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1. Displays data in signed decimal format the optional n value stands for column width If the given n value is smaller than the actual digits the width will be DEC n L R automatically expanded to fit the actual number width Optional values L and R stand for left or right alignment If L or R is omitted the default value is aligned left Leading O s are omitted in the display Displays data in an unsigned binary format the optional value n stands for column width If the given n value is smaller than the actual digits 8 for 8 bit variables and 16 e for16 bit variables the width will be automatically BIN n L R expanded to fit the actual number width Optional values L and R stand for left or right alignment If L or R is omitted the default is aligned left Leading 0 s of 8 or 16 digit data format are displayed 91 Chapter 6 Command Set Formatting Symbols Description HEX n L R Displays data in unsigned hexadecimal format optional n stands for column width If the given n value is smaller than the actual digits 2 for 8 bit variables and 4 for16 bit variables the width will be automatically expanded to fit the actual number width Optional L and R stand for left or right alignment If L or R is omitted the default is aligned left Leading O s of 2 or 4 digit data format are displayed Displays data in ASCII character format FLOAT n m L R Displays the floating point data
2. Clear display Clear the display and move the cursor to home position Home display Move the cursor and to home position Inc Cursor Set the cursor direction to the right without a display shift Display off Turn off the display display data is retained Display On 12 Turn on the display without the cursor display is restored Blinking Cursor 13 Turn on the display with blinking cursor Underline Cursor 14 Turn on the display with underlined cursor Cursor left 16 Move the cursor one character to the left Cursor right 20 Move the cursor one character to the right Scroll Left 24 Scroll the display one character to the left Scroll right 28 Scroll the display one character to the right Move to CGRAM Address 64 address Move the pointer to the Character RAM location Move to DDRAM Address 128 address Move the cursor to the Display Data RAM location For most users the commands shown above are should be sufficient however for more advanced applications you may need the commands shown below which will allow even more powerful control of the LCD module 144 Action Command in Binary 5 41312 Chapter 6 Command Set Description Clear Display Clear the entire display and move the cursor home Address 0 Home Display Move the cursor home and return the display to hom
3. result CR End Sub 107 Chapter 6 Command Set FLOAT2BYTE Syntax Result FLOAT2BYTE Argument Operation To convert a floating point value into a Byte e Argument the floating point operand of the FLOAT2BYTE function e Result a Byte variable that receives the result of the FLOAT2BYTE function Description The FLOAT2BYTE command converts a floating point value into a Byte The decimal part of the number will be rounded If the value exceeds the Byte value range a value of 0 or 255 will be provided Example Sub Main Dim MyFloat As Float Dim MyByte As Byte MyFloat 2 4 MyByte FLOAT2BYTE MyFloat the result is 2 Debug FLOAT2BYTE of 2 4 MyByte CR MyFloat 2 5 MyByte FLOAT2BYTE MyFloat Mie resule ig 3 Debug FLOAT2BYTE of 2 5 MyByte CR 108 Chapter 6 Command Set yFloat 1 0 yByte FLOAT2BYTE MyFloat the result vs 0 Debug FLOAT2BYTE of 1 0 MyByte CR yFloat 256 0 yByte FLOAT2BYTE MyFloat the result is 255 Debug FLOAT2BYTE of 256 0 MyByte CR End Sub 109 110 Chapter 6 Command Set FLOAT2DWORD Syntax Result FLOAT2DWORD Argument Operation To convert a floating point value into a DWord Argument the floating point operand of the FLOAT2DWORD function e Result a DWord variable that receives the result of the FLOATZ2DWORD function Description The FLOAT2DWORD command converts a floating point value into a DWord T
4. rs 79 80 81 l82 l83 Line 3 20 21 23 24 25 126 27 128 29 30 31 32 33 a4 35 6 37 e 30 Line 4 84 es 87 88 89 190 191 192 931 94 95 96 97 los 99 hod fot hoz fog Example Sub Main Dim E Dim MyS Figure 6 9 DDRAM Mapping of 2X16 and 4X20 Display DataIn As Byte PAUSE 1000 LCDCMD LCDCMD LCDCMD LCDCMD LCDCMD Ly Ly Ly 32 40 15 6 1 tring 8 As Byte Hi There allow LCD to self initialize first set data bus to 4 bit mode set to 2 line mode with 5x8 font display On With blinking cursor auto increment cursor clear display Chapter 6 Command Set For I 0 To 8 LCDOUT 1 amp H80 I MyString I display Hi There Next Debug Read from LCD For I 0 To 8 LCDIN 1 amp H80 I Dataln H80 DDRAM address of Line 1 Debug SCHR Dataln Next End Sub 147 148 Chapter 6 Command Set LCDIN Syntax LCDIN Pin Command DataIn Operation Receive data from an LCD Module e Pin a constant or variable 1 9 or 17 that specifies the first pin of seven contiguous pins where the LCD Module is connected 1 stands for Pin 1 to Pin 7 9 stands for Pin 9 to 15 and 17 stands for Pin 17 to 23 For the 24 pin BASIC Commander the Pin val
5. Do Debug Press push button to get your lucky numbers CR Wait RANDOM Seed If IN 0 lt gt 0 Then Goto Wait Debug The lucky numbers are For Y To 5 GenRandom RANDOM Seed Temp Seed Mod 47 Temp 1 For X 0 To 5 If Temp NumArray X And X lt gt Y Then 175 176 Chapter 6 Command Set Goto GenRandom Ena Le Next NumArray Y Temp Debug NumArray Y Next Debug CR Loop End Sub Chapter 6 Command Set RCTIME Syntax RCTIME Pin State Variable Operation Measure the charge discharge time of resistor capacitor RC circuit e Pin a constant or variable ranging from O to 23 that specifies the I O pin to use This pin will be configured as input mode For the 24 pin BASIC Commander the Pin value ranges from 0 15 e State a constant or variable of 0 or 1 to specify the desired measure state Once Pin is not in State the command ends and stores the result in Variable e Variable a variable usually a word in which the time measurement will be stored The units will are 5 ys Description RCTIME can be used to measure the charge or discharge time of an external resistor capacitor circuit This allows you to measure the resistance or capacitance value of external R or C type sensors such as thermistors potentiometers or capacitive humidity sensors When RCTIME executes it configures the Pin as an input then starts a counter It stops this counter as soon as the
6. Operators There are two kinds of operators Unary operators take one operand and use a prefix notation Binary operators take two operands and use an infix notation Note that for unary operators they are right associative whereas the binary operators are all left associative which means that operations are performed from left to right When an expression contains multiple operators the precedence of the operators controls the order in which the operators are evaluated Nevertheless precedence and associativity can be altered by using parentheses The following table lists the binary operators in descending order of precedence Category Operators Unary plus and minus Multiplication and division JA MOD Add and Subtract Shift lt lt gt gt Relational lt gt E gt lt gt Bitwise AND OR XOR and Complement AND OR XOR Logical NOT AND and OR NOT AND OR The different types of operators are introduced in the subsequent sections 45 46 Chapter 5 InnoBASIC Programming Language Arithmetic Operators There are eight arithmetic operators addition subtraction multiplication division the floating point division division the integral division MOD modulus the remainder of integral division lt lt shift left analogue to multiplication of 2 s gt gt shift right analogue to division of 2 s Relational Operators The relational operators
7. CSRR CSRU CR DEBUG DEBUGIN DEFAULT DIM DIRPINO 31 DIRPORTO 2 DO DWORD DWORD2FLOAT ELSE ELSEIF END ENUM EVENT EXIT EXP EXP10 FALSE FLOAT2BYTE FLOAT2DWORD FLOAT2INTEGER FLOAT2LONG FLOAT2REALSTRING FLOAT2SHORT FLOAT2STRING FLOAT2WORD FLOOR FOR FUNCTION GETDIRPORT GETDIRPORTO 2 GOTO HIGH HOME IF IN INPUT INTEGER INTEGER2FLOAT LCASE LCDCMD LCDIN LCDOUT LEFT LEN LOG LOG10 LONG LONG2FLOAT LOOP LOW MID MOD NEXT NOT OR OUTPUT PAUSE PERIPHERAL PERSISTENTBYTE PERSISTENTDWORD PERSISTENTFLOAT PERSISTENTINTEGER PERSISTENTLONG PERSISENTSHORT PERSISTENTWORD PINO 31 PORTO 2 PULSEIN PULSEOUT PWM RANDOM RCTIME READPORT READPORTO 2 RESETMODULE RETURN REVERSE SELECT SETDIRPORT SETDIRPORTO 2 SGN SHORT SHORT2FLOAT SIN SQRT STEP STRING STRING2FLOAT STRREVERSE SUB TAB THEN TO TOGGLE TRUE UCASE UNTIL WHILE WORD WORD2FLOAT WRITEPORT WRITEPORTO 2 XOR 209 210 Appendix B
8. Chapter 6 Command Set LEFT Syntax LEFT TargetString length Operation Retains the leftmost length letters of the specified string TargetSring with other letters truncated e TargetString the string operand of the LEFT function e Length a const or variable that specifies the length of the string to be kept Description The LEFT command retains the leftmost letters specified by the Length and truncates the remaining letters of the string If the specified length is longer than the size of the target string the extra length will be ignored and the string remains unchanged Example Sub Main Bim MyString As String 12 MyString Hello World LEFT MyString 5 Debug Leftmost 5 letters MyString CR MyString Hello World RIGHT MyString 5 Debug Rightmost 5 letters of MyString MyString CR Chapter 6 Command Set MyString Hello World MEDM OCENO 3 3 Debug Middle 5 letters from the third letter MyString CR End Sub 153 Chapter 6 Command Set LEN Syntax Length LEN StringVar Operation To return the length of a string e StringVar the string operand of the LEN function e Length a variable that receives the length of the given string Description The LEN command returns the length of a string For an empty string which contains no ASCII characters the length is 0 The maximum length of a string is the size it declares Example Sub Main Dim
9. is returned If the floating point value is negative then 1 is returned If the floating point value is of value O then 0 is returned Example Sub Main Dim Result As Short Result SGN 0 1 Debug SGN 0 1 Result CR Result SGN 0 Debug SGN 0 Result CR Result SGN 0 1 Debug SGN 0 1 Result CR End Sub 192 Chapter 6 Command Set SHORT2FLOAT Syntax Result SHORT2FLOAT Argument Operation To convert a SHORT value into its floating point format e Argument the SHORT operand of the SHORT2FLOAT function e Result a floating point variable that receives the result of the BYTE2FLOAT function Description The SHORT2FLOAT command converts a SHORT value into its floating point format The floating point result will be an integral value ranging from 128 0 to 127 0 Example Sub Main Dim MyShort As Short Dim MyFloat As Float MyShort 28 MyFloat SHORT2FLOAT MyShort MyFloat has the value 128 0 Debug SHORTZFIOAT of 128 MyFloat OR MyShort 127 MyFloat SHORT2FLOAT MyShort MyFloat has the value 127 0 Debug SHORT2FLOAT Gt 124 5 Uy MyEloat CR End Sub 193 194 Chapter 6 Command Set SIN Syntax Result SIN Argument Operation To execute a mathematical sine function e Argument the floating point operand of the sine function with a range from 0 to2z e Result a floating point variable to receive the result of the sine
10. ATAN LEFT ATAN2 LEN BYTE2FLOAT LOG CEIL LOG10 COS LONG2FLOAT DWORD2FLOAT MID EXP RIGHT EXP10 SGN FLOAT2BYTE SHORT2FLOAT FLOAT2DWORD SIN FLOAT2INTEGER SQRT FLOAT2LONG STRING2FLOAT FLOAT2REALSTRING STRREVERSE FLOAT2SHORT UCASE FLOAT2STRING WORD2FLOAT FLOAT2WORD 69 70 Chapter 6 Command Set Command Summary The following lists all of the software commands in alphabetical order showing all the details behind each command This section should form the main programming reference for your application program and the place to consult for issues regarding programming commands Chapter 6 Command Set ABS Syntax Result ABS Argument Operation To return the absolute value of a floating point value 0 Argument the floating point operand of the ABS function e Result a floating point variable that receives the result of the ABS function Description The ABS command returns the absolute value of a floating point value The result of the ABS is a non negative value Example Sub Main Dim Result As Float Result ABS 2 0 Debug ABS 2 0 Result CR Result ABS 2 0 Debug ABS 2 0 Result CR End Sub 71 72 Chapter 6 Command Set ACOS Syntax Result ACOS Argument Operation To execute a mathematical inverse cosine function e Argument the floati
11. General Purpose I O pins P16 P19 General Purpose I O pins P8 P15 5V Power Pin or regulated 5V of VIN or USB VCC 5V Power Pin or regulated 5V of VIN or USB RES Reset Pin of the BASIC Commander GND Ground Pin Common Ground VIN External Power Supply unregulated If you use a single BASIC Commander in your application be sure to connect the unregulated 6 12 VDC power to pin VIN or connect a regulated 5V power supply to the VCC pin The SDL SDA EVT SYN along with the VCC and GND pins constitute the cmdBUS Keep the cable or wiring length as short as possible otherwise the extra capacitance introduced by long cables or wiring may eventually slow down the cmdBUS performance A maximum of 32 Peripheral Modules can be connected to the cmdBUS The BASIC Commander hardware has two LEDs which are off during normal operation When the green LED is lit it indicates that communication between the PC and the BASIC Commander is taking place while if the yellow LED is lit it indicates that communication between the BASIC Commander and a Peripheral Module is taking place 29 Chapter 4 Hardware Description Education Board For most projects users will require to add some of their own peripheral components For experimental or learning purposes or perhaps for project designs at an early stage in their development users may find it convenient to use
12. MyDWord Debug MyDWord MyDWord CR MyFloat MyFloat CR End Sub 101 102 Chapter 6 Command Set ENUM END ENUM Syntax ENUM Identifier EnumeratorList END ENUM Operation Declare an enumeration e Identifier the enumeration name e EnumeratorList the list of all the enumerators with optional initial value s Description The ENUM command is a way to declare a constant Enumeration must be declared outside of any procedure which means they are global declarations and have public access only An enumeration member with is given the value of the constant expression When constant values are omitted the order of enumeration member declarations is significant If the first enumerator value definition in the enumeration has no initial value the value of the enumeration starts from O If an enumerator has no initial value the previous enumerator value increased by 1 will be given The following example shows how to use the ENUM command The enumeration members are accessed by using the dot operator between the Identifier and the Enumerator The following example shows how to use the ENUM command Chapter 6 Command Set Example Enum Color Red Yellow 3 Blue 1 Green End Enum Sub Main Debug Enumerator Red Color Red CR Debug Enumerator Yellow Color Yellow CR Debug Enumerator Blue Color Blue CR Debug Enumerator Green Color Green CR End Sub 103 104 Cha
13. PortStatus GETDIRPORTO Debug Port 0 status is BIN Portstatus ORMER Debugin Input any key to turn on LED 1 3 5 7 SCHR Key CR SETDIRPORT 0 amp H55 Switch Ple Psy PO Pd TEO QUTPUT mode PortStatus GETDIRPORTO Debug Port O status 26 BIN Portstatus CR ER Loop End Sub 128 Chapter 6 Command Set GOTO Syntax GOTO LabelName Operation The GOTO command will cause the program to move to a specified program location labeled with the user given LabelName LabelName this is a label that specifies the point where the program will branch to Description The GOTO command will force the program to jump to a user specified location which contains a LabelName followed with a semicolon This location is given by the label name which follows the GOTO command The statement following the GOTO command will not be executed What will actually be executed is the next command after executing the GOTO command as specified by the label The GOTO command is therefore used to give the user a direct means of program control Users are not recommended to use the GOTO statement in their programs which usually will cause difficulties in reading the program However for a nested statement structure to branch to the most external loop it is convenient to use the GOTO statement 129 Chapter 6 Command Set Example The following demonstrates how to use the GOTO command You can always find more structured statements
14. compound IF THEN ELSE structure to execute one of several possible actions based on the value of a single expression When a SELECT command is executed the SELECT expression is evaluated first and then compares it with the CASE constant in the textual declaration order If the first CASE constant meets the evaluated value then its related instruction block will be executed If the no CASE constant meets the evaluated value and there is a CASE ELSE command that block will be executed Once a block has finished executing execution passes to the END SELECT command The EXIT SELECT command may be placed in the loop body which exits the current loop immediately before the loop limit test is executed Note that the optional CASE can come after the SELECT to support the conventional command format Example Refer to Chapter 5 for further detailed examples Chapter 6 Command Set 189 190 Chapter 6 Command Set SETDIRPORT Syntax SETDIRPORT Port Dir If the port number is a constant you may also use one of the following format types instead SETDIRPORTO0 Dir SETDIRPORTI Dir SETDIRPORT2 Dir Operation To set the I O direction settings of the specified port e Port a constant or variable 0 2 that specifies the port number Port 0 consists of pins PO P7 while Port 1 consists of pins P8 P15 and Port 2 consists of pins P16 P23 For the 24 pin BASIC Commander the Port value is 0 or 1 e Dir a byte specifies the I
15. household appliances and their remote controllers contain microcontrollers What was in the past a device intended for industrial applications or a tool for research applications in a laboratory has now found its way into all aspects of our lives So if microcontrollers are so useful and can be used everywhere why am I not able to use them for my own projects Well now you can with this unique and high functioning Innovati system Perhaps you would like to put some automatic control into your model railway or build a sophisticated alarm system for your home or maybe even some unique automotive projects Or how about some solar power projects the list really can go on and on and is only limited by your creativity and imagination viii Preface Innovati Approach The development of microcontroller projects can be approached from many angles The traditional way would be to write your software using a low level assembly language or use a so called high level language which would not offer much convenience in terms of programming with their corresponding long learning curves Along with this hardware for your specific application would need to be designed to interface the microcontroller to the real world This could consist of things such as LCD displays switches LEDs etc All of this takes time and perhaps is an approach that is OK for industrial companies designing specific and specialized high volume products However Innova
16. to high transition will be counted The minimum width of two adjacent transitions of the input signals should be greater than 10s In other words the maximum input signal frequency should be no more than 50kHz for an equal duty square waveform otherwise some transitions will not be counted If the high and low duty are not equal the shorter duty should be greater than 10 ms In other words the maximum input frequency is limited by the shorter duty and will be much less than 50kHz Note that 1f the count is greater than 65535 it will overflow to 0 and continue counting Precautions should be taken for such cases Chapter 6 Command Set Example This program shows how to use the COUNT command to make an interesting and simple reaction counter game to see how fast a button can be pressed Remember to connect a push button as shown below Vdd 10KQ 2200 1 10 Pin lt J WA e _O Push Button Vss Figure 6 3 Push Button Connection Sub Main DimPushBtn As Byte 0 Push button on PO DimCycles As Word 0 Counted cycles Dim m As Byte 0 Do Debuquei sya How fast can you press within 5 seconds CR Pause 1000 Debug Ready CR Pause 1000 Debug Set CR Pause 2000 Debug Go TCR 87 88 Chapter 6 Command Set COUNT PushBtn 5000 Cycles Debug CR Your score ls y Cycles CR CR Pause 2000 Debug Press button to try again Do m in Pushbtn Loop Until m 0 Loop End Sub Chapter 6 Co
17. 17 Input Output Circuit Sub Main Dim key As Byte Start WRITEPORTO amp HOO Write low to output buffers Do Debugin Input any key to toggle LED On Off CHR key CR REVERSE 0 Switch PO to OUTPUT mode turn On LEDO Loop End Sub 186 Chapter 6 Command Set RIGHT Syntax RIGHT TargetString length Operation Retains the rightmost length of letters of the specified string TargetSring with other letters truncated e TargetString the string operand of the RIGHT function e Length a variable that specifies the length of the string to be kept Description The RIGHT command retains the rightmost letters specified by the Length and truncates the rest of the letters of the string If the specified length is longer than the size of the target string the extra length will be ignored and the string remains unchanged Example Refer to the LEFT command for usage 187 188 Chapter 6 Command Set SELECT CASE Syntax SELECT CASE Expression CASE Const Statements CASE ELSE Statements END SELECT Operation The SELECT command executes commands based on the value of an expression e Expression a variable a constant or an expression Const a constant to be compared to Expression if it is the same the commands in this CASE will be executed e Statements any valid innoBASIC statement Description The SELECT command is an advanced decision making structure using the
18. 69 hd ht A 42 Floating Point Literals 20 00 00 tee 43 String Literals pire A A ALA ete 43 Character Literals cui e ee ed E e 43 ANT AY LAA Ge ne te alte ede eee eee ead ae 43 Operators iid aeons eich iis Sw eed ae ea ee eet lee aca 45 Arithmetic Operators sienen iii e r ee Pa ee eee a 46 Rel tional Operators 0 000 id a Ree es Me ee eae et 46 Bitwise Operators sasarean dak ee di 46 Logical Operators io fuk we has a be Reed Re ees Pate 47 Assignment Operators siarter nni 00 cece eee 47 Program Control FlOW teramati o be ce ena eee Oe Nite be lig ae bees 47 Conditional Statements annaa 0000 tenes 48 IF THEN ELSE Statements a einni oa eel a e i a eee 48 SELECT CASE Statements ee ngoan piah aai cee eee 49 DO LOOP Statements nananana aaea 51 FOR NEXT Statements anuanua 00 ccc tenes 54 GOTO Statements 57 Invocation Statements asuaan 0c tees 57 SUB and FUNCTION vor bed hake oak beeen dhe eee Saeed 57 Sub Procedures iii Se ein pa Bde eee eek ae ee dae neat eed 58 FUNCHONS ice bl ayes nae So ek aa ik ew Selita wide ee ace dee ane 58 Parameters iii een gestae eae es dd Beate eee ded 59 Peripheral Module Programming Features 00000 cece eee eee 60 Declaration of Peripheral Modules 0 00 c cece 60 Invocation of Peripheral Module Commands 0000 ec cece ee eeeee 61 EVENT Procedures vii 0 ceak aia Cae a e a E e E a a N 61 Contents Declaration of
