005 : XBY(CMDADR) = 000H

REM Parameter Initialization

10590 GOSUB 10005 : XBY(CMDADR) = 01CH : GOSUB 10005

10600 DATBYTE2 = 000H : DATBYTE1 = 000H : GOSUB 10010

REM Reset interrupts

10610 GOSUB 10001

REM Initialize and Load Filter Parameters

10620 KP2 = 000H : KP1 = 010H : KI2 = 000H : KI1 = 010H

10630 KD2 = 000H : KD1 = 00AH : IL2 = 000H : IL1 = 010H

10640 FILTCW2 = 000H : FILTCW1 = 00FH

10650 GOSUB 10120 :REM Load filter parameters and issue UDF

REM Initialize and Load Trajectory Parameters

REM Velocity mode, load acceleration, velocity, and position

REM to bring motor to zero position

10660 TRAJCW2 = 000H : TRAJCW1 = 02AH

10670 ACCELER4 = 000H : ACCELER3 = 002H : ACCELER2 = 005H : ACCELER1 = 000H

10680 VELOCTY4 = 000H : VELOCTY3 = 050H : VELOCTY2 = 000H : VELOCTY1 = 000H

10690 POSITIN4 = 000H : POSITIN3 = 000H : POSITIN2 = 000H : POSITIN1 = 000H

10700 GOSUB 10160 :REM Load traj. param. and issue STT

REM Wait for trajectory complete

10710 DO

10720 GOSUB 10000 :REM Read status port

10730 WHILE ( (STATUS .AND. 004H) = 000H )

10740 GOSUB 10001

REM Wait for busy bit clear and issue motor stop

10750 GOSUB 10005 : XBY(CMDADR) = 01FH : GOSUB 10005

10760 DATBYTE2 = 004H : DATBYTE1 = 000H : GOSUB 10010

REM Issue STT to activate command

10761 GOSUB 10099

10769 GOTO 100

NMIL-9003 Real Time Clock

BASIC Sample Program

NEW

REM This program demonstrates use of the NMIL-9003 clock board using

REM the NMIY-0031 processor card as host. It allows the user to read

REM (and display) the clock and calendar values as well as set them.

10 BASEADDRESS = 0FFE0H

20 STRING 6,4

REM These address are provided for reference. It is suggested

REM that addresses be coded directly with this BASIC.

REM SEC1ADR = 0FFE0H : SEC10ADR = 0FFE1H SECOND ADDRESS

REM MI1ADR = 0FFE2H : MI10ADR = 0FFE3H MINUTE ADDRESS

REM HR1ADR = 0FFE4H : HR10ADR = 0FFE5H HOUR ADDRESS

REM DAY1ADR = 0FFE6H : DAY10ADR = 0FFE7H DAY ADDRESS

REM MTH1ADR = 0FFE8H : MTH10ADR = 0FFE9H MONTH ADDRESS

REM YR1ADR = 0FFEAH : YR10ADR = 0FFEBH YEAR ADDRESS

REM DYWADR = 0FFECH Day of the Week ADDRESS

REM REGD = 0FFEDH Control Registers

REM REGE = 0FFEEH

REM REGF = 0FFEFH

REM Jump to actual program start

99 GOTO 1000

REM The following routine is used extensively in the code.

REM Clock Hold must be asserted before read or write to clock.

REM Processor must clear busy bit before proceeding.

REM HOLD-CLOCK

REM When not busy set HOLD bit and return

REM Set HOLD bit

100 XBY(0FFEDH) = 1

REM Check BUSY bit

110 T1 = XBY(0FFEDH)

REM Mask off bits 2-7

120 T1 = T1 - (INT(T1/4))

REM If busy then wait and reassert HOLD else return.

130 IF (T1 < 2) THEN RETURN

REM Hold is set low for at least 61 uS to clear busy bit.

140 XBY(0FFEDH) = 0

150 FOR I=1 TO 10 : T1 = 1 : NEXT I

160 GOTO 100

REM MENU

REM User is prompted for function choice and necessary data.

REM Data is then processed and the clock is read or set

1000 PRINT : PRINT : PRINT

1010 PRINT : PRINT " 1 Read clock"

1020 PRINT : PRINT " 2 Set clock"

1030 PRINT : INPUT " Please enter the number of your choice: "CHOICE

1050 IF (CHOICE = 1) THEN GOSUB 12000 : GOSUB 12400 : GOSUB 12800 : GOTO 1000

REM GET CLOCK VALUES TO SET

1060 INPUT " Set Day of Week( 0 = SUN, 1 = MON, etc.): "DW

1070 INPUT " Set Year: "YEAR

1080 INPUT " Set Month of Year: "MNTH

1090 INPUT " Set Day of Month: "DAY

1100 INPUT " Set 1 for 24 hour, 0 for 12 hour: "HR24_12

1120 INPUT " Set hours: "HOUR

1130 IF (HR24_12 = 1) THEN AM_PM = 0 : GOTO 1160

1140 INPUT " Set 0 for AM, 1 for PM: "AM_PM

1150 IF (AM_PM <> 0) THEN AM_PM = 04H

1160 INPUT " Set minutes: "MINUTE

1170 INPUT " Set seconds: "SECND

NMIL-9003 Real Time Clock

BASIC Sample Program

REM Execute Set Clock (also reads and displays time as set)

1200 GOSUB 2000 :REM Set 24/12 mode

1210 GOSUB 10000 :REM Set time

1211 GOSUB 10300 :REM Set date

1212 GOSUB 12000 :REM Read time

1213 GOSUB 12400 :REM Read date

1214 GOSUB 12800 :REM Display clock

1219 GOTO 1000 :REM Loop forever

REM Set 24/12 hour mode

REM Bits 0, 1, and 3 should be 0 during this operation.

2000 TEMP = XBY(0FFEFH)

2010 IF (HR24_12 <> 0) THEN TEMP = TEMP .OR. 005H : GOTO 2030

2020 TEMP = (TEMP .AND. 0FBH)

2030 XBY(0FFEFH) = TEMP

REM Cycle the RESET bit to set the change.

2040 XBY(0FFEFH) = TEMP .OR. 001H

2050 XBY(0FFEFH) = TEMP .AND. 0FEH

2060 RETURN

REM SET CLOCK

REM The clock is set, read, and displayed.

REM Entry point for clock set is 10000. (GOSUB 2000 first!)

REM Entry point for clock read is 12000.

REM Entry point for display is 12800.

REM SET-SECOND

REM Check limits, then get and write tens and ones values.

10000 IF (SECND < 0) THEN SECND = 0

10010 IF (SECND > 59) THEN SECND = 59

10020 TEMP = INT(SECND/10)

10030 SECND = SECND -(TEMP * 10)

10040 GOSUB 100 : XBY(0FFE1H) = TEMP : XBY(0FFEDH) = 0

10050 GOSUB 100 : XBY(0FFE0H) = SECND : XBY(0FFEDH) = 0

REM SET-MINUTE

REM Check limits, then get and write tens and ones values,

10100 IF (MINUTE < 0) THEN MINUTE = 0

10110 IF (MINUTE > 59) THEN MINUTE = 59

10120 TEMP = INT(MINUTE/10)

10130 MINUTE = MINUTE - (TEMP * 10)

10140 GOSUB 100 : XBY(0FFE3H) = TEMP : XBY(0FFEDH) = 0

10150 GOSUB 100 : XBY(0FFE2H) = MINUTE : XBY(0FFEDH) = 0

REM SET-HOUR

REM Check limits, then get and write tens and ones values,

10200 IF (HOUR < 0) THEN HOUR = 0

10210 IF (HOUR > 23) THEN HOUR = 23

10220 TEMP = INT(HOUR/10)

10230 HOUR = HOUR - (TEMP * 10)

REM Set 12 hour clock AM/PM bit

10235 TEMP = TEMP .OR. AM_PM

10240 GOSUB 100 : XBY(0FFE5H) = TEMP : XBY(0FFEDH) = 0

10250 GOSUB 100 : XBY(0FFE4H) = HOUR : XBY(0FFEDH) = 0

10260 RETURN

REM SET-DAY

REM Check limits, then get and write tens and ones values,

10300 IF (DAY < 1) THEN DAY = 1

10310 IF (DAY > 31) THEN DAY = 31

10320 TEMP = INT(DAY/10)

10330 DAY = DAY - (TEMP * 10)

10340 GOSUB 100 : XBY(0FFE7H) = TEMP : XBY(0FFEDH) = 0

10350 GOSUB 100 : XBY(0FFE6H) = DAY : XBY(0FFEDH) = 0

NMIL-9003 Real Time Clock

BASIC Sample Program

REM SET-MONTH

REM Check limits, then get and write tens and ones values,

10400 IF (MNTH < 1) THEN MNTH = 1

10410 IF (MNTH > 12) THEN MNTH = 12

10420 TEMP = INT(MNTH/10)

10430 MNTH = MNTH - (TEMP * 10)

10440 GOSUB 100 : XBY(0FFE9H) = TEMP : XBY(0FFEDH) = 0

10450 GOSUB 100 : XBY(0FFE8H) = MNTH : XBY(0FFEDH) = 0

REM SET-YEAR

REM Check limits, then get and write tens and ones values,

10500 IF (YEAR < 0) THEN YEAR = 0

10510 IF (YEAR > 99) THEN YEAR = 99

10520 TEMP = INT(YEAR/10)

10530 GOSUB 100 : XBY(0FFEBH) = TEMP : XBY(0FFEDH) = 0

10540 YEAR = YEAR - (TEMP * 10)

10550 GOSUB 100 : XBY(0FFEAH) = YEAR : XBY(0FFEDH) = 0

REM SET-DOW

REM Check limits, then get and write value.

10600 IF (DW < 0) THEN DW = 0

10610 IF (DW > 6) THEN DW = 6

10620 GOSUB 100 : XBY(0FFECH) = DW : XBY(0FFEDH) = 0

10630 RETURN

REM READ-CLOCK

REM Read seconds

REM First stop clock, then read register, at end restart clock

REM Read and process tens digit first

REM Same for each clock segment

REM Get tens digit first

12000 GOSUB 100 : SECND = XBY(0FFE1H) : XBY(0FFEDH) = 0

REM Must clear hold bit within 1 sec.

12010 GOSUB 100 : TEMP = XBY(0FFE0H) : XBY(0FFEDH) = 0

12020 SECND = (SECND * 10) + TEMP

REM Read minutes

12100 GOSUB 100 : MINUTE = XBY(0FFE3H) : XBY(0FFEDH) = 0

12110 GOSUB 100 : TEMP = XBY(0FFE2H) : XBY(0FFEDH) = 0

12120 MINUTE = (MINUTE * 10) + TEMP

REM Read HR24_12 bit

12200 HR24_12 = XBY(0FFEFH) .AND. 004H

REM Read hours

12300 GOSUB 100 : HOUR = XBY(0FFE5H) : XBY(0FFEDH) = 0

12310 GOSUB 100 : TEMP = XBY(0FFE4H) : XBY(0FFEDH) = 0

12320 AM_PM = HOUR .AND. 004H

REM Keep bits 0 and 1 only

12330 HOUR = ((HOUR .AND. 003H) * 10) + TEMP

12340 RETURN

REM Read day

12400 GOSUB 100 : DAY = XBY(0FFE7H) : XBY(0FFEDH) = 0

12410 GOSUB 100 : TEMP = XBY(0FFE6H) : XBY(0FFEDH) = 0

12420 DAY = (DAY * 10) + TEMP

REM Read month

12500 GOSUB 100 : MNTH = XBY(0FFE9H) : XBY(0FFEDH) = 0

12510 GOSUB 100 : TEMP = XBY(0FFE8H) : XBY(0FFEDH) = 0

12520 MNTH = (MNTH * 10) + TEMP

REM Read year

12600 GOSUB 100 : YEAR = XBY(0FFEBH) : XBY(0FFEDH) = 0

12610 GOSUB 100 : TEMP = XBY(0FFEAH) : XBY(0FFEDH) = 0

12620 YEAR = (YEAR * 10) + TEMP

REM Read Day of Week

12700 GOSUB 100 : DW = XBY(0FFECH) : XBY(0FFEDH) = 0

12710 RETURN

NMIL-9003 Real Time Clock

BASIC Sample Program

REM DISPLAY CLOCK

12800 PRINT

12810 IF (DW = 0) THEN PRINT " SUN ",

12811 IF (DW = 1) THEN PRINT " MON ",

12812 IF (DW = 2) THEN PRINT " TUE ",

12813 IF (DW = 3) THEN PRINT " WED ",

12814 IF (DW = 4) THEN PRINT " THU ",

12815 IF (DW = 5) THEN PRINT " FRI ",

12816 IF (DW = 6) THEN PRINT " SAT ",

12820 PRINT MNTH, "/", DAY, "/", YEAR, " ", HOUR, ":",

12830 PRINT MINUTE, ":", SECND, " ",

12840 IF (HR24_12 <> 0) THEN PRINT : GOTO 12860

12850 IF (AM_PM <> 0) THEN PRINT "PM" ELSE PRINT "AM"

12860 RETURN

Appendix B C Sample Programs

Appendix B contains a C sample program for each of the listed NMIL cards. Sample programs show the communications requirements for using the boards. Fundamental communications routines are given and typically brought together with a user interface. Many of the routines are coded to stress clarity in reading rather than efficiency relative to C.

