APPENDIX B Pinouts for SB Connector Option FRONT VIEW
Contents
1. SW3 to WRITE just before you download During downloading the red LED comes on and pulses while s records are being loaded When all the s records have loaded the LED goes off Switch SW3 back to PROT and switch SW2 to RUN mode Press RESET to start your code running 11 3 4 MicroStamp11 Memory Map Appendix A shows a diagram of the MicroStamp11 memory map For more details of the MCU s internal memory register definitions and their locations refer to the 68HC11D3 Programming Reference Guide Note that the internal MCU memory blocks such as RAM and registers take priority over any external devices mapped into their address space In some situations you may wish to move the internal RAM and or Register Block to a different 4K address boundary The Register Block defaults to the range 00 to 40 placing it within the first 256 bytes of the memory map This allows use of the direct addressing mode of the 68HC11 making assembly language coding simpler and more efficient Internal RAM in the 68HC11D0 defaults to the range 040 to ff If you have a 64K version of MicroStamp11 external RAM will be accessible from 100 to 7fff 3 5 About the On board Voltage Regulator MicroStamp11 uses a low dropout LM2931Z 5 regulator in a TO 92 package capable of dissipating about 500 mW at room temperature It has some nice features such as a very low quiescent current and will work with an input voltage down to 5 Volts or below making it qui2. TMSK2 a 5 8 Reserved re Le er lorlor s me E mee o evar excorfexrow o wr co wx ne rans rans ras ra woe e eaa a an en a two eprst ocer cave oise Fem FcoP TESTI Pe bac Ls lear A 3 2 8 3 Not present in ROM based MC68HC11D3 ROMON in MC68HC11D3 68HC11D0 REGISTER BIT SUMMARY available on MicroStamp11 s_ connector for applications such as RS 485 or MIDI Of course if your application doesn t need communication these two pins can be configured as general purpose I O lines For applications where the Docking Module is too big to be practical a miniature RS232 interface board called COMStamp232 is available Check www microstamp11 com for details The 68HC11 s industry standard Serial Peripheral Interface SPI provides an excellent means of expanding the capabilities of MicroStamp11 to suit more demanding applications There are many SPl compatible chips available including analog to digital converters serial EEPROMs UARTs display drivers and shift registers to name just afew Examples for interfacing these devices can be found on the Resources page of www microstamp11 com 1 6 The Big Picture With MicroStamp11 all of the 68HC11 s available I O lines and control signals are brought out to a standard 20 pin interface connector With several different connector options available you can use the module in whatever way best suits yo
3. albeit fast ones There is a lot more software overhead and complexity involved in getting a PIC to do multiple simultaneous tasks and respond to multiple asynchronous events In fact PlC based modules in the same price range as MicroStamp11 are simply not able to match the real time control and mult tasking capability of MicroStamp11 1 5 Serial Ports An RS 232 compatible 3 wire serial interface port RX TX and Ground is built into the MicroStamp11 Docking Module allowing communication with a PC or any other device which has an RS 232 serial port The logic level RXD and TXD signals from the MCU are DATA DIRECTION REGISTER D PO7 E EXTAL XTAL mopa MODB ee __ XiRO UA Ystay RESET ma Vee OSCILLATOR MODE CONTROL INTERRUPT LOGIC CLOCK LOGIC DATA DIRECTION REGISTER C MULTIPLEXED ADDRESS DATA BUS AD7 PC7 192 BYTES STATIC RAM M68HC11 CPU Geneon 4K BYTES ROM iofalli 103 4K BYTES EPROM OTPROM MC68HC71103 DATA DIRECTION REGISTER B PB7 PA6 and PA4 not bonded in 40 pin DIP Vss EVss i a MEMORY MAP 68HC11D0 INTERNAL BLOCK DIAGRAM 22 B7 6 5 4 3 2 1 Bio Hna Reserved Iwo Po elele lele re vo om rer ros eos rss ees Pez ror Poo porre ea ey S ocr voce oes once oocs once voc voce vorc For rar ros roe vos ome rn ono 005 voos 0003 p02 ooo onoo ooro Reserved ea eapoa eates e ow an aea
4. MI SHOW PORT A STATUS CLEAR PORT A OUTPUTS SHOW PORT D STATUS B EEP SPEAKER CONNECT TO PA6 lt A gt PORTA 000 lt D gt PORTD 001 lt S gt gt gt gt BEEP lt lt lt Figure 3 1 MicroStamp11 Demo Software Screen you will hear two beeps from the speaker or the LED will flash twice Typing a digit between 4 and 6 causes the output state of the corresponding PORTA line to be toggled eg typing 5 causes PA5 to flip to a high if it was low previously or a low if it was high previously This allows you to activate LEDs when driving LEDs directly from an output port limit the current to a maximum of 10mA with 330 Ohm current limiting resistors on each LED or drive relays solenoids or motors with appropriate driver circuits 3 2 Writing Your First Program If you are already experienced with the 68HC11 family of microcontrollers you can skip this section However you may find the suggestions here useful to familiarize yourself with the essentials of getting a program to work the first time As mentioned in the previous section a demo program resides in MicroStamp11 s EEPROM when you receive it This demo program is written in Motorola s Freeware AS11 cross assembler syntax and is intended to provide you with an easy way to verify your hardware setup ie power supply serial connection PC software etc It also provides you with an excellent starting p
