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User`s Manual - Divelbiss Corporation

1. 100 STRING LEFT 127 A 127 110 INTEGER N 120 DEF LEFTS AS N 130 LEFTS MIDS A 1 N 140 FNEND 150 PRINT LEFTS ABCDEF 3 This prints ABC One function can reference another For example 100 INTEGER FNA FNB 110 DEF FNB FNB 1 FNEND 120 DEF FNA FNA FNB FNEND 130 PRINT FNA OTRS prints UL If functions that are using strings call each other the STRING SPACE EXCEEDED error can result if too many functions have partial string results stored in internal temporary storage 3 14 If the message appears you ve called too many functions that need intermediate string storage Simplify your code somewhat 3 15 3 16 Chapter 4 Writing Control Applications in BASIC 4 1 Programming for Real Time Control Systems 4 2 Project Specification 4 3 Real Time Programming Example 4 1 This chapter is an introductory tutorial on using the Boss Bear for real time control applications An example is provided to help clarify the programming and operation of the Boss Bear in a real application it is a moderately complex control system that uses multitasking and the Bear Direct network interface The program makes use of features which are described later in this manual so the reader is advised to make use of the index when topics come up which haven t been covered previously 4 1 Programming for Real Time Control Systems The term real time control implies that certain
2. This produces the following output when run The time is 17 25 56 Related topics SETDATE SETIME GETDATE GO Direct Command Summary The GO direct command starts the compiled code executing Syntax GO may be abbreviated G Arguments GO needs no arguments Description GO begins execution of the most recently COMPILEd or RUN program If the source code has been modified a NEW command has been executed or an error was detected in the last compile then the No Compiled Code error will be displayed GO is typically used to run a program previously compiled via the RUN or COMPILE commanas If the program is very long then GO is faster than using RUN repeatedly since RUN must first recompile the program Related topics COMPILE RUN NEW GOSUB Statement Summary The GOSUB statement is used to call a subroutine Syntax GOSUB linenum Arguments linenum a line number in the BASIC program Description It is often useful in a program to be able to execute a section of code from many places in the program Instead of using duplicate code in each spot that needs it a subroutine may be created and then called with GOSUB When a GOSUB is encountered program execution continues at linenum until a RETURN statement is executed at which point BASIC will transfer execution to the statement following the GOSUB Subroutines have three main advantages they make the program smaller by eliminating redundan
3. This produces the following output when run Number 1 0 0 Number 2 0 0 m ber 3 Related topics DEBUG 8 158 VAL Function Summary The VAL function converts a string into a number Syntax x VAL strexpr Arguments strexpr a string expression Description The VAL function returns a REAL result that is the numeric conversion of the number at the beginning of strexprg If strexor can t be interpreted as a number then VAL returns 0 Note that this is much different than CVI or CVS which convert a binary string into a number Binary strings are not human readable and in fact are just arrays of bytes Example 100 INTEGER J REAL X 110 STRING A 60 120 AS 123 130 J VAL A 140 PRINT Numeric value of AS is J 150 X VAL 83 298 160 PRINT X X This produces the following output when run Numeric value of 123 is 123 X 83 29799 Related topics STR 8 159 VECTOR Statement Summary The VECTOR statement stores the address of an interrupt service task at the specified address Syntax VECTOR laddr task Arguments laddr an integer expression The address at which to store the address of the interrupt service task task an integer expression from 1 through 31 The task number of the interrupt service task Description VECTOR is used to link a hardware interrupt source to a Bear BASIC task This is similar to th
4. Example 100 INTEGER J 110 RUN 1 1 120 INTOFF DOUT 1 1 DOUT 2 1 INTON 130 WAIT 10 140 INTOFF DOUT 1 0 DOUT 2 0 INTON 150 WAIT 5 GOTO 120 200 TASK 1 210 PRINT MAN 220 EXI This example uses INTOFF and INTON to ensure that the two DOUT statements take place at almost the same time If the interrupts weren t disabled then task 1 could break in between the two DOUT statements causing them to occur a few milliseconds apart Related topics INTOFF JVECTOR Statement Summary The JVECTOR statement stores a jump instruction to an interrupt service task at the specified address Syntax JVECTOR logadar task Arguments logadar an integer expression The logical address to store the jump instruction at task an integer expression from 1 through 31 The task number to jump to Description JVECTOR stores code at logaddrto jump to task When the program execution reaches logadar it will disable interrupt processing and transfer execution to task With the current Boss Bear hardware architecture JVECTOR has two possible uses to call a task when the Boss Bear loses power and to call a task when a fatal program error occurs Examples 100 INTEGER X 110 JVECTOR 66 1 120 GOTO 120 200 TASK 1 220 PRINT 230 GOTO 220 Set up NMI vector to task 1 Wait for power to be turned off This is the NMI task Print until processor halts The power management circuitry act
5. Production data is collected and transferred over the Bear Direct network periodically to a personal computer PC Each time that the operator enters a new product number or batch number the totals for the previous product batch are sent to the PC At the end of the shift the shift totals are collected by the PC The table of product lengths will be stored as part of the Boss Bear program since no new products will be added in the foreseeable future Input Output requirements Hardware I O points Shaft encoder This is a 600 pulse rev biphase optical shaft encoder The mechanical coupling with the machine produces 50 pulses per inch of material It is connected to the Boss Bear s onboard counter Motor control This is a 10 to 10 VDC analog signal to control the main drive speed 10 VDC corresponds to 0 RPM and 10 VDC corresponds to User approximately 10 feet second This is connected to a DAC module on the Boss Bear Knife output This is a discrete output that causes the knife to cut the material when the output turns on This output should stay on for approximately 200 msec Optical sensor input This is a discrete input that is connected to two optical sensors with open collector outputs that show when a roll is in place in the machine Conveyor gate output This is a discrete output that causes the lower gate to open allowing the output roll to fall onto the conveyor This output should stay on
6. 100 INTEGER J H M S 110 STRING AS 50 200 AS Divelbiss Boss Bear Controller hi 210 FILE 6 Set task 0 to onboard display 220 CLS Clear the display 290 Scroll a message onto the display 300 FOR J 1 TO LEN AS 310 OCATE 1 41 J Position the cursor 320 PRINT MIDS A 1 J 330 WAIT 10 340 NEXT J 350 OCATE 2 1 PRINT Count 360 OCATE 2 20 PRINT Time 370 RUN 1 100 Start task 1 reschedule once second 380 J 0 390 OCATE 2 8 Position the cursor 400 FPRINT U5Z J Display current count value 410 WAIT 15 J J 1 GOTO 390 Update count and loop forever 500 TASK 1 510 FILE 6 520 GETIME H M 530 LOCATE 2 26 540 PRINT H I P Set task 1 to onboard display Get time from real time clock Position the cursor Print hour followed by colon Print leading zero if necessary Print minute followed by colon S 550 F lt 10 THEN PRINT 0 560 RINT M 6 2 570 IF S lt 10 THEN PRINT 0 Print leading zero if necessary 580 PRINT S Print second 590 EXIT Finished for now The FILE 6 statements are necessary to cause the output to go to the onboard display Bear BASIC will default to FILE 0 the console serial port Each task must have its own FILE 6 statement because each task maintains its own current file number When writing to the display in a multitasking program
7. task 2 Last task in program Code for task 2 x2 x2 1 if test lt gt 0 then print Failed task 2 exit Here is the second example 10 100 200 1000 10000 10200 11000 20000 This example breaks rule number 1 by putting the mainline code after task 2 which means that the mainline code will be using the same temporary variables as task 2 When a timer tick causes task 2 to execute it will modify its temporary variables and possibly cause an expression in the mainline to be evaluated 1 1 T incorrectly One possible solution to this would be to put a task 3 statement at line 20000 this would cause the compiler to use a new set of temporary variables for the mainline code Variable declarations integer test integer x0 x1 x2 Start of program code This is task 0 run 1 10 Run task 1 10 times second run 2 5 Run task 2 20 times second test 0 goto 20000 Jump to mainline loop Subroutine called from mainline Code for subroutine goes here x0 x0 1 return task 1 Code for task 1 gosub 10200 xl x1 1 if test lt gt 0 then print Failed task 1 exit Subroutine called only by task 1 Code for subroutine goes here This is still part of task 1 return task 2 Last task in program Code for task 2 x2 x2 4 1 if test lt gt 0 then print Failed task 2 exit Mainline code loop This is still part of task 2
8. end of cable 123456788 423456789 Male 9 pin D Male 9 pin D Resistor used only at connector at connector at end of network cable Boss Bear Boss Bear AS These stubs should be kept as short as possible Figure 28 Cable Drawing for Old Network Interface Card 1 gt 1 2 150 2 3 3 4 ohm 4 4 6 6 7 7 8 8 s i 9 Male 9 pin D Male 9 pin D t R connector at PC NA ponnecter A end of cable Boss Bear end of cable 123456789 1234567889 Male 9 pin D Male 9 pin D Resistor used only at connector at connector at end of network cable Boss Bear Boss Bear These stubs should be kept as short as possible Figure 29 Cable Drawing for Newer Network Interface Card 10 21 Chapter 11 Error Handling in Bear BASIC 4 1 I O Errors 11 1 2 Program Errors There are several types of programming errors that can occur during the development cycle Syntax errors These occur when the programmer enters code which doesn t follow the required format of the language The compiler catches these and displays an error message and the line number making it simple to correct the problem Examples of this include misspelled keywords ie PRNT instead of PRINT incorrect number of arguments to a statement or function ie SETDATE 9 4 91 instead of SETDATE 9 4 91 4 and incorrect program format ie NEXT without corresponding FOR Runtime errors caused by progra
9. 11 4 520 PRINT Error ERR Display error number 530 STOP Stop program execution This example causes a program error to occur when in line 220 it accesses the 26th character in A which is only declared to be 25 characters long Line 150 has set up task 1 to handle program errors so when the error occurs task 1 prints the error number When this program is run it will display Error 277 which is the String Length Exceeded error In general the PRINT and FPRINT statements shouldn t be used inside of an interrupt task which includes this error handler task because they re enable the interrupts and let the multitasking to continue either of which could cause the system to lock up depending upon what the other tasks are doing In this example however the rest of the program isn t doing anything so this won t cause a problem 11 5 11 6 Processor System PROM System RAM System EEPROM User EPROM Serial port 1 Serial port 2 A D Counter 1 and X4 mode Appendix A Specifications Boss Bear Hardware Z180 operating at 6 144MHz 64K 128K 128K nonvolatile storage 2K 8K 32K 128K RS232 levels 300BPS to 38 4KBPS 7 or 8 data bits 1 or 2 stop bits None even or odd parity XON XOFF handshaking RS232 RS422 or RS485 levels 300BPS to 38 4KBPS 7 or 8 data bits 1 or 2 stop bits None even or odd parity XON XOFF handshaking RS485 supports network of up to 32 nodes witho
10. INTERRUPT device chan task LOCATE row col NETMSG NETWORK 0 unit int int int st NETWORK 1 type reg int unit reg st NETWORK 2 type reg int unit reg st NETWORK 3 type reg expr st NETWORK 4 type reg varname st OUT port byte PRINT arg arg RDCNTR chan int varname SETDATE month day year wday SETIME hour minute second WRCNTR chan int expr get current date from real time clock get current time from real time clock set cursor position for current FILE device wait for user input from current FILE allow commas in user input attach a task to a hardware interrupt source set cursor position for current FILE device send receive network messages initialize Boss Bear network handler send registers to another Boss Bear read registers from another Boss Bear set the value of a network register read the value of a network register send byte to hardware output port send output to current FILE device read counter value into varname set current date of real time clock set current time of real time clock write to counter register s 3 7 5 Function Definition Statements Bear BASIC allows the programmer to extend the language by adding functions See section 3 9 for a complete description DEF funcname arg FNEND 3 7 6 Multitasking Statements mark beginning of a user defined function mark end of a user defined function These statements support the multitasking ability of Bear BASIC allowing the programmer to co
11. Syntax INPUT variable variable Arguments variable a BASIC variable name The value entered is stored in this variable Description The INPUT statement is identical to INPUT except in its handling of strings Whereas INPUT won t accept commas and control characters in strings INPUT accepts commas and most control characters The only delimiter used by INPUT is the carriage return which signals the end of data entry For example rtnputs coors would accept red green blue and leave COLOR holding the string red green blue Note that there should only be one string variable field and that no integer or real variables can follow the string since there is no way for it to detect the end of the string except for the carriage return For example with the code inputs g as k there is no way to enter a value into K because if the user types 12 widget7 9 then J will be 12 A will be widget7 9 and K will be unchanged INPUT should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes INPUT could cause the system to lock up Examples 100 INTEGER J K 110 STRING AS 80 120 INPUTS J K A 130 PRINT J K A Related topics INPUT FINPUT GET KEY INTEGER Statement Summary The INTEGER statement is used to declare integer variables Syntax INTEGER
12. rule output 2 in1 1 in2 7 rule output 2 in1 7 in2 1 _ tule output 2 in1 7 in2 7 Example The following example is for a motor speed control problem with two inputs Speed error and rate of change of speed and 1 output change in speed 80 Declare variables 100 INTEGER SPDERR SPDRATE OUT1 OUT2 ST DRIVE FUZLOOP FUZDAT 106 110 INTEGER SETPNT SPD LASTSPD 115 Midpoint and sensitivity data 120 DATA 0 65 140 DATA 0 100 160 DATA 0 320 170 DATA 0 0 175 Rules for output 1 180 DATA 7 7 7 7 6 5 4 200 DATA 7 6 6 6 5 4 3 220 DATA 6 6 5 5 4 3 2 240 DATA 5 5 5 4 3 3 3 260 DATA 6 5 4 3 3 2 2 280 DATA 5 4 3 2 2 2 1 300 DATA 4 3 2 1 1 1 1 8 65 310 Rules for output 2 320 DATA 0 0 0 0 0 0 0 340 DATA 0 0 0 0 0 0 0 360 DATA 0 0 0 0 0 0 0 380 DATA 0 0 0 0 0 0 0 400 DATA 0 0 0 0 0 0 0 420 DATA 0 0 0 0 0 0 0 440 DATA 0 0 0 0 0 0 0 450 Initialize values to zero 460 SPDERR 0 SPDRATE 0 LASTSPD 0 SETPNT 0 DRIVE 0 490 Read in the fuzzy data into the fuzzy array 500 FOR FUZLOOP 0 TO 105 520 READ FUZDAT FUZLOOP 540 NEXT FUZLOOP 590 Setup task 1 to run 10 times a second 600 RUN 1 10 990 Infinite loop for the main loop 1000 GOTO 1000 3900 Task 1 to read setpoint speed calculate input 1 and 2 reserve last 3925 speed use the FUZZY statement use return value and add to drive 3950 then output the drive 4000 TASK 1 4020 SETPNT ADC 1 4040 SPD ADC 2 406
13. 100 INTEGER J 110 J 0 120 RUN 1 2 Start task 1 resched 0 02 sec 130 IF J 8 THEN CANCEL 1 GOTO 150 Wait for task 1 to count to 8 135 PRINT Print s while waiting 140 GOTO 130 150 WAIT 200 Delay to allow task 1 to finish 160 PRINT Done 170 STOP 200 TASK 1 210 J J 1 Increment counter variable 220 PRINT J 230 EXI Line 120 starts task 1 executing with a reschedule interval of 2 ticks 2 100 second Line 130 checks to see if J which is being incremented by task 1 has reached 8 yet if it has then task 1 is CANCELed and the program jumps to line 150 If J hasn t reached 8 yet then it just prints characters and continues waiting Since the CANCEL statement only prohibits the task from being rescheduled the task must execute one more time after the CANCEL statement is executed Line 150 waits for 2 seconds to allow task 1 to finish executing this could be a much shorter delay since task 1 will run again after 2 ticks The following output is produced when this program is run KKK KK KT KKK KKK KK KK KK KKK KD KOR KKK KK KKK KK KK KK KKKKKKKKKKKKK KKK A KKKKKKKKKKKKKKKKH KKK KK KKK RK RK KK KK el KKK KKK KKK KKK KKK KT KKK KK KK KKK KK KK KK 9 Done This example demonstrates one of the most important points about canceling a task the task will execute one more time after the CANCEL statement is executed This is because CANCEL sets a flag which tells the context switcher to not resch
14. Example 100 INTEGER J 110 RANDOMIZE 120 FOR J 1 TO 32 130 FPRINT I10Z RND 140 NEXT J 150 PRINT This produces the following output when run 11546 26118 16678 25670 28119 11026 19169 21366 11495 10626 25297 19959 30194 1855 19094 4359 12190 13135 18921 1838 24927 30282 32039 20670 11921 22985 19534 15489 4310 28999 14814 30607 Related topics 8 136 RUN Direct Command Summary The RUN direct command compiles and executes a program Syntax RUN Arguments RUN needs no arguments Description RUN compiles the BASIC program in memory If no errors are detected then it executes the program It can take up to 20 seconds to compile a long program Related topics COMPILE GO 8 137 RUN Statement Summary The RUN statement starts execution of a task in a multitasking program Syntax RUN task resched Arguments task an integer expression from 1 through 31 The task number to begin executing resched an integer expression from 1 through 32767 The reschedule interval for task If this isn t specified then the reschedule interval for the task is undefined Description The RUN statement makes a task ready to run so that the context switcher will execute it at some future time If the task EXITs then it will be rescheduled to start executing again after resched tics have elapsed this provides a convenient way of making something happen periodically The RUN statem
15. The Bear Direct network can be used to log data onto a personal computer disk drive using the TSR program BEARLOG EXE which is a TSR Terminate and Stay Resident program The BearLog program can be configured to store information in dBase IV compatible files or in user specified format files It runs in the background checking several times per second for incoming messages when a message arrives it appends the data to the end of the correct file It can log data into multiple files each message specifies the file type that it should go into 10 5 1 BearLog Configuration File The BearLog program is controlled by a configuration file BEARLOG CFG This file specifies which data files will be created and how they will be updated The data can be stored in a single file or a new data file can be created each hour each shift each day or each week The data files are stored in separate subdirectories based on file type An example will make this structure clearer Assume that a system generates three data file types hourly production data shift downtime totals and weekly SPC data The BearLog 10 17 program is loaded in the directory C BEARLOG the data will be stored in three subdirectories of CABEARLOG C BEARLOG PRODHOUR CABEARLOGIDOWNTIME and C BEARLOG SPC_WEEK The following files would be written on the hard disk drive between March 1 1992 at 7 00 AM and March 18 1992 at 4 00 PM Subdirectory Filename Start time for dat
16. e Je le Je Je les lt DE 3 tt ui Figure 48 UCP Front Panel H 20 RIGHT SIDE VIEW BACK VIEW LEFT SIDE VIEW Ep Cp COM coM 2 FILE 0 FILE 5 Wivelbiss P N 2 OUTPUTS 1 yDC SERIAL CHANNEL 1 CHANNEL 2 5 10 10 1 0 PONER INPUTS ADS SyDC Figure 49 UCP Back Panel Detail H 21 0 190 DIA TYPICAL 4 PLACES 8 00 7 75 00000 00000 A J Qo COM 1 COM 2 FILE 0 FILE 5 WWDivelbiss 0 25 0 00 0 00 1 44 3 94 Figure 50 UCP Back Panel for Plain Unit H 22 Figure 51 UCP Panel Cut Out Template H 10 Digital I O Board 4 in 4 out 0 17 DIA TYPICAL 8 PLACES DC INPUT OUTPUT SPECIFICATIONS INPUTS Input Voltage 10 32VDC Turn on Level 8VDC 2 3 mADC MIN Turn off Level 2 5VDC 0 05 mADC MAX Turn on Time 30mS Nominal Turn on Time 2 S Nominal Isolation Input To Logic Level 3 6KV MIN for 1 second Isolation Interchannel 3KV MIN for 1 second Static Input Resistance 2KOhm Nominal OUTPUTS Nominal Source Voltage 24VDC 30VDC MAX On State Voltage Drop 2 4VDC MAX 1 AMP Load Current 0 5mADC MIN 0 55 Deg C Load Current 1 AMP MAX 0 55 Deg C Surge Current 2 AMP MAX for 1 second 55 Deg C Off State Leakage Current 100 ADC MAX 30VDC 0 55 Deg C Turn on Time 10 S MAX Turn off Time 1mS MAX Isolation Output To Logic Level 3 6KV MIN for 1 second Isolation Interchannel 3KV MIN
17. 130 IF DIN 1 1 THEN 130 Wait for switch 1 to be released 140 IF DIN 2 0 THEN 170 Continue if switch 2 not pressed 150 C2 C2 1 Switch 2 pressed increment counter 155 PRINT C2 C2 160 IF DIN 2 1 THEN 160 Wait for switch 2 to be released 170 GOTO 110 Loop forever This program almost works correctly When no switch is closed the program will loop from line 110 to line 140 to line 170 and back to line 110 If switch 1 is closed then it will increment C1 and print the new C1 value in lines 120 and 125 It will then sit in a loop in line 130 until switch 1 is opened when this happens it will resume looping from 110 to 140 to 170 looking for a switch closure Switch 2 and C2 are handled in the same manner The problem occurs when it is waiting for a switch to be opened lines 130 and 160 Ifitis looping in line 130 for instance switch 2 could close and open while switch 1 remains closed and the program would not detect the switch 2 closure The following example handles this problem and counts 4 2 the two switches correctly 100 INTEGER C 1 Counters 110 INTEGER S 1 Switch states 120 INTEGER J K 130 C 0 0 C 1 0 Initialize the counters to 0 140 FOR J 0 TO 1 Loop for both switches 150 GOSUB 300 Check for switch closure 160 IF K 0 THEN 190 Jump if no closure 170 C J C J 1 Increment counter 180 PRINT C J C J Print counter 190 NEXT J 200 GO
18. Incremental Encoder Bi Phase Hookup Incremental Encoder Figure 38 Biphase Incremental Encoder Wiring Example The next example shows how to handle counter interrupts and use the high speed output This example sets up task 1 as the interrupt handler for counter 1 In lines 120 and 130 it initializes counter 1 setting its mode to A count B direction and writing a 0 to the counter In lines 140 and 150 it sets the counter reload variable to 10 and writes this reload value into the counter s compare register Line 160 uses INTERRUPT to set task 1 as the interrupt handler for the counter Lines 210 to 240 form the program s main loop which just displays the latest counter value COUNT from the last interrupt it also increments and displays J just to cause some action on the display Lines 300 to 350 form task 1 the interrupt handler it reads the current counter value and updates the reload value Lines 400 to 440 form task 2 which turns off the high speed output about 1 2 second after it is turned on In task 1 the first thing that it does is read the current counter value At low pulse rates this will be the same as RELOAD since it is reading the same value that caused the interrupt As the pulse rate increases however the counter will increment before the task 1 gets to read the counter Ata very high pulse rate a problem will occur when the counter has already gone beyond the new RELOAD value before RELOAD is written to the
19. The GOTOXY statement positions the cursor on the current FILE output device Syntax GOTOXY xpos ypos Arguments xpos a numeric expression The horizontal position to put the cursor at starting at ypos a numeric expression The vertical position to put the cursor at starting at 0 Description GOTOXY is used to position the cursor on the current FILE output device using a Cartesian coordinate system with 0 0 at the upper left corner Each task maintains its own cursor position so that two tasks may print to a device at different locations at the same time GOTOXY works with the onboard display FILE 6 as well as with COM1 FILE 0 and COM2 FILE 5 in order to work with FILE 0 and FILE 5 the terminal must be able to emulate the ADM3A command set Example 100 Example to display a sine wave on the terminal 110 REAL X Y INTEGER J 120 CLS 130 FOR J 0 TO 79 Use entire display 140 X J 360 0 79 0 Scale to 360 degrees 150 Y SIN X 8 0 9 0 Scale to 8 with 0 in center 160 GOTOXY J Y PRINT Draw the point 170 NEXT J This produces the following output when run KAKKKKKKKKKKKK k k KKK KKK k k k k k k k k k k k k k k k k k k k k k k k k k k k KKK KKK k k KAKKKKKKKKKKKK Related topics LOCATE 8 75 HELP Direct Command Summary The HELP direct command displays online help screens Syntax HELP Arguments HELP needs no arguments
20. There are four I O errors that are detected with the Boss Bear v2 01 system software 1 1 Serial transmission timeout 2 2 Failure programming EEPROM 16 10 COM1 receive error overrun parity framing 17 11 COM receive error overrun parity framing The ON ERROR statement causes the program execution to proceed at a specified line number when an error is detected by one of the l O functions The following example demonstrates this 100 INTEGER K 150 ONERROR 300 Set up the error handler 200 FILE 0 K GE Get a character from the console 210 FILE 6 PRINT CHRS K Print it onto the onboard display 220 GOTO 200 300 FILE 6 PRINT ERR Error detected 310 GOTO 200 Line 150 sets up the error handler at line 300 If an error is detected when the GET function is called then the program will jump to line 300 Line 300 will display the error number returned by the ERR function an jump back to line 200 Note that the error is not detected until an I O operation is attempted in this case the GET function The ON ERROR statement has one important limitation everything having to do with it must be in task 0 This includes the line containing the ON ERROR statement the line referenced by the ON ERROR statement and the I O operations that may cause the error to be detected If an I O operation occurs in a task other than 0 and detects an error then the program execution will
21. Timer Output Control 1 0 TOC1 and TOCO must be 0 on the Boss Bear Timer Down Count Enable 1 TDE1 controls down counting for TMDR1 a 1 enables down counting while a 0 disables it Timer Down Count Enable 0 TDEO controls down counting for TMDRO a 1 enables down counting while a O disables it C 7 Free Running Counter The FRC I O address 18H is a read only 8 bit free running counter which decrements every 10 system clock cycles every 1 628 sec Appendix D Using Assembly Language Subroutines This appendix discusses the use of assembly language subroutines within Bear BASIC programs Assembly language is the native mode of the microprocessor with each line of code corresponding to a single machine code instruction which executes in about a microsecond Assembly language can produce the fastest smallest programs but it is more difficult to learn and slower for the programmer to use Often the best compromise is to write most of a program in a high level language such as Bear BASIC or C and write the time critical sections in assembly language In order to write assembly language subroutines for the Boss Bear the programmer must have a cross assembler program for the Z80 or Z180 processor This is a program which runs on a personal computer and converts the assembly language source code into Z180 machine code The Divelbiss applications engineers can recommend an assembler program based on the customers requirements It is
22. US Cw Oe us OO Xe UAN O0O0wO A Us wo ol o ds ds No No 000000 OB OO OF1 01d OF 01 oO U1 Nd ol o 4 2 Project Specification The project specification is an extremely important element of the control system design A complete well thought out specification will increase the reliability of the system and can dramatically decrease the implementation time for the system The ideal specification would completely describe all components of the system in enough detail to allow an independent party to construct the system this should be the goal of the specification writer In reality of course this is not possible questions will always arise during the project implementation that had not been previously considered The exact contents of the specification depend on the project but in general the following elements should be included General description of application Ideally this will be detailed enough that someone who is not familiar with the application will be able to understand it Input Output requirements List the inputs and outputs required to support the application including parameters such as voltage current pulse rate temperature etc Screen and report formats List the layout of any display screens or printed reports This should be done on grid paper to ensure that the text will fit in the available space Timing requirements List any timing requirements including both timing required fo
23. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Oo000000000Oo0Oo 0 29 00 OO O 0 O O 0 00 o o 5 2 Determining Task Timing When the operation of the context switcher is viewed over a sufficiently long period of time it gives the illusion that multiple tasks are running concurrently As shown in the previous examples however when the operation is viewed over a smaller period of time it is evident that the processor is switching rapidly between tasks In some situations the context switcher s operation must be considered carefully while programming 5 6 It can be very difficult to predict how the context switcher is going to execute the tasks In fact it is impossible to predict exactly what the context switcher is going to do since there is no way to predict exactly where the program will be when the t
24. 0 for INTEGER 1 for REAL 2 for STRING block an integer expression of 0 1 2 or 3 This value specifies which memory block to use reg_number an integer expression from 0 to 65535 This value specifies which memory register to use variable The value to be used in the memory transfer The type depends on the vartype argument status an integer expression This will hold the status of the operation a 0 will indicate a successful operation while a nonzero value will indicate that an error occurred Description The EXPMEM statement is used to save and retrieve values stored in the optional expanded memory board on the UCP The expanded memory board hold an additional 512K of battery backed memory to store large amounts of data The memory is divided up into four blocks of 128K Each INTEGER uses 2 bytes each REAL uses 4 bytes and each STRING uses 32 bytes thus allowing each block to hold 65536 INTEGERs or 32768 REALs or 2048 STRINGs Caution must be taken to not to use more than one variable type in a single block STRINGs must be defined as 32 bytes long when using the EXPMEM statement When reading a STRING from the expanded memory a 32 byte STRING is always returned regardless of what had been stored Example 100 INTEGER A B C D E F 110 REAL H I 120 130 140 150 160 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 370 380 390 400 410 420 430 440 450 460 470 480 490
25. 110 PRINT Main program 120 WAIT 90 GOTO 110 200 TASK 1 Mark beginning of task 1 210 PRINT Task 1 220 EXI Related topics RUN statement EXIT WAIT CANCEL 8 153 TMADDR Statement Summary The TMADDR statement sets the ID for succeeding Touch Memory accesses Syntax TMADDR idstr Arguments idstr Touch Memory ID stored in first 8 bytes of string Description After TMSEARCH is used to find the ID s of all attached Touch Memories TMADDR specifies which Touch Memory to communicate with After tmappr 1D is executed all succeeding TMREAD and TMWRITE accesses will go to the Touch Memory with the specified ID This is not currently implemented on the Boss Bear Example 100 INTEGER NDEV NUM ST 110 STRING ID 80 DATS 30 200 NDEV TMSEARCH IDS Read device IDs 210 IF NDEV 0 THEN WAIT 50 GOTO 200 Loop if none found 220 FOR NUM 0 TO NDEV 1 230 TMADDR MIDS IDS NUM 8 1 8 Set up ID to write to 240 ST TMREAD DATS 0 20 Zero out data at location 0 250 PRINT ST DATS Display data 260 NEXT NUM Related topics TMSEARCH TMREAD TMWRITE 8 154 TMREAD Function Summary The TMREAD function reads data from a Touch Memory device attached to the Touch Memory port Syntax stat TMREAD datstr location length Arguments datstr string variable to store data into location an integer expression The
26. 140 PRINT Arccosine value of X is Y This produces the following output when run 157 36422 Arccosine value of 4 00000 is 104 93141 8 3 ADC Function Summary The ADC function is used to read an analog input value from one of the A D channels Syntax adv ADC chan Arguments chan a numeric expression The A D channel number to read starting with 1 Description The ADC function performs an analog conversion on the specified A D channel and returns the result as an INTEGER value between 0 and 32767 The value returned by the A D hardware is scaled to cover the full range of 0 to 32767 this allows A D converters of different resolutions ie 10 bit 12 bit etc to be substituted without altering the user s program The ADC function takes approximately 350 microseconds to complete The A D channels are assigned based on the hardware available on the Boss Bear channel 1 could be on the onboard A D or in any of the expansion ports if there is no onboard A D converter The order of precedence for assigning A D channels is onboard A D followed by J3 followed by J4 followed by J5 Example 100 Display the first 5 A D channels 110 INTEGER NUM 120 FOR NUM 1 TO 5 130 PRINT Channel NUM ADC NUM 140 NEXT NUM This produces the following output when run Channel 1 0 Channel 2 0 Channel 3 13440 Channel 4 0 Channel 5 0 Channels 1 2 4 and 5 indicate that 0 vo
27. 2010 T2 T 2020 IF T2 10000 THEN PRIORITY 1 Bump to higher priority for a while 2030 IF T2 20000 THEN T2 0 PRIORITY O Back to original priority 2040 GOTO 2010 2100 TASK 3 2110 FOR T3 1 TO 8000 Delay for a while then exit 2120 NEXT T3 2130 EXIT This program sets up a timer interrupt task to execute 1000 times per second Timer 1 and the interrupt are initialized in lines 1000 to 1070 Task 1 is the timer interrupt task it simply resets the timer hardware s interrupt flag and then increments the TIMER variable Lines 300 to 330 perform a 50 tick 500 msec WAIT then print the actual number of milliseconds that the WAIT took to complete Task 2 just increments a variable and periodically sets its priority to a higher value causing task O and task 3 to be suspended until task 2 resets its priority Task 3 executes a short loop to waste some time and then exits to be restarted 4 5 after 1 tick When task 2 sets itself to a higher priority the task O WAIT statement will take much longer than 50 ticks about 300 ticks because task 0 can t be run even though it is ready to run after the 50 tick waiting period Periodically task 3 will be ready to run when the task 0 WAIT statement completes task 3 will run before task 0 gets to run causing an extra tick to pass before task O executes The following output was produced when this program was run it shows both of these effects 50 D O 50
28. 68 104 6 9 69 105 6 10 6A 106 6 11 6B 107 6 12 6C 108 6 13 6D 109 6 14 6E 110 6 15 6F 111 7 0 70 112 7 1 71 113 7 2 72 114 7 3 73 115 7 4 74 116 7 5 75 117 7 6 76 118 7 7 77 119 7 8 78 120 7 9 79 121 7 10 7A 122 7 11 7B 123 7 12 7C 124 7113 7D 125 7 14 7E 126 7 15 7F 127 The Addr column shows the Expander I O address the Hex column shows the UCP I O number in hexadecimal form while the Dec column shows it in decimal form Figure 42 Relation Between I O Board Address and UCP I O Number H 12 H 4 Real Time Clock The optional real time clock allows the Bear BASIC program to determine the time and date at any point The clock is accessed using GETDATE SETDATE GETIME and SETIME On the UCP these statements take about 150 msec to complete which is slower than the Boss Bear The UCP GETDATE statement always returns O for the day of week H 5 Serial Ports Many devices interface with other equipment using serial data transfer The UCP provides two optional serial ports COM1 and COM2 Both ports support asynchronous serial transfer at baud rates between 150 and 19200 baud using RS 232 RS 485 or RS 422 RS 232 can connect two pieces of equipment using three conductor cable it is generally used for short distances up to 50 ft in environments that don t have much electrical noise RS 422 can connect two pieces of equipment using five conductor cable it can drive much longer distances
29. 7 1 One of the things which makes the Boss Bear such a cost effective control system is the hardware support which is available onboard the main system Since real time control revolves around the ability to perform input and output with the real world this is one of the most important chapters in the manual This chapter along with chapter 9 Optional Modules describes the Boss Bear hardware that is available to the system designer Figure 6 and Figure 7 show the jumpers and connectors that are accessible from the Boss Bear s rear panel Since this information is applicable to many of the sections in this chapter it is presented first Low Pass Filter Configuration A Chanel A i O g e Chae 8 lo la 4 Reset Marker O O pl 100 KHz 5 KHz 20 Hz B a JW12 Configuration JW13 Configuration ooo RES i asserts RES i i A Me Ses om RES input asserts RES input terminal becomes o Opr LEE ia JW11 must be JW3 Configuration JW4 Configuration 32K EPROM 128K EPROM JW11 Configuration 5 i Enable abl RES to RES to H is removed then Mode RES function Is disabled fun Mode Program SW1 Configuration Figure 6 Boss Bear Jumper Settings 7 2 SSSSSSSHSSSSSSSES COM1 FILE O RS232 IW1 Configuration COM2 FILE 5 22 R5485 RS232 RS422 RS485 at Paget W8 JW9 JW10 0 E E U deui 1 E E l 2 EBE To Bear Bones or B E 7 PIC Bear Bones controller 4 E B To VO modules 5 E E 8 up to 128 in 128 ow 6 IE B 8
30. 7 E B B Bear Bones interface page selection Figure 7 Boss Bear I O Connectors and Jumpers 7 1 High Speed Counter Counting is a very common operation in real time control systems For low speed signals less than 10 pulses second this can be handled easily in software At higher rates however hardware counters are required The Boss Bear high speed counter circuit is very flexible providing several operating modes It is a 24 bit binary up down counter capable of greater than 1 MHz count rate 833 kHz in quadrature modes with input filtering and a high speed output It supports quadrature mode which allows it to operate with biphase shaft encoders In order to understand the operation of the counter it is helpful to look at the hardware logic The onboard counter circuitry is very similar to the counter expansion module so most of the following information applies to both 7 3 COUNTER CIRCUIT LOW PASS FILTER A A INPUT DATA PA JW5 oR INT TO PROCESSOR OW PASS R B E qua B INPUT RES INT JW6 E RES OUT JW12 JW11 E LOW PASS FILTER RES e e LDCNT LDLATCH JW7 RES wa Si e A a A GATE RESET HER OS Y Figure 8 High Speed Counter Logic The A B and RES inputs are open collector with jumper selectable low pass filters 20Hz 5kHz and 100kHz JW5 sets the filter cutoff frequency for A JW6 for B and JW7 for RES The A and B inputs
31. All DATA statements must be before the first READ Expression Error Occurs when a mathematical expression has been formatted incorrectly Failure Programming EPROM or EEPROM Indicates that a byte didn t verify correctly after being programmed in either the EPROM EPROM SAVE EPROM COMPILE CODE commands or the EEPROM EEPOKE statement File not Found EPROM file not found File Verify Failure An error was detected after writing a file to the EPROM Function Error Occurs when a program is compiled if the function had an argument in the wrong mode or if the wrong number of arguments were given for the function At runtime a FUNCTION ERROR may appear if the argument to a function is out of range for example if the square root of a negative number is taken Illegal Direct Command Occurs if an unknown direct command is entered Illegal File Number On EPROM LOAD filenum command this error occurs when the specified filenum is not present on the EPROM B 1 Illegal Print Input Format Is displayed at runtime if the format given in an FPRINT or FINPUT statement does not match the number of arguments in the FPRINT FINPUT statement if there are more things to be printed input than there are formats or if the format specified is not correct Improper Data to INPUT Statement Occurs when data is being read from a file and the data doesn t match the arguments of the INPUT statement Insufficie
32. Example 100 Program to output a sine wave on DAC channel 1 110 INTEGER J Y 120 FOR J 0 TO 628 Go through an entire cycle 1 130 Y 1023 0 SIN J 100 0 Scale sine to fit Boss DAC range 135 Y 32767 0 SIN J 100 0 Scale sine to fit UCP DAC range 140 DAC 1 Y Output the value 150 NEXT J 160 GOTO 120 Loop forever Notice that in line 130 the constants 1023 0 and 100 0 are given as real numbers with a decimal point By doing this the program runs slightly faster since the compiler doesn t have to convert the numbers from integer to real each time that the line is executed Related topics ADC Chapter 7 Appendix H DATA Statement Summary The DATA statement defines constant values to be accessed with READ statements Syntax DATA data list Arguments data _list list of constant values separated by commas The values may be numeric or string Strings must be surrounded by double quotes and may contain commas colons spaces and other punctuation Description DATA statements are used to define a block of constants which will be read by READ statements All DATA statements must be in the program before the first READ statement when the first READ statement is encountered BASIC searches for all DATA statements While the program is executing each READ statement accesses the next DATA element in order the DATA elements are treated as a continuous list of items regardless of how they
33. OD 20 67 E9 72 61 FO AO 24 62 00 48 3A 65 00 2 FO OL 00 26 FO dBi e footy ss 0 0 3D 31 3A 10 02 El copos tel PAS 00 28 31 29 34 00 187 cone LO ace IR 3D 30 20 54 4F 20 37 0 TO 7 61 79 20 38 20 34 4B Display 8 4K 66 20 6D 65 6D 6F 22 blocks of memor CA FO 02 00 3D 24 32 yhes ei reires 2 44 69 73 70 6C 61 79 0 Display 20 61 74 20 24 32 30 starting at 20 EQ 02 00 SA 22 BE 20 iio wh ee ett Da 79 20 6D 61 70 70 69 Set memory mappi 64 64 72 65 73 73 3A ng base address 03 00 3D 30 3A 08 CA 2X 0 00 00 SD SA SOR BO FO dan ee es ge ae 46 46 46 3A 10 B6 20 0 TO SFFF 6C 6F 63 6B 3A 00 AA Do a 4K block 87 30 20 54 48 45 4E ii O THEN 32 48 33 58 34 5A 22 H2H3X4Z 12 B6 20 44 69 73 70 Disp 73 73 3A 00 B4 00 03 lay address 8 37 DIN Function Summary The DIN Digital INput function reads input expander modules attached to the Boss Bear Syntax x DIN addr Arguments addr an integer expression The address of the input channel to read Description One or more Divelbiss I O expander boards can be attached to the Boss Bear DIN is used to read the input modules It returns an INTEGER value a 0 if the input is off or a 1 if the input is on adar is the input address to read it will be a number between 0 and 127 00 and 7F DIN can also be used to read the current keypad status for example so that on
34. SAVE stores the current BASIC source program onto the users EPROM SAVE CODE stores the current compiled code onto the user s EPROM If filename is specified then it is stored with the file The file name for a source program is just used as a comment to indicate what the program does With compiled code however the file s name can be used with the CHAIN statement It is possible to have more than one file on an EPROM with the same name these files will be differentiated by their file numbers SAVE is identical to EPROM SAVE Example SAVE Saves the BASIC source with no filename SAVE CODE Saves compiled code with no filename SAVE Programl Saves the BASIC source as PROGRAM1 SAVE CODE test Saves compiled code as TEST Related topics LOAD EPROM SAVE EPROM LOAD 8 139 SERIALDIR Statement Summary The SERIALDIR statement sets the direction and RTS level of the serial ports Syntax SERIALDIR file direction Arguments file an integer expression The file number of the serial port 0 for COM1 5 for COM2 direction an integer expression 0 for receive and 1 for transmit Description For an RS 232 serial port SERIALDIR sets the RTS output level For an RS 422 serial port SERIALDIR enables and disables the transmitter D disabled 1 enabled For an RS 422 serial port SERIALDIR sets the direction of the port O receive 1 transmit Upon power up the hardware sets the RTS active for RS 232 ports
35. Syntax SETIME hours minutes seconds Arguments hours an integer expression The hours represented as 0 23 with O being midnight minutes an integer expression The minutes represented as 0 59 seconds an integer expression The seconds represented as 0 59 Description SETIME sets the current time on the Real Time Clock Note that the Real Time Clock is an option on the Boss Bear SETIME takes about 200 microseconds to execute UCP The UCP uses a Touch Memory device for the real time clock The SETIME statement takes about 150 milliseconds to execute on the UCP which is much longer than the Boss Bear Example 100 SETIME 14 23 45 Set time to 2 23 45 pm Related topics GETIME SETDATE SETDATE 8 142 SETOPTION DAC Direct Command Summary The SETOPTION DAC command sets the initial power up value for a DAC output channel The Boss Bear must have the optional EEPROM installed in order for this command to take effect Syntax SETOPTION DAC chan value Arguments chan the DAC channel number between 1 and 12 value the initial DAC value between 0 and 1023 Description Prior to version 2 03 of Bear BASIC the DAC channels were not initialized when the Boss Bear was turned on causing the DAC outputs to go to a random voltage With version 2 03 the initial DAC values are stored in the reserved area of the EEPROM when the Boss Bear is turned on each DAC channel is set to the corresponding E
36. Timing requirements The throughput of the machine should be maintained at the highest practical value The operator should be able to enter the maximum run speed from the keypad Other than these requirements and any previous constraints there are no critical timing requirements Mechanical requirements The Boss Bear its power supply and any auxiliary equipment excluding sensors will be mounted in a NEMA 4 enclosure approximately 12 inches wide by 16 inches high by 6 inches deep All wiring will enter the enclosure through 0 75 inch holes punched in the bottom surface All field wiring will terminate at screw type terminal strips Environmental requirements The machine will be located in a normal factory environment Hardware requirements The optical shaft encoder and motor drive controller are being supplied by the customer specifications ar nclosed separately for these items 120VAC will be brought into the enclosure the Boss Bear and all I O devices will be powered from the 120VAC source Proper steps should be taken to ensure noise immunity and electrical isolation Software requirements The data should be stored on the PC in a Lotus 123 compatible file format to facilitate post processing of the data Initial system testing As much testing as is feasible will be performed prior to mounting the system on the actual machine A shaft encoder will be provided for initial testing The
37. executing it will reset some of the onboard hardware The serial ports get reset timer 1 is turned off and the onboard display LCD VFD is cleared The high speed counter s value and mode is left unchanged In order for the new program to start executing the run program switch SW1 must be in the RUN position If it is in the PROG position then CHAIN will cause the Boss Bear to return to the command line prompt Examples 100 PRINT Hi there 110 CHAIN 4 Jump to program 4 on EPROM This example shows how to use CHAIN to run a specific program number 100 First program Save on EPROM as FIRST 110 PRINT This is the first program 120 WAIT 100 130 CHAIN SECOND 8 18 100 110 120 130 140 Second program Save on EPROM as SECOND PRINT This is the second program PRINT KRKKKKKKKKKKKKKKKKKKKKKKKAKW WAIT 100 CHAIN FIRST Type in the first program compile it and type SAVE CODE FIRST to save it on the EPROM Then type in the second program compile it tyoe SAVE CODE SECOND and run the program It will execute then CHAIN to the first program which will execute and CHAIN back to the second program CHR Function Summary The CHR function returns a string that corresponds to an integer value Syntax st CHR expr Arguments expr an integer expression between 0 and 255 Description CHR returns a 1 character long string that corresponds to the ASCII value of the specif
38. for the inputs and decreasing the values for what might be considered SMALL in the output The previous statement is generally true for such applications as speed position and temperature control just to name a few With regards to the number of fuzzy sets a good rule of thumb in many process control applications is to have between five 5 and nine 9 fuzzy sets for each input and or output As described in section 1 2 the FUZZY statement contains two 2 inputs and two 2 outputs with seven 7 fuzzy sets which is sufficient for most applications 1 2 Using the FUZZY Statement The Fuzzy Logic capabilities using the Universal Control Panel are entirely contained in one easy to use statement FUZZY FUZZY has been optimized for speed and simplicity over a broad range of applications The FUZZY statement supports two 2 inputs and outputs seven 7 fuzzy sets with symmetric triangles user definable fuzzy set values and a return status Execution of the FUZZY statement requires less than 1 0mS providing sufficient speed for most single loop applications The format of the FUZZY statement using the Divelbiss BEARBASIC programming language is as follows FUZZY ADR DATA VARIABLE 1 INPUT1 INPUT2 OUTPUT1 OUTPUT2 STATUS where ADR DATA VARIABLE 1 is the address of the first variable in the Fuzzy data list INPUT1 and INPUT2 are integer variables which contain the input values passed to the statement within your BEARBASIC routine OUTPUT1
39. motor drive will not be available for initial testing Final system testing A machine will be made available for approximately two working weeks for system testing An electrician and maintenance technician will be available during this time The machine will undergo a five day acceptance period during which it will be run under normal production conditions Often during the engineering implementation the specification must be changed in response to problems new information parameter changes personal whims etc The actual printed specification should be updated and distributed to all interested parties when changes occur This will help to avoid nasty surprises on anyone s part Unfortunately it is often not until a project has started to fall apart that the specification or lack of one becomes important 4 3 2 Initial Software Design For an experienced programmer most of the initial phase of the software design occurs while reading the specification and while sitting in meetings This is the part of the design where the overall structure of the program is laid out and data structures are chosen For the less experienced programmer it is often useful to consider this as an independent phase The natural inclination for most people is to jump in and start writing the program this often leads to programs which are confusing to read and hard to debug As with the specification a little bit of thought up front can save hours o
40. num_real num_string status Arguments unit_id an integer expression that evaluates between 1 and 254 This is the unit number of this Boss Bear in the network Each unit in the network must have a unique number num_int an integer expression This is the number of INTEGER registers to allocate space for num_real an integer expression This is the number of REAL registers to allocate space for num_string an integer expression This is the number of STRING registers to allocate space for status an integer variable This will hold the status of the NETWORK operation a O will indicate successful completion while a nonzero value will indicate that an error occurred Description This sets the unit ID for this Boss Bear and allocates space for the network registers Each unit on the network must have a unique unit ID if two units have the same ID then neither of them will be able to access the network reliably The unit ID may range between 1 and 254 for maximum network efficiency the unit numbers should be allocated sequentially from 1 to N If there are any unused unit numbers then the network master will waste time trying to talk to those units periodically BASIC accesses the network using a set of network registers these are just values that are shared between the BASIC program and the network There are three sets of network registers one each for INTEGERs REALs and STRINGs The BASIC program controls how many registers
41. sum 0 Initialize the sum for j 1 to 100 sum sum 3 Add up the numbers 130 next j print The sum is sum Display the result 3 3 when this program is LISTed the following is displayed 100 INTEGER J SUM 102 SUM 0 Initialize the sum 104 FOR J 1 TO 100 106 SUM SUM J Add up the numbers 130 NEXT J 132 PRINT The sum is SUM Display the result Notice that line numbers were added to the lines that didn t have them Also the only lowercase letters that remain are in text strings and comments Bear BASIC is not case sensitive so code can be entered in upper or lower case but it is always stored in upper case 3 2 2 Variable Declarations Unlike many BASIC systems all Bear BASIC variables must be explicitly declared All variable declarations ie INTEGER REAL and STRING statements must be at the beginning of the program In order to create efficient code the compiler needs to know how many variables there are before it generates any machine code Bear BASIC is limited to 128 variable names in a program No distinction is drawn between variables by mode This means that the variable A2 is the same variable as A2 If the variable is declared as both integer and string both INTEGER A2 and STRING A2 statements exist a compilation error will result Similarly variable A is the same as dimensioned variable A n Bear BASIC supports a maximum of two dimensions for real and integer arrays it suppo
42. 0 1 7 1 7 Simulate photo eye turning on J contains the number of the input that has turned on so update the product count and shift count for that input PRD J PRD J 1 network 3 0 6 J PRD J SHIFT J SHIFT J return 7K Update current count in network reg 1 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KKK Check for end of shift message from Central K netmsg MSG 1 J Check for time update message if K 0 then 2999 Return if no message if len MSGS lt 7 then 2999 Return if too short if mid MSG 1 1 lt gt chr SFF then 2999 Calculate the time of day in minutes then check for shift change 7am 3pm 11pm DAYMIN asc mid MSG 5 1 60 asc mid MSG 6 1 if DAYMIN 420 then 2600 Jump if 7am if DAYMIN 900 then 2600 Jump if 3pm if DAYMIN lt gt 1380 then 2999 Jump if not 11pm MSGS chr 0 Message type 0 for J 0 to 3 Store shift totals in message string then reset shift totals 10 9 2999 5000 5100 8300 8310 8800 9000 10 10 MSGS CONCATS MSG MKI SHIFT J SHIFT J 0 next J MSGS CONCATS MSGS MKIS OPNUM Store current operator number K netmsg MSG 0 0 Send the message to the PC if K lt gt 0 then cls print Network error stop return VU KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to handle user keypad input UIFMTS Product number 0 9
43. 12 Line 140 stores a 0 into the low byte of the variable K K was originally 500 1F4 so this changes it to 256 100 Line 160 stores a 0 into the high byte of K Related topics PEEK WPOKE WPEEK EEPOKE EEPEEK DEFMAP 8 121 PRINT Statement Summary The PRINT statement sends output to the current FILE device Syntax PRINT expr expr Arguments expr a numeric or string expression Description PRINT outputs data in a human readable form to the current FILE device as set by the last FILE statement executed The console FILE 0 COM1 is the default FILE Commas or semicolons may separate expr values A comma causes exprto be printed at the next tab stop tab stops are 16 characters wide A semicolon causes expr to be printed without inserting any extra spaces if the last thing on the PRINT line is a semicolon then no carriage return or line feed will be printed The question mark can be used as an abbreviation for PRINT when typing in a program the will be replaced with PRINT when the program is LISTed Integer numbers are printed using the minimum number of characters Real numbers are printed with 5 digits to the right of the decimal point PRINT should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes PRINT could cause the system to lock up
44. 2 OR 5 evaluates to an undefined non zero value Example 100 INTEGER dE This produces the following output when 110 PRINT 120 FOR K 0 TO 7 run 130 FPRINT I13Z K 140 NEXT K 0 1 2 3 4 5 6 7 150 PRINT 0 0 1 2 3 4 5 6 7 160 FOR J 0 TO 7 TR di Bs 3 t Se EP 170 FPRINT 132 J B92 E E Be T Ge T 180 FOR K 0 TO 7 Su g BS a e 190 FPRINT I3Z BOR J K Ae Ane 26 TE A 2 ONT 200 NEXT K 5 5 5 7 7 5 5 7 7 210 PRINT 6 6 7 6 7 6 7 6 7 220 NEXT J TAE AC E PO Related topics BAND BXOR 8 12 BXOR Function Summary The BXOR function performs a bitwise logical exclusive OR function Syntax x BXOR expr1 expr2 Arguments expr1 a numeric expression expr2 a numeric expression Description The BXOR function logically XORs expr1 and expr2 as 16 bit integers each of the bits is individually XORed together This is useful for inverting bits in an integer variable such as when accessing hardware registers Example TOO INTEGER E This produces the following output when 110 PRINT 120 FOR K 0 TO 7 run 130 FPRINT I3Z K 140 NEXT K 0 1 2 3 4 5 6 7 150 PRINT 0 0 1 2 3 4 5 6 7 160 FOR J 0 TO 7 1103 2 5 4 7 6 170 FPRINT 132 J 2 gt 25 35 0 Ah Oe OAD SS 180 FOR K 0 TO 7 3 3 2 10 7 6 5 4 190 FPRINT I3Z BXOR J K 4 4 3 6 F Q T 2 3 200 NEXT K 5 5 4 7 6 1 0 3 2 210 PRINT 6 6 7 4 5 2 3 0 1 220 NEXT J DT o 256 14 BP 2s 0 Related topics BAND BOR
