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Lab Notes - The University of Sydney

1. Compare address1 address2 address3 Description address1 is the starting address of the 17 memory block address2 is the ending address of the 17 memory block address3 is the starting address of the 277 memory block The Compare command allows the user to compare a memory block with another If the address3 is not specified the block of memory residing from address1 to address2 will be compared with the block memory residing from address1 1 to address2 1 Example Compare F000 FO3F E000 This command compares 64 bytes of the memory block1 from F000 to FO3F with the memory block2 from E000 to EOSF Dump Syntax scheding Page 23 17 07 2007 MTRX 2700 labnotes doc Dump address1 address2 Description address1 is the starting display address It defaults to the address which equals the ending address from the last memory dump plus 1 address2 is the ending display address It defaults to the address which equals the address1 plus 3F in hex The Dump command allows the user to display a block of memory beginning at the address1 and continuing to the address2 If the address2 is not entered before the Carriage Return is entered 64 bytes of memory are displayed beginning at the address1 Example Dump F000 FOFF This command displays a block of memory beginning at F000 and continuing to FOFF Enter Syntax Enter address Description address is the memory location at which to s
2. address2 is the ending address of source memory block address3 is the starting address of destination memory block The Move command moves the contents of the source memory block to the destination memory block If the destination memory block is not specified all data residing from the address1 to the address2 will be moved up one location Caution Any attempt to move data to the address locations of the monitor will be ignored Example Move F000 FO3F E000 This move command moves 64 bytes of data at the memory block between F000 and F03F to the memory block between E000 and E03F Next step single step Syntax Next step Description The N command allows the user to monitor program execution on an instruction by instruction basis It will execute one instruction including the RTI instruction whose location is pointed to by the program counter After a single step the PC will display all CPU register values and the next instruction to be executed scheding Page 27 17 07 2007 MTRX 2700 labnotes doc Program memory watch Syntax Program Description The P command allows the user to select 3 blocks of 2 contiguous memory locations and 3 blocks of 8 contiguous memory locations for memory watching purpose These locations will always be updated after using the Assemble Enter Fill Move Go or Next Step commands All six starting addresses can be substituted by symbols For example DATA is 0005 if the
3. speaker 4 digit LED display potentiometer 8 LED status indicators for port B one 8 position DIP switch connected to port C and three pushbutton switches dual UART RS485 interface IR transceiver with on board 38 KHz OSC on board 12 programming voltage supply and 60 pin EVB EVBU compatible connector scheding Page 17 17 07 2007 MTRX 2700 labnotes doc SYSTEM DESCRIPTIONS The basic operation of the Ep6811 is divided into two modes the MONITOR mode and the RUN mode In the MONITOR mode the user can exercise all commands as described later in this manual and all user interrupts are temporarily suspended in this mode In the RUN mode it will run a user program in full speed and all interrupts are enabled for the user program The memory map for the monitor addresses are listed below ADDRESS DEVICE 0000 01FF 68HC11E family on chip RAM 0000 00FF for A family 2000 3FFF Chip Select for external devices 4000 5FFF 8K EEPROM U4 6200 Port G 6202 Direction register for port G 6201 Port F 6203 Direction register for port F 6400 87FF used by system not available to users 8800 FFFF 30K emulation RAM for user code B600 B7FF 512 byte EEPROM Any attempt to write to the locations 6400 87FF will have unpredictable results in the RUN mode and must be avoided in the user program As the RS 232C handshake lines are not used the handshaking is done by XON and XOFF The board will use 9 bytes on the stack during
4. Emergency Stop button which is located on the wall next to the internal office window but only if you can do it without endangering yourself If the fire is small you are not in immediate danger and you have been trained in fighting fires use any type of fire extinguisher except water to extinguish the fire Important Do not use water on an electrical fire If the fire is not controlled activate the Break Glass Alarm which is located just inside the Lab entry door Both the Fire Brigade and the University Emergency Service will respond immediately 4 of 6 3 1 2 4 Live Conductors Including Power Lines Stay away from live conductors and downed power lines Be particularly careful if a live conductor is touching a body of water The water could conduct electricity If a power line falls on your car while you are inside remain in the vehicle until help arrives 3 1 3 Slips Trips and Falls Injuries in the workplace are most likely to be caused by very common hazards the ones that no one thinks about The danger of slips trips and falls is one such hazard This hazard can easily be minimised through some simple rules e Keep walkways clear of obstructions In the Lab this means placing your bag and jacket jumper off to the side of the Lab where it is not in anyone s way There will not be enough space on or under the benches for everyone s gear e Never run inside the Lab e Wipe up liquid spills as soon as they occur e Do not l
5. If no key is down PG4 PG7 remain high If PG7 low the key 11 is down If PG6 low the key 10 is down If PG5 low the key 9 is down If PG4 low the key 8 is down The keypad scan routine then set PG1 low PG0 PG2 PG3 high then test the PG4 PG7 If no key is down PG4 PG7 remain high If PG7 low the key 7 is down If PG6 low the key 6 is down If PG5 low the key 5 is down If PG4 low the key 4 is down The keypad scan routine then set PGO low PG1 PG2 PG3 high then test the PG4 PG7 If no key is down PG4 PG7 remain high If PG7 low the key 3 is down If PG6 low the key 2 is down If PG5 low the key 1 is down If PG4 low the key 0 is down SPI port pinouts are as follows Pint VCC 5V Pin2 VCC 5V Pin3 PF2 LOAD Din A SPI DATA IN Pin5 PF3 STROBE Pin6 SPI DATA OUT from 68HC11 Pin7 not used Pin8 PD4 CLOCK Pin9 GND Pin 10 GND All on board jumpers J1 40 pin logic analyzer connector HC11 EVM compatible J2 Port F and Port G total 16 bits the left side is port F and the right side is port G J3 LCD port J4 SPI connector J5 Mode selector J6 4 X 4 keypad interface J7 RS485 direction control hard wired J8 HC11 SCI receiver source selector numbering from top to bottom 1 SCI PDO receives signal from your target 2 SCI PDO receives signal from P3 US232 input 3 SCI PDO receives signal from the RS485 port RJ12 jack 4 SCI PDO receives signal from on board IR transceiver s
6. OPTION and BPROT register values the breakpoint addresses and the memory display addresses The PAR file is automatically saved after you exit the debugging session 8 When download is finished and at the prompt Ep6811 gt you can run your program by entering go start where the start is the label of the starting address in your source code or enter go F000 if you know the starting address is F000 but do not enter command too earlier After download the PC will reset the boards during the reset there would be some communication between the PC and the board If you enter the command too earlier it could disrupt the communication and you will get an error message In the command line ALL NUMBERS ARE HEXADECIMAL and the sign is not needed Also you should notice that the label start has the back slash in the front All hex numbers may be substituted by symbols starting with the backslash V For more information read the Command format section in the user manual scheding Page 8 17 07 2007 MTRX 2700 labnotes doc 9 During the debug session if you want to modify your source code you don t have to exit the debugger You can click the EDIT button to edit your code and save your new code in the same file name then click the MAKE button to assemble the code After the new S19 file is generated click the debug button at the task bar the bottom line of the screen to activate the debug window then enter the F10 key and the R optio
7. DSA SE gt H E A53881 vr Ge tp ant r 7 Ant z Ltr Ant so 23 2 E e gt e ur T 2 RR ES z E T D n esg s Za DEE ELERE TT93xU D etesy 204 odan o w Tseugl2222 tt surr DC A 28 gel saqunn 3u wn gt oglaz gl 8531121243 Putts cwos sn G8A3 PTETEF2 335927 WYUSD 307 S z MEN 77 ag ee 0 Free Tan DU Ste Pee zte Se tu 4 ety The aty K LES 58 te Oty eu be 54 EE DE Lu s eb s 61 30 au AR Iae O Bon 8 un pent BES Su ra St oo cul PR KO SI 20 zu 4 Eu ca ET to ty D cu ta et 20 oy 6 Id SO TT or EU en 380815 0401 P6EINYW Zdsa Se 1 910 300H143 NOWWOD VEINYW tasa b x O22 NY ze EE ZZ syg30349 Bg30335 98d ssa bed cad cad HE t x zz bna 6 x ABST 6 X wert esd MTRX 2700 labnotes doc Appendix C EVBPlus2 Board Documentation From http www evbplus com EVBplus2 68HC11 Development Board Getting Started Manual Version 1 00 The Ep2711E9 a low cost and high performance development board provides real time emulation for the Motorola 68HC11 microcontroller E family It offers all useful features of the Motorola EVB board with the Buffalo monitor and adds numerous enhancements at an extremely low cost It combines a com
8. Visually inspect wiring of mains powered equipment for defects such as faulty insulation or loose connections before each use Do not use damaged or frayed electrical cords Tag and report them as unsafe immediately e Remove metal jewellery watches rings etc before working on electrical circuits 7 Formerly known as earth leakage circuit breakers ELCBs 3 of 6 e Minimize the potential for liquid spills on or near electrical equipment Never place containers of liquid including beverages on or near electrical systems e Always know the electrical ratings of equipment you use and be sure you use that equipment within its ratings Never overload circuits e Turn off power and unplug equipment before checking or replacing fuses Locate and correct the cause of a blown fuse or tripped circuit breaker before replacing the fuse or resetting the circuit breaker e Never defeat the purpose of a fuse or circuit breaker Never install a fuse of higher amperage rating than that specifically listed for the circuit e Complete all your wiring and check it carefully before turning on the power supply If you are at all uncertain have it checked by someone else preferably a Lecturer or Tutor e When a setup or circuit is to be reconfigured or rewired turn the power supply off It is also good practice to disconnect it physically from the power supply e Make sure metallic equipment chassis or cabinets are earthed Never cut off or defeat th
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10. debugging You should allocate enough memory locations for the stack to cover these 9 bytes The port B and port C are used for address and data buses and they are not available as I O ports during debugging session in the expanded mode but they are replaced by the HC24 the port replacement unit STANDARD FEATURES User interface Memory window monitors user programmable memory locations Register window monitors all CPU registers Stack window monitors stack locations Breakpoint window monitors breakpoints Interactive command window with novice and expert modes for command entry scheding Page 18 17 07 2007 MTRX 2700 labnotes doc On line help menu and function key selection Displays memory in hexadecimal ASCII Motorola S record Intel Hex or Tektronix Hex formats Echo debugging session to log file and or printer DOS shell facility Displays internal CPU registers and control bit assignment map using standard Motorola labels Math function for verifying program results Memory and register operation Memory manipulation Display memory block Examine and modify memory Compare memory block Search memory block for pattern Move memory block Fill memory block with pattern Register manipulation Examine and modify CPU registers Breakpoints Set or clear breakpoint address Assembler and disassembler Symbolic disassembler and single line symbolic assembler Automatically disassembles 16 lines of code during asse
11. in good condition you may have your identification back 2 2 Oscilloscope Probes These are good quality scope probes which will cost you 218 00 each probe to replace if you lose or damage them through either misuse or misbehaviour They are to be used only for probing circuits Please be careful and treat them gently 2 3 Toolkits Toolkits are available for loan to students as required but may not be taken out of the Lab Each toolkit contains e Digital multimeter with 2 probes see notes in section 2 4 e Wire cutters for cutting copper wire only up to 0 8 mm diameter Do not use to cut steel wire such as paperclips With a little practice these can also be used to strip insulation from wires quickly e Wire strippers designed for stripping plastic insulation from wires e Flat jaw pliers for bending and forming component leads and holding stuff e Small flat screwdriver for screw terminals on some boards and for lifting ICs from sockets and solderless breadboard e IC extraction tool don t lift ICs out of solderless breadboard with your fingers you will end up with a row of holes in your thumb and bent IC leads e Test leads 1 set for connecting to PCB headers or sockets e Power leads 1 set or Plug pack depending on the work that you are doing A tool kit will generally be loaned for one lab session only Any tools missing or damaged through misuse when the tool kit is returned must be replaced at the ex