5. additional 32K RAM piggy backed on top of the 32K EEPROM chip is also available The RAM is mapped in the lower half of the 68HC11 s memory map with holes in the memory map for the internal RAM and register block Each of the above configurations is also offered in a Turbo version operating with a 9 8304 MHz crystal Among its advantages are a 23 speed increase up to 38 4Kbaud serial communications rate and aspeedier bootloading process lt gt o aw Oj amp uw wj x z boundaries in upper half 32K External RAM Mapped redundantly at 8K 64K MAX version only or 32K EEPROM Mapped from 8000 to FFFF 192 Bytes Internal RAM PDO COP WATCHDOG PERIODIC INTERRUPT k d g 4 MicroStamp11 satisfies the needs of users who want lots of memory but only require a modest number of I O lines and no analog to digital converter analog to digital converters and extra I O lines are very easy to add via SPI however With the 68HC11 s hardware timer subsystem implementing motor control tone generation pulse width modulation pulse width measurement and communication are just a few examples of what is easily achievable Because of the 68HC11 s powerful hardware interrupt system all of the above functions can be easily multi tasked and achieved in real time This is a very important advantage over popular PlC based modules which are basically one trick ponies
6. button is pressed or when a power on event occurs the MCU executes the internal bootstrap program a bootloader ROM source code listing for the 68HC11D0 can be found on the Starter Package disk It first initializes the serial port SCI and waits in a loop checking its receive buffer until it gets a value of FF BREAK control character It uses that character to determine the incoming baudrate and adjusts its BAUD register accordingly It then places each byte it receives in RAM storing them sequentially starting at address 40 and continuing to address ff a total of 192 bytes or until a timeout delay has elapsed with no characters arriving at the serial port At this point the internal bootstrap program loads the Program Counter with 40 causing the CPU to begin executing the program just loaded into RAM Thus the program that you have just downloaded begins executing This feature of the 68HC11 allows an EEPROM erase write routine to be placed in RAM and executed automatically A bootloader ROM listing is provided so that the user can take advantage of some of the special features provided by this program Routines for programming external EEPROM RAM in expanded mode from an s record file are included on your MicroStamp11 Starter Package disk The source code file is called msload asm To program the EEPROM from a DOS prompt use pms1 bat for COM1 or pms2 bat for COM2 For example to download your S record file called myprog
7. port using the MicroStamp11 Docking Module Even withthe power off your program stays in MicroStamp11 s memory If you make some changes to your program just download the new file the old one is automatically overwritten Note indicates active low 1 3 Product Description MicroStamp11 comes with on board EEPROM program memory 8K or 32K depending on the version you purchased Using MINIHI the RS232 interface provided by the Docking Module or a ComStamp232 MicroStamp11 s memory is directly loadable via your PC serial port i e ComPort for quick and easy programming For newer PCs which have only USB ports you ll need a USB to Comport adapter such as our USB2COM product available from most computer FRONT VIEW stores 68HC11D0 RCE RSERnolo gicalarts com REV 2J SFFFF EO00 SOFFF 8000 S7FFF SOOFF 0040 003F 0000 1 4 Description of Product Configurations MicroStamp11 is based on the 68HC11D0 MCU with 192 bytes of RAM on chip This MCU has no internal program memory and therefore operates in expanded chip mode with 16 of its pins acting as a multiplexed address data bus to interface to external memory along with a couple more pins for control An industry standard 32K EEPROM is mapped to the upper half of the 64K memory map In configurations which have only 8K EEPROM the 8K block appears redundantly at each 8K boundary in the upper half of the memory map A 64K version with an