45. 20 character string 120 STRING RDLINS 80 80 character string 130 STRING DAYS 3 6 Array of 7 strings 3 chars long 140 DATA Sun Mon Tue Wed Thu Fri Sat 150 INPUT RDLINS 160 AS MIDS RDLINS 5 8 170 FOR J 0 TO 6 180 READ DAYS J Shows how arrays are accessed 190 PRINT DAYS J 200 NEXT J Related topics REAL STRING 8 149 SYSTEM Statement Summary The SYSTEM statement is used to link Bear BASIC to an assembly language subroutine Syntax SYSTEM adar regarray Arguments addr a numeric expression The address of the subroutine to call regarray an array of at least 4 integers On entry these hold the register values to pass to the subroutine On return these hold the register values passed back from the subroutine The registers are formatted in the array as follows Array Element High Byte Low Byte 0 A flags 1 B C 2 D E 3 H L Description The SYSTEM statement calls an assembly language subroutine passing register values in an integer array This is similar to the CALL statement except that CALL passes the addresses of BASIC variables to the subroutine To pass values to an assembly language subroutine putthe values into the correct spots in regarray and use SYSTEM to transfer to the subroutine which will use the values in the registers as it needs them When the subroutine executes a RET instruction C9 the current value of the registers will be passed bac
46. 4063 for the 8K EEPROM or between 0 and 223 for the UCP The address to be read from Description The Boss Bear can be purchased with an optional EEPROM memory device installed this can be either a 2KB or 8KB device The EEPEEK function operates in a similar fashion to the WPEEK function except that it reads from the EEPROM instead of from the RAM EEPEEK returns the INTEGER value stored at addrin the EEPROM note that the address is specified as an offset from the beginning of the EEPROM Unlike the EEPOKE statement EEPEEK can be performed an unlimited number of times and it operates very quickly approximately 40 microseconds The EEPROM can also be read by performing a DEFMAP 60 followed by a PEEK or WPEEK this technique should be avoided however because the timing used by the EEPEEK is matched to the EEPROM which may be slower than the RAM The EEPEEK statement takes about 100 microseconds to execute To store real variables in the EEPROM the variable must be stored using two EEPOKEs and retrieved using two EEPEEKs The second example demonstrates this UCP The UCP uses a Touch Memory device for non volatile storage This device cannot be accessed using DEFMAP as described above for the Boss Bear s EEPROM The EEPEEK statement on the UCP takes about 150 milliseconds to execute which is much slower than the Boss Bear Examples 100 Program to read the first 20 values from EEPROM 110 INTEGER J K 120 FOR J 0 to 19 1
47. 500 510 make sure that the strings are 32 bytes long STRING J K 32 L 32 K 01234567890123456789012345678901 1 J 0k C 0 A 0 PRINT start FOR B 0 TO 2047 EXPMEM 1 2 A B K D IF D lt gt 0 THEN STATUS ERROR STOP X EXPMEM 0 2 A B L D IF D lt gt 0 THEN STATUS ERROR STOP j IF K lt gt L THEN J problem C C 1 1 L NEXT B PRINT J C ERRORS ACCRUED PRINT block 0 finished J 0k C 0 A 1 FOR B 0 TO 32767 y I 0 H B EXPMEM 1 1 A B H D IF D lt gt 0 THEN STATUS ERROR STOP i EXPMEM 0 1 A B 1 D IF D lt gt 0 THEN STATUS ERROR STOP A IF H lt gt I THEN J problem C C 1 NEXT B PRINT J C ERRORS ACCRUED PRINT block 1 finished J o0k C 0 A 2 FOR E 1 TO 2 l FOR B 0 TO 32767 EXPMEM 1 0 A B E B D IF D lt gt 0 THEN STATUS ERROR STOP t EXPMEM 0 0 A B E F D IF D lt gt 0 THEN STATUS ERROR STOP 7 IF F lt gt B THEN J problem C C 1 NEXT B NEXT E PRINT J C ERRORS ACCRUED PRINT block 2 finished PRINT finished initialize the string loop for 2048 springs store string K at register B check for error read the string into L check for error make sure they are the same show errors if any loop for 32768 reals store in block 1 register B check for error read the real into F check for error make sure they are the same show errors if any must make the loop bigger loop for 65536 integer
48. 71 113 1 2 12 18 3 2 32 50 5 2 52 82 7 2 72 114 1 3 13 19 3 3 33 51 5 3 53 83 7 3 73 115 1 4 14 20 3 4 34 52 5 4 54 84 7 4 74 116 1 5 15 21 3 5 35 53 5 5 55 85 7 5 75 117 1 6 16 22 3 6 36 54 5 6 56 86 7 6 76 118 1 7 17 23 3 7 37 55 5 7 57 87 7 7 77 119 1 8 18 24 3 8 38 56 5 8 58 88 7 8 78 120 1 9 19 25 3 9 39 57 5 9 59 89 7 9 79 121 110 1A 26 3 10 3A 58 5 10 5A 90 7 10 7A 122 1 11 1B 27 3 11 3B 59 5 11 5B 91 7 11 7B 123 1 12 1C 28 3 12 3C 60 5 12 5C 92 7 12 70 124 113 1D 29 3 13 3D 61 5113 5D 93 7 13 7D 125 1 14 1E 30 3 14 3E 62 5 14 5E 94 7114 7E 126 115 1F 31 3 15 3F 63 5 15 5F 95 715 7F 127 The Addr column shows the Expander I O address the Hex column shows the Boss Bear I O number in hexadecimal form while the Dec column shows it in decimal form Figure 15 Relation between I O Board Address and Boss Bear I O Number 7 12 7 5 Real Time Clock The optional real time clock allows the Bear BASIC program to determine the time and date at any point The clock is accessed using GETDATE SETDATE GETIME and SETIME 7 6 Serial Ports Many devices interface with other equipment using serial data transfer The Boss Bear provides one standard serial port COM1 and one optional serial port COM2 Both ports support asynchronous serial transfer at baud rates between 150 and 38400 baud Note Using CTR C or Chain Command resets com ports to default settings 7 6 1 COM
49. A 0 disables the receiver and interrupts any receive operation in progress Transmitter Enable A 1 enables the ASCI transmitter A O disables the transmitter and interrupts any transmit operation in progress Request To Send channel 0 A 0 causes the RTSO output line to go low active A 1 causes the RTSO line to immediately go high inactive CKA1 Clock Disable Normally cleared to 0 on the Boss Bear Error Flag Reset When written with 0 resets all ASCI error flags OVRN FE PE to 0 this must be done any time that an error is detected by the ASCI channel When read returns the value of the multiprocessor bit for the last receive operation this feature is not normally used on the Boss Bear ASCI Data Format Mode 2 A 1 selects 8 bit data 0 selects 7 bit data ASCI Data Format Mode 1 A 1 enables parity O disables parity ASCI Data Format Mode 0 A 1 selects 2 stop bits O selects 1 stop bit ASCI Control Register B 0 1 Each channel Control Register A configures parity and baud rate CNTLBO l O Address 02H pt Ad CTS PS CTS S es on sse ssi sso Multi Processor Bit Transmit Not normally used on the Boss Bear Multi Processor Mode Normally cleared to 0 on the Boss Bear Clear To Send Prescale When read returns the state of the external CTS input pin if the pin is high CTS PS will be read as a 1 When the CTS input C 7 pin is high the TDRE bit is inhibited For ASCI channel 1 the CTS input is only val
50. BS Default to period character 8 36 200 210 220 230 240 250 260 IF PEEK Y gt 31 AND P T AS BS H EN PRINT AS C 0 EEK Y lt 7F THEN BS CHRS PEEK Y Build string of characters to display Increment character counter for line AS Finish this line This example displays the contents of memory as hexadecimal values and ASCII characters a memory dump in computer terminology It displays 32 KB of memory starting at 20000 change line 120 to set the number of 4 KB blocks to display and change line 130 to set the starting address The Boss Bear stores the source code for the user s BASIC program starting at 20000 so this program will show how Bear BASIC stores a program Here is a sample of the program s output N o 0 0 00 0 0 0 0 0 0 0 0 0 0 0 O ti 00 o 20100 20110 20120 20130 64 02 04 00 3A 20 79 30 20 3A 53 6E 00 F1 01 44 00 20 2C 6C 42 2C 28 3D B6 6C 00 FO 74 8C 74 20 00 00 3D 20 3A 02 02 79 N WW FI w OPrNOoOYD DoOAteonk OWO oo ONY Related topics POKE PEEK WPOKE WPEEK Memory Map w D VUNOOU Oo0u 11 00 29 BO 69 6B FO 3A 74 B2 65 73 3A 22 54 34 B2 13 FO 64 BD 3A 2C FO 73 73 3A 1A 69 3A 6D 65 07 3A 4F 4B FO BA 01 64 FO 00 F1 00 70 20 3A B6 6E 05 GF 20 00 6E 05 00 6C GF
51. Converter The optional D A converter supplies two 12 bit 0 to 10VDC output channels D A channels are written using the DAC statement which accepts values between 0 0 volts and 32767 10 volts The DAC statement executes in about 400 microseconds This option can be included on the 0 5VDC A D converter board H 2 5 4 20mA Digital to Analog Converter The optional D A converter supplies two 12 bit 4 to 20mA output channels Using the DAC statement the output can be adjusted from 4mA 0 counts to 20mA 32767 counts This option can be included on the 4 to 20MA A D board and the RTD 4 to 20mA board The output can drive a load of 500 ohms or less H 3 UCP Input and Output The UCP I O Bus allows up to 128 inputs and 128 outputs using the standard Divelbiss Bear Bones Expanders and Presto Panel I O boards of different types can be intermixed in any combination Figure 41 shows how the boards are connected to the UCP The DIN function is used to read the status of inputs and the DOUT statement is used to control outputs Figure 42 shows how the expander I O address is related to the UCP I O number note that the easiest way to specify an I O address on the UCP is in hexadecimal Figure 41 I O Expander Connection Example Presto Panel or 1 0 Panel OS della When programming with I O boards remember to take the response time of the board into account Inputs may have debounce circuitry that delays the response to a signal chang
52. EXMOD PORT EXS 7 Read status from module 7 bytes 430 FPRINT H2 ASC EXS Display module mode in hexadecimal 440 PRINT CVI MIDS EXS 2 2 Display low word of step count D ol o PRINT CVI MID EXS 6 2 Display current pulse rate Related topics Chapter 9 8 53 EXP Function Summary The EXP function calculates the exponential function Syntax x EXP expr Arguments expr a numeric expression Description The EXP function returns e which must be a numeric expression The result is returned as a REAL value This is the converse of the natural logarithm function LOG By using the properties of logarithms a number X can be raised to a power Y X using EXP LOG X Y Example 100 REAL X Y 110 PRINT EXP 0 35 120 X 1 82 130 Y EXP X 140 PRINT Exp value of X is Y 150 PRINT 4 cubed EXP LOG 4 3 This produces the following output when run 1 41834 Exp value of 1 82000 is 16171 4 cubed 64 00003 Related topics LOG LOG10 EXPMEM Statement Summary The EXPMEM statement stores and retrieves memory form the expanded memory board on the UCP Syntax EXPMEM read write vartype block reg_number variable status Arguments read write an integer value of 0 or 1 This indicates what type of memory transfer O for READ or 1 for WRITE vartype an integer value of 0 1 or 2 This indicates the type of variable to use
53. Example 100 INTEGER J REAL X STRING AS 120 J 12 X 1 234 130 PRINT Boss Bear 140 PRINT Integrated controller 150 PRINT J J X X 160 PRINT Tan X TAN X 170 AS ABCDEFGHIJK 180 PRINT AS Mis 190 PRINT MIDS AS 2 3 Line 140 uses the semicolon to cause the two strings to be printed together note that the first string ends with a space Line 160 shows the use of PRINT with an expression the expression is evaluated and the result is printed Line 180 ends with a semicolon which causes the following PRINT line 190 to appear on the same line This produces the following output when run 8 122 Boss Bear Integrated controller J 12 X 1 23400 Tan X 02154 ABCDEFGHIJK BCD Related topics FPRINT 8 123 PRIORITY Statement Summary The PRIORITY statement controls the order of execution of tasks in a multitasking program by setting a priority level for the current task Syntax PRIORITY pri_num Arguments pri_num an integer expression between 0 and 127 This is the priority level to assign to the current task Description The PRIORITY statement assigns a priority level to a task It is used to alter the manner in which tasks are executed It allows the user to assign a priority or degree of importance to a task PRIORITY is useful only in multitasking programs The PRIORITY statement must be issued from within the task whose priority level is to be alt
54. FOR J 0 TO 79 Use entire display 140 X J 360 0 79 0 Scale to 360 degrees 150 Y SIN X 8 0 9 0 Scale to 8 with 0 in center 160 LOCATE Y 1 J 1 PRINT Draw the point 170 NEXT J This produces the following output when run KAKKKKKKKK KKK k k KKK KKK k k k k k k k k k k k k kk k k k k k k k k k k k k k k KKK KKK k k KKXKKKKKKXKKk Related topics GOTOXY 8 96 LOG Function Summary The LOG function calculates the natural logarithm base e function Syntax x LOG expr Arguments expr a numeric expression Description The LOG function returns the natural logarithm of expr which must be a numeric expression The result is returned as a REAL value By using the properties of logarithms a number X can be raised to a power Y X using EXP LOG X Y To calculate the common logarithm LOG of X use LOG10 Example 100 REAL X Y 110 PRINT LOG 72 35 120 X 0 82 130 Y LOG X 140 PRINT Logarithm of X is Y 150 PRINT 4 cubed EXP LOG 4 3 This produces the following output when run 4 28151 Logarithm of 82000 is 19845 4 cubed 64 00003 Related topics LOG10 EXP LOG10 Function Summary The LOG10 function calculates the common logarithm base 10 function Syntax x LOG10 expr Arguments expr a numeric expression Description The LOG10 function returns the common logarithm of expr which must
55. I O ports must be written to Port 1 controls the number of data bits stop bits and whether parity is enabled see Figure 44 I O port 3 controls the baud rate and even odd parity if port 1 setup has enabled parity see Figure 45 For example the code OUT 1 97 OUT 3 13 sets COM2 to operate at 300 baud no parity 7 data bits and 1 stop bit since parity is disabled OUT 1 97 OUT 3 29 will set the same parameters As another example OUT 1 99 OUT 3 20 will set 2400 baud 7 data bits odd parity and 2 stop bits To operate COM2 in RS 422 mode the line driver must be put into transmit mode using the code SERIALDIR 5 1 this need only be done once at the beginning of the program When operating in RS 485 mode the line driver must be switched between transmit and receive mode in an RS 485 multidrop network only one unit can be in transmit mode at any given time As before the code SERIALDIR 5 1 sets itto transmit After all characters H 15 have been sent allow at leasttwo extra character times ie 2 msec at 9600 baud then set the driver to receive mode using SERIALDIR 5 0 H 5 3 Dual Switching RS 232 Serial Port The optional dual switching port module is composed of two components the internal serial switching module and the external dual serial port The dual RS232 serial port allows the user to switch between ports A and B on the external board The optional module can be used on Com1 and or Com2 The SERIALDIR statement is
56. IN ST RE 1 N HPUH IF J lt gt 0 Wait for J NETMSG J K N 127 lization ETWORK 0 2 1 1 1 J I EN PRINT Network initialization failed STOP a message from unit 1 1 K IF J 0 TH IF K lt gt 1 Generat EN GOTO 310 y EN GOTO 310 X SOQOR CVS IMS CHRS 0 the response messag ID IM 2 4 IMS CONCATS IMS MKSS X J NETMSG IF J lt gt 0 TH GOTO 300 I 0 1 T T d 1 EN PRINT Network send T Loop if no message yet Loop if not from unit 1 Send back the square root Message type 0 Put the square root in the string Send the message to unit 1 error STOP Do it all again This program initializes the Boss Bear to unit number 2 waits for a message from unit number 1 calculates the square root of the number in the message and sends a message that consists of the square root Related topics NETWORK 0 NETWORK 1 NETWORK 2 NETWORK 3 NETWORK 4 Chapter 10 8 103 NETSERVER Statement Summary The NETSERVER statement starts the UCP as a peer to peer network server Syntax NETSERVER units autotime debug year month day hour minute Arguments units an integer value of 1 to 31 This indicates the number of networked units on the line autotime an integer value of 0 or 1 This turns on or off the autotime feature O for OFF 1 for ON debug an integer value of 0 or
57. INTO is masked when a DI instruction is executed which disables all maskable interrupts or by clearing the ITEO bit in the ITC register INTO has three interrupt response modes in the Boss Bear it should always be set to mode 1 with the IM 1 instruction When a low level is applied to the INTO line the current PC is pushed onto the stack and execution commences at logical address 0038H The INTO service routine should end with the El instruction followed by RETI so that the interrupts are re enabled External Interrupt 1 INT1 is the third highest priority external interrupt it is triggered by a low level on the INT1 line On the Boss Bear INT1 is attached to the J3 and J4 expansion ports and to the real time clock INT1 is masked when a DI instruction is executed which disables all maskable interrupts or by clearing the ITE1 bit in the ITC register When a low level is applied to the INT1 line the current PC is pushed onto the stack and execution commences at the logical address that is found at location OOEOH ie it is an indirect reference The INT1 service routine should end with the El instruction followed by RETI so that the interrupts are re enabled External Interrupt 2 INT2 is the lowest priority external interrupt it is triggered by a low level on the INT2 line On the Boss Bear INT2 is attached to the onboard high speed counter The counter interrupt is latched by a flip flop an OUT to I O location 40H with any value r
58. INTOFF statement disables all processor interrupts Syntax INTOFF Arguments INTOFF needs no arguments Description It is sometimes necessary to temporarily stop the processor from handling hardware interrupts for two reasons to stop an interrupt handler from modifying a variable that another routine needs to access and because a section of code needs to execute extremely quickly and interrupt processing would slow it down INTOFF stops the processor from handling interrupts INTON enables the interrupt processing again Interrupts should only be turned off for very short periods if they are off for too long then characters coming in on the serial ports could be lost the timing of tasks with WAIT statements could slow down or hardware events could be handled erratically The Boss Bear uses a hardware timer interrupt to run the multitasking context switcher so executing INTOFF stops the multitasking operation This can be used to keep one task from corrupting a variable used in another task for example Some instructions enable interrupt processing as part of their execution INTON WAIT EXIT INPUT INPUT GET FINPUT PRINT FPRINT NETWORK 1 NETWORK 2 and any string operations These instructions should not be used after an INTOFF since they will defeat the purpose by re enabling interrupts If interrupts are left off for too long more than 0 5 second then the watchdog may reset the system Some BASIC statements reset the
59. LX GND CX SHD 9 2 3 Counter Module Terminal Block Description Unregulated 10 to 15VDC This can be used for excitation of external transducers This is supplied to the terminal block of all channels Counter input A for this channel Input Output return This is electrically connected to the Boss Bear digital common It is not internally connected to earth ground and should not be connected externally to earth ground Counter input B for this channel Counter reset input for this channel Counter load input for this channel Input Output return This is electrically connected to the Boss Bear digital common It is not internally connected to earth ground and should not be connected externally to earth ground Counter high speed output for this channel Cable shield termination This is used for the drain wire termination of cables coming to this counter channel This is electrically connected to the Boss Bear earth ground system which includes all of the metal on the Boss Bear enclosure This depends upon the Boss Bear power connector being wired correctly to earth ground Counter Module Jumper Configuration Refer to Figure 22 to set the jumpers for the counter module 9 2 4 Specifications Channels 1 2 3 or 4 depending upon part number Resolution 24 bits Inputs Each channel has 4 inputs A B RESET and LOAD All inputs are self sourcing and can be driven with open collector open drain drivers T
60. Line 20000 will sometimes operate incorrectly printing the message even though test is 0 if test lt gt 0 then print Failed mainline gosub 1000 goto 20000 5 13 So is there a solution to the difficulties produced by rule number 2 above Yes it is possible to call a subroutine that is located in a different task which means that it is possible to have a common subroutine that is called from multiple tasks In order for it to work correctly you must be able to guarantee that the subroutine can t interrupt any other code that is in the task that the subroutine is in The simplest way to do this is to put the subroutine in a separate task and disable interrupts at the beginning and end of the subroutine Of course since the interrupts are disabled the subroutine must be short and fast so that no hardware interrupts are lost Multiple subroutines can be put into the same task but they must all have interrupts disabled while executing Remember that some BASIC statements and functions can t be used while interrupts are disabled because they turn the interrupts back on prematurely these include PRINT INPUT GET string operations and user defined functions If a subroutine must use one of these and also be called from multiple tasks then the subroutine should be placed in a task by itself The following example illustrates these techniques 100 Variable declarations integer test integer x0 xl x2 200 Start of prog
61. OUTPUT1 IN1 1 IN2 7 RULE OUTPUT1 IN1 2 IN2 7 RULE OUTPUT1 IN1 3 IN2 7 RULE OUTPUT1 IN1 4 IN2 7 RULE OUTPUT1 IN1 5 IN2 7 RULE OUTPUT1 IN1 6 IN2 7 RULE OUTPUT1 IN1 7 IN2 7 for a total of 106 data points 8 for midpoints and sensitivities 49 for the rules for OUTPUT1 and 49 for the rules for OUTPUT2 In summary the FUZZY statement provides the simplest approach to the implementation of Fuzzy Logic controllers Sophisticated control systems for a variety of applications can be implemented with very little programming using the Divelbiss Corporation UCP and Boss Bear A summary of the specifications for the FUZZY statement are provided below Number of Inputs 2 Number of Outputs 2 Number of Fuzzy Sets 7 Fuzzy Set Shape Symmetric Triangular Rules per Output 49 Defuzzification Method Centroid Approximate Execution Time 0 5mS 1 0mS Number of Fuzzy Control Loops 1 PLEASE NOTE THAT THESE SPECIFICATIONS ARE NOT FOR THE UNIVERSAL CONTROL PANEL BUT ONLY FOR THE FUZZY STATEMENT AVAILABLE IN THE BEARBASIC PROGRAMMING LANGUAGE THE UNIVERSAL CONTROL PANEL IS A GENERAL PURPOSE CONTROLLER OF WHICH FUZZY LOGIC CONTROL IS ONE CAPABILITY PLEASE CONSULT THE FACTORY FOR INFORMATION REGARDING THE IMPLEMENTATION OF MULTIPLE CONTROL LOOPS USING THE FUZZY STATEMENT 13 Applications and Examples of Fuzzy Logic 1 3 1 Is FUZZY Right for Your Application The majority of areas in which the FUZZY statement would be best suited occu
62. PRINT Channel CHAN ADVAL 160 NEXT CHAN It is often necessary to convert an A D reading into the appropriate engineering units either for display purposes or to make the program easier to understand In the previous example the number was displayed as a voltage In general the following formula performs the necessary scaling Reading 32767 Maxval Minval Minval where Reading is the A D reading Maxval is the maximum value that the sensor can measure and Minval is the minimum value that the sensor can measure For example ifa temperature sensor returns O VDC at 50 degrees C and 5 VDC at 200 degrees C then this formula becomes Reading y 250 DOES 4 250 Read 250 30707 700 90 90 Reading tz 7 9 or reduced to the simplest form and written as BASIC code CDEG ADC CH 0 0076294 50 0 The following points must be observed to get the greatest accuracy from the Boss Bear A D converter e The Boss Bear chassis ground ground lead on the power input connector must be attached to earth ground The unused inputs on the A D connector should be shorted ie ADn tied to ADn e Shielded cable should be used to attach to the sensor The shield should be attached to CGND at the Boss Bear A D connector The other end of the shield should not be tied to ground as this could cause a ground loop Depending upon the construction and mounting of the sensor the shield may or may n
63. SA E AEE EAE E EE A SE A E EN EE EA 1 2 8 10 8 11 ION a ee rere eo 8 30 8 31 BOR meea Meanie as ute a a arama ae 8 12 BEX OR EAE AEE NR 8 13 Be ec pees cava eae O aa cr O eaten 8 14 8 93 O O AEE cca 8 15 8 26 8 150 CANCE D ee ee ie A eka a oe oe paler ake rio Seige 5 3 8 17 8 53 8 124 CHAIN rara ara ida OA 2 6 8 18 D 1 A let chanlatne Ciaeats 8 6 8 20 OLEA ELLAS a Ac 8 21 CLEEARMEMOR isso risa oia ro racial 8 22 CLS arab a 6 2 8 23 8 24 GNTRMODE maania a a a bs 8 25 CODES SAO OO 8 26 D 1 D 2 Command i sesen re ere nee a eric ert ee 2 4 Comment aca si 8 133 Communications para mola e oi Roi Rd 2 3 Communications program tt 2 3 2 5 COMPILE rre E 8 27 8 52 8 72 CONC ATES aa ida ENE 8 28 COS de mre ene EA E E R E E nee See Coy 8 29 A EE E E A E 8 115 GTS RTS handshakihga ic aa iaia H 13 Index 1 OO epee tyes let tico Doe hocico el Soacende bollo nd IESO E 8 31 8 100 A A A A A aubeheactberscehines 9 13 Alrae ee aE EEEO OEE OEE 9 15 DAG reee a a RO 8 32 RR E E 8 143 DATA aain tacit ANEA Sa 3 4 8 33 8 134 D 1 DEF si A 8 35 8 60 DEFMA Pcia casaca 8 36 8 43 8 45 8 120 8 121 8 163 8 164 DIN ti 7 11 8 38 8 91 H 10 Dar SO on 2 6 8 39 BISIG A E E E E E aT OE 7 11 8 40 H 10 DOWNLOAD tisciettctsiettictel acta ieee iia 2 6 8 41 DA secs cicadas ita ve ete a ie ene tan a ha ate Sa ee Siete ai de hse 2 5 8 42 2S ll mal ORR RT OR Ole er a 7 16 8 43 EEPORE ao 7 16 8 43 8 45 EEPROM sia src ce ted tla eed ac
64. Summary The INP function reads the current value from a hardware input port Syntax val INP port Arguments port an integer expression between 0 and 255 The hardware port number to read from Description The Boss Bear processor interfaces with the real world through Input Output I O devices The Boss Bear architecture supports both memory mapped devices which are accessed using PEEK and POKE and I O mapped devices which are accessed using INP and OUT It requires a thorough understanding of the Boss Bear hardware in order to use INP and OUT usually the only time that these would be used is when copying example code supplied by Divelbiss in an application note INP reads a single byte value ie an integer between 0 and 255 from a hardware input port If there is no hardware device located at port then an indeterminate value will be returned Example 100 INTEGER J 110 J INP 9F Related topics OUT Chapter 7 INPUT Statement Summary The INPUT statement waits for a data value to be entered on the current FILE device Syntax INPUT variable variable Arguments variable a BASIC variable name The value entered is stored in this variable Description The INPUT statement is used to enter data while the program is running It waits for a data value followed by a carriage return to be entered on the current FILE then it stores that value into a BASIC variable The Backspace key may b
65. THEN 110 150 IF K 256 THEN K 0 160 PRINT Key K GOTO 110 Get a key if one is available Display counter on onboard display If no key then continue waiting Check for 0 byte value This example gets characters from the console and displays the value of the characters it also displays a counter on the onboard display to show that KEY is not waiting Line 110 gets the byte from the console Line 120 prints the counter on the onboard display note that it changes to FILE 6 prints the counter then changes back to FILE 0 Line 140 loops back if no byte was retrieved Line 150 handles the 0 value which would have been returned as 256 in this example it is unlikely that a 0 would have been entered over the console port Related topics GET INPUT INPUT FINPUT FILE DIN Chapter 5 LEN Function Summary The LEN function returns the length of a string Syntax x LEN st Arguments si a string expression Description LEN returns the number of characters currently contained in st as an integer value It does not return the maximum size of st for example if a string was declared as STRING NAME 40 it will not return 40 unless there is a 40 character string stored in NAME Example 100 STRING A 80 110 PRINT Enter a string gt 120 INPUT AS 130 PRINT String length LEN AS Related topics 8 92 LFDELAY Direct Command Summary The LFDELAY d
66. This produces the following output when run 31 3 3 39 307 4 1 4 3 4 5 4 7 S DS 5 5 D gt 7 61 6 3 6 5 6 7 71 13 17 53 77 S L 8 3 8 5 8 7 360 0 000 337 9 383 315 0 707 292 5 924 270 0 1 000 247 5 924 225 0 a TOT 202 5 383 180 0 000 157 3 393 1350 707 112 9 924 90 0 1 000 67 5 924 45 0 107 22 5 383 0 000 Related topics NEXT 8 61 FPRINT Statement Summary The FPRINT statement allows formatted printing to the current FILE Syntax FPRINT format arg1 arg2 Arguments formata string expression This specifies how the following arguments are to be printed The following symbols are valid Fn x prints n digits before the decimal point and x digits following it Leading zeros are converted to spaces and trailing zeros are left as zeros No more than 6 positions following the decimal point are allowed Hn prints n hexadecimal digits Leading zeros are printed In prints n integer digits Leading zeros are converted to spaces Sn print n characters of a string If the string more than n characters long then the first n characters are printed If the string is shorter than n characters then trailing spaces are printed Un printn unsigned integer digits Leading zeros are converted to spaces Xn prints n spaces Z suppresses the carriage return at the end of the line This is only legal at the end of the format string argx a numeric or string expression Each argument must ma