12. instruction It will assemble your program code in 4K locations from F000 to FFFF If your program is larger you can change the ORG F000 to ORG E000 or ORG D000 When you finish your debugging you do not have to relocate your code and re assemble it again Your code is final for stand alone operation after you finish the debugging it works just like a real time In Circuit Emulator The Ep2711E9 board can stop your program if it s hung in a loop when you press the ESC key at the PC keyboard It will interrupt the Ep2711E9 but the BUFFALO monitor can t stop the program unless you reset the system The problem with resetting the system is that you would not know where the 68HC11 was hung Here is a very simple program but it s complete The program source code is similar to the tutor2 asm in the directory c Ep2IDE examples It will flash the PB7 LED when it s running PB7 EQU 80 bit 7 of port B FLS_RATE EQU 8B00 change this number will change LED flash rate ORG F000 scheding Page 7 17 07 2007 MTRX 2700 labnotes doc START LDS FF the top of AT internal RAM LDX 1000 X register points to the register block BACK BSET OX PB7 turn on the PB7 LED by setting PB7 1 JSR DELAY BCLR 0 X PB7 turn off the reset LED by resetting PB7 0 JSR DELAY JMP BACK DELAY LDY FLS_RATE DLY DEY BNE DLY RTS ORG FFFE FDB START reset vector END 4 After finishing editing your source code save it and exit F
13. labnotes doc A The CONFIG register can only be modified in the test mode This is a safety feature ofthe 68HC11 Your program cannot modify it unless your target hardware is set for the test mode Miscellaneous questions Q What is the parameter file and how do I create this file A The parameter file includes the EEPROM programming enable disable flag the INIT TMSK2 OPTION and BPROT registers the breakpoint addresses the memory display addresses These parameters can be saved for a particular user program they should be loaded before running the user program so the program will be executed in a consistent manner You do not have to make this file by yourself You can use the W command to save all parameters into a parameter file Q Why does the disassembler display wrong symbols for some instructions especially the instructions with 8 bit values A Many cross assemblers do not have any attribute bytes for their symbols When too many symbols have the same value the disassembler cannot display the correct symbol for that value The disassembler will display first two labels it found Occasionally when too many symbols have the same value the disassembler may display a wrong symbol for the value Q am using the Motorola cross assembler AS11 EXE a public domain program could you show me how to generate a symbol file A Following is the procedure to generate a symbol file from the Motorola cross assembler AS11 EXE a
14. replacement unit The port B is an output port and each port B line is monitored by a LED The port C is a bi directional I O port and it is connected to an 8 position DIP switch The DIP switch is connected to GND via eight 4 7K resistors so it s not dead short to GND When the port C is programmed as an output port the DIP switch can be at either up or down position The PAO switch is used as a general input switch except during the initial power up During the initial power up press and hold the PAO switch while press the RESET button will force the 68HC11 to enter test mode In the test mode the configure register can be modified The PA3 and PA4 headers are the outputs of the Output Comparator 5 and 4 and they can be used to drive robot servos The Port E is an 8 bit ADC or a general input port The 10K 50K trimmer VR1 is wired to the PE7 input of the ADC port via J10 but the trace can be cut if the PE7 must be used by the target circuit scheding Page 9 17 07 2007 MTRX 2700 labnotes doc An on board logic probe LED is hard wired to the pin 55 of the female socket connector P1F and can be used to monitor high or low status at any point ofthe circuit as a logic probe The U16 LTC1262 or MAX662 provides the 12 V programming voltage for the 711E9 The U18 74HC14 generates 38 4K baud for the U5 68B50 and it also provides the 38KHz square wave to the IR transmitter The U9 SN75176 converts the TTL signal from the SCI to
15. supplies e The 0V DC terminals of the regulated supply and the unregulated supply will be at different potentials unless you connect them together e All outputs of the two supplies are protected by Polyfuses A polyfuse is a resistive element with a positive temperature coefficient When it heats up due to internal R losses in an overcurrent state its resistance increases by several orders of magnitude in a few hundred milliseconds limiting current flow If a power supply output voltage should go to zero turn off the power supply and wait for a minute or two The Polyfuse should reset automatically 2 Closed Facilities Hand Tools and Test Instruments A number of hand tools and electronic test instruments are available for you to use as required This section contains notes on the function and safe usage of most of the instruments Please read carefully and if in doubt ask Operating manuals are available for all of the instruments and must be read before operating any instrument that you are unfamiliar with 2 1 Loan Procedure To use any of the Lab s closed facilities you must first borrow them To borrow any of the resources approach a course Tutor or Lecturer and ask If the resource is available for loan it will be exchanged for some form of identification provided by you Any additional resources that you borrow will also be associated with your identification When you have returned all of the resources on loan to you
16. to edit them or to create others Tick the boxes for the rights you wish to give the user If you want the new user to be able to work on the files with the same permissions as the creator you must tick all the available boxes to give them full control over the folder The right part of Figure 1 shows the permissions after the user dumber has been added with full control 1 1 5 File Transfer and Remote Login 1 1 5 1 From Within the Laboratory From within the laboratory all files will be available on the fileserver in the share locations outlined above As no files should be stored locally there is no need to access the files on another lab machine 1 1 5 2 From Outside the Laboratory but Within the University includes Extro Dial up The mxlabserver file shares can be accessed from any computer within the University by using a fully qualified machine name for the location For example whereas within the Lab you could access the Groups folder on the server using mxlabserver Groups as the location to access it from outside the lab you need to use mxlabserver mxlab acfr usyd edu au Groups This tells the computer to look for the machine mxlabserver in the correct place The fully qualified folder location can either be typed into the top of an Explorer window or used as the location for amapped network drive 4 of 13 You can also access the files that you store on the machines in the AMME School s computer laboratories Rooms S
17. 2IDE PFE PFE32 becomes Ep2IDE PFE PFE32 Line2 rem goto end becomes goto end To modify the edit6811 bat right click on the start button left click on the explorer to bring up the explorer left click on the folder C Ep2IDE right click on the edit6811 bat a pull down manual appears left click the edit command to edit the first two lines of the edit6811 bat as shown above After modifying the edit6811 bat make sure to save it After above installation you can click the EDIT button to launch the PFE You only need to use the FILE commands from the PFE for your 68HC11 development work Use the FILE command to edit your source code and click the MAKE button to assemble your source code If the assembler generates an error it also will show the error s line number in the file along with the error message Use the CTRL G to go to the line to make a correction File download programming EEPROM should be done in our user friendly debugger and programming the on chip EPROM should be done with the PRGM button of the Ep2IDE When using the PFE with the EVBplus2 debugger make sure that the default directory on the PFE must be the same directory that is configured by the debugger as the working directory The file name to be edited must be the file name that is configured by the debugger How to install MinilDE For some MinilDE fans you can install the MinilDE for your development work but you should spend some time to familiarize with the Ep
18. 2IDE software before installing the MinilDE MinilDE is an Integrated Development Environment from MGTEK com It incorporates an editor a terminal window and an integrated cross assembler for the 68HC11and HC12 In order to use this IDE with the EVBplus2 board you must do a Download the MinilDE software from www mgtek com b Install it in the drive C when you are asked to install it in the default directory c Program Files change it to the directory C Ep2IDE MinilDE c Un remark by deleting the rem the first two lines of text in the beginning of the file ASM68 11 BAT in the directory C Ep2IDE Line1 rem Ep2IDE MinilDE MinilDE becomes Ep2IDE MIniLDE MiniIDE Line2 rem goto end becomes goto end To modify the asm6811 bat right click on the start button left click on the explorer to bring up the explorer left click on the folder C Ep2IDE right click on the asm6811 bat a pull down manual appears left click the edit command to edit the first two lines of the asm6811 bat as shown above After modifying the asm6811 bat make sure to save the file asm681 1 bat After above installation you can click the MAKE button to launch the MInilDE You only need to use two commands from the MinilDE for your 68HC11 development work Do not use the TERMINAL command Use the FILE command to edit your source code and the BUILD command to assemble your source code If the assembler generates an error it also will show the error s line num
19. 322 and S345 by using File Transfer Protocol FTP within an Internet Explorer window To access these files type the location ftp 172 17 35 9 into the top of an Internet Explorer window be sure to get the slashes in the correct direction When your computer connects it will either log you in to the FTP server immediately if you have logged in earlier in the session or prompt you to enter your User name and Password Note that these are the User name and Password for the AMME School computers NOT for the Mechatronics Lab computers and that there is no mechanism for the transferral of password changes between the two domains 1 1 5 3 From Outside the University The mxlab domain exists as a private part of the University s network and so cannot be accessed from outside the University except by 1 Using a dial up account with Extro or 2 Using another ISP and connecting to the University s VPN server or 3 Connecting to the University s Wireless Network and hence the VPN server If you live on campus you will be connected to a network inside the University Given these conditions you can access the Windows shares on either the server or on individual computers as outlined below If you connect to the Internet using an ISP other than the University Extro dial up account try using the University s VPN server Apart from that the only method for transferring files between the Lab and an outside computer is via your stud
20. CTION KEY ASSIGNMENT A brief on line help Emulation memory map Not used Dump memory contents in the Motorola S record or the Intel Hex format or the Tektronix Hex format This key allows the user to echo CRT output to printer and or log file on the disk This key displays all 68HC11 control registers and control bit assignments This function evaluates a numerical operand or performs arithmetic and logical operations on a simple expression giving the result in Hex Decimal Octal Binary valid ASCII character one s complement and valid negative number The arithmetic operations are addition subtraction multiplication and division The logical operations are AND amp OR Exclusive OR 4 left shift lt and right shift gt The default notation is HEX a decimal octal or binary number must be followed by the letter T O and Q The result in the first line is HEX Decimal Octal Binary and ASCII character if the value of the result is between 0x20 to 0x7F The result in the second line is one s complement negative number if the value of the result is between 0x80 to OxFF in 8 bit format 0x8000 to OxFFFF in 16 bit format and 0x80000000 to OXFFFFFFFF in 32 bit format This key allows the user to erase or program the EEPROM of the 68HC11 This key allows the user to display and edit the symbol table Use the Load command to read symbol files which are generated by the Motorola cross assembler a pub
21. Caution Any attempt to fill address locations of the monitor will be ignored Example Fill F000 FFFF 00 This command fills locations F000 through FFFF with 00 s Go Syntax Go address Description address is the starting address where the program execution begins The G command allows the user to initiate the program execution free run in real time The user may optionally specify a starting address where execution is to begin The program execution starts at the current program counter address location unless a starting address is specified The program execution continues until a breakpoint is encountered or the ESC key or the reset switch is depressed Example Go F000 This command starts execution at the address location F000 Init Syntax Init value1 value2 value3 value4 Description value1 is the new value for the INIT register value2 is the new value for the TMSK2 register value3 is the new value for the OPTION register value4 is the new value for the BPROT register The user will be prompted to enter all 4 values press the CR to skip the modification or the ESC key to cancel the modification The INIT register the BPROT register the scheding Page 25 17 07 2007 MTRX 2700 labnotes doc bit 0 1 4 5 ofthe OPTION register and the bit 0 1 ofthe TMSK2 register can be modified only within first 64 E cycles after a system reset The Init command will automatically generate a reset sign
22. MTRX 2700 labnotes doc MTRX 2700 Mechatronics 2 Laboratory Notes The laboratory sessions are very important in MTRX 2700 It is during these sessions that you will work to put into practice what you have heard in the lectures and read up by yourself The laboratory work will begin with three self contained laboratory exercises You must prepare for each exercise before the lab session and aim to complete each one in the time allocated Following the successful completion of these exercises students will be given a major assignment which will take 4 three hour laboratory sessions to complete Lab Organisation Location Mechatronics Lab Room 325 in the Link Building Labs Begin Week 3 Tutors See the Unit of Study Outline Lab Groups All lab work in MTRX 2700 will be in groups of two Laboratory partners and workstations will be allocated by the lecturer and cannot be changed Lab partners will be notified on the noticeboard at the front of the lab Lab Notebooks You will need to purchase a bound hardcover A4 notebook for use in the laboratory sessions You will record all details of the experiments including your programs comments results etc in the lab notebook The purpose of the laboratory notebook is to document the experiment to a level of detail such that another person could replicate your results from the information recorded in the notebook Include in your notebook all failed attempts as well as successes Knowle