8. 878707 14 0 1994 HighText Publications 394 pages thorough tutorial on C programming covers aspects of C pro gramming specific to embedded systems eMC68HC11 An Introduction Han Way Huang West Publishing ISBN 0 314 06735 3 The M68HC11 Microcontroller Applications in Control In strumentation and Communication Michael Kheir Prentice Hall APPENDIX A REFERENCE DATA Pinouts for Surface Mount Package of 68HC11D0 PC3 ADDR3 PC2 ADDR2 PC1 ADDR1 PCO ADDRO Vss EVss XTAL EXTAL MODAILIR MODBN ray 43 42 1 40 39 38 36 34 37 PC4 ADDR4 1 33 PBO ADDR8 PCS ADDRS 2 32 PB1 ADDR9 PC6 ADDR6 3 31 PB2 ADDR10 PC7 ADDR7 4 30 PB3 ADDR11 XIRQNpp 5 29 PB4 ADDR12 PDT RIW 6 68HC11D0 28 PBS ADDR13 PD6 AS 7 27 PB6 ADDR14 RESET 8 26 PB7 ADDR15 IRQ 9 25 NC PDO RxD 10 24 PAO IC3 PD1 TxD 1 23 PA1 IC2 14 15 16 7 22 Vop PATIPAVOC PDS SS PAG OC2 0C PD2 MISO PD3 MOSI PDA SCK PAS IOC3 0C PAA OC4 OC PA3 IC4 0C5 0C 21 5 0 SOURCES Internet Resources Technological Arts www microstamp11 com e Freescale www freescale com Freescale Publications M68HC11 Reference Manual M68HC11RM AD M68HC11 E series Te
9. E DATA BITS 8 and STOP BITS 1 and no handshaking With SW2 set to RUN press the Docking Module RESET button LED D2 will blink twice indicating the demo programming is running Hit lt ENTER gt on your keyboard A menu of commands will appear on your terminal window s screen followed by a command prompt symbol Each command is activated byasingle keystroke Asample screen showing results ofeach command is shown in Figure 3 1 Typing a command not listed will cause the menu to be re displayed The A and D commands in the demo program allow you to examine the states of PORTA and PORTD Try putting switches on some of these input port lines Use a 10K or higher pullup resistor on one side and connect the other side of the switch to ground Note that PAO PA2 are inputs PA3 and PA7 are programmable as input or output and default to inputs PA4 PA6 are outputs only In the demo program PA6 is used as a tone output for a speaker It is also connected to LED D2 when plugged into the Docking Module to provide a visual output You can drive a small piezo speaker directly by hooking one end to PA6 through a 330 Ohm resistor and the other end to ground When you press RESET or type S when the demo program is running Tocompileanddownload hello c selectCompileto Executable in the pulldown menu ICC11 will compile assemble and link creating an s record file called hello s19 This is the file you will download to your b
10. FRONT APPENDIX B 1 INTRODUCTION Pinouts for SB Connector Option 1 1 Thank you Congratulations on purchasing MicroStamp11 the world s smallest 68HC11 microcontroller module From model rocketry to PA 1 20 PDO RXD microrobotics the applications are endless We d love to have you tell PAG 2 19 PD1 TXD us about your application Consider joining our Support Forum for networking with other customers using our 68HC11 based products PAS 3 18 PD2 MISO Visit www microstamp11 com for more information Your questions PAA 4 17 PD3 MOSI and comments are always welcome We provide friendly knowledgeable technical support via email and the Support Forum to all our customers PAS 5 16 PD4 SCK 5 As well we have a comprehensive Resource page on our website PA2 6 15 PDS5 SS T offering productinformation software code examples application notes and links to useful sites on the Internet Visit www microstamp11 com PA1 7 14 XIRQ PAO 8 13 IRQ 1 2 What is MicroStamp11 RESET 9 12 5VDC MicroStamp11 is a complete working stamp sized computer Vin 10 11 GROUND based on Motorola s popular MC68HC11 microcontroller It is a fully functional standalone implementation of an expanded mode 68HC11 configuration and can be plugged just like a chip into your solderless BIRD S EYE VIEW breadboard Then you simply wire up the desired application circuits write your program and download it into MicroStamp11 s memory from your PC serial
11. ake the changes or enter new values via the keyboard When you re done press the ESC key to return to the PCBUG11 prompt Now enter term to open the terminal window If you have the Demo program loaded in your board you can use the terminal window to interact with it Switch your board to RUN and press RESET Pressing ENTER will cause the menu of the demo program to be displayed Select the menu commands as you desire When you have finished using the demo program you can return to PCBUG11 by hitting ESC To re establish communication between PCBUG11 and the HC11 reset your board in BOOT mode and enter restart 4 26 Exploring Further with PCBUG11 For information about PCBUG11 commands and their syntax enter help at the PCBUG11 prompt For complete details on PCBUG11 refer to the PCBUG11 Manual found on the Resources page at www microstamp11 com 4 3 Using SBASIC SBASIC is a DOS based compiler It takes a BASIC text file as input and produces a 68HC11 assembler file as output You assemble the resulting file to produce an s record file with extension s19 which you can load into MicroStamp11 as described earlier If you haven t used SBASIC before make sure you read through the excellent documentation included in the distribution file to familiarize yourself with what it s all about and how to use it To use SBASIC with MicroStamp11 you will first need to deal with the unique default register block address o