LCD and Keypad Interface

C Sample Program

#include ..\clib\common51.c

#include ..\clib\syslib51.c

#include ..\clib\stdio.h

#include ..\clib\alloc.c

#include ..\clib\peekpoke.c

#include ..\clib\getchar.c

#include ..\clib\fgetc.c

#define LCDSTAT 0xFFF8

#define LCDDATA 0xFFF9

#define KPADADR 0xFFFC

main ()

{

char *ch1;

int coldata, row, col;

lcdinit();

lcdbusy();

while (EOF)

{

coldata = 1;

col = 0;

row = 0;

for (col = 1; col < 6; col++) /* scan columns */

{

kpad_put(coldata ^ 0xFF); /* output column bit */

if (row = kpad_get(ch1)) /* check for key press */

{

while (row == kpad_get(ch1)); /* debounce key press */

lcdhome();

dispdata(row, col); /* display key press */

}

else

coldata = coldata << 1;

} /* end for */

} /* end while */

} /* end main */

dispdata(row, col) /* output data to lcd */

int row, col;

{

if ( row == 0x0004)

row = 3;

else if ( row == 0x0008)

row = 4;

lcdput(row+0x0030);

lcdput(',');

lcdput(col+0x0030);

lcdput(' ');

} /* end display data */

kpad_put(ch) /* write to keypad latch */

char ch;

{

lcdbusy(); /* wait */

pokeb(KPADADR, ch); /* send character */

return(ch);

} /* end keypad write */

LCD and Keypad Interface

C Sample Program

kpad_get(ch) /* read keypad latch */

char ch;

{

ch = (peekb(KPADADR) ^ 0x00FF);

return(ch);

} /* end keypad read */

lcdbusy () /* wait for lcd not busy */

{

while (peekb(LCDSTAT) & 0x0080);

} /*end lcd busy wait */

lcdput(ch) /* write display data to lcd */

char ch;

{

lcdbusy(); /* wait */

pokeb(LCDDATA, ch); /* send character */

} /* end lcd write */

lcdcr() /* set lcd cursor to other line */

{

char z;

int i, *adr;

lcdbusy();

/* compute other line address */

z = peekb(LCDSTAT) & 0x0040 ^ 0x00C0;

pokeb(LCDSTAT, z); /* set cursor at BOL */

for (i=0; i++; i<40) /* clear to LCD EOL */

{

lcdput(' '); /* clear next position */

lcdbusy(); /* wait */

}

pokeb(LCDSTAT, z); /* reposition cursor */

} /* end lcd carriage return write */

lcdhome() /* set lcd cursor at home position */

{

lcdbusy();

pokeb(LCDSTAT, 0x0001);

} /* end set lcd cursor at home position */

lcdinit() /* reset lcd display */

{

int *adr;

adr = 0xFFF8;

lcdbusy(); /* wait */

pokeb(adr, 0x0038); /* get attention */

lcdbusy();

pokeb(adr, 0x0038); /* 8 bit data, 2 lines, 5x7 dots */

lcdbusy();

pokeb(adr, 0x0006); /* cursor inc, no display shift */

lcdbusy();

pokeb(adr, 0x000F); /* display on, blinking cursor on */

lcdbusy();

pokeb(adr, 0x0001); /* clear display, set cursor to home */

} /* end lcd initialize */

NMIL-1055 24-Bit I/O

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\sign.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define portA 0xFFE0 /* define S-1055 register addresses */

#define portB 0xFFE1

#define portC 0xFFE2

#define cntl_reg 0xFFE3

int cntrol, /* configuration variables */

cfiga,

cfigb,

cfigcl,

cfigch,

porta_in, /* port read variables */

portb_in,

portc_in,

porta_out,

portb_out,

portc_out,

temp;

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

/* */

/* This program demonstrates the use of the NMIL-1055 24-bit I/O */

/* card with the NMIY-0031 processor card. */

/* The user is first queried for port configurations. Next the */

/* ports are examined in order. Input port data is displayed, and */

/* when an output port is located the user is queried for data to */

/* output. The process is then repeated. */

/* */

/* The NMIL-1055 base address is set for 0xFFE0 in this program. */

/* The NMIL-1055 occupies four data address bytes. Three bytes */

/* are for data i/o. The fourth is for configuration control. */

/* */

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

NMIL-1055 24-Bit I/O

C Sample Program

main ()

{

while (1)

{

cnfig();

input_ports();

if (cfiga == 0)

{

printf("\nInput a hex value for port A: ");

fscanf(stdin, "%x", &porta_out);

}; /* end if */

if (cfigb == 0)

{

printf("\nInput a hex value for port B: ");

fscanf(stdin, "%x", &portb_out);

}; /* end if */

if (cfigcl == 0)

{

printf("\nInput a hex value for port C-low (bits 0-3): ");

fscanf(stdin, "%x", &portc_out);

portc_out = portc_out & 0x0F;

}; /* end if */

if (cfigch == 0)

{

printf("\nInput a hex value for port C-high (bits 4-7): ");

fscanf(stdin, "%x", &temp);

portc_out = portc_out & (temp & 0xF0);

}; /* end if */

output_ports();

}; /* end while */

} /* end main */

cnfig()

{

cntrol = 0x80;

printf("\nThe direction of the ports needs to be configured.");

printf("\nFor ports A, B, C-low, and C-high,\nenter a 0 for output, or a 1 for input.");

printf("\nPort A ? ");

fscanf(stdin, "%d", &cfiga);

if (cfiga != 0)

cntrol += 0x10;

printf("\nPort B ? ");

fscanf(stdin, "%d", &cfigb);

if (cfigb != 0)

cntrol += 0x2;

printf("\nPort C-low $bits 0-3$ ? ");

fscanf(stdin, "%d", &cfigcl);

if (cfigcl != 0)

cntrol += 0x1;

printf("\nPort C-high $bits 4-7$ ? ");

fscanf(stdin, "%d", &cfigch);

if (cfigch != 0)

cntrol += 0x8;

pokeb(cntl_reg, cntrol); /* load the control register */

return(0);

} /* end cnfig */

NMIL-1055 24-Bit I/O

C Sample Program

input_ports()

{

int mask;

porta_in = peekb(portA); /* read ports */

portb_in = peekb(portB);

portc_in = peekb(portC);

printf("\n");

if (cfiga != 0)

printf("\nPort A input is: %x\n", porta_in);

if (cfigb != 0)

printf("Port B input is: %x\n", portb_in);

mask = 0;

if (cfigcl != 0)

mask += 0x0F;

if (cfigch != 0)

mask += 0xF0;

if (mask != 0)

printf("Port C input is: %x\n\n", (portc_in & mask));

printf("\n");

return(0);

} /* end input_ports */

output_ports()

{

pokeb(portA, porta_out);

pokeb(portB, portb_out);

pokeb(portC, portc_out);

return(0);

} /* end output_ports */

NMIL-3003 64-Input

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORTA 0xFFE0

#define PORTB 0xFFE1

#define PORTC 0xFFE2

#define PORTD 0xFFE3

#define PORTE 0xFFE4

#define PORTF 0xFFE5

#define PORTG 0xFFE6

#define PORTH 0xFFE7

int adata, bdata, cdata, ddata, edata, fdata, gdata, hdata, temp;

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

/* */

/* The NMIL-3003 is a 64 input HC compatible board. This sample */

/* program demonstrates use of the NMIL-3003 with the NMIY-0031 */

/* processor card. The ports are read consecutively, and then */

/* the values read are displayed across the screen. */

/* After reading and displaying the ports, the program is waits */

/* for a key press. */

/* */

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

main ()

{

printf("\nThe ports will be read and displayed. To read and\n");

printf("display again, press a letter key.\n");

while (1)

{

adata = peekb(PORTA);

bdata = peekb(PORTB);

cdata = peekb(PORTC);

ddata = peekb(PORTD);

edata = peekb(PORTE);

fdata = peekb(PORTF);

gdata = peekb(PORTG);

hdata = peekb(PORTH);

printf("\nPort A B C D E F G H\n");

printf(" %2x %2x %2x %2x", adata, bdata, cdata, ddata);

printf(" %2x %2x %2x %2x\n", edata, fdata, gdata, hdata);

scanf("%d", &temp);

}; /* end while */

} /* end main */

NMIL-3004 64 channel Output

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORTA 0xFFE0

#define PORTB 0xFFE1

#define PORTC 0xFFE2

#define PORTD 0xFFE3

#define PORTE 0xFFE4

#define PORTF 0xFFE5

#define PORTG 0xFFE6

#define PORTH 0xFFE7

int adata,

bdata,

cdata,

ddata,

edata,

fdata,

gdata,

hdata,

temp;

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

/* */

/* The NMIL-3004 is a 64 output HC compatible board. This sample */

/* program segment demonstrates the NMIL-3004 used with the NMIY-*/

/* 0031 processor board. It obtains values to write to the ports */

/* and then writes to all ports consecutively. */

/* */

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

main ()

{

printf("You will be prompted for a hexadecimal output value for each port.\n");

printf("Values are sent to the output ports when all values have been\n");

printf("entered.\n\n");

while (1)

{

get_values();

write_outputs();

printf("\nThe outputs have been written.\nTo repeat, enter a letter.\n");

scanf("%d", &temp);

printf("\n");

}; /* end while */

} /* end main */

NMIL-3004 64 Channel Output

C Sample Program

get_values()

{

printf("\nEnter a HEX value for port A: "); scanf("%x", &adata);

printf("\nEnter a HEX value for port B: "); scanf("%x", &bdata);

printf("\nEnter a HEX value for port C: "); scanf("%x", &cdata);

printf("\nEnter a HEX value for port D: "); scanf("%x", &ddata);

printf("\nEnter a HEX value for port E: "); scanf("%x", &edata);

printf("\nEnter a HEX value for port F: "); scanf("%x", &fdata);

printf("\nEnter a HEX value for port G: "); scanf("%x", &gdata);

printf("\nEnter a HEX value for port H: "); scanf("%x", &hdata);

} /* end get values */

write_outputs()

{

pokeb(PORTA, adata);

pokeb(PORTB, bdata);

pokeb(PORTC, cdata);

pokeb(PORTD, ddata);

pokeb(PORTE, edata);

pokeb(PORTF, fdata);

pokeb(PORTG, gdata);

pokeb(PORTH, hdata);

} /* end read inputs */

NMIL-4000 8 Channel D/A

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\peekpoke.c

#define BASEADR 0xFFE0

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

/* */

/* This program will exercise the NMIL-4000 8 channel */

/* D/A card when used with the NMIY-0031 processor. */

/* */

/* All 8 channels are simultaneously stair-stepped */

/* through the range of output values. A delay for */

/* meter testing is included but commented out. */

/* */

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

main ()

{

int i,

delay,

dummy,

offset;

while (1)

{

for (i=1; i<255; i++)

{

for (offset = 0; offset < 8; offset++)

pokeb(BASEADR + offset, i);

/* Uncomment the following line to read the output with a meter. */

for (delay = 0; delay < 15; delay++) dummy = delay*delay/delay;

}; /* end for */

}; /* end while */

} /* end main */

NMIL-4004 8 Channel A/D

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

/* DELAY is used for conversion delay time of the A/D */

#define DELAY 50

#define CHANNEL 0xFFE0 /* channel number for 12-bit */

#define CHANNELB 0xFFE1 /* channel number for 8-bit */

#define D_REG 0xFFE2 /* upper 8 bits of converted value */

#define D_REG_B 0xFFE3 /* lower 4 bits, left justified */

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

/* */

/* This program is written to exercise the NMIL-4004 8 channel */

/* A/D card when used with the NMIY-0031 processor board. */

/* */

/* Routines are provided for calibration, test, and monitoring */

/* of inputs (scanning). */

/* */

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

unsigned int channel_num, choice, read_value, scale_factor;

main ()

{

choice = 0;

while (choice != 0x03)

{

printf("\n\n\n\n0 Calibrate (channel 0)");

printf("\n1 Scan all channels ( hex output, scaled x1)");

printf("\n2 Scan all channels ( decimal output, scaled x1)");

printf("\n3 Scan all channels ( decimal output, scaled x10)");

printf("\n4 Scan all channels ( decimal output, scaled x20)");

printf("\n\n Plead enter the number of your choice: ");

scanf("%c", &choice);

printf("\n\n");

switch (choice)

{

case '0' : calibrate(); break;

case '1' : chan_report(); break;

case '2' : scale_factor = 1;

tabulate(); break;

case '3' : scale_factor = 10;

tabulate(); break;

case '4' : scale_factor = 20;

tabulate(); break;

default : break;

}; /* end switch */

}; /* end while */

} /* end main */

NMIL-4004 8 Channel A/D

C Sample Program

calibrate()

{

channel_num = 0;

while (1)

{

convert();

printf("%4x ", read_value);

}; /* end while */

} /* end calibrate */

chan_report()

{

printf("\n");

while (1)

{

for (channel_num = 0; channel_num < 8; channel_num++)

{

convert();

printf("%4x ", read_value);

}; /* end for */

printf("\n");

}; /* end while */

} /* end channel report */

convert()

{

int dummy, i;

pokeb(CHANNEL, channel_num);

pokeb(D_REG, 0);

for (i=0; i<DELAY; i++)

dummy = (i*i)/0x0D;

read_value = (peekb(D_REG) * 0x10) + (peekb(D_REG_B) / 0x10);

return(0);

} /* end convert */

print_title()

{

printf("\n\n\n\n\n Channel Number");

printf("\n 0 1 2 3 4 5 6 7");

} /* end print title */

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

/* */

/* Scale to 10V range, then keep two decimal places as scaled int */

/* The result is then scaled to requested scale: x1, x10, or x20. */

/* Performing integer operations in this order prevents arithmetic */

/* overflow. 41 is the ratio of the maximum hex value (0xFFF) to */

/* the size of the range (10V) for a 12 bit conversion. */

/* */

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

scale_it()

{

read_value = (read_value*10)/41;

read_value = read_value * scale_factor;

} /* end scale it */

NMIL-4004 8 Channel A/D

C Sample Program

tabulate()

{

printf("\n");

print_title();

printf("\n");

while (1)

{

for (channel_num = 0; channel_num < 8; channel_num++)

{

convert();

scale_it();

printf("%4d.%2d ", (read_value/100), (read_value%100));

}; /* end for */

printf("\n");

}; /* end while */

} /* end tabulate */

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define DATA_REG 0xFFE0

#define STATUS_REG 0xFFE1

#define COMMAND_REG 0xFFE2

#define CONTROL_REG 0xFFE3

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

/* */

/* S5000.C provides a user test interface for the NMIL-5000 ACIA */

/* interface card used with an NMIY-0031 controller. */

/* */

/* Menu functions interpret registers and test specific modes. */

/* */

/* Menu functions involving data transmissions can be exited by a */

/* control-C from the remote terminal. */

/* */

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

int cmmand,

cntrol,

next_in,

bauds[16];

unsigned int choice;

main ()

{

cmmand = 0xCB;

cntrol = 0x1C;

initialize();

choice = 0;

while (choice != 0x03)

{

printf("\n\n\n");

printf("\n0 Report status register");

printf("\n1 Report command register");

printf("\n2 Report control register");

printf("\n3 Send a test pattern to remote");

printf("\n4 Receive test1");

printf("\n5 Receive test w/ RTS handshaking for RS232");

printf("\n6 Test full duplex");

printf("\n7 Receive test with no RTS handshaking, receiver echoes");

printf("\n\n Please enter the number of your choice: ");

scanf("%c", &choice);

printf("\n\n");