23. OS based assembler you can do scheding Modify the file c Ep2IDE mymake bat Basically you add the path of your assembler into the path command on the first line of the file mymake bat Add two more lines in the beginning of the file asm6811 bat The first line is your assembler s name followed by a space character and followed by 1 The second line is goto end When you click the MAKE button the IDE will pass the filename to asm6811 bat as the 1 argument on the command line Page 36 17 07 2007 School of Aerospace Mechanical and Mechatronic Engineering Mechatronics Laboratory Introductory Notes The Mechatronics Lab is Room 325 in the Link Building It is a special purpose computer Lab that is provided for mechatronics students and can generally be used Monday to Friday during normal business hours We are offering you the privilege of working in the Lab with minimal supervision In return you must agree to take all steps necessary to safeguard the lab and its facilities and to maintain safe and pleasant working conditions To begin with we ask that you read these notes thoroughly and the follow the rules set down here 2 Use of the Mechatronics Lab The Mechatronics Lab is generally available an open Lab for use between the hours of 7 00 am and 6 00 pm Monday to Friday unless it is booked for a class Class bookings will be posted on the Lab door Authorized Lab Users include any student enrolled
24. This command will search for the pattern of 8 hex numbers which are 01 02 03 04 05 06 07 08 in the memory range between F000 and FFFF Trace Syntax Trace number of steps Description The Trace command allows the user to trace program execution for a specified number of steps on an instruction by instruction basis During the trace the PC will display all register values and the next instruction to be executed after each step Unassemble Syntax Unassemble address Description address is the starting address for the disassembler operation If no address is specified the starting address is the one that followed the last instruction unassembled by the previous U command The U command will disassemble 16 lines of instructions All valid opcodes are converted to the assembly language mnemonics and all invalid opcodes are replaced by the FCB s The PgUp PgDn Home keys can be used to scroll display back and forth Write Syntax Write filename address1 address2 M I T Description The Write command will prompt the user to enter the type of the file to be saved This command can upload the user file or the symbol file or the system parameter file The parameter file includes the EEPROM programming enable disable flag the INIT TMSK2 OPTION and BPROT registers the breakpoint addresses and the memory display addresses If the type of the file is the user file which is in the Motorola S record or t
25. a Laboratory more information Notebook so important See over for a checklist of items your laboratory notebook should include gt Your Laboratory Notebook Should Have MTRX 2700 labnotes doc Appendix B EVBPlus2 Board Schematic From http www evbplus com scheding Page 4 17 07 2007 PIENT s3T11243 d b d erst ONS aNg OND ONS IOA q p GGA GGA d x GA ts wos sn SGA NIJPZIH9S a H q D 380Ud 153101 q D q D ss magn 4 EE EER 4 EE pre bes Tw 338 q p En 334 d P zag vty guls q D q D SE Suse Suis Sad q p tad Sid q D Tad i eis vere eae by EE eae ch iy ts EE Lou zed q D eed zed q D eed aan oe ved d x Sad pad ei E Sad gad 294 GE zed mus gt oud q p Tyd oud q p Ted ce K ECH q 3 GH GE g E GE SS SE E E hs q D S gg a P Sog WOUSD vod a b 0d vod q D Gd Od q Tod zd g D Tad gaan q RB sarny gaan q GEESS va xnz g P 135397 ixn g R 136387 at 20 C 5 god fer E D 92d Ss Sod q p pod Sod q D pod GE qd D Zod EFI a 5 Zod Tod q SE 63d Tod q ye od D a b green q s pw xan 23A EENES q er 3 EENG d D 3 eels q degen vais q deer 300n ONS 300n ONS Id dtd d9589933 Go2ur i ar n ange eta B DHrL ptn our INEE s sis EAR HlSONL NJTUTTDHBS REEL SES SA E 20d Burl D z Bod oe eur Bet Saig
26. ab today and construct a password based on the first letters of each word in this case Iwttmlt This password is easy to remember but very difficult to guess or read over your shoulder as you type it Once a user has logged into Windows they will be able to run a number of applications programs and to write files to certain protected directories folders These directories are located on the lab server Table 3 summarises the locations to which Students have access Note It should be assumed that any files stored locally on the computers may be deleted at any time without further notice Store your files on the server Note that at 8 Mar 2004 Workstations 08 11 and 13 do not exist The Unikey username is also known as the email username and the extro username In other words if the email address of a student named Annette Student was astu3141 mail usyd edu au Annette s username in the Mechatronics Lab will be astu3141 2 of 13 Table 3 File Locations and Shortcuts Location Data Type s Shortcut s mxlabserver Users An individual user s files U My Documents shorten on desktop mxlabserver Groups Files shared between multiple users en on desktop mxlabserver Courses Course specific information shortcut on desktop mxlabserver Farnell Semiconductor datasheets Accessed via application Settings USERNAME desktop settings background etc As an example Annette Student s machine
27. acter is 00 instead of 04 initialize the 16x2 LCD displays 16 characters on the first line of a 16X2 LCD display module displays 16 characters on the second line of a 16X2 LCD display selects instruction before writing LCD module selects data before writing LCD module generates a write pulse LCD module converts Accu A to segment pattern bit 7 of the Accu A Decimal Point of the 4 digit LED display module RS485_RECV RS485_XMIT GET_DATE GET_TIME OUTSTRGOO LCD_INI LCD_LINE1 LCD_LINE2 SEL_INST SEL_DATA WRT_PULSE SEVEN_SEGMENT Page 15 17 07 2007 MTRX 2700 labnotes doc The subroutine SEVEN_SEGMENT is a conversion routine that converts a hex numbers to its seven segment pattern The hex number range is from 00 to 20 At entry A hex At exit A segment pattern segment pattern A 00 A 01 A 02 A 03 A 04 A 05 A 06 A 07 A 08 A 09 A 0A A 0B A 0C A 0D A 0E A 0F A 10 A 11 A 12 A 13 A 14 A 15 A 16 A 17 A 18 A 19 A 1A A 1B A 1C A 1D A 1E A 1F A 20 scheding A 3F A 06 A 5B A 4F A 66 A 6D A 7D A 07 A 7F A 6F A 77 A 7C A 39 A 5E A 79 A 71 A 78 A 3E A 1C A 6E A 08 A 40 A 00 Page 16 rm O O 2 gt O gt Q N 0 lt cc gt voo CHE db ler blank The letter or number to be formed by the 17 07 2007 MTRX 2700 labnotes doc INTRODUCTION The Ep2711E9 a low cost and high performanc
28. al on the 68HC 11 in order to force the 68HC11 to take new values for these 4 control registers Caution Any other commands such as Enter Fill or Move will not reset the 68HC11 and will not have any effect on the INIT register the BPROT register the bit 0 1 of the TMSK2 register and bit 0 1 4 5 of the OPTION register Before executing a user program the value of the above four registers must be set correctly If a user program modifies these registers in its initialization routine the user must use the command to modify these registers with the same values Kill breakpoint Syntax Kill breakpoint address Description The breakpoint is cleared at the location specified by the address If the address is not specified all breakpoints will be cleared Example Kill breakpoint F010 This command clears the breakpoint address location F010 Load Syntax Load filename offset Description The Load command will prompt the user to enter the type of the file to be downloaded This command can download the user file or the symbol file or the system parameter file The parameter file includes the EEPROM programming enable disable flag the INIT TMSK2 OPTION and BPROT registers the breakpoint addresses the memory display addresses If the type of the file is a user file which is in the Motorola S record or the Intel hex or the Tektronix Hex format The user will be prompted with the following parameters fil
29. beginning of your program The Ep2711E9 sets the stack point during power up you should do the same thing in your program If your resident 68HC1 1 microcontroller on the Ep2711E9 board is a 68HC11E1 but the 68HC11 on your target is a68HC11A1 you should be careful to use the PA3 of the PORTA it is an output line in the A1 controller but a bi directional line in the E1 controller You have to program the bit 3 of the PACTL register if you want the PA3 to be an output line It defaults as an input line during power up After executing the program by the GO command why can t the ESC key stop the Ep2711E9 board In most cases the ESC key can stop the user program if this is not the case there could be many reasons for this problem Since you cannot use the ESC key to stop the 68HC11 the only thing you can do is to reset the Ep2711E9 board by depressing and releasing the reset button The reset button of the Ep2711E9 board should be pressed whenever the Ep2711E9 board does not seem to work properly such as a system crash after running a bad program Once it is pressed it will reset the program counter to the reset vector fetched from locations FFFE and FFFF the stack pointer to 00FF and update the INIT register Check if the jumper on the PRG RUN header is on the RUN position If the jumper is set at the PRG position then you cannot stop program and also the single step function will not work Carefully check the user program to determin
30. ber in the file along with the error message Use the CTRL G to go to the line to make a correction File download programming EEPROM should be done in our user friendly debugger and programming the on chip EPROM should be done with the PRGM button of the Ep2IDE scheding Page 35 17 07 2007 MTRX 2700 labnotes doc When using the MinilDE with the EVBplus2 debugger make sure that the default directory on the MinilDE must be the same directory that is configured by the debugger as the working directory The file name to be edited must be the file name that is configured by the debugger If you like the MinilDE after using for 30 days you should register with them and send them your contribution to show your appreciation and support If you have any technical questions regarding the MinilDE or you want to make a suggestion or a bug report please feel free to email Marius Greuel at miniide mgtek com If you prefer to use your own DOS based editor you can do Modify the file c Ep2IDE myedit bat Basically you add the path of your editor into the path command on the first line of the file myedit bat Add two more lines in the beginning of the file edit6811 bat The first line is your editor s name followed by a space character and followed by 1 The second line is goto end When you click the EDIT button the IDE will pass the filename to edit6811 bat as the 1 argument on the command line If you prefer to use your own D
31. branching address not the relative offset Subcommands ASM address starts assemble at a new location FCB bytel allocates a hex byte for each location FCC DDyte allocates an ASCII byte for each location BYTE byte as same as FCB DB byte as same as FCB ASCII byte as same as FCC The assembler s subcommands are available only when an assemble command is executed For the FCB or FCC subcommand a maximum of 32 bytes may be entered on a command line Example scheding Page 22 17 07 2007 MTRX 2700 labnotes doc Assemble F000 This command starts assemble at the address location F000 daa 10 load Accumulator A with the hex 10 dab 2x load Accumulator B with the value of the address that is 2 plus the value of the X register staa 5 store the value of the Accumulator A in the direct RAM location 5 staa 1200 store the value of the Accumulator A in the extended RAM location 1200 bra f000 branch to the location f000 Breakpoint Syntax Breakpoint address Description The breakpoint is set at the location specified by the address The breakpoint can only be set at instruction addresses A maximum of eight breakpoints may be set All breakpoints are software breakpoints Comment During initial power up all breakpoints are automatically cleared Example Breakpoint F010 This command sets a breakpoint at the address location F010 Compare Syntax
32. cheding Page 12 17 07 2007 MTRX 2700 labnotes doc J9 the PRG RUN jumper is used for changing between programming mode and run mode When it s in the right position the board is used for programming the 68HC711E9 chip When it s in the left position it enables normal debugging session J10 Connects the VR1 trimmer pot to the PE7 of the ADC J11 Analog voltage reference selector When it s in the right position the on board 5V DC is the reference voltage When it s in the left position the user target provides the ADC reference voltage J12 Clock selector When it s in the right position labeled with INT the clock is provided by the on board crystal When it s in the left position labeled with EXT the user target provides a HC compatible clock source J13 Sensor port The top line is the signal the middle line is VCC and the bottom line is GND Digital sensors can be connected to the PAO PA1 PA2 and PA7 The analog sensor can be connected to the PEO and PE1 There are no pullup resistors on the PEO and DEI J14 Enables speaker The speaker is driven by the PA5 Output Comparator 3 through the jumper J14 In some robot applications the PA5 could be a PWM signal to drive a servo and the jumper J14 should be removed to preserve the PWM signal integrity J15 The jumper B600 is used for starting program from the EEPROM address B600 By install this Jumper the user program can be auto started during power up Whe