12. asier wiring of your circuits 6 Choose a convention for wiring your power distribution buses A logical approach is to make the inside bus logic 5V and the outside buses GROUND There are two ways to power MicroStamp11 Supply regulated 5V power to the 5V pin pin 12 or supply an unregulated DC voltage in the range of 7 to 12V to the Vin pin pin 10 The DockingModule provides a convenient connector for this purpose A DC adapter or 9V battery will work fine Note that if you supply a voltage to Vin the 5V pin becomes an output supplying regulated 5V from the on board regulator which has some excess capacity to power your circuits in addition to MicroStamp11 s No matter which approach you use always connect your circuit GROUND to MicroStamp11 GROUND 7 If you are using voltages other than 5V in your application make sure to keep these well away from MicroStamp11 pins and tie strips to avoid accidental shorts which may damage the module 3 TUTORIAL Note that this manual is not meant to provide an exhaustive study of the 68HC11 but rather to help you get started using MicroStamp11 as a learning and application development tool for 68HC11 whether you re a beginner or an expert If you are a beginner you will benefit from additional material listed in the Reference section of this manual and links provided on the Applications Tech Support and Resources pages of our website see back cover for URL 3 1 Getting Starte
13. bove or with the Memory Modify command as follows mm e000 In this example PCBUG11 will display the current value of location e000 If you wish to change it type the new value and press ENTER If not just press ENTER The next memory location will be displayed To end the Memory Modify mode press ESC on your keyboard 4 24 Using PCBUG11 s Terminal Window PCBUG11 has a basic communications terminal which is useful for testing and debugging your software To use it set up the necessary communications parameters such as baud rate parity etc by entering control A list of parameters is displayed Use the Page Down and Page Up keys to move to the parameter that needs changing Use the Up and 15 pms2 myprog 4 2 Using PCBUG11 with MicroStamp11 Motorola s PCBUG11 is a flexible powerful and easy to use program that runs on a PC under DOS It allows you to examine and modify register contents RAM and EEPROM debug trace disassemble blocks of code assemble line by line and even includes a basic terminal program What s more it works with all varieties of HC11 micros and is fully compatible with MicroStamp11 PCBUG11 is included on your Starter Package disk and is also available on the Resources page of our website It is a self extracting archive so just copy it to the directory on your harddrive where you want it to reside and type pcbug342 at the DOS prompt to extract all the files 4 21 Running PCBUG11 Al
14. chnical Data book MC68HC11E D Single and Multiple Chip Microcomputer Interfacing Prentice Hall or Motorola TB316 Lib of Cong Cat 87 60656 Other Books The 68HC11 Microcontroller Joseph D Greenfield at R I T ISBN 0 03 051588 2 1992 Saunders College Publishing Harcourt Brace Jovanov ich Data Acquisition amp Process Control w the M68HC11 Microcon troller Frederick Driscoll Robert Coughlin Robert Villanucci of Wentworth Institute of Technology 1994 Macmillan Publishing Company ISBN 0 02 33055 xX example applications of interfaces to various sensors Design with Microcontrollers John B Peatman professor at Georgia Tech ISBN 0 07 049238 7 This book is on a more advanced level Uses both the 68hc11 and Intel 8096 as example systems Embedded Systems Programming in C and Assembler John Forrest Brown ISBN 0 442 01817 7 Van Nostrand Reinhold 1994 304 pages 49 95 covers Motorola and Intel processors Microcomputer Engineering Gene H Miller ISBN 0 13 584475 4 1993 Prentice Hall Englewood Cliffs NJ 07632 Explains basics Many clear concise examples Microcontroller Technology The 68HC11 Peter Spasov ISBN 0 13 583568 2 Prentice Hall 20 5 Plug the other end of the ribbon cable into the adapter with the pin 1 indicators lined up For convenience you may want to place additional breadboard sections in parallel on each side for e
15. d Important Be sure to browse the README TXT file on your Starter Package disk for information on what s on the disk and how to use it Use any text editor or browser you like such as Notepad or DOS edit and follow the instructions for copying the disk contents onto your hard drive If you have a Windows computer you should also install the MicroLoad application included with your package Check the RESOURCES page on our website to make sure you have the latest version MicroLoad is the recommended utility for loading your program into MicroStamp11 s memory MicroStamp11 has a demo program already programmed into the EEPROM when you receive it This is a useful program for testing your communications setup and monitoring and controlling the various I O lines of the MCU Plug MicroStamp11 into the Docking Module and supply power via the external power connector Just connect a DC voltage of 5V or higher up to 12V to the external power connector J1 on the Docking Module Red is positive and black is negative ground CAUTION Make sure you have the polarity correct To use the demo program connect the supplied serial cable between the Docking Module and a serial port on your PC With some PCs you will need a 9 pin to 25 pin adapter Run a terminal program such as TeraTermPro or the Windows HyperTerminal program on your PC In your terminal program set the baud rate to 9600 38400 for Turbo versions parity to NON