19. Command Set RESETMODULE Syntax RESETMODULE Operation Rest all the peripheral modules that connected to the cmdBUS Description This command is used to reset all the modules that connected to the cmdBUS Usually this command is employed when the BASIC Commander fails to communicate with the peripheral module s due to the unpredictable peripheral module failures Note that this command pulls low the SYN line of the cmdBUS even the normal operating modules will be forced to restart too 182 Chapter 6 Command Set RETURN Syntax RETURN ReturnValue Operation Returns from a Sub Function or Event If returning from a Function a Return Value must be provided e ReturnValue optional return value which may appear only in the Function body Description The Sub Function or Event body will end when the END SUB END FUNCTION or END EVENT is encountered respectively However if returns are required under other situations the RETURN command can be used The Return Value is only used in the Function body to pass the result of the executed function If the RETURN command is encountered before any Sub Function or Event is invoked it will result in a branch to the end of the main program Example Function Max Z1 As Integer Z2 As Integer As Integer If Z1 gt Z2 Then Return Z1 Else Return Z2 End If End Function Sub Main 183 Chapter 6 Command Set Dim X Y As Integer Debugin Enter X X
20. Figure 6 12 PWM Waveform with 60 Duty Cycle The following low pass resistor capacitor circuitry filters out the pulses and maintains the analogue voltage after the command has finished The analogue voltage that will be held depends on how much current is drawn from it by external circuitry including the capacitor current leakage In order to hold the voltage a periodical PWM command execution to charge the resistor capacitor circuit is needed 10 KQ PO gt Analog Voltage T 1 04 F Vss Figure 6 13 Adding a Low Pass Filter circuit to the PWM output It takes time to charge a capacitor to the desired voltage in the beginning You may use the rule of thumb formula Charge time 5 XR XC to estimate at least how many cycles should be given for charging For instance computation of the charge time is shown in the following formula Charge time 5X10 X 10 X1X10 50X 10 seconds or 50 ms For the BASIC Commander each cycle is about a 1 15 ms it would therefore take at least 44 cycles to charge the capacitor Assuming Pin 0 is used then the command will be 172 Chapter 6 Command Set PWM 0 150 44 charge to 2 94 Y on Pin 0 Example Sub Main Dim f As Float Dim duty As Byte Dim b As Byte Start Debugin Enter desired voltage 0 5V f CR TE 40 Or gt 5 Then Debug Invalid value CR Goto Start Else f f 255 5 duty float2byte f Debug duty duty CR For b 1 to 100 Hold the voltage for 5 sec
21. Peripheral Modules EVENT 0 0 cc cece eee eee 61 Sample Project Using the Peripheral Modules 0 0 0 cee eee ee 62 Chapter 6 Command Set 0220 eee 65 INTOGUCHION yc ra ae AA eee bee eee dd 65 Types Of Commands sena heacnc heen ie bare ee Be ne ek ee See eed 65 Programming Command Conventions 000 0c eee ete eee 66 Categorie S A O en Ba ote Bie aed ae a a E E cea ett nee 66 Command S mmary Aii A ae dec ea aed as 70 ABS secre BAM Pata an Mie eae pee he eae ee A E 71 ACOS it eh Gat Ge bali tapia 72 ASIN aae asia i ics ites PA ie Pia es da ele ee a ee 73 ATAN Ctra da Sle he ena heed 74 ATAN Zi Fetch A A Ue ER a ce Stale TS oak AAA A ae 75 BUTTON ua dera pe od Ae A pee at aa et 76 BYTE2FLEOAT 2 e cti A A Bde esha ese dae a ue Sy wine 80 CALL oss iat tee A ai o tke Oe Gas A ee a SS a ee 81 CEIL eleva asin Asestitin tala e lets aaa 82 CHECKMODULE gt si ects 4 cheng a ea ene dal eel cea ae oad 83 COS aiurea inated Balas Petals Glock Weld Galas li ba a ena aca 85 COUNT araea saa cota pote ale ls a aaa 86 DEBUG tia GoM oe patil ae yh Ae el i heed de el he ith aoe 89 DEBUGINA 0000 0id oia ia Bee Obed ed hee eed 94 DIMT a ils fda OY batten pay Be ed da ahd nl ed otal ao 96 DO LOOP ein bit ed eho bdo Aba wie ia Sp ee Ma ed 98 DWORD2FLOATP iii bya ee da ee Pe ee a eae EN Pee ee 100 ENUM END ENUM cesses eee a Soe ees shir Ga ea a 102 EVENT ENDIEVENT se ir ioien aad a ae phew atic ade eee ie ae
22. an ASCII character string into a floating point value The value expressed into the ASCII character string must be a floating point format The floating point format is composed of a sign character a 5 digit mantissa with radix point an exponent sign character E the exponent sign character and 2 digit exponent For example 3 1416E 01 Example Sub Main Dia Mystring As String 22 Dim MyFloat As Float MyString 9500 MyFloat STRING2FLOAT MyString incorrect format Debug STRING2FLOAT of MyString MyFloat CR MyString 3 1416E 01 MyFloat STRING2FLOAT MyString the result is 3 1416E 01 Debug STRING2FLOAT of MyString MyFloat CR 196 Chapter 6 Command Set MyString O7 031416 MyFloat STRING2FLOAT MyString incorrect format Debug STRING2FLOAT of MyString MyFloat CR End Sub 197 198 Chapter 6 Command Set STRREVERSE Syntax STRREVERSE TargetString Operation Returns a string with all characters in reversed order of the given string e TargetString the string to be converted Description The STRREVERSE command reverses all the characters of the given string Example Sub Main Divo Targerstring As String 12 TargetString Hello World Debug TargetString is TargetString CR STRREVERSE TargetString MyString contains dlrow olleH Debug TargetString has been reversed to End Sub y Targeroatitna CR Chapter 6 Command Se
23. function Description The SIN function returns the sine value of a floating point argument ranging from 0 to 2x Note that the argument is in units of radians If converting to degrees note that 360 degrees is equal to 2 z radians Example Sub Main Dim MyFloat As Float Dim Result As Float MyFloat pi 4 Result SIN MyFloat Tas Beste Ls 0 707107 Debug SIN pi 4 Result CR End Sub Chapter 6 Command Set SQRT Syntax Result SQRT Argument Operation To return the square root of a floating point argument value e Argument the floating point operand of the SQRT function e Result a floating point variable that receives the result of the SQRT function Description The SQRT command returns the square root of a floating point value The result of the SQRT is a non negative value Example Sub Main Dim MyFloat Result As Float MyFloat 100 Result SORT MyFloat the result is 10 Debug SORT ar 100 Result Cr MyFloat 100 Result SORT MyFloat the result is NaN BDebua SORT of L00 y Result CR End Sub 195 Chapter 6 Command Set STRING2FLOAT Syntax FloatVar STRING2FLOAT StringVar Operation To convert an ASCII character string into a floating point value e StringVar the ASCII character string operand of the STRING2FLOAT function e FloatVar a Float type variable that receives the result of the conversion Description The STRING2FLOAT command converts
24. has a single statement in the IF block and a single statement in the optional ELSE statement then the line version of the IF statement is applicable For example Sub Main Dim a b Max As Integer Debugin Enter the First Number a Debugin Enter the Second Number b 1 ee lt 19 Maca Max b Else Max a Bnd If Debug Max is Max End Sub SELECT CASE Statements The SELECT CASE command is an advanced compound decision making structure of IF THEN ELSE structures which have the same comparison expression to execute one of several possible actions When a Select command is executed the value is compared with the Case constant in the textual declaration order If the first Case const meets the evaluated value then its block will be executed If no Case const meets the evaluated value and the optional Case Else statement exists that Case Else block will be executed Once a block has finished executing execution passes to the end of the SELECT CASE command 49 Chapter 5 InnoBASIC Programming Language CASE N statements CASE ELSE statements CASE 2 statements Figure 5 2 SELECT CASE Statements Flow Diagram Note that the optional CASE can come with SELECT in the conventional style The following example illustrates this behaviour Sub Main Dim x As Byte Do Debugin Enter a 1 to 7 to find the nth day of a week Select Case x E Case 1 Debug It s S
25. of the mouse comment out a single line or multiple lines of the program By making a line of program a comment it provides a simple method of forcing the program to ignore these instructions when the program is run which is an extremely useful technique during program debug Of course the same result can also be obtained by typing the comment instruction operator which is a single quote character in front of each statement Uncomment Selection This command simply removes the comment operator from any program instruction lines which have been previously setup as comments It forms a useful way of removing multiple lines of comments from a program without having to individually edit each line Goto Line When programs are large it can be quite a task to jump to other locations however if the line number of the program is known this menu command can be used to directly jump to a specific line The line numbers of the program will be generated automatically by the system and can be displayed by selecting the Line Counter option from within the View Menu or by selecting its own icon in the Editor Bar Chapter 3 InnoBASIC Workshop View Menu Here is located the controls for whatever sections of the innoBASIC Workshop you wish to display or hide By selecting the listed items various menu bars or functional windows can be displayed or hidden One worthy of a special mention is perhaps the Line Counter which can display line numbers ne
26. otherwise mentioned these two types of commands are not distinguished intentionally for simplicity 65 Chapter 6 Command Set Programming Command Conventions The software commands described in the following section are written in a certain way for which careful attention must be given The software commands will naturally always contain an essential word describing the basic function However following on from this essential word may be other words which may be essential or optional By examining the way in which the commands are described in the reference manual their usage can be understood Essential words in the command will be written with CAPITAL letters in bold type and italics in bold type The CAPITAL bold type word must be written exactly as shown not case sensitive whereas the italic bold type words must be replaced with the user values Non essential words in the command or words that the user can decide to add or omit will be enclosed in curly brackets Only what is contained in the brackets need be written the actual bracket symbols must not be written Other square brackets and parentheses must be typed in the position of the given elie syntax Additionally a final word must be said about the symbol which represents mutually exclusive elements The above conventions of course only apply to the style of writing in the reference manual since in the actual program which is a simple ASCII text fi
27. pair of floating point arguments which represents the Y and X coordinates respectively ranging from negative infinity to positive infinity The result is in units of radians ranging from 7 to 7 If converting to degrees note that 360 degrees is equal to 2 x radians Example Sub Main Dim Result As Float Result ATAN2 1 2 the Result is 0 46365 Debug ATAN2 1 2 Result in radians CR End Sub 76 Chapter 6 Command Set BUTTON Syntax BUTTON Pin Onstate Delay Rate LoopCounter TargetState Address Operation Maintains control over external buttons and provides options regarding branching and delays e Pin a constant or variable 0 23 that specifies the pin number to which the external pushbutton is connected For the 24 pin BASIC Commander the Pin value ranges from 0 15 Onstate a constant or variable 0 or 1 that specifies the logical value of the input when the button is pressed If the input to which the button is connected is normally high and the button pulls it low the value here should be set to 0 For inputs normally held low and pulled high by the button the value should be set to 1 e Delay a constant or variable 0 255 that specifies a time delay until which the button auto repeat function will be activated The delay is measured in cycles of the BUTTON routine If the value here is specified as O then no delay or auto repeat function will be provided If a value of 25
28. ranging from 0 0 to 255 0 Example Sub Main Dim MyByte As Byte Dim MyFloat As Float MyByte 0 MyFloat BYTE2FLOAT MyByte MyByte 255 MyFloat BYTE2FLOAT MyByte Debug MyFloat MyFloat CR End Sub Chapter 6 Command Set CALL Syntax CALL Name Arglist Operation To invoke a procedure with an optional argument list e Name the name of the procedure contains a sequence of letters digits and underscore The leading character must be a letter e Arglist a list of the arguments required in the procedure The argument is preceded with either a byval or byref modifier for argument passing If no argument is required the parenthesis can be omitted Description The keyword CALL is optional When this command is executed the program will branch to the procedure specified by Name The program will later return to the statement following the invocation statement when it encounters an END SUB or RETURN command in the Procedure in question Example Sub SayHello Debug Hello CR End Sub Sub Main Call SayHello End Sub 81 82 Chapter 6 Command Set CEIL Syntax Result CEIL Argument Operation To return the nearest integer that is not smaller than the floating point argument value e Argument the floating point operand of the CEIL function e Result a floating point variable to receive the result of the CEIL function Description The CEIL command returns the
29. signal is to be generated This pin will be set to output mode initially then set to the input mode after the command has executed For the 24 pin BASIC Commander the Pin value ranges from 0 15 e Duty a constant or variable 0 255 that specifies the duty cycle of the output waveform e Cycles specifies the number of cycles about 1 15 ms per cycle for which the PWM output will be generated which in turn is actually specifying the amount of time for which the PWM output will operate Specifying a zero value will not generate any PWM signal output Its value can be a constant variable or an expression and must have a range between 0 and 255 Description The PWM command allows the BASIC Commander to generate an analogue voltage output on its digital pins When you set an output pin high the voltage of the pin will be close to 5V and set an output pin low the voltage of the pin will be close to OV If you switch the pin rapidly between high and low then you will get a voltage of the pin in between The actual voltage that you can get depends on the time ratio of high to low which is called the duty cycle For example if the Duty is 150 150 255 X5V 2 94V the PWM command outputs a train of pulses whose average voltage is 2 94V The PWM command has a fixed period of 1 15 ms as shown in the following figure 171 Chapter 6 Command Set 60 Duty 40 Duty PWM Cycle gt 1 15ms j
30. the main program 105 Chapter 6 Command Set EXP Syntax Result EXP Argument Operation To return the natural exponent value of a floating point argument e Argument the floating point operand of the EXP function e Result a floating point variable that receives the result of the EXP function Description The EXP function returns the natural exponent value of a floating point argument The result is always a positive value In mathematics it is denoted as y e where e is Euler s number 2 71828 Its inverse function is the natural logarithm LOG function Example Sub Main Dim Result As Float Result EXP 2 0 Debug EXP of 2 0 is result CR Result EXP 2 0 Debug EXP of 2 8 9 Fesule CR End Sub 106 Chapter 6 Command Set EXP10 Syntax Result EXP10 Argument Operation To return the base 10 exponent value of a floating point argument e Argument the floating point operand of the EXP10 function e Result a floating point variable that receives the result of the EXP10 function Description The EXP10 function returns the base 10 exponent value of a floating point argument The result is always a positive value In mathematics it is denoted as y 10 Its inverse function is the base 10 logarithm LOG10 function Example Sub Main Dim Result As Float Result EXP10 2 0 100 Deus BIO v 2 0 de p resul OR Result EXP10 2 0 0 01 Debug EXP10 of 2 0 is
31. the supplied Education Board Here a small breadboard is supplied to provide a convenient means of connecting external components to the BASIC Commander Components such as external switches LEDs resistors capacitors and potentiometers can be conveniently connected here eliminating the need for soldering and allowing easy debugging and adjustments Here the breadboard supplied can be used to easily interconnect external components to the BASIC Commander and for quick and easy changes to be made without the inconvenience of soldering or re soldering The external components connect to the BASIC Commander through the female headers next to the breadboard 6 120 Adaptor Power Jack E M Education Boord VCC Power Indicator 3 f s DC Power In Socket for 24 32 pin BASIC Commander 9V Battery Snap VDD Power Indicator Reset Button Power Selector 0 Off 1 Board On and X4 Off 2 All On I O Pins Female Header VCC Pins Female Header 4 cmdBUS Connectors X4 Four Servo Connectors 5 W Signal R Power B GND LU X5 Servo Power Jumper Soruce from VDD or VIN VIN Pins Female Header f To GND Pin Female Header VDD Pins Female Header Breadboard E R sek aA Figure 4 2 Education Board The BASIC Commander should be inserted to the 32 pin socket before the power is turned on Please note that the BASIC Commander comes in two forms 24 pin and 32 pin When inserting the BASIC C
32. to Pin 7 9 stands for Pin 9 to 15 and 17 stands for Pin 17 to 23 For the 24 pin BASIC Commander the Pin value will be 1 and 9 only e Command a const or variable 0 255 that specifies the LCD command to send Usually it is the Character RAM address plus an offset of 64 or the Display RAM address plus and offset of 128 to where the ASCII code is sent e DataOut a list of const or variables that carry the data to be displayed Description The three LCD commands LCDCMD LCDIN and LCDOUT allow the BASIC Commander to interface directly to a standard LCD display that employs a Hitachi 44780 or compatible LCD controller The LCDIN command is used to send one instruction and then receive at least one data byte from the LCD s Character Generator RAM or Display Data RAM Refer to the LCDCMD section for more detailed interfacing and wiring information When the LCD is first powered up it defaults to an 8 bit interface and must be configured as a 4 bit bus before sending commands This process is known as initializing the LCD and is the first thing your program should do upon starting up Refer to LCDCMD section for more detailed LCD initialization information The LCDOUT command is used to send one instruction followed by at least one data byte to the LCD The data that is output is written to the LCD s Character Generator RAM or Display Data RAM Example Refer to the LCDCMD command for usage Chapter 6 Command Set 151 152
33. view Figure 1 3b LCD2X16A rear view For each of the Peripheral Modules you will need a flat cable to connect the module to the cmdBUS on the Education Board Chapter I System Overview YABB Figure 1 4 6 wired cmdBUS cable Caution must be taken when plugging in the cable as an incorrect connection could cause serious damage to the device Education Board There is also an Education Board where custom built projects can be constructed and in which a socket is included for plugging in the BASIC Commander Single Board computer This Education Board is equipped with a breadboard and with power management providing users with a solderless means of constructing their projects You may simply use jump wires to connect the power and I O pins from the female header to the breadboard Figure 1 5 Education Board Chapter I System Overview As the Education Board comes without the BASIC Commander you may choose either a 24 pin or a 32 pin version of BASIC Commander to plug into the Education Board Be sure to check the insertion instruction drawn on the Education Board as incorrect alignment may cause serious damage to the BASIC Commander How to Use this Reference Manual To get ultimate enjoyment from your system please take time to examine the manual and familiarize yourself with the key components of the system Those with some microcontroller experience will no doubt want to push forward faster and could probabl
34. where the pulse width is to be measured For the 24 pin BASIC Commander the Pin value ranges from 0 15 e State a constant or variable 0 1 that specifies whether the pulse is a positive or negative pulse If a 0 is written here then a negative pulse will be measured and if a 1 is written then a positive pulse will be measured e Variable a variable of WORD type where the measured pulse width value will be placed The unit of measurement is of 5 x s If the pulse measured is longer than the maximum of 65535 units or the pulse does not appear a value of 0 will be returned which indicates an invalid measurement Description This command is used to measure the width of a pulse presented on a specified pin It 1s useful in cases where pulse widths are used by some external hardware to express an external measurement An example of this might be some external ICs which measure temperature pressure etc but whose output is expressed as a pulse width rather than a voltage Such ICs could interface directly to the BASIC Commander and the PULSEIN command used to measure the IC output The pulse to be measured can be either a high pulse or a low pulse It must be noted that when the command is executed it will start to measure the pulse width when it receives the first pulse edge This will be a high going edge for a high pulse with State variable set to 1 or a low going edge for a low pulse with State variable set to O The units m
35. 1 and 0 respectively Integral Literals Integral literals can be decimal 10 based hexadecimal 16 based octal 8 based or binary 2 based A decimal literal is a string of decimal digits 0 9 and no prefix is needed A hexadecimal literal is amp H followed by a string of hexadecimal digits 0 9 A F An octal literal is amp O followed by a string of octal digits 0 7 Binary literal is SB followed by a string of binary digits 0 or 1 Decimal literals directly represent the decimal value of the integral literal whereas octal and hexadecimal literals represent the binary value of the integer literal Chapter 5 InnoBASIC Programming Language Floating Point Literals A floating point literal is an integer literal followed by an optional decimal point the ASCII period character and mantissa and an optional base 10 exponent Due to the limitation of memory and computational speed a floating point number is represented only in 4 bytes The valid number of digits is 5 therefore the floating point operations are sufficient for common practices but not recommended for high precision calculations String Literals A String literal is a sequence of zeros or more ASCII code characters beginning and ending with an ASCII double quote character Within a string a sequence of two double quote characters is an escape sequence representing a double quote in the string In consideration of the limited RAM resources a proper string size sh
36. 104 EXP ito To Geen ee heidi ell wake bee ee eee pa 106 EXP IO A ieee Pk ated sade Meta takes a ak alte S ae dy ERE 107 FEOAT ZB YTB eit daa a ile laste AI Gol ase De Siar 108 FEOATZDWORD gt 26 ei aie ate sind iad lathe sand a wae ar aie caidas leg 110 Contents FEOATZLON Grat aa eh As Be A aia E hs 114 FLOATZREALSTRING web tee eels et ae aa a a ea een od 116 FLOAT2ZSHORD tice seein to A el A eed ee 117 FLOATZS TIRING a8 oo oe i a td PA eae oe cea ede 119 FLOAT2ZWORD soi ee gale A eal ete dee ba ea ee ee aes 120 ELOOR tii A ANON A Aen etal aaa AS AN 122 FORS NEXT ii o A NA Sec 123 FUNCTION END FUNCTION 0 000000 0 cece eee 125 GETDIRPOR T ti a ed aa an on ei tone aii ahaa ions 127 GOTO ii O ad Soa tae a a A fade le de Seta Poaceae dea R 129 HIGH vase cscs ae RN 131 IE THEN BES Epcos deduce Av tag ed apa afore aad ls ii tea es 134 Nara ai a ace A dada 136 INPUT tia 2 iene Sled Se A TO SIA ie eileen Ge uta E ad 138 INTEGERZELOA Tejo a ne pete ed ae ee ha bel ded oan Ris ey alsa A as 140 CAS Esti 9 notte bed ai ad ecko NA naman ive atte Ad lua cee a Se 141 LEDO MD deren a im coh A A da aves abd ater gaa ayes 142 AA A E 148 LEDOQUT oa seas oe ira naa pea te aah Aad era a aia 150 LEFT acca iia a tt Ri a dc caine bane 152 LEN ona e ea ta aipa Dait aa asi agate alate ae te clo ed 154 A A a E A ah apie 155 OG AO aid tl a ala 156 LONG2FLOAT uta aa tia a ita dd Avon 157 OW i i dobs ete A ng hts hl tek a a r a darters A ebay t