33. configuration will be in a directory folder named c Documents and Settings astu3141 while her files will be stored in U astu3141 The default permissions on these directories and their subdirectories will prevent any other user from viewing copying or deleting the files You should not change the permissions on these directories or any other folder or file within it this may interfere with the correct operation of Windows Several of the applications used in the Mechatronics Laboratory do not support UNC Universal Naming Convention filenames e g mxlabserver Users and so drive mappings are provided to the locations where data is to be stored Please try to remember to use U and V preferentially over their UNC versions to avoid these problems Note Please be aware that student accounts will cleared at the end of each semester The account will be disabled and all user files deleted 1 1 3 Access to User Accounts Before you can be granted access to the computer account created for your use in the Mechatronics Laboratory you will be required to sign a written agreement to comply with the Conditions of Use of the University s Policy on the Use of University Information and Communication Technology Resources ICT Resources This document is available on the Internet at http policy rms usyd edu au 00000ah pdf 1 1 4 Security Settings and Shares In addition to their private file space student
34. d application it can be used as a general purpose I O port that can be accessed via J2 or J6 The pinouts of the J6 is as follows Pint PGO connects ROWO of the keypad Pin2 PG1 connects ROW1 of the keypad Pin3 PG2 connects ROW2 of the keypad Pin4 PG3 connects ROWS of the keypad Pin5 PG4 connects COLO of the keypad Pin6 PG5 connects COL1 of the keypad Pin7 PG6 connects COL2 of the keypad Pin8 PG7 connects COL3 of the keypad Keypad interface PGO connects ROWO of the keypad via pin 1 of the 8 pin keypad header PG1 connects ROW1 of the keypad via pin 2 of the 8 pin keypad header PG2 connects ROW2 of the keypad via pin 3 of the 8 pin keypad header PG3 connects ROWS3 of the keypad via pin 4 of the 8 pin keypad header scheding Page 11 17 07 2007 MTRX 2700 labnotes doc PG4 connects COLO of the keypad via pin 5 of the 8 pin keypad header PG5 connects COL1 ofthe keypad via pin 6 of the 8 pin keypad header PG6 connects COL2 of the keypad via pin 7 of the 8 pin keypad header PG7 connects COL3 of the keypad via pin 8 of the 8 pin keypad header The PGO PG7 has a 100K pull up resister in each line The keypad scan routine will set PG3 low PGO PG1 PG2 high and then test the PG4 PG7 If no key is down PG4 PG7 remain high If PG7 low the key 15 is down If PG6 low the key 14 is down If PG5 low the key 13 is down If PG4 low the key 12 is down The keypad scan routine then set PG2 low PG0 PG1 PG3 high then test the PG4 PG7
35. d if the COM port number is configured correctly Also make sure that you only open the debug window once If the first debugger is running you cannot invoke second debugger before closing the first one Q My program works with another SBC but why does it not work when I use the Ep2711E9 The values of the INIT register shown on the top of the screen and the TMSk2 OPTION and BPROT registers must be set correctly by the Init command before running your program Because these registers can only be modified in normal modes within the first 64 E cycles any modification to these registers in the beginning of your program will not change their values when your target program is executed by scheding Page 32 17 07 2007 MTRX 2700 labnotes doc PO the GO command because the 64 E cycles period was already passed The Init command allows you to modify these registers to the correct values before running your target program because the command will automatically reset the 68HC11E1 so the modification can be done If you don t relocate the control register the value of the INIT register should be 01 Always watch this value on the top of the screen If this value is corrupted by running a bad program you have to re program it to 01 or power cycle the board During the power up its value is always 01 My program works with the Ep2711E9 board but it does not work in another SBC why The stack point in your program may not be set in the
36. dge of how not to do things is just as important as how to do them The notebooks are assessable Please refer to Appendix A of these notes for guidelines on good lab notebook practise Lab Rules Code of Conduct The lab rules and code of conduct are displayed on the noticeboard in the lab Take the time to familiarise yourself with the rules They are also available on line at http www acfr usyd edu au teaching mx lab Lab Equipment Your group will be allocated to a work station in the Mechatronics Lab Each workstation has the basic equipment that you will be using during the laboratory sessions scheding Page 1 17 07 2007 MTRX 2700 labnotes doc e An EVBPlus MC68HCI11 evaluation development board from www evbplus com A PC with software to interface to the development board A power supply for the MC68HC11 board and other circuits A digital oscilloscope A toolkit which includes the oscilloscope probes Please be aware that to obtain a toolkit you must ask one of the tutors to get it for you You must exchange your student card for the toolkit The student card will be returned to you when the complete toolkit is returned to the tutor scheding Page 2 17 07 2007 MTRX 2700 labnotes doc Appendix A Good Lab Book Practises From IP Australia http www ipaustralia gov aw ipprofessor a goodpractices pdf scheding Page 3 17 07 2007 1PAustralia PATENTS TRADE MARKS DESIGNS Where can get Why is
37. dumb who created the item by CREATOR OWNER the user who created the folder and the machine Administrators To view the specific access rights of different users click on their user name and see which boxes have been ticked Special permissions can be set and can only be seen if you click on the Advanced button FarrellyBros Properties FarrellyBros Properties V General Security Customize General Security Customize Group or user names Group or user names g Administrators MXLAB155Administrators Administrators MXLAB15 Administrators CREATOR OWNER lt i CREATOR OWNER dumb dumb mulab actr usyd edu au amp dumb dumb mslab acfr usyd edu au f dumber dumber mslab acft usyd edu au Permissions for Administrators Allow Deny Permissions for dumber Full Control Modify Read amp Execute List Folder Contents Read v Write v gt Full Control Modify Read amp Execute List Folder Contents Read Write For special permissions or for advanced settings For special permissions or for advanced settings click Advanced click Advanced Figure 1 Permissions dialogues before changes left and after changes right COD To allow another user to access the folder click on the Add button enter the user name into the box and click OK They will be added to the list and will by default be given enough rights to read the files and folders but not
38. e indicate the logic state high low or pulsing at that point in the circuit 10 of 13 2 8 Logic Pulser A logic pulser is a test instrument that senses the logic state high or low at a circuit node and injects a pulse of the opposite logical state into the circuit The pulse injected can be either a single pulse or a5 Hz pulse train A logic pulser is useful for injecting exactly one pulse into a circuit no switch bounce or for tracing a signal through a board To use first connect black lead to 0V DC and the red lead to 5V DC power source Touch the probe tip to a powered up TTL logic circuit and press the button 2 9 Function Generator We have several Hung Chang model 8205A Sweep Function Generators These can generate frequency swept or stationary square sine or triangle waves at frequencies up to 2MHz They are useful for generating quick and dirty signals but are not stable enough to act as clocks etc 2 10 Frequency Counter We have a Yokagawa FC 863 Frequency Counter 2 11 Ango EPROM Eraser This device consists of an ultraviolet tube mounted above a small sliding tray To erase a UV EPROM remove any label from the quartz window and place the EPROM in the tray with its legs pushed into the conductive foam Turn on the eraser The eraser will erase set all bits to 1 a few EPROMSs in about 40 minutes Some cautions e Don t look at the UV radiation it can permanently damage the eye e Turn the eraser off a
39. e protective earth connection on a plug 3 1 2 Electrical Emergency Response The following instructions provide guidelines for handling three types of electrical emergencies 3 1 2 1 Emergency Electrical Power Isolator In the case of an electrical emergency such as electrocution or fire all 240V and 415V general purpose power outlets in the lab can be isolated turned off by pushing the red Emergency Stop button which is located on the wall next to the internal office window 3 1 2 2 Electric Shock If someone suffers serious electrical shock he or she may be knocked unconscious If the victim is still in contact with the electrical current immediately disconnect the electrical power source using the red Emergency Stop button which is located on the wall next to the internal office window If the supply does not disconnect try to separate the victim from the power source with a nonconductive object such as a wooden handled broom Important Do not touch an electric shock victim who is still in contact with a power source you could electrocute yourself Have someone phone for emergency medical assistance immediately 0 000 from an internal phone or 112 from a GSM mobile phone Administer appropriate first aid Notify the University Emergency Service by internal phone on 1 3333 or 9351 3333 from a mobile phone 3 1 2 3 Electrical Fire If an electrical fire occurs immediately disconnect the electrical power source using the red
40. e Lab are e Electrical hazards e Danger of slips trips and falls The probability of either of these happening is assessed as small provided that safe practices are observed This section describes some of these practices Some of this material is abstracted with permission from a document prepared by Michigan State University 2 http www labsafety org 2 of 6 3 1 Electrical Hazards The severity and effects of an electrical shock depend on a number of factors such as the pathway through the body the amount of current the length of time of the exposure and whether the skin is wet or dry Water is a great conductor of electricity allowing current to flow more easily in wet conditions and through wet skin The effect of the shock may range from a slight tingle to severe muscular contraction to severe burns to cardiac arrest depending on the voltage current and the duration of the shock Table 1 shows the general relationship between the degree of injury and amount of current for an 110V AC hand to foot current path of one second s duration of shock While reading this chart keep in mind that normal 240V AC electrical circuits can provide continuously up to 10 A of current flow Even voltages as low as 40V can be dangerous Table 1 Response of the human body to current 110VAC for 1 second Current Reaction Perception level Slight shock felt not painful but disturbing Painful shock let go range The major
41. e development board provides real time emulation for the Motorola 68HC11 microcontroller E family It offers all useful features of the Motorola EVB board with the Buffalo monitor and adds numerous enhancements at an extremely low cost It combines a complete 68HC11 development system an advanced trainer a reliable 711E9 programmer and a versatile SBC into one package For engineers it s a WICE in circuit emulator development system and Motorola EVB EVM EVS replacement a convenient prototype platform and a low cost single board computer For students it s a user friendly microcontroller trainer It is as powerful as a high priced real time in circuit emulator but it s affordable as a low cost single board computer Ep2711E9 includes user friendly IDE software which runs under Windows 95 98 2000 and XP It offers fast file transfer single stepping breakpoints data watch for memory and registers symbolic debugging compatibility with most assemblers and compilers and user program termination with the lt Esc gt key Our exclusive phantom monitor technology preserves all interrupt vectors including RESET and All on chip RAM 00 1FF EEPROM and 30K external emulation RAM 8800 F FFF available for user applications there is no pre empted chip memory The hardware includes a prototype area 16 extra I O ports F and G one logic probe on board 16X2 LCD display with backlight 4x4 keypad connector 8 sensor I O port SPI port
42. e have tried to provide links on the Lab web site to data sheets for each device that you are likely to use You will have to become very familiar with reading these data sheets Some other resources include e PDF data sheets held on the Lab file server These can be accessed through the Programs menu on each Lab computer e Component reseller s catalogues and web sites Farnell Components RS Components Jaycar Electronics Altronics Dick Smith Electronics These have a lot of useful information in them See in particular the information in the back of the Dick Smith catalogue 12 of 13 e Component manufacturer s web sites these are linked from the Mechatronics Lab web site http www acfr usyd edu au teaching mxlab 5 Document Improvement Should you discover errors omissions or unclear information in this document please report these deficiencies by email to mxlab acfr usyd edu au so that this document can be improved David Rye Richard Grover Steve Scheding July 2002 Revised March 2004 Revised April 2003 13 of 13
43. e if there is any attempt to write data into the memory locations at 6800 x8FFF These locations are used by monitor firmware Any memory write to these locations must be avoided in the user program In your program you can disable interrupt temporarily by the SEI instruction but cannot disable for a long time because the ESC is relying on interrupt to stop the user program want to modify the CONFIG register how do enter the test mode The CONFIG register can only be modified in the test mode In order to enter the test mode press and hold the PAO switch then press and release the RESET button and it will start the test mode By checking the status line on the top of the screen you can tell if you are in the test mode The Ep2711E9 board cannot emulate the user program in the test mode and the test mode is only used for modifying some registers such as the CONFIG register that cannot be modified in both single chip mode and expanded mode The status line on the top of the screen indicates the operating mode The EXP stands for the expanded mode and the TST stands for the test mode The status line also displays the value of the INIT register which indicates the locations of the on chip direct RAM and the 64 control registers In the test mode press the F8 key and follow the instructions to modify the CONFIG register Can modify the CONFIG register in my program after a system reset scheding Page 33 17 07 2007 MTRX 2700