67. X 140 PRINT Arctangent value of X is Y This produces the following output when run 50 88856 Arctangent value of 4 00000 is 75 96370 8 8 BAND Function Summary The BAND function performs a bitwise logical AND function Syntax x BAND expr1 expr2 Arguments expr1 a numeric expression expr2 a numeric expression Description The BAND function logically ANDs expr and expr2 as 16 bit integers each of the bits is individually ANDed together This is useful for clearing bits in an integer variable such as when accessing hardware registers This differs from the AND operator which compares two numbers as boolean values ie true or false For example BAND 2 6 returns 2 while 2 AND 6 evaluates to an undefined non zero value Example 100 INTEGER J K This produces the following output when 110 PRINT 120 FOR K 0 710 7 run 130 FPRINT I13Z K 140 NEXT K 0 2 3 4 5 6 7 150 PRINT 0 0 0 0 0 0 0 0 0 160 FOR J 0 TO 7 go i Oaie tor a Osl 170 FPRINT I3Z J7 2 0 0 2 2 0 0 2 2 180 FOR K 0 TO 7 Be o Ss Vor AR 8 190 FPRINT I3Z BAND J K 40 0 QO 0 4 4 4 4 200 NEXT K 5 0 L 0 1 4 5 4 5 210 PRINT 6 0 0 2 2 4 4 6 6 220 NEXT J 7 0 L 2 3 4 5 6 7 Related topics BOR BXOR 8 9 BBIN Function Summary The BBIN statement is used to interface with the Bear Bones Programmable Controller in a dual processor system Syntax x BBIN bbadar Argument
68. a time making that subroutine a scarce resource In a multitasking system the software must manage the scarce resources so that too many tasks don t try to use a resource concurrently This is another form of task interaction that the programmer must be aware of The programmer must be careful when tasks interact because there is no way to predict when the context switcher will switch between tasks This means that one task may be in the middle of updating a variable when another task gets to execute if the second task uses the same variable then unpredictable operation could result The following example demonstrates this 100 INTEGER J K 5 8 140 J 0 150 RUN 1 10 210 K J 220 IF K lt gt J THEN PRINT Error STOP 240 GOTO 200 500 TASK 1 510 J J 1 520 PRINT 530 EXI If the context switcher interrupts task O after line 200 or while it is evaluating line 210 then task 1 will modify the value of J This will cause the test in line 210 to fail when task 0 gets to execute again A simple solution to this particular problem involves using the PRIORITY statement to control access to the variable J as follows 100 INTEGER J K 140 J 0 150 RUN 1 10 200 PRIORITY 1 Lock out task 1 210 K J 220 IF K lt gt J THEN PRINT Error STOP 230 PRIORITY 0 Allow task 1 to execute again 240 GOTO 200 500 TASK 1 510 J J 1 520 PRINT 530 EXI Once ta
69. actual value being above or below this This argument is also true for OUTPUT1 Thus the only values left to decide are the sensitivities for each input and output Sensitivity selection is dependant upon your expertise of the problem process and some understanding of Fuzzy Logic fundamentals As described in Section 1 1 3 as the sensitivity for both inputs is decreased the Fuzzy Logic controller becomes more sensitive to the error and rate of change respectively Therefore conservative values should be utilized in the initial attempt at selecting these values A reasonable approach is to determine what would be considered a large value for each of the inputs outputs and divide this number by three 3 to determine the sensitivity Once again in the initial design attempt it is best to enter larger values for both of these input sensitivities and a smaller output sensitivity to avoid erratic behavior Remember the controller can always be tuned for more aggressive behavior following the initial implementation For purposes of demonstration assume the set point will be around 200rpms Thus to evenly divide the space let a large error be 200 which makes the sensitivity for INPUT1 67 The sensitivity for INPUT2 depends on the sample time as described in Section 1 1 3 For purposes of demonstration assume this sensitivity is 20 OUTPUT1 is the change in the output drive 1 19 signal and in order to cover the whole space a reasonable sensitivit
70. and returns them as a real value See MKI for a full explanation of binary strings Example 100 STRING A 110 AS MKSS 123 456 120 PRINT CVS AS This produces the following output when run 123545599 Related topics MKS CVI MKI DAC Statement Summary The DAC statement is used to control analog output channels Syntax DAC chan value Arguments chan an integer expression The number of the channel to access starting at 1 value an integer expression The level to set on the analog output ranging between 0 and 1023 for the Boss Bear or 0 and 32767 for the UCP Description Up to three analog output modules can be attached to the Boss Bear expansion ports each module can have between one and four analog outputs Each output is provided by a DAC Digital to Analog Converter circuit The DAC statement is used to assign an output level to each DAC channel Each DAC channel can be set up for a variety of output voltage and current ranges such as 0 to 10 volts 10 to 10 volts 4 to 20 mA etc This means that the actual output supplied by a particular DAC statement value depends upon the configuration of the analog output module For instance if DAC channel 3 jumpers are set for O to 10 volt operation and the statement DAC 3 300 is executed the output from channel 3 will be 10 300 1023 volts or 2 93 volts UCP Onthe UCP the value argument is a number between 0 and 32767 corresponding to 0 to 10 volts
71. and OUTPUT2 are integer variables which will contain the return values from the FUZZY statement and STATUS is an integer variable which contains the status of the Fuzzy processing The first item to be addressed is the Fuzzy variable list In all there are 106 integer values which are required for the Fuzzy Logic processing using the FUZZY statement The 106 integers consist of the midpoint and sensitivity values for INPUT1 INPUT2 OUTPUT1 and OUTPUT2 and the 49 rules for each output For clarification on the midpoint and sensitivity values see Figure 67 which shows the shape and numbering scheme for the membership functions for inputs and outputs The seven 7 fuzzy sets will always be labeled 1 through 7 with 1 being left most and 7 right most In the division of the inputs and outputs these may be labeled by you as NEGATIVE LARGE NEGATIVE MEDIUM etc However for processing purposes these are given numerical values Additionally as described in Figure 67 all fuzzy sets are triangular in shape and symmetric about the mid point Membership functions of this shape give the additional advantage of only requiring the mid point and the distance between triangles sensitivity to fully describe the function DOM mid 3s mid 2s mid s mid midt s mid 2s mid 3s Figure 67 Shape and Numbering Scheme for Inputs and Outputs using the Fuzzy Statement The FUZZY statement can be utilized to solve your control problems once you have identified
72. and POSITIVE LARGE from 40mph to indefinitely Thus a value of 40mph actually covers the entire range better than a small value Additionally in the actual implementation of this Fuzzy Controller one would find that the larger this value the smoother the control This is true because the transition from one fuzzy set to the next is quite large which prevents rapid and sometimes uncontrolled changes in the rules which are affected by your process logic Note that the negative half of the membership functions are the same as the positive half with minus signs With input 1 complete the next step is to determine appropriate values for fuzzy sets of input 2 Change in speed actually determines how much change between samples is considered small large and so on Thus the values of the fuzzy sets for input 2 actually depend on how often you sample inputs 1 and 2 Thus a thorough understanding of the overall system design is critical to appropriately pick fuzzy set values Assume that we sample the inputs every 1 seconds A concept which agrees with common sense is that if we went from 0 to 60mph in 5 seconds this would be quite fast NL NS ZR PS PL Degree of Membership Input 1 Speed Error mph Figure 63 Input 1 Speed Error Membership Function 1 7 NL NS ZR PS PL Degree of Membership Input 2 Rate of change of speed mph Figure 64 Input 2 Rate of Change of Speed Membership Function NL NS ZR PS PL Deg
73. are allocated of each type Each INTEGER register uses 2 bytes each REAL uses 4 bytes and each STRING uses 41 bytes The total space allocated for all three register sets must be less than approximately 20000 bytes The network registers do not take any variable space away from BASIC they are stored in a memory segment that BASIC does not normally use at 2A through 2F The network operates through the COM2 serial interface so FILE 5 which uses COM2 should not be accessed after the network is initialized This could slow the network down and possibly corrupt data transfer on the network Example 8 105 100 110 112 120 130 Related topics N EGER ST Set up this 200 integer I 1 NE IF ST lt gt 0 THEN WORK 0 3 unit s network handler to be unit 3 with registers 50 real registers and 10 string registers 200 50 10 ST PRINT Network initialization failed NETWORK 1 NETWORK 2 NETWORK 3 NETWORK 4 Chapter 10 8 106 NETWORK 1 Statement Summary The NETWORK 1 statement sends a block of network registers to another unit on the network Syntax NETWORK 1 vartype source_reg number unit_id dest_reg status Arguments vartype an integer value of 0 1 or 2 This indicates the type of network register to send 0 for INTEGER 1 for REAL and 2 for STRING source_reg an integer expression This is the starting register number of the register block to send
74. are arranged into statements The variable type given in the READ statement must agree with the corresponding constant in the DATA statement Example 100 INTEGER J K 110 REAL X 120 STRING A 130 PRINT DATA statement example 140 Data table for program 150 DATA ArT Ther 374 95 2 7 8 34 0 Must be before first READ 160 DATA 999 3 14159 1 6667 170 DATA 893 664 999 Data 1 180 DATA This is a test Hi everybody 190 FOR J 1 TO 3 200 READ K PRINT K Print first 3 elements 210 NEXT J 220 READ J 230 IF J lt gt 999 THEN PRINT J GOTO 220 Print elements until a 999 240 READ X 250 IF X lt 999 0 THEN PRINT X GOTO 240 Print elements until a 999 260 READ AS PRINT A Print first string 270 READ AS PRINT AS Print second string 280 READ X PRINT X Wrap around do first one again This produces the following output when run DATA statement exampl N 0d UN ds 8 33 83 8 3 14159 1 66670 893 66381 Data 1 This is a test Hi 4 77000 The two 999 values in lines 160 and 170 are used as flags to indicate the end of portions of the table this makes it easy to add to the DATA table without needing to change the program where the READ statements are executed In line 270 it prints This is a test Hi because the string variable A defaults to 20 character maximum length so it truncates the rest of the string when it is read Note that
75. are the signals to be counted they are edge triggered The counter can operate in four input modes 1 The A and B inputs are used in quadrature X1 mode for use with biphase encoders The count value changes once for each biphase cycle 2 The A and B inputs are used in quadrature X4 mode for use with biphase encoders The count value changes with each input transition X4 mode counts four times faster than X1 mode given the same input signal 3 A falling edge on the A input while the B input is low causes the counter to increment and a falling edge on the B input while the A input is low causes the counter to decrement Inputs A and B should not be high at the same time 4 The B input sets the count direction high for increment low for decrement A falling edge on the A input causes the counter to count in the selected direction If the counter is to be used in unidirectional mode it should be put into mode 4 The count signal would be connected to the A input and the B input would control the direction The RES input can be configured using JW11 to reset the counter to load the counter from the input latch or to load the output latch from the counter RES can be either active high or active low selectable using JW12 When RES is routed to the LDCNT LDLATCH control line a pulse on RES will cause the counter value to be preset from the input latch or written to the output latch depending upon the software configuration of th
76. are used while programming the Boss Bear and entered at the compiler prompt They can be grouped into three categories file commands compiler commands and miscellaneous commands 3 1 1 File Commands DIR DOWNLOAD LOAD filenum or EPROM LOAD filenum SAVE CODE fname or EPROM SAVE CODE fname 3 1 2 Compiler Commands C COMPILE or C ERROR G GO or G NOERR R RUN or R STAT 3 1 3 Miscellaneous Commands BYE CLEARMEMORY CLS E linenum EDIT linenum or E HELP L LIST linenum linenum 3 2 display a listing of files on the EPROM disable echo while loading a program load a program from the EPROM load a program from the EPROM save source or compiled code to the EPROM save source or compiled code to the EPROM abbreviation for COMPILE compile the BASIC program enable error checking in compiled BASIC abbreviation for GO start the compiled program executing disable error checking in compiled BASIC abbreviation for RUN compile and execute the current BASIC program display memory usage and compiler version reset the Boss Bear write 0 s into all memory locations erase the console display abbreviation for EDIT enter the line editor to alter linenum display help text list the entire program list all or part of the program LFDELAY delay at the end of each line displayed NEW clear out the current BASIC program SETOPTION DAC set DAC initialization values 3 2 Organization of a Bear
77. as a voltage In general the following formula performs the necessary scaling Reading 32767 Maxval Minval Minval where Reading is the A D reading Maxval is the maximum value that the sensor can measure and Minval is the minimum value that the sensor can measure For example if a temperature sensor returns O VDC at 50 degrees C and 5 VDC at 200 degrees C then this formula becomes Reading 250 200 50 50 Reading ae 30767 200 90 90 Reading 2 or reduced to the simplest form and written as BASIC code coec ADC CH 0 0076294 50 0 The following points must be observed to get the greatest accuracy from the UCP A D converter e The UCP chassis ground ground lead on the power input connector must be attached to earth ground e The unused inputs on the A D connector should be shorted ie ADn tied to ADn e Shielded cable should be used to attach to the sensor The shield should be attached to CGND at the UCP A D connector The other end of the shield should not be tied to ground as this could cause a ground loop Depending upon the construction and mounting of the sensor the shield may or may not be attached to the sensor If the sensor shield which is probably its housing is isolated from ground then the shield should be attached to the sensor If the sensor is attached to ground then do not attach the shield as this could cause a ground loop e The cable should be kept
78. ceND TO SYDC A D terminal strip QOO RS k 0 oso oO WwW T 5 QQ QA QA 3 5 Zz oFaaadadadadaa AOA A AAAA O a lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt Q I I I I I I I I Figure 12 A D Wiring When the 10 bit onboard A D option is installed it supplies the first 12 A D channels when read with the ADC function as follows Channel Description 1 AD1 AD2 AD3 AD4 AD5 AD6 AD7 AD8 No connection Internal 5 VDC supply divided by 2 VA unregulated 12 VDC supply divided by 4 00 Y00Ao0mN 7 8 12 Internal self test voltage A good test will return a value between 16000 and 16767 If the value is out of this range then the A D system is malfunctioning When the 12 bit onboard A D option is installed it supplies the first 12 A D channels when read with the ADC function as follows Channel Description AD1 2 AD2 3 AD3 4 AD4 5 AD5 6 AD6 7 8 9 AD7 AD8 No connection 10 No connection 11 No connection 12 No connection The following example shows the use of the ADC function It simply displays the voltage being read by the first 8 A D channels In line 140 it reads the A D value and converts it from A D units 0 to 32767 to voltage 0 0 to 5 0 100 Display the first 8 A D channels 110 INTEGER CHAN 120 REAL ADVAL 130 FOR NUM 1 TO 8 140 ADVAL ADC CHAN 32768 0 5 0 150
79. command fills the entire RAM memory area with zeroes Syntax CLEARMEMORY Arguments CLEARMEMORY needs no arguments Description The CLEARMEMORY command allows the programmer to start the Boss Bear from a clean state It writes O to all RAM locations and then restarts the Boss Bear from the power up state Some BASIC program errors can change memory values in important locations causing strange behavior Normally resetting the Boss Bear by turning the power off and back on will correct any problems of this nature but using CLEARMEMORY guarantees that all values will be correctly initialized This command is also helpful when debugging a program which stores values in the battery backed up RAM Such a program must handle the situation where the RAM hasn t been initialized yet for example when the program is loaded into a new Boss Bear Using CLEARMEMORY allows the programmer to test the program s operation in this situation If SW1 is in the run mode the Boss Bear will run the last program code saved to the eprom Related Topics BYE CLS Direct Command Summary The CLS direct command erases the console terminal display Syntax CLS Arguments CLS needs no arguments Description CLS sends the control sequence to erase the display on an ADM 3A terminal If an incompatible terminal is attached then this won t erase the display CLS Statement Summary The CLS statement erases the current display device Synt
80. control registers C 1 will be accessed on the Boss Bear The reader is referred to the manufacturer s data books for complete information on the I O registers ASCI control register A channel 0 CNTLAO 00H ASCI control register A channel 1 CNTLA1 01H ASCI control register B channel 0 CNTLBO 02H ASCI control register B channel 1 CNTLB1 03H ASCI ASCI status register channel 0 STATO 04H ASCI status register channel 1 STAT1 05H ASCI transmit data register channel 0 TDRO 06H ASCI transmit data register channel 1 TDR1 07H ASCI receive data register channelO RDRO 08H ASCI receive data register channel 1 RDR1 09H CSI O CSI O control register CNTR OAH CSI O transmit receive data register TRDR OBH Timer data register channel 0 low TMDROL OCH Timer data register channel 0 high TMDROH ODH Reload register channel 0 low RLDROL OEH Reload register channel 0 high RLDROH OFH Timer Timer control register TCR 10H Timer data register channel 1 low TMDR1L 14H Timer data register channel 1 high TMDR1H 15H Reload register channel 1 low RLDR1L 16H Reload register channel 1 high RLDR1H 17H Misc Free running counter FRC 18H Interrupts Interrupt vector low register IL 33H INT TRAP control register ITC 34H Refresh Refresh control register RCR 36H MMU common base register CBR 38H MMU MMU bank base register BBR 39H MMU common bank area register CBAR 3AH O Operation mode control register OMCR 3EH I O control register ICR 3FH The remaining I O space 40H to OFFH
81. counter ie COUNT 783 and RELOAD 780 this effectively stops the interrupt since the counter will need to wrap completely around before the interrupt will occur again 100 Program to demonstrate the high speed counter interrupt 110 INTEGER J RELOAD COUNT T2TEMP 120 CNTRMODE 1 4 A count B direction 130 WRCNTR 1 0 0 Set count to 0 140 RELOAD 10 COUNT 0 150 WRCNTR 1 1 RELOAD Set counter interrupt value 160 INTERRUPT 1 1 1 Set counter interrupt to task 1 170 J 0 H 5 180 FILE 6 Output to onboard display 200 Main program loop 210 LOCATE 1 1 220 FPRINT U5X5U5Z J COUNT 230 J J 1 Increment junk variable 240 GOTO 210 300 Counter interrupt handler task 310 TASK 1 320 RDCNTR 1 0 COUNT 330 RELOAD RELOAD 10 340 WRCNTR 1 1 RELOAD 350 RUN 2 EXIT Get new count Set up new reload Set counter interrupt value Set up task 2 to turn output off 400 Task to turn off high speed output 410 TASK 2 420 WAIT 50 Wait 1 2 second then turn 430 RDCNTR 1 3 T2TEMP the output off 440 CANCEL 2 EXI Don t reschedule this task H 2 Analog Interface H 2 1 0 5VDC Analog I O Board The optional A D converter has 8 differential 12 bit O to 5 VDC input channels It is read using the ADC function which scales the A D output to return a value between 0 at 0 VDC and 32767 at 5 VDC Using the ADC functi
82. errors that are encountered are still displayed After the END or crri z is received the message Warning duplicate line numbers detected is displayed if two lines were entered with the same line number this may or may not be a problem depending upon the programmer s style The easiest way to use DOWNLOAD is to put the DOWNLOAD command as the first line in the file containing the BASIC program don t put a line number in front of DOWNLOAD and put END as the last line in the file again with no line number Then when the file is sent to the Boss Bear only error messages will be displayed Many editors put a crr z at the end of files if this is the case then the END does not need to be entered into the file since DOWNLOAD will enable echoing again when it sees the crrL z Another advantage of using DOWNLOAD is that the file transfer to the Boss Bear will be faster since the Boss Bear must use processor time to echo the characters back Note that if an error is detected while downloading a file the Boss Bear may miss some characters while it is printing the error message which will cause other errors to be displayed that aren t actually valid Example The following shows how to create a file that will download as described above DOWNLOAD 100 This is the BASIC program to be downloaded 110 PRINT This is a BASIC program END EDIT Direct Command Summary The EDIT direct command allows the programmer to modify the BASIC s
83. exactly when a task will be interrupted so that another task can be run It is possible for the programmer to synchronize the task execution if necessary by 5 2 using variables as semaphores this will be discussed later A simple example will show the basic operation of multitasking 100 RUN 1 110 PRINT 120 GOTO 110 200 TASK 1 210 PRINT _ 220 GOTO 210 Start task 1 executing Task 0 prints vertical bars Loop forever Declare following code to be task 1 Task 1 prints underscores Loop forever When this program is executed it will alternate between printing characters and printing characters Since each character will take about 1 millisecond to transmit at 9600 baud it should print about 10 characters in each group since each tick is 10 milliseconds long Here is the output produced on one sample run As far as each task is concerned it gets to run all of the time the context switcher takes care of switching between the tasks without any special BASIC code in the tasks The RUN statement in line 100 is necessary to execute task 1 Note that tasks are much different than subroutines A subroutine is just a method of sharing a piece of code it only executes when it is called with a GOSUB and it returns to the line following the GOSUB A task on the other hand shares the processor with other tasks appearing to execute at the same time as the other tasks Tasks can be thought of as separat
84. field including the verification procedure for each item 4 3 Real Time Programming Example Many aspects of software design only come to light in larger programs This section demonstrates the use of Bear BASIC by implementing a realistic example program The goal is to develop a program that will perform a typical industrial control operation Portions of this program will be useful in the user s own programs The example goes through the project specification program development and system testing phases This example is based on a hypothetical rewind machine in which the product is drawn off of an input roll and rewound onto shorter output rolls The output rolls are wound onto cores which feed in from a hopper The product wraps onto the core as the machine speed ramps up The machine runs at operating speed until it nears the end of the output roll then the speed is ramped down When the machine stops a knife cuts the product and a gate opens allowing the output roll to fall onto a conveyor belt to be taken away Several pieces of production data must be maintained by the Boss Bear in order to be uploaded to a personal computer at the end of each shift The operator will enter operating parameters into the Boss Bear using the keypad the display will indicate the current status of the rewind operation 4 7 4 3 1 Example Project Specification The following specification shows the level of detail that should be the goal of the syste
85. for using hexadecimal constants Hexadecimal constants are specified with a leading dollar sign 1AB represents the hexadecimal constant 1AB 3 4 Variables Bear BASIC variables are formed by a letter followed by up to six letters or digits For example A is a legal variable as well as AO A1 HI92 and JUMP However 9AB is not a legal variable nor is A1234567899 String variables are formed the same way but are followed by a dollar sign HIYA A1 A9 are all legal string variables A maximum of 128 different variables may exist in any given program These variables may be in any form within the rules given above Note that integer or real variables may not have the same name as string variables For example the variable A may not be used in the same program that uses the variable A Bear BASIC will try to use A and A as the same variable and a string variable error will result Similarly a dimensioned variable must not have the same name as an undimensioned variable for example you cannot use B and B n in the same program All variables must be declared at the beginning of the program before any executable code is encountered In practice this means that the variable declaration statements INTEGER REAL and STRING should be the first statements in the program If undeclared variables are found during the compilation the compiler will display an error message For strings the string length is specified in the STRING statement
86. in line 280 it reads beyond the end of the DATA table so it wraps around and reads the first value in the table Related topics READ RESTORE DEF Statement Summary The DEF statement marks the beginning of a user defined function Syntax DEF funcname arg1 arg2 Arguments funcname astring constant The name to use for the function that will be defined on the following lines this must follow the rules for variable names argx a numeric or string expression An argument to be passed to the function Description The DEF statement marks the beginning of a user defined function Example Related topics FNEND Chapter 3 DEFMAP Statement Summary The DEFMAP statement provides access to memory outside of the normal area accessible by a BASIC program Syntax DEFMAP adar Arguments addr an integer expression The high order 8 bits of a 20 bit address This is set to 1 to access the normal 64KB BASIC program area this is the default value when a program starts executing Description Bear BASIC normally provides a 64KB area for the compiled program to execute in all of the code and data for a program reside in this area The actual address space accessible to the processor is 1MB however DEFMAP allows PEEK WPEEK POKE and WPOKE to access any address in the 1MB physical address space Only some address areas contain memory that may be accessed by the user caution must be exercised when using the DEF
87. is also true if INPUT1 is positive small 5 and INPUT2 is negative medium then 1 20 change the output positive small 5 Thus as the table is being constructed look for exactly opposite situations which will simplify the design 1 3 1 1 6 Software Design With the inputs and outputs hardware interface membership functions and process logic determined the only remaining step is to implement your controller using the BEARBASIC programming language As described in Section 1 3 1 1 3 the only input to the controller is from the transducer which measures the input speed This speed is accessible using the analog capabilities of the UCP or Boss Bear Specifically with an analog board and the ADC statement the speed is available for manipulation in your program to generate INPUT1 and INPUT2 as shown in Section 1 3 1 1 2 With these inputs available and software similar to that described in Section 1 2 your controller can be implemented with all the advantages of Fuzzy Logic with minimal setup 1 3 1 2 On Off Control On Off control can be accomplished just as any process control application See Section 1 3 1 1 Motor Speed Control for more details with a slight modification in the system output Remember that a modification in the system output is not the same as a modification in the Fuzzy Logic Control output The output of the Fuzzy Logic controller OUTPUT from the FUZZY statement can be compared with a previously determined value