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

switch (choice)

{

case '0': status_report(); break;

case '1': command_report(); break;

case '2': control_report(); break;

case '3': test_pattern(); break;

case '4': receive_test1(); break;

case '5': rts_test(); break;

case '6': full_duplex(); break;

case '7': no_rts_test();

default : break;

}; /* end switch */

}; /* end while */

} /* end main */

command_report()

{

printf("\n\n");

cmmand = peekb(COMMAND_REG);

parity_report();

rts_report();

int_en_report();

dtr_report();

} /* end command register report */

control_report()

{

printf("\n\n");

stop_bits_report();

cntrol = peekb(CONTROL_REG) & 0x1F;

if (!(cntrol & 0x10))

printf(" external clock ");

else

printf(" %d baud", bauds[cntrol & 0x0F]);

} /* end control register report */

data_in()

{

while ( rd_status() == 0 );

return(peekb(DATA_REG));

} /* end data in */

data_out(next_out)

int next_out;

{

while ( td_status() == 0 );

return(pokeb(DATA_REG, next_out));

} /* end data out */

dtr_report()

{

if (cmmand & 0x01)

printf("\n Data terminal ready (DTR\' low) ");

else

printf("\n Data terminal NOT ready (DTR\' high) ");

} /* end DTR status report */

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

full_duplex()

{

int i,

next_in;

cmmand = 0xCB; cntrol = 0x1C; initialize();

while (1)

{

for (i=32; i<128; i++)

{

data_out(i);

for (j=1; j<200; j++);

next_in = 0;

if ( rd_status() && ((next_in = data_in()) == 3) )

return(0);

else if (next_in != 0)

fputc(next_in, stdout);

}; /* end for */

}; /* end while */

} /* end full duplex test */

initialize()

{

bauds[0] = 0; bauds[1] = 100; bauds[2] = 150; bauds[3] = 220;

bauds[4] = 269; bauds[5] = 300; bauds[6] = 600; bauds[7] = 1200;

bauds[8] =2400; bauds[9] = 3600; bauds[10]= 4800; bauds[11]= 7200;

bauds[12]=9600; bauds[13]=14400; bauds[14]=19200; bauds[15]=38400;

pokeb(STATUS_REG, 0);

pokeb(COMMAND_REG, cmmand);

pokeb(CONTROL_REG, cntrol);

} /* end initialize */

int_en_report()

{

if (cmmand & 0x02)

printf("\n Interrupt requests disabled ");

else

printf("\nInterrupt requests enabled ");

} /* end receiver int. enable report */

no_rts_test()

{

cmmand = 0xD3; cntrol = 0x1C; initialize();

printf("\n\n");

while ( fputc(data_in(), stdout) != 0x03 );

} /* end no RTS test */

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

parity_report()

{

if ((cmmand & 0x20) == 0)

printf("\nParity disabled, not sent, no checking ");

else

{

printf("\nParity enabled ");

switch (cmmand & 0xC0)

{

case 0x0 : printf("\nOdd parity "); break;

case 0x40 : printf("\nEven parity "); break;

case 0x80 : printf("\nMark parity set, no checking "); break;

case 0xC0 : printf("\nSpace parity set, no checking ");

default : break;

}; /* end switch */

}; /* end else */

} /* end parity report */

rd_status()

{

return(peekb(STATUS_REG) & 0x08);

} /* end rd status */

receive_test1()

{

cmmand = 0xCB; cntrol = 0x1C; initialize();

printf("\n\n");

while ( (fputc(data_in(), stdout)) != 0x03 );

} /* end receiver test 1 */

report_all()

{

command_report();

control_report();

status_report();

} /* end report all registers */

rts_report()

{

if ((cmmand & 0x10) == 0)

printf("\n Receiver normal mode ");

else

{

printf("\n Receiver echoes ");

switch (cmmand & 0x0C)

{

case 0x0 : printf("\nRTS high, xmit disabled "); break;

case 0x4 : printf("\nRTS low, xmit interrupt enabled "); break;

case 0x8 : printf("\nRTS low, xmit interrupt disabled "); break;

case 0xC : printf("\nRTS low, xmit int. disabled, break on TxD ");

default : break;

}; /* end switch */

}; /* end else */

} /* end rts report */

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

rts_test()

{

cmmand = 0xCB; cntrol = 0x1C; initialize();

printf("\n\n");

{

pokeb(COMMAND_REG, (peekb(COMMAND_REG) | 0x08) );

while ( rd_status() != 0x08 ) ;

pokeb(COMMAND_REG, (peekb(COMMAND_REG) & 0xF3) );

}

while( fputc(data_in(), stdout) != 3);

} /* end rts test */

status_report()

{

int status;

printf("\n\n");

status = peekb(STATUS_REG);

if (status & 0x80) printf("\n Interrupt has occurred ");

else if (status & 0x40) printf("\n DSR High (not ready) ");

else if (status & 0x20) printf("\n DCD High ( not ready)");

else if ((status & 0x10)==0) printf("\n Transmitter not empty ");

else if (status & 0x08) printf("\n Receiver data register full ");

else if (status & 0x04) printf("\n Overrun has occurred ");

else if (status & 0x02) printf("\n Framing error detected ");

else if (status & 0x01) printf("\n Parity error detected ");

else if (status == 0x10) printf("\n Status is: waiting for data. ");

} /* end status report */

stop_bits_report()

{

printf("\n");

cntrol = peekb(CONTROL_REG) & 0xE0;

switch (cntrol & 0x60)

{

case 0x0 : printf(" 8 bits "); break;

case 0x20 : printf(" 7 bits "); break;

case 0x40 : printf(" 6 bits "); break;

case 0x60 : printf(" 5 bits ");

default : break;

} /* end switch */

if (cntrol < 0x80)

printf(" 1 stop bit ");

else

{

cmmand = peekb(COMMAND_REG) & 0x20;

cntrol = cntrol & 0x60;

if ((cntrol == 0) && (cmmand == 0x20))

printf(" 1 stop bit ");

else if ((cntrol != 0x60) || (cmmand != 0))

printf(" 2 stop bits ");

else

printf(" 1.5 stop bits ");

} /* end if-else cntrol<0x80 */

} /* end stop bits report */

td_status()

{

return( peekb(STATUS_REG) & 0x10 ) ;

} /* end td status */

NMIL-5000 ACIA Serial Communication

C Sample PROGRAM

test_pattern()

{

int i, j;

cmmand = 0xCB; cntrol = 0x1C; initialize();

while (1)

{

for (i=32; i<128; i++)

{

data_out(i);

for (j=1; j<200; j++); /* delay */

}; /* end for */

if ( rd_status() && (data_in() == 3) )

return(0);

}; /* end while */

} /* end send test pattern */

NMIL-7001 16-Channel OPTO Output

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORTA 0xFFE0

#define PORTB 0xFFE1

int porta_out, portb_out;

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

/* */

/* Program to interface the NMIL-7001 16-Channel OPTO */

/* Output Card with the NMIY-0031. The NMIL-0031 COM1 */

/* port is used to allow the user to set the values of the */

/* OPTO outputs. */

/* */

/* Outputs are inverted and polarized. For example, when */

/* a value of '55' is output, even numbered outputs turn on */

/* odd numbered outputs turn off. Be certain you have the */

/* correct polarity connection for each output also. Out- */

/* put connections with the wires reversed will not appear */

/* to be on when they should be. If a particular output */

/* does not seem to turn on, be sure to check the hookup */

/* polarity as well as the external power for the output. */

/* As with all opto output devices, the output power must */

/* be supplied externally. */

/* */

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

main ()

{

while (1)

{

get_user_data();

output();

}; /* end while */

} /* end main */

get_user_data()

{

printf("\n\nNMIL-7001 outputs are inverted. Setting a bit to 1\n");

printf("turns the output off, setting a bit to 0 turns the\n");

printf("corresponding output on.\n\n");

printf("Please enter a hex value for port A output: ");

fscanf(stdin, "%x", &porta_out);

printf("Please enter a hex value for port B output: ");

fscanf(stdin, "%x", &portb_out); printf("\n");

} /* end get user data */

output() { pokeb(PORTA, porta_out); pokeb(PORTB, portb_out); }

NMIL-7003 8-Channel Input, 8-channel Output OPTO

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORTA 0xFFE0

#define PORTB 0xFFE1

int porta_in, portb_out;

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

/* */

/* Program to demonstrate the NMIL-7003 OPTO 8-Channel */

/* Input, 8-bit Output board with the NMIY-0031 processor */

/* card. The NMIL-0031 COM1 port allows the user to set */

/* the bits for port B. */

/* */

/* Inputs and outputs are polarized. Typical trouble- */

/* shooting will be to check that the outputs have correct */

/* polarity and external power. */

/* */

/* Connections with the wires reversed will appear to be */

/* be stuck off. If a particular input or output does not */

/* respond, check the hook-up polarity carefully. */

/* */

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

main ()

{

while (1)

{

get_user_data();

input_output();

}; /* end while */

} /* end main */

get_user_data()

{

printf("Please enter a hex value for port B output: ");

scanf("%x", &portb_out); printf("\n");

} /* end get user data */

input_output()

{ /* reads the inputs and sets the outputs */

pokeb(PORTB, portb_out);

porta_in = peekb(PORTA);

printf("Port A = %2x\n", porta_in);

return(0);

} /* end input-output */

NMIL-7022 8-Channel Relay

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORT 0xFFE0

int ramcopy, bitmask;

unsigned char *relaynumber, *onoff;

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

/* */

/* This code demonstrates use of the NMIL-7022 8-channel relay */

/* board used with the NMIY-0031 processor card. */

/* */

/* The user is asked to enter a relay number and to select on or off. */

/* */

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

main ()

{

initialize();

count_cycle();

while(1)

{

get_bit(); /* get relay to change from user */

gen_mask(); /* generate bit manipulation mask */

if (onoff == 0) /* output bit */

turnoff();

else turnon();

}; /* end while */

} /* end main */

count_cycle() /* power on self test */

{

int i, j, k;

ramcopy = 0;

pokeb(PORT, 0);

printf("\nThe relays will run through a count cycle: \n");

for (i=0; i<256; i++)

{

ramcopy++;

pokeb(PORT, ramcopy); printf("%x", i);

for (j=0; j<256; j++)

k = 65535/j; k = 256/j; /* wait */

}; /* end for i */

ramcopy = 0;

pokeb(PORT, 0);

} /* end count_cycle */

NMIL-7022 8-Channel Relay

C Sample Program

gen_mask() /* generate bit mask for output */

{

if (relaynumber > 8) /* check range */

relaynumber = 8;

else if (relaynumber < 1)

relaynumber = 1;

bitmask = 1;

if (relaynumber > 1)

bitmask = bitmask << (relaynumber - 1);

} /* end gen mask */

get_bit() /* get relay number to change from user */

{

printf("\nEnter the number of a relay to change (1..8): ");

scanf("%d", &relaynumber);

printf("\nDo you want to turn it on (1) or off(0)?");

scanf("%d", &onoff);

} /* end getbit */

initialize()

{

ramcopy = 0;

pokeb(PORT, 0);

} /* end initialize */

turnoff() /* output zero bit */

{

ramcopy = ramcopy & ~bitmask;

pokeb(PORT, ramcopy);

} /* end turnoff */

turnon() /* output one bit */

{

ramcopy = ramcopy | bitmask;

pokeb(PORT, ramcopy);

} /* end turnon */

NMIL-7040 Stepper Motor Controller

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define PORT 0xFFE0

int delay,

dummy,

direct,

mnumber,

steps;

unsigned char choice;

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

/* */

/* This program demonstrates the control of a stepper motor using */

/* a NMIY-0031 as processor and the NMIL-7040 motor controller. */

/* */

/* The user is presented with a menu allowing parameter changes and */

/* issuance of motor commands. A demo search mode is also available */

/* */

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

main ()

{

initialize();

while (1)

{

clear_screen();

print_menu();

get_input();

switch (choice)

{

case 0 : sel_motor(); break;

case 1 : set_direction(); break;

case 2 : sel_steps(); break;

case 3 : issue_command(); break;

case 4 : search_mode(); break;

default: break;

}; /* end switch */

}; /* end while */

} /* end main */

NMIL-7040 Stepper Motor Controller

C Sample Program

clear_screen()

{

int i;

for (i=1; i<25; i++)

printf("\n");

} /* end clear_screen */

delay_loop()

{

int i;

for (i=1; i<delay; i++)

dummy = (dummy * i)/i;

} /* end delay loop */

get_input()

{

scanf("%d", &choice);

} /* end get input */

initialize()

{

dummy = 17;

delay = 10;

mnumber = 1;

direct = 1;

steps = 10;

} /* end initialize */

issue_command()

{

int commnd,

regmask;

i = 2;

while ( (choice == 4) || (i == 2) )

{

regmask = 2;

if (mnumber > 1)

for (i=2; i < (mnumber*2); i++)

regmask = regmask * 2;

commnd = regmask + (direct * (regmask/2));

for (i=1; i<steps; i++)

{

pokeb(PORT, commnd);

delay_loop();

pokeb(PORT, (commnd ^ regmask));

delay_loop();

};

i = 0;

direct = direct ^ 0x01 ;

};

direct = direct ^ 0x01;

} /* end issue motor command */

NMIL-7040 Stepper Motor Controller

C Sample Program

print_menu()

{

printf("\n 0 Change motor controlled(default = 1)");

printf("\n 1 Change direction(default = CW)");

printf("\n 2 Change the number of steps to move(default = 10)");

printf("\n 3 Issue motor command");

printf("\n 4 Put motor in search mode(does not return to menu)");

printf("\n Enter the number of your choice: ");

} /* end print menu */

set_direction()

{

direct = direct ^ 0x01;

} /* end change direction */

search_mode()

{

steps = 200;

direct = direct ^ 0x01;

issue_command();

} /* end search_mode */

sel_motor()

{

choice = 0;

while ((choice < 1)||(choice > 4))

{

printf("\nEnter the number of the motor you wish to control: ");

get_input();

}; /* end while */

mnumber = choice;

} /* end change motor */

sel_steps()

{

printf("\nEnter the number of steps desired: ");

get_input();

steps = choice;