37. 24 pin BASIC Commander the Pin value will be 1 and 9 only e Command const or variable 0 255 that specifies the LCD command to send Description The three LCD commands LCDCMD LCDIN and LCDOUT allow the BASIC Commander to interface directly to a standard LCD display that employs a Hitachi 44780 or compatible LCD controller There are several 1x16 2x16 and 4x20 character LCD modules available To minimize the pins required the 4 bit interface to the LCD is employed Therefore a total of seven I O pins are required To provide flexibility to users you may specify the first Pin Number of 1 9 or 17 which means you are to use P1 P7 P9 P15 or P17 P23 The following drawing shows the wiring when P1 P7 are used Chapter 6 Command Set 12345 67 8 9 1011121314 LCD DISPLAS Figure 6 8 Wiring connection when using P1 P7 When the LCD is first powered up it defaults to an 8 bit interface and must be configured as a 4 bit bus before sending commands This process is known as initializing the LCD and is the first thing your program should do upon starting up Refer to the Example section for the LCD initialization code The Hitachi 44780 LCD controller provides some special instructions for initializing the display moving the cursor changing the default layout etc Refer to the table below 143 Chapter 6 Command Set Action Command in Decimal Description Do Nothing 0 No operation
38. 5 3 y MyLong UR 114 MyFloat 1 0 MyLong FLOAT2LONG MyFloat Debug FLOAT2LONG of 1 0 MyFloat 4 3E9 MyLong FLOAT2LONG MyFloat Debug FLOAT2LONG of 4 3E9 MyFloat 4 3E9 MyLong FLOAT2LONG MyFloat Debug FLOAT2LONG of 4 3E9 End Sub Chapter 6 Command Set the result is 1 87 MALO CR the result is 2147483647 jp MALO ER the result is 2147483648 MyLong CR 115 116 Chapter 6 Command Set FLOAT2REALSTRING Syntax FLOAT2REALSTRING Argument String Var Operation To convert a floating point value into an ASCII character string in real number format e Argument the floating point operand of the FLOAT2REALSTRING function e StringVar a string variable that receives the result of the conversion Description The FLOAT2REALSTRING command converts a floating point value into an ASCII character string in real number format which has 5 digit valid mantissa with radix point For example 0 31416 Note that the trailing zeros will be omitted except the first one after the radix point For instance 2 will be converted to 2 0 Example Sub Main Dim MyFloat As Float Dim Mystring As S ECA 11 MyFloat 0 31416 FLOAT2REALSTRING MyFloat MyString Debug FLOAT2REALSTRING of 0 31416 MyString CR End Sub Chapter 6 Command Set FLOAT2SHORT Syntax Result FLOAT2SHORT Argument Operation To convert a floating point value into a SHORT variab
39. 5 InnoBASIC Programming Language Invocation of Peripheral Module Commands As the featured function commands differ from module to module it is therefore necessary to refer to their relevant documentation for instructions on their use The command is invoked with a simple suffix of the declared name with a dot in between Peripheral myLCD As LCD2X16A 0 Sub Main myLCD Display Hi there End Sub EVENT Procedures This is used to manage real world events whose occurrences are not predictable and also to reduce the inefficient polling which would take up valuable computing resource To handle such situations an EVENT feature is provided which removes the need for users to take care of the events by frequent polling of the Peripheral Modules To implement this just write down the event handling procedure which is enclosed in the EVENT and END EVENT statements and enable the EVENT ability in the main program After this the programming effort can be used with other more important tasks however when the event that you have enabled occurs your program will then branch automatically to the event procedure Declaration of Peripheral Modules EVENT An event declaration consists of a module name and a valid event name for the module It is a little different from the convention for SUB and FUNCTION The Event name consists of two parts conjugated with a dot The first part is the name of the user defined module The second part is the na
40. 5 is specified then a debounce will be provided but no auto repeat will be provided This parameter can be used to eliminate the effects of button bounce e Rate a constant or variable 0 255 that specifies the number of BUTTON command iterations that will occur between every two auto repeat operations e LoopCounter a byte variable used by the BUTTON command as a loop counter among iterations Its value should be cleared to 0 before being used by the BUTTON command for the first time and should not be altered by the user thereafter e TargetState a constant or variable 0 or 1 that specifies the state of the pin upon which a branch will occur If the value is 0 then a branch will occur if the Chapter 6 Command Set button in not pressed If the value is 1 then a branch will occur if the button is pressed e Address a label that specifies where to branch if the button conforms to the target state Description External buttons are a common feature of most projects and it is this command which provides control over how the button is setup and what should happen when any externally connected buttons are pressed Buttons are mechanical devices and when the button is first pressed the internal contacts will bounce back and forth for a few milliseconds before a final and reliable contact is made During this debounce time both low and high signals will be detected which could mean missing valid button presses To preven
41. 536 MyWord CR End Sub 121 122 Chapter 6 Command Set FLOOR Syntax Result FLOOR Argument Operation To return the nearest integer that is not greater than the floating point argument value e Argument the floating point operand of the FLOOR function e Result a floating point variable that receives the result of the FLOOR function Description The FLOOR command returns the nearest integer floating point value that is not greater than the floating point argument value Usually this is used to round a floating point value into an integer Another pairing function is the CEIL function which returns the nearest integer floating point value that is not smaller than the floating point argument value Example Sub Main Dim Result As Float Result FLOOR 2 3 the result is 2 0 Debug FLOOR of 2 3 18 y result CR Result FLOOR 2 3 the result is 3 0 Debug FLOOR 06 212 15 result CR End Sub Chapter 6 Command Set FOR NEXT Syntax FOR Index StartValue TO EndValue STEP StepValue Statements NEXT Index Operation Will establish a repeatable loop between the FOR and NEXT commands e Index this is a variable which is used to store a numerical value which controls the number of times the loop is run For program clarity considerations placing the optional Index after NEXT is recommended e StartValue a constant or variable which defines the initial value of the Cou
42. BASIC Commander InnoBASIC Workshop Reference Manual Version 1 08 Trademark Innovati M logo and BASIC Commander are registered trademarks of Innovati Inc InnoBASIC and cmdBUS are trademarks of Innovati Inc Copyright 2008 by Innovati Inc All Rights Reserved Due to continual product improvements Innovati reserves the right to make modifications to its products Documents texts modules parts and item quantities are subject to change without prior notice Innovati does not recommend the use of its products for application that may present a risk to human life due to malfunction or otherwise No part of this publication may be reproduced or transmitted in any form or by any means without the expressed written permission of Innovati Inc Printed in Taiwan Disclaimer Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be held responsible for any damages that may occur when using Innovati products This includes damage to equipment or property personal damage to life or health damage caused by loss of profits goodwill or otherwise Innovati products should not be used for any life saving applications as Innovati s products are designed for experimental or prototyping purposes only Innovati is not responsible for any safety communication or other related regulations It is advised that children under the age of 14 should only c
43. Debug X CR Debugin Enter Y Y Debug Y CR Debug Max X Y Max X Y CR End Sub 184 Chapter 6 Command Set REVERSE Syntax REVERSE Pin Operation Reverses the specified pin s direction whether in the input or output mode e Pin a constant or variable 0 23 that specifies which pin will be set to the opposite mode of either input or output mode For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description If you want to read or write a digital signal from or to the outside world the pins must be changed to the corresponding mode beforehand Due to the simplicity of the pin related input output command the mode change job is automatically executed by the system This is done by simply using the input output commands without worrying about the direction of the pins in question In addition to the INPUT and OUTPUT command the REVERSE command is also provided which reverses the current input or output mode Caution must be taken with your application circuit to prevent error paths that may result due to unexpected input output direction changes causing damage to your external circuit Please check the INPUT and OUTPUT command to see the notes and examples on using them Example The following example changes the I O directions of PO which connects an LED through a resistor The LED will turn on off accordingly 185 Chapter 6 Command Set Vdd LED1 A 5 R1 330 ohm Po O Figure 6
44. EC1OR X CR End Sub 93 94 Chapter 6 Command Set DEBUGIN Syntax DEBUGIN Item Item Operation This command allows users to feed data to the BASIC Commander through the Debug Window in run time e Item a variable that receives data from the debug console For operational convenience the Debugin command also supports the message and control code that is displayed on the Debug Window which helps the user to understand more about what kind of information is waiting to be inputted Otherwise the user has to place another Debug command to provide such information If there is more than one item they should be separated by a comma Description Some means has to be provided for the BASIC Commander to communicate and talk to the user The method of doing this is via the Debug Window in the innoBASIC Workshop by inserting DEBUGIN commands into the program which receives data from the Debug console This method can either be used for debugging programs or as a human machine interface for receiving data from the user For example DEBUGIN Please enter your lucky number num CR Other items are the same as a DEBUG command please refer to the DEBUG command for their usages Note that DEBUGIN command requires a certain amount of time for communication between the BASIC Commander and the PC through the USB interface For this reason for time sensitive applications precautions should be taken Chapter 6 Comm
45. Editor Fonts Colors and Terminal Window Please click on the tags for their relevant settings Fonts Setting The fonts option in the tools menu is as the name suggests a means to control the size and style of the fonts used in your program This option is for the fonts in the Program Editing Windows Print Fonts Setting This option allows you to choose the style and size of the fonts for printing Preferences The Preference option in the Tools Menu allows you to customise the operation of the innoBASIC Workshop to your own liking The Editor preferences offer you various choices such as whether you wish to display line numbers on your program and if you would like a color bar to indicate the present cursor line The Fonts preferences offer you a means to control the size and style of the fonts used in the Program Editing Windows The Colors preferences allow you to customise your Workshop Window in your own color scheme The Sample Box will enable you to preview your color choices before finalising your choice by clicking on Enter The Set Default option will allow you to return to the colors chosen when the system was first installed The Terminal Window preferences allow you to set the maximum display lines and characters in each line Chapter 3 InnoBASIC Workshop Preference Setup Editor Fonts Colors Terminal Window Set Default Language Syntax Parser IV Innovati Basic inb Sey Cancel IV Selection Margin I
46. File View Window This window shows the familiar windows file manager display from which your working program can be selected Here you can select different directories to retrieve already stored files Just below the file manager area are listed all the files in the selected folder This area can be selected to display only the innoBASIC files which are the files with an inb extension next to the filename or to display all files which is the option If an innoBASIC file is selected by double clicking its filename the file contents will be displayed in the area to the right of the File View Window Optional filename tabs displayed above the file contents window which can be selected to show its contents Chapter 3 InnoBASIC Workshop Program Editing Window This is the area in which you will write and edit your project s program If no file is selected from the File View Window this area will remain blank however after a file is selected its contents will be displayed within this window As the user s project will often use several files more than one file can be opened but only the contents of one file can be displayed in this area Each opened file will have a representing tab and all tabs will be listed at the top of the Program Editing Window The tab which is highlighted represents the file whose contents are presently displayed Selecting other tabs with the mouse gives convenient editing access to other open files Output W
47. Float the result is 2 Debug FLOAT2INTEGER of 2 4 MyInteger CR MyFloat 2 5 MyInteger FLOAT2INTEGER MyFloat the result is 3 Debug FLOAT2INTEGER of 2 5 MyInteger CR M M D M M M M yinll eic il 0 yInteger FLOAT2INTEGER MyFloat Soc ELO AMI TE CUR yFloat 32768 0 yInteger FLOAT2INTEGER MyFloat Debug FLOAT2INTEGER of 32768 0 vilo 32109 A yInteger FLOAT2INTEGER MyFloat Debug FLOATZINTEGER Of 32769 0 End Sub MyInteger Chapter 6 Command Set the result is 1 CR the result is 32767 MyInteger CR tie result se 32 768 MyInteger CR 113 Chapter 6 Command Set FLOAT2LONG Syntax Result FLOAT2LONG Argument Operation To convert a floating point value into a LONG type e Argument the floating point operand of the FLOAT2LONG function e Result a LONG variable that receives the result of the FLOAT2LONG function Description The FLOAT2LONG command converts a floating point value into a LONG The decimal part of the number will be rounded If the value exceeds the long integer value range a value of 2147483647 or 2147483648 will be assigned Example Sub Main Dim MyFloat As Float Dim MyLong As Long MyFloat 2 4 MyLong FLOAT2LONG MyFloat the result is 2 Debug FLOAT2LONG of 2 4 MyLong CR MyFloat 2 5 MyLong FLOAT2LONG MyFloat the result is 3 Debug FLOATZLONG of 2
48. Line Number Display J Highlight the current line I Search result display in screen center Figure 3 4 Tools Menu Preference Option Window Menu The conventional window menu functions are also provided here You can cascade or tile the windows to help you reference among different files You can use the new window function to open another identical file or use the split function to split the file into windows which helps you to reference the context in the same file You may also select Tabbed MDI to display the file in a tabbed format which saves space when many files are opened 25 26 Chapter 3 InnoBASIC Workshop Help Menu In the Help Menu you can use the Help Topics function to find the terms or explanations about the functions that you may encounter when working with the InnoBASIC Workshop It is meant to be provided as a quick reference if topics are either not mentioned or not explained clearly please refer to the user s manual for more detailed information You can use the About function to check the version of the InnoBASIC Workshop you are currently using Chapter 4 Hardware Description Hardware Description Introduction Here you find information on the Innovati system hardware the most important part of which is the BASIC Commander This is what is known as a Single Board Computer or SBC for short In addition to this is the Education Board into which the BASIC Commander can be pl
49. Long 2147483648 MyFloat LONG2FLOAT MyLong the result is 2147483000 Debug LONG2FLOAT of 2147483648 MyFloat CR MyLong 2147483647 MyFloat LONG2FLOAT MyLong the result is 2147484000 Debug LONG2FLOAT of 2147483647 MyFloat CR End Sub 158 Chapter 6 Command Set LOW Syntax LOW Pin Operation Sets the specified pin to a logic low level e Pin a constant or variable 0 23 that specifies the pin that the low level is to be applied to For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description This command will set the specified pin to a low level close to O volts Usually a pin must be changed to an input or output mode in advance to execute the corresponding input or output operations However as only one pin is involved in a LOW instruction operation the pin will be changed to the output mode automatically by the system It is not necessary for the user to change the mode manually by executing an OUTPUT command beforehand Refer to the HIGH command for other related information Example Refer to the HIGH command for usage 159 Chapter 6 Command Set MID Syntax MID TargetString Start Length Operation Remains the middle Length letters starting from Start position of the specified string TargetSring with other letters truncated e TargetString the string operand of the MID function e Start a const or variable that specifies the starting position
50. MyString As String L2 Dim Length As Byte MyString Length LEN MyString Debug Length of a null string is Length CR MyString Hello Length LEN MyString Debug Length of MyString is Length CR End Sub 154 Chapter 6 Command Set LOG Syntax Result LOG Argument Operation To return the natural logarithm value of a floating point argument e Argument the floating point operand of the LOG function e Result a floating point variable that receives the result of the LOG function Description The LOG function returns the natural logarithm value of a floating point argument In mathematics it is denoted as y In x Its inverse function is the natural exponent EXP function Example Sub Main Dim Result As Float Result LOG 2 7183 Debug LOG of 2 7183 is Result CR Result LOG 7 3891 Delle MOG GF 1891 a6 Resule OF End Sub 155 156 Chapter 6 Command Set LOG10 Syntax Result LOG10 Argument Operation To return the base 10 exponent value of a floating point argument e Argument the floating point operand of the LOG10 function e Result a floating point variable that receives the result of the LOG10 function Description The LOG1O function returns the base 10 logarithm value of a floating point argument The Argument is always a positive value In mathematics it is denoted as y log x Its inverse function is the base 10 exponent EXP10 fu
51. NTEGER2FLOAT function e Result a floating point variable that receives the result of the INTEGER2FLOAT function Description The INTEGER2FLOAT command converts an Integer value into its floating point format The floating point result will be an integral value ranging from 32768 0 to 32767 0 Example Sub Main Dim MyInteger As Integer Dim MyFloat As Float MyInteger 32768 MyFloat INTEGER2FLOAT MyInteger Debug INTEGER2FLOAT of 32768 MyFloat CR MyInteger 32767 MyFloat INTEGER2FLOAT MyInteger Debug INTEGER2FLOAT of 32767 MyFloat CR End Sub Chapter 6 Command Set LCASE Syntax LCASE TargetString Operation Changes the specified string to lower case letters e TargetString the string to be converted Description The LCASE command changes the specified string to lower case letters Example Sub Main Dim Mystring As String 2 MyString Hello World Debug Original string Mystring ch LCASE MyString Debug All in lower case MyString CR UCASE MyString Debug All in upper case MyString CR End Sub 141 142 Chapter 6 Command Set LCDCMD Syntax LCDCMD Pin Command Operation Send command to an LCD Module e Pin a constant or variable 1 9 or 17 that specifies the first pin of seven contiguous pins where the LCD Module is connected 1 stands for Pin 1 to Pin 7 9 stands for Pin 9 to 15 and 17 stands for Pin 17 to 23 For the
52. O directions Each bit of the data byte specifies the direction of each pin 0 is output and 1 is input Description If you want to read digital signals from the outside world by using the READPORT command the corresponding pins must be first configured to the input mode The SETDIRPORT command is used to configure the I O direction settings of the specified port Each pin of a port can be configured independently Data 0 stands for output and 1 stands for input mode For pins which with smaller index are of the lower bit order of a data byte For example the PO setting will appear in Bit 0 of the data read The I O directions default to input after the program starts Chapter 6 Command Set Note that when the I O pins are configured to be in the input mode it is recommended that an external 1OKQ pull high resistor is connected to each I O pin Otherwise due to the high impedance floating state the I O pin may be randomly read as 1 or 0 which does not reflect the actual signal value on the pin Example Refer to the GETDIRPORT command for usage 191 Chapter 6 Command Set SGN Syntax Result SGN Argument Operation To return the sign value of a floating point value e Argument the floating point operand of the SGN function e Result a SHORT variable that receives the result of the SGN function Description The SGN command returns the sign value of a floating point value If the floating point value is positive then
53. SIC Commander Single Board Computer which is the heart of the system This small dual in line Printed Circuit Board PCB for short is the unit where your program will be stored and run After the program is stored in the program memory the Single Board Computer is set to run There are three kinds of resources in which the BASIC Commander can be used First is the General Purpose I Os for which built in commands are provided for sophisticated functions second is the cmdBUS where up to 32 Innovati featured Peripheral Modules can be connected These totally object oriented modules make this functional expansion one of the most special features of the system Thirdly is the debug interface where information can be exchanged between the BASIC Commander and the innoBASIC Workshop Terminal Window not only for debugging but also for human machine interfacing Chapter I System Overview innoBASIC Workshop Editor Compiler Downloader amp Human Interface Debug Window AA A SIS m USB E 4 Program Download and Run i 2 time Human Interface On Line General I O Circuits cmdBUS Up to 32 Innovati s Built in Commands Object oriented cmdBUS Featured for Peripheral Modules General Purpose I O Functions Peripheral Peripheral Peripheral Module Module Module Figure 1 1 BASIC Commander and innoBASIC Workshop System Overview InnoBASIC Programming Language With the usu