88. is done by writing a short program to POKE the correct value into location 1 For example if there is only one Boss Bear wired up to the network the run the program 100 EEPOKE 1 1 only one line Download the program into the Boss Bear and RUN it The main screen will be displayed Product 1002 Batch 963895 Prod 0 Batch 0 Yds left 8532 If no action is taken for 60 seconds no keypad buttons pressed Run button not pressed and Emergency Stop button not pressed then the downtime screen will be displayed F1 Break F2 Input Roll F3 Jam F4 Maintenance Press F1 F2 or F3 to enter a downtime code the number of seconds attributed to that downtime code thus far in the shift will be displayed Press F4 to enter maintenance mode the main screen will be redisplayed with Maint showing in the top right corner the system may be run but any rolls produced will not count towards production totals When in maintenance mode press F2 from the main screen to exit maintenance mode While in the main screen press F1 to enter the Operator Data Entry state It will ask for the batch number product number input roll length and operator number Enter a six digit number for the batch number the function keys will enter the characters A through F For the product number it will only accept the numbers 1000 1001 1002 and 1003 these are the only numbers in the program DATA statements Enter a number between 1 and 9999 for the input roll length
89. is possible to type faster than keypresses are being read the first eight keys are buffered so none should be lost however When the enter key is pressed the program continues to line 200 where it uses INPUT to get a numeric value from the user Lines 230 through 260 demonstrate the INPUT statement with a string variable Lines 270 through 300 use FINPUT to get a 4 character integer number 6 3 Working With the Serial Ports For applications which require a more complex user interface a remote display or remote data entry a terminal may be attached to either serial port COM1 or COM2 If multiple data entry stations are required terminals could even be installed on both serial ports All of the file I O statements and functions see 7 13 for more information work with the serial ports COM1 is FILE 0 and COM2 is FILE 5 When a program starts executing the default output device is FILE 0 each time that a task is RUN that task s default device is FILE 0 Any of the file I O statements and functions may be used to access the serial ports CLS ERASE FPRINT GOTOXY LOCATE PRINT FINPUT GET INPUT INPUT and KEY It is important to remember that the characters are displayed relatively slowly when using a terminal 1 millisecond per character at 9600 baud This means that a long PRINT statement may take 80 msec or more to complete Device resource locking is performed on each I O file individually In a multitasking program other task
90. junk variable 240 GOTO 210 300 Counter interrupt handler task 310 TASK 1 320 RDCNTR 1 0 COUNT Get new count 330 RELOAD RELOAD 10 Set up new reload 340 WRCNTR 1 1 RELOAD Set counter interrupt value 350 RUN 2 EXIT Set up task 2 to turn output off 400 Task to turn off high speed output 410 TASK 2 420 WAIT 50 Wait 1 2 second then turn 430 RDCNTR 1 3 T2TEMP the output off 440 CANCEL 2 EXI Don t reschedule this task 7 2 Analog to Digital Converter The optional A D converter has 8 single ended 10 bit O to 5 VDC input channels Itis read using the ADC function which scales the A D output to return a value between 0 at 0 VDC and 32767 at 5 VDC Using the ADC function the A D conversion time is approximately 350 microseconds The 10 bit converter provides about 0 1 accuracy On newer 7 7 revisions of the Boss Bear revision E and later the onboard A D provides 12 bit resolution or about 0 025 accuracy The A D input voltage is limited by zener diodes to protect the A D converter If an input goes above 5 VDC that input will be short circuited to ground Therefore the system should be designed so the input signal does not go above 5 VDC All signal cables should be shielded running to the sensor the shield should be attached to chassis ground CGND on the A D terminal strip at the Boss Bear end only See Figure 12 SENSOR a A l AD OUTPUT v AD
91. lock up when the WAIT statement was used Generally it only happened with long WAIT times greater than 20 seconds This has been fixed Previously the resource locking portion of the context switcher had a few bugs these generally showed up while PRINTing from multiple tasks at the same time For example the following simple program should alternately print groups of about ten 0 s followed by about ten 1 s but with the v1 02 compiler it would print lots of O s followed by lots of 1 s 100 RUN 1 110 PRINT 0 GOTO 110 200 TASK 1 210 PRINT 1 GOTO 210 Previously the CANCEL statement didn t work exactly as stated in the manual The manual says that CANCEL doesn t immediately stop an executing task only that it keeps a task from being rescheduled Actually in v1 02 CANCEL could stop the task at a random point in time generally the next time that the context switcher looked at that task this is the way a lot of people thought that CANCEL should work but it can cause strange things to happen in a program It has been changed to match the description in the manual which causes the operation of a program using CANCEL to be more consistent The keypad auto repeat rate is now about twice as fast as it used to be Several people complained that the old one was too slow The keypad scan rate has been slowed to support remotely located keyboards The method by which constants are compiled has been changed resulting in smaller com
92. lt 01 gt FILE1 pata would store the string DATA into file FILE1 DAT assuming that message type 1 was raw data file 10 5 2 BearLog Data File Formats Two file formats are supported dBase IV and raw data A raw data file is signified by a file extension of DAT The message string is stored into the file with no data conversion This allows the Boss Bear programmer to determine the format of the data file The first byte of the message which is the file type flag is not stored in the file If three numbers need to be stored with comma delimiters in an ASCII text file for example the BASIC program could build the message string like this msGs coNCATS CHR 2 CONCATS STRS NUM1 CONCATS CONCATS STRS NUM2 CONCATS STRS NUM3 Notice that the file type the first byte of the message is 2 which would cause this message to be appended to the current file in the SPC_WEEK subdirectory A dBase IV compatible file is signified by a file extension of DBF Before the first message arrives there must be a dBase DBF file stored in the subdirectory for the BearLog program to use as atemplate The message string is converted into the format of this dBase template file For example a template file is created from within dBase that has three fields per record an integer number a floating point number and a 10 character string This template file is stored in the DOWNTIME subdirectory file type 1 The BASIC code to b
93. milliseconds to execute on the UCP which is much longer than the Boss Bear Example 100 INTEGER MONTH DAY YEAR WDAY 110 STRING WD 22 120 WDS SunMonTueWedThuFriSat 130 GETDATE MONTH DAY YEAR WDAY 140 PRINT The date is MIDS WDS WDAY 3 2 3 150 PRINT MONTH DAY YEAR This produces the following output when run The date is Wed 10 24 90 Related topics GETIME SETDATE SETIME GETIME Statement Summary The GETIME statement retrieves the current time from the Real Time Clock Syntax GETIME hours minutes seconds Arguments hours an integer variable The hours are stored in this variable The hours are represented as 0 23 with O being midnight minutes an integer variable The minutes are stored in this variable The minutes are represented as 0 59 seconds an integer variable The seconds are stored in this variable The seconds are represented as 0 59 Description GETIME reads the current time from the Real Time Clock Note that the Real Time Clock is an option on the Boss Bear GETIME takes about 200 microseconds to execute UCP The UCP uses a Touch Memory device for the real time clock The GETIME statement takes about 150 milliseconds to execute on the UCP which is much longer than the Boss Bear Example 100 INTEGER HOUR MIN SEC 110 GETIME HOUR MIN SEC 120 PRINT The time is HOUR MIN SEC
94. number an integer expression This is the number of registers in the block to send unit_id an integer expression that evaluates between 1 and 254 This is the unit number of the Boss Bear to send to Each unit in the network must have a unique number dest_reg an integer expression This is the register number to store the register block at in the destination unit status an integer variable This will hold the status of the NETWORK operation a O will indicate successful completion while a nonzero value will indicate that an error occurred Description The NETWORK 1 statement is used to transfer data to another unit on the network It sends a block of network registers from this Boss Bear to a register block in another unit The next time that the network master polls this unit the registers are transferred when the destination unit receives the registers it will acknowledge the reception and this statement will return It will wait for at least five seconds for a response before timing out and returning an error in a multitasking program it may take longer than five seconds to time out perhaps as much as 30 seconds or more It is often useful to send a register to a different register number in the destination unit The source reg and dest_reg fields determine which registers are sent and where they are stored in the destination unit For example NETWORK 1 0 12 2 3 36 ST will send INTEGER registers 12 and 13 to unit 3 where they wil
95. on until NOERR is specified NOERR affects the way a program is compiled so it must be specified before the program is COMPILEd or RUN Related topics ERROR COMPILE RUN GO 8 115 ON ERROR Statement Summary The ON ERROR statement traps l O errors Syntax ON ERROR nenum Arguments linenum a valid BASIC line number This must be a line number that is in task 0 ie before the TASK 1 statement in the program Description ON ERROR causes the execution of the program to transfer to linenum when an I O error is detected ON ERROR is limited to operation in task 0 Both the function or statement that encounters the error and inenum must be before the TASK 1 statement Example 100 INTEGER K 110 ON ERROR 900 120 K GE 130 PRINT CHRS K 140 WAIT 10 GOTO 120 900 Error handler 910 FILE 6 Display error on LCD VFD 920 PRINT Error ERR detected Print error number 930 FILE 0 GOTO 120 Back to COM1 and continue above Set up error handler Get a character from COM1 Echo the character Do it again This example will get bytes from COM1 and echo them back on COM 1 at a rate of 10 per second If an I O error occurs then execution will transfer to line 900 where it will display the error number on the onboard display then jump back to line 120 Related topics ERR JVECTOR Chapter 11 8 116 ON GOSUB Statement Summary The ON GOSUB statement calls one of a num
96. only part of the data will get transferred This also minimizes network activity since the PC doesn t have to continuously poll the Boss Bear to see if new part has been produced This is the only way to transfer data to the Divelbiss BearLog data logging TSR program The Bear BASIC function NETMSG sends and receives network messages A message is treated as a string in the BASIC code data is stored in the string using the normal string functions CONCAT STR MKI CVIS ASC VAL CHR etc After the data is stored in the string it is sent with the instruction ST NETMSG 0 UNIT MSG where UNIT is the unit to send the message to MSG is the message to send and ST is the result code This will wait for the network master to poll respond with the message and wait for the acknowledgement from the master before returning If this process doesn t complete within approximately 5 seconds then NETMSG returns an error The instruction ST NETMSG 1 UNIT MSG retrieves a message that has been received UNIT will be set to the number of the unit that sent the message MSG is the message and ST is the result code If no message is available then NETMSG will return 0 and MSG and UNIT will be unchanged If a message has been received then NETMSG will return 1 and MSG and UNIT will be set appropriately The Boss Bear network handler can buffer a few incoming messages while it is waiting for the BASIC code to retrieve them the number t
97. out serially over this port with bit O being the data and bit 1 being the clock signal The outer loop line 110 causes all 256 byte values to be sent Related topics SYSTEM CALL POKE PEEK Appendix D 8 26 COMPILE Direct Command Summary The COMPILE direct command compiles the BASIC program currently in memory Syntax COMPILE may be abbreviated to C Arguments COMPILE needs no arguments Description COMPILE causes the Bear BASIC compiler to convert the BASIC source code entered by the programmer into the native machine code used by the Boss Bear s 64180 processor This is necessary before the program can be executed For a large program it may take as much as 20 seconds to compile If the program is successfully compiled then the message COMPILED will be displayed otherwise an error message will be displayed After the program has compiled successfully the command STAT can be used to show some compilation statistics Related topics RUN command GO CONCATS Function Summary The CONCAT function returns a string that is the concatenation of two strings Syntax st CONCATS st1 st2 Arguments st1 a string expression st2 a string expression Description CONCAT combines two strings into one appending st2 immediately after st1 In some other implementations of the BASIC language strings are concatenated using the operator Example 100 STRING AS 40 BS AS must be large enoug
98. period Syntax WAIT num_tics Arguments num_tics a numeric expression from 1 to 32767 The number of tics 1 100 second to delay A tick equals 10msec which equals 1 100 second Description The WAIT statement provides an efficient way to put a delay into a program It delays the execution of the current task for at least num_tics hundredths of a second the task may be delayed for more than num_tics depending upon how many tasks are ready to run when num_tics have elapsed Any other tasks that are ready to run will continue to execute if no other task is ready to run then the processor will be idle until one of the tasks is done WAITing and can execute again WAIT enables interrupts since it depends upon the context switcher being called so it can t be used inside of a hardware interrupt service task WAIT works fine in a single task program the processor just sits idle until num_tics have elapsed Example 100 RUN 1 Start task 1 executing 110 PRINT Print a every 300 msec r 120 WAIT 30 GOTO 110 130 TASK 1 140 PRINT GOTO 140 Print a every 1 msec at 9600 baud Related topics RUN CANCEL EXIT 8 162 WPEEK Function Summary The WPEEK statement reads an integer word value from the specified address Syntax x WPEEK logadar Arguments logadar an integer expression The logical address to read from Description The WPEEK function reads a word from memory at logadadr it returns th
99. print Prod forint f5 0z prolcnt print Batch forint f5 0z brolcnt print Yds Left i a ydsleft forint i4z a return UT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK 8310 8400 8410 8500 8510 8530 8600 8610 8620 8630 8690 Subroutine to get INTEGER user input cls print uifmt uivlu wait 30 K din 100 if K 0 then 8310 if K 41 or K 13 then K key K 0 return if K lt 30 or K gt 39 then K key goto 8310 locate 1 1len uifmt 1 print locate 1 len uifmt 1 finput uifmt2 A K 1 return VARKAKAKKKAKKKAK KARA KK AA KARA KARA AAA RARA AAA AAA AAA AAA AA AAA AAA AAA AAA Subroutine to get REAL user input cls print uifmt fprint F4 2z uirvlu print F8 is decimal point wait 30 K din 100 if K 0 then 8410 if K 41 or K 13 then K key K 0 return if K lt 30 or K gt 39 then K key goto 8410 locate 1 len uifmt 1 print T p locate 1 len uifmt 1 finput uifmt2 uirvlu K 1 return We VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to get boolean 0 or 1 user input cls print uifmt uivlu print uifmt2 wait 30 K get if K 41 or K 13 then return EK lt gt STE then 8530 locate 1 len uifmt 1 print 0 a uivlu 0 goto 8510 if K lt 30 or K gt 31 then 8510 locate 1 len uifmt 1 print chr K m uivlu K 3
100. set by you in order to decide if the control should be On or Off Thus On Off control may require use of a Divelbiss Corporation HDIO High Density I O board in addition to the analog board in order to switch the output on and off 1 4 Conclusion Although not the solution for every application Fuzzy Logic should be considered as a possibility in the design of every control system To make this possible Divelbiss Corporation has made an easy to use Fuzzy Logic statement available with its Universal Control Panel UCP and Boss Bear controllers The FUZZY statement provides the simplest approach to the implementation of Fuzzy Logic controllers Additionally because the UCP and Boss Bear are general purpose programmable controllers other applications can be handled simultaneously along with your real time control requirements providing maximum flexibility in system design 1 22 E a a ae RR OO 8 133 E A O A 8 133 RN alpha SAA AA AA AAA AN Cebieiutts 8 2 1 2 1 11 l 16 Battery backed up RAM oococcccccccccccccccnnnnnnnanononononcnnnnnnnnnnnnnnnnnnnncnnnnnnns 1 3 1 16 1 18 A D analog to digital convertor a A AA 1 2 8 4 AD CONVEO Toen EAR E A eee et hel E hed ee eee athe 9 7 CAMION oia 9 10 AO A E E E a 8 3 ADD Oia 7 7 7 9 8 4 H 6 H 7 DO NN NO NON A 8 5 Applications Puzle 1 16 A 8 6 E AA E A A A EN 8 6 8 20 ASIN E E 8 7 Assignment Sa Ma 8 2 ATAN dae 8 8 E AA A A IT aswel a A 8 9 BIN ia 7 10 8 10 A O 7 10 8 11 BORDO E ATE
101. shows how the 7 integers 3030 through 3036 were stored in A these numbers were chosen so that A would still be a printable string The second line shows how the individual bytes are stored in the string The third line shows that CVI can be used to convert the first two bytes of A back to an integer Related topics CVI MKS CVS 8 100 MKS Function Summary The MKS function converts a real to a binary string Syntax st MKS realexpr Arguments realexpr a real expression Description The MKS function returns realexpr as a four byte string For example mxss 123 456 returns a string whose bytes are 42 F6 E9 78 note that 123 456 takes up 7 characters when stored in ASCII but only 4 when stored in binary form See MKI for more information on binary strings Example 100 INTEGER J REAL X 110 STRING AS AS 120 FOR X 1 0 TO 3 0 130 AS CONCATS A MKS X 140 NEXT X 150 FOR J 1 to LEN AS 160 FPRINT H2X2Z ASC MIDS AS J 1 170 NEXT J 180 PRINT 190 X CVS A PRINT X This produces the following output when run 3F 80 00 00 40 00 00 00 40 40 00 00 1 00000 The first line printed shows how the 3 reals 1 0 2 0 and 3 0 were stored in A The second line shows that CVS can be used to convert the first four bytes of A back to a real Related topics CVS MKI CVI 8 101 NETMSG Function Summary The NETMSG function sends and rec
102. stored in 32 bit IEEE single precision format taking up 4 bytes All variables ina Bear BASIC program must be declared as INTEGER REAL or STRING all variable declarations must occur before any executable statements in the BASIC program Real arrays may be declared with the REAL statement as well Bear BASIC allows one and two dimensional arrays The variable name is followed by parenthesis enclosing one or two array dimensions such as J 5 or J 7 5 Note that the array dimension is not the number of array elements but the number of the last array element arrays always start with element 0 The array J 5 actually contains 6 variables J 0 through J 5 Approximately 6 5 digits of precision are maintained for real numbers Many BASIC interpreters and compilers use BCD mathematics or 64 bit representations resulting in high accuracy numbers that require lots of memory Bear BASIC does not support either of these in the interest of maximizing speed The user must be aware that a real number may not be exactly the number anticipated For example since real numbers are constructed by using powers of 2 the value 0 1 cannot be exactly represented It can be represented very closely within 2 23 or about 0 0000001 but it will not be exact Therefore it is very dangerous to perform a direct equality operation on a real number The statement IF A 0 123 assuming A is real will only pass the test if the two values are exactly equal a case which
103. stored in a table following the assembly language CALL instruction so the return address on the stack will point atthe table The table will consist of zero or more entries with each entry consisting of a mode byte followed by the argument address The table will end with a O byte in place of a mode byte The mode byte is assigned as follows 1 for integer 2 for real and 3 for string The arguments can be arrays constants or variables array elements and constants are passed using temporary variables and so should not be modified Variables can be modified For example the code 100 INTEGER J 110 REAL X 10 120 STRING A 40 Other code goes her 500 CALL C000 X 3 J AS would generate assembly language that looks like this CALL C000 BYTE 2 X 3 mode is real WORD address of temp holding value of X 3 BYTE 1 J mode is integer WORD address of J BYTE 3 AS mode is string WORD address of A BYTE 0 End of table flag Next line of BASIC code If it is necessary to update an array element from a subroutine then it must be done using an intermediate variable For example 8 15 600 K KARRAY 4 610 CALL B800 K 620 KARRAY 4 K In order to write robust code the assembly language programmer must not assume that the BASIC programmer used the correct number or type of arguments The assembly code should always look through the table for the O end of table flag and return to the
104. the problem determined the inputs and outputs divided these into 7 regions and generated process logic The following explanations will assume a working knowledge of the BEARBASIC programming language and thus only the portions of the code relating to the FUZZY statement will be addressed As stated their are 106 integer data values which are required to successfully implement the FUZZY statement and the variable declarations for these variables must be in successive order at the beginning of your BEARBASIC software Because of this the simplest way to implement the data list is to declare all of the Fuzzy data as one large array use the BEARBASIC DATA statement to enter the data and then use the READ statement to enter the data into the declared variables This minimizes the length of the software and makes the program easier to read and debug Note The Fuzzy data must be declared as one array for the FUZZY statement to operate correctly Consider a problem requiring two 2 inputs and one 1 output with the following membership function shapes INPUT1 midpoint 0 INPUT1 sensitivity 15 INPUT2 midpoint 0 INPUT2 sensitivity 30 OUTPUT1 midpoint 0 OUTPUT1 sensitivity 4 OUTPUT2 midpoint 0 OUTPUT2 sensitivity 0 Additionally the rule tables for OUTPUT1 and OUTPUT2 are described in Figures 68 and 69 Note that since OUTPUT2 is not required that the rule table contains all zero s along with having zero midpoints and sensit
105. time Bear BASIC provides three methods for handling real time scheduling of operations the real time clock the WAIT statement and the hardware timer Each of these covers different areas of real time scheduling With a resolution of one second the real time clock is only useful for handling relatively long time periods This makes it ideal for keeping track of down time run time shift totals daily totals and other long term production statistics Care must be used when programming with a real time clock because of the possibility of wrap around at the end of the minute end of the hour and end of the day Also the programmer must be aware of the size of numbers that result when working with time of day values for example there are 86400 seconds in a day which means that an integer won t hold an entire day in seconds The following example shows how to handle the real time clock for long time periods 100 Example to demonstrate using the real time clock to measure 102 long time intervals 110 INTEGER HA MA SA 120 INTEGER J K FLAG1 END1 130 FLAG1 0 190 When input 1 turns on turn on output 1 When input 1 turns off 192 wait for 140 seconds then turn off output 1 200 J DIN 1 210 IF J 0 AND FLAG1 0 THEN 200 Input off keep waiting 220 IF J 1 AND FLAG1 1 THEN 200 Input on keep waiting 230 IF J 0 THEN 300 Jump if input just turned off 240 Input just turned
106. transmitted therefore it could take up to 2 character times for this byte to be transmitted When TDRx is emptied the corresponding TDRE bit is set and the ASCIx interrupt is generated if the TIE bit is set ASCI Receive Data Register 0 1 RDRO I O address 08H and RDR1 I O address 09H hold the incoming data bytes When a byte is received into RDRx the RDRF bit is set and the ASCIx interrupt is generated if the RIE bit is set ASCI Status Register 0 1 Each channel has a status register that indicates the ASCI communication error and modem control signal status It also controls the interrupt state for the ASCI channel STATO I O Address 04H ADRE_ _OVAN oe Fee ee pepo TORE zs C 5 STAT1 I O Address 05H SEAN patie ADRF ovan orsie TORE pe ek aw EJES Lwa RDRF Receive Data Register Full Set to 1 when an incoming data byte is loaded into RDR Note that if a framing or parity error occurs RDRF is still set and the receive data which generated the error is still loaded into RDR RDRF is cleared to 0 by reading RDR OVRN Overrun Setto 1 when RDR is full and another data bye is received OVRN is cleared to 0 when the EFR bit is written to 0 PE Parity Error Set to 1 when parity detection is enabled and a parity error is detected on an incoming data byte PE is cleared to 0 when the EFR bit is written to 0 FE Framing Error Setto 1 when a framing error invalid stop bit is detected FE is cleared t
107. units on the network to 1 Actually this is the default value set up by the L command above If the card address has been changed from the default value the A option must precede the N option for example if the card is at address 380H type BbseTUP a 380 n 1 to initialize the card Type BbseTUP P on to enable network polling Again remember to use the A option if the card address has been changed from the default value Type ppsEtup E with the A option if necessary to print the status screen This will produce something similar to the following Bear Direct setup program v1 01 Divelbiss Corp 1991 1992 Software version 1 02 Unit number 0 Network size set to 1 unit Polling is on Operating for 12634 seconds XXX 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n The XXX indicates where the error count for unit number 1 will be displayed everything is working correctly it should be 0 at this point Type BDSETUP P OFF with the A option if necessary to disable network polling Polling is only necessary in a system where Boss Bears need to communicate peer to peer Type NETTEST 1 to perform a short network test This will send a packet with 20 integers to the Boss Bear then read it back to verify that it was successfully received It does this with 25 different data sets It also sends a packet w
108. used to select between the A and B serial ports SERIALDIR File port is the syntax required to select active ports The file is an integer expression where 0 COM 1 and 5 COM 2 The port is an integer expression where O port A and 1 port B Note this is an adaptation of the SERIAL DIR statement and the user should review the SERIALDIR statement for standard operations In this example the COM 2 ports A and B are alternating print jobs Because the switching of ports A and B is a mechanical one a WAIT statement is required after the SERIALDIR statement EXAMPLE 10 INTEGER X Y Declaring X Y as integer variables 20 X 0 Y 0 Setting X Y 0 30 FILE 5 Setting COM 2 active 40 OUT 1 100 OUT 3 18 Setting operations mode for COM 2 START BIT 8 BITS NO PARITY 1 STOP BIT 9600 BAUD see 7 6 2 for details 50 SERIALDIR 5 0 WAIT 20 Setting port A active WAIT statement insures sufficient switching time 60 X X 1 Incrementing X 70 PRINT COM2 Channel A X WAIT 100 Printing text and the value of X to port A 80 SERIALDIR 5 1 WAIT 20 Setting port B active WAIT statement insures sufficient switching time 90 Y Y 1 Incrementing Y 100 PRINT COM2 Channel B Y WAIT 100 Printing text and the value of Y to port B 110 GOTO 50 Program control loop When utilizing the CHAIN command the user must reinitialize the file 5 and specify either A or B ports when returning from other programs H 16 Dual RS 232 Pin Out Pin Descr
109. vectored through the interrupt vector table which is located at OOEOH on the Boss Bear The table consists of the addresses of the interrupt service routines it is 9 entries of 2 bytes each OOEOH 00E2H 00E4H OOE6H 00E8H OOEAH OOECH OOEEH OOFOH INT1 INT2 Timer 0 Timer 1 DMA channel 0 DMA channel 1 CSIO ASCIO ASCI1 INT TRAP Control Register The ITC INT TRAP Control register is used to handle TRAP interrupts and to enable or disable the external maskable interrupt inputs INTO INT1 and INT2 C 3 ITC I O Address 34H El o lo Ion mae uo me EO pew foe ff aw nw TRAP The processor sets this bit to 1 when an undefined op code is fetched UFO Used in conjunction with TRAP to determine the starting address of the undefined instruction ITE2 Set this bit to enable external interrupt 2 ITE1 Set this bit to enable external interrupt 1 ITEO Set this bit to enable external interrupt 0 Non Maskable Interrupt When a falling edge occurs at the NMI input the current PC is pushed onto the stack and execution commences at logical address 0066H The last instruction of the NMI service routine should be RETN in order to restore the interrupt state that existed before the NMI occurred External Interrupt 0 INTO is a the second highest priority external interrupt after NMI it is triggered by a low level on the INTO line On the Boss Bear INTO is attached to the J3 expansion connector