} /* end change steps */

NMIL-7056 Servo Motor Driver

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define CMDPORT 0xFFE0

#define DATAPORT 0xFFE1

#define LFIL 0x1E

#define LTRJ 0x1F

#define MSKI 0x1C

#define RESET 0x00

#define RSTI 0x1D

#define STT 0x01

#define UDF 0x04

int commnd, /* command byte to be sent to NMIL-7056 */

status, /* status byte returned from NMIL-7056 */

/* trajectory varaibles */

accel4, accel3, accel2, accel1, /* acceleration variables */

posit4, posit3, posit2, posit1, /* position variables */

veloc4, veloc3, veloc2, veloc1, /* velocity variables */

/* filter double word variables */

kd2, kd1, ki2, ki1, kp2, kp1, il2, il1,

/* temp variables used to hold word values */

/* to be sent as data to the NMIL-7056 */

dbyte2, dbyte1,

/* filter control word */

filter2, filter1,

/* trajectory control word */

trajec2, trajec1;

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

/* This C program demonstrates the NMIY-0031 as a host processor */

/* for the NMIL-7056 servo motor driver. */

/* */

/* The NMIL-7056 uses two memory mapped registers. There is a */

/* command port and a data port. The examples are written for a */

/* command port at 0xFFE0 and a data port at 0xFFE1. */

/* */

/* Each command is a single byte written to the command port, */

/* followed by an even number of bytes. Some commands require no */

/* data, some require a fixed number of bytes, and others require */

/* a variable number of bytes. Commands with a variable number of */

/* data bytes use a control word as the first two data bytes. */

/* The data byte pairs represent either a word or a double word */

/* value. Data transfers are written most significant byte first. */

/* */

/* Filter parameters must be adjusted to fit each system. System */

NMIL-7056 Servo Motor DriveR

C Sample Program

/* filter parameters vary according to the specific motor, encoder, */

/* and load combination. These values are determined by the user. */

/* */

/* A set of parameters that work for the hardware used here without */

/* significant load are programmed into this code. The Kp, Ki, Kd, */

/* and Il varaibles are the filter parameters. The accel, posit, */

/* and veloc parameters are the trajectory parameters, which define */

/* a specific motor movement. */

/* */

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

/* */

/* This program presents a menu to the user and prompts for a user */

/* selection. Any additional data needed by a command will be */

/* be requested. After executing the user request, the menu will */

/* again be presented to the user. */

/* */

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

main ()

{

unsigned char choice;

initialize();

while (1)

{

choice = -1;

while ((choice < 0) || (choice > 9))

{

menu();

scanf("%d", &choice);

};

switch (choice)

{

case 0 : motor_off();

abs_move();

break;

case 1 : traj_menu();

break;

case 2 : motor_off();

relat_move();

break;

case 3 : motor_off();

l_veloc();

break;

case 4 : motor_off();

r_veloc();

break;

case 5 : motor_off();

jog_l();

break;

case 6 : motor_off();

jog_r();

break;

case 7 : filter_menu();

break;

case 8 : motor_off();

break;

case 9 : disp_setup();

break;

default: break;

}; /* end switch */

}; /* end while */

} /* end main */

NMIL-7056 Servo Motor Driver

C Sample Program

abs_move()

{

int data_in;

trajec2 = 0x00; trajec1 = 0x2A;

accel4 = 0x00; accel3 = 0x01; accel2 = 0x00; accel1 = 0x00;

veloc4 = 0x00; veloc3 = 0x20; veloc2 = 0x00; veloc1 = 0x00;

printf("\nEnter a Position value: ");

scanf("%d", &data_in);

posit4 = 0x00; posit3 = 0x00;

posit2 = data_in>>8; posit1 = data_in - (posit2<<8);

load_traj();

} /* end absolute move */

disp_setup()

{

unsigned char dummy;

printf("\n\n filter control word %x %x", trajec2, trajec1);

printf("\n\n Kp %x %x Ki %x %x", kp2, kp1, ki2, ki1);

printf("\ Kd %x %x Il %x %x", kd2, kd1, il2, il1);

printf("\n\n trajectory control word %x %x", trajec2, trajec1);

printf("\n\n acceleration %x %x %x %x", accel4, accel3, accel2, accel1);

printf(" velocity %x %x %x %x", veloc4, veloc3, veloc2, veloc1);

printf(" position %x %x %x %x", posit4, posit3, posit2, posit1);

printf("\n\nEnter a letter to continue.\n");

scanf("%d", &dummy); /* wait for input */

} /* end display setup */

filter_menu()

{

int data_in;

filter2 = 0x00; filter1 = 0x0F;

printf("\nEnter a Kp value(0-65535): ");

scanf("%d", &data_in);

kp2 = data_in / 256;

kp1 = data_in % 256;

printf("\nEnter a Ki value(0-65535): ");

scanf("%d", &data_in);

ki2 = data_in / 256;

ki1 = data_in / 256;

printf("\nEnter a Kd value(0-65535): ");

scanf("%d", &data_in);

kd2 = data_in / 256;

kd1 = data_in % 256;

printf("\nEnter an Il value(0-65535): ");

scanf("%d", &data_in);

il2 = data_in / 256;

il1 = data_in % 256;

load_filter();

} /* end load filter menu */

get_status()

{

peekb(CMDPORT, status);

} /* end get status */

NMIL-7056 Servo Motor Driver

C Sample Program

initialize()

{

int delay, i;

delay = 120;

for (i=0;i<250;i++) delay = (delay*delay)/delay;

for (i=1; i<26; i++) printf("\n");

motor_off();

get_status();

printf("\nReset Status = %x\n", status);

reset_int();

commnd = RESET; send_cmd(); /* software reset */

commnd = MSKI; send_cmd(); /* mask interrupts */

/* set interrupt mask */

dbyte2 = 0x00; dbyte1 = 0x00; send_word();

reset_int();

filter2 = 0x00; filter1 = 0x0F; /* initialize filter */

kp2 = 0x00; kp1 = 0x0A; ki2 = 0x00; ki1 = 0x0A;

kd2 = 0x00; kd1 = 0x05; il2 = 0x00; il1 = 0X02;

load_filter();

trajec2 = 0x08; trajec1 = 0x2A; /* initialize trajectory */

accel4 = 0x00; accel3 = 0x05; accel2 = 0x00; accel1 = 0x00;

veloc4 = 0x00; veloc3 = 0x50; veloc2 = 0x00; veloc1 = 0x00;

posit4 = 0x00; posit3 = 0x00; posit2 = 0x00; posit1 = 0x00;

load_traj();

do /* wait for trajectory to complete */

{

get_status();

}

while ( (status & 0x04) != 0 );

printf("LTRJ Status = %x", status);

reset_int();

motor_off();

} /* end initialize */

jog_l()

{

posit4 = 0x00; posit3 = 0x00;

posit2 = 0x02; posit1 = 0x00;

commnd = LTRJ; send_cmd();

r_move();

} /* end jog left */

jog_r()

{

posit4 = 0xFF; posit3 = 0xFF;

posit2 = 0xFE; posit1 = 0x00;

commnd = LTRJ; send_cmd();

r_move();

} /* end jog right */

NMIL-7056 Servo Motor Driver

C Sample Program

l_veloc()

{

int data_in;

commnd = LTRJ; send_cmd();

trajec2 = 0x18; trajec1 = 0x28;

dbyte2 = trajec2; dbyte1 = trajec1; send_word();

printf("\nEnter a Velocity value (0-65535): ");

scanf("%d", &data_in);

veloc4 = data_in / 256; veloc3 = data_in % 256;

veloc2 = 0x00; veloc1 = 0x00;

accel4 = 0x00; accel3 = 0x05; accel2 = 0x00; accel1 = 0x00;

dbyte2 = accel4; dbyte1 = accel3; send_word();

dbyte2 = accel2; dbyte1 = accel1; send_word();

dbyte2 = veloc4; dbyte1 = veloc3; send_word();

dbyte2 = veloc2; dbyte1 = veloc1; send_word();

commnd = STT; send_cmd();

} /* end left velocity move */

load_filter()

{

commnd = LFIL; send_cmd();

/* send filter control word */

dbyte2 = filter2; dbyte1 = filter1; send_word();

/* send new filter settings */

dbyte2 = kp2; dbyte1 = kp1; send_word();

dbyte2 = ki2; dbyte1 = ki1; send_word();

dbyte2 = kd2; dbyte1 = kd1; send_word();

dbyte2 = il2; dbyte1 = il1; send_word();

commnd = UDF; send_cmd(); /* activate new settings */

} /* end load filter */

load_traj()

{

commnd = LTRJ; send_cmd();

/* send trajectory control word */

dbyte2 = trajec2; dbyte1 = trajec1; send_word();

/* send new trajectory settings */

dbyte2 = accel4; dbyte1 = accel3; send_word();

dbyte2 = accel2; dbyte1 = accel1; send_word();

dbyte2 = veloc4; dbyte1 = veloc3; send_word();

dbyte2 = veloc2; dbyte1 = veloc1; send_word();

dbyte2 = posit4; dbyte1 = posit3; send_word();

dbyte2 = posit2; dbyte1 = posit1; send_word();

commnd = STT; send_cmd();

} /* end load trajectory */

menu()

{

printf("\n 0 Absolute Move");

printf("\n 1 Load Trajectory");

printf("\n 2 Relative Move");

printf("\n 3 Left Velocity Move");

printf("\n 4 Right Velocity Move");

printf("\n 5 Jog Left");

printf("\n 6 Jog Right");

printf("\n 7 Load Filter Parameters");

printf("\n 8 Motor Power Off");

printf("\n 9 Display current setup values");

printf("\n\n Enter the number of your choice: ");

} /* end menu */

NMIL-7056 Servo Motor Driver

C Sample Program

motor_off()

{

commnd = LTRJ; send_cmd();

trajec2 = 0x01; trajec1 = 0x00;

dbyte2 = trajec2; dbyte1 = trajec1; send_word();

commnd = STT; send_cmd();

} /* end motor off */

motor_stop()

{

commnd = LTRJ; send_cmd();

trajec2 = 0x04; trajec1 = 0x00;

dbyte2 = trajec2; dbyte1 = trajec1; send_word();

commnd = STT; send_cmd();

} /* end motor stop */

not_busy()

{

get_status();

}

while ( (status & 0x01) != 0x00 );

} /* end not busy */

r_move()

{

commnd = LTRJ; send_cmd();

trajec2 = 0x00; trajec1 = 0x23;

dbyte2 = trajec2; dbyte1 = trajec1; send_word();

accel4 = 0x00; accel3 = 0x05;

accel2 = 0x00; accel1 = 0x00;

dbyte2 = accel4; dbyte1 = accel3; send_word();

dbyte2 = accel2; dbyte1 = accel1; send_word();

dbyte2 = posit4; dbyte1 = posit3; send_word();

dbyte2 = posit2; dbyte1 = posit1; send_word();

commnd = STT; send_cmd();

} /* end right move */

relat_move()

{

int data_in;

printf("\nEnter a Position value (0-65535): ");

scanf("%d", &data_in);

posit4 = 0x00; posit3 = 0x00;

posit2 = data_in / 256; posit1 = data_in % 256;

r_move();

} /* end relative move */

reset_int()

{

commnd = RSTI; send_cmd();

/* clear all interrupt flags */

dbyte2 = 0x00; dbyte1 = 0x00; send_word();

} /* end reset interrupts */

NMIL-7056 Servo Motor Driver

C Sample Program

r_veloc()

{

int data_in;

commnd = LTRJ; send_cmd();

dbyte2 = 0x08; dbyte1 = 0x28; send_word();

printf("\nEnter a Velocity value (0-65535): ");

scanf("%d", &data_in);

veloc4 = data_in / 256; veloc3 = data_in % 256;

veloc2 = 0x00; veloc1 = 0x00;

accel4 = 0x00; accel3 = 0x05; accel2 = 0x00; accel1 = 0x00;

dbyte2 = accel4; dbyte1 = accel3; send_word();

dbyte2 = accel2; dbyte1 = accel1; send_word();

dbyte2 = veloc4; dbyte1 = veloc3; send_word();

dbyte2 = veloc2; dbyte1 = veloc1; send_word();

commnd = STT; send_cmd();

} /* end right velocity move */

send_cmd()

{

not_busy();

pokeb(CMDPORT, commnd);

not_busy();

} /* end send command */

send_word()

{

not_busy();

pokeb(DATAPORT, dbyte2);

pokeb(DATAPORT, dbyte1);

not_busy();

} /* end send word */

traj_menu()

{

int boolean,

data_in;

trajec2 = 0x00; trajec1 = 0x2A;

printf("\nEnter a Position value(0-65535): ");

scanf("%d", &data_in);

printf("\nIs this Position absolute(1) or relative(0) ? ");

scanf("%d", &boolean);

if (boolean)

trajec1 = trajec1 & 0x01;

posit4 = 0x00;

posit3 = 0x00;

posit2 = data_in / 256;

posit1 = data_in % 256;

printf("\nEnter a Velocity value(0-65535): ");

scanf("%d", &data_in);

printf("\nIs this Velocity absolute(1) or relative(0) ? ");

scanf("%d", &boolean);

if (boolean)

trajec1 = trajec1 & 0x04;

veloc4 = data_in / 256;

veloc3 = data_in % 256;

veloc2 = 0x00;

veloc1 = 0x00;

NMIL-7056 Servo Motor Driver

C Sample Program

printf("\nEnter an Acceleration value(0-65535): ");

scanf("%d", &data_in);

printf("\nIs this Acceleration absolute(1) or relative(0) ? ");

scanf("%d", &boolean);

if (boolean)

trajec1 = trajec1 & 0x10;

accel4 = 0x00;

accel3 = 0x01;

accel2 = data_in / 256;

accel1 = data_in % 256;

if (accel2 >= veloc2)

{

accel2 = veloc2;

if (accel1 > veloc1)

accel1 = veloc1;

};

load_traj();