16. f the D series 68HC11 As mentioned previously it defaults to 0 By contrast all E seies chips default the register block address to 1000 and SBASIC assumes you re using an E series chip One way to deal with this it to change IOREGS to 0 in the first line of the file HC11REGS LIB But a better alternative would be to re locate the register block to 1000 immediately after reset This can be done by adding two lines of code at the beginning of each program you write An even easier way is to put those two 16 some commands to test it You could assign F for faster increase the motor speed and S for slower to decrease motor speed Then implement a pulse width modulation scheme in your motor speed routine decreasing the pulse width by some increment every time the S key is pressed and incrementing pulse width by the same amount every time the F key is pressed Of course you will want to put tests for minimum and maximum pulse widths before you decrement or increment so that the motor doesn t suddenly jump from stopped to full speed when the pulse width value wraps around Note If you plan to incorporate all or part of the demo program in your own code and you re using a different cross assembler than AS11 you may have to revise the syntax 3 21 A Very Simple Program If you are a beginner the size of the demo program may look overwhelming and you may wonder what is really required just to do somet
17. hing very simple In reality you can throw away almost everything ending up with about a half dozen lines of code to produce a very simple program Rule 1 Every program requires a Reset Vector located at fffe and ffff since the contents of these locations is loaded into the Program Counter immediately after reset Therefore the Reset Vector should point to the beginning of your code Below is an example of a very simple program which just turns on the LED on PORTA PA6 and then waits in an infinite loop It was written for an 8K EEPROM space so if your board has 32K you can change the org to 8000 but it s not necessary Note the MCU has a watchdog timer COP which is enabled by default Unless you plan to use this feature you need to disable it NOCOP bit in CONFIG register at the beginning of your code org Se000 start at top 8K EEPROM begin ldaa 504 disable COP in CONFIG regis ter staa S3f ldaa 40 write logic high to PA6 staa 0 and logic low to all other portA bits bra X branch forever until reset occurs org Sfffe define the reset vector to point to fdb begin the beginning of your code 3 22 Adding a Little Complexity Now let s take it one more step blink the LED on and off To make the blinking slow enough to perceive with the human eye we will write a subroutine to create about a half second delay Rule 2 If you are using interrupts or incorporating any subrout
18. hould be the end of RAM since it builds downward For MicroStamp11 you would set text to OxE000 for 8K EEPROM or 0x8000 for 32K EEPROM Set data to beginning of RAM 0x40 and stack to end of RAM OxFF For ICC11 Version 6 or later selections already exist for MicroStamp11 variants in the list of targets so you can just select the variant you are using Since the register block in D series 68HC1 chips starts at 0x00 instead of 0x1000 as in E series chips you ll need to add a line of code to initialize the register map to 0x1000 You should also clear the CONFIG register i e write 0x04 to CONFIG disabling the COP So here is what you need to add at the beginning of your program void HC11Setup unsigned char volatile 0x3D 0x01 CONFIG 0x04 Also every C program that you write requires the file vectors c to be included either explicitly at the end of the program or as the last file in the Project if you are using the ProjectBuilder feature of ICC11 To get you started with ICC11 examine modify and compile the program hello c in the Examples directory of ICC11 This program has the essentials set up for you Modify it to look like this include lt hcll h gt void HC11Setup unsigned char volatile 0x3D 0x01 CONFIG 0x04 main setbaud 0x30 puts Hello World n while 1 include vectors c 18 MICROSTAMP11 DEMO PROGRAM COMMAND