110. watchdog and so this will not happen if those statements are executed Example 100 INTEGER D J K N 110 RUN 1 1 120 FOR J 1 TO 1000 130 INTOFF 140 K 2 150 N J K 2 160 D J K N 170 INTON 180 FPRINT U5Z D 190 NEXT J 200 PRINT STOP 210 Task to demonstrate variable corruption 220 TASK 1 230 K 9999 240 EXIT This example shows that a task can corrupt a variable that another task is using In this case task 1 modifies the value of K which the main routine is using in lines 140 to 160 Without the INTOFF in line 130 the context switcher could start task 1 running at any time including while the main routine is in line 140 150 or 160 thus changing the value of K from 2 to 9999 This would drastically affect the outcome of the calculation To demonstrate this run the program as it is shown it should print 2 1000 times Then remove lines 130 and 170 and run the program again this time it will print mostly 2 with other numbers interspersed periodically The other numbers are caused when task 1 executes while task 0 the main routine is in line 140 150 or 160 Related topics INTON INTON Statement Summary The INTON statement enables processor interrupts Syntax INTON Arguments INTON needs no arguments Description INTON is used to re enable interrupts after an INTOFF statement has disabled interrupt processing See INTOFF for a detailed description
111. year month day hour minute second day of week and day of month It is battery backed up and so will keep the correct time even when the Boss Bear is not powered The second serial port supports RS 232 RS 422 and RS 485 RS 232 is used to communicate over short distances RS 422 is used over longer distances and in electrically noisy environments RS 485 is used when several units need to communicate over two wires as ina network The two onboard serial ports support 150 300 600 1200 2400 4800 9600 19200 and 38400 baud 1 3 1 2 Organization of This Manual This manual is divided into 8 chapters 5 appendices providing supplemental information and an index Chapter 1 Introduction provides an overview of the Boss Bear and a description of this manual Chapter 2 Getting Started With the Boss Bear describes how to set up the unit attach it to a terminal enter Bear BASIC programs use the editor and execute programs Chapter 3 Overview of the Bear BASIC Compiler describes the various elements of Bear Basic and how they fit together Chapter 4 Writing Control Applications in BASIC is an elementary tutorial on programming for real time control systems with emphasis on using the features of Bear BASIC Chapter 5 Multitasking in Bear BASIC explains the specifics of using the multitasking features of Bear BASIC Chapter 6 User Interface Support describes how to use the onboard display and keypad a
112. 0 130 K 500 140 FPRINT H2 PEEK ADR K Print the low byte of K 150 FPRINT H2 PEEK ADR K 1 Now print the high byte of K This produces the following output when run A000 18 F4 01 Line 120 prints saooo 18 because 18 is the decimal equivalent of 12 Line 140 reads the low byte of the variable K Kis 500 1F4 so this prints F4 Line 160 reads the high byte of K which is 1 Related topics POKE WPOKE WPEEK EEPOKE EEPEEK DEFMAP 8 120 POKE Statement Summary The POKE statement writes a byte value to the specified address Syntax POKE logadadr value Arguments logadar an integer expression The logical address to write to value an integer expression between 0 and 255 The value to write Description The POKE statement writes a byte value into memory at logaddr Normally this writes into the 64KB address space that the BASIC program is running in However DEFMAP can be used to allow access to the entire 1MB physical address space see DEFMAP for a complete explanation Example 100 INTEGER J K 110 POKE A000 12 Write a 12 into A000 120 PRINT SA000 PEEK A000 130 J 0 K 500 140 POKE ADR K J Write a 00 into low byte of K 150 PRINT K 160 POKE ADR K 1 J Now write to high byte of K 170 PRINT K This produces the following output when run A000 18 256 0 Line 120 prints ao00 18 because 18 is the decimal equivalent of
113. 0 PRINT TESTO lt RIGHT TEST 4 gt This produces the following output when run This is a test lt test gt Related topics DEF Chapter 3 FOR Statement Summary The FOR statement is used with the NEXT statement to implement a loop control structure to execute a range of lines multiple times Syntax FOR variable expr1 TO expr2 STEP expr3 Arguments variable an integer or real variable to be used as the loop counter This must be a non subscripted variable expr1 a numeric expression This is the starting value of the loop variable will be set to this value before executing the body of the loop for the first time expr2 a numeric expression This is the ending value of the loop variable is tested against this value after executing the body of the loop if variable is less than expr2 then the loop will be executed again expr3 an optional numeric expression If specified this value will be added to variable each time through the loop If this isn t specified then variable will be incremented by 1 each time Description The FOR NEXT construct specifies that a series of lines should be executed multiple times in a loop Program lines following the FOR statement are executed until the NEXT statement is encountered at which time variable is incremented by expr3 or by 1 if expr3is not specified If variable is less than expr2 then BASIC jumps back to the statement immediately followi
114. 0 goto 8510 VKKKKKKKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK AAA AAA AAA AAA AAA AAA AAA AAA Subroutine to get string user input cls print uifmt uisvlu wait 30 K din 100 if K 0 then 8610 if K 41 or K 13 then K key K 0 return locate 1 1len uifmt 1 print We locate 1 1len uifmt 1 a 0 uisvlu K get if K 8 then 8620 if K 13 then 8690 uisvlu concat uisvluS chr K print chr K a adt tl if a lt uilen then 8630 K 1 return 4 3 4 Program Operating Instructions The program has been designed to run on the Divelbiss Boss Bear Demonstration Case the I O numbers were chosen to match the wiring of this case In order to run the program without a Demo Case the following I O devices must be supplied by the user Run pushbutton input 1 Switch to simulate optical sensor input 2 4 21 Emergency stop switch input 3 Knife output output 1 Conveyor gate open output 2 Core hopper gate open output 3 Main drive enable to turn on motor controller output 7 Main drive speed select DAC channel 1 Product length encoder counter 1 The main drive motor must be coupled to the product length shaft encoder in order for the program to operator correctly because the program uses the shaft encoder value to control the motor speed Before running the example program EEPROM location 1 must be set to the Boss Bear unit number so that the network works correctly This
115. 0 SPDERR SPD SETPNT 4080 SPDRATE SPD LASTSPD 4100 LASTSPD SPD 4120 FUZZY ADR FUZDAT 0 SPDERR SPDRATE OUT1 OUT2 ST 4140 DRIVE OUT1 DRIVE 4150 IF DRIVE lt 0 THEN DRIVE 0 4175 IF DRIVE gt 16000 THEN DRIVE 16000 4160 DAC 1 DRIVE 4180 EXIT The example code above is for a speed control problem Lines 80 110 are for variable declarations Note that all variables related to the FUZZY statement are integers Lines 115 170 contain the data for the midpoints and sensitivities for both inputs and outputs Lines 175 440 contains the rules for output 1 and output 2 Note that although output 2 is not being used in the system the data is still required all O s Lines 490 540 demonstrates the easiest way to get the fuzzy data into the data array Typically this type of setup will make the program easier to read and to modify Lines 590 and 600 setup the fuzzy control task to break the infinite loop of the main task 10 times per second Lines 3900 4180 contains the fuzzy control task The first step is to acquire the setpoint which is read in from analog channel 1 using the ADC statement Next the current speed is read from analog channel 2 Input 1 speed error and input 2 rate of change of speed are then calculated for use as inputs to the controller The current speed is then stored as the last speed for use during the next execution of the task on line 4100 Finally the FUZZY statement is utilized with the array ad
116. 0 random numbers 140 NEXT J Related topics RND 8 126 RDCNTR Statement Summary The RDCNTR statement reads the count value from the high speed counter It also can reset the counter s high speed output Syntax RDCNTR chan flag variable Arguments chan an integer expression between 1 and the number of counter channels installed This is the counter channel to read flag an integer expression from 0 through 3 This determines whether to read the current count or latched count and whether or not to reset the high speed output O to latch and read the current count 1 to read only the last latched count value this is used to read a value that was latched when the marker input was activated 2 to latch and read the current count also reset the high speed output 3 to read only the last latched count value also reset the high speed output variable an integer or real variable The count value will be stored in this variable If it is an integer then only the least significant 16 bits of the 24 bit count value will be used If it is a real then all 24 bits will be stored Description The RDCNTR statement reads the one of the counter s registers and optionally resets the high speed output The counter hardware provides two 24 bit count registers one holds the current count and one holds the count value when the latch input was activated In order to read the current count the hardware first loads it into the latch
117. 1 COM1 supports RS 232 levels While at the command line prompt it is used to attach the console terminal which is the main programmer s interface to the Boss Bear On power up it is set to 9600 baud no parity 8 data bits and 1 stop bit At runtime COM1 is accessed as FILE 0 it may be used as a general purpose serial port The COM1 connector is a 9 pin male D connector the pinout is given in Figure 16 Pin ID Description 1 No connect 2 RX Receive data 3 TX Transmit data 4 DTR Data Terminal Ready 10 VDC 5 GND Signal ground 6 No connect 7 RTS Request To Send Output 8 CTS Clear To Send Input 9 No connect Figure 16 COM 1 Connector Pin Out Divelbiss can supply the following cables to connect the Boss Bear COM1 port to a personal computer Part No Description ICM CA 28 9 pin female D to male 25 pin D 6 ft long ICM CA 29 9 pin female D to female 25 pin D 6 ft long To set the operating mode for COM1 two I O ports must be written to Port 0 controls the number of data bits stop bits and whether parity is enabled see Figure 17 I O port 2 controls the baud rate and even odd parity if port O setup has enabled parity see Figure 7 13 18 For example the code OUT 0 97 OUT 2 13 sets COM1 to operate at 300 baud no parity 7 data bits and 1 stop bit since parity is disabled OUT 0 97 OUT 2 29 will set the same parameters As another example OUT 0 102 OUT 2 5 will set 1200 baud 8 data bits eve
118. 1 This turns on or off the debug feature O for OFF 1 for ON year an integer expression This value specifies the year This is used with the autotime feature month an integer expression This value specifies the month This is used with the autotime feature day an integer expression This value specifies the day This is used with the autotime feature hour an integer expression This value specifies the hour This is used with the autotime feature minute an integer expression This value specifies the minute This is used with the autotime feature Description The NETSERVER statement is used to set up a UCP as a dedicated peer to peer network server Once this statement is run the UCP will only act as a server The statement does not return control to basic It must be noted that this command can only be used on one unit in the network and must not be used when a computer with a network card is on the network Example 100 INTEGER YEAR MONTH DAY WDAY HOUR MINUTE SECOND 110 GETDATE MONTH DAY YEAR WDAY 120 GETTIME HOUR MINUTE SECOND 130 PRINT STARTING NETWORK FOR TWO UNITS 140 Start the network with autotime enabled 150 NETSERVER 2 1 0 YEAR MONTH DAY HOUR MINUTE Related topics NETWORK 0 NETWORK 1 NETWORK 2 NETWORK 3 NETWORK 4 Chapter 10 8 104 NETWORK 0 Statement Summary The NETWORK 0 statement initializes the network handler on the Boss Bear Syntax NETWORK 0 unit_id num_ int
119. 101 14 0E 00001110 16 00 00010000 17 11 00010001 18 12 00010010 19 13 00010011 20 14 00010100 21 15 00010101 22 16 00010110 29 1D 00011101 30 1E 00011110 150 baud odd parity even parity and 1 stop bit The SERIALDIR statement controls the state of the RTS output The CTS input is always enabled if CTS goes low COM1 will stop transmitting Figure 45 UCP COM Port Baud Rate Parameters H 5 2 COM2 COM2 is unused while at the command line prompt At runtime it may be accessed as FILE 5 as a general purpose serial port or it can be used to link the UCP into the Bear Direct network On power up it is set to 9600 baud no parity 8 data bits and 1 stop bit The COM2 connector is a 9 pin male D connector the pinout is given in Figure 46 RS 422 RS 485 Pin ID Description Pin ID Description 1 TX Transmit data 1 TX Data 2 No connect 2 No connect 3 No connect 3 No connect 4 RX Receive data 4 No connect 5 GND Signal ground 5 GND Signal ground 6 RX Receive data 6 No connect 7 Jumper to 8 7 Jumper to 8 8 Jumper to 7 8 Jumper to 7 9 TX Transmit data 9 TX Data RS 232 ID Description No connect RX Receive data TX Transmit data No connect Signal ground No connect RTS Request To Send Output No connect No connect 5 V0ONJDONADN y Q Z U Figure 46 UCP COM 2 Connector Pin Out To set the operating mode for COM2 two
120. 14 NEXT Saa AOS 8 61 8 62 8 114 NOER Raras ota 8 52 8 115 11 2 Nonvolatle Memo osea 1 2 Battery backed up RAM oooocccccccccccccccnnnnonanncnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 7 16 H 16 EE PRO Masa SOSA nianincc kd 7 16 ON ERROR menre riales 8 51 8 90 8 116 11 3 ON CGOSUB Spears 8 117 ON GOTO Lt 8 118 OPIO MOL SiS trict 1 2 OUT A O ee ters 8 79 8 119 PEE narnia ni 8 36 8 43 8 79 8 119 8 120 PRYSIical address o A 8 36 gg 0 E E CR E NN 8 36 8 79 8 119 8 121 D 1 Powersupply manninn ios 2 2 ERIN Td 6 2 6 5 8 122 11 5 PRO N 8 2 8 124 e 2 3 8 147 QUAN oss crcticnced cit dad sce cadence ado 8 25 PUI CIM ZB a anal 8 126 8 136 PU N H m ashuses capasad a phased achesecvs eyed E E beeneebebeanees 8 127 READ aida 3 4 8 129 D 1 A 3 5 8 83 8 131 8 149 Real nN mDEtS tacos 3 5 Real Time ClOCK ooococonncccccccccncccccnnnccannnnnos 1 2 4 4 7 13 8 70 8 71 8 141 8 142 H 12 A A AA E E A TOO 8 133 ROMS aaa a 8 133 Index 4 RESTO Eo co ro er retrrre errr atada 8 134 A O O a 8 135 FIND a a cis 8 126 8 136 RUN aaa 2 4 5 2 5 3 8 17 8 52 8 72 8 137 8 138 DAME AAA a 2 7 8 139 SAVE CODEN isis 2 7 Serial PONS ca les eee cans eek een ae 1 2 7 13 8 18 8 80 8 86 8 100 H 12 SEEPS AL Rasa 8 140 H 13 SETE aida 7 13 8 141 H 12 IMEI TE 7 13 8 142 H 12 SETO PTONDAS Orio 8 143 Signon message cite tet tale tat a t ili bk ital So eee hte hk oi ele 2 3 Noboa odas 8 144 Ecc cele ca vec cele cute cca cae c
121. 3 E5 60 69 3A 4B SFB 86 32 S 4B SFB 7E B7 28 06 S4F S06 00 23 SED B0 E1 18 DC D1 3A 4B FB 12 23 T DATA DATA J SFB READ IF K POKE J J 1 GOTO AS T BS a ese CALL PRINT CALL SE5 C9 S1E 08 C3 13 00 0 Load the assembly routine at SFBOO K 1 THEN 400 J K 310 his Set up strings for test test of the CALL statement SFBOO A is BS CS STRS 12 Call the assembly routine AS SFBO0O BS J This line should cause an error This calls the assembly language routine with several string arguments lt produces the following output when run This is a test of the CALL statement 12 00000 450 Strin g Variable Error D 3 3 SYSTEM Example D 5 The example uses an assembly language routine that counts the number of bits that are setin a 16 bitword Inthe word FFFE 1111111111111110 in binary for example there are 15 bits set The BASIC program passes the word argument in the HL register using the SYSTEM statement The assembly routine looks like this LOOP LEND XOR A LD B 16 Clear t Set up R R L Rotate R R R J NC LEND Jump if INC A DINZ LOOP Do all LD H 0 LD L A Return RE T he bit count loop counter least significant bit into carry flag bit is 0 16 bits result in HL This program is assembled and put into a Bear BASIC program
122. 3 2 Getting a Test Network Running The following instructions show how to get a minimal network one Boss Bear up and running 1 Install the Network Interface card into any slot in the PC The card is shipped with the address jumpers set to 320H If this I O address is already in use by another card then set the Network Interface card to an unused address refer to Figure 27 to set the address jumpers If the card address is changed from the default value then the A option must be used each time that BDSETUP is run 2 The network cable plugs into the bottom 9 pin D connector on the card It plugs into the COM2 connector on the Boss Bear 3 Make sure that the Boss Bear COM2 port is set to RS 485 mode This is set by jumper JW1 inside of the Boss Bear See Section 7 4 Enter the following program into the Boss Bear 10 14 10 100 integer ST 200 network 0 1 100 100 10 ST 210 aif ST then print Error stop 300 goto 300 This program just initializes the network handler to address 1 100 integer registers 100 real registers and 10 string registers At the DOS prompt type the spsETup L 0 command to initialize the software on the Network Interface card to unit 0 the network master If the card address has been changed from the default value the A option must precede the L option for example if the card is at address 380H type BbseTUP a 380 L o toinitialize the card Type BDSETUP N 1 to set the number of
123. 3 8 5 Miscellaneous Functions ERR last error number generated 3 9 User Defined Functions Bear BASIC supports multi line user defined functions A function definition may be any number of lines long All functions must be defined as follows 100 DEF function_name arguments 110 function_definition 120 FNEND DEF indicates the start of a definition FNEND indicates the end of a definition The function name can be up to seven characters following the rules for variable names The function name must be declared in an INTEGER REAL or STRING statement The function can have arguments which are part of the DEF statement but are not part of the INTEGER REAL or STRING statement where the function is declared The arguments are true variables and must be declared When the function is called the parameters passed to the function will be copied to these variables so they should have unique names The following rules apply to user defined functions e Functions must be defined BEFORE they are used It s a good idea to put all function definitions near the beginning of your program after the variable definitions If a function is referenced before it is declared a FUNCTION ERROR will result 3 13 A maximum of 64 functions can be declared in one program e Function definitions cannot be nested A FUNCTION ERROR will result if a DEF statement is found inside of a function definition e Function names must be unique Do not use other va
124. 30 K EEPEEK J 140 PRINT J K 150 NEXT J 100 REAL X Y HOLD HOLD2 110 INTEGER FIRST SECOND 120 X 3 45 130 FIRST WPEEK ADR X 140 SECOND WPEEK ADR X 2 150 EEPOKE 10 FIRSI 160 EEPOKE 11 SECOND 180 HOLD EEPEEK 10 190 HOLD2 EEPEEK 11 192 WPOKE ADR Y HOLD 194 WPOKE ADR Y 2 HOLD2 200 PRINT Value of Y is Y 300 PRINT Value of 10 PRINT EEPEEK 10 Related topics EEPOKE PEEK POKE WPEEK WPOKE APPENDIX H 8 44 EEPOKE Statement Summary The EEPOKE statement stores a value at the specified address in the EEPROM memory Note that this statement takes approximately 20 milliseconds to return Also each byte of the EEPROM can only be written to approximately 10 000 times before the byte fails Syntax EEPOKE adar value Arguments addr an integer expression between 0 and 991 for the 2K EEPROM between 0 and 4063 for the 8K EEPROM or between 0 and 223 for the UCP The address to be written to value an integer expression The value to write into the EEPROM Description The Boss Bear can be purchased with an optional EEPROM memory device installed this can be either a 2KB or 8KB device The EEPOKE statement operates in a similar fashion to the WPOKE statement except that it writes to the EEPROM instead of to the RAM EEPOKE stores the INTEGER value a
125. 32K PROM Interface LS To Bear Bones Extended 1 0 Buee 20 KEY Basic 16 in 16 out Key Pad 9 Enter Clear Function Keys 1 8 Real Time Clock Pulse A 24 Bit 2K 8K E prom E High Speed Counter for setpoints Pulse B gt gt 3 Input Filter nesot Selectable RS232 Command High Speed COM 1 port Output RS232 or RS422 485 COM 2 port 8 Channel 10 Bit A D EXPANSION Up to 3 Option Boards 3 10yAC_ Option Boards a 1 D A s a 2 Additional RS232 porte 12yDC gt 3 Additional High Speed Counters 4 Additional A D inputs Figure 1 Boss Bear system block diagram 1 2 1 1 Description of Features A Boss Bear system consists of the Boss Bear options added onboard the Boss Bear itself option modules plugged into the Boss Bear and I O expander modules connected to the Boss Bear By choosing the options carefully an inexpensive system can be built with only the hardware necessary to complete the task The minimal configuration of the Boss Bear contains the microprocessor circuitry with the Bear BASIC compiler in PROM 128K of RAM an RS 232 serial port EPROM programming capability and the Bear Bones interface The RAM is used to hold the user s program source code while it is being written and to hold variables and data while the user s program is executing The serial portis used to interface with a terminal or personal computer to allow entry and editing of programs The onboard EPRO
126. 5 minus sign Re 46 decimal point CR LF indicates a carriage return line feed pair Figure 5 Keypad Return Values The value returned by the keypad is dependent upon the operation being performed The KEY and GET functions return an integer that corresponds to the key that was pressed The INPUT and INPUT statements when used with a string variable return a text string when used with a numeric variable they return the number that the user typed in The following example shows the values that are returned as keys are pressed 100 INTEGER J K 110 STRING AS 40 120 FILE 6 130 Start by displaying GET values until ENTER is pressed 140 K GE 150 LOCATE 1 1 160 PRINT K CHR K 170 WAIT 100 180 IF K lt gt 13 THEN 140 190 Now display INPUT with an integer variable 200 CLS PRINT Enter a number gt 210 INPUT J 220 CLS PRINT The number was J 230 Now display INPUT with a string variable 240 PRINT Enter anything gt 250 INPUT AS 260 CLS PRINT AS 270 Now show how FINPUT works 280 PRINT Formatted input gt 290 FINPUT 14 J 300 CLS PRINT The number was J 6 4 Line 120 sets the current file to FILE 6 the onboard display and keypad Lines 140 through 180 use the GET function to read the keypad both the integer key value and the string equivalent are displayed Because of the WAIT 100 in line 170 it
127. 5 500 1000 1010 2000 10 6 111 flag to indicate new shift data available 112 115 shift totals 116 operator number at shift end NOTE The unit address is stored in EEPROM at location 1 This eal must be set up by another program since this program only reads that location KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Variable declarations integer J K integer PRDNUM integer OPNU integer PRD 3 integer SHIFT 3 integer SIMDELY Product number Operator number Product totals Shift totals Delay variable for simulation Variables used by user interface subroutines integer UIVLU UIFLAG real UIRVLU string UIFMTS 50 UIFMT2S 50 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK Program initialization for J 0 to 3 PRD J 0 Reset the count totals SHIFT J 0 next J SIMDELY 0 Init simulation delay to 0 file 6 network 0 eepeek 1 20 0 0 K Initialize the network handler if K then print Network initialization error stop network 3 0 10 0 K Clear Central shift end flag network 3 0 11 0 K Clear new shift data flag network 3 0 0 0 K Clear new product data flag for J 0 to 3 network 3 0 6 J 0 K Reset current count in network reg next J gosub 5000 Get product num and operator num Ikkxkxkxkxk xkxkxkxkxk xkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxk
128. 8 13 BYE Direct Command Summary The BYE direct command resets the Boss Bear Syntax BYE Arguments BYE needs no arguments Description BYE performs a software reset of the Boss Bear If SW1 the RUN PROGRAM switch is set to the RUN position then the last program on the EPROM will be loaded and run Related topics Clear Memory CALL Statement Summary The CALL statement is used to link Bear BASIC to an assembly language subroutine Syntax CALL addr arg1 arg2 Arguments addr a numeric expression The address of the subroutine to call argx a numeric or string expression An argument to be passed to the assembly language routine Description The CALL statement begins execution of an assembly language subroutine starting at adar Execution of the assembly language subroutine continues until a RET instruction is encountered at which point execution will continue at the point following the CALL statement in the Bear BASIC program No registers need be preserved while in the assembly language subroutine If optional arguments are given after the address of the routine being called then the address of these arguments are passed to the routine allowing any BASIC variable or value to be passed to the assembly routine Since the addresses of the values are passed the assembly routine can alter the values before returning to the calling program If optional arguments are supplied then these arguments will be
129. 999 gt UIVLU PRDNUM gosub 8300 A new product number has been entered Store the current count values into a network message then send the messag to the PC MSGS chr 1 Message type 1 INTGER PRDNUM gosub 9000 Convert product number to filename MSGS CONCATS MSG LJZF8STS Store filename in messag for J 0 to 3 MSGS CONCATS MSG MKI PRD J Store product count totals next J K netmsg MSG 0 0 Send the message to the PC if K lt gt 0 then cls print Network error stop Now reset the product counts and update the product number for J 0 to 3 PRD J 0 Reset the count totals network 3 0 6 J PRD J K Reset current count in network reg next J PRDNUM UIVLU Set up new product number UIFMTS Operator number 0 9999 gt UIVLU OPNUM gosub 8300 if UIFLAG then OPNUM UIVLU for J 1 to 10 K key next J Empty keyboard buffer return VKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to get INTEGER user input cls print UIFMTS UIVLU wait 30 K din 100 if K 0 then 8310 if K 41 or K 13 then K key UIFLAG 0 return if K lt 30 or K gt 39 then K key goto 8310 locate 1 len UIFMTS 1 print We locate 1 len UIFMTS 1 finput I4 UIVLU UIFLAG 1 return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKKK Subroutine to print monitor screen locate 1 1 print Small Medium Large Defectiv
130. AD direct command loads a BASIC program from the user s EPROM Syntax LOAD filenum Arguments filenum an integer number from 1 through the number of files stored on the EPROM The number of the file to load Description If filenum is specified then LOAD loads source file number filenum from the EPROM otherwise it loads the last source file from the EPROM LOAD is identical to EPROM LOAD Example LOAD Loads the last source file LOAD 3 Loads the third source file Related topics SAVE EPROM LOAD EPROM SAVE LOCATE Statement Summary The LOCATE statement positions the cursor on the current FILE output device Syntax LOCATE row column Arguments row a numeric expression The vertical position to put the cursor at starting at 1 column a numeric expression The horizontal position to put the cursor at starting at 1 Description LOCATE is used to position the cursor on the current FILE output device using a row column coordinate system with 1 1 at the upper left corner Each task maintains its own cursor position so that two tasks may print to a device at different locations at the same time LOCATE works with the onboard display FILE 6 as well as with COM1 FILE 0 and COM2 FILE 5 in order to work with FILE 0 and FILE 5 the terminal must be able to emulate the ADM3A command set Example 100 Example to display a sine wave on the terminal 110 REAL X Y INTEGER J 120 CLS 130