54. SIC Workshop 2 Dim s As String 10 a Bin mi Debugin Please enter your name S CR E A Def 4 Debug S Welcome to the Innovati World C Examples 5 End Sub Include H E Lib Y lt gt Figure 2 3 Editing the Program Chapter 2 Installation and Getting Started 3 This program should now be saved using the usual File Save menu commands or using the standard Save File Icon You can select the location where the file is to be placed using the directory structure in the File View Window The file can be placed into the Example folder which has been created under the innoBASIC Workshop folder as shown Of course it can be placed into any other folder you may have created using the Windows File Manager Note that the file should be saved with the extension inb which stands for innoBASIC Saye As PR Save inc C Examples x c E My Recent Documents Desktop My Documents My Computer a Mu Network Fe name Untitlet inb y Save as type inmoBasic Files inb y Cancel Figure 2 4 Saving the Program 4 Now the program can be compiled which is implemented by selecting the Compile commander under the Build menu or by clicking on the Compile Icon If the program has been written and edited correctly you will receive a message in the Output Window telling you so if not an error message will be received and your program should be modified A simple comparison of the above ins
55. SISTENTSHORT Variable stored in non volatile EEPROM Due to the limited operations the two data types are actually the same PERSISTENTWORD PERSISTENTINTEGER Variable stored in non volatile EEPROM Due to the limited operations the two data types are actually the same PERSISTENTDWORD PERSISTENTLONG Variable stored in non volatile EEPROM Due to the limited operations the two data types are actually the same PERSISTENTFLOAT Floating point variable stored in non volatile EEPROM for value 3 4E 38 3 4E 38 41 Chapter 5 InnoBASIC Programming Language Type Conversions The general rule for type conversion is to convert a narrower operand into a wider one promotion without losing information such as converting a Short into an Integer or a Long type variable If conversion is in the opposite direction clipping extra high bytes will be dropped out Cautions must be taken when this kind of type conversion is utilized The subsequent subsections shows all the variable types that are supported in the InnoBASIC programming language along with the size occupied and brief introductions to them Literals A literal is a textual representation of a particular value of a type Literal types include Boolean integral number floating point character and string Boolean Literals True and False are literals of the Boolean type that map to the true and false state They have the value
56. Sub procedure which is called by default Sub Main Display End Sub Sub Display Debug Sub Procedure Display has executed End Sub Functions Function is a method which returns a value Functions are used to evaluate data make calculations or to transform data Declaring a Function is similar to declaring a Sub procedure Functions are declared with the Function keyword The following code is an example of how to use Functions Function Max I As Integer J As Integer As Integer If I gt J Then Return I Else Return J End Function Sub Main Dim X Y Z As Integer Do Debugin Enter the First Number p ot Debug X CR Chapter 5 InnoBASIC Programming Language Debugin Enter the Second Number Y Debug Y CR Z Max X Y Debug The Maximum value is Z CR Loop End Sub Parameters A parameter is an argument that is passed to the SUB or FUNCTION procedure Parameters are enclosed in parentheses after the method name in the method declaration You must specify the types for these parameters Note that String and an Array cannot be used as parameters to Sub or Function Only the procedure Function may pass parameters when invoked and there are two ways to pass them ByRef and ByVal If not explicitly expressed the ByVal is set as default A reference parameter is a parameter declared with a ByRef modifier A reference parameter does not create a new storage location Instead a reference parameter re
57. When the VIN voltage is sourced from an external source an LED indicator near the middle of the Education Board will illuminate The GND pin is as the name suggests the common ground of the system and is common to all of the different power supply sources The X4 Connector has 4 Servo Headers where you may plug in up to 4 standard servos The control signals are from Pins 8 11 The power to the servo may come from either VDD or VIN by inserting a jumper at Header X5 To reduce the power 31 32 Chapter 4 Hardware Description consumption of the 9V battery and to eliminate the need for frequent plugging in and plugging out of the servo cables you may set the Slide Switch from Position 2 to 1 which will turn off the power supply to the servos The slide switch on the Education Board is used to control the external power supply When on Position 0 VDD VIN VCC are not available when on Position 1 the VDD VIN VCC are available on the female headers around the breadboard but the VDD or VIN on connector X4 is not available and when in Position 2 both the VDD and VIN on connector X4 are available When VDD and or VCC is available their respective LED indicator will light Note that the VCC power source may come either from VIN which will be regulated to 5V on the BASIC Commander board or directly come from USB power If the USB cable is connected to the BASIC Commander even the slide switch is in position 0 the VCC on Female Hea
58. above example we extend our congratulations and hope that you can now move on with more confidence By reading more of the manual you will understand more about the capabilities of the system hopefully guiding you into the development of more complex projects and applications What Has Just Happened If you were successful in completing the example what you have actually done is to have gone through the full process of program writing editing compiling downloading debugging and execution It may seem a very simple example program but actually it has still utilized all of the steps required in more complex applications It has also demonstrated how the Terminal Window is used for direct communication between the user and the BASIC Commander hardware At this stage you may like to use this opportunity to modify your simple program to provide more complex operations perhaps by modifying the instructions or adding a few new ones of your own You may choose rather to continue to study the manual in more depth before proceeding 13 14 Chapter 2 Installation and Getting Started Chapter 3 InnoBASIC Workshop InnoBASIC Workshop Introduction After working through the previously provided example program it is now time to get down to learning more about the system and getting to work on some more serious projects Each time the innoBASIC workshop system software is executed the result will be shown on the screen display
59. al execution sequence can be achieved by conditional statements unconditional statements and subprogram invocations The conditional statements allow conditional execution of statements based on expressions evaluated at run time There are four kinds of statements in this category IF THEN ELSE Statements SELECT CASE Statements DO LOOP and FOR NEXT statements The unconditional statements are the GOTO and invocation statements 47 48 Chapter 5 InnoBASIC Programming Language Conditional Statements IF THEN ELSE Statements The IF THEN ELSE statement is one of the most basic flow control statements It evaluates an expression which must be implicitly convertible to Boolean If the expression in the IF statement is True the statements enclosed by the IF block are executed If the expression is False then the statements in the ELSE block are executed More conditions can be evaluated by using the ELSEIF statement when each of the ELSEIF expressions is evaluated If one of the ELSEIF expressions evaluates to True the corresponding block is executed Once a block has been executed the execution passes to the end of the IF THEN ELSE statement Sun No IF condition Ye es Y THEN statements THEN statements IF THEN STATEMENTS IF THEN ELSE STATEMENTS Figure 5 1 IF THEN ELSE Statements Flow Diagram Chapter 5 InnoBASIC Programming Language IF THEN ELSE Statements
60. al focus on ensuring that user projects are up and running in a minimum amount of time the innoBASIC programming language was developed by Innovati s software engineers to ensure that users can easily and quickly learn the rudiments of programming techniques Although innoBASIC is easy to use it should not in any way be viewed as a functionally restricted language It is in fact a highly capable and functionally rich language with a host of useful features While based on the universally popular BASIC language it has its own special characteristics one of Chapter I System Overview which is the easy ability to control the external hardware modules The InnoBASIC language does not employ the traditional interpreter methodology but rather uses a compiler methodology which dramatically increases the execution speed BASIC Commander The BASIC Commander is the central hardware unit of the system and is actually a miniature Single Board Computer On this small electronic board is a high performance microcontroller integrated circuit device together with some other peripheral components such as those required for the power supply PC interfacing etc When editing the program for your personal project the BASIC Commander will be connected to your PC with the supplied USB cable to enable easy program downloading and debug to be implemented However when the program development has been completed the BASIC Commander can of cour
61. and Set to avoid using the DEBUGIN command in any program time critical path While using the DEBUGIN command in the development stage during debugging there might be a timing difference when the DEBUGIN command is later removed for formal operation If the DEBUGIN command is not removed for stand alone operation when the USB interface is not connected to the PC the program will enter a dead loop as it continues to wait for data entry Example Sub Main Dim yourname As String 20 Dim Key As Byte Debugin Please enter your name yourname CR Debug Hi yourname Do Debugin CR Enter in DEC Key CR say 100 Debug The number in DEC is Key CR Debugin CR Enter in BIN BIN Key CR Sa OA Debug The number in BIN is BIN Key CR Debugin CR Enter HEX HEX Key CR say FA Debug The number in Hex is HEX Key CR Debugin CR Enter a letter SCHR Key CR Debug The letter is SCHR Key ASCII Code is Key CR Loop End Sub 95 96 Chapter 6 Command Set DIM Syntax DIM Variable AS Type Size Operation To declare local or global variables e Variable the defined variable name where the value will be stored e Type one of the legal variable type names including Boolean Byte Integer Word Long Float Persistentbyte Persistentinteger Persistentword Persistentlong and Persistentfloat e Size a constant to specify the size of a string type variable
62. and complex interfacing Innovati has taken care of these technical related issues by pre building these peripheral modules and providing you with sophisticated control commands for their operation Let s take the LCD2X16A Peripheral Module shown in the diagram as an example 33 34 Chapter 4 Hardware Description y O 5 O N Y9 IX Figure 4 3 LCD2X16A Peripheral Module Simply setup the DIP switch on the small add on board which is used to setup the Module ID The address can range from 0 to 31 and each peripheral module should have its own unique address Therefore no two modules should have the same DIP switch ID address on the cmdBUS On each Peripheral Module there is a cmdBUSTM and a 6 pin pin header labelled cmdBUS Connect the module through the flat cable provided to the cmdBUSTM on the Education Board VIN RED GND BLACK SDA SCL EVT SYN Figure 4 4 6 wired cndBUS Cable The VIN pin is the unregulated external power supply rating 6 12 VDC which will also be regulated down to 5 VDC on each Peripheral Module for its internal power requirements Note that great care should be taken when using this cable as a wrong cable insertion may seriously damage the devices which are connected to the cmdBUS After the modules are declared in the program and if the module ID in the program is the same as the hardware switch it will then be ready for immediate use Of course each module comes with its own i
63. and the size of a string is confined by the RAM available Description All variables must be declared in advance Conventionally the variable data types are of Boolean Byte Short Word Integer DWord Long Float and String type which are assigned with the RAM data memory yet other featured variable types supported by innoBASIC are the persistent type variables which are assigned with the persistent EEPROM data memory If DIM is used within any procedure the variables declared are local variable which means they are visible only inside the variables which can be seen only inside the procedure where they are declared On the contrary if DIM is used outside of all procedures the variables are global which means they are visible throughout the entire program Note that the persistent type variables are global in nature which means you must declare persistent type variables outside of all procedures Unlike fundamental variables the string literal can store non numerical values of more than one single character Yet due to limited RAM resources a proper string size should be given when declared Example Dim G As Byte Sub Main Dim X Y As Byte Dim 2 As Short 1 Debug Debug Debug N K xX Q Debug End Sub global variable local variable Chapter 6 Command Set no initializer optional initializer 97 98 Chapter 6 Command Set DO LOOP Syntax DO Modifier Condition sta
64. as shown in the diagram As the name Workshop suggests this is the area in which you will work to create debug compile and download your program As you are probably familiar with the Windows operating system and its many standard programs you will no doubt recognize many of the standard function icons shown on the screen In an area called the Program Editing Window you will write and edit your program and in the area called the Terminal Window you will communicate with the BASIC Commander hardware Screen Layout The screen is subdivided into several main individual working area windows each with their own functions These are listed below with a short description 15 16 Chapter 3 InnoBASIC Workshop File View Window Program Editing Window Function View Window SJ insoll SIC Workshop Dedagost MIAMI TRAM sab aa E lo la Yew Dell Took Matos ep ae SB gt 627 ARANDA LIETE X chib Contrcl Codo MC ab Debogou MA ub DoF ixDisplayText Debug CLS Debug CSRAY 19 5 Debug CSAX 20 Debug CSAY 15 Debug CSRU lt Debug CSAD lt 39 15 gt Debug CSAR A CSRR B CSRD CSL CSR us Sub Delountertest Din n As Long For n 1 To 408 Debug CSRAY 1O 20 X ni Debug HOME Y mi Sub Maint aj Dol ixDisplayText DoCounterTest Program List Output Window Terminal Window Figure 3 1 Workshop Windows and Menus
65. asy to learn language it is also powerful enough to meet the requirements of experienced users For those not familiar with programming languages this is the place to start learning from the beginning Firstly we ll show you an example program to welcome you into the innoBASIC world Sub Main Debug Hello World End Sub Statements A program consists of statements which give instructions to the compiler to generate the final executable code accordingly Statements may consist of constants variables operators and functions to define constants declare variables perform arithmetic and logical operations and execute program control transfer and declare subprograms 37 38 Chapter 5 InnoBASIC Programming Language Normally each line contains one statement which can either be a single or compound statement However when statements are short and for reading convenience multiple statements can be placed in one physical line however each statement should be separated with its preceding statement by a colon symbol If a statement is long to the extent that it may cause reading inconvenience a single underscore _ preceded with a white space character is used for line continuation which allows you to span a logical line to multiple physical lines Line continuations are treated as if they were space The following program shows these two statement formats Sub Main Debug _ Hello World End Sub No
66. at aah Aon 159 MIDE 22 a AAA dos 160 OUTRUN 00 E AA A IA A 161 PAUSE ut A eee ip tt iii 162 PERIPHERAL ar at tt ri rice indiana Wanting Tatar a 164 PUL SEIN e ne lacas Ass 166 RULSEQULT 2 A A dE Athy 169 PIM dt o alli 171 vi Contents RETIME aans pa e tesco hess te ra tf la orita 177 READRORT Sonia o at oe ee ata eee aay ase arc eee 180 RESETMODUEE oxscopiporaiaia rr lts a alee eer dons 182 RETURN aoe aa lia a e e thai ge ten ario at aed ae eee 183 REVERSE unn ee tna Dra cute diene sence baer eee eee ae egg 185 RIGHT sce occa ce e gc E aad ah see chase ea sate aed Sond are ea EE 187 SELECT CASE iis shh head ae da eee te ede Ges eed a Ree AA al 188 SETDIRPORT versio ee ede habe eee eae taste Glee be ee ade bebe E E 190 SIGN xt hee wee eatin aaa ge dh a danni doa Bee ded cd ee See Ge ee ne es 192 SHORIZELOAT sicarios eee ee adda ta tale dee edie eee 193 SIN giscd ieee eheGe Uae whee bebe dee eee i ee boa eee ada eee 194 SORT fee yer eat the A aed PS ee Pe ees Bee ee 195 STRING2FLOAT wi ce ied epee we a eee eee ee eee dd e OEE 196 STRREVERSE uu lo aod tates wig ale laa Gea awk Wild ard ae ani 198 SUB END SUBS geste ccc santed is ala url gaat aerate 199 TOGGLE ue tae ee acre arde anata ohh ate cele doe gale tas id atte 200 UCASE srcte setae nea tods olan alada adas 201 WORD2FLOA T e uta epee enema E ERE 202 WRITEPORT ceecee ct canoes nites daa eee een eas ha edad 203 ADDEN ca Sartre fata haan ats eas sa ee ape a eee nia oats ae e
67. ated as a Boolean value Statements any valid innoBASIC statement Description The IF THEN ELSE command is the basic conditional command Each expression in an IF THEN ELSE command must be convertible to Boolean If the expression in the IF command is True the statements enclosed by the THEN block are executed If the expression is False each of the ELSEIF expressions is evaluated If one of the 134 Chapter 6 Command Set ELSEIF expressions evaluates to True the corresponding block is executed If no expression evaluates to True and there is an ELSE block the ELSE block is executed Once a block finishes executing the program execution passes to the END IF command The line version of IF THEN ELSE command is available for program simplicity when there is only one statement after THEN and ELSE In the line version you may place more than one statement after THEN and ELSE by adding a colon between two statements Example Refer to Chapter 5 for further detailed examples 135 Chapter 6 Command Set IN Syntax Result IN Pin Operation Reads the external logic input status of the specified pin e Pin a constant or variable 0 23 that specifies the pin to be read For the 24 pin BASIC Commander the Pin value ranges from 0 15 e Result a Byte variable to receive the external logic level on Pin Description This command will read the external logic level status from the specified p
68. ay also use one of the following formats instead Result GETDIRPORTO0 Result GETDIRPORT1 Result GETDIRPORT2 Operation Obtains the I O direction settings of the specified port e Port a constant or variable 0 2 that specifies the port number Port 0 consists of pins PO P7 Port 1 consists of pins P8 P15 and Port 2 consists of pins P16 P23 For the 24 pin BASIC Commander which has two ports the Port value is 0 or 1 e Result a Byte variable to receive the port direction setting Description The GETDIRPORT command is used to read the current I O direction settings of the specified port for applications in which the I O directions may switch between input and output mode during program execution Data O stands for output and 1 stands for input mode For pins which with a smaller number are of the lower bit order of a data byte For example the PO setting will appear in the Bit O of the data read The I O directions default to input after the program starts 127 Chapter 6 Command Set Example The following example changes the I O direction of Port 0 which is connected to seven LEDs through resistors The LEDs will turn on and off accordingly Sub Main Dim KeyAs Byte Dim PortStatus As Byte Start PO P7 are default input mode WRITEPORTO H00 Write low to output buffers Do Debugin Input any key to turn on LED 0 2 4 6 SCHR Key CR SETDIRPORT 0 8HAA Switch PO P2 P4 P6 to OUTPUT mode
69. compare two values and return a TRUE 1 or FALSE 0 result according to the relational comparison gt greater than gt greater than or equal to lt less than lt less than or equal to equal to lt gt not equal to Bitwise Operators There are four operators for manipulating bit operations namely AND OR XOR and complement The unary yields the 1 s complement of a value by converting every bit The AND OR and XOR operators execute a bitwise operation of two operands Chapter 5 InnoBASIC Programming Language Logical Operators The logical operators support the logical operations AND OR and NOT They create a TRUE or FALSE value Expressions connected by AND and OR are evaluated from left to right The evaluation stops as soon as the result is known The numeric value of a relational or logical expression is 1 if the relation is true and O otherwise The unary negation operator NOT converts a non zero operand into 0 and a zero operand into 1 Assignment Operators There are 6 assignment operators for expression statements For simple assignment the equal sign is used with the value of the expression replacing the variable in the left operand The remaining 5 are compound assignment operators Taking A B for example it is equal to the expression A A B and so on Program Control Flow Program statements are executed in the order that they appear in the program source file Changing this natur
70. ctive High Buttons 78 Chapter 6 Command Set Example Connect an active low push button circuit to Pin PO of the BASIC Commander This demo program will display an asterisk on the Terminal Window when you press the button for the first time then delays for about two seconds before auto repeat starts The auto repeat function continuously sends key pressing signal at a rate of approximately 200 ms 20 x 10 ms PAUSE Sub Main Dim PIN As Byte Dim LoopCounter As Byte 0 cleared before BUTTON command is used Start Pause 10 BUMNION AO 20 0 ARA OF OPE OUTSIDE play Goto Start Display Debug GOtoO Start End Sub As an exercise try to change the Delay value to different values to see the effect in different modes With 0 indicating no delay time the auto repeat function starts immediately the value range 1 to 254 is for various delays before the auto repeat starts the value 255 indicates a no auto repeat function which is only one action for each button press 79 80 Chapter 6 Command Set BYTE2FLOAT Syntax Result BYTE2FLOAT Argument Operation To convert a Byte value into its floating point format e Argument the Byte operand of the BYTE2FLOAT function e Result a floating point variable that receives the result of the BYTE2FLOAT function Description The BYTE2FLOAT command converts a Byte value into its floating point format The floating point result will be an integral value
71. d 0 0 ccc ee eee 7 INTOducion m quesos ed uN Beeson ee detest E dee 8 7 Installing the InnoBASIC Workshop 0 00 cette 8 Hardware Installation soria srt bh ee ek ete eae Pam Rak degen es da 9 Producing Your First Program sii is a a dane Med oe eae eee Ae 9 What Has Just Happened icsecc4 sade ae da piatat Die Bed dads eaters Ae 13 Chapter 3 InnoBASIC Workshop 00 0c eee eee 15 INtrOdUCTION 23 034 2 oes da ote eee a Oe Pe ie Gad 15 screen Layout 2 3 43 cand edite A A eed eee PR ee 15 File View WINdOW 2 404 cia vee eed eda eed eae ed eee ee eae a E 16 Program Editing WINdOW siii id a ed de ede WA eee 17 Output WINDOW veros Soda eae ae nd Pe hee Saw ad ahd fated 17 Function View WINdOW sico rn dee cae ee eee bad eee 17 Terminal WindOW cies e RE Groaned a ak dod a ee ee 17 Steps to Creating a Program 2 eee ee nee eee eee 19 Editing the Programi cidade iaa dba 20 Contents Compiling and Building the Program 2 00 00 cece 20 Debugging your Program 0 0 sssaaa aaee 21 Menus and Commands sa serae a e E nae te ated oe ee tet ee eee 21 Pile M MU oe sere eaea ene nat US aces we eee eels Se ah ey ara Se eet 21 Edit Men ici E aie Hae ae oe tear eed beer ed ee dae a 22 Comment Selection imei A wae di ee 22 Uncomment Selection oooooooccocooo tee 22 Goto Line gt ia A Oa Dat NA eS oie OH ate Reto a a 22 View Mens cox bh ise ra rd hs a tea Released ro oh ane 23 Bui
