Programming Manual Elektor Proton Robot - ELEKTOR.se

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How to choose your programming language One of the big advantages of choosing for the PROTON as your robotics and microcontroller platform is that you can choose the microcontroller that you want. We have already prepared an AVR and a PIC add-on board. This also means that you can choose the programming language that you prefer. We can’t support every language or every controller, but we have worked out a set of demo programs in Flowcode and in C, and both for PIC and AVR, to demonstrate how all the components work. Flowcode is a very popular graphical programming language for PIC and AVR. It is quite a bit easier to start with in comparison with C, but is just as powerful as C. Just drag and drop the components of the flowchart of your program and FC will compile it to nice clean C code. Flowcode is developed by matrixmultimedia (www.matrixmultimedia.com) and is distributed by www.elektor.com . C is the language that all the professionals use to program embedded systems. It’s not as easy as FC to take your first programming steps, but it gives the programmer total control. We have chosen for free C compilers for AVR and PIC. The only big advantage of paying for a C compiler is that these expensive compilers compile your C program a bit smaller. You would get a bit more code in your microcontroller if you pay for a compiler. Demo programs for all the components of the Proton robot, and for all 4 programming platforms can be downloaded from the elektor website. For the PIC 16F887: FLOWCODE 4 FOR PIC: the demo program: “PROTDEM_FCPIC_EMPTY” already contains several pre-written macro’s that make the programming of the PROTON under FC even easier. Just start with this EMPTY file to develop your own projects. We have also written a couple of demo programs in FC4 for PIC that can be downloaded from the elektor website. HITECH PICC C compiler (FREE!!): We have developed a library of instructions concerning the LCD, I2C, UART, Strings and A/D to make using these functions a lot easier. To make use of this library, just add: “PIC_PROTON_LIB.c” and “PIC_PROTON_LIB.h” to your project. Just have a look at the demo programs on how to use these libraries. This is a list of the instructions of this library. I2C/TWI FUNCTIONS void I2C_INIT(); void I2C_START(); void I2C_RESTART(); void I2C_STOP(); char I2C_TRANSMIT_BYTE(char Data); Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 16
char I2C_RECEIVE_BYTE(char Last); void I2C_SEND_MESSAGE(char Device_ID, char AddrH, char Data); char I2C_RECEIVE_MESSAGE(char Device_ID, char AddrH); LCD FUNCTIONS void LCD03_SET_CURSOR(char FCL_CURSOR); void LCD03_CLEAR_SCREEN(); void LCD03_BACKLIGHT_ON(); void LCD03_BACKLIGHT_OFF(); void LCD_WRITE_STRING( const unsigned char * pString ); void LCD03_WRITE_INT(int ii); void LCD03_WRITE_BYTE(char ii); void LCD03_CLEAR_LINE(char line); // line 0-1-2-3 STRING FUNCTIONS unsigned char STR_LEN( const char *p ); bit STR_EQUAL( const char *p, const char *q ); bit STR_PREFIX( const char *p, const char *q ); void STR_COPY( char *p, unsigned char s, char *q, unsigned char n ); bit CHAR_IN( char c, const char * s ); bit STRING_IN( const char * p, const char * q ); RS232/UART FUNCTIONS void UART_INIT_1200( void ); void UART_INIT_2400( void ); void UART_INIT_4800( void ); void UART_INIT_9600( void ); void UART_INIT_19200( void ); void UART_INIT_57600( void ); void UART_INIT_115200( void ); void UART_INIT_250000( void ); bit UART_CHAR_AVAILABLE( void ); char UART_CHAR_RECEIVE( void ); bit UART_SEND_IDLE( void ); void UART_CHAR_SEND( char c ); void UART_STRING_SEND( const char *p ); void UART_STRING_RECEIVE(char *received,unsigned char received_size, unsigned int milliseconds,const char * terminate,const char * ignore); ADC FUNCTIONS unsigned int READ_ADC_INT_CHANNEL( unsigned char channel ); unsigned char READ_ADC_BYTE_CHANNEL( unsigned char channel ); For the AVR ATMEGA32: FLOWCODE 4 FOR AVR: the demo program: “PROTDEM_FCAVR_EMPTY” already contains several pre-written macro’s that make the programming of the PROTON under FC even easier. Just start with this EMPTY file to develop your own projects. We have also written a couple of demo programs in FC4 for AVR that can be downloaded from the elektor website. WINAVR GCC C compiler under AVRSTUDIO (FREE!!): We have developed a library of instructions concerning the LCD, I2C, UART, Strings and A/D to make using these functions a lot easier. This library is: “AVR_PROTON_LIB.c” and Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 17
Page 1 and 2: V1.0 Programming Manual Elektor Pro
Page 3 and 4: Communications Protocol ...........