131. BASIC Program The Bear BASIC language has a structured syntax that requires that particular elements of a program be placed in a specific order Failure to follow this syntax could result in syntax errors or worse yet an inoperable program 3 2 1 Program Lines A Bear BASIC program consists of a series of program lines sometimes referred to as lines of code or source lines Each program line has a line number followed by one or more statements The line number is an integer between 1 and 32767 If there is more than one statement in a program line then each statement is separated by a colon The following are valid Bear BASIC program lines 100 X 4 35 print Hi there 32000 J K 4 3 IF J gt 0 Then GOSUB 2000 3 0 The following are invalid program lines 43000 PRINT X Line number is too large 100 X 4 J X No colon between statements Bear BASIC does not require line numbers if a line is entered without a line number it will add 2 to the previous line number and assign that number to the new line If used carefully this can make the BASIC source code much more readable when it is viewed on a personal computer BASIC stores lines in a tokenized format where special codes are stored instead of the actual statement in order to save space A side effect of this is that the program will look different when it is LISTed than when it was entered An example will demonstrate this if the following is typed 100 integer j sum
132. C 1 0 A DC LCD 35 mAAC 152mAAC 130 mA DC Backlit LCD 130 mAAC 540 mAAC 460 mA DC No display 32mAAC 140mAAC 120 mA DC Subplate mounted unit 8 x 11 x 2 Panel mounted unit 8 x 12 x 2 Bear BASIC Compiler Compiled BASIC with enhancements 29K for BASIC source code 42K at runtime for compiled code and variable storage 40K at runtime for extra data storage Supports up to 32 tasks Preemptive context switcher switches tasks 100 times second Variables User Defined Functions Up to 128 variables in a program 7 character variable names Supports INTEGER REAL and STRING types Supports one and two dimensional arrays Allows user to add extensions to BASIC Up to 64 user defined functions in a program A 3 A 4 Appendix B Error Messages The following error messages may be displayed by Bear BASIC on the console terminal If the error is associated with a line number in the BASIC program then a line number will be displayed before the error message When an error occurs Bear BASIC returns to the compiler prompt after displaying the error message BAD INPUT PLEASE RE ENTER Displayed at runtime if the data entered in response to an INPUT statement doesn t match the arguments given Just retype the input data properly This error can be avoided by using the FINPUT statement Data Statement Does Not Match Read Occurs when a READ or RESTORE is encountered but no DATA statements have been found
133. CI Output 5 to 5V DAC2 Output DAC3 Output i DAC4 Output 10 to 10V DAC3 Span Cal DAC3 Mode Blocks DAC3 Zero Cal DAC4 Span Cal ooo o 4mA to 20mA DAC4 Mode Blocks ooo Figure 25 D A Module Jumper Configuration 9 14 9 4 3 10 bit D A Module Calibration All channels are factory set and calibrated for the 10 to 10V mode If an output mode other than 10 to 10V is selected the calibration will be necessary The operating mode should be set before connecting the module to any machine or interface device in order to avoid any confusion and possible damage Often it is not necessary to calibrate the module to an absolute standard because the channels will need to be adjusted in conjunction with other equipment for example adjusting the zero potentiometer to cause a motor to stop all motion Before beginning the calibration allow at least a five minute warm up period with the power applied to the Boss Bear and modules This allows the OP AMP buffers to reach operating temperature and stabilize A multimeter that is accurate to 0 005V with a 10V input is required The following Bear BASIC program is used to set the analog outputs during calibration it should be entered and running 100 Program to calibrate 10 bit D A expander module integer mode chanl real anlgset zero span integer j ch string a data 0 to 5V O to 101 5 to ov 10 to LOV 4 to 20mA dat
134. D OR logical OR Note that AND and OR are evaluated in integer mode Real arguments are converted to integer before AND and OR are evaluated The equals sign is used in two different ways in Bear BASIC as the equality operator and as the assignment statement All operators are in a hierarchy that defines what operators will be evaluated first The following is a list from highest to lowest priority Sa unary gt lt lt gt gt lt AND OR 3 6 A variable may hold the result of a relational comparison For example A R gt 0 Strings don t support the gt and lt relational operators Some BASICs use for string concatenation but Bear BASIC programs must use the CONCATS function 3 6 Expressions An expression is a mathematical logical or string calculation such as 2 3 A B A 4 or N gt C Expressions are formed using constants variables operators and functions Expressions may be combined to form complex expressions such as A B SIN A SQR C parenthesis are used to control the order of evaluation in a complex expression The evaluation of an expression produces a numeric or string result that is used as an argument for a statement or as part of another expression An expression cannot stand alone it must be an argument to a statement function or another expression The following examples demonstrate the features of expressions the result of each expression is given to the right of the exp
135. DCNTR Chapter 7 CODE Statement Summary The CODE statement stores assembly language code in the Bear BASIC program Syntax CODE instr instr Arguments instr an integer number The instruction to store Description Bear BASIC provides the SYSTEM and CALL statements to allow assembly language subroutines to be called from the BASIC program In addition to these CODE stores assembly language instructions inline with the BASIC program These instructions will be executed as they are encountered Registers need not be preserved in the assembly language code Appendix D discusses using assembly language in conjunction with Bear BASIC Note that Bear BASIC normally generates code for each line that stores the current line number in case an error occurs This is inhibited between CODE statements since it would corrupt the user s assembly routine Example 100 INTEGER J 110 FOR J 0 TO 255 120 POKE SFBOO J Store for assembly routine to access 130 CODE 3A 00 FB LD A OFBOOH 140 CODE 4F 06 08 LD C A LD B 8 150 CODE AF ED 39 80 XOR A OUTO 80H A 160 CODE CB 17 LOOP RRC C RL A 170 CODE F6 02 SED 39 80 OR 2 OUTO 80H A 180 CODE E6 01 ED 39 80 AND 1 OUTO 80H A 190 CODE 10 SFO DINZ LOOP 200 NEXT J This example assumes that there is an output port attached to the first expansion port I O address 80 The assembly code shifts a byte
136. Description HELP causes a set of online help screens to be displayed The space bar must be pressed at the end of each screen to cause the next screen to be displayed any other key will abort the help command and return to the compiler prompt IF THEN Statement Summary The IF THEN statement controls program flow based on a relational expression Syntax IF rel_expr THEN statement statement Arguments rel_expr a numeric or string expression This is evaluated as a TRUE or FALSE value with nonzero values being TRUE and zero being FALSE statement BASIC statement to be executed if rel_expris TRUE Description In general the power of the computer is based upon its ability to make decisions based on its input data The IF THEN statement is used in Bear BASIC to control the flow of program execution based on the result of a calculation re _expris evaluated if itis TRUE nonzero then statement is executed If rel_expris FALSE zero then program execution continues at the next line Usually re _expr will be a comparison between variables or expressions for example J 5 K gt N 3 or aS lt gt Bs However since it is being evaluated as a TRUE or FALSE value rel expr may just be a variable by itself for example the statement IF 3 THEN will be executed if J is nonzero For integer and real expressions the relational operators are AND OR gt lt lt gt gt and lt For string expressions the relat
137. Divelbiss Boss Bear User s Manual Divelbiss Corporation Divelbiss Corporation 9776 Mount Gilead Road Fredericktown OH 43019 Telephone 614 694 9015 FAX 614 694 9035 WARNING The Boss Bear and UCP as with other solid state controllers must not be used alone in applications which would be hazardous to personnel in the event of failure of this device Precautions must be taken by the user to provide mechanical and or electrical safeguards external to this device This device is NOT approved for domestic or human medical use All program examples are for the Boss Bear If using the UCP minor changes in software will be needed because of hardware differences Contents Introduction 1 1 Description of Features 1 2 Organization of Manual 13 Notational Conventions Getting Started With the Boss Bear 2 1 Connecting to a Terminal or Personal Computer 2 2 Writing a Program in Bear BASIC 2 3 Bear BASIC Command Line Operation 2 4 Using the Command Line Editor 2 5 Loading and Saving Programs With a Personal Computer 2 6 Loading and Saving Programs With an EPROM Overview of the Bear BASIC Compiler 3 1 Direct Commands 3 2 Organization of a Bear BASIC Program 3 3 Numeric Constants 3 4 Variables 3 5 Operators 3 6 Expressions 3 7 Statements 3 8 Functions 3 9 User Defined Functions Writing Control Applications in BASIC 4 1 Programming for Real Time Control Systems 4 2 Project Specification 4 3 Real Time Progra
138. E CODE Saves compiled code with no filename EPROM SAVE Programl Saves the BASIC source as PROGRAM1 EPROM SAVE CODE test Saves compiled code as TEST Related topics EPROM LOAD SAVE LOAD ERASE Statement Summary The ERASE statement erases the current display device Syntax ERASE Arguments ERASE needs no arguments Description ERASE sends the clear screen command to the currently active FILE It works for the console terminal FILE 0 and the front panel display FILE 6 which can be either LCD or VFD Note that in order for this to work correctly with FILE O the terminal must be set to emulate an ADM3 or ADM5 terminal Example 100 INTEGER J 110 FOR J 1 TO 1000 120 FILE 0 PRINT 130 FILE 6 PRINT 140 NEXT J 150 WAIT 100 160 CLS 170 FILE 0 ERASE Related topics CLS ERR Function Summary The ERR function returns the number corresponding to the last error that was detected Syntax x ERR Arguments ERR needs no arguments Description Bear BASIC detects two kinds of errors at runtime I O errors and program errors An I O error indicates that an I O device reported an error during a transfer this happens most often with serial data transfer A program error indicates that a serious program error was detected such as Return Without Gosub Or Subscript Out of Range The ERR function returns the integer number th
139. EPROM value These EEPROM values are set using the SETOPTION DAC command UCP Because the DAC values on the UCP range from 0 to 32767 the value parameter should be 0 to 32767 for SETOPTION DAC on the UCP Examples SETOPTION DAC 1 512 This sets the EEPROM DAC table so that channel 1 will be setto 512 when the Boss Bear is turned on If the DAC module is configured so that channel 1 is 5V to 5V then this causes the output to be OV at power up for example SETOPTION DAC 3 0 This causes DAC channel 3 to be initialized to O If channel 3 is configured as a 4 20mA current loop then the output would be 4mA at power up Related topics DAC Chapter 7 Chapter 9 Appendix H 8 143 SIN Function Summary The SIN function calculates the sine function Syntax x SIN expr Arguments expr a numeric expression Description The SIN function returns the sine of its argument which must be a numeric expression in degrees The result is returned as a REAL value Example 100 REAL X Y 110 PRINT SIN 45 0 120 X 68 3 130 Y SIN X 140 PRINT Sine value of X is Y This produces the following output when run 70711 Sine value of 68 29999 is 92913 Related topics ASIN COS ACOS TAN ATAN 8 144 SQR Function Summary The SQR function calculates the square root function Syntax x SQR expr Arguments expr a numeric expression Description The SQR function returns the squ
140. Enter a number between 0 and 9999 for the operator number If the existing value of any parameter is still acceptable then just press ENTER to leave the existing value in place Make sure that the optical sensor switch is on and press the run pushbutton to start a product roll The motor speed will ramp up to a constant speed hold that speed for a few seconds then ramp down and stop The knife output will turn on for 1 5 second then the conveyor gate output will turn on Turn off the optical sensor switch The conveyor gate output will turn back off and the core hopper gate output will turn on Turn on the optical 4 22 sensor switch the core hopper gate output will turn back off The production totals on the main screen display will be updated Press the run pushbutton to do this all again 4 23 Chapter 5 Multitasking in Bear BASIC 5 1 Multitasking Fundamentals 5 2 Determining Task Timing 5 3 Determining When and How to use Multitasking 5 4 Interaction Between Tasks 5 5 Organization of Tasks and Subroutines 5 1 Many control problems can be separated into a small number of tasks that are mostly independent of each other yet must be performed at the same time Traditionally these control systems have been constructed using several independent process controllers for example a system may have two temperature controllers a motor speed controller a flow controller an operator s panel and a general purpose programmable con
141. For instance if two tasks could be accessing the display concurrently then the program will have to ensure that they don t corrupt each others information it doesn t do much good to display an alarm only to have another task clear the display an instant later 5 4 Interaction Between Tasks Each task will be performing an independent function in a well organized program In most cases though some of the tasks will need to pass information to other tasks An example would be a system where a bar code reader task would need to change the setpoint values being used by box folding task when it detects different products coming in on a conveyor for instance A multitasking program will be easier to implement if the interaction between tasks can be minimized In most programs the tasks will have to interact somewhat however This can lead to some problems which the programmer needs to watch for Several techniques are given here that allow reliable communication between tasks Computer systems usually include items that are limited to a small number of units these items are referred to as scarce resources For example a mainframe computer system may have three identical line printers attached allowing three print jobs to execute concurrently any new print requests must wait until one of the first three finishes The printers are a scarce resource Software can also be a scarce resource a subroutine can usually only be called from one task at
142. GER J FINPUT F3 2 J is executed a problem occurs if a number starting with a decimal point ie 34 is entered The system prints the Bad input please re enter message It accepts a line numbered 0 but the compiler doesn t handle it correctly e The compiler disables interrupts while converting a real number to a string this occurs when printing a real number or executing STR This leaves the interrupts turned off for several msec which can cause incoming serial data to be lost e The ADC function uses channels 1 through 12 for the onboard 10 bit A D and channels 1 through 8 for the onboard 12 bit A D Both should use channels 1 through 12 in order to ensure consistent operation of user s programs Version 2 02 Additions and Modifications Version 2 02 was released on May 5 1992 e The NETMSG statement was added along with low level support of network messages G 5 Fixed problem with LOCATE and GOTOXY when using the console Previously if multiple tasks tried to perform LOCATE GOTOXY and print operations the screen would become garbled because a task could corrupt another task s terminal control codes This will still allow things to be printed at the wrong locations but at least the escape codes don t get garbled A PRINT statement followed by many array references would cause the compiler to lock up while compiling the line Now this will print the error message Statement too Complex Wh
143. Get new count 330 RELOAD RELOAD 5 Set up new reload 340 WRCNTR 1 1 RELOAD Set counter interrupt value 350 EXIT This example sets up task 1 as the interrupt handler for counter 1 In lines 120 and 130 it initializes counter 1 setting its mode to A count B direction and writing a O to the counter In lines 140 and 150 it sets the counter reload variable to 5 and writes this reload value into the counter s compare register Line 160 uses INTERRUPT to set task 1 as the interrupt handler for the counter Lines 210 to 240 form the program s main loop which just displays the latest counter value COUNT from the last interrupt it also increments and displays J 8 84 just to cause some action on the display Line 300 to 350 form task 1 the interrupt handler it reads the current counter value and updates the reload value In task 1 the first thing that it does is read the current counter value At low pulse rates this will be the same as RELOAD since it is reading the same value that caused the interrupt As the pulse rate increases however the counter will increment before the task 1 gets to read the counter Ata very high pulse rate a problem will occur when the counter has already gone beyond the new RELOAD value before RELOAD is written to the counter ie COUNT 783 and RELOAD 780 the counter will need to wrap completely around before the interrupt will occur again Related topics Chapter 7 INTOFF Statement Summary The
144. High Speed Counter Module The high speed counter module extends the Boss Bear beyond the single counter channel that can be installed onboard by using three modules in addition to the onboard counter the Boss Bear can support up to 13 counter channels The counter module is available in four models Divelbiss Part Number Description EX MOD CTR24 01 1 channel counter module EX MOD CTR24 02 2 channel counter module EX MOD CTR24 03 3 channel counter module EX MOD CTR24 04 4 channel counter module Each channel is independent of the others and each can accept a signal up to 100kHz without loss of counts on any channel each channel is configured independently of the others Each channel is very similar to the onboard counter on the Boss Bear with A B RESET and LOAD inputs and a high speed output The A B and RESET inputs have individual low pass filters which the user can configure for 20Hz 5kHz or 100kHz The RESET and LOAD inputs can be set individually by the user to accept active low or active high signals The module is housed in an aluminum enclosure with removable panels to allow user access to the configuration jumper blocks it bolts to the Boss Bear with the mounting screws that are provided with the module Refer to chapter 7 for further information concerning programming and configuring the high speed counter module 9 2 1 Wiring Recommendations For best noise immunity shielded cable should be used between the counter
145. IC Network Examples Using the Network Interface Card Interfacing to Lotus 123 BearLog Data Logging TSR Program 10 1 In a modern industrial control system itis often necessary to transfer data between widely spaced elements of the system Examples of this include bringing production information from multiple locations to a central processing point sending machine configuration from a central control point and using multiple control elements to form a distributed control system The elements in such a system may be a few feet apart or they may be thousands of feet apart The communications system to perform these operations is commonly called a Local Area Network The Boss Bear supports the Bear Direct network which is a master slave RS 485 multidrop network that has been designed to be inexpensive and reliable in the industrial environment Up to 32 devices can be connected together using two conductor twisted pair wiring up to 250 devices can be connected using repeaters The total network cabling length can be up to 1000 feet 10 1 Bear Direct Networking Principles A computer network is a set of hardware and software that allows two or more computers to transfer data the term isn t usually applied to simple serial connections between two computers There are many different types of networks using many different communication methods each type has features that make it better suited to certain applications In general as the networ
146. IRE NUT BLACK WIRES YELLOW WIRES YELLOW WIRES TO CONN 1 ON BOSS BEAR 120 VAC 50 60 HZ GREEN WIRE EARTH GROUND CONNECT TO MACHINE PANEL FRAME WHEN 110 120 VAC POWER IS SUPPLIED FOR BOSS BEAR MAIN POWER USE SUPPLIED TRANSFORMER AND WIRE AS SHOWN ABOVE ALTERNATE WIRING METHOD YELLOW WIRES TO CONN 1 ON BOSS BEAR Ol 12 VDC EJ ES OR 10 VAC EL Ol Toy POLARITY SENSITIVE T WIRE Figure 2 Boss Bear Power Supply Wiring Schematic 2 2 PC or compatible or a null modem cable can be used The user can easily manufacture a cable to match other systems see Figure 3 Note that pins 7 and 8 the RTS and CTS lines must be connected to valid signals from the terminal computer or they must be connected to each other Once the cable is installed between the Boss Bear COM1 connector and the personal computer apply power to the personal computer and enter the communications program The serial communications parameters must be set to 9600 baud 8 data bits no parity 1 stop bit and XON XOFF flow control enabled these values are required in order to match the default values used by the Boss Bear Make sure that the communications program is set to use the serial port that is connected to the Boss Bear Apply power to the Boss Bear it should respond with a signon message followed by the BASIC compiler prompt BEAR BASIC Compiler Version 2 01 gt No sign on message for Versions 2 03 and higher with battery
147. KKK Transfer Shift Data over Network task 2 network 4 0 30 t2 t2st Read the end of shift flag if t2 0 then 6390 If flag clear then exit Shift has ended so copy data into network registers for PC to read network 3 1 30 srolcnt t2st srolcnt 0 0 Clear the roll count network 3 1 31 syards t2st syards 0 Clear the yards count for t2 0 to 3 network 3 0 32 t2 dntime t2 t2st dntime t2 0 Clear the individual downtimes next t2 Now set the flags so that the PC will read the new data network 3 0 30 0 t2st Clear the end of shift flag network 3 0 31 1 t2st Set data available flag totdntm 0 Clear the downtime total exit VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Need this TASK statement to prevent corruption of temporary variables task 3 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Get a key with timeout Output ch timeout timeout 0 if din 100 lt gt 0 then goto 8010 wait 10 if key lt gt 0 then goto 8020 wait 10 ch key if ch 0 and timeout lt delay then timeout timeout 1 goto 8030 return UT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Display main screen Input maintmd prdnum batnum prolcnt brolcnt rrolcnt ydsleft insetp Modifies ftemp erase print Product forint i4x4z prdnum print Batch batnum ms if maintmd then print Maint locate 2 1
148. KKKKKKKKKKK Maintenance Downtime Accumulation if maintmd 0 then 4390 Exit if not in maintenance mode ch 3 Select maintenance downtime gosub 4400 Update downtime array maintmd 0 return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK Get current time and calculate downtime then add to selected downtime array element Input Output dntime ch updated 1 t T l ch downtime array element to update 0 3 T ch is unmodified getime a b c a a dhour if a lt 0 then a a 24 b b dmin if b lt 0 then b b 60 c c dsec if c lt 0 then c c 60 a a 24 b 60 C dntime ch dntime ch a totdntm totdntm a network 3 0 2 totdntm st Store total downtime in network var return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Emergency Stop task 1 tltmp din IESTOP if tltmp 0 then estopmd 0 exit EStop button not pressed if tltmp 1 and estopmd 1 then exit Already in EStop mode Signal the rest of the program that EStop has occurred estopmd 1 Force the main drive to stop This happens even if we don t think that it is currently running dac 1 512 Stop main drive wait 100 Wait for it to stop dout OMDRV 0 Disable main drive exit 4 19 6000 6390 8000 8010 8020 8030 8100 8300 4 20 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
149. KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK Mainline loop This is where we sit while waiting for the operator to press a key or hit the RUN pushbutton If it sits t here for more than 60 seconds then gosub 4000 to accumulate downtime getime hour min sec sttime min 60 sec Save start time gosub 8100 Display fixed part of main screen ch key if ch 41 then gosub 1200 goto 1000 if ch 42 then gosub 4300 goto 1000 if din IRUNBUT then gosub 2000 goto 1000 Don t look for downtime if currently in maintenance mode if maintmd then 1020 Has it been 60 seconds Don t forget to handle hour wrap around getime a b c a b 60 c if a sttime lt 0 then sttime sttime 3600 if a sttime gt 60 then gosub 4000 goto 1000 goto 1020 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK Operator Data Entry erase uifmt Batch Number gt uisvlu batnum uilen 6 gosub 8600 if K 0 then 1250 network 3 2 1 batnum a Store batch number network 3 1 20 brolcnt a Store batch roll count network 3 1 21 byards a Store batch yards network 3 0 20 1 a Set data available flag 1250 1300 1370 1400 1450 1490 2000 2050 batnum uisvlu brolcnt 0 0 Clear batch roll count byards 0 0 Clear batch yards count network 3 2 0 batnum st Store batch number in network var uifmt2 I4 uifmt Product Number 0 9999 gt uivlu p
150. LD GND COSHD Channel 2 VA A3 GND B3 RS LD GND COSHD Channel 3 VA A4 GND B4 RS LD GND COSHD Channel 4 INPUT FILTER SET FOR INPUT A INPUT B AND RESET No Filter 20Hz 5KHz 100KHz AH AL AH AL 9 3 2 12 bit A D Module Jumper Configuration JB1 4 L Res y L Latch J AL ASSERT LOW AH ASSERT HIGH Refer to Figure 23 and Figure 24 to set the A D module jumpers 9 8 Latch AL ALL CHANNELS ARE SELECTED FOR THE SAME INPUT SPAN SIMULTANEOUSLY AN m PS ADC1 gt E lO ADC2 gt sat ZO ADC3 gt Ea Y al MS ADC4 ES LY wa TS1 avcs gt 2 aocio mI avon gt e ADCt2 A L TS3 MODE SET JUMPER BLOCK m A ce Vlt 7 A O 4 Ol Ole Die a 182 Es N Ol O e q ES 9 Ts4 ADCS ADC6 ADC7 ADC8 ADC13 ADC14 ADC15 ADC16 J OFFSET NULL ADJ 4 SPAN ADJ TP1 0 10V ANALOG INPUT TO ADC NS e 0 5V 0 10V 5V TO 5V 10V TO 10V Figure 23 A D Module Jumper Configuration Single Ended PROGRAMMING SHUNT INSTALLED ONE 9 9 ALL CHANNELS ARE SELECTED FOR THE SAME INPUT SPAN SIMULTANEOUSLY p PROGRAMMING SHUNT INSTALLED p 7 D ADC1 a apc2 5 0 5V ADC3 ADC4 0 10V ADCS ADC6 ADC7 ADC8 O 5V TO 5V OFFSET NULL ADJ MODE SET JUMPER BLOCK A SPAN ADJ 10V TO 10V TP1 0 10V ANALOG INPUT T
151. LU wait 30 K din 100 if K 0 then 8310 if K 41 or K 13 then K key UIFLAG 0 return if K lt 30 or K gt 39 then K key goto 8310 locate 1 len UIFMTS 1 print Ws locate 1 len UIFMTS 1 finput I4 UIVLU UIFLAG 1 return VAKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to print monitor screen locate 1 1 print Small Medium Large Defective fprint i5x5i5x5i5x5i5x5z PRD 0 PRD 1 PRD 2 PRD 3 return 10 7 10 2 2 This program is similar to the previous one except that it uses network messages to transfer the product and shift totals to the PC The current production counts are still stored in network registers so that a Lotus 123 soreadsheet can be used to display the current information The product totals are sent using message type 1 with the product number being used to form the filename on the PC The incoming time updates from the PC are used to determine when the end of the shift occurs and then the shift end data is sent Network Message Example using message type 0 100 10 8 Z TDEMO2 BAS Demo program for Boss Bear network n his program demonstrates how to program the Boss Bear r network applications It simulates a simple data llection system including a user interface using the nboard display and keypad It counts items moving hrough 4 different sensors corresponding to small edium large and defective The o
152. M LOAD filenum Arguments filenum an integer number from 1 through the number of files stored on the EPROM The number of the file to load Description If filenum is specified then EPROM LOAD loads source file number filenum from the EPROM otherwise it loads the last source file from the EPROM EPROM LOAD is identical to LOAD Example EPROM LOAD Loads the last source file EPROM LOAD 3 Loads the third source file Related topics EPROM SAVE LOAD SAVE EPROM SAVE Direct Command Summary The EPROM SAVE direct command saves the BASIC source or compiled code that is in memory to the user s EPROM Syntax EPROM SAVE CODE filename Arguments filename a text string up to 10 characters long The filename to be stored on the EPROM The name will be stored in uppercase even if it is entered in lowercase Description EPROM SAVE stores the current BASIC source program onto the user s EPROM EPROM SAVE CODE stores the current compiled code onto the user s EPROM If filename is specified then it is stored with the file The file name for a source program is just used as a comment to indicate what the program does With compiled code however the file s name can be used with the CHAIN statement It is possible to have more than one file on an EPROM with the same name these files will be differentiated by their file numbers Example EPROM SAVE Saves the BASIC source with no filename EPROM SAV