} /* end traj menu */

NMIL-9003 Real TIme Clock

C Sample Program

#include c:\NMIY0031\clib\common51.c

#include c:\NMIY0031\clib\syslib51.c

#include c:\NMIY0031\clib\stdio.h

#include c:\NMIY0031\clib\alloc.c

#include c:\NMIY0031\clib\peekpoke.c

#include c:\NMIY0031\clib\getchar.c

#include c:\NMIY0031\clib\fgetc.c

#include c:\NMIY0031\clib\fgets.c

#include c:\NMIY0031\clib\fprintf.c

#include c:\NMIY0031\clib\fputc.c

#include c:\NMIY0031\clib\fputs.c

#include c:\NMIY0031\clib\fscanf.c

#include c:\NMIY0031\clib\is.c

#include c:\NMIY0031\clib\atoi.c

#include c:\NMIY0031\clib\itoa.c

#include c:\NMIY0031\clib\itoab.c

#include c:\NMIY0031\clib\puts.c

#include c:\NMIY0031\clib\strlen.c

#include c:\NMIY0031\clib\reverse.c

#include c:\NMIY0031\clib\ungetc.c

#include c:\NMIY0031\clib\utoi.c

#define SEC_1_ADR 0xFFE0 /* register addresses */

#define SEC_10_ADR 0xFFE1

#define MIN_1_ADR 0xFFE2

#define MIN_10_ADR 0xFFE3

#define HOUR_1_ADR 0xFFE4

#define HOUR_10_ADR 0xFFE5

#define DAY_1_ADR 0xFFE6

#define DAY_10_ADR 0xFFE7

#define MONTH_1_ADR 0xFFE8

#define MONTH_10_ADR 0xFFE9

#define YEAR_1_ADR 0xFFEA

#define YEAR_10_ADR 0xFFEB

#define DOW_ADR 0xFFEC

#define REG_D 0xFFED

#define REG_E 0xFFEE

#define REG_F 0xFFEF

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

/* */

/* This program demonstrates use of the NMIL-9003 clock card */

/* with the NMIY-0031 processor card as controller using the */

/* Vertical Stacking Connector. */

/* */

/* The base address of the clock card is selected as 0xFFE0. */

/* the NMIL-9003 requires sixteen consecutive data addresses. */

/* This sample is coded for reading clarity in displaying the */

/* register manipulation for setting and reading the clock. */

/* */

/* The clock is set from and read to MaxTerm to demonstrate */

/* interactive use. Memory used in programming was 32Kb in */

/* U3 and U4. U3 is set for shared program and memory. */

/* */

/* Systems not using 32Kb memory devices could use the keypad */

/* and LCD to conserve memory use. */

/* */

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

NMIL-9003 Real TIme Clock

C Sample Program

int second, /* All time variables are global */

minute,

hour,

day,

month,

year,

day_of_week,

am_pm,

hr24_12,

dow;

unsigned int i,

choice; /* user menu selection input variable */

main ()

{

clock_start();

while (1)

{

write_user_menu();

switch (choice)

{

case '1' : get_input();

set_clock();

case '2' :

default : read_clock();

display_clock();

break;

}

} /* end while */

} /* end main */

clock_hold() /* Use to stop reg. updates for reading or writing. */

{ /* Release within 1 sec. for clock accuracy. */

unsigned char temp;

pokeb(REG_D, 0x01);

while ( (peekb(REG_D) & 0x02) == 2 )

{

pokeb(REG_D, 0x00); /* If BUSY then */

for (i = 1; i < 50; i++) temp = '1'; /* wait at least 61 uS */

pokeb(REG_D, 0x01);

}; /* end while */

} /* end _clock_hold */

clock_start() /* ensure HOLD and RESET are inactive */

{

pokeb(REG_D, 0x0); /* clear HOLD bit */

pokeb(REG_F, (peekb(REG_F) & 0xFE) ); /* clear bit 0, RESET */

pokeb(REG_F, (peekb(REG_F) | 0x01) ); /* set RESET bit */

pokeb(REG_F, (peekb(REG_F) & 0xFE) ); /* clear bit 0, RESET */

/* maintain 24/12 bit */

} /* end _clock_start */

NMIL-9003 Real TIme Clock

C Sample Program

display_clock()

{

switch (dow)

{

case 0 : printf("\nSUN "); break;

case 1 : printf("\nMON "); break;

case 2 : printf("\nTUE "); break;

case 3 : printf("\nWED "); break;

case 4 : printf("\nTHU "); break;

case 5 : printf("\nFRI "); break;

case 6 : printf("\nSAT "); break;

default: break;

}; /* end switch */

printf(" %2d\/%2d\/%2d", month, day, year);

printf(" %2d:%2d:%2d", hour, minute, second);

if (hr24_12 == 0)

{

if (am_pm == 0)

printf(" AM");

else

printf(" PM");

}; /* end if hr24_12 */

printf("\n");

} /* end _display_clock */

get_input()

/* When this subroutine completes, */

/* all clock variables will have new data */

{

printf("\nEnter the year: ");

scanf("%d", &year);

printf("\nEnter the month: ");

scanf("%d", &month);

printf("\nEnter the day: ");

scanf("%d", &day);

printf("\nEnter the day of the week(0=SUN, 1=MON, ...): ");

scanf("%d", &dow);

printf("\nEnter a 1 for a 24 hour clock,or a 0 for 12 hour: ");

scanf("%d", &hr24_12);

printf("\nEnter the hour: ");

scanf("%d", &hour);

if (hr24_12 == 0)

{

printf("\nEnter a 0 for AM, or a 1 for PM: ");

scanf("%d", &am_pm);

}

else

am_pm = 0;

printf("\nEnter the minutes: ");

scanf("%d", &minute);

printf("\nEnter the seconds: ");

scanf("%d", &second);

/* check & adjust range values */

if (second < 0) second = 0; else if (second > 59) second = 59;

if (minute < 0) minute = 0; else if (minute > 59) minute = 59;

if (hour < 0) hour = 0; else if (hour > 23 ) hour = 23;

if (day < 1) day = 1; else if (day > 31) day = 31;

if (month < 1) month = 1; else if (month > 12) month = 12;

if (year < 0) year = 0; else if (year > 99) year = 99;

NMIL-9003 Real Time Clock

C Sample Program

if (dow < 0) dow = 0; else if (dow > 6) dow = 6;

if (hr24_12 < 0) hr24_12 = 0; else if (hr24_12 > 1) hr24_12 = 1;

if (am_pm < 0) am_pm = 0; else if (am_pm > 1) am_pm = 1;

if (hr24_12 != 0) hr24_12 = 0x4; /* setup correct register bit value */

if (am_pm != 0) am_pm = 0x4;

} /* end get_input_data */

read_clock()

/* This subroutine reads current clock data into */

/* all clock variables */

{

clock_hold();

second = peekb( SEC_1_ADR) + (10 * peekb(SEC_10_ADR));

minute = peekb( MIN_1_ADR) + (10 * peekb(MIN_10_ADR));

hour = peekb( HOUR_1_ADR) + (10 * (peekb(HOUR_10_ADR) & 0x3));

day = peekb( DAY_1_ADR) + (10 * peekb(DAY_10_ADR));

month = peekb(MONTH_1_ADR) + (10 * peekb(MONTH_10_ADR));

year = peekb( YEAR_1_ADR) + (10 * peekb(YEAR_10_ADR));

dow = peekb( DOW_ADR);

hr24_12 = (peekb(REG_F) & 0x4);

am_pm = (peekb(HOUR_10_ADR) & 0x4);

pokeb(REG_D, 0x00); /* release clock HOLD */

} /* end read_clock */

set_clock()

{

clock_hold();

set_24_12_mode();

pokeb(SEC_1_ADR, (second % 10));

pokeb(SEC_10_ADR, (second / 10));

pokeb(MIN_1_ADR, (minute % 10));

pokeb(MIN_10_ADR, (minute / 10));

pokeb(HOUR_1_ADR, (hour % 10));

pokeb(HOUR_10_ADR, ((hour / 10) | am_pm) );

pokeb(DAY_1_ADR, (day % 10));

pokeb(DAY_10_ADR, (day / 10));

pokeb(MONTH_1_ADR, (month % 10));

pokeb(MONTH_10_ADR, (month / 10));

pokeb(YEAR_1_ADR, (year % 10));

pokeb(YEAR_10_ADR, (year / 10));

pokeb(DOW_ADR, dow);

pokeb(REG_D, 0x0); /* release clock HOLD */

} /* end _set_clock */

set_24_12_mode()

{

pokeb(REG_F, hr24_12); /* store hr24_12 bit with RESET=0 */

hr24_12 = hr24_12 | 0x1;

pokeb(REG_F, hr24_12); /* maintain hr24_12 bit with RESET =1 */

hr24_12 = hr24_12 & 0xFE;

pokeb(REG_F, hr24_12); /* maintain hr24_12 bit and clear RESET */

} /* end _set_24_12_mode */

write_user_menu()

{

printf("\n\n\n 1 Set clock\n 2 Read clock\n");

printf("Please enter the number of your choice: ");

choice = getchar();

printf("\n");

} /* end _write_user */

Appendix C FORTH Sample Programs

Appendix C contains a FORTH sample program for each of the listed NMIL cards. Sample programs are adapted from the manual for each of the boards. FORTH code in the manuals is written for MAX-FORTH. However, the conversion is straightforward. The opening lines of the MAX-FORTH version contain code that relocates the stack. This code is deleted. Beyond that, only the card register addresses are changed to accommodate the memory map of the NMIY-0031.

LCD/KEYPAD INTERFACE

FORTH SAMPLE CODE

( KEYPAD ROUTINES )

HEX

B00A CONSTANT KEYPAD

( true if a keypad key is pressed

: KP-?TERMINAL ( -- flag ) B000 C@ 1 AND ;

( wait for keypad key to be released

: KP-RELEASE ( -- ) BEGIN KP-?TERMINAL 0= UNTIL ;

( wait for a keypad key

: KP-KEY ( -- button )

BEGIN KP-?TERMINAL UNTIL KEYPAD C@ 2/ 2/ 2/ ;

CREATE ASCIIFY ( a table for keypad translation)

31 C, 34 C, 37 C, 45 C, ( 1 4 7 Edit )

32 C, 35 C, 38 C, 30 C, ( 2 5 8 0 )

33 C, 36 C, 39 C, 0D C, ( 3 6 9 entr )

50 C, 55 C, 44 C, 54 C, ( Prog Up Down Trav )

4D C, 48 C, 08 C, 53 C, ( Mode Home Bksp Stop )

( return the ascii version of the keys, wait for key release

: PADKEY ( -- char )

KP-KEY ASCIIFY + C@ KP-RELEASE ;

( NUMBER INPUT VIA KEYPAD AND DISPLAY

( true if char is not a digit

: NOTDIGIT? ( char -- char flag )

DUP 30 < OVER 39 > OR ;

( wait for a single digit. reject any non-digit and continue waiting

( return the value of the digit 0--9

: 1DIGIT ( -- n )

BEGIN PADKEY NOTDIGIT? WHILE DROP REPEAT DUP DSP-EMIT 30 - ;

( wait for n digits, return the accumulated value

: DIGITS ( n -- n )

0 SWAP 0 DO 0A * 1DIGIT + LOOP ;

( user input of a number

: GET-NUMBER ( -- n )

DSP-CLEAR ( 0 DSP-AT) DSP" INPUT? " 5 DIGITS ;

NMIL-1055 24-Bit I/O

FORTH SAMPLE CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORT-A

FFE1 IS PORT-B

FFE2 IS PORT-C

FFE3 IS CNTL-REG

: CFIG0 80 CNTL-REG C! ; ( Set PORT-A, PORT-B, and PORT-C to output)

: CFIG1 81 CNTL-REG C! ; ( Set PORT-A, B, & C 4-7 to output, PORT-C 0-3 input)

: CFIG2 82 CNTL-REG C! ; ( Set PORT-A & PORT-C to output, PORT-B input)

: IN PORT-B C@ U. ; ( Read PORT-B and display the value. )

: IN-C0-3 PORT-C C@ 0F AND U. ; ( Read PORT-C bits 0-3 )

: OUT-A ( data byte -- ) PORT-A C! ; ( Send data byte to port A )

: OUT-B ( data byte -- ) PORT-B C! ; ( Send data byte to port B )

: OUT-C ( data byte -- ) PORT-C C! ; ( Send data byte to port C )

: OUT-C4-7 F0 PORT-C C! ; ( Turn on PORT-C bits 4-7 )

NMIL-3003 64-Channel Input

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS BASE-ADDRESS

BASE-ADDRESS 0 + IS PORTA

BASE-ADDRESS 1 + IS PORTB

BASE-ADDRESS 2 + IS PORTC

BASE-ADDRESS 3 + IS PORTD

BASE-ADDRESS 4 + IS PORTE

BASE-ADDRESS 5 + IS PORTF

BASE-ADDRESS 6 + IS PORTG

BASE-ADDRESS 7 + IS PORTH

: PA@ PORTA C@ ;

: PB@ PORTB C@ ;

: PC@ PORTC C@ ;

: PD@ PORTD C@ ;

: PE@ PORTE C@ ;

: PF@ PORTF C@ ;

: PG@ PORTG C@ ;

: PH@ PORTH C@ ;

: PAB@ PORTA @ ;

: PCD@ PORTC @ ;

: PEF@ PORTE @ ;

: PGH@ PORTG @ ;

: PD0? PD@ 0001 AND 0= NOT ;

NMIL-3004 64-Channel Out

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS BASE-ADDRESS

BASE-ADDRESS 0 + IS PORTA

BASE-ADDRESS 1 + IS PORTB

BASE-ADDRESS 2 + IS PORTC

BASE-ADDRESS 3 + IS PORTD

BASE-ADDRESS 4 + IS PORTE

BASE-ADDRESS 5 + IS PORTF

BASE-ADDRESS 6 + IS PORTG

BASE-ADDRESS 7 + IS PORTH

: PA! PORTA C! ;

: PB! PORTB C! ;

: PC! PORTC C! ;

: PD! PORTD C! ;

: PE! PORTE C! ;

: PF! PORTF C! ;

: PG! PORTG C! ;

: PH! PORTH C! ;

: PAB! PORTA ! ;

: PCD! PORTC ! ;

: PEF! PORTE ! ;

: PGH! PORTG ! ;

NMIL-4000 2-Channel, 8-Bit D/A

FORTH Sample CODE

COLD

HEX

(******************************************************************)

( )

( This is a sample program segment to demonstrate )

( the use of the NMIL-4000 board with the NMIY-0031 )

( processor board. )

( )

( TEST will generate a rising ramp waveform on each )

( output with a DAC installed. )

( )

(*****************************************************************)