19. ib to disable the COP watchdog if you re not using it for more on the COP refer to the HC11 Reference Manual The code to add at the beginning of start11 lib is shown below ldaa 1 staa 3d move register block to 1000 ldaa 4 staa 103f disable COP Below are some example configurations and the approprate c and v compiler options used to specify the starting addresses for code EEPROM and variables RAM where infile is your SBASIC program filename and outfile is the name you want the target assembly language file to be called MicroStamp11 with 8K EEPROM sbasic infile ce000 v0040 sOOff gt outfile asc MicroStamp11 with 32K EEPROM sbasic infile c8000 v0040 sOOff gt outfile asc The resulting file outfile asc is in assembler source code and can be viewed and edited if you wish When ready assemble the file with ASMHC11 included in the SBASIC distribution file to produce an s record file suitable for downloading to your board Use it as follows asmhct11 outfile and it will produce the file outfile s19 Now you can use MicroLoad or the pms DOS batchfile mentioned earlier to load it into MicroStamp s memory 4 4 Using ImageCraft s ICC11 Windows C Compiler ImageCraft offers a good low cost ANSI C compiler which is quite popular in the 68HC11 community The following section provides some basic hints and guidelines for setting up ICC11 and using it with the MicroStamp11 17 Down arrow keys to m
20. impossible to load a new program 3 3 Downloading Your Code If you are using a Windows computer we recommend you install and use our MicroLoad application to download your files It is included with your Starter Package and also available on the RESOURCES page of our website If you prefer to use DOS instead read on Otherwise skip to the next section Once you have assembled your code with no errors you can download the resulting s record file filename s719 to your board using the appropriate DOS batch file provided Connect the supplied serial cable between connector J2 on your Docking Module and COM1 or COM2 of your PC You can use a different COM port but you will need to edit the batchfile to reflect the COM port number you use Use pms1 bat for COM1 or pms2 bat for COM2 For Turbo versions of MicroStamp11 use pms91 bat or pms92 bat respectively If required use a text editor to modify these batch files to suit your needs On a Windows95 98 system you may have to add dev to every reference to the com port path eg copy 1 s19 dev com 1 You may find using the batchfile more convenient if you put it into your working directory along with the assembler or compiler you are using and the source code you are writing Make sure to put the associated boot file in the directory as well for example msload bin is required by pms1 bat and pms2 bat Always reset the board in BOOT mode and slide the WRITE PROT switch
21. ines in your program you must initialize the stack pointer at the beginning of your program org Se000 start of top 8K EEPROM begin ldaa S04 disable COP in CONFIG regis ter staa 3f lds Sf f initialize the stack pointer loop ldaa 40 write logic high to PA6 staa 0 and logic low to all other portA bits bsr Delay doa time delay ela 0 make all portA bits logic low bsr Delay bra loop do itall again Delay ldy SfffF D1 dey pad delay loop with extra cycles iny for total of 15 cycles dey this gives approx 1 2 second at 8MHz bne D1 rts org Sfffe define the reset vector to point to fdb begin the beginning of your code 10 4 22 Verifying an S record File in EEPROM Suppose you have loaded a file called myprog s19 use the following command to verify it is in EEPROM verf myprog If it is in a different directory eg c myfiles you should specify the directory path For example verf myfiles myprog restart To run your program reset MicroStamp11 in RUN mode To use PCBUG11 again reset your board in BOOT mode and type restart Again switch on access to external memory with ms 3c e5 4 23 Manipulating Memory To change the value stored in a RAM or register location eg clear RAM location f0 simply use the Memory Set command as follows ms f0 00 To alter an EEPROM location you need to slide switch SW3 to WRITE You can then modify it with Memory Set as a
22. n ans en e e eo cu oem oo oeo oem oem o e ocw mmmmmmmok ern ere ons Bea ors Bre on oxo ons anv en re one oan sero es see ner enr one os one oes Bre oes oxo momma Farr ors ors one ors ona oes ono exis one ox orn een erw ons exe nes eur ons ons ona ons on ois oxo oras n1 ox Bea nn oe ro seo gas roc Ber ns sus ena sus o2 ons eno Bit 15 Bit 14 Bit13 r12 Ben B10 Bro Bis Toc2 ern ons ons Bra ons or ons oxo aie ove Ba13 8012 onn eo Bes era Tocs Bt7 are eis Bta or Biz Bri eno mmmn ar ore ors one ora uz oe oxo mmnm Farr os ors ors ons ez oe ono Faen oes ww freescale com gt 3S a z 5 2 3 w 0021 0022 0023 0024 0025 0026 0027 0028 0029 002A 002 0020 003E 003F 2 g z 3 zx R TOF PAOVF rons rc rae aoe wes om a a sc7 ans Bes sts ses ore oir spie see owom msta crot cena sem spro secr ser woo o moo o o o o ss i7 ens ons es era Bt2 sti Bto spor rcn o sci scvo acre scr scm sero Bavo e w o w wae o of o so me roe me we re me awu ser score rore rc roar oe on we ee 0 ses si sts Bts sra Bra siz sic Bno scor Reserved 3 2