44. e to replace at short notice You must not open the PC cases or install additional hardware or software on the Lab computers If you think that there is a need please speak to one of the Tutors or Lecturers It is your responsibility to keep the Lab neat and tidy Electronic prototyping and computer work tend to generate big messes When you are finished your session tidy things up for the next person who will use your Lab Workstation Put unwanted papers in the paper recycling File Mechatronics Laboratory Introduction doc Created DCR 08 08 2002 13 06 00 Saved 14 03 2005 08 44 00 Printed 14 03 2005 08 44 00 bag throw out small scraps of wire replace manuals in the shelves etc All benches should be clear of everything except keyboards and mice You should aim to leave the Lab neater than you found it e Please report any problem including damage to equipment as soon as it occurs Problems may involve the network Lab server computer workstation specialized lab equipment application software operating system usage etc It is important that we have as many details as possible so that the problem can quickly be fixed To report a problem o Send a report by email to mxlab acfr usyd edu au so that we have written information on the problem Make sure that you identify which circuit board computer network port etc has the fault and provide as much detail as you can o Speak to a course Lecturer or Tutor if one is in the Lab If t
45. eave extension cords leads etc trailing across walkways 4 Laboratory Facilities The facilities available to Authorised Users of the Mechatronics Lab are described in a companion document Mechatronics Laboratory Facilities doc This document is available in Adobe PDF form on the Lab website http www acfr usyd edu au teaching mxlab 5 Teaching and Assistance in the Lab 5 1 Scheduled Classes Course Tutors and Lecturers will be available to provide assistance in the Lab during scheduled classes This teaching assistance relates to the laboratory exercises use of specific hardware and software etc We are also happy to answer ad hoc questions 5 2 Open Lab Time During open laboratory periods when no class is scheduled Tutors or Lecturers will usually not be available in the Lab Assistance should be sought by contacting your course Tutor or Lecturer by email or phone Please be aware that you will not get immediate assistance as we all have many commitments If you know that you will need assistance it is wise to arrange a meeting in advance at a mutually convenient time Hopefully not in the Lab 5 of 6 6 Technical Support Technical support for the Mechatronics Lab is provided by technical and professional staff of the ACFR on an as needed basis time permitting If you have a technical support question please email it to mxlab acfr usyd edu au so that we can direct your question to the person b
46. econd line sel_inst rmb 3 selects instruction before writing the LCD module sel_data rmb 3 selects data before writing the LCD module wrt_pulse rmb 3 generates a write pulse to the LCD module The circuit is designed in such way that the value of all resistors and capacitors are not critical they can be off 50 or 100 How to use the port F The port F is an 8 bit bi directional port Its primary usage is for a LCD display module If the port is not used for LCD display it can be used as a general purpose I O port that can be accessed via J2 or J3 The pinouts of the J3 is as follows Pint GND scheding Page 10 17 07 2007 MTRX 2700 labnotes doc Pin2 VCC 5V Pin3 Viaa 100 Ohm resistor to GND Pin4 PFO RS pin for LCD module Pin5 GND Pin6 PF1 EN pin for LCD module Pin7 Not used Pin8 Not used Ping PF2 Pin 10 PF3 Pin11 PF4 DB4 pin for LCD module Pin 12 PER DB5 pin for LCD module Pin 13 PF6 DB6 pin for LCD module Pin 14 PF7 DB7 pin for LCD module Pin 15 Via a 18 Ohm resistor to VCC LED backlight for LCD module Pin16 GND The pinouts of the J2 is as follows Pini PF7 Pin2 PG7 Pin3 PF6 Pin4 PG6 Pin5 PER Pin6 PGS5 Pin7 PF4 Pin8 PG4 Pin9 PF3 Pin 10 PG3 Pin 11 PF2 Pin12 PG2 Pin 13 PF1 Pin14 PG1 Pin 15 PFO Pin 16 PGO Pin 17 VCC Pin 18 VCC Pin19 GND Pin 20 GND How to use the port G The port G is an 8 bit bi directional port Its primary usage is for a 4X4 keypad interface If the port is not used for keypa
47. ename is the filename to be download from the host PC offset is the offset to be added with the download addresses If the type of the file is the symbol file or the parameter file the user would be prompted to enter file name The Load command downloads user files in the Motorola S record or Intel hex or Tektronix hex format from the PC into the Ep2711E9 board Before download of the user file the user will be prompted to input an offset value which will be added to the download addresses of a host file to generate the absolute addresses for the Ep2711E9 board If the offset is not needed just press the Carriage Return By using this offset feature a file can be downloaded into different memory blocks scheding Page 26 17 07 2007 MTRX 2700 labnotes doc Caution Always download the symbol file first so the symbols in a parameter file will have their values Any attempt to download data from a file into the address locations of the monitor will be ignored Example Load test s19 8000 This load command downloads the file named test s19 from the host PC into the Ep2711E9 board It will add 8000 with all memory addresses of the file For instance the data at the address 1000 of the file will be downloaded into the location 9000 instead of 1000 because every download address is added with 8000 Move Syntax Move address1 address2 address3 Description address1 is the starting address of source memory block
48. ent email account or on a USB drive or a floppy disk ha Your email account can be reached on the web at https www mail usyd edu au From there you can simply send your files to yourself as attachments to email Windows XP or 2000 1 Use Windows Explorer to connect by using a UNC name in the Explorer address window mxlabserver mxlab acfr usyd edu au 2 Enter your username as mxlabN Username and password when prompted Linux thanks Rob 1 The cleanest way to access Windows shares in the mxlab from Linux is to mount the remote share so that you can access the files on the remote system using your normal GUI file browser You must be root to do this on most systems Type the following on one line mount t smbfs o username Username workgroup mxlab mxlabserver mxlab acfr usyd edu au groups mnt mymount 2 The alternative is to access the remote system using smbclient Once you have run the smbclient command with the appropriate options you will have tp like access to the Windows share Type the following on one line smbclient mxlabserver mxlab acfr usyd edu au groups W mxlab u Username Of course you will replace Username with your actual mxlab Username won t you Windows ME 98 or 95 Get a proper operating system on your computer and then follow the instructions above Macintosh We don t know as no one here uses a Mac If anyone does know please tell us 5 of 13 1 1 6 Virus Protection Each PC
49. es The BUFFALO I O routines located at FFAO FFCF that scheding Page 13 17 07 2007 MTRX 2700 labnotes doc should not be there in the first place These locations should be reserved by user s program We move the BUFFALO I O locations to 7FA0 7FCF Following are the BUFFALO UO routines function description and jumper table UPCASE WCHEK isa DCHEK isa INIT INPUT OUTPUT OUTLHLF display OUTRHLF display OUTA OUT1BYT and OUT1BSP OUT2BSP ASCII OUTCRLF OUTSTRG OUTSTRGO display INCHAR Jump Table 7FAO 7FA3 7FA6 7FA9 7FAC 7FAF 7FB2 7FB5 7FB8 7FBB 7FBE 7FC1 7FC4 7FC7 7FCA 7FCD scheding ORG 7FA0 convert the character in A to uppercase test the character in A for white space and returns with the Z bit set if A white space Space comma tab test the character in A for white space and returns with the Z bit set if A carriage return or white space Space comma tab initialize SCI is not needed with the EP2711E9 board reads PC keyboard input writes the character in the A to CRT display converts 4 most Significant Bit of A to ASCII and Writes it to CRT converts 4 most Significant Bit of A to ASCII and Writes it to CRT output ASCII character in A to CRT display converts the binary byte that is pointed to by X register to 2 ASCII bytes write them to CRT display its OUT1BYT followed by sending a space to the CRT display converts the binary word 2 bytes that i
50. es doc Command reference The command reference is listed in alphabetical order Assemble Syntax Assemble address Description address is the starting address for the assembler operation Each source line is converted into the proper machine language code and is stored in memory overwriting previous data on a line by line basis at the time of entry Caution When a new source line is assembled the assembler overwrites what was previously in the memory If the assembler detects an error in the new source line it will output an error message then re open the same address location and the contents of the memory will remain unchanged Any attempt to assemble at locations of the monitor will be ignored Syntax rules 1 All numerical values are assumed to be hexadecimal therefore no base designators are allowed 2 Operands must be separated by the space character Addressing modes are designated as follows 1 Immediate addressing is designated by preceding the address with the sign 2 Indexed addressing is designated by the X The comma must be preceded by an offset byte e g LDAA 0 X 3 Direct and extended addressing are specified by the value of the address operand a value of less than 256 specifying direct addressing otherwise the extended addressing is implied 4 Relative offsets for branch instructions are computed by the assembler Therefore the valid operand for any branch instructions is the
51. est able to answer it 7 Document Improvement Should you discover errors omissions or unclear information in this document please report these deficiencies by email to mxlab acfr usyd edu au so that this document can be improved David Rye Steve Scheding July 2002 Reviewed March 2005 60f6 School of Aerospace Mechanical and Mechatronic Engineering Mechatronics Laboratory Notes on Facilities These notes describe the facilities available to Authorised Users of the Mechatronics Laoratory Room 325 in the Link Building The present notes should be read in conjunction with a companion document Mechatronics Laboratory Introduction doc This document is available in Adobe PDF form on the Lab website http www acfr usyd edu au teaching mxlab Lab facilities are divided into two categories termed open facilities and closed facilities in these notes Open facilities are those that you can use as soon as you are within the Lab such as the Lab Workstations Closed Facilities are held in locked cupboards to prevent damage or theft when the Lab is unattended You will need to surrender a form of identification to a member of academic or tutoring staff before you can use any of the closed facilities The equipment will be signed out to you and your card returned when you return the equipment in good condition 1 Open Facilities Lab Workstations The Mechatronics Laboratory is equipped with eighteen Lab Workstation
52. h your hand to ground or at least to a large capacitance to discharge any accumulated static Once the device is in a circuit and powered no special precautions need be taken Aside Actually one should use a conductive wrist strap earthed through a IM resistor together with conductive tools amp work surface This is done in production Also while we are talking about production be aware that static damage is cumulative If the proper anti static precautions are not taken a chip can get zapped during assembly but still function well enough to pass testing It gets delivered in a product and then fails in the field Ouch 3 2 Importance of Power Supply Another way that a chip may be destroyed is to apply an input analogue or digital before the chip s power supply is established In particular if you apply an input to an op amp before both and power supplies are connected or if the supply voltages are unequal the op amp may be destroyed when the input voltage exceeds either of the op amp s power supply rail voltages This is one good reason for always connecting the power supply first when bread boarding a circuit 4 Components Data Sheets and Reference Manuals When working with electronics the only reliable reference is the device manufacturer s data sheets and even then you need to be careful All component manufacturers provide data sheets on their web sites invariably in Adobe portable document format PDF W
53. hazards associated with electricity are electrical shock and fire Electrical shock occurs when the body becomes part of an electric circuit either when an individual comes in contact with both wires of an electrical circuit one wire of an energized circuit and the ground or a metallic part that has become energized by contact with an electrical conductor 3 1 1 Electrical Hazard Reduction There are various ways of protecting people from the hazards caused by electricity including insulation guarding grounding and electrical protective devices such as fuses and residual current devices RCDs This section provides a set of simple rules aimed at reducing electrical hazards within the Mechatronics Lab Most of the hazards relate to 240V AC mains powered equipment DANGER Students are not permitted to work on circuits that are energised by 240V AC or 415V AC power under any circumstance The phrase work on shall include activities such as opening the cabinet of a mains powered instrument and measuring mains powered circuits with test instruments Electrical hazards can be reduced significantly by taking some basic precautions e Know the location of and how to operate the emergency electrical power isolator it is the red Emergency Stop button which is located on the wall next to the internal office window Use this button to instantly shut off all electrical equipment in the Lab in the event of electrocution or fire e