: IS CONSTANT ;

VARIABLE RAM-POINTER

200 RAM-POINTER !

: RAM RAM-POINTER @ SWAP RAM-POINTER +! ;

2 RAM IS DAC1-RAM

2 RAM IS DAC2-RAM

2 RAM IS DAC3-RAM

2 RAM IS DAC4-RAM

2 RAM IS DAC5-RAM

2 RAM IS DAC6-RAM

2 RAM IS DAC7-RAM

2 RAM IS DAC8-RAM

FFE0 IS BASE-ADDRESS

BASE-ADDRESS 0 + IS DAC1-REG

BASE-ADDRESS 1 + IS DAC2-REG

BASE-ADDRESS 2 + IS DAC3-REG

BASE-ADDRESS 3 + IS DAC4-REG

BASE-ADDRESS 4 + IS DAC5-REG

BASE-ADDRESS 5 + IS DAC6-REG

BASE-ADDRESS 6 + IS DAC7-REG

BASE-ADDRESS 7 + IS DAC8-REG

DECIMAL

: DAC1-SCALED-2.56-MV-! DAC1-RAM @ 10 / DAC1-REG ! ;

: DAC2-SCALED-2.56-MV-! DAC2-RAM @ 10 / DAC2-REG ! ;

: DAC3-SCALED-2.56-MV-! DAC3-RAM @ 10 / DAC3-REG ! ;

: DAC4-SCALED-2.56-MV-! DAC4-RAM @ 10 / DAC4-REG ! ;

: DAC5-SCALED-2.56-MV-! DAC5-RAM @ 10 / DAC5-REG ! ;

: DAC6-SCALED-2.56-MV-! DAC6-RAM @ 10 / DAC6-REG ! ;

: DAC7-SCALED-2.56-MV-! DAC7-RAM @ 10 / DAC7-REG ! ;

: DAC8-SCALED-2.56-MV-! DAC8-RAM @ 10 / DAC8-REG ! ;

: DAC1-SCALED-10.0-MV-! DAC1-RAM @ 39 / DAC1-REG ! ;

: DAC2-SCALED-10.0-MV-! DAC2-RAM @ 39 / DAC2-REG ! ;

: DAC3-SCALED-10.0-MV-! DAC3-RAM @ 39 / DAC3-REG ! ;

: DAC4-SCALED-10.0-MV-! DAC4-RAM @ 39 / DAC4-REG ! ;

: DAC5-SCALED-10.0-MV-! DAC5-RAM @ 39 / DAC5-REG ! ;

: DAC6-SCALED-10.0-MV-! DAC6-RAM @ 39 / DAC6-REG ! ;

: DAC7-SCALED-10.0-MV-! DAC7-RAM @ 39 / DAC7-REG ! ;

: DAC8-SCALED-10.0-MV-! DAC8-RAM @ 39 / DAC8-REG ! ;

NMIL-4000 2-Channel, 8-Bit D/A

FORTH Sample CODE

( Generalized DAC setting, parameters on stack )

: DAC-SET ( dac# mv --- )

1- BASE-ADDRESS +

SWAP

10 ( OR 39 ) /

SWAP

;

HEX

: TEST ( Quick functional test of )

0 ( NMIL-4000 with NMIY-0031 )

BEGIN

DUP FFE0 C! ( U3 )

DUP FFE1 C! ( U4 )

DUP FFE2 C! ( U5 )

DUP FFE3 C! ( U6 )

DUP FFE4 C! ( U7 )

DUP FFE5 C! ( U8 )

DUP FFE6 C! ( U9 )

DUP FFE7 C! ( U10 )

?TERMINAL

UNTIL

DROP

;

: INITIALIZE-A

0 DAC1-REG ! ( ALSO CLEARS DAC2 SINCE 16 BIT STORE )

0 DAC3-REG ! ( ALSO CLEARS DAC4 SINCE 16 BIT STORE )

0 DAC5-REG ! ( ALSO CLEARS DAC6 SINCE 16 BIT STORE )

0 DAC7-REG ! ( ALSO CLEARS DAC8 SINCE 16 BIT STORE )

;

: INITIALIZE-B

9 1

0 ( mv ) I ( dac# ) DAC-SET

LOOP

;

NMIL-4004 1-Channel, 12-Bit A/D

FORTH Sample CODE

COLD

HEX

: CAL ( -- )

0 FFE0 C!

BEGIN

0 FFE2 C!

100 0 DO LOOP

FFE2 @ 10 / FFF AND U.

?TERMINAL

UNTIL

;

: DELAY ( -- ) 100 0 DO LOOP ;

: TEST ( -- )

CR BEGIN

0 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

1 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

2 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

3 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

4 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

5 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

6 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U.

7 FFE0 C! 0 FFE2 C! DELAY FFE2 @ 10 / FFF AND U. CR

?TERMINAL

UNTIL

KEY DROP

;

DECIMAL

: SCALE-1V ( u -- r ) 1 * 0 41 UM/MOD SWAP DROP ;

: SCALE-10V ( u -- r ) 10 * 0 41 UM/MOD SWAP DROP ;

: SCALE-20V ( u -- r ) 20 * 0 41 UM/MOD SWAP DROP ;

HEX

: CH-0 ( -- ) 0 FFE0 C! ;

: CH-1 ( -- ) 1 FFE0 C! ;

: CH-2 ( -- ) 2 FFE0 C! ;

: CH-3 ( -- ) 3 FFE0 C! ;

: CH-4 ( -- ) 4 FFE0 C! ;

: CH-5 ( -- ) 5 FFE0 C! ;

: CH-6 ( -- ) 6 FFE0 C! ;

: CH-7 ( -- ) 7 FFE0 C! ;

: CH-0A ( -- ) 0 FFE1 C! ;

: CH-1A ( -- ) 1 FFE1 C! ;

: CH-2A ( -- ) 2 FFE1 C! ;

: CH-3A ( -- ) 3 FFE1 C! ;

: CH-4A ( -- ) 4 FFE1 C! ;

: CH-5A ( -- ) 5 FFE1 C! ;

: CH-6A ( -- ) 6 FFE1 C! ;

: CH-7A ( -- ) 7 FFE1 C! ;

: START-12-BIT ( -- ) 0 FFE2 C! ;

: START-12-BIT-A ( -- ) FF FFE2 C! ;

: START-8-BIT ( -- ) 0 FFE3 C! ;

NMIL-4004 1-Channel, 12-Bit A/D

FORTH Sample CODE

: START-8-BIT-A ( -- ) FF FFE3 C! ;

: READ-8-BIT ( -- ) FFE2 C@ ;

: READ-12-BIT ( -- ) FFE2 @ ;

: SCALE-12-BIT ( -- ) 10 / FFF AND U. ;

( P R O G R A M S E G M E N T S )

HEX

: IS CONSTANT ;

FFE0 IS CHNL

FFE2 IS A/D

: START-CONV ( channel -- ) CHNL C! 0 A/D C! ;

: READ-A/D ( -- ) A/D @ ;

DECIMAL

: OUTPUT-20 ( u -- )

20 * 0 41 UM/MOD SWAP DROP

10 /MOD 10 /MOD

48 + EMIT

46 EMIT

48 + EMIT

;

: OUTPUT-10 ( u -- )

10 * 0 41 UM/MOD SWAP DROP

10 /MOD 10 /MOD

48 + EMIT

46 EMIT

48 + EMIT

;

: DISP ( u -- )

10 /MOD 10 /MOD

48 + EMIT

." ."

48 + EMIT

32 EMIT 32 EMIT 32 EMIT

;

NMIL-4004 1-Channel, 12-Bit A/D

FORTH Sample CODE

: SCALE-1-DISP ( -- )

8 0

0 START-CONV DELAY READ-A/D SCALE-1V DISP

1 START-CONV DELAY READ-A/D SCALE-1V DISP

2 START-CONV DELAY READ-A/D SCALE-1V DISP

3 START-CONV DELAY READ-A/D SCALE-1V DISP

4 START-CONV DELAY READ-A/D SCALE-1V DISP

5 START-CONV DELAY READ-A/D SCALE-1V DISP

6 START-CONV DELAY READ-A/D SCALE-1V DISP

7 START-CONV DELAY READ-A/D SCALE-1V DISP

LOOP

8 0 DO

08 EMIT

13 EMIT

LOOP

;

: SCALE-10-DISP ( -- )

CR 8 0 DO

0 START-CONV DELAY READ-A/D SCALE-10V DISP

1 START-CONV DELAY READ-A/D SCALE-10V DISP

2 START-CONV DELAY READ-A/D SCALE-10V DISP

3 START-CONV DELAY READ-A/D SCALE-10V DISP

4 START-CONV DELAY READ-A/D SCALE-10V DISP

5 START-CONV DELAY READ-A/D SCALE-10V DISP

6 START-CONV DELAY READ-A/D SCALE-10V DISP

7 START-CONV DELAY READ-A/D SCALE-10V DISP CR

LOOP

8 0 DO

08 EMIT

13 EMIT

LOOP

;

HEX

: SPACE-6 ( -- )

20 EMIT 20 EMIT

;

: MAKE-HEADER ( -- )

CR 20 EMIT 20 EMIT

." 1" SPACE-6

." 2" SPACE-6

." 3" SPACE-6

." 4" SPACE-6

." 5" SPACE-6

." 6" SPACE-6

." 7" SPACE-6

." 8" CR

35 0 DO 5F EMIT LOOP

;

: PUT-TITLE ( -- )

1A 0 DO 0A EMIT LOOP

1A 0 DO 0D EMIT 08 EMIT LOOP

14 0 DO 20 EMIT LOOP

." CHANNEL READINGS"

;

NMIL-4004 1-Channel, 12-Bit A/D

FORTH Sample CODE

: SCAN ( -- )

PUT-TITLE

MAKE-HEADER CR

BEGIN

SCALE-1-DISP ( or SCALE-10-DISP )

?TERMINAL

UNTIL

KEY

DROP

8 0 DO 0A EMIT LOOP

;

NMIL-5000 1-Channel Serial Communication

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS BASE-ADDR ( set card addresses )

0 BASE-ADDR + IS DATA

1 BASE-ADDR + IS STATUS

2 BASE-ADDR + IS CMMAND

3 BASE-ADDR + IS CNTROL

: INIT ( control command -- )

0 STATUS C! ( program reset )

CMMAND C! ( set command register )

CNTROL C! ( set control register )

;

: TDREADY? STATUS C@ 10 AND ; ( check if you can send )

: RDREADY? STATUS C@ 08 AND ; ( check if you've received )

: S-EMIT ( char -- )

BEGIN TDREADY? UNTIL ( wait until last char is done )

DATA C! ( send next char )

;

: S-KEY ( -- char )

BEGIN RDREADY? UNTIL ( wait until a char is here )

DATA C@ ( get it )

;

: S-?TERMINAL RDREADY? ; ( is a char here now ? )

: S-TYPE ( ca -- ) ( send a string )

COUNT ?DUP IF

( ca+1 n ) 0 DO

( ca+i ) COUNT S-EMIT LOOP

THEN

( ca+i ) DROP

;

: ~S-CR? ( CHAR -- CHAR 0 | 1 )

DUP 0D = IF SPACE 0 ELSE DROP 1 THEN ;

: S-BS ( ca ca+i -- ca f )

OVER SWAP U< IF

8 EMIT THEN 0 ;

: S-CHAR? ( ca+u ca' char -- ca+u ca'+1 f )

( ca+u ca' char ) DUP EMIT ( display char )

( ca+u ca' char ) OVER C! ( save char in buffer )

( ca+u ca' ) 1+ ( bump pointer )

( ca+u ca'+1 ) 2DUP U< ; ( buffer full ? )

NMIL-5000 1-Channel Serial Communication

FORTH Sample CODE

: S-EXPECT ( ca +n -- ) ( accepts remote string )

( stores at address ca )

( no more than +n chars, not counting )

( those that were backspaced )

( echoes string to terminal )

( ca u ) OVER + OVER

( ca ca+u ca ) BEGIN

( ca ca+u ca+i ) S-KEY ~S-CR? IF

DUP 7F = IF ( funny backspace char ? )

DROP S-BS ( backspace )

ELSE S-CHAR? ( or handle char )

THEN

UNTIL 2DROP DROP ( quit if CR or buffer full )

;

( debugging commands )

: .STATUS ( reports status register )

STATUS C@

DUP 80 AND IF ." Interrupt " CR THEN

DUP 40 AND IF ." DSR High (not ready)" CR THEN

DUP 20 AND IF ." DCD High ( not ready)" CR THEN

DUP 10 AND 0= IF ." Transmitter not empty" CR THEN

DUP 8 AND IF ." Receiver full" CR THEN

DUP 4 AND IF ." Overrun" CR THEN

DUP 2 AND IF ." Framing error" CR THEN

1 AND IF ." Parity error" CR THEN

;

: PARITY-TYPE ( x -- ) ( used by another routine )

DUP 0C0 AND

DUP 0= IF ." Odd parity set" THEN

DUP 40 = IF ." Even parity set" THEN

DUP 80 = IF ." Mark parity set, no checking" THEN

0C0 = IF ." Space parity set, no checking" THEN CR

;

: .RTS ( x -- ) ( used by another routine )

DUP 0C AND

DUP 0= IF ." RTS high, transmitter disabled" THEN

DUP 4 = IF ." RTS low, transmitter interrupt enabled" THEN

DUP 8 = IF ." RTS low, transmitter interrupt disabled" THEN

0C = IF ." RTS low, transmitter interrupt disabled" THEN

;

: .COMMAND ( reports command register )

CMMAND C@

DUP 20 AND IF PARITY-TYPE ELSE

." Parity mode disabled, no parity sent, no checking" CR

THEN

DUP 10 AND IF ." Receiver echoes" CR THEN

.RTS

DUP 2 AND IF ." Receiver interrupt request interrupt disabled" ELSE

." Receiver interrupt request interrupt enabled" THEN CR

1 AND IF ." DTR low, ready" ELSE ." DTR high, not ready"

THEN CR

;

: 8BITS-PAR ( cmd -- cmd f ) ( subroutine to report stop bits )

DUP 60 AND 0= CMMAND C@ 20 AND AND DUP IF

." 1 stop bit" THEN

;

NMIL-5000 1-Channel Serial Communication

FORTH Sample CODE

: 5BITS-NO-PAR ( cmd -- cmd f )( subroutine to report stop bits )

DUP 60 AND 60 = CMMAND C@ 20 AND 0= AND DUP IF

." 1.5 stop bits" THEN

;

: .STOPBITS ( cmd -- cmd ) ( subroutine to report stop bits )

DUP 80 AND 0= IF ." one stop bit" ELSE

8BITS-PAR 0= IF 5BITS-NO-PAR 0= IF ." 2 stop bits" THEN THEN

THEN CR

;

CREATE BAUDS DECIMAL

0 , 100 , 150 , 220 , 269 , 300 , 600 , 1200 ,

2400 , 3600 , 4800 , 7200 , 9600 , 14400 , 19200 , 38400 ,

HEX

: #BITS ( x -- n ) ( subroutine to report bits/char )

60 AND >< 2/

( 0-3 ) 8 SWAP -

( 5-8 ) . ." bits" CR

;

: .CONTROL ( reports Control Register )

CNTROL C@

8 OVER 60 AND >< 2/ - . ." bits" CR .STOPBITS

DUP 10 AND 0= IF ." external clock" ELSE

0F AND 2* BAUDS + @ DECIMAL U. HEX ." Baud" THEN CR

;

: .? ( reports all registers )

.COMMAND .CONTROL .STATUS

;

( for testing )

: TEST-SEND ( send a test pattern )

1C CB INIT .?