72. damage Example Refer to the INPUT command for usage 161 Chapter 6 Command Set PAUSE Syntax PAUSE Duration Operation This command will force the program to wait for the time specified e Duration a variable or a constant that specifies the number of times and the duration for which the pause is active The duration unit is millisecond Description This command will insert a delay between the previous statement and the next statement Using a PAUSE command gives the user some control over the program execution speed by allowing delays to be inserted at any point in the program The duration unit is 1 millisecond Example The following program demonstrates how to make an LED flash with different pause time 162 Chapter 6 Command Set Vad LED1 VA 5 R1 330 ohm Po O Figure 6 10 LED Flasher circuit Sub Main Dim Period As Word START Debugin Set pause 0 65535 ms between LED ON OFF Period CR Do HIGH 0 Pause Period LOW 0 Pause Period Loop End Sub 163 164 Chapter 6 Command Set PERIPHERAL Syntax PERIPHERAL Name AS TypeName ID Operation Declare a peripheral module e Name a name declared by user similar to a variable name e TypeName one of the peripheral module types conceptually similar to a data type e JD a const 0 31 that indicates the peripheral ID set by the DIP switch on the peripheral module Description This com
73. der is still available VDD VIN VCC VIN or VDD on Female Headers on Connector X4 Off Off On Off On On Position The RESET push button is used to reset the BASIC Commander which will restart the program execution You can also find pin headers labelled cmdBUS where you may connect up to four of Innovati Peripheral Modules through the 6 wired cmdBUS cables The following table gives a summary of the connectors or switches you may find on the Education Board Chapter 4 Hardware Description Connector Function 32 pin Socket For 24 32 pin BASIC Commander Power Jack For 6 12 VDC adapter center positive White 2 pin Connector For 6 12 VDC power supply Battery Snap For 9V Battery Slide Switch Power On Off and Servo Power On Off Push Button Reset Button X4 Four Servo Connectors X5 Servo Power Selection cmdBUS Four Module Connectors The Education Board has two LEDs The one by the BASIC Commander socket will light when the USB power bus is on and when the USB cable is connected The other one near the center of the Education Board will light when external power is applied This power may come from a 9 Volt Battery power adapter or a power supply from the white 2 pin connector Peripheral Modules No longer is it necessary to select and purchase individual electronic peripheral components and get involved in the time consuming task of circuit board construction
74. ditional control codes are provided These special control codes are summarized in the following table Function Description CLS Clear Screen CR Carriage Return TAB Place a tab CSRL Cursor move left CSRR Cursor move right CSRU Cursor move up CSRD Cursor move down BKSP Cursor move backward destructively CLREOL Clear from cursor to end of line CLREOS Clear from cursor to end of screen CSRXY x y Move cursor to position column x row y CSRX x Move cursor to position column x CSRY y Move cursor to position row y BELL n Generate a Windows built in number n sound effect Chapter 6 Command Set Data Formatters Numerical data can be displayed in various formats in the Debug Window If no specific way is specified then the value will be displayed in decimal format Therefore for the previous examples this was not a problem and the values were correctly displayed However say the value was required to be displayed in binary or hex format then the percentage symbol followed by the desired format is used to do so The following table shows the various options Formatting Symbols Description If the optional formatter is used an extra string symbol will be added before the displayed value and a carriage return after the displayed value The symbol stands for a user defined variable name
75. e position Entry Mode Set the cursor M O left 1 right and display scrolling S O no scrolling 1 scroll Display Cursor Set the cursor direction to the right without a display shift Scroll Display Shift Cursor Shift the display or the cursor C O cursor 1 display to the left or to the right M O left 1 right Function Set Set the bus size B 0 4bits 1 8 bits number of lines L 0 1 line 1 2 lines and font size F 0 5x8 1 5x10 Move to CGRAM Address Move the pointer to character RAM location specified by Address A Move to DDRAM Address Move the cursor to display RAM location specified by Address A 145 146 Chapter 6 Command Set The following figure shows the most common DDRAM mapping which you need to know for detailed operation On screen positions Off screen positions rt Line 1 0 1 2 3 4 5 6 7 s fe holh 12 13 14 15 16 39 Line 2 64 65 66 67 68 l69 70 71 z2 z3 fa z5 76 77 78 79 80 103 Assuming the display in the home position Line 1 0 1 3 4516 7 8 19 1101111 12 13 h4 15 16 17 ra to Line 2 64 65 67 68 169 170 171 172 73 74 75 76 77
76. easured will be 5 Chapter 6 Command Set us If the pulse measured is longer than the maximum of 65535 units it overflows to 0 However the system will only wait for a specified time for this first edge to appear If it does not appear then a zero value will be loaded into Variable and the program will continue and execute the next command This prevents the program from hanging up at this command in the event of no pulse appearing When the PULSEIN completes the measurement either successfully or nor the program will continue and execute the next command Example The following example shows how to use the PULSEIN command to measure an external low pulse period Vdd Figure 6 11 Measuring a Pulse Width on PO 167 168 Chapter 6 Command Set Sub Main Dim Result As Word Do Debug Press the key CR wait Pulsein 0 0 Result measure low pulse on PO If Result 0 Then Goto wait not pressed or longer than 327 ms Result 200 convert 5us unit to ims unit Debug The key pressed for Result ms CR Loop End Sub Chapter 6 Command Set PULSEOUT Syntax PULSEOUT Pin Duration Operation This command will generate a pulse that appears on the specified pin e Pin a constant or variable 0 23 that specifies the pin where the pulse will be generated For the 24 pin BASIC Commander the Pin value ranges from 0 15 e Duration a constant or variable 0 65535 that specifies the length of the pulse widt
77. ed The CONTINUE command transfers execution to the end of the containing block loop and begins the next iteration Example Refer to Chapter 5 for further detailed examples 124 Chapter 6 Command Set FUNCTION END FUNCTION Syntax FUNCTION FunctionName Arglist AS ReturnType Statements END FUNCTION Operation Declare a function with an optional argument list e FunctionName the name of the function contains a sequence of letters digits and underscore The leading character must be a letter e Arglist is a list of optional arguments required in the function Each argument is preceded with either a byval or byref modifier to indicate the argument passing method The parenthesis cannot be omitted even though no argument required e ReturnType specifies the return data type which may be Byte Integer Word Long or Float Statements any valid innoBASIC statement Description The FUNCTION command declares a Function which can be invoked by its FunctionName to execute some user defined function Unlike Sub there is a value returned to the caller 125 126 Chapter 6 Command Set Example Function Sum X As Short Y As Short As Integer Return X Y End Function Sub main DANA SS OI Dim Z As Integer X 1 Y 2 Z Sum X Y atom XS y GR WS Wp GR A End Sub CR Chapter 6 Command Set GETDIRPORT Syntax Result GETDIRPORT Port If the port number is a constant you m
78. ed This usually points to the fact that the Peripheral Module in question has failed to operate normally If the cmdBUS fails to execute its protocol a value of 2 is returned This is a serious system malfunction on the cmdBUS which blocks out the communication scheme of all Peripheral Modules The reason may be caused by any one of the Peripheral Modules connected to the cmdBUS or even by the BASIC Commander itself Note that the status checking command always returns the latest status of access to the Peripheral Module so it should be located immediately after a Peripheral Command Once a system malfunction is detected you should take the necessary steps to handle the malfunction as no built in recovery methods are available 83 Chapter 6 Command Set Example Peripheral myLCD As LCD2X16A 0 Sub Main Dim Status As Byte myLCD Display Hi Status checkmodule If Status 1 Then Debug Module Timeout CR Elseif Status 2 Then Debug cmdBUS Error CR Else Debug Command executed successfully End If End Sub Chapter 6 Command Set COS Syntax Result COS Argument Operation To execute a mathematical cosine function e Argument the floating point operand of the cosine function with a range from 0to27 e Result a floating point variable to receive the result of the cosine function Description The COS function returns the cosine value of a floating point argument ranging
79. ee 205 Appendix A ASCII Table so 22h ccd iva e e doa 207 Appendix B InnoBASIC Keywords 0 00 cee e eect eee eee 209 Preface Preface Welcome We are delighted that you have chosen to purchase our Innovati products Whether you are a newcomer to microcontrollers or whether you have arrived at this point with some experience under your belt we feel assured you will enjoy immensely the unique Innovati approach to this fascinating area of electronics This manual will give you the information you need to get going and how it is used will depend upon your skill level and previous experience Users who are new to the world of microcontrollers would benefit from some selected other background reading on basic electronics and on the BASIC language before jumping in Those with some electronic and programming experience could be more selective in what they read from this manual However wherever your interests lie and no matter what level you find yourself at the Innovati team sincerely wish you a fascinating journey into the world of microcontrollers The unique Innovati approach in supplying high functioning modules allows you to develop hardware applications with superior functions running in a very short space of time and with a minimum of design effort As to what you could achieve well how about remote camera control in your model off road explorer or a sophisticated automatic lighting control system for
80. el is the body in which the label is declared Constants Variables and Data Types A constant is a constant value which never changes during program execution It is declared with the keyword CONST For example CONST Constname As Type value 39 40 Chapter 5 InnoBASIC Programming Language The following examples demonstrate the usage Const DaysofMay As Byte 31 Const JAN As String 7 January Const Scores 4 As Byte 70 75 80 85 90 The value given should be a literal appropriate for the given type Constants are implicitly accessible to all program space so it must be declared as global You may declare a constant array but the elements cannot be another const string or array In contrast to the constant is the variable which conveys a value that may be changed during program execution All the variables are declared with the key word DIM for example DIM Variablename As Type value Before any variable is used in your program the system must first be told that it exists as well as what kind of variable it is and in some cases its size The variables can be initialized when it is declared If not Default O value or null string for the variables are initialized Conventionally the variable primitive data types are Boolean Byte Short Word Integer DWord Long and Float type which are assigned within the RAM data memory If DIM is used within any procedure the variables declared are local variables wh
81. eries and fears vanish before your eyes Program Editing Input Instructions f Converts Instructions to Compile Program Machine Code Place machine code into Download Program BASIC Commander Detect Errors using Debug Program Terminal Window Figure 3 3 Program Creation Steps 19 20 Chapter 3 InnoBASIC Workshop Editing the Program Similar to a simple text editor or word processor the Program Editing Window is first used to input your program commands line by line When you input try and type in everything correctly however don t worry too much if you make errors these will be picked up later by the syntax checker We also recommend you don t type in your whole program right away Try a few statements at first download it and run to see that everything is going according to plan By breaking things up into separate application units the overall project becomes much easier to manage and with one section running correctly you can confidently move on to the next section Compiling and Building the Program After your program has been entered into the innoBASIC Workshop it must be converted into what is known as machine language before being downloaded into the BASIC Commander This process of conversion to machine language is known as Compiling however before conversion it will first check the program contents for errors If errors such as wrongly typed instructions are entered the sy
82. fer to Chapter 5 for further detailed explanation Example Refer to Chapter 5 for further detailed examples Chapter 6 Command Set 99 100 Chapter 6 Command Set DWORD2FLOAT Syntax Result DWORD2FLOAT Argument Operation To convert a DWord value into its floating point format e Argument the DWord operand of the LONG2FLOAT function Result a floating point variable that receives the result of the DWORD2FLOAT function Command Description The DWORD2FLOAT command converts a DWord value into its floating point format The floating point result will be an integral value ranging from 0 to 4294967295 Due to the single precision floating point employed a DWord variable may not be represented precisely The nearest integral floating point value will be returned instead When using this command in your application program care must therefore be taken You can tell whether a DWord value can be represented precisely by examining the number of bits in its binary format Excluding the leading and trailing O s of its binary format if the number of remaining bits is greater than 24 then it cannot be precisely represented Example Due to the single precision floating point employed the value 4294967295 cannot be represented precisely The nearest value 4294967296 will be returned instead Chapter 6 Command Set Sub Main Dim MyDWord As DWord Dim MyFloat As Float MyDWord 4294967295 MyFloat DWORD2FLOAT
83. fer to the HIGH command for other related information Example Refer to the HIGH command for usage 200 Chapter 6 Command Set UCASE Syntax UCASE TargetString Operation Changes the specified string to upper case letters e TargetString the string to be converted Command Description The UCASE command changes the specified string to upper case letters Example Refer to the LCASE command for usage 201 Chapter 6 Command Set WORD2FLOAT Syntax Result WORD2FLOAT Argument Operation To convert a Word value into its floating point format e Argument the Word operand of the WORD2FLOAT function e Result a floating point variable that receives the result of the WORD2FLOAT function Description The WORD2FLOAT command converts a Word value into its floating point format The floating point result will be an integral value ranging from 0 0 to 65535 0 Example Sub Main Dim MyWord As Word Dim MyFloat As Float MyWord 0 MyFloat WORD2FLOAT MyWord Debug MyWord MyWord MyFloat MyFloat CR MyWord 65535 MyFloat WORD2FLOAT MyWord Debug MyWord MyWord MyFloat MyFloat CR End Sub 202 Chapter 6 Command Set WRITEPORT Syntax WRITEPORT Port Data If the port number is a constant you may also use one of the following format types instead WRITEPORTO Data WRITEPORT1 Data WRITEPORT2 Data Operation To write data to the specified I O port wit
84. fore the loop limit test is executed Statement Block No Ye S Statement Block DO LOOP WHILE DO WHILE LOOP Figure 5 3a DO LOOP Statements Flow Diagram Chapter 5 InnoBASIC Programming Language Statement Block Yes No Statement Block DO LOOP UNTIL DO UNTIL LOOP Figure 5 3b DO LOOP Statements Flow Diagram The following example demonstrates this behaviour Sub Main Dim x As Short x l Do While x lt 5 Debug x 1 display 4 asterisks Loop Debug CR 53 54 Chapter 5 InnoBASIC Programming Language Do Debug x 1 display 4 asterisks Loop While x lt 5 Debug CR x 5 Do Until x 0 Debug x 1 display 5 asterisks Loop Debug CR x 05 Do Debug x 1 display 5 asterisks Loop Until x 0 End Sub FOR NEXT Statements You can use a FOR NEXT statement to execute a block of codes when you know how many repetitions you want You can use a loop control variable that increases or decreases with each repetition of the loop A For statement specifies a loop control variable a start value an end value and an optional step value At the beginning of the loop the lower bound value is assigned to the control variable The statements enclosed by FOR NEXT are executed and then the program returns to the beginning of the loop while the loop control variable increases or decreases with the value in the STEP clause If the step value is omi
85. from 0 to 27 If the argument is out of the range it is recommended to reduce the argument to fit in the range otherwise an accumulated error will be introduced Note that the argument is in units of radians If converting to degrees note that 360 degrees is equal to 2 z radians Example Sub Main Dim myArg As Float Dim result As Float myArg pi 4 result cos myArg the result is 0 707107 Debug cos pi 4 result CR End Sub 85 86 Chapter 6 Command Set COUNT Syntax COUNT Pin Duration Variable Operation Counts up the number of edge transitions that appear on a particular pin within a specified time duration and places the value into the indicated variable e Pin a constant or variable 0 23 that specifies the pin number where the edge transitions will be counted For the 24 pin BASIC Commander the Pin value ranges from 0 15 e Duration a constant or variable 1 65535 that specifies the time duration within which the edge transitions will be counted The unit of Duration is 1 ms e Variable a variable of WORD type in which the count value will be stored Description This command counts up any edge transitions that appear on the pin specified and could be useful for counting up a number of external changing events Any pin used with the COUNT command will automatically be setup as an input upon execution The Duration specifies the time duration in unit of 1 ms Every high to low and low
86. ged to OV for State 0 You may use the rule of thumb formula to estimate at 178 Chapter 6 Command Set least how much time should be given for charging Charge time 5 X T For instance assuming the capacitor is 0 luF and the resistor is 220 ohm as depicted in the figure the charging time should be at least Charge time 5X 220 X0 1 X 10 0 11 ms Example The following program demonstrates how to use the RCTIME command to measure and display the resistance value of an externally connected potentiometer which is connected to Pin O via an RC circuit as shown above Sub Main Dim result As Word Dim resultf As Float Do High 0 Pause 1 CEM ET OI ESSE result f Word2float result result f resultf 183 10 Debug The potentiometer value KQ resultf CR Loop End Sub 179 180 Chapter 6 Command Set READPORT Syntax Result READPORT Port If the port number is a constant you may also use one of the following format types instead Result READPORTO Result READPORT1 Result READPORT2 Operation To read the specified I O port e Port a constant or variable 0 2 that specifies the port number Port 0 consists of pin PO P7 while Port 1 consists of pin P8 P15 and Port2 consists of pin P16 P23 For the 24 pin BASIC Commander the Port value is 0 or 1 e Result a Byte variable to receive the external logic level on Port Description The READPORT command is used to read digital signals f
87. ghlighting of problem areas and to get your program up and running in as short a time as possible The debugging of programs seen by some as the real fun part of project development is invariably an invaluable learning opportunity and is in fact the area where you will learn the most about microcontroller systems Patience and clear thinking during this stage will be well spent and lead to worthwhile experience for future and more complex projects Menus and Commands This is the core of the innoBASIC Workshop and the place where a greater part of your development work will be done With a format very similar to that of other Windows based programs most users should be well acquainted with their style The innoBASIC Workshop window is subdivided into several sections which you should become familiar with to get the best use out of the system File Menu This is virtually identical to most other Windows based programs with the usual Open Close Save Print functions etc A useful feature is the list of recently opened files allowing easy and rapid selection 21 22 Chapter 3 InnoBASIC Workshop Edit Menu With the usual Windows Cut Copy Paste Find and Replace functions are also the Redo and Undo function to allow easy recovery of typed errors There are some additional functions in this menu however that requires further explanation Comment Selection This useful command enables users to easily with a few clicks
88. h The unit of measurement is 5 us Description The PULSEOUT command will generate a pulse of user specified width on a specified pin The type of pulse is dependent upon the high low status of the pin that the pulse is to be generated on If the pin is in a low state when the PULSEOUT command is executed then a high pulse will be generated and if the pin is in a high state then a low pulse will be generated Example The following program shows how to use the PULSEOUT command to drive a servo The servo position is usually controlled by a 0 5 ms to 2 5 ms high pulse within each 20 ms period In this program we set two positions of 1 ms and 2 ms The servo will rotate back and forth every 4 seconds Connect the power and ground to the servo power and ground lines and PO to the servo control line 169 Chapter 6 Command Set Sub Main Dim b As Byte Low 0 initialize Pin 0 to low to have a high pulse Do For b 0 To 100 2 seconds servo rotation PULSEOUT 0 200 move to position of lms pulse width Pause 19 constitute a 20 ms cycle Next For b 0 To 100 2 seconds servo rotation PULSEOUT 0 400 move to position of 2ms pulse width Pause 18 constitute a 20 ms cycle Next Loop End Sub 170 Chapter 6 Command Set PWM Syntax PWM Pin Duty Cycles Operation This command will generate an output in pulse width modulation format e Pin a constant or variable 0 23 that specifies the pin where the pulse width modulation
89. he decimal part of the number will be rounded If the value exceeds the DWord value range a value of 0 or 4294967295 will be assigned Example Sub Main Dim MyFloat As Float Dim MyDword As Dword MyFloat 2 4 MyDword FLOAT2DWORD MyFloat She result a Debug FLOAT2DWORD of 2 4 MyDword CR MyFloat 2 5 MyDword FLOAT2DWORD MyFloat the result is 3 Debug FLOAT2DWORD of 2 5 MyDword CR MyFloat MyDword Debug FLOAT MyFloat 4 MyDword FLOAT2DWORD MyFloat FLOAT2DWORD MyFloat Chapter 6 Command Set LSO the result is 0 PZDYNORID oie HO g Vp MyuDijercel Cia TES the result is 4294967295 Debug FLOAT End Sub PZ DWORDIN Oa Ar SHON MyDword CR 111 112 Chapter 6 Command Set FLOAT2INTEGER Syntax Result FLOAT2INTEGER Argument Operation To convert a floating point value into an integer e Argument the floating point operand of the FLOAT2INTEGER function e Result an integer variable that receives the result of the FLOAT2INTEGER function Description The FLOAT2INTEGER command converts a floating point value into an integer The decimal part of the number will be rounded If the value exceeds the integer value range a value of 32767 or 32768 will be assigned Example Sub Maint Dim MyFloat As Float Dim MyInteger As Integer MyInteger 22 Debug MyInteger MyInteger CR MyFloat 2 4 MyInteger FLOAT2INTEGER My