54. he EVBplus2 6811 CD ina CD drive and run the SETUP BAT on the CDROM You can use the explorer to find the batch file and then double click it to run If you have problems to install software under Windows2000 you need to download the Microsoft Windows 2000 service pack 2 from Microsoft web site to upgrade your system Step 5 After software is successfully installed run the EVBplus2 program Step 6 Configure your system to provide the default working directory the file name the COM port number and the micro type If the working directory is C Ep2IDE examples COM port is set correctly and the file name is TEST you can click the DEBUG button on the screen the system will automatically down load the test program TEST s19 At the prompt Ep6811 gt enter go start It will run the TEST program in real time The program will test the switches scan keypad send message to the LCD display emulate an IR proximity sensor adjust the LED display brightness generate music and shift number 0 to F on the seven segment display If you stop the program the speaker will generate a click noise because the output comparator is still interrupting the 68HC11 To stop the clicking noise you can press the reset button once scheding Page 6 17 07 2007 MTRX 2700 labnotes doc SOFTWARE DEVELOPMENT The steps to create your source code as follows 1 Click the CONFIGURE button to specify the current working directory This is the first ste
55. he Intel hex or the Tektronix Hex format The user will be prompted with the following parameters filename is the filename to be saved in the host PC address1 is the starting address of the memory block to be saved address2 is the ending address of the memory block to be saved scheding Page 29 17 07 2007 MTRX 2700 labnotes doc M I T is the file format in which the user file is saved Enter M for the Motorola S record for the Intel Hex format or T for the Tektronix Hex format If the type of the file is the symbol file or the parameter file the user would be prompted to enter the file name only Command summary Command Assemble Breakpoint Compare Dump Enter Fill Go Init registers Kill Load Move Next step Program Register modify Search Trace Unassemble Write scheding Syntax Oo u gt m z er Ke C om gt Function Single line assembler Set breakpoint Compare memory block Display memory block Examine and modify memory Fill memory with user pattern Execute program Configure INIT TMSK2 OPTION amp BPROT Clear breakpoint Download file from host Move memory block Single step Program memory watch Examine and modify CPU registers Search memory range for user pattern Trace execution Disassemble Upload memory block to host file Page 30 17 07 2007 MTRX 2700 labnotes doc F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 FUN
56. he problem is urgent seek out and speak to a Lecturer or Tutor o Ifthe problem involves the possibility of injury to people or damage to equipment isolate equipment involved from energy sources e g 240V AC and tag it with a warning label Warning labels are stored in the small box near the right side of the whiteboard Please put your name and the date on any tags that you write e The last person out must secure the Lab as follows Turn off all PC monitors and instruments the PCs should remain powered Close the windows Turn off the ceiling fans Turn off all lights Put out the cat Make sure that the door is locked behind you o Check the door again User behaviour will be monitored by course Tutors Lecturers Sanctions may be imposed upon people who breach the rules including exclusion from the Lab for a number of weeks or referral to the Registrar for further disciplinary action 000000 3 Lab Safety It is said that the accident rate in schools and colleges is 100 to 1000 times greater than in industry As you learn about engineering and scientific principles it is also important that you learn about safety To work safely in the Lab means that e You know the hazards e You know the likely and worst incidents that could happen e You know what to do and how to do it if they should happen e You know and use practices and protective equipment to eliminate or control the risks The main hazards in th
57. in the courses MTRX 1702 MRTX 2700 MRTX 3700 MRTX 4700 or MECH 4730 in the current semester or with the approval of mechatronics staff undertaking thesis work in MECH 4101 2 plus the Tutor s and Academic Staff associated with these courses Users are allowed to use the Lab facilities for work in the designated courses only not for personal use or for other courses This is a special purpose lab supporting specific microprocessor and computer engineering courses Physical access to the Lab is restricted by an electronic swipe card Outside of scheduled class hours you can ask the subject Tutor s or Lecturer s to let you into the Lab Either of the Mechanical Building Attendants Room S142 can also let also you into the Lab Rules Rights and Responsibilities of Users All Lab Users have certain rights and responsibilities and must agree to follow the rules set out here For safety reasons there must always be at least two people in the Lab See the section on Lab Safety later in these notes You are not permitted to eat or drink in the lab due to the increased risk of electrocution equipment damage and because of the mess it makes Take a break go sit on the lawn relax and smell the sunshine Respect the test equipment and be gentle with it If you don t know something about a circuit or electronics hardware ask before rushing ahead Most of the equipment is quite expensive and perhaps more importantly is impossibl
58. installed on the B600 header If it is remove it The B600 jumper is for 68HC11E1 to start code from the on chip EEPROM If you program the first 3 bytes of the EEPROM with a JMP instruction you can auto start the board during power up but You must remove the B600 jumper for debugging your code The board is running in expanded mode even it s emulating the 711E9 OTP part You must also remove the MODEA and MODEB jumpers for the expanded mode if they were installed for the bootstrap mode such as programming the 711E9 chip If the problem still exists try starting it up in the test mode by pressing and holding the PAO data switch down while resetting the board If the RESET LED does not flash then the E1 chip is bad and you have to replace it If the RESET LED flashes the chip is good and most likely the COP function is enabled It will work after re programming the CONFIG register in the test mode to disable the COP function If you have a watchdog circuit with the reset signal you should disable it during debugging only test your watchdog function after your code is completely debugged otherwise the LED may not flash Finally check the EPROM U2 DIP socket for any loose contact Q The RESET LED flashes during power up or whenever the reset switch is depressed but why does the Ep2711E9 board not communicate with the host PC A Ifthe LED blinks and there is no response from the Ep2711E9 board check the RS 232C cable connection an
59. is protected by Symantec Antivirus which is configured to intercept and quarantine viruses Virus definitions are automatically updated as they become available from Symantec and each machine is scanned daily 1 1 7 Windows Updates and Patches Each machine in the laboratory is connected to an automatic updating service This means that operating system patches are automatically installed Together with the automated virus updateing and scanning this represents current best practice for avoiding virus or other attacks 1 1 8 Printing There are no printers in the Mechatronics Lab Undergraduate students who have accounts in the domain uglab aeromech usyd edu au can print to the printers hosted in that domain The printers are physically located in Rooms 322 and S345 in the Mechanical Engineering Building 1 1 9 Running DOS Application Software Some of the applications programs run from a command line prompt within a DOS shell Each of these DOS application is run by a batch file that is in the subdirectory C Bat of each machine This directory is in the Windows PATH variable of every user so that each console application can be executed from any user directory Each batch file does a number of things e SETs any environment variables required by the particular application e sets a PATH suitable for the application e runs the application and then e resets PATH to the value it had before the batch file was run e clears any envi
60. lic domain 2500 AD Microtek Zax assemblers Wintek Introl Avocet Archimedes Whitesmiths IAR C compilers or Wytec format directly No conversion is needed This key allows the user to do 1 Terminate the emulation and exit from the debugger or 2 Re start the emulation without terminating It is often called warm boot and is useful to initialize the CRT screen For instance when the PC reads a file from a floppy disk drive for downloading into the Ep2711E9 board the PC will print out an error message that will garble the monitor screen if the door of the drive is left open This key will restore the screen It also can be used to automatically download files scheding Page 31 17 07 2007 MTRX 2700 labnotes doc ALT F1 This key combination toggles between the novice and the expert modes In the novice mode the user will be prompted to enter each parameter on the command line QUESTIONS amp ANSWERS This chapter contains the most commonly asked questions about the Ep2711E9 board They are divided into three sections 1 Hardware 2 Miscellaneous questions Hardware Q When turn on the Ep2711E9 board how come the LED does not flash A After the initial power up the RESET LED should blink 4 times otherwise check the VCC It should have a reading of about 5V DC If 5V DC is not present check if the polarity of DC output of the AC adapter is correct The center is positive on the DC plug check if a jumper is
61. mbling Scrolls display back and forth by page or line during disassembling Execution Control Execute program Single step over all instructions including the RTI instruction Trace execution File management File transfer Download file from host to memory scheding Page 19 17 07 2007 MTRX 2700 labnotes doc Upload memory to host file Automatically download files during startup Upload download of files in Motorola S record Intel Hex and Tektronix Hex formats File formats Motorola S record Intel Hex Tektronix Hex Symbol formats Motorola 2500AD Microtek Zax Wintek Introl Avocet Archimedes Whitesmiths IAR P amp E systems System Configure INIT TMSK2 OPTION BPROT registers EEPROM erasing and programming CONFIG register programming in test mode Scope or logic analyzer trigger output 40 pin logic analyzer connector scheding Page 20 17 07 2007 MTRX 2700 labnotes doc SYMBOLIC DEBUGGER Predefined names All internal CPU registers can be referenced by their name such as porta PORTA portb PORTB ddrd DDRD etc Symbols on the command entry For acommand in which an absolute number can be replaced by a symbol the symbol must start with a V such as BEGIN loop The maximum number of characters in a symbol is 32 and symbol is CASE SENSITIVE Although symbols can be 32 character long but the disassembler can only display 10 characters maximum for a symbol In your source code it would be better make
62. n the jumper is installed the LED below it will be lit to indicate this auto boot mode User has to place a JMP instruction at the B600 B602 to tell the 68HC11 where to start the user program In normal debugging session this jumper must not be installed so the LED should de off J16 Connects the HC11 SCl s PD1 to all communication hardware RS232 RS485 and IR transceiver on this development board It is hard wired J17 IR transceiver control source selector When it s in the up position labeled with UART the HC11 s PD1drives the IR transmitter and the HC11 s PDO receives the data from the IR receiver The PDO and PD1 can be general I O lines or the SCI UART When it s in the low position labeled with PA26 the HC11 s PA6 drives the IR transmitter and PA2 receives the data from the IR receiver J18 Enables the 7 segment LED display driver U11 74HC367 If the 7 segment LED display is not needed in any application remove this jumper will turn off the display The MODEA and MODEB jumpers are not used in debugging sessions They are only used for programming the 711E9 OTP part in bootstrap mode The P3 DB9 female connector is configured as DCE device and it can be directly connected to the PC s com port BUFFALO I O routines Some universities use the book MC68HC11 An Introduction Software and Hardware Interface by Professor Han Way Huang The book has several example programs that access BUFFALO I O routin
63. n to download your project and start to debug again If you did not close the EDIT window you don t have to open a new EDIT window to edit a file If the editor was minimized at the task bar just to click it to activate it Click too many times of the EDIT button without closing it will open up a lot of EDIT windows during the debugging and you don t know which file is the most recently modified file The EDIT and DEBUGGER windows will not be closed automatically Before clicking the edit or the debugger button always check at the task bar If they are already open just activate them 10 If you need to program a HC711E9 you can use this board as a HC711E9 programmer At first you must make sure that the working directory file name and the COM port are configured correctly then click the PROGRAM button to program the HC711E9 The programming is done in the bootstrap mode and the programming instructions will be displayed on the screen step by step The memory addresses range for the HC711E9 is from D000 to FFFF If your S19 file contains addresses outside of this range an error message will be generated and the chip will not be programmed During the programming the data will be automatically verified ON BOARD HARDWARE The port B and port C are used for address and data buses and they are not available as UO ports during debugging session in the expanded mode but they are emulated by the PRU chip HC24 The PRU stands for port