Page 5 and 6: Blok schematic: Bart Huyskens Manua
Page 7 and 8: Different modules on PCB level Bart
Page 9 and 10: AVR add-on board • The AVR board
Page 11 and 12: Servo module SCL-SDA Head SCL-SDA U
Page 13 and 14: List of all the connectors on the m
Page 15: J26 J27 J28 J29 + - J30 J31 J33 J34
Page 19 and 20: How to set up Flowcode 4 (PIC) for
Page 21 and 22: How to set up Flowcode 4 (AVR) for
Page 23 and 24: How to set op AVRSTUDIO - WINAVR /
Page 25 and 26: Click on the gear-logo “Edit curr
Page 27 and 28: Make sure that your fuses tab scree
Page 29 and 30: How to set up MPLAB - HITECH C Lite
Page 31 and 32: We choose not to add any file to th
Page 33 and 34: • Copy paste the “PIC_PROTON_LI
Page 35 and 36: Bart Huyskens Manual Elektor Proton
Page 37 and 38: } { PORTD = 0x0F; __delay_ms(200);
Page 39 and 40: PIC16F887 Demoprogram Flowcode PIC
Page 41 and 42: These are 2 normally open push butt
Page 43 and 44: • After the readbyte instruction
Page 45 and 46: READ DATA FROM THE SLAVE For exampl
Page 47 and 48: void main() { // init AD & Option r
Page 49 and 50: Experience: We use this LCD in I2C
Page 51 and 52: Commands to write in the command re
Page 53 and 54: Custom char generator Custom charac
Page 55 and 56: The servo motors in the head and th
Page 57 and 58: This robot can be equipped with up
Page 59 and 60: Although the signal for the positio
Page 61 and 62: The head with ldr’s, RGB-led’s
Page 63 and 64: Head I2C Slave address = 0x10 Index
Page 65 and 66: Proton robot developer’s notes: T
Page 67 and 68:
When a ranging command in cm is giv
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address of a sonar currently at 0xE
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The MD25 motor driver module This p
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Proton robot developer’s notes: T
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The MD25 has 17 registers numbered
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ultimate speed, the MD25 has a regi
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Changing the I2C Bus Address To cha
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The line sensor module with 3 IR li
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Photo of the 3 line follow sensors
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Analogue to digital conversion expl
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} } Proton robot developer’s note
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RS232 communication explained RS-23
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Proton robot developer’s notes: T
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• Supports o MMC, SDC, SDHC card
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Communications Protocol Description
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Prompt Character Setting name: P Th
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Boost Setting name: B Sets the defa
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Input/Output Interface Settings Inp
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Settings Description Non-volatile s
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Play Next Description This plays th
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Stop Description Stops playback. Fo
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Playback Status Description This sh
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Play Tone Description This command
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Reset Audio Description Resets the
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Loop Count Description Gets or sets
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1 1 0001 1 +1.5 dB 2 2 0010 2 +3 dB
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This command will copy data from an
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Close Description Closes an open fi
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Parameters • path is the absolute
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Info Description Gives the file pos
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Card Info Description Gets card spe
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List Directory Description The List
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L /PICTURES/*.JPG «sp»----A 2008/
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Rename Description Renames/moves a
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O 1 R /LOGS/JANUARY/JAN03.LOG Open
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Description You can read up to 512
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Read Line Description The Read Line
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Write Description You can write up
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E /LOG.TXT O 1 RW /LOG.TXT S E 0 I
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Table of Settings Communication Set
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Input/Output Interface Settings Set
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Proton main program for PIC in C: /
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void UART_STRING_RECEIVE( char *rec
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} SSPBUF=Data; //Send byte while((P
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} } // Writes an integer value to t
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s++; } } //bit STRING_IN( const cha
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eturn; } } } } } /*****************
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Proton main program for AVR in C: /
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char STR_PREFIX( const char *p, con
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} TWCR = (1
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LCD_WRITE_STRING(String); also LCD_
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n--; } } //bit char_in( char c, con
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} } else { _delay_us( 100 ); t++; i
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Cheat sheet C - for Hitech C compil
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Version changes summary 09/04/2011
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