90. heavier loads such as light bulbs or relays which draw much more current than LEDs will require a transistor switch to be connected to the output terminal Some simple circuits to implement this are shown below Vdd Vdd RLY1 R2 Q2 D1 Pin gt ES RLY2 D2 R1 Pin at SS Figure 6 5 Using transistors to drive heavier loads It is important to check the relay manufacturer s datasheet to determine the relay coil current requirements and to ensure that the transistor can handle this current 132 Example Chapter 6 Command Set For the LED circuit shown above the following program will cause the LED connected to Pin 0 to flash at a fixed rate of 1 Hz Sub Main Do HIGH 0 Pause 500 LOW 0 Pause 500 TOGGLE 0 Pause 500 TOGGLE 0 Pause 500 Loop End Sub LED BOR LED IS LED 043 LED O5 on second del oft second del on second del OL second del ay ay ay ay 133 Chapter 6 Command Set IF THEN ELSE Syntax Two forms of IF THEN ELSE commands are available namely block and line version of IF THEN ELSE commands Line Version IF Condition THEN Statements ELSE Statements Block Version IF Condition THEN Statements ELSEIF Condition THEN Statements ELSE Statements END IF Operation The IF THEN ELSE command executes commands based on expression evaluation e Condition an expression of condition s that can be evalu
91. hout changing the direction settings e Port a constant or variable 0 2 that specifies the port number Port 0 consists of Pins PO P7 while Port 1 consists of Pins P8 P15 and Port 2 consists of Pins P16 P23 For the 24 pin BASIC Commander the Port value is 0 or 1 e Data a constant or variable which specifies the data to be written to the specified Port Description The WRITEPORT command is used to write digital signals to the I O port Unlike the OUT command for which the I O mode of the pin will be changed to the output mode automatically for the WRITEPORT command there are 8 pins involved and each pin may be set to either input or output mode You have to configure each bit explicitly Data O will set the corresponding pin to a low state and 1 to a high state For pins which with smaller index are of the lower bit order of a data byte For those pins that are setup in the input mode writing data to these pins will not affect the I O pins If these pins are reconfigured to the output mode at a later time the previous output data stored in the buffer will then take effect 203 Chapter 6 Command Set Example Refer to the READPORT command for usage 204 Appendix Appendix Appendix 206 Appendix A Appendix A ASCII Table The following table lists the first 128 ASCII characters Note that the first 32 codes are control codes They don t have standardized screen symbols Their symbols are represe
92. ich mean they are visible only inside the variables which can be seen only inside the procedure where they are declared On the contrary if DIM is used outside of all procedures the variables are global which means they are visible throughout the entire program Note that if the variables are declared as global their initial value cannot be assigned when declared they must be given in the program If they are declared as local variables they don t have such constraints Variable Type Chapter 5 InnoBASIC Programming Language Description BOOLEAN Variable commonly used as a status flag or Boolean result When declared as local variable 1 Byte is used when declared as global variable 1 Bit is used BYTE Unsigned variable for values 0 255 SHORT Signed variable for values 128 127 WORD Unsigned variable for values 0 65535 INTEGER Signed variable for values 32768 32767 DWORD Unsigned variable for values 0 4294967295 LONG Signed variable for values 2147483648 2147483647 FLOAT Floating point variable for value 3 4E 38 3 4E 38 STRING A sequence of zeros or more ASCII code characters enclosed by the ASCII double quote character at the beginning and end The size N of the string is assigned by the user and is limited by the available RAM size In a string a double quote character should be expressed in 2 double quote characters PERSISTENTBYTE PER
93. in Dim KeyID As Byte Dim Status As Byte Do Status myKeypad GetKeyID KeyID read key If Status gt 0 Then myLCD Display KeyID if not pressed 0 is read Loop End Sub Additional modules as well as discrete components can be added to the breadboard to develop your own project in your own unique way The possibilities here are only limited by your own creativity and imagination 63 64 Chapter 5 InnoBASIC Programming Language Chapter 6 Command Set Command Set Introduction In this section you can find the reference material giving full technical details on the innoBASIC programming language The individual commands can be located by using their alphabetical listings Types of Commands Basically there are two kinds of commands that you can write in your program known as conventional BASIC language commands and the featured system commands For the conventional BASIC language commands section our unique featured commands are added which integrates the peripheral hardware modules perfectly seamlessly into the conventional BASIC language For the system commands section the featured commands are provided and because they are not common to the conventional BASIC language they differ from one BASIC language to another In consideration of experienced users featured commands from other popular BASIC languages are supported however minor changes may have been made due to different system considerations Unless
94. in Dim Index As Byte Dim Sum As Byte Sum 0 For Index 1 To 10 Step 1 Sum Index Next Debug 1 2 10 sum End Sub A loop control variable cannot be used by another enclosing FOR NEXT statement A FOR statement must be closed by a matching NEXT statement A NEXT statement always matches the innermost open FOR statement Usually you may omit the loop control variable except for program reading clarity However if you add a loop control variable which does not match the innermost open FOR statement a compile time error results You can exit a FOR NEXT statement with the EXIT FOR keyword but it is not recommended to branch into a FOR LOOP from outside the loop which may result in loop control errors Chapter 5 InnoBASIC Programming Language GOTO Statements The GOTO command will force the program to jump to a user specified location This location is given by the label name which follows the GOTO command The statement following the GOTO command will not be executed The next command after the GOTO command to be executed will be the one at the label as specified The GOTO command is therefore used to give the user a direct means of program control Invocation Statements An invocation statement invokes a SUB or FUNCTION preceded by the optional keyword CALL The program execution is passed to the SUB or FUNCTION procedure and the program execution is returned to the statement following the invocation statemen
95. in Usually a pin must be changed in advance to input mode However as only one pin is involved in the IN operation the pin will be changed to the input mode automatically by the system It is not necessary for the user to change the mode manually to an input pin before executing this instruction Note that after power on all the I O pins will be in an input mode Example The following example shows how to use IN command to read an external logic level 136 Chapter 6 Command Set Vdd 4 7 KQ PO F Figure 6 6 Reading an external logic input status from PO Sub Main Do Wait If IN 0 1 Then Pause 10 Goto Wait Else Debug Button is pressed CR Release If IN 0 0 Then Goto Release Debug Button is released CR End If Loop End Sub 137 138 Chapter 6 Command Set INPUT Syntax INPUT Pin Operation Configures the specified Pin to the input mode e Pin a constant or variable 0 23 that specifies which pin will be set to the input mode For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description If you would like to read a digital signal from the outside world then first the pin on which the data is to be read should have been changed to an input mode beforehand Due to the simplicity of the pin related input output commands the mode change implementation is automatically carried out by the system The user need only simply use the input output commands without worrying abo
96. in scientific format optional n stands for width of column and m stands for the number of valid digit s from 1 to 5 If the given n value is smaller than the actual digits the width will be automatically expanded to fit the actual number width Optional L and R stands for left or right alignment If Lor R is omitted the default is aligned left REAL n m L R Same as FLOAT n m L R mentioned above except that the floating point number is displayed in real number format REP n Displays the const or variable repeatedly n times If optional n is not given a default 1 is assigned Therefore in the case of the above example the DEBUG command could be modified to display the variable in binary format as follows Debug The value for iis BIN i 92 Chapter 6 Command Set The Debug command requires a certain amount of time for communication between the BASIC Commander and the PC through the USB interface For this reason in time sensitive applications precautions should be taken to avoid using the Debug command within any program time critical path When using the Debug command in the development stage during debugging there might be a timing difference when the Debug command is later removed for formal operation Example Sub main Dim X As Byte 100 Debug X shows X 100 with carriage return Debug Column 10 aligned to the left DEC1OL X CR Debug Column 10 aligned to the right SD
97. indow When your program is compiled or downloaded the various steps that the system goes through and the status of the system are shown within this window Any errors occurring during compilation or downloading will be displayed here Function View Window This area basically shows the list of functions or subroutines within the main program giving a kind of index to the overall program Rather than searching through what could be a long program this window area displays the main subroutines within the program By clicking on the name of the subroutine in the Function View Window the cursor will automatically jump to the subroutine location in the program Terminal Window The result of the execution of any DEBUG or DEBUGIN command will be displayed in this area This is the place where the BASIC Commander communicates with the user or where the user sends data to the BASIC Commander In the Terminal Window you will see three function icons Start Stop and Clear The Clear function is used to clear the Terminal Window screen only and has no effect on the BASIC Commander or program operation The Debug Start will execute a reset to the BASIC Commander and cause the program to run again from the first instruction 17 Chapter 3 InnoBASIC Workshop The Stop function will cease the communication process between the BASIC Commander and Terminal which are implemented with the DEBUG or DEBUGIN commands Some of these window
98. instead Sub Main Starte Debug Tick CR Pause 1000 COLO GEEAE End Sub 130 Chapter 6 Command Set HIGH Syntax HIGH Pin Operation Sets the specified pin to a logic high level e Pin a constant or variable 0 23 that specifies the pin that the high level is to be applied to For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description This command will set the specified pin to a high level of around 5 volts Usually a pin must be previously changed in advance to input or output mode before executing the corresponding input or output operations However as only one pin is involved in the HIGH operation the pin will be changed to the output mode automatically by the system It is not necessary for the user to change the mode manually to an output pin before executing this instruction The following shows a simple circuit to illuminate a small LED using the HIGH and LOW command When the HIGH command is executed on the pin as shown the LED will be turned off and turned on when LOW command is executed Each I O pin has a typical sink current capacity of around 20 mA and a source capacity of around 10mA which means the device is able to consume more power when the pin is low 131 Chapter 6 Command Set Pin Vdd LED1 LED1 AG a A E R1 R1 680 ohm 680 ohm RZ Pin O Figure 6 4 Illuminating a small LED using HIGH and LOW commands Note that as the pins have current drive limitations driving
99. ld MENU io rr a a A awa Fae 23 Compilar to A ta pe 23 Build A RO a a R 24 TOO MEN ico a dd ea 24 FONTS SONO iii td EM A A Gee tae he E EAS lia 24 Print Fonts Senin y Eat a A ed 24 Preferences gt sesa a a diia e tds 24 Window Men cia A A Aid 25 Help Men cisco us a we adie a Dale 26 Chapter 4 Hardware Description ooocccoocrrrrnrrn ro 27 INtrOUCtON o a a sinates Hor gta da e as Aca A bent a 27 BASIC Commander Module o oococoooccc tte 27 BASIC Commander Pinout 00 00 cts 28 Education Board 0 fea a Se be pe ed bare de 30 Power Supply 4 2 hohodivbdw ih tba Mead yd Pick Bhd we ded bE eel 31 Peripheral Modules xico rr Oboe See ee hee bee yarn a amp A 33 Handling Precautions 0 2 0 tenn E ee 35 Chapter 5 InnoBASIC Programming Language 200 eee eee eee eee 37 INTFOGUCTION ene a dee Mates Sees Sela tele ISA se oh ate E TEE 37 Statements sse AN de iad eas 37 COmMMeENIS uie ae aa a a ee ha taal Wade aera tee Saeed a 38 Identitiers date ot tt fatale cata ease ed cds Mild de ek ade eM Allies 39 Contents KEY WOrdS eet 5 ota aie ehh A et cscs Sean eee Ala dos 39 HAD SIS e353 E O ace Laced leew Gen edo Go les Mia ee aed 39 Constants Variables and Data Types 0 0 cece ete ee 39 Type Conversions aeia ear i a dee ees tile dy Sat ed Ea etl 42 C Lee RP AT RDA A Pe er 42 Boolean Literals a ssicaectse iene Date anit ie tale A iia 42 Integral Literals 2 2
100. le e Argument the floating point operand of the FLOAT2SHORT function e Result a SHORT variable that receives the result of the FLOAT2INTEGER function Description The FLOAT2SHORT command converts a floating point value into a SHORT The decimal part of the number will be rounded If the value exceeds the SHORT value range a value of 127 or 128 will be assigned Example Sub Main Dim MyFloat As Float Dim MyShort As Short MyFloat 2 4 MyShort FLOAT2SHORT MyFloat the result is 2 Debug ELORT2SHORT of 2 4 4 MyShort ER MyFloat 2 5 MyShort FLOAT2SHORT MyFloat the result is 3 Debug FPLOATZSHORT Of 2 9 2 Myshort CR 117 Chapter 6 Command Set MyFloat 1 0 MyShort FLOAT2SHORT MyFloat oe yee res en ees Debug FLOAT2SHORT of 1 0 MyShort CR MyFloat 128 0 MyShort FLOAT2SHORT MyFloat the result is 127 Debug FLOAT2SHORT of 128 MyShort CR MyP lost 129 0 MyShort FLOAT2SHORT MyFloat the result is 128 Debug PLOATZ SHORT cf 170 ET MySshort Ch End Sub Chapter 6 Command Set FLOAT2STRING Syntax FLOAT2STRING Argument StringVar Operation To convert a floating point value into an ASCII character string in floating point format e Argument the floating point operand of the FLOAT2STRING function e StringVar a string variable that receives the result of the conversion Description The FLOAT2STRING command converts a f
101. le it is not required to write with formatted capitals bold or italic letters Categories All the commands available in InnoBASIC language can be categorized into three kinds Firstly the fundamental commands which constitute the scheme of every program including declaration flow control decision making etc Secondly the I O commands which use the BASIC Commander on board I O pins for various Chapter 6 Command Set functions including basic I O operation counter pulse measurement communications and other featured commands Lastly are some mathematical and conversion operation commands The following table shows the various commands in their respective categories Fundamental Commands CALL DIM DO LOOP ENUM END ENUM EVENT END EVENT FOR NEXT FUNCTION END FUNCTION GOTO IF THEN ELSE PERIPHERAL RETURN SELECT CASE SUB END SUB 67 68 Chapter 6 Command Set 1 0 Commands BUTTON CHECKMODULE COUNT DEBUG DEBUGIN GETDIRPORT HIGH IN INPUT LCDCMD LCDIN LCDOUT LOW OUTPUT PAUSE PULSEIN PULESOUT PWM RANDOM RCTIME READPORT RESETMODULE REVERSE SETDIRPORT TOGGLE WRITEPORT Chapter 6 Command Set Mathematical and Conversion Commands ABS FLOOR ACOS INTEGER2FLOAT ASIN LCASE
102. llowing the on screen instructions where you will see the usual installation screens for USB hardware installation the hardware drivers should be successfully installed Producing Your First Program With the hardware and software successfully installed we are now ready to do something with the system in other words to write our first program The following steps should enable you to do this 1 Open a new file using the File New menu command or by selecting the New Icon You will now see a blank area appear on the screen where the cursor will be flashing This is the area where the program can now be written You will also see the name Untitlel appear which is the name the system will assign to your new file Of course it can be changed to your own selected name but more about this later 10 Chapter 2 Installation and Getting Started 2 In this blank editing area enter the instructions shown below Don t be too concerned at this stage about what the instructions mean this information can be picked up at a later stage however it is important to copy the instructions exactly Sub Main Dam s As Strang 10 Debugin Please enter your name s CR Debug s Welcome to the Innovati World End Sub 5 inno Workshop Untitlel File Edit View Build Tools Window Help Doe ag cc 41a 2 N E a a E s pp as oa y A File View Window ax Untitlel x 1 Sub main Gy imoBA
103. loating point value into an ASCII character string in floating point format which is composed of a sign character a 5 digit mantissa with radix point an exponent sign character E the exponent sign character and 2 digit exponent For example 3 1416E 01 Example Sub Main Dim MyFloat As Float Dim MyString As String 13 MyFloat 0 31416 FLOAT2STRING MyFloat MyString Debug FLOAT2STRING of 0 31416 MyString CR End Sub Chapter 6 Command Set FLOAT2WORD Syntax Result FLOAT2WORD Argument Operation To convert a floating point value into a Word e Argument the floating point operand of the FLOAT2WORD function e Result a Word variable that receives the result of the FLOAT2WORD function Description The FLOAT2WORD command converts a floating point value into a Word The decimal part of the number will be rounded If the value exceeds the Word value range a value of 0 or 65535 will be assigned Example Sub Main Dim MyFloat As Float Dim MyWord As Word MyFloat 2 4 MyWord FLOAT2WORD MyFloat the result is 2 Debug FLOAT2WORD of 2 4 MyWord CR MyFloat 2 5 MyWord FLOAT2WORD MyFloat dns sssv ls als 8 Debug FLOAT2WORD of 2 5 MyWord CR 120 Chapter 6 Command Set MyFloat 1 0 MyWord FLOAT2WORD MyFloat the result is 0 Debug FLOAT2WORD of 1 0 MyWord CR MyFloat 65536 0 MyWord FLOAT2WORD MyFloat the result is 65535 Debug FLOAT2WORD of 65
104. mand is used to declare a peripheral module by giving it a unique module name and a TypeName to specify what kind of module it is The ID is a unique address through which all the modules attached to the cmdBUS can be addressed individually The TypeNname belongs to an ever growing list of Innovati developed modules where all newly developed modules will be assigned a new type name The Peripheral Module should be declared outside of all procedures In other words the Peripheral Modules act like a global variable and can therefore be recognized from any place within the whole program Not like other commands the Peripheral command is associated with the Peripheral Module Hardware The documents accompanying the module hardware will supply the module type name and associated dedicated functions will be provided Note that more than one identical module can be connected to the cmdBUS if required as long as they are assigned with different IDs Chapter 6 Command Set Example The following program demonstrates how to declare and give commands to the peripheral modules Peripheral myLCD As LCD2x16a 0 a 2x16 LCD module with ID 0 Sub Main myLCD Display Hi There End Sub 165 166 Chapter 6 Command Set PULSEIN Syntax PULSEIN Pin State Variable Operation This command will measure the pulse width of a pulse that appears on the specified pin e Pin a constant or variable 0 23 that specifies the pin
105. me of the EVENT that is supported by the Module Users should check the relevant document for the event available Note that the EVENT procedure has the highest priority when the program is executing Therefore when the EVENT procedure is being executed no other tasks can be executed a situation that will remain in place until the EVENT procedure has 61 Chapter 5 InnoBASIC Programming Language ended For this reason not to remain in the EVENT procedure is a good habit to cultivate in program management For the EVENT procedure parameter passing and value returning are not permitted which can be seen from the SUB and or FUNCTION Event MyKeypad KeypressedEvent Dim KeyID as Byte MyKeypad GetKey KeyID To get the Key ID Debug Key KeyID is Pressed CR To display End Event Sample Project Using the Peripheral Modules Illustrated here is a simple program which makes use of the Peripheral Modules With just a few lines of program and in a very short space of time you can be up and running for both hardware and software Working on this example by yourself you will quickly see the power of the overall system and hopefully be impressed by its capabilities and efficiency Figure 5 5 Using the LCD2X16A and KEYPADA Peripheral Modules Chapter 5 InnoBASIC Programming Language Peripheral myLCD As LCD2X16A 0 set ID switch to 00000 binary Peripheral myKeypad As KEYPADA 1 set ID switch to 00001 binary Sub Ma
106. mmand Set DEBUG Syntax DEBUG Item Item Operation The DEBUG command allows the BASIC Commander to communicate with the user by displaying a message a control code or a numeric value on the Debug Window within the innoBASIC Workshop e Item a message a control code or a variable to be displayed on the Debug Window If there is more than one item they should be separated by a comma Description Some means has to be provided for the BASIC Commander to communicate and talk to the user and the method of doing this is via the Debug Window in the innoBASIC Workshop This is done by inserting the DEBUG commands into the program Debugging programs is an essential part of any application development as it is very rare to get things right the first time when programming Therefore by placing DEBUG commands into a program you will know exactly where you are in the program and what the contents are of variables in question For example DEBUG This is the wrong path and the variable I is i This command could be placed at an unexpected path in the program and when it is branched to and executed will show the related variable i which can help with the diagnosis of malfunctions 89 90 Chapter 6 Command Set Control Code In addition to debugging purposes the DEBUG command is very useful as an interactive human machine interface To assist in this matter and to provide a more user friendly console display ad