BEGIN

FE 20 DO

BEGIN TDREADY? UNTIL ( wait until transmitter ready )

I DATA C! ( send new char )

200 0 DO LOOP ( wait in case remote is slow )

LOOP

0 UNTIL ( repeat until push reset button )

;

: TEST-GET1 ( receive with no RTS handshaking )

( RTS low )

1C CB INIT

BEGIN

BEGIN RDREADY? UNTIL

DATA C@ EMIT ( get char )

?TERMINAL ( stop if keypress )

UNTIL KEY DROP

;

NMIL-5000 1-Channel Serial Communication

FORTH Sample CODE

: TEST-GET2 ( receive with RTS handshaking for RS232 )

1C CB INIT

BEGIN

CMMAND C@ 8 OR CMMAND C! ( RTS low )

BEGIN RDREADY? UNTIL

03 CMMAND C! ( RTS high )

DATA C@ EMIT ( get char )

?TERMINAL ( stop if keypress )

UNTIL KEY DROP

;

: TEST-FULL ( send and receive both )

1C CB INIT ( full-duplex RS232 or RS422 )

BEGIN

FE 20 DO

RDREADY? IF

DATA C@ EMIT THEN ( get char if char is received )

BEGIN TDREADY? UNTIL ( wait until transmitter ready )

I DATA C! ( send char )

100 0 DO LOOP ( wait in case remote is slow )

LOOP

0 UNTIL

;

: TEST-GET3 ( receive with no RTS handshaking )

( RTS high )

1C D3 INIT

BEGIN

BEGIN RDREADY? UNTIL

DATA C@ EMIT ( get char )

?TERMINAL ( stop if keypress )

UNTIL KEY DROP

;

NMIL-7001 16-Ch. OPTO Out

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORT

FFE0 IS PORTA

FFE1 IS PORTB

( SIMPLE WRITE THAT SETS ALL OUTPUTS AT ONCE )

: PORT! PORT ! ;

( EXAMPLES THAT SET ONLY ONE BYTE AT A TIME )

: PORTA! ( d-- ) PORTA C! ;

: PORTB! ( d-- ) PORTB C! ;

( EXAMPLE THAT SETS ONLY ONE BIT AT A TIME )

( REQUIRES OVERMAPPING ON TOP OF RAM TO WORK WITH READ BACK )

: SET-1-ON PORT @ FFFE AND PORT ! ;

: SET-1-OFF PORT @ 0001 OR PORT ! ;

NMIL-7003 8-Ch.Input, 8-Ch. Output OPTO Isolator

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORTA

FFE1 IS PORTB

( EXAMPLES THAT SET OR READ ONLY ONE BYTE AT A TIME )

: PORTA@ ( d-- ) PORTA C@ ;

: PORTB! ( d-- ) PORTB C! ;

( EXAMPLE THAT SET ONLY ONE BIT AT A TIME )

( REQUIRES OVERMAPPING ON TOP OF RAM TO WORK WITH READ BACK )

: SET-1-ON PORTB C@ FE AND PORTB C! ;

: SET-1-OFF PORTB C@ 01 OR PORTB C! ;

NMIL-7022 8-Ch. Mech. Relay

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORT

FBFF IS RAM-COPY ( ANYWHERE THERE IS RAM )

( ALSO SEE NOTE ABOUT OVERMAPPING PORT BEHIND RAM )

( INITIALIZATION OF RAM AND OUTPUTS )

: CLEAR-ALL 0 RAM-COPY C! 0 PORT C! ;

: SET-ALL FF RAM-COPY C! FF PORT C! ;

( SIMPLE STORE THAT DEFINES ALL OUTPUTS AT ONCE )

: PALL! PORT C! ;

( EXAMPLES THAT CHANGE ONLY ONE BIT AT A TIME )

: J1-ON RAM-COPY C@ 01 OR DUP RAM-COPY C! PORT C! ;

: J1-OFF RAM-COPY C@ FE AND DUP RAM-COPY C! PORT C! ;

: J2-ON RAM-COPY C@ 02 OR DUP RAM-COPY C! PORT C! ;

: J2-OFF RAM-COPY C@ FD AND DUP RAM-COPY C! PORT C! ;

: J3-ON RAM-COPY C@ 04 OR DUP RAM-COPY C! PORT C! ;

: J3-OFF RAM-COPY C@ FB AND DUP RAM-COPY C! PORT C! ;

: J4-ON RAM-COPY C@ 08 OR DUP RAM-COPY C! PORT C! ;

: J4-OFF RAM-COPY C@ F7 AND DUP RAM-COPY C! PORT C! ;

: J5-ON RAM-COPY C@ 10 OR DUP RAM-COPY C! PORT C! ;

: J5-OFF RAM-COPY C@ EF AND DUP RAM-COPY C! PORT C! ;

: J6-ON RAM-COPY C@ 20 OR DUP RAM-COPY C! PORT C! ;

: J6-OFF RAM-COPY C@ DF AND DUP RAM-COPY C! PORT C! ;

: J7-ON RAM-COPY C@ 40 OR DUP RAM-COPY C! PORT C! ;

: J7-OFF RAM-COPY C@ BF AND DUP RAM-COPY C! PORT C! ;

: J8-ON RAM-COPY C@ 80 OR DUP RAM-COPY C! PORT C! ;

: J8-OFF RAM-COPY C@ 7F AND DUP RAM-COPY C! PORT C! ;

( MORE ELEGANT FORTH EXAMPLE )

: TURN-ON RAM-COPY C@ OR DUP RAM-COPY C! PORT C! ;

: TURN-OFF RAM-COPY C@ AND DUP RAM-COPY C! PORT C! ;

: J1+ 1 TURN-ON ; : J1- FE TURN-OFF ;

: J2+ 2 TURN-ON ; : J2- FD TURN-OFF ;

: J3+ 4 TURN-ON ; : J3- FB TURN-OFF ;

: J4+ 8 TURN-ON ; : J4- F7 TURN-OFF ;

: J5+ 10 TURN-ON ; : J5- EF TURN-OFF ;

: J6+ 20 TURN-ON ; : J6- DF TURN-OFF ;

: J7+ 40 TURN-ON ; : J7- BF TURN-OFF ;

: J8+ 80 TURN-ON ; : J8- 7F TURN-OFF ;

NMIL-7040 4-Ch. Stepper Motor Controller

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS STEP-REG

VARIABLE DELAY-VALUE 100 DELAY-VALUE !

VARIABLE LEFT-SWING C8 LEFT-SWING !

VARIABLE RIGHT-SWING C8 RIGHT-SWING !

VARIABLE ACTIVE 2 ACTIVE !

: L STEP-REG C@ . ;

CREATE PATTERN-TABLE

00 C, ( 0 )

01 C, ( 1 )

04 C, ( 2 )

10 C, ( 3 )

40 C, ( 4 )

: MOTOR-SELECT ( 1,2,3,4 ) 1 MAX 4 MIN PATTERN-TABLE + C@ ACTIVE ! ;

: LEFT STEP-REG C@ ACTIVE @ OR STEP-REG C! ;

: RIGHT STEP-REG C@ ACTIVE @ FF XOR AND STEP-REG C! ;

: TOGGLE STEP-REG C@ ACTIVE @ 2* XOR STEP-REG C! ;

: WAIT DELAY-VALUE @ 0 DO LOOP ;

: STEP TOGGLE WAIT TOGGLE WAIT ;

: RUN 0 DO ?TERMINAL IF LEAVE THEN STEP LOOP ;

: SEARCH

BEGIN

RIGHT RIGHT-SWING @ RUN

LEFT LEFT-SWING @ RUN

?TERMINAL

UNTIL

;

NMIL-7056 1-Ch., 3A, Servo Motor Driver

FORTH Sample CODE

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORT

FFE1 IS DATAPORT

2VARIABLE REAL-POS ( v )

2VARIABLE ACCEPTABLE-ERROR

VARIABLE DS ( derivative sample )

VARIABLE KP ( proportional constant )

VARIABLE KI ( integral constant )

VARIABLE KD ( derivative constant )

VARIABLE IL ( integration limit constant )

VARIABLE VEL-FACTOR

B000 IS PA

B02D IS SCCR2

B02E IS SCSR

B0AA IS PORTE

: STATUS@ PORT C@ ;

: BB? BEGIN STATUS@ 1 AND 0= UNTIL

;

: COM! PORT C! ;

: CMD! COM! BB? ;

: LOAD-TRAJ 1F CMD! ;

: START-TRAJ 01 CMD! ;

: W! DUP >< DATAPORT C! DATAPORT C! BB? ;

: DW! W! W! ;

: W@ DATAPORT C@ 100 * DATAPORT C@ + BB? ;

: DW@ W@ W@ SWAP ;

: END? STATUS@ 04 AND ;

: WAIT-FOR-MOVE-END BEGIN END? UNTIL ;

: STOP LOAD-TRAJ 0200 W! START-TRAJ WAIT-FOR-MOVE-END ;

: MOTOR-OFF LOAD-TRAJ 0100 W! START-TRAJ ;

: MOTOR-ON LOAD-TRAJ 0000 W! START-TRAJ ;

: DEFIN-HOME 02 CMD! ;

: READ-REAL-POS 0A CMD! DW@ REAL-POS 2! ;

NMIL-7056 1-Ch., 3A, Servo Motor Driver

FORTH Sample CODE

: ABS-MOVE ( n -- )

LOAD-TRAJ

002A W! ( Cmd to loadd acc, vel, pos )

0000.1000 DW! ( Acceleration )

0010.0000 DW! ( Velocity )

S->D DW! ( Position )

START-TRAJ

WAIT-FOR-MOVE-END

;

: RELATIVE-MOVE ( n -- )

LOAD-TRAJ

002B W! ( Cmd to load acc, vel, pos )

0000.1000 DW! ( Acceleration )

0010.0000 DW! ( Velocity )

S->D DW! ( Position )

START-TRAJ

WAIT-FOR-MOVE-END

;

: RIGHT-VELOCITY-MOVE

LOAD-TRAJ

1828 W! ( Command )

0000.1000 DW! ( Acceleration )

0010.0000 DW! ( Velocity )

START-TRAJ

;

: LEFT-VELOCITY-MOVE

LOAD-TRAJ

102A W! ( Command )

0000.1000 DW! ( Acceleration )

0002.0000 DW! ( Velocity )

C000.0000 DW! ( Full neg pos )

START-TRAJ

;

: JOG-RIGHT 200 RELATIVE-MOVE ;

: JOG-LEFT -200 RELATIVE-MOVE ;

: SET-FILTERS ( T.B.D )

KP !

KI !

0 IL !

0 KD !

1 DS !

2 VEL-FACTOR !

0000.0080 ACCEPTABLE-ERROR 2!

( T.B.D )

;

: FILTER

1E CMD!

DS @ 100 * 0F OR W!

KP @ W!

KI @ W!

KD @ W!

IL @ W!

04 CMD!

;

NMIL-7056 1-Ch., 3A, Servo Motor Driver

FORTH Sample CODE

: RESET

0 COM! ( Software reset )

1000 0 DO LOOP ( 1.5 ms wait loop min )

1D CMD! ( Resetting interrupts )

0000 W!

;

: RES RESET SET-FILTERS FILTER ;

: TRACKER BEGIN READ-REAL-POS 2@ D. CR ?TERMINAL UNTIL ;

: LOAD-FILTER-PARA 1E CMD! ;

: UPDATE-FILTER-PARA 04 CMD! ;

: RI RIGHT-VELOCITY-MOVE ;

: LE LEFT-VELOCITY-MOVE ;

: REL RELATIVE-MOVE ;

: DIS READ-REAL-POS REAL-POS 2@ D. CR ;

: MR RES 100 REL DIS DIS DIS ;

: ML RES -100 REL DIS DIS DIS ;

: MR1 RES 1 REL DIS DIS DIS ;

: ML1 RES -1 REL DIS DIS DIS ;

: R MOTOR-OFF ;

DECIMAL 0 4 RES

NMIL-7056 Sevro Motor Driver

Second Forth Sample Code

COLD

HEX

: IS CONSTANT ;

FFE0 IS PORT

FFE1 IS DATAPORT

2VARIABLE OLD-REAL-POS

2VARIABLE REAL-POS

2VARIABLE REAL-POS2

VARIABLE REAL-VEL

VARIABLE REAL-VEL2

VARIABLE DS ( derivative sample

VARIABLE KP ( proportional constant

VARIABLE KI ( integral constant

VARIABLE KD ( derivative constant

VARIABLE IL ( integration limit constant

: SHOW

DEPTH DUP

0= IF ." NOTHING " ABORT THEN

CR 0 DO I PICK . CR LOOP

;

( end stop detector test code )

: SWITCH PORT

C@ 1 AND ;

: CHECK-STATE

IF ." OPEN "

ELSE ." CLOSED "

THEN CR

;

: LK SWITCH

BEGIN

SWITCH 2DUP =

IF DROP

ELSE SWAP 0= CHECK-STATE

THEN ?TERMINAL

UNTIL

;

( LM629 busy bit checker )

: STATUS@ PORT C@ ;

: BB? BEGIN STATUS@ 1 AND 0= UNTIL ;

( Command and data interface )

: COM! PORT C! ;

: CMD! COM! BB? ;

: W! DUP >< DATAPORT C! DATAPORT C! BB? ;

: DW! W! W! ;

: W@ DATAPORT C@ 100 * DATAPORT C@ + BB? ;

NMIL-7056 Servo Motor Driver

Second Forth Sample Code

: DW@ W@ W@ SWAP ;

: END? STATUS@ 04 AND ;

: WAIT-FOR-MOVE-END BEGIN END? UNTIL ;

( Command set )

: LTRJ 1F CMD! ; ( Load trajectory )

: STT 01 CMD! ; ( Start motion )

: DFH 02 CMD! ; ( Define home )

: RDRP 0A CMD! DW@ REAL-POS 2! ; ( Read real position )

: LFIL 1E CMD! ; ( Load filter parameters )

: UDF 04 CMD! ; ( Update filter )

: MSKI 1C CMD! ; ( Mask interrupts )

: RSTI 1D CMD! ; ( Reset interrupts)

: RDRV 0B CMD! W@ REAL-VEL ! ; ( Read real velocity )

: MOTOR-OFF

LTRJ

0100 W! ( Bit 8 = motor off, output zero drive voltage )

STT

;

: MOTOR-STOP

LTRJ

0200 W! ( Bit 9 = stop abruptly with maximum deceleration )

STT

WAIT-FOR-MOVE-END

;

: MOTOR-STOP-SMOOTHLY

LTRJ

0400 W! ( Bit 10 = sto smoothly, programmed deceleration )

STT

WAIT-FOR-MOVE-END

;

( KP, KI, KD, IL, and DS define the compensating )

( PID filter in the LM629 )

: RESET

0 COM! ( Software reset )

1000 0 DO LOOP ( 1.5 ms wait loop )

RSTI ( Reset interrupts )

0000 W!

;

: FILTER

LFIL

DS @ 100 * 0F OR W!