23. oard ICC11 does not support downloading to the D series 68HC11 so you ll need to use MicroLoad or one of the DOS batchfiles included with your starter package Plug MicroStamp11 into the Docking Module and use MicroLoad to download the s record you just created or use pms1 or pms2 from DOS Press the RESET button and slide the Write Protect switch SW3 to WRITE Then press any key When finished slide SW3 back to PROT SW2 to RUN and press RESET to run your program 4 5 Handy Reference Information Baudrate Settings for Standard MicroStamp11 Value Speed 30 9600 31 4800 32 2400 33 1200 Baudrate Settings for Turbo MicroStamp11 Value Speed 20 38400 21 19200 22 9600 23 4800 24 2400 25 1200 PortA PAO Input PA1 Input PA2 Input PA3 I O Set by bit 3 of PACTL Default Input PA4 Output PAS Output PAG Output PA7 I O Set by bit 7 of PACTL Default Input Note there is a typo regarding this bit in the HC11D3 Programming Reference Guid 19 The LINKER is the part of a compiler package that marries the software with the particular hardware configuration being used Therefore you need to setup the LINKER before using ICC11 Find the Linker setup tab by pulling down the OPTIONS menu to COMPILER In the Linker text refers to code and should be the starting address of EEPROM or wherever you plan to put the code data is for variables and should be the start of RAM stack s
24. of the appropriate 20 pin solderless breadboard adapter See the MicroStamp11 Accessories page on our website www microstamp11 com Refer to Appendix B and the enclosed schematic for pinout information for MicroStamp11 and its Docking Module CAUTION Never insert your module into or remove itfrom a live breadboard Make sure the power is OFF 1 Any breadboard will do however you will find that the kind made with a softer more pliable plastic such as nylon will be easier to use and more durable It is recommended that you dedicate a section of your breadboard to the MicroStamp11 adapter since its square pins may cause the breadboard spring contacts to spread eventually so that they will no longer hold small diameter wires 2 First plug MicroStamp11 into the vertical 20 pin connector on the Docking Module lining up the white pin 1 dots 3 Attach the supplied ribbon cable by plugging the strain relief end into P2 of the Docking Module lining up the ribbon cable pin 1 indicator to P2 s pin 1 dot 4 Plug the adapter into your breadboard Microcontrollers Architecture Implementation amp Program ming Kenneth Hintz and Daniel Tabak ISBN 0 07 028977 8 1992 McGraw Hill Inc Mobile Robots Inspiration to Implementation Joseph L Jones and Anita M Flynn Very hands on book Detailed design amp construction of Rug Warrior Programming Microcontrollers in C Ted Van Sickle ISBN 1
25. oint for developing your own program Rather than starting from scratch you can make a copy of the demo source file and remove and add features to transform it into what you need Many people approach programming by spending hours or even days writing a program from scratch then assembling it and downloading it Then they cross their fingers and reset the board praying everything will work About 99 of the time their hopes are dashed as the board does something completely different than they expected or worse it appears to do nothing At that point they either give up or purchase expensive diagnostic equipment such as logic analyzers and in circuit emulators to begin the long hard road of diagnosing and correcting their software and or hardware mistakes A much more sensible and rewarding approach is to start with something that works and then add new features incrementally The modular design of MicroStamp11 gives you that starting point hardware that works and software that works Now if you build on that incrementally each diagnostic step is small and manageable And it will probably end up taking a lot less time and costing a lot less money A powerful asset for program development is the serial communications interface SCI The SCI gives you a window on what s going on inside the microcontroller Simple diagnostic messages placed at strategic points in your evolving program will be invaluable in debugging y
26. our software and hardware If you look at the demo source code ms11demo asm you will see that it consists of an initialization section one main loop and several subroutines and interrupt routines The main subroutine is called ProcessCommand _ lts primary function is to interpret a single character command that is received via the serial port and perform the appropriate action for that command You can easily extend the list of commands within the ProcessCommand subroutine by adding code to recognize and process other single character commands you define Then it is simply a matter of writing those subroutines to perform the functions you wish to implement This software structure gives you a way to independently test each new function one at a time Forexample let ssuppose youareimplementing anautonomous vehicle using a miniature toy car You will need to read position and collision sensors and control the speed and direction of one or more motors First write a basic motor speed control routine and assign lines of code into the special start11 lib file that SBASIC uses for every program you compile Doing this will ensure that the HC11 register block will always appear in the memory map at 1000 regardless of which flavor of HC11 chip is being used The point of all this is to ensure that the SBASIC library routines will function on MicroStamp11 without modification You may also want to write 04 to the CONFIG register in start11 l