107. nction Example Sub Main Dim Result As Float Result LOG10 10 0 Debug LOG10 of 10 0 is Result CR Result LOG10 100 0 Debug LOG10 of 100 0 is Result CR End Sub Chapter 6 Command Set LONG2FLOAT Syntax Result LONG2FLOAT Argument Operation To convert a Long value into its floating point format e Argument the Long operand of the LONG2FLOAT function e Result a floating point variable that receives the result of the LONG2FLOAT function Description The LONG2FLOAT command converts a Long value into its floating point format The floating point result will be an integral value ranging from 2147483647 to 2147483648 Due to the single precision floating point employed a LONG variable may not be represented precisely The nearest integral floating point value will be returned instead When using this command in your application program care must therefore be taken You can tell whether a LONG value can be represented precisely by examining the number of bits in its binary format Excluding the leading and trailing 0 s of its binary format if the number of remaining bits is greater than 24 then it cannot be precisely represented Example Due to the single precision floating point employed the value of 2147483647 cannot be represented precisely The nearest value 2147483648 will be returned instead 157 Chapter 6 Command Set Sub Main Dim MyLong As Long Dim MyFloat As Float My
108. nearest integer floating point value that is not smaller than the floating point argument value Usually this is used to round a floating point value into an integer Another pairing function is the FLOOR function which returns the nearest integer floating point value that is not greater than the floating point argument value Example Sub Main Dim Result As Float Result CEIL 2 3 the result is 3 0 Debug Chile ot Zo us y result UR Result CEIL 2 3 das este ts 2 0 Debug CPE GE us y PESE OR End Sub Chapter 6 Command Set CHECKMODULE Syntax Status CHECKMODULE Operation To check the Peripheral Module through the cmdBUS status e Status a variable to receive the status If the Peripheral Module communication is normal 0 is returned If the Peripheral Module does not respond within the required period of time Value 1 is returned If the cmdBUS fails to execute its protocol Value 2 is returned Description If peripheral Modules are used in the application to enhance system operation reliability users may use this command to monitor the Peripheral Modules as well as the cmdBUS status for malfunctions This might be due to unpredictable interference from the environment either electrically or electromagnetically If the Peripheral Module communication is normal a value of 0 is returned If the Peripheral Module does not respond within the required period of time a value of is return
109. ng point operand of the inverse sine function with a range from 1 to 1 e Result a floating point variable to receive the result of the inverse cosine function The result ranges from 7 to O radians Description The ACOS function returns the inverse cosine arccosine value of a floating point argument ranging from 1 to 1 The result is in units of radians ranging from 7 to 0 If converting to degrees note that 360 degrees is equal to 2 7 radians Example Sub Main Dim Result As Float Result ACOS 0 5 the Result is 1 0472 Debug ACOS 10 5 y Result in treacians CR End Sub Chapter 6 Command Set ASIN Syntax Result ASIN Argument Operation To execute a mathematical inverse sine function e Argument the floating point operand of the inverse sine function with a range from 1 to 1 e Result a floating point variable to receive the result of the inverse sine function The result ranges from z 2 to z 2 radians Description The ASIN function returns the inverse sine arcsine value of a floating point argument ranging from 1 to 1 The result is in units of radians ranging from 7 2 to 7 2 If converting to degrees note that 360 degrees is equal to 2 z radians Example Sub Main Dim Result As Float Result ASIN 0 5 the Result is 0 52360 Debug ASIN 0 5 Result in radians CR End Sub 73 74 Chapter 5 InnoBASIC Programming Language ATAN Syntax Resul
110. nstruction manual and software driver for installation Chapter 4 Hardware Description Handling Precautions When handling the BASIC Commander it is important to take the proper anti static precautions This of course applies to most other ICs which can be damaged by the static charge built up in certain environments such as those of low humidity or between certain materials The BASIC Commander is supplied in anti static packaging which should be used for transportation or storage Also ensure that you are working in a grounded area when developing your project which will eliminate the building up of any damaging stray charge The best method is by using a grounded mat and grounded straps such as seen in professional electronic assembly areas otherwise if this is not possible then ensuring that you are personally grounded perhaps by touching some grounded object before handling the BASIC Commander would do much to protect from anti static damage When the BASIC Commander is connected to your PC via the USB cable or after it is inserted into your actual project s hardware and is part of an overall working circuit then anti static issues should not be a problem 35 36 Chapter 4 Hardware Description Chapter 5 InnoBASIC Programming Language InnoBASIC Programming Language Introduction The innoBASIC is a high level programming language for Innovati s BASIC Commander system Although it is designed to be an e
111. nted with names used in referring to these codes For example to move the cursor to the beginning of the next line the LF Line Feed and CR Carriage Return control codes are used Name Function Null Start of Heading Start of Text End of Text End of Transmission Enquiry Acknowledge Bell Backspace DWI NIDA R wlMm o S O0 0o0 a o jo Horizontal Tab Line Feed Vertical Tab Form Feed x Carriage Return Shift out Shift In Data Link Escape Device Control 1 fofojols 3 Device Control 2 Device Control 3 in Device Control 4 Negative Acknowledge Synchronous Idle End of Trans Block Cancel End of Medium Substitute Escape Ojo 3jD N BAlO N a O File Separator Group Separator A B c D E F G H l J K L M N O P Q R S T U v w x Y Z A te Jolin I lt x f lt fe Record Separator Unit Separator 207 Appendix A 208 Appendix B Appendix B InnoBASIC Keywords The following table lists all the keywords reserved in the innoBASIC language ABS ACOS AND AS ASIN ATAN ATAN2 BELL BKSP BOOLEAN BUTTON BYREF BYTE BYTE2FLOAT BYVAL CALL CASE CEIL CHECKMODULE CLREOL CLREOS CLS CONST CONTINUE COS COUNT CSRD CSRL
112. nter e EndValue a constant or variable which defines the end value of Counter If the value of the Counter exceeds this value then when a NEXT command is encountered the program will leave the FOR NEXT loop and execute the command following the NEXT command e StepValue a constant or variable which defines the amount by which Index is increased each time the loop is run If the STEP command is not used a default step Value 1 will be employed e Statements optional legal statements including the optional EXIT FOR or CONTINUE command s Description The FOR and NEXT commands will establish a repeatable loop with any number of statements placed within the loop body Each time the NEXT command is encountered the program returns to the FOR command The first time the FOR command is encountered the variable Index will be loaded with StartValue and for the following iterations Index is incremented by the StepValue If the new value of Index does not exceed EndValue the loop body will be executed again otherwise the 123 Chapter 6 Command Set program will proceed to the consequent statement after the NEXT command Other loops can be nested within a FOR NEXT loop with the maximum number of nestings limited by the program space The statements may contain the optional EXIT FOR or CONTINUE command The EXIT FOR command may be placed in the loop body which exits the current loop immediately before the loop limit test is execut
113. of a string e Length a const or variable that specifies the length of the string to be copied Description The MID command remains the middle Length letters starting from Start position of the specified string If Start is greater than the number of characters in the target string the string will become a null string If the specified length is longer than the remaining size of the target string counting from position Start the extra length will be ignored Example Refer to the LEFT command for usage 160 Chapter 6 Command Set OUTPUT Syntax OUTPUT Pin Operation Configures the specified Pin to the output mode e Pin a constant or variable 0 23 that specifies which pin will be set to the output mode For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description If you want to send a digital signal to the outside world the pin that is used to send the signal should be changed to an output mode beforehand Due to the simplicity of the pin related input output command the mode change is executed automatically by the system The user need only simply use the input output commands without being concerned about the direction of the pins in question However this OUTPUT command is still provided and note that if you use the OUTPUT command to change a pin from an input mode to an output mode the last write for the high low state will ensure that there is no electrical conflicts on the pin that may cause
114. ommander check the drawing on the board for correct direction and alignment 30 Chapter 4 Hardware Description Take exceptional care to ensure that the BASIC Commander is inserted correctly into the Education Board socket otherwise irreparable damage may occur Only insert the BASIC Commander with the power off and double check for correct insertion before applying power Power Supply The power supply can come from one of three sources First it can come from the USB port where the power is denoted as VCC which you can find by the pin header next to the breadboard However if the power is supplied through the USB port directly a maximum of 500 mA can be drawn from the USB Port after they are configured by the host system software but must not draw more than 100mA until they are configured Therefore for more power consumptive applications power should be supplied externally When the VCC from the USB port appears an LED indicator next to the BASIC Commander socket will illuminate Secondly power can be sourced from an external power supply connected to pin VIN which may come from a direct power input to the white 2 pin connector or from a power adapter with a rating of 6 12VDC with central positive or a 9V Battery connected to the battery snap connector No matter which external power resource is used it is regulated to 5 Volts and denoted as VDD The maximum rating current supplied by the regulated VDD is 1 Amp
115. onds PWM 0 duty 44 Next b End If Eoromstare End Sub 173 174 Chapter 6 Command Set RANDOM Syntax RANDOM Variable Operation This command will generate a random number e Variable the generated random number will be placed in this previously defined variable Description This command will generate pseudo random number and place it in the defined variable Pseudo random means that the number is not strictly random as a sequence will be formed which will repeat itself after a period of time However this method of random number generation is usually suitable for most application purposes To generate a true random number some other externally controlled event must be factored into the number generation The random number sequence will also depend upon the initial number chosen to initiate generation This can be controlled by setting up an initial value for the variable This value will then be taken as the basis for the random number generation This is known as the random number generation seed value Example The following program demonstrates how to combine an external push button and RANDOM command to make your own lottery number generator Chapter 6 Command Set Vdd 10 KQ 2200 E PO CEM 6 PB Switch Vss Figure 6 14 Generating Random Numbers with Push Button amp RANDOM command Sub Main Dim Key As Byte Dim Seed As Dword 10 Dim X Y As Byte Dim Temp As Dword Dim NumArray 5 As Dword
116. onduct experiments under parental or adult supervision Errata We hope that our users will find this manual a useful easy to use and interesting publication as our efforts to do this have been considerable Additionally a substantial amount of effort has been put into this manual to ensure accuracy and complete and error free content however it is almost inevitable that certain errors may have remained undetected As Innovati will continue to improve the accuracy of its system manuals any detected errors will be published on its website If you find any errors in the manuals please contact us via email service innovati com tw For the most up to date information please visit our web site at http www innovati com tw Contents Contents Preface Sic A EE td ust ce at eae Ea E aa E ve Sue mente maar aN amp vii WelcOMeS ptas pias Stared donate are duce abate gent ibi E vii Microcontrollers Everywhere 0000 ccc eee tee tees viii Innovatie ApproaChi curan sce eS sons bowie PA See Reade ease hae edu ae a ix Chapter 1 System Overview 000 eee 1 Introductorio ridad ted bres iaa Pes 1 InnoBASIC Programming Language ocococccccc ec e eee tees 2 BASIC COMME erde rreg bose thie ad te hes 3 Peripherall Modules sitiar aes deal idan Ciel Peete ed 4 Education Board exonera a id kiaRe 4 de esti ada 5 How to Use this Reference Manual 0 00000 eee eee 6 Chapter 2 Installation and Getting Starte
117. ould be given when declared Character Literals There is no specialized data format for a character It is represented by a single ASCII code character To distinguish a character literal and a single character string a letter c postfix which means a character is required myChar H c stands for a single character H myString H stands for a string with one character H Array An array contains variables of the same type with the exception of bit Boolean string types or another array Each of them is accessed through indices and is called the elements of the array If an array has more than one index say two indices it is called a two dimensional array Note that when declaring the number s in the 43 44 Chapter 5 InnoBASIC Programming Language parenthesis denotes the maximum index number instead of the number of elements The index starts from 0 The array can be initialized when declared as shown in the following example Dim myarray 5 As Short 1 2 3 4 5 6 The following example shows how to use an array to make a 9 by 9 multiplication table Sub Main Dim m 8 8 As BYTE Dim I As BYTE Dim J As BYTE For I 0 to 8 For J 0 to 8 m 1 J 1 1 J 1 Debug mL Next J Debug CR Next I End Sub The Terminal Window will show a multiplication table Note that the size of a single array no matter its dimensions is limited to 100 elements Chapter 5 InnoBASIC Programming Language
118. presents the variable given as the argument in the invocation Modifications of a reference parameter directly and immediately impact the corresponding argument The following example Swap shows how the two reference parameters work Sub Swap ByRef a As Integer ByRef b As Integer Dim t As Integer a a b b t End Sub Sub Main Il pan Dim x As Integer Dim y As Integer 2 59 Chapter 5 InnoBASIC Programming Language lab losers x p a pp WS rv OR Swap x y Desce ates amp SB 5 WS 4 Wy CR End Sub The program output is Before x 1 y 2 After x 2 y 1 Peripheral Module Programming Features Peripheral Modules are one of the very special features of the Innovati system To employ the Peripheral Modules features several points associated with software programming should be understood Here is the section where the exclusive usages are introduced Declaration of Peripheral Modules Each type of Peripheral Module has its product name which is released with the products by Innovati Inc For instance the 2x16 LCD Module has the LCD2X16A product name Users can declare a module name as the LCD2X16A type along with the ID address that appears on the module in question The ID should be unique ranging from O to 31 for each Peripheral Module Note that this statement should be written outside of any SUB FUNCTION and EVENT procedure which makes it a global declaration Chapter
119. pter 6 Command Set EVENT END EVENT Syntax EVENT ModuleName EventName statements END EVENT Operation Declare an Event procedure e ModuleName the name of the module that the user declared which owns the event in question e EventName the name of the Event in question e Statements any valid innoBASIC statement Description The EVENT command declares a procedure which will be invoked by a peripheral module when a specified event occurs The parentheses cannot be omitted even although there is no argument applicable Note that when declaring the Event procedure the Event name is composed of two parts The first part is the module name and the second part is the event name The two names are connected with a dot The following example shows an event declaration and how to enable the Event function Chapter 6 Command Set Example Peripheral MyKeypad As KeypadA 0 Event MyKeypad KeyPressed Dim KeyID As Byte MyKeypad GetKeyID KeyID Debug Key KeyID is Pressed CR End Event Sub Main MyKeypad EnableKeypadEvent Enable the Event Debug Press Key Pad CR Do Loop End Sub Note that when the program is in the EVENT procedure other events will be blocked out until the EVENT procedure is completely executed It is highly recommended that as few statements as possible are implemented within an EVENT procedure and that as many handling statements as possible are implemented within
120. rom the outside world Unlike the IN command the I O mode of the pin will not be changed to the input mode automatically For the READPORT command there are eight pins involved and each pin may be set to the input or output mode You have to configure each bit explicitly For pins which with smaller index are of the lower bit order of a data byte Note that when the I O pins are configured in the input mode it is recommended that an external 10 KQ pull high resistor for each I O pin is connected Otherwise due to the high impedance floating state of these pins the I O pin could be randomly read as either a 1 or 0 which would not reflect the true condition of the digital signal on the pin Chapter 6 Command Set For those pins that are set in the output mode reading data from those pins will not read the actual status of the I O pin as only the data previously written to the output pin is read Example Connect the eight I O pins of Port 1 as inputs and the eight pins of Port 0 as outputs as shown below The push button status will be shown on the LEDs Vdd vad LED1 AF G PB Switch 2200 wite Pins of Port 1 R1 330 ohm 10 KQ Pins of Port 0 Vss Figure 6 16 Port 1 I O pins as inputs connected to Port O pins as outputs Sub Main Dim IOStatus as Byte SENDER ORI AAA set Port las input SETDIRPORTO B00000000 set Port 0 as output Do TOStatus READPORT1 WRITEPORTO IOStatus Loop End Sub 181 Chapter 6
121. s possess their own control icon which allows the window to be displayed or switched off Each icon has a simple toggle function click once to turn on the window and click again to turn off The same on off windows function are also available from within the View Menu innoWorkshop Example 1 inb File Edit Yiew Build Tools Window Help Deere ag Boo GSR M gh BL YE iE te t 2 Ae itt mi 1154 Ih Terminal ndo Function View Window Icon File View Window Icon Output Window Icon Figure 3 2 Workshop Window Control Icons Try pressing each of the window toggle icons in turn and you will see how each window can be displayed or hidden on the overall innoBASIC Workshop window You may prefer to work with all of the windows on as shown 18 Chapter 3 InnoBASIC Workshop Steps to Creating a Program For new beginners the creation of your first real program and application is perhaps a daunting prospect This is simply due to a series of unknowns which with an explanation on our part and a bit of effort on your part can quickly be dispelled From the moment you install your system to the time you finally get your program and application running there are certain steps which must be gone through to achieve the desired results If you have worked through the simple example provided you will have seen what these steps are now for more complex examples you will soon start to see those previous computing myst
122. se be disconnected from the PC and run independently within your project without the PC connection Figure 1 2a 24 pin BASIC Commander Figure 1 2b 32 pin BASIC Commander Chapter I System Overview As the BASIC Commander contains sensitive electronic components handling with care is required to eliminate damage due to electrostatic discharge often known by the abbreviation ESD When inserting into a socket or a breadboard ensure that the pins are in the right position otherwise damage to the BASIC Commander may occur The I O input voltage levels must not exceed their maximum rating of 6 0 Volts exceeding this level may also cause damage to the I O pins on the BASIC Commander itself Peripheral Modules The use of modules is one of the unique features of the Innovati system Comprising of modules such as those for I O expansion LCD display driving motor control GPS and so on these external plug and play modules give the user a means of easily expanding their systems to incorporate a host of complex and useful features The name Innovati Peripheral Modules is a collective name for an ever growing list of plug in modules Check Innovati s web site to find about the latest module developments Each Peripheral Module has its own product name which is not only used for product identification but also used during programming For example the LCD module has an identification name LCD2X16A Figure 1 3a LCD2X16A front
123. specified pin is no longer in State 0 or 1 If the pin is not in the state when the command executes RCTIME will return a 1 in Variable If the pin remains in State longer than 65535 timing cycles RCTIME returns a0 The following two figures show the circuit needed for the RCTIME command You may choose either of them with an approximate 0 7 VDD voltage span before the RCTIME command stops the timer 177 Chapter 6 Command Set Vdd 4 220 O 2200 VO pin 1 O Pin c R c GND GND GND Measuring State 1 Measuring State 0 Figure 6 15 Circuits needed for RCTIME command Once the timer has stopped the counter value is stored in the variable However there must be a method of obtaining the R or C value The RC time constant or tau T for short the multiplication of R and C represents the time required for a given RC circuit to charge or discharge 63 of the initial voltage The general RC charging discharging formula time 7 X In Vfinal Vinitial Let s take a 10 kQ resistor and 0 1 x F capacitor for instance Since for State 1 or 0 the Vfinal Vinitial is fix at 0 4 we can estimate the time time 9 163 X 10 As the units for the timer counting is 5 x s so therefore the time is approximately 183 counts Hence we can use the rule of thumb to calculate the R or C value in question RCTIME counts 183 X R inkQ X C in EF Before RCTIME executes the capacitor must be charged to 5V for State or dischar
124. stall the innoBASIC workshop Another and perhaps better method would be to go to the Innovati website and download the latest versions of the innoBASIC workshop software Although the supplied CD software will run perfectly well using the website version will ensure you have the latest up to date version of the software Installation should be trouble free and you should be presented with the innoBASIC workshop window after installation and running This is the area in which you will work to write and edit your program innoWarkshop 3 InetalShield Install 1 Intenet Explorer R s C Messenger Li Mo A E Temna Win 38 Function List Output window a A Bal Output Window FA Find Results For Hed press Fl D ie WR Real CAP NUM Figure 2 1 The innoBASIC Workshop Window Chapter 2 Installation and Getting Started Hardware Installation Using the supplied USB cable connect either a BASIC Commander or the Innovati Education Board to a USB socket on your PC As the USB cable will supply the necessary power to the hardware no other power supply is necessary Nevertheless the USB port should not be seen as a major power provider for your applications If a total of more than 500mA is demanded by your application you should take proper care of power management by using an external power supply TO PC USB Port mini USB B o Figure 2 2 Connecting the Hardware By fo