KP @ W!

KI @ W!

KD @ W!

IL @ W!

UDF

;

NMIL-7056 Servo Motor Driver

Second Forth Sample Code

( Summary of the five PID parameters )

: SHOPAR

." PID PARAMETERS " CR

." KP = " KP @ . CR

." KI = " KI @ . CR

." KD = " KD @ . CR

." IL = " IL @ . CR

." DS = " DS @ . CR

;

: LONG-MOTION

RESET FILTER

DFH

CR ." Starting position = "

RDRP REAL-POS 2@

DECIMAL D. HEX CR

LTRJ

002B W!

2DUP ." acc= " DECIMAL D. HEX DW!

2DUP ." vel= " DECIMAL D. HEX DW!

2DUP ." pos= " DECIMAL D. HEX DW!

STT

WAIT-FOR-MOVE-END

MOTOR-OFF

RDRP ." Total distance moved = "

REAL-POS 2@ DECIMAL D. HEX CR

;

: STALL-TESTER D- DABS 1 0 D< IF ." STALLED MOTOR " THEN ;

: MOTION-STALL-TEST ( VELH VELL POS ... )

LTRJ

002B W! ( Command to load ACC, VEL, POS )

0000.2000 DW! ( Acceleration )

DW! ( Velocity )

S->D DW! ( Pos )

STT

BEGIN

( Remove the comment on the next line to get screen display )

( RDRP REAL-POS 2@ D. CR )

RDRP

REAL-POS 2@ 2DUP D.

OLD-REAL-POS 2@

STALL-TESTER

REAL-POS 2@ OLD-REAL-POS 2!

CR STATUS@ 04 AND

UNTIL

MOTOR-OFF

;

VARIABLE CHANGE 0 CHANGE C!

VARIABLE DISTANCE 200 DISTANCE !

VARIABLE VELOCITY 100 VELOCITY !

VARIABLE ACCELERA 100 ACCELERA !

: DELTA CHANGE C@ IF + ELSE - THEN ;

: ZERO 1 DELTA ;

: ONE 10 DELTA ;

: TWO 100 DELTA ;

: THREE 1000 DELTA ;

: FOUR CHANGE C@ IF 2* ELSE 2/ THEN ;

NMIL-7056 Servo Motor Driver

Second FORTH Sample Code

:CASE FIGURE

ZERO

ONE

TWO

THREE

FOUR

;

: CALC

DUP 2B = IF 1 CHANGE C! THEN ( 2B = + key )

DUP 2D = IF 0 CHANGE C! THEN ( 2D = - key )

DUP 2F > IF DUP 35 < IF 30 - FIGURE 0 THEN THEN

DROP

;

: KPX

." KP = " KP @ U. D EMIT

BEGIN

?TERMINAL

UNTIL

KEY DUP KP @ SWAP CALC DUP KP ! DUP ." KP = " U. ." " D EMIT

LFIL

DS @ 100 * 08 OR W!

UDF

20 =

UNTIL

;

: KIX

." KI = " KI @ U. D EMIT

BEGIN

?TERMINAL

UNTIL

KEY DUP KI @ SWAP CALC DUP KI ! DUP ." KI = " U. ." " D EMIT

LFIL

DS @ 100 * 04 OR W!

UDF

20 =

UNTIL

;

: KDX

." KD = " KD @ U. D EMIT

BEGIN

?TERMINAL

UNTIL

KEY DUP KD @ SWAP CALC DUP KD ! DUP ." KD = " U. ." " D EMIT

LFIL

DS @ 100 * 02 OR W!

UDF

20 =

UNTIL

;

NMIL-7056 Servo Motor Driver

Second Forth Sample Code

: ILX

." IL = " IL @ U. D EMIT

BEGIN

?TERMINAL

UNTIL

KEY DUP IL @ SWAP CALC DUP IL ! DUP ." IL = " U. ." " D EMIT

LFIL

DS @ 100 * 01 OR W!

UDF

20 =

UNTIL

;

: DSX

." DS = " DS @ U. D EMIT

BEGIN

?TERMINAL

UNTIL

KEY DUP DS @ SWAP CALC DUP DS ! DUP ." DS = " U. ." " D EMIT

LFIL

DS @ 100 * 00 OR W!

UDF

20 =

UNTIL

;

: TUNER-INIT

RESET

MSKI

004 W!

LFIL

0002 W! ( DS = 1, KD only to be loaded )

0002 W! ( KD = 2 )

UDF

LTRJ

0000 W!

STT

;

: MOV+ DISTANCE @ VELOCITY @ 0 LONG-MOTION ;

: MOV- DISTANCE @ -1 * VELOCITY @ 0 LONG-MOTION ;

NMIL-7056 Servo Motor Driver

Second Forth Sample Code

: TUNER

." -------BE SURE NUM-LOCK IS ON !!!------------ "

." -------BE SURE CAPS-LOCK IS OFF !!!---------- "

TUNER-INIT

FILTER

BEGIN

." DISTANCE = " DISTANCE @ . CR

." VELOCITY = " VELOCITY @ . CR

." ACCELERA = " ACCELERA @ . CR

." Kp = " KP @ U.

." Ki = " KI @ U.

." Kd = " KD @ U.

." Il = " IL @ U.

." Ds = " DS @ U. CR

BEGIN

?TERMINAL

UNTIL

KEY

DUP 70 = IF KPX THEN

DUP 69 = IF KIX THEN

DUP 64 = IF KDX THEN

DUP 6C = IF ILX THEN

DUP 73 = IF DSX THEN

DUP 37 = IF MOV+ THEN

DUP 39 = IF MOV- THEN

DUP 34 = IF DISTANCE @ 10 - DISTANCE !

DISTANCE @ ." DISTANCE = " . CR THEN

DUP 36 = IF DISTANCE @ 10 + DISTANCE !

DISTANCE @ ." DISTANCE = " . CR THEN

DUP 31 = IF VELOCITY @ 10 - VELOCITY !

VELOCITY @ ." VELOCITY = " . CR THEN

DUP 33 = IF VELOCITY @ 10 + VELOCITY !

VELOCITY @ ." VELOCITY = " . CR THEN

03 = ( CTRL-C )

UNTIL

;

NMIL-9003 Real Time Clock

FORTH Sample Code

COLD

HEX

: IS CONSTANT ;

FFE0 IS BASE-ADDRESS

VARIABLE RAM-POINTER

A000 RAM-POINTER !

: RAM RAM-POINTER @ SWAP RAM-POINTER +! ;

2 RAM IS CR-AM/PM

2 RAM IS CR-MONTH

2 RAM IS CR-DAY

2 RAM IS CR-YEAR

2 RAM IS CR-HOUR

2 RAM IS CR-MINUTE

2 RAM IS CR-SECOND

2 RAM IS CR-DOW

BASE-ADDRESS 0 + IS 1-SEC-DIG

BASE-ADDRESS 1 + IS 10-SEC-DIG

BASE-ADDRESS 2 + IS 1-MIN-DIG

BASE-ADDRESS 3 + IS 10-MIN-DIG

BASE-ADDRESS 4 + IS 1-HRS-DIG

BASE-ADDRESS 5 + IS 10-HRS-DIG

BASE-ADDRESS 6 + IS 1-DAY-DIG

BASE-ADDRESS 7 + IS 10-DAY-DIG

BASE-ADDRESS 8 + IS 1-MON-DIG

BASE-ADDRESS 9 + IS 10-MON-DIG

BASE-ADDRESS A + IS 1-YRS-DIG

BASE-ADDRESS B + IS 10-YRS-DIG

BASE-ADDRESS C + IS 1-DOW-DIG

BASE-ADDRESS D + IS REG-D

BASE-ADDRESS E + IS REG-E

BASE-ADDRESS F + IS REG-F

0 IS SUN

1 IS MON

2 IS TUE

3 IS WED

4 IS THU

5 IS FRI

6 IS SAT

VARIABLE DAY$ -2 ALLOT

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

SUN

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

MON

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

TUE

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

WED

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

THU

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

FRI

0A EMIT KEY DUP EMIT C, KEY DUP EMIT C, KEY DUP EMIT C,

SAT

: TEN* A * ;

: TEN/MOD A /MOD ;

NMIL-9003 Real Time Clock

FORTH Sample Code

: RELEASE-CLOCK

0 REG-D C!

;

: HOLD61 ( -- )

RELEASE-CLOCK

( NO-OP: Wait at least 61 uS )

REG-D C@ DROP

( Reassert HOLD before leaving )

5 REG-D C!

;

: HOLD-CLOCK

5 REG-D C! ( TURN ON HOLD BIT )

BEGIN REG-D C@ 2 AND IF HOLD61 0 ELSE 1 THEN UNTIL

( NOW READY TO READ OR WRITE - DON'T TAKE OVER 1 SEC THOUGH! )

;

( HIGH LEVEL READ )

: READ-CLOCK

HOLD-CLOCK

10-SEC-DIG C@ TEN* 1-SEC-DIG C@ + CR-SECOND !

10-MIN-DIG C@ TEN* 1-MIN-DIG C@ + CR-MINUTE !

10-HRS-DIG C@ 4 AND CR-AM/PM !

10-HRS-DIG C@ 3 AND TEN* 1-HRS-DIG C@ + CR-HOUR !

10-DAY-DIG C@ TEN* 1-DAY-DIG C@ + CR-DAY !

10-MON-DIG C@ TEN* 1-MON-DIG C@ + CR-MONTH !

10-YRS-DIG C@ TEN* 1-YRS-DIG C@ + CR-YEAR !

1-DOW-DIG C@ CR-DOW !

RELEASE-CLOCK

;

: SET-12-HR-MODE

REG-F C@ F0 AND 0 = NOT

1 REG-F C!

0 REG-F C!

THEN

;

: SET-24-HR-MODE

REG-F C@ F0 AND 4 = NOT

1 REG-F C!

5 REG-F C!

4 REG-F C!

THEN

;

: 12-HR-MODE?

REG-F C@ 4 AND 0=

;

DECIMAL

: SET-SECOND

0 MAX 59 MIN

TEN/MOD 1-SEC-DIG SWAP 10-SEC-DIG

HOLD-CLOCK

C! C!

RELEASE-CLOCK

;

NMIL-9003 Real Time Clock

FORTH Sample Code

: SET-MINUTE

0 MAX 59 MIN

TEN/MOD 1-MIN-DIG SWAP 10-MIN-DIG

HOLD-CLOCK

C! C!

RELEASE-CLOCK

;

: SET-HOUR

0 MAX 23 MIN 12-HR-MODE? IF 12 MAX THEN

HOLD-CLOCK

TEN/MOD CR-AM/PM @ 4 AND OR 10-HRS-DIG C! 1-HRS-DIG C!

RELEASE-CLOCK

;

: SET-DAY

1 MAX 31 MIN

HOLD-CLOCK

TEN/MOD 10-DAY-DIG C! 1-DAY-DIG C!

RELEASE-CLOCK

;

: SET-MONTH

1 MAX 12 MIN

HOLD-CLOCK

TEN/MOD 10-MON-DIG C! 1-MON-DIG C!

RELEASE-CLOCK

;

: SET-YEAR

0 MAX 100 MIN

HOLD-CLOCK

TEN/MOD 10-YRS-DIG C! 1-YRS-DIG C!

RELEASE-CLOCK

;

: SET-DOW

0 MAX 6 MIN

HOLD-CLOCK

1-DOW-DIG C!

RELEASE-CLOCK

;

HEX

( Included only for convenience, clock setting entries

( must be on the stack with minutes on top, then hour, ...

( dow is first user entry

: SET-CLOCK

SET-SECOND

SET-MINUTE

SET-HOUR

SET-DAY

SET-MONTH

SET-YEAR

SET-DOW

;

: 2.R

TEN/MOD 30 OR EMIT 30 OR EMIT

;

NMIL-9003 Real Time Clock

FORTH Sample Code

: CLK

READ-CLOCK

CR-HOUR @ 2.R ." :" CR-MINUTE @ 2.R ." :" CR-SECOND @ 2.R

12-HR-MODE? IF CR-AM/PM @ IF ." PM" ELSE ." AM" THEN THEN SPACE

CR-MONTH @ 2.R ." /" CR-DAY @ 2.R ." /" CR-YEAR @ 2.R

SPACE CR-DOW @ 3 * DAY$ + 3 TYPE SPACE

;

DECIMAL