64. nge if the circuit design is sensible e Power the circuit up ensuring that all voltages 0V 5V 12V if required are applied simultaneously Carefully touch the component packages not the leads to check that none of the chips are overheating Switch off immediately if any temperatures seem excessive e If everything is OK so far check all the power supply pins with an oscilloscope to make sure that power is available everywhere it should be Use the scope so that you can see time varying signals e g noise if they are present Check to see if clock pulses are present everywhere that they should be e Finally apply valid input signals and start to check that everything is working properly 2 6 Crimp Tool We use the AMP Modu type crimp contacts and contact carriers for some semi permenant project work in the Lab Several hand operated crimp tools are available to make these connectors You will need a small amount of instruction on the easiest way to use this tooling 2 7 Logic Probe A logic probe is a simple test instrument that senses the logic state of a circuit node CAUTION Power up the circuit first Logic probes have a small potential to damage the circuit under test if the circuit is not powered up during testing To use a logic probe first connect the black lead to 0V DC then the red lead to 5V DC power source Touch the probe to a point in the powered up TTL logic circuit the LEDs amp audiable ton
65. or advanced user please read the PFE and MinilDE section of the user manual for customizing your editor 5 Click the MAKE button to assembly your source code IF your code has no errors it will generate a S9 record file a listing file and a symbol file If the assembler detects error s it will print out the line numbers of your source code that made errors Beware that sometime the freeware assembler may indicate a wrong error line in the file and the actual line that caused error may be one line off For advanced user please read the PFE and MinilDE section of the user manual for customizing your assembler If there are no errors generated the MAKE window will be closed by itself after a 2 second delay If there are errors the MAKE window will display the error line numbers and all symbols Enter the carriage return will advance to the next page When all error lines and symbols are displayed the MAKE window will be closed by itself after a 5 second delay 6 Repeat steps 2 to 4 until there are no errors 7 After your code is successfully assembled you can click the DEBUG button it will automatically download your project that consists of 3 files namely YOUR_FILENAME S19 YOUR_FILENAME SYM and YOUR_FILENAME PAR The S19 file is the hex code the SYM file is the symbol file so you can use symbols in commands instead of hex numbers The PAR file is the parameter file that includes the EEPROM programming enable disable flag INIT TMSK2
66. ormation that you can obtain from a scope is far greater than that available from a DMM You are expected to learn how to use a scope proficiently If you can t use a scope effectively read the Shortish Guide to Using an Oscilloscope available in PDF form from the Lab website http www acfr usyd edu au teaching mxlab In fact we insist that you read it anyway before using the scope The full TDS 1002 oscilloscope manual is also available in PDF form from the Lab web site 1 3 Power Supplies Each Lab Workstation is equipped with a power supply having two independent sections The front panel of the power supply is shown in Figure 3 Each unit has two independent supplies a regulated supply for powering computers and electronics and an unregulated supply for powering motors The ratings of the two supplies are given in Table 3 REG Fuse 12V ov 12V 8 aga UNREGULATED OUTPUTS Ze LAB POWER SUPPLY UNREG Fuse Figure 3 Front panel of the Mechatronics Lab bench power supplies Table 3 Lab power supplies terminals and their ratings Unregulated Supply to the left Regulated Supply to the right e Black Terminals 0V DC return Black Terminals 0V DC return Red Terminals 5V DC 2A e White Terminals 12V DC 1 5 A White Terminals 12V DC 200mA e Yellow Terminals 12V DC 1 5 A Yellow Terminals 12V DC 200mA Digital multimeter 7 of 13 There are two important things to note about the power
67. p that you must do All other commands will automatically access this directory as the default directory Secondly you must specify the file name the COM port number and the micro type Finally SAVE it before exit 2 Click the EDIT button and it will bring up the freeware EDIT that comes with your computer If your source file name does not exist in the working directory the Edit screen will be blank otherwise it will bring up your source code The file name must not be longer than 8 characters because the EDIT will only recognize up to 8 characters in file name The memory locations from 00 1FF 00 FF for A family are available as the user DATA RAM The EVBplus2 board does not use RAM locations at 40 FF as the BUFFALO monitor does The 30K memory locations from 8800 to FFFF are available to the user program CODE In assembly language you specify the starting address by the ORG statement You can start DATA RAM at address 00 with the statement ORG 0 followed by RAM variables such as ORG 0 TEMP RMB 1 reserve one byte of RAM for temp storage XTEMP RMB 2 reserve two bytes of RAM for temp storage If your program is small less that 4K you can start your program at address F000 with the statement ORG F000 followed by your program such as ORG F000 LDS FF the top of the 68HC11A1 internal RAM JSR NIT IO initialize UO ports For agood programming practice you should make the first line of your code with the LDS
68. pense of the student who borrowed the toolkit 8 of 13 2 4 Digital Multimeter in toolkits The digital multimeter or DMM is a versatile multi purpose test instrument that can measure DC and AC voltage current resistance etc To use turn on set function volts ohms etc to the highest range to minimise the risk of damage Touch probes to circuit under test reduce range as appropriate Turn the meter off when you have finished with it to conserve batteries Some cautions about using DMMs e A DMM is a static instrument it shows only a stationary or time averaged reading and cannot show a signal changes with time For this reason DMM readings can often be misleading Take a little time to learn to use an oscilloscope correctly it is quite simple e The principal use of a DMM is measuring quantities that are known to be constant in time checking component values setting DC voltages etc e Measure voltage differences with the meter in parallel to the circuit to be measured and current with the meter in series with the circuit e A DMM measures resistance by injecting a small known current into the circuit under test You must therefore be cautious whan attempting to measure the resistance of a device that is in a circuit and when interpreting the resistance reading displayed by the meter You may need to remove one leg of the device from the circuit to measure the resistance e Never measure a voltage wi
69. plete 68HC11 development system an advanced trainer a reliable 711E9 programmer and a versatile SBC into one package For engineers it s a WICE in circuit emulator development system and Motorola EVB EVM EVS replacement a convenient prototype platform and a low cost single board computer For students it s a user friendly microcontroller trainer It is as powerful as a high priced real time in circuit emulator but it s affordable as a low cost single board computer Ep2711E9 includes user friendly IDE software which runs under Windows 95 98 2000 and XP It offers fast file transfer single stepping breakpoints data watch for memory and registers symbolic debugging compatibility with most assemblers and compilers and user program termination with the lt Esc gt key Our exclusive phantom monitor technology preserves all interrupt vectors including RESET and All on chip RAM 00 1FF EEPROM and 30K external emulation RAM 8800 FFFF available for user applications there is no pre empted chip memory The hardware includes a prototype area 16 extra I O ports F and G one logic probe on board 16X2 LCD display with backlight 4x4 keypad connector 8 sensor I O port SPI port speaker 4 digit LED display potentiometer 8 LED status indicators for port B one 8 position DIP switch connected to port C and three pushbutton switches dual UART RS485 interface IR transceiver with on board 38 KHz OSC on board 12 programming vol
70. public domain program that can be downloaded into the Ep2711E9 board 68HC11 for symbolic debugging If you are using a different cross assembler please ignore it In windows IDE just click the make button If your code has no errors it will generate 19 file symbol file and listing file If your code has errors it will generate an error listing on the screen with line numbers before the errors PFE and MinilDE How to install Programmer s File Editor If you are not satisfied with the EDIT com program that comes with the board you can install the Programmer s File Editor But you should spend some time to familiarize with the Ep2IDE software before installing the Programmer s File Editor Programmer s File Editor is one of the best freeware editors for Windows 95 98 2000 from Alan Phillips It also allows you to edit more than one file within the editor If you have other editor that you like you can install it to replace the EDIT com In order to use the PFE with the EVBplus2 board you must do 1 Download the PFE version 1 01 32 bit version software from www download com enter PFE to search the PFE101 ZIP file 2 Unzip it in the drive C when you are asked to extract to a directory make it the directory C Ep2IDE PFE scheding Page 34 17 07 2007 MTRX 2700 labnotes doc 3 Un remark by deleting the rem the first two lines of text in the beginning of the file EDIT6811 BAT in the directory C Ep2IDE Line1 rem Ep
71. ronment variables that were SET 1 1 10 Personal Batch Files If you want to create and use your own batch files your batch files must do at least the following two things before they terminate even if they terminate with errors 1 clear any environment variables that are SET by the batch file 2 reset PATH to its value before the batch file 1 1 11 Computer and Network Maintenance The computers and network in the Mechatronics Lab are configured and maintained by staff from the Australian Centre for Field Robotics If you discover computer or network faults please report them by email to mxlab acfr usyd edu au 1 2 Oscilloscopes Each Lab Workstation is equipped with Tektronix TDS 1002 two channel digital storage oscilloscope shown in Figure 2 These oscilloscopes have a bandwidth of 60MHz and a sampling rate of 1 GS sec They are excellent and expensive tools Please note that the scope probes leads are never left in the Lab When you need to use a scope you will have to check out one or two scope probes They are console applications 6 of 13 Tektronix 115 1002 SAVEMECALL bel be be kd ER BIRUIN us a N TT ee Sas It fOLTSIDIV VOLTS DIV RER Figure 2 Front panel of a Tektronix TDS 1002 oscilloscope o Je Te D OKRA AW gosos It is most important for you to learn to use a scope properly and to get into the habit of using a scope to monitor signals The amount of inf
72. s Each Workstation is designed for computer software and electronics development and is equipped with e A networked IBM compatible computer e A Tektronix TDS 1002 two channel digital storage oscilloscope e A power supply with two sections a regulated supply for powering computers and electronics and an unregulated supply for powering motors This equipment is described in more detail below Note that each Lab Workstation is numbered and that you may be assigned to work at a particular Workstation 1 1 Computers Each computer has a 1 2 GHz Celeron processor and a 20 GB HDD The computers are dual boot so that you will be prompted to select the Windows XP operating system or the QNX Neutrino real time operating system when the machine boots If no selection is made the machine will boot into Windows XP by default Each hard disk is formatted with 3 logical partitions as shown in Table 1 Table 1 Hard disk partions and their uses Partition Format Use Writable NTFS c Windows operating system amp applications dev hd0t79 QNX operating system FAT32 d Windows OR s hd0 dos QNX Yes File Mechatronics Laboratory Facilities doc Created DCR 15 03 2004 14 26 00 Saved 15 03 2004 14 26 00 Printed 15 03 2004 14 27 00 1 1 1 MxLab Domain The computers in the Mechatronics Laboratory are members of a Windows 2003 domain called mxlab acfr usyd edu au The individual computer names are shown in Table 2 The Windo
73. s can create folders designed for storing groupwork files Any student can create new folders within the mxlabserver Groups folder the v drive on the lab server The default permissions for any folders created in this directory will allow the user who created the folder to have full control over the folder and all the files and folders within it In this context full control means the ability to permit or deny access by any other user Before they can access a particular groupwork folder other students will need to be added to the permissions for that folder The creator of the folder is the only user who can change the permissions of other users The permissions for the user who created the folder do not have to be modified to allow them to use the files correctly To change those users who have access to a folder 3 Individual users cannot create folders in this location and have access only to their own folder Each student is provided a folder with the same name as their login name eg mxlabserver Users astu3141 for Annette Student Users can create folders here and set permission to allow others to access the files See details later in this document 3 of 13 of file right click on the directory or file and select Properties Navigate to the Security tab this will display the current permissions set for the item In the left part of Figure 1 for example the folder V FarrellyBros initially allows access by the user
74. s pointed to by X register to 4 bytes and write them followed a space to CRT display write carriage return line feed to CRT display its OUTCRLF followed by writing the ASCII string that is pointed to by X register to CRT display and until character is 04 its OUTSTRG without writing leading carriage return amp line feed to CRT waits for an ASCII character from keyboard and put it in accumulator A UPCASE WCHEK DCHEK INIT INPUT OUTPUT OUTLHLF OUTRHLF OUTA OUT1BYT OUT1BSP OUT2BSP OUTCRLF OUTSTRG OUTSTRGO INCHAR Page 14 17 07 2007 MTRX 2700 labnotes doc We have added several I O routines in the beginning of our Phantom Monitor Following are the Phantom Monitor s UO routines function description and jumper table starting at 7000 RS485_RECV RS485_XMIT GET_DATE GET_TIME OUTSTRGOO LCD IN LCD UNE LCD_LINE2 module SEL_INST SEL_DATA WRT_PULSE SEVEN _ SEGMENT Jump Table 7000 7003 7006 7009 700C 700F 7012 7015 7018 701B 701E 7021 scheding ORG 7000 sets the RS485 port to receiver mode sets the RS485 port to transmitter mode X register points to a 10 byte RAM block before calling this subroutine it returns the date information of host PC in the format of MM DD YYYY X register points to an 11 byte RAM block before calling this subroutine it returns the time information of host PC in the format of HH MM SS AM or HH MM SS PM It s OUTSTRGO except the ending char