125. stem will produce a corresponding error message which will be displayed in the Output Window Double Clicking on the error message in the Output Window will indicate in the Program Editing Window in which line the error is located The error message itself should also contain some information regarding the nature of the error The process known as Build will actually repeat all the process steps in the compiling action but will then take the compiled program and after some manipulation transmit it to the BASIC Commander hardware via the USB cable link During program editing as users may not always want to send their program to the BASIC Commander and may only wish to check for correct program entry the Compile and Build functions are provided with their own separate Icons Chapter 3 InnoBASIC Workshop Debugging your Program Well in theory after finishing your hardware and writing your program it should just be downloaded into the BASIC Commander and after running everything would be fine It doesn t quite work out that way as unless the program is a very simple one it is rarely likely to work the way you want it the first time There will invariably be errors within the program that will have to be removed to achieve the desired application result a perfectly normal process known as debugging Thankfully the innoBASIC Workshop is equipped with debug tools for which the Terminal Window is heavily utilized to assist with the hi
126. t SUB END SUB Syntax SUB SubName ArgList Statements END SUB Operation Declares a procedure with an optional argument list e SubName the name of the procedure contains a sequence of letters digits and an underscore The leading character must be a letter e ArgList is a list of the arguments required in the procedure The argument is preceded with either a byval or byref modifier for argument passing The parenthesis cannot be omitted even if there is no argument required e Statements any valid innoBASIC statement Description The SUB command declares a procedure which can be invoked by its SubName to execute some specific program Example Sub SayHi Debug Hi CR End Sub 199 Chapter 6 Command Set TOGGLE Syntax TOGGLE Pin Operation Toggles the state of an output pin e Pin a constant or variable 0 23 that specifies which pin the high or low level is to be applied to For the 24 pin BASIC Commander the Pin value ranges from 0 15 Description This command will toggle the specified pin to a high level of 5 volts or a low level of O volts Usually a pin must be changed to either an input or output mode in advance to execute the corresponding input or output operations However because only one pin is involved in the TOGGLE operation the pin will be changed to the output mode automatically by the system It is not necessary to first execute an OUTPUT command beforehand Please re
127. t ATAN Argument Operation To execute a mathematical inverse tangent function e Argument the floating point operand of the inverse tangent function with a range from infinity to infinity e Result a floating point variable to receive the result of the inverse tangent function The result ranges from z 2 to z 2 radians Description The ATAN function returns the inverse tangent arctangent value of a floating point argument ranging from negative infinity to positive infinity The result is in units of radians ranging from 7 2 to z 2 If converting to degrees note that 360 degrees is equal to 2 z radians Example Sub Main Dim Result As Float Result ATAN 0 5 the Result is 0 46365 Debug ATAN 0 5 Result in radians CR End Sub Chapter 6 Command Set ATAN2 Syntax Result ATAN2 ArgumentY ArgumentX Operation To execute a mathematical inverse tangent function e ArgumentY the first floating point operand of the inverse tangent function which represents the Y coordinate with a range from infinity to infinity e ArgumentX the second floating point operand of the inverse tangent function which represents the X coordinate with a range from infinity to infinity e Result a floating point variable to receive the result of the inverse tangent function The result ranges from to 7 radians Description The ATAN2 function returns the inverse tangent arctangent value of a
128. t The incidence of an EVENT procedure can be deemed as an invocation like SUB and FUNCTION except when it is invoked automatically if a certain event occurs Please refer to the following SUB FUNCTION and EVENT paragraphs for details SUB and FUNCTION A program is made up of at least one Sub procedure with the name main The Sub Main statement denotes the procedure where the program starts and the program terminates when it passes to the end of the Main procedure Besides the Main procedure you may add more Sub procedures Functions which makes your program more structured and more code efficient The SUB and FUNCTION subprograms may contain arguments but only the FUNCTION subprograms return values Usually the repeatedly used program paragraphs are written in an independent SUB subprogram which help reduce program space and increase program readability Meanwhile the FUNCTION subprogram executes a calculation in which the result of the calculation is meant to be returned to the program where it was invoked 57 58 Chapter 5 InnoBASIC Programming Language Sub Procedures Sub procedures are methods which do not return a value Each time when the Sub procedure is called the statements within it are executed until the matching End Sub is encountered Sub Main the starting point of the program itself is a sub procedure When the application starts execution control is automatically transferred to the Main
129. t this usually a small delay of around 20 ms is normally added before the button value is actually read In the BUTTON command this is achieved using the delay parameter which after detecting the first button press signal will wait for a specified period which should be greater than the button bounce period before looking for other button signals This time period is specified by the delay parameter which will count down from the specified value each time a BUTTON command is executed If the button remains in the active state and when the delay counts down to zero another branch action will take place At this time the rate counter will start to count down and when zero another branch action will be executed In this way repeat key functions can be implemented similar to the way in which a standard computer keyboard operates for repeat key functions The diagram shows the bouncing action of a mechanical switch when switching from high to low 77 Chapter 6 Command Set Figure 6 1 Mechanical Switch Bouncing Action from High to Low Input buttons can be connected so as to bring the input pin to a low condition or to a high condition when pressed The following two diagrams show both ways of doing this Vdd Vdd active high downstate 1 PB Switch er 2200 biti 2200 1 0 Pin J WA _0 I O Pin Jj WA 2 _0 PB Switch 10KQ active low downstate 0 Vss Vss Figure 6 2 Circuitry of Active Low and A
130. te that line continuation is not applicable to comments and string literals Comments An apostrophe is used to denote a comment for example Dim a As Short Here is the Comment All characters to the right of the apostrophe are regarded as comments and as such will be ignored by the compiler unless the apostrophe is part of a string literal Note that comments cannot span to multiple lines by using line continuations and no block comment command is available Chapter 5 InnoBASIC Programming Language Identifiers An identifier is a name InnoBASIC identifiers must start with a letter and followed with characters digits or underscores An identifier can be up to 31 characters long InnoBASIC is not case sensitive therefore identifiers xyz Xyz and XYZ are all equivalent Keywords cannot be used as an identifier Keywords A keyword is a word that has special meaning in the innoBASIC language Keywords are reserved and may not be used as identifiers Please refer to Appendix B where all the keywords reserved in the innoBASIC language are listed Labels Label declaration statements must appear at the beginning of a logical line and labels should be a legal identifier and must always be followed by a colon It marks the start of statements the program execution may branch to from a GOTO statement Labels have their own declaration space and do not interfere with other identifiers The scope of a lab
131. tements LOOP Modifier Condition Operation Will setup a program loop where commands will be either repeatedly executed or not depending upon user defined conditions e Modifier is an optional modifier of WHILE or UNTIL placed after DO or LOOP but not both If a WHILE modifier is used it will allow the loop to continue if the condition is true If an UNTIL modifier is used it will allow the loop to continue until the condition is true e Condition Boolean expression e Statements optional legal statements including the optional EXIT DO or CONTINUE command s Description The basic DO LOOP command will constitute an infinite loop the commands enclosed by DO and LOOP will be executed repeatedly You may add the WHILE qualifier at the beginning or the end of the loop whereas the Boolean condition will be tested As long as the condition is true the loop body will be executed If the WHILE is placed at the end of the loop the loop body will be executed at least once The UNTIL qualifier is similar to the WHILE qualifier except that the loop is terminated rather than continuing when the Boolean condition is true The statements may contain the optional EXIT DO or CONTINUE command The EXIT DO command may be placed in the loop body which exits the current loop immediately before the loop limit test is executed The CONTINUE command transfers execution to the end of the containing block loop and begins the next iteration Re
132. ti has taken the toil and time out of this approach by providing an intuitive BASIC style of programming language which we call innoBASIC and which is featured with sophisticated commands through which conventional functions can be accomplished in an easy manner Additionally through these commands innoBASIC is featured with a most unique capability to interface Innovati s peripheral modules which further integrates both hardware and software into one Complicated hardware control will be seamlessly migrated into the software world In this way the amount of time and effort you need to get your idea up and running from a concept to a real working project is drastically reduced Microcontrollers no longer are something just for the professionals but can now easily be used and programmed by all Preface Chapter I System Overview System Overview Introduction The system is composed of several different parts which all work together to form the overall system At the top is the innoBASIC Workshop environment which is a software utility running in the PC The user s program is edited with our powerful featured language innoBASIC editor which integrates all the resources perfectly After editing the program is compiled and downloaded from within this environment During run time a Terminal Window is available as the Human Interface or Debug console Then via the USB interface the finished program code is downloaded to the BA
133. tructions 11 12 Chapter 2 Installation and Getting Started with what you have typed in should reveal where the error lies however the error messages will actually give an indication as to where the error is located Besides the Compile command you may select the Build icon which will compile the file first and if no error is found the compiled machine code will be downloaded via the USB cable into the BASIC Commander You may see a green LED on the BASIC Commander flashing indicating that the download process is in progress innoWorkshop Example 1 inb File Edit View Build Tools Window Help Oe ee SCI z Q pa let Compile Build Figure 2 5 Compiling and Downloading the Program Your program has been downloaded and is presently resident in the non volatile memory of the BASIC Commander and will now run automatically You should see a message in the Terminal Window asking you to enter your name Please enter your first name here and then press Enter The system should respond with a welcome message containing your name You should note at this stage that all interaction between yourself and the BASIC Commander hardware is taking place through the Terminal Window Chapter 2 Installation and Getting Started Data Input Area Debug Monitor Start gt Type your name Welcome to the Innovati system Kevin Figure 2 6 Welcome Message in the Terminal Window If you have succeeded in implementing the
134. tted it is implicitly the literal 1 The control variable is now checked with the end value if Chapter 5 InnoBASIC Programming Language it is past the end value the loop will be terminated and the program branches to the statement after the NEXT statement If you want the loop control variable to increase then the STEP value must be a positive value and the end value should be no less than the start value Contrarily if you want the loop control variable to decrease then the STEP value must be a negative value and the end value should be no greater than the start value If the values are not consistent in direction the loop will not be executed The following diagram shows the FOR NEXT operation Index Initial Value Index Past nd Value No Statement Index Index Step Value Figure 5 4 FOR NEXT Statements Flow Diagram 55 56 Chapter 5 InnoBASIC Programming Language When you use a loop control variable be careful of its value domain for example for a SHORT type variable its value domain is from 128 to 127 while for a BYTE type variable its value domain is from 0 to 255 In addition if the value overflows or underflows due to the STEP value increment or decrement the value is no longer what you would expect The loop control variable is specified in advance The loop control variable of a For statement must be of a primitive numeric type Byte Short Word Integer DWord Long Sub Ma
135. ue will be 1 and 9 only e Command a const or variable 0 255 that specifies the LCD command to send e Dataln a list of variables that receive the incoming data Description The three LCD commands LCDCMD LCDIN and LCDOUT allow the BASIC Commander to interface directly to a standard LCD display that employs a Hitachi 44780 or compatible LCD controller The LCDIN command is used to send one instruction and then receive at least one data byte from the LCD s Character Generator RAM or Display Data RAM Please refer to the LCDCMD section for more detailed interfacing and wiring information When the LCD is first powered up it defaults to an 8 bit interface and must be configured as a 4 bit bus before sending commands This process is known as initializing the LCD and is the first thing your program should do upon starting up Please refer to LCDCMD section for more detailed LCD initialization information The LCDIN command is used to receive ASCII character values decimal hexadecimal and binary translations and string data from the LCD s Character Generator RAM or Display Data RAM Chapter 6 Command Set Example Refer to the LCDCMD command for the usage 149 150 Chapter 6 Command Set LCDOUT Syntax LCDOUT Pin Command DataOut Operation Send data to an LCD Module e Pin a constant or variable 1 9 or 17 that specifies the first pin of 7 contiguous pins where the LCD Module is connected 1 stands for Pin 1
136. ugged and to which additional electronic components can be connected to expand your program possibilities And then there are the modules which are the feature packed hardware units that offer greatly enhanced intelligent control to your projects BASIC Commander Module The BASIC Commander is a complete and fully self contained Single Board Computer Often known by its abbreviated name of SBC it is the unit that provides control for your total project At its heart is a high quality industrial grade commercial microcontroller complete with memory clock circuits power control and USB interface Its outline is shown in the figure Chapter 4 Hardware Description Pin16 Figure 4 1b 32 pin BASIC Commander When the PC is connected to the BASIC Commander using the supplied USB cable its power supply will be sourced from the PC BASIC Commander Pinout The BASIC Commander comes in two forms 24 pin and 32 pin modules The width between the pins are the standard 0 1 inch pitch which means the modules can be conveniently plugged into standard PCB sockets and standard breadboarding circuit boards Each pin has its own individual functions please see the table below 28 Pin Name Chapter 4 Hardware Description Pin Function SDA cmdBUS Data Pin SCL cmdBUS Clock Pin EVT cmdBUS Event Pin SYN cmdBUS Synchronization Pin P7 PO General Purpose I O pins P23 P20
137. unday CR Case 2 Debug It s Monday CR 50 Chapter 5 InnoBASIC Programming Language Case 3 Debug IES Tuesday GR Case 4 Debug It s Wednesday CR Case 5 Debug It s Thursdays ER Case 6 Debug It s Friday CR Case 7 Debug It 10 saturday CR Case Else Debug Wrong Number CR End Select Loop End Sub DO LOOP Statements During programming if it is required to execute a program block repeatedly then one of the most efficient ways of doing so is to use the DO LOOP command DO WHILE UNTIL condition statements EXIT DO statements LOOP WHILE UNTIL condition The basic DO LOOP command will constitute an infinite loop with the commands enclosed by DO and LOOP to be executed forever You may add the WHILE qualifier at the beginning or the end of the loop but not after both whereas the Boolean condition will be tested on each iteration As long as the condition is true 51 52 Chapter 5 InnoBASIC Programming Language the loop statement block will be executed If the WHILE is placed at the end of the loop the loop statement block will be executed at least once then the Boolean condition will be tested The UNTIL qualifier is similar to the WHILE qualifier except that the loop is terminated rather than continuing when the Boolean condition is true The EXIT DO command may be placed in the loop body which exits the current loop immediately be
138. ut the direction of the pins in question However this INPUT command is still provided and note that if you use the INPUT command to change a pin from an output mode to an input mode the high low state of the pin will disappear and the pin will be placed into a high impedance state Therefore the addition of a pull high resistor on the pin is recommended to avoid uncertain logic states existing which might result in unwanted errors logically or electrically For commands that rely on input pins like PULSIN and SERIN the mode corresponding pins will be changed to the input mode automatically The default mode after a program start reset is the input mode Chapter 6 Command Set Example The following example changes the I O directions of PO which connects an LED through a resistor and the LED will turn on off accordingly Vdd Treo VAs R1 330 ohm PO O Figure 6 17 Input Output Circuit Sub Main Dim key As Byte Start WRITEPORTO amp HOO Write low to output buffers Do Debugin Input any key to turn on LED SCHR key CR OUTPUT 0 Switch PO to OUTPUT mode turn on LEDO Debugin Input any key to turn off LED SCHR key CR INPUT 0 Switch PO to INPUT mode turn off LEDO Loop End Sub 139 140 Chapter 6 Command Set INTEGER2FLOAT Syntax Result INTEGER2FLOAT Argument Operation To convert an Integer value into its floating point format e Argument the Integer operand of the I
139. xt to each instruction in your program These numbers are automatically generated by the software and cannot be changed by the user Note also that for the window display controls an icon also exists in the Editor Bar providing an easier control option for the displaying or non displaying of the functional windows Build Menu Here you can find the controls to compile your program and to download it from the PC into the BASIC Commander Compile During the early stages of program editing and debug it is not usually necessary to always download the program hence under the Build main menu is the option to compile only The compiling action takes the innoBASIC instructions from your program and transforms them into machine code language Any errors in your program such as spelling or wrong specifications will be indicated in the Output Window The source of the error in your program can be located by double clicking on the error message in the Output Window which will place the cursor on the program line containing the error By providing this compile only menu command you can save time by not running the download process if all you want to do is check the basic syntax of your program 23 24 Chapter 3 InnoBASIC Workshop Build The other option which is known as Build will in addition to compiling your program also give you the option to download it to the BASIC Commander Tools Menu Here you can find the settings of
140. y skip the introductory chapters For those who are new to this fascinating area we sincerely recommend that you sit down and work your way through the book as time spent at this initial learning stage will be a good investment for the future when you get into the real nuts and bolts of more complicated projects However we may view the reading of manuals for some it is seen as an enjoyable learning process or for others as a necessary evil to obtain essential information don t let it stand in the way of having fun with the system Chapter 2 Installation and Getting Started Installation and Getting Started Introduction This section is dedicated to getting you up and running as quickly as possible and will demonstrate the basic functions of the system such as program writing and editing compiling downloading and debug It is necessary to have either a BASIC Commander or Education Board connected as without this the program cannot be downloaded Of course it is necessary to have an IBM or Compatible PC running under Windows 98 or above version 2000 ME XP Vista A CD ROM Drive is recommended you can use the CD ROM provided to install the innoBASIC Workshop A USB 1 1 2 0 port is a must which is essential for your program downloading and debugging Chapter 2 Installation and Getting Started Installing the InnoBASIC Workshop Insert the supplied CD into your CD ROM Drive and follow the on screen instructions to in
141. your home or perhaps a programmable robot etc Or perhaps you are just interested in educating yourself about microcontrollers Or maybe you are a high school teacher and would like to Preface Preface introduce the subject of microcontrollers into your science curriculum Make no mistake as the Innovati system contains an industrial standard commercial high quality microcontroller at its core the possibilities and applications are truly endless and limited only by your ingenuity and experience Whatever your interests may be we are sure that the Innovati system will not only result in the creation of ingenious and creative inventions and devices but will also be a real learning experience into the workings of microcontrollers Microcontrollers Everywhere From that first cup of coffee and slice of toast you made yourself this morning to the alarm clock you set when you went to bed that night your day has almost certainly been influenced and made more convenient by numerous microcontrollers in these electrical home appliances A car probably contains numerous microcontrollers controlling everything from the mundane air conditioning and heating to the more sophisticated suspension and engine management systems Several of the instruments on the dashboard will certainly contain microcontrollers to indicate to you that all is well or perhaps that all is not well with your car Did you watch TV or perhaps a DVD Undoubtedly these

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