' ********************************************************************** ' * File: uk_BAS51_041.BAS * ' * Version: 1.1 * ' * Date: 07.02.11 * ' * Development Tools: Bascom 8051 COMP.,IDE 2.0.14.0 + FLIP 2.4.6 * ' * Cards: GMM 5115 + GMM TST3 * ' * Developed by: GRIFO(r) Italian Technology * ' * via Dell'Artigiano 8/6 * ' * 40016 S. Giorgio di Piano (BO) * ' * Tel. +39 051 892052 Fax. +39 051 893661 * ' * http://www.grifo.com http://www.grifo.it * ' * Author: Gianluca Angelini * ' ********************************************************************** ' Example program 041 of BASCOM 8051 course. ' Servomotor. ' The program allows to define some Servomotor rotations in the start position ' (0°), middle or neutral position (90°) and stop position (180°), through a ' proper choice from console menu. The signal selected to drive the Servomotor ' is the P1.3 of Mini Module, reported on CN4.3 connector of GMM TST3. ' The program has been tested with the model Servo standard 900-00005 produced ' by Parallax. ' The program describe its functionalities and uses a serial console provided ' of monitor and keyboard with a fixed physical protocol at 19200 Baud, 8 Bit ' x chr, 1 Stop bit, No parity. ' This console can be another system capable to support a serial RS 232 ' communication. In order to simplify the use it can be used a PC provided of ' one COMx line, that execute a terminal emulation program as HYPERTERMINAL or ' the homonym modality provided by BASCOM 8051 (see IDE Configuration). ' The program works only when the GMM 5115 is mounted on Z2 socket of GMM TST3!! ' Inside the program the terms that identify the used signals refers to electric ' diagram and technical manual of GMM TST3!! ' ' Added instructions: Config servos, Servo1. ' ' 07/02/11: uk_BAS51_041.BAS - Ver 1.1 - By G.A. ' First version. ' ' '**************************** IDE Configurations ******************************* ' NOTE: in order to correctly use this demo program, please execute the following ' steps: ' 1) Check the availability of 89C5115.DAT file into the directory where the ' BASCOM 8051 is installed and copy it if not present. ' 2) Into the window "Options | Compiler | Misc" set: ' Register File = 89C5115.DAT ' Byte End(Hex) = A0 ' Size warning = selected at 16384 (=4000H) ' 3) Into the window "Options | Communication" set: ' COM port = the PC line connected to GMM 5115, through GMM TST3 ' Baudrate = 19200 ' Parity = None ' Databits = 8 ' Stopbit = 1 ' Handshake = None ' Emulation = TTY ' Font = Terminal, Normal, 12 points, white colour ' Backcolor = Navy ' Run emulator modal = not selected ' 4) At the end of compilation, after the code is programmed on GMM 5115, select ' RUN mode and open the terminal emulation window of BASCOM 8051 with the ' option: Tools | Terminal emulator (Ctrl+T) and then reset or powen on the ' Mini Module. '************************* Compiler directives ********************************* $regfile "89C5115.DAT" ' Definitions file for used microcontroller $romstart = &H0 ' Code start address on FLASH $iramstart = &H0 ' Data start address on internal RAM $ramstart = &H0 ' Data start address on external RAM $ramsize = &H100 ' External RAM size $crystal = 14745600 ' Microcontroller crystal frequency $large ' Code size > 2K $map ' Generate debug information $baud = 19200 ' Serial communication speed: 19200 Baud ' Other parameters fixed to: 8 bit x chr ' 1 Stop bit ' No parity '******************************* Definitions *********************************** ' The resources used by program are connected as described in following table: ' !!! Note: On GMM TST3 the following jumpers must be properly configured: ' J1 in 2-3 ; J2 in 1-2 ; J3 in 1-2 ; J5 in 2-3 ; J7 in 2-3 ; J8 in 2-3 ' J9 in 2-3!!! ' ' Servo GMM TST3 pin Z2 pin Signal Used up ' signal resource GMM TST3 GMM 5115 GMM 5115 signal ' PCM CN4.3 30 24 P1.3 ADC3 CEX0 P1.3 ' ' Signal pin COMx pin CN5 pin Z1 pin Signal Used up ' PC DB9 GMM TST3 GMM TST3 GMM 5115 GMM 5115 signal ' TX 3 3 9 3 RxD RS232 P3.0 ' RX 2 2 10 4 TxD RS232 P3.1 ' GND 5 5 20 14 GND - ' This table shows that the connection cable between PC COM line and CN5 of ' GMM TST3 is a normal pin to pin cable or direct. Grifo(r) can supply it by ' requesting the CCR 9+9E code. Pinservo1 Alias P1.3 ' Signal connected to Servomotor 1 Pinrx Alias P3.0 ' Signal connected to GMM 5115 RxD Pintx Alias P3.1 ' Signal connected to GMM 5115 TxD '************************* Constants declaration ******************************* Const Nrel0 = 9 ' Reload numbers equal to 0°, 90°, 180° positions Const Nrel90 = 27 ' obtained with experiments Const Nrel180 = 44 '************************* Variables declaration ******************************* Dim Choice As Byte ' Selected operation Dim Reln As Byte ' Reload number for duration of pulse on PCM signal used to drive Servo '************************ Subroutines declaration ****************************** '****************************** Main program *********************************** Main: Pinrx = 1 ' Initialize signals for serial communication Pintx = 1 ' as digital inputs Pinservo1 = 1 ' Initialize signals connected to Servo 1 as digital output at high level Print ' Separate from previous visualization by showing an empty new line Print Print ' Separate from previous visualization by showing an empty new line Print Print " Servomotor movement to fixed positions" Print "Mount Mini Module on Z2 of GMM TST3, connect Servo PCM signal to CN4.3." ' The Servomotor managemnt is performed with the high level instructions of ' BASCOM. These generates a signal that doesn't exactly match the timing ' specifications of the Servo control signal PCM, but they allows anyway a ' right movement. ' The BASCOM instructions use a periodic interrupt generated by TIMER0, that ' can't be used for other functions!!! ' The timing resolution (=duration) is defined by Reload value used in ' Config Servo... instruction and by selected position with Servo... ' instruction, as illustrated in BASCOM on line help. ' This demo define a minimum reload time, equal to 50 usec, in order to avoid ' vibrations on Servo and to obtain a maximum resolution on positions. Config Servos = 1 , Servo1 = P1.3 , Reload = 50 ' Define Servo management with BASCOM Servo1 = Nrel90 ' Servo on middle neutral position (half rotation) Do ' Begin endless loop Print ' Show menu with possible operations Print "I -> Position Servo to initial rotation (0 degree)" Print "M -> Position Servo to middle rotation (90 degree)" Print "F -> Position Servo to final rotation (180 degree)" Print "Perform the choice by pressing associated key: "; Choice = Waitkey() ' Wait selection of operation to execute Printbin Choice ' Shows performed choice Print If Choice >= "a" Then ' If choice is lower case Choice = Choice And &HDF ' Convert it in upper case End If Select Case Choice ' Check converted choice Case "I": ' Selected Initial position = 0° Reln = Nrel0 ' Set reload number for initial position = 0° Case "M": ' Selected Middle position = 90° Reln = Nrel90 ' Set reload number for middle position = 90° Case "F": ' Selected Final position = 180° Reln = Nrel180 ' Set reload number for final position = 180° Case Else: ' Selected operation is not valid Printbin &H07 ' Generate an advise BEL on console End Select Servo1 = Reln ' Define PCM pulse duration with obtained reload number Loop ' End endless loop End '*************************** End of main program *******************************