75. ses where the component leads are inserted 9 of 13 2 5 2 Breadboarding a Circuit e First draw a circuit diagram showing all components signal names and pin numbers A good circuit diagram will simplify the wiring and help immensely with troubleshooting e Think about the placement of all components before you start to build the circuit then place all components Place the ICs with pin 1 oriented in the same direction usually the top left corner Do not forget to place any mass termination connector s required Place connectors and trim pots near the outside of the breadboard for ease of access e Establish power supply buses 0V 5V plus 12V if required by connecting the long lines on the sides of the breadboard to the binding posts In the Lab we use the colour code e Red 5V DC e White 12V DC e Black 0V DC e Yellow 12V DC e Establish power supply to all devices This will help your orientation in the circuit and will ensure that you do not forget to power a device Use the same wire colours as above Do not forget to add sufficient bypass capacitors 0 01 to 0 1 uF tantalum chip capacitors e Connect the other signals data address I O lines Use different colours to help in tracing and troubleshooting the circuit For example data bit 0 is blue bit 1 is green etc e Check the whole circuit 2 5 3 Initial Power up e Check the whole circuit again e Set any trim pots to sensible starting values usually mid ra
76. symbols shorter Symbol file format Symbolic debugger reads symbol files which are generated by the Motorola cross assembler a public domain program the 2500AD Microtek Zax assemblers other popular assemblers and C compilers including the Wintek Introl Avocet Archimedes Whitesmiths and IAR C compilers When the Archimedes C compiler is used you should specify the symbol format by the Fmpds m in the xcl file If you have an assembler or C compiler whose symbol format is not supported by the Ep2711E9 board we will modify our software to add your symbol format COMMAND REFERENCE Command format The command line format is as follows Ep6811 gt gt Command Parameters Where Ep6811 gt gt is the Ep2711E9 prompt Command _ is the command mnemonic may be entered in an uppercase or a lowercase letter Only the first character of the command is needs to be typed Parameters are memory addresses or symbols ALL NUMBERS ARE HEXADECIMAL All hex numbers may be substituted by symbols starting with the backslash NV Comment The fields can be separated by the space or the CR but a command must be terminated by the CR only Errors may be corrected by backspacing or by the ESC key to abort the command The ESC character will abort the command at any time Only a valid key will be accepted on the command line and any invalid keys will NOT be echoed to the CRT display scheding Page 21 17 07 2007 MTRX 2700 labnot
77. t the power when finished 2 12 Sunshine Expro 60 Universal Device Programmer and Tester This instrument is controlled from a PC that runs DOS The program will start when the PC is booted It and allows EPROMs and other logic devices PALs etc to be programmed blown It can perform functional but not timing tests of TTL devices from the 74xx family including 74HCxx and CMOS devices from the 40xx and 45xx families It can also identify unknown TTL devices You might need a short driving lesson before operating it because some of the menus are a bit cryptic Some cautions in using the programmer e Make sure that you place the device to be programmed or checked in the correct place in the ZIF zero insertion force socket and close the ZIF socket by pushing the handle Warning A wrongly positioned device will usually be destroyed during programming e Some otherwise equivalent EPROMs from different sources manufacturers require different programming voltages Nol If you are not sure what the manufacturer s recommended programming voltage is start at the lowest voltage 3 Electronic Components We keep a small stock of passives resistors capacitors etc analogue so called linear devices transistors op amps timers comparators digital ICs particularly 74LSxx 74HCxx 74ACxx and some 74xx family ICs optoelectronics LEDs 7 segment displays and some hardware push buttons switches etc Most of the components
78. tage supply and 60 pin EVB EVBU compatible connector The package also includes a 7 5V 300mA wall plug in power supply and a 6 foot DB9 cable The specification of the AC adapter is DC output 7 5V to 9V Current rating 300 mAto 1A Type of plug 2 1mm female barrier plug center positive In Robot applications if more power is needed the user can upgrade the AC adapter to 9V 500MA or 9V 1A otherwise the board could reset itself when the VCC drops below 4 75V scheding Page 5 17 07 2007 MTRX 2700 labnotes doc GETTING STARTED To operate the Ep2711E9 board follow steps1 through 6 below Step 1 Plug the AC adapter into a wall outlet and plug the DC plug at the other end into the DC jack on the lower right side of the Ep2711E9 board During the initial power up the reset LED should blink 4 times If not turn over to the Questions amp Answers section of the user manual Step 2 Plug the DB9 male end of the cable into the DB9 connector P2 on the upper right side of the Ep2711E9 board and plug the DB9 female end of the cable to the COM1 or COM2 port on the back ofthe PC The DB9 connector P3 on the lower right side of the board is the 68HC11 SCI port that can be used by user s program Step 3 Press the reset button on the Ep2711E9 board and the reset LED which is located above the switch should now blink only twice If not turn over to the Questions amp Answers section of the user manual Step 4 Insert t
79. tart examining and or modifying The Enter command allows the user to examine and or modify contents in memory at specified locations in an interactive manner Once entered the enter command has several subcommands that allow modification and verification of the memory contents Following are the subcommands that are recognized by this command lt Enter gt examine modify the next location lt gt examine modify the previous location lt ESC gt exit from the Enter mode Caution Any attempt to modify at address locations of the monitor will be ignored Example Enter F000 F000 00 display data at the address F000 F000 00 AA change data at F000 from 00 to AA F001 11 display data at the next address F001 Fill Syntax Fill address1 address2 pattern Description scheding Page 24 17 07 2007 MTRX 2700 labnotes doc address1 is the lower limit of the memory block It defaults to the address which equals the ending address from the last DUMP command plus 1 address2 is the upper limit of the memory block It defaults to the address which equals the address1 plus 3F in hex pattern is the data pattern in hexadecimal values It defaults to 00 by entering the space character The Fill command allows the user to repeat a specific pattern up to 16 bytes throughout a determined memory range The data bytes must be separated by the space character The Carriage Return will end this command
80. th the DMM set on Ohms this will destroy the DMM For example never try to measure the resistance of a battery e Never measure the resistance of an IC it just doesn t make sense e The integrity of a diode can be tested using a DMM set to the lowest resistance range Recall that a diode conducts when forward biased and not when reverse biased so that the resistance of a diode should be very large in one direction and very small in the other e A BJT is really just two diodes in one package with three leads 2 5 Solderless Breadboards These are used for rapidly prototyping circuits Reasonable results can be achieved although the significant capacitance of the breadboard itself and the often long wires used in prototyping mean that breadboards are not useful for high speed or low noise circuits They also cannot be used for power circuitry 2 5 1 Rules for Breadboard Use e Use only single core insulated wire with a core diameter of 0 7 mm bell wire If multi stranded wire is used strands break off inside the breadboard causing short circuits and trouble for us all e Never force oversize component pins e g wire wrap sockets into the sockets This permanently damages the sockets and each breadboard costs about 85 e Never breadboard circuits that contain discrete or IC power components such as power transistors regulators etc The breadboard will be damaged by the heat generated by the PR los
81. that we keep are listed on the Lab web site along with links to data sheets in PDF format 11 of 13 If you need to use components identify what you will need then speak to a Tutor or Lecturer You may be asked to justify your selection with a circuit diagram and or design calculations When using components from our stock please e If you find that you don t need to use something give it to a Tutor or Lecturer to go back in the component bins straight away Otherwise it will get kicked around on the bench and eventually thrown out e When you blow something up own up Don t worry we ve done it too If the chip is testable TTL logic gates RAM use the Expro 60 tester to check If the chip is dead fold its legs over and throw it away Never allow a dead component to be put back into the component bins you mabe the unfortunate person who takes it out to use 3 1 Static and Component Handling Precautions Some ICs are static sensitive and can be destroyed through careless handling Even worse static damage is cumulative damage that occurs in handling may not be enough to destroy the device but a small amount of additional damage may end the device s life This scenario is particularly disasterous if it occurs in the field during the warranty period You should be particularly careful with analogue CMOS A D converters are especially prone to damage Before handling a static sensitive device you should touc
82. the RS485 differential signals and visa versa The two RJ12 jacks JK1 and JK2 can be used to daisy chain many Ep2711E9 boards together for a network application The connections on the JK1 and Jk2 are identical so either one can be input or output Two I O ports port F and port G are added through the U1 VIA 65C22 These are bi directional ports The port F and port G are the port A and port B of the 65C22 respectively The address locations for the ports are as follows PORTF 6201 DDRF 6203 1 OUTPUT 0 INPUT PORTG 6200 DDRG 6202 1 OUTPUT 0 INPUT The CA2 output from the 65C22 is used to control the direction of the RS485 communication If the CA2 0 the RS485 port U9 DS75176 is set for receiver port If the CA2 1 the RS485 port U9 DS75176 is set for transmitter port CA2 0 RS485 receiver port CA2 1 RS485 transmitter port For users convenience there are two subroutines added to control the CA2 User can call RS485_RECV at 7000 to reset CA2 to 0 or RS485_XMIT at 7003 set CA2 to 1 ORG 7000 EVBplus2 board I O routines RS485_RECV rmb 3 enables RS485 receiving mode RS485_XMIT rmb 3 enables RS485 transmitting mode get_date rmb 3 gets current date from PTC get_time rmb 3 gets current time from PC outstrg00 rmb 3 outputs a string terminated by 0 Icd_ini rmb 3 initializes the 16x2 LCD module Icd_line1 rmb 3 displays 16 char on the first line Icd_line2 rmb 3 displays 16 char on the s
83. value of the symbol DATA is 0005 message is E100 if the value of the symbol message is E100 Register modify Syntax Register modify Description The R command allows the user to display and modify PC program counter CC condition code register B Accumulator B A Accumulator A X Index register X Y Index register Y SP stack pointer After modifying the value of a register press the CR to complete modification and press the ESC key to exit from the command Caution The stack pointer should be modified with a great care It should only be modified when nothing was pushed onto the stack otherwise the return address and flag register that were pushed onto the old stack must be manually moved to the new stack area to prevent a crash Search Syntax Search address1 address2 hex data pattern Description address1 is the starting address of the memory block to be searched address2 is the ending address of the memory block to be searched It defaults at the address which equals the address1 plus 3F in hex pattern is the data pattern to be searched for The Search command allows the user to search for a specific pattern up to 16 bytes throughout a specified memory range The data bytes must be separated by the space character The Carriage Return will end this command scheding Page 28 17 07 2007 MTRX 2700 labnotes doc Example Search F000 FFFF 01 02 03 04 05 06 07 08
84. ws domain controller has the logical name mxlabserver mxlab acfr usyd edu au and is at the IP address 172 17 35 195 Table 2 Lab Workstation names and IP addresses Workstation Name IP Address mxlab01 172 17 35 201 mxlab02 172 17 35 202 mxlab20 172 17 35 220 1 1 2 User Windows Accounts and File Space A separate Windows account will be set up for each student enrolled in the courses MECH 2700 MECH 3700 MECH 4721 or MECH 4730 in the current semester or with the approval of mechatronics staff undertaking thesis work in MECH 4101 2 The account details are as follows e Username ccceennnn where cccennnn are the four characters and four numerals of the student s Unikey username e Domain mxlab e Password will be notified individually Note that both username and password are case sensitive You will be required to change your password the first time you logon to the system To change your password at any subsequent time press Ctrl Alt and Del simultaneously and then select Change Password You must enter your old password and then the new password twice to make a successful change Windows will confirm that the password has been changed When selecting a password do not use a simple word as people can break in to your account but do not choose something you can t remember or you will be locked out One idea is to choose a phrase that you can remember easily such as I went to the mechatronics l

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