27. s19 to MicroStamp11 via COM2 at the DOS prompt you would enter 13
28. te well suited to battery operation It is also designed to withstand reverse polarity and if unused does not present a load to an external regulated 5 Volt supply applied via the 20 pin header H1 One drawback however is that it can become unstable and start to oscillate at low temperatures especially if the input voltage source is connected via long wires In the former circumstance the on board 10uF tantalum capacitor can be replaced with a higher value 47uF or 100uF To compensate for long lead in wires add capacitance of 100uF or so at or close to the Vin and GROUND pins on the H1 connector 12 4 REFERENCE 4 1 How EEPROM is Programmed MicroStamp11 uses parallel EEPROM for program storage and requires only an RS232 interface and power to program using the MCU in Special Bootstrap mode to erase and load code via any serial port This means you can re program your code easily without the need for special programming boards or erasers This approach results in a low cost easy to use configuration suitable for education and new product development Special Bootstrap Mode All 68HC11 MCUs contain an internal bootstrap loader program in ROM This program runs whenever the chip is powered up or reset with the mode select pins configured for Special Bootstrap mode see Motorola 68HC11 Reference Manual for details This configuration can be selected on MicroStamp11 by placing the BOOT RUN switch in the BOOT position When the RESET
29. ur needs A female right angle connector option FRA is supplied as the default option for the MicroStamp11 supplied in the Starter Package With the adapter supplied ADIDC20 M you can use the module like a big chip plugging it right into your breadboard A ribbon cable is supplied so that you can keep MicroStamp11 in the Docking Module during development and plug its I O pins into the breadboard via the ribbon cable adapter combination Forget soldering or wire wrapping get started developing your application right away Your prototyping space is virtually unlimited using solderless breadboards Once you have your design working and you re ready to move to something more permanent you can incorporate one of the supplied mating connectors into your design and just plug MicroStamp11 into it MicroStamp11 becomes a sort of modular brain that you can plug into many different projects you develop 2 USING MICROSTAMP11 WITH SOLDERLESS BREADBOARDS As mentioned previously the standard connector style on your MicroStamp11 is FRA which stands for female right angle Plug it into the supplied adapter and it can straddle the center channel of a solderless breadboard providing several tie points associated with each pin This allows you to plug in wires and other components such as resistors and LEDs to build your application If your board has a differentconnector option youcanstilluseitwithasolderless breadboard by way
30. ways RESET your module in BOOT mode before starting PCBUG11 It is important to make sure there are no background tasks running on you PC such as faxmodem drivers networks etc PCBUG11 needs to access the serial port chip of the PC directly and does not co exist very happily with other programs Whenever possible start PCBUG11 directly from DOS not a DOS shell If you can t get it to work at all visit the Support Library on our website for tips on troubleshooting PCBUG11 To run PCBUG11 type the following command at the DOS prompt after resetting MicroStamp11 in BOOT mode pcbug11 d port 2 if you re using COM1 omit the port 2 parameter if you have a Turbo MicroStamp11 add the parameter baud 9600 If you prefer to use hexadecimal numbers in your PCBUG11 session instead of the default decimal notation enter the following command at the PCBUG11 prompt control base hex Enable access to external memory by changing mode via the HPRIO register and disabling internal ROM via the CONFIG register ms 3c e5 ms 3f 04 14 CAUTION Avoid powering up MicroStamp11 with the WRITE PROT switch in the WRITE position If you do so one or more external EEPROM locations may get inadvertently corrupted If this happens your code may not work as intended and you ll have to repeat the downlaod procedure again In rare cases it s also possible to enable the Software Data Protection feature of the memory chip making it
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