153. M programmer allows the user s program to be saved and loaded either as source code or as executable object code The Bear Bones interface connects the Boss Bear to a Divelbiss Bear Bones programmable controller to form a powerful multi processing control system The Boss Bear may be purchased with a variety of options installed in the unit such as a front panel display and keypad a high speed counter analog input circuitry a real time clock a second serial port and nonvolatile memory The front panel display is a 2 line by 40 character display this may be a liquid crystal display LCD a backlit liquid crystal display or a vacuum fluorescent display VFD The keypad is a 4 row by 5 column tactile feel membrane keypad These are both fully programmable by the user The high speed counter is a 24 bit up down counter with a built in comparitor providing a high speed output when a specified count value is reached This counter may be programmed to support position control rate metering tachometer batch control etc It can support multiple setpoints under software control The analog input circuitry contains an 8 channel 10 bit with 12 bit optional analog to digital convertor A D The values returned by the A D can be displayed using the required engineering units used in a multiple setpoint control algorithm and used as part of a PID control loop for example The Real Time Clock RTC maintains the current time and returns it as
154. MAP statement The DEFMAP value is global to all tasks be careful when using DEFMAP in more than one task The PEEK and POKE statements calculate the address to access as follows addr D_ADDR 1000 P_LADDR AND 0FFF where D_ADDR is the DEFMAP address and P_ADDR is the PEEK or POKE address When a BASIC program starts execution the D_ADDR value is set to 1 which causes all PEEK and POKE commands to access the normal 64K area When DEFMAP is executed with any value other than 1 the D_ADDR is set to that value and all succeeding PEEK and POKE commands access addresses that are in a 4KB block somewhere in the 1MB address space For instance to access physical address 20123 the program must perform a DEFMAP 20 followed by a PEEK 123 Note that when using DEFMAP with a value other than 1 the PEEK POKE address is truncated to 12 bits ie ANDed with 0FFF If the DEFMAP address is set back to 1 then the PEEK POKE address translation is disabled and all 16 bits are used to specify a logical address in the normal 64K BASIC area Example 100 INTEGER X Y M C 110 STRING A 20 BS 1 120 FOR X 0 TO 7 Display 8 4K blocks of memory 130 M 20 X Display starting at 20 140 DEFMAP M Set memory mapping base address 150 C 0 AS 160 FOR Y 0 TO SFFF Do a 4K block 170 IF C 0 THEN PRINT FPRINT H2H3X4Z M Y Display address 180 FPRINT H2X12Z PEEK Y Display hex value 190
155. N 4 Figure 33 Panel Dimensions for Plain Unit E 4 7 10 170 Bik Bein 3 55 3 55 l 3 83 1 92 a i 11 10 1 92 5 55 3 83 l 3 75 3 75 7 50 Figure 34 Panel Cutout Template E 5 E 6 Appendix F ASCII Character Table Dec Hex Char Dec Hex Char Dec Hex Char Dec Hex Char 0 00 NUL 32 20 64 40 O 96 60 1 01 SOH 33 21 65 41 A 97 61 a 2 02 STX 34 22 E 66 42 B 98 62 b 3 03 ETX 35 23 H 67 43 C 99 63 c 4 04 EOT 36 24 68 44 D 100 64 d 5 05 ENQ 37 25 69 45 E 101 65 e 6 06 ACK 38 26 8 70 46 F 102 66 f 7 07 BEL 39 27 71 47 G 103 67 g 8 08 BS 40 28 72 48 H 104 68 h 9 09 HT 41 29 73 49 105 69 i 10 0A LF 42 2A E 74 4A J 106 6A j 11 0B VT 43 2B 75 4B K 107 6B k 12 0C FF 44 2C 76 4C L 108 6C l 13 0D CR 45 2D 77 4D M 109 6D m 14 OE SO 46 2E A 78 4E N 110 6E n 15 OF Sl 47 2F 79 4F O 111 6F O 16 10 DLE 48 30 0 80 50 P 112 70 p 17 11 DC1 49 31 1 81 51 Q 113 71 q 18 12 DC2 50 32 2 82 52 R 114 72 r 19 13 DC3 51 33 3 83 53 S 115 73 s 20 14 DC4 52 34 4 84 54 T 116 74 t 21 15 NAK 53 35 5 85 55 U 117 75 u 22 16 SYN 54 36 6 86 56 V 118 76 v 23 17 ETB 55 37 7 87 57 W 119 77 Ww 24 18 CAN 56 38 8 88 58 Xx 120 78 Xx 25 19 EM 57 39 9 89 59 Y 121 79 y 26 1A SUB 58 3A 90 5A Z 122 7A Z 27 1B ESC 59 3B 91 5B 123 7B 28 1C FS 60 3C lt 92 5C 124 7C 29 1D GS 61 3D 93 5D 125 7D 30 1E RS 62 3E gt 94 5E 4 126 7E 31 1F US 63 3F 95 5F 127 7F DEL ASCII w
156. O ADC THE EX MOD AD12 C 4mA 20mA INPUT MODEL IS FACTORY SET AND CANNOT BE CHANGED BY THE USER Figure 24 A D Module Jumper Configuration Differential and 4 20mA 9 3 3 12 bit A D Module Calibration The EX MOD AD12 S and EX MOD AD12 D modules are shipped from the factory set and calibrated for the 5 to 5V single ended input range If an input span other than this is selected then the module must be calibrated The EX MOD AD12 C module is of course shipped set and calibrated for 4 to 20mA Any of the modules can be calibrated at any time if the user feels that it is necessary 9 10 Before beginning the calibration allow at least a five minute warm up period with the power applied to the Boss Bear and modules This allows the OP AMP buffers to reach operating temperature and stabilize A very clean and stable DC power source is required for accurate calibration a laboratory power supply or mercury battery are suitable A multimeter that is accurate to 0 5mV with a 10VDC input is also required The following Bear BASIC program is used to display the A D readings during calibration it should be entered and running 100 400 Program to calibrate 12 bit A D expander module integer mode chanl real anlgrd zero span integer j ch string a data 0 to SV 0 to 10V 5 to ov 10 to LOV 4 to 20mA data 0 0 5 0 0 0 10 0 5 0 10 0 10 0 20 0 4 0 16 0 file 6 Get operating m
157. Previously the PRINT statement could not output a 0 byte i e CHR 0 over the serial ports This has been corrected Version 2 04 Anomalies Same as V2 03 anomalies listed above Version 2 06 Additions and Modifications Version 2 05 was only released for beta testing Version 2 06 was released on November 2 1992 A flag byte was added at location A9 to enable and disable XON XOFF and control C checking on file 0 Bit 0 is set to enable XON XOFF and cleared to disable it Bit 1 is set to enable control C checking and cleared to disable it The default flag value is 3 causing both XON XOFF and control C checking to be enabled Version 2 06 Anomalies G 7 Same as V2 03 anomalies listed above Version 2 07 Additions and Modifications Version 2 07 was released on March 10 1993 A problem was corrected in which the Boss Bear software didn t correctly identify the optional onboard 12 bit A D chip under some conditions Version 2 07 Anomalies Same as V2 03 anomalies listed above Version 2 08 Additions and Modifications Version 2 08 was released on March 30 1993 A problem was corrected in which some Boss Bears would lock up when the INTERRUPT statement was used with a counter module plugged into J4 or J5 Version 2 08 Anomalies Same as V2 03 anomalies listed above Version 2 09 Additions and Modifications Version 2 09 was released on December 10 1993 e _ When two or more tasks were performing string
158. RLD If an error message is printed instead of COMPILED after typing RUN then line 100 was probably entered incorrectly try entering it again being careful to type it exactly as shown Remember to put the double quote marks around the HELLO WORLD message To modify a line of BASIC just enter in a new line using the same line number the new line will overwrite the existing line To remove a line of BASIC enter the line number with nothing after it the line will be removed from the BASIC program To look at your BASIC program enter LIST the program will be displayed on the screen 2 3 Bear BASIC Command Line Operation Bear BASIC has three different modes of operation command line entry compilation of the BASIC program and execution of the BASIC program The programmer interacts with Bear BASIC while in the command line mode this is where programs are entered edited loaded and saved The user types a command after the compiler prompt the gt character then Bear BASIC performs the command and returns with the compiler prompt again The Backspace key may be used to back up while entering a command When a line is entered while in the command line mode it is first examined to see if itis a valid direct command if it is then the command is performed If it isn t a direct command then it is handled as a line of BASIC source code if it isn t a line of BASIC source code then an error is displayed If it is valid BASIC
159. T 1 150 NEXT J 160 STOP 200 Task 1 prints 5 characters 210 TASK 1 220 PRINT 230 K K 4 1 Increment number of times we ve run 240 IF K gt 5 THEN CANCEL 1 Tf 5 times then done don t reschedule 250 EXIT Related topics RUN EXIT STOP Chapter 5 CHAIN Statement Summary The CHAIN statement loads and runs another program from the user s EPROM Syntax CHAIN filenum or CHAIN filename Arguments filenum an integer expression The number of the compiled code file to load and execute filename a text string up to 10 characters long The file name of the compiled code file to load and execute Description CHAIN causes another program to start executing This allows a program that is too large to fit into memory to be broken into multiple smaller programs Because Bear BASIC doesn t overwrite variables when it loads the new program values can be passed between programs The variables to be passed between programs must be the first variables declared and they must be declared in the same order When CHAIN is used with a file name the last file on the EPROM with the specified name is executed this allows a file to be modified and stored on the same EPROM since the newest file is always executed When CHAIN is used with a file number then that specific file is executed even if there is a newer one with the same name The CHAIN statement disables interrupt processing When the new program starts
160. TGER Variables used by user interface subroutines integer UIVLU UIFLAG 500 1000 1010 2000 2499 2500 2600 real UIRVLU string UIFMTS 50 UIFMT2 50 VKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK AAA Program initialization for J 0 to 3 PRD J 0 Reset the count totals SHIFT J 0 next J DAYMIN 1 Time of day not valid yet SIMDELY 0 Init simulation delay to 0 file 6 network 0 eepeek 1 20 0 0 K Initialize the network handler if K then print Network initialization error stop for J 0 to 3 network 3 0 6 J 0 K Reset current count in network reg next J gosub 5000 Get product num and operator num VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KKK Program mainline gosub 8800 Print monitor screen K key if K 41 then gosub 5000 gosub 2000 Check the photo eye sensors gosub 2500 Handle the network wait 1 goto 1010 VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Check the state of the photo eye sensors If any of them have turned on then update the corresponding count variable Since this is a simulation we will use random numbers to pick which photo eye has turned on First though we have a random time delay between photo eye turn ons if SIMDELY lt gt 0 then SIMDELY SIMDELY 1 goto 2499 SIMDELY rnd 4000 16 Random delay of about 1 second J rnd 32768
161. TO 140 Loop forever 210 300 Subroutine to check for switch J closure If the switch was previously 310 open and is closed now then return a 1 otherwise return a 0 320 K DIN J 1 330 IF K 1 AND S J 340 IF K 0 AND S J 350 K 0 RETURN O THEN S J K RETURN 1 THEN S J K This program is designed much better than the previous one it is easily modified to handle more switches by changing the size of the arrays C and S and the loop size in line 140 It constantly checks the state of both switches incrementing the count when it detects that a switch has closed Since it continues checking the state of both switches at all times it won t miss a switch closure The PRINT statement in line 180 will take about 5 milliseconds to complete 5 characters at 9600 baud This means that it could miss a switch closure that lasts less than 5 msec normally a switch closure this short would be interpreted as a glitch anyway but it is still worth noting In real time programming any time delay must be examined to see how it affects the operation of the system The first program could be made to work correctly by using the multitasking feature of Bear BASIC In the second example extra code was written to allow the processor to perform two functions at once actually it switched between them quickly to give the appearance of concurrent operation This is precisely what the Bear BASIC context switcher does so
162. The RETURN statement ends a subroutine started by a GOSUB Syntax RETURN Arguments RETURN needs no arguments Description The RETURN statement causes program execution to continue at the statement following the GOSUB that called the subroutine containing the RETURN If a RETURN is encountered without a corresponding GOSUB then the error message RETURN Without cosuB will be displayed Example 100 GOSUB 200 PRINT We re back Call subroutine at line 200 110 STOP Don t fall into subroutine 200 PRINT Line 200 210 RETURN Return from subroutine This example just calls a subroutine and displays messages to indicate what is being executed Line 110 is needed so that it doesn t continue executing and fall into line 200 which would generate an error when it gotto line 210 Try removing line 110 and running the program Related topics GOSUB 8 135 RND Function Summary The RND function returns a pseudo random integer Syntax x RND Arguments RND needs no arguments Description The RND function generates pseudo random numbers which means that they are generated by a mathematical algorithm It returns an integer value between 32768 and 32767 This algorithm starts with a seed number the first call to RND returns a number that is based on this seed Each succeeding number is based on the previous number and becomes the new seed The seed may be initialized using the RANDOMIZE statement
163. The office PC is running the BearLog TSR to log long term production data this means that network polling must be enabled Time updates must be sent to ensure that all units have the correct time The plant PC would use BDSETUP L 0 N 6 P ON TON to configure the card The office PC has the card located at address 360H it would use BDSETUP A 360 L 6 to configure the card 10 3 1 Network Time Update When the time update function of the Network Interface Card is enabled it will broadcast a time update message to all units once each minute The time update message is 7 bytes long and has the message type FF followed by 6 bytes year month day hour minute second If the current PC time is 11 23 00 on March 28 1992 then the message would be lt FF gt lt 92 gt lt 3 gt lt 28 gt lt 11 gt lt 23 gt lt 0 gt It is up to the BASIC programmer to retrieve the time update message and process it appropriately In some cases the programmer may want to use the incoming time to update the real time clock Refer to the NETDEMO2 BAS example above to see how the time update is used in a BASIC program 10 13 we lelelejelejelele The card address is set using JB tt can be set to any multiple of 4 between OOOH and 3FCH by installing jumpers in the bit locations that m 3 show some common address choices ii be ANR A 300H BB E 340H 320H default setting HA BH 360H Figure 27 Network Interface card address jumpers 10
164. XT Arguments variable an integer or real variable This must match the variable referenced in the corresponding FOR statement Description See the FOR statement for a description of the FOR NEXT control structure Related topics FOR 8 114 NOERR Direct Command Summary The NOERR direct command disables the runtime error checking Syntax NOERR Arguments NOERR needs no arguments Description NOERR turns off much of the runtime error checking of Bear BASIC resulting ina program that runs much faster and takes less memory To insure that a program doesn t run wild and destroy itself Bear BASIC inserts quite a lot of error checking code into the compiled program For example tests are made for SUBSCRIPT OUT OF RANGE NEXT WITHOUT FOR etc NOERR also removes the test for a cTRL c cTRL c aborts a running program so a program compiled under NOERR can t be killed Most of these tests are removed by specifying NOERR Some error checking routines remain since in some cases the error checking code does not greatly effect execution speed An increase in execution speed of several hundred percent can often be realized by using NOERR The compiled program will also be significantly shorter Be warned though NOERR permits the user s program to execute erroneously possibly trashing Bear BASIC Only fully debugged programs should be compiled under NOERR When the compiler starts all error checking is enabled and remains
165. a 0 0 5 0 0 0 10 0 5 0 10 0 10 0 20 0 4 0 16 0 file 6 300 Get operating mode 0 5 0 10 etc from the user erase print LO Eo SV 2 0 to 10V 3065 to 25V print 4 10 to 10V 5 4 to 20mA Press 1 5 320 ch get if ch lt 31 or ch gt 35 then 320 mode ch 30 Get channel number to calibrate erase print Enter channel number to calibrate gt finput u2 chanl Display range that was chosen ie 5 to 5V erase restore tor 1 to read a if j mode then print a next j locate 1 15 print Channel chanl Get the zero and span values for the chosen mod for 3 1 to mode read zero span next j Main loop to get the desired output level from the user and set the D A to this value 9 15 400 locate 2 1 print Enter output level gt us locate 2 29 if mode lt 5 then print V if mode 5 then print mA locate 2 22 finput f3 3 anlgset if anlgset lt zero or anlgset gt zerotspan then 400 dac chanl anlgset zero span 1023 locate 2 1 print Fl next level Any other key to exit ch get if ch 41 then 400 goto 300 Calibrating the unipolar input modes 0 to 5V 0 to 10V With the BASIC D A calibration program running select the desired channel to calibrate and specify 0 as the DAC output value Adjust the proper zero potentiometer for 0 00V on the output terminals of the channel being calibrated Next specify 2 5 or 5 0 depen
166. a in file PRODHOUR 92030207 DAT March 2 1992 7 00 AM 92030208 DAT March 2 1992 8 00 AM 92030209 DAT March 2 1992 9 00 AM 92030216 DAT March 2 1992 4 00 PM 92031817 DAT March 18 1992 5 00 PM DOWNTIME 92030207 DBF March 2 1992 shift 1 92030215 DBF March 2 1992 shift 2 92030223 DBF March 2 1992 shift 3 92030307 DBF March 3 1992 shift 1 92031815 DBF March 18 1992 shift 2 SPC_WEEK 92030100 DAT Week of March 1 1992 92030800 DAT Week of March 8 1992 92031500 DAT Week of March 15 1992 The configuration file to set up this structure would look like this SHIFT 7 Shift 1 starts at 7 00 AM SHIFT 15 Shift 2 starts at 3 00 PM SHIFT 23 Shift 3 starts at 11 00 PM WEEK 0 Week starts on Sunday FILE PRODHOUR DAT 1 File type 0 hourly raw data file FILE DOWNTIME DBF 2 File type 1 shift dBase file FILE SPC_WEEK DAT 4 File type 2 weekly raw data file The comments on the right are for descriptive purposes only they are not part of the file Upon starting BEARLOG COM the file BEARLOG CFG must exist and have files to use as templates BEARLOG CFG is the default configuration filename The f switch can be used to specify a different filename The configuration file is only read when BEARLOG COM is first executed The format for the configuration file is as follows Each line starts with a keyword lines that are not started with a keyword are ignored which allows com
167. act Divelbiss for encoder recommendations Figure 38 shows an example of wiring a biphase incremental encoder to the UCP For best noise immunity shielded cable should be used between the counter inputs and the device being monitored this is especially important for long cable runs To minimize any potential crosstalk problems it is recommended that individually paired and shielded cables be used for each I O device especially at high counting speeds Use the shield terminal provided or connect the shield to earth ground by other means Do not connect the cable shield at both ends of the cable as this can have an adverse effect Always use separate returns minus terminal for each signal pair as this lessens the chance of ground loops occurring by making all common terminations at the counter module H 1 1 Counter Examples The simplest example of using the counter just reads the current count value and displays it on the onboard display To try this example just wire a pushbutton between 5V and A H 4 then connect the A input to GND Each time that the button is pushed the counter will increment one or more times the button will probably bounce when pressed causing up to 20 pulses 100 INTEGER COUNT 110 CNTRMODE 1 3 A counts up B counts down 120 WRCNTR 1 0 10 Set counter value to 10 130 FILE 6 140 RDCNTR 1 0 COUNT Read the current value 150 FPRINT U6Z COUNT Now display it 160 GOTO 140
168. added at the current cursor position causing the rest of the line to be moved right one character position When the editor is invoked it starts out in overwrite mode cTRL v toggles between overwrite and insert mode To delete characters from the line either Backspace Or crrL a can be used The BACKSPACE key deletes the character to the left of the current cursor position causing the rest of the line to be moved left one character position ctri c on the other hand deletes the character at the current cursor position causing the rest of the line to the right to be moved left one character position cTRL G deletes characters from line When the desired changes have been made to the line press enter to add the modified line back into the program the modified line will replace the existing line Pressing escape or any control key not listed above will abort the changes leaving the existing line unchanged After leaving the editor the compiler prompt will be displayed again 2 5 Loading and Saving Programs With a Personal Computer If the Boss Bear is being used with a personal computer as the console terminal then it may be desirable to transfer the current BASIC program to and from the computer s disk 2 5 This allows the program to be edited on the personal computer and to be printed out The exact method of transferring files depends upon the communications program that is being used on the computer it may be necessary to refer
169. ain drive wait 10 Main drive control loop to run specified length This ramps the the stop point then ramps the drive back down to 0 stopping when it reaches the correct length rdentr 1 2 curpos Read current position in roll spd curpos accelrt 51 1 if spd gt maxspd then spd maxspd decelpt lnsetp curpos decelrt 51 1 drive speed up to its running speed runs until it gets close to T 4 17 2100 2150 2990 3000 3490 4000 4 18 if spd gt decelpt then spd decelpt if spd lt 20 0 then spd 20 0 Maintain a minimum speed if spd gt 500 0 then spd 500 0 if estopmd then 2990 EStop button pressed so exit dac 1 spd 512 0 if curpos lt lnsetp then 2050 Reached the specified length so stop the main drive dac 1 512 dout OMDRV 0 Disable main drive Cut the product dout OKNIFE 1 wait 20 if estopmd then 2990 dout OKNIFE 0 Drop the product onto the conveyor erase print Waiting for roll to drop onto conveyor dout OCONV 1 if estopmd then 2990 if din IOPTIC 1 then 2100 dout OCONV 0 The roll was successfully produced so update production statistics gosub 3000 Drop a new core into position erase print Waiting for core to drop from hopper dout OCORE 1 if estopmd then 2990 if din IOPTIC 0 then 2150 dout OCORE 0 ydsleft ydsleft Insetp 50 0 36 0 if ydsleft lt 0 0 or ydsleft gt inlen the
170. al Output roll count for product A number in the range 0 99999 it is stored as a real Output roll total yards for product A number in the range 0 9999 it is stored as a real Output roll count for batch A number in the range 0 99999 it is stored as a real Output roll total yards for batch A number in the range 0 9999 it is stored as a real Output roll count for shift A number in the range 0 99999 itis stored as a real Output roll total yards for shift A number in the range 0 9999 it is stored as a real 4 13 4 3 3 Rewind Program Example new download 100 Network register usage REWIND BAS Demo program for Boss Bear rewinder control KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK TO current product number STFI current operator number So current batch number EZ total downtime thus far in shift TLO last product new data available flag HOTELE last product product number R10 last product total number of rolls RLL last product total yards 120 last batch new data available flag Sil last batch batch number R20 last batch total number of rolls RDA last batch total yards 130 shift end end of shift flag SL shift end data available flag R30 shift end total number of rolls TY RIL shift end total yards 132 shift end operator break downtime total ruS shift end input roll downt
171. als into registers 112 through 116 and then set 111 to indicate to the PC that the shift totals have been stored The PC will then read 112 through 116 and store the data 100 Z ETDEMO1 BAS Demo program for Boss Bear network his program demonstrates how to program the Boss Bear network applications It simulates a simple data ollection system including a user interface using the nboard display and keypad It counts items moving hrough 4 different sensors corresponding to small edium large and defective The operator sorts the roduction items and puts each item onto a conveyor hich will take it past one of the sensors The operator periodically enters a product number which will be assigned to the product items that follow O 5 00 31 00 tha for the current product When a new product number is ntered these totals will be put into network registers for transfer to the central computer The system also maintains total counts for the current shift At the end of the shift these totals will be transferred to the central computer as well 1 1 The system will maintain the total count for each sensor 1 1 1 Network register usage 1 1 1 10 flag to indicate new product data available 11 14 product counts for entire product run I5 product number I6 19 current product counts 110 flag from Central indicating end of shift 10
172. and 255 The hardware port number to read from value an integer expression between 0 and 255 The value to write to the port Description The Boss Bear processor interfaces with the real world through Input Output I O devices The Boss Bear architecture supports both memory mapped devices which are accessed using PEEK and POKE and I O mapped devices which are accessed using INP and OUT It requires a thorough understanding of the Boss Bear hardware in order to use INP and OUT usually the only time that these would be used is when copying example code supplied by Divelbiss in an application note OUT writes a single byte to an output port If there is no hardware device at port then this will have no effect Example 100 OUT 80 F7 Related topics INP Chapter 7 8 119 PEEK Function Summary The PEEK function reads a byte value from the specified address Syntax x PEEK logaddr Arguments logadar an integer expression The logical address to read from Description The PEEK function returns an integer from 0 through 255 that is the byte value at memory location logaddr Normally this reads from the 64KB address space that the BASIC program is running in However DEFMAP can be used to allow access to the entire 1MB physical address space see DEFMAP for a complete explanation Example 100 INTEGER K 110 POKE A000 12 Write a 12 into A000 120 PRINT SAOO0 PEEK A00
173. and sets the transmitter off for RS 422 and RS 485 ports Boss Bear This currently isn t implemented on the Boss Bear Example 100 SERIALDIR 0 1 Set COM1 RTS inactive 110 SERIALDIR 5 0 Set COM2 to receive mode Related topics Chapter 7 Appendix H 8 140 SETDATE Statement Summary The SETDATE statement sets the current date on the Real Time Clock Syntax SETDATE month day year wday Arguments month an integer expression The month in the year represented as 1 Jan 2 Feb 12 Dec day an integer expression The day of the month represented as 1 31 year an integer expression The year represented as 0 99 wday an integer expression The day of the week represented as 1 Sunday 2 Monday 7 Saturday This value is not stored on the UCP but an expression must still be supplied to avoid generating a syntax error Description SETDATE sets the current date on the Real Time Clock Note that the Real Time Clock is an option on the Boss Bear SETDATE takes about 200 microseconds to execute UCP The UCP uses a Touch Memory device for the real time clock The SETDATE statement takes about 150 milliseconds to execute on the UCP which is much longer than the Boss Bear Example 100 SETDATE 4 1 91 2 Set Monday April 1 1991 Related topics GETDATE GETIME SETIME 8 141 SETIME Statement Summary The SETIME statement sets the current time on the Real Time Clock
174. ander I O address is related to the Boss Bear I O number note that the easiest way to specify an I O address on the Boss Bear is in hexadecimal Presto Panel or 1 0 Panel AENA nn Salad Boss Bear 1 0 Panel ga Figure 14 I O Expander Connection Example When programming with I O boards remember to take the response time of the board into account Inputs may have debounce circuitry that delays the response to a signal change by 10 to 20 msec Outputs may take 20 msec to change state this will limit the pulse rate that can be generated Addr Hex Dec Addr Hex Dec Addr Hex Dec Addr Hex Dec 0 0 00 0 2 0 20 32 4 0 40 64 6 0 60 96 0 1 01 1 2 1 21 33 4 1 41 65 6 1 61 97 0 2 02 2 2 2 22 34 4 2 42 66 6 2 62 98 0 3 03 3 2 3 23 35 4 3 43 67 6 3 63 99 0 4 04 4 2 4 24 36 4 4 44 68 6 4 64 100 0 5 05 5 2 5 25 37 4 5 45 69 6 5 65 101 0 6 06 6 2 6 26 38 4 6 46 70 6 6 66 102 0 7 07 7 2 7 27 39 4 7 47 71 6 7 67 103 0 8 08 8 2 8 28 40 4 8 48 72 6 8 68 104 0 9 09 9 2 9 29 41 4 9 49 73 6 9 69 105 0 10 0A 10 2110 2A 42 4 10 4A 74 6 10 6A 106 0 11 0B 11 2 11 2B 43 4 11 4B 75 6 11 6B 107 0 12 0C 12 2 12 2C 44 4112 4C 76 6 12 6C 108 0 13 0D 13 2113 2D 45 413 4D 77 6 13 6D 109 0 14 0E 14 2114 2E 46 4 14 4E 78 6 14 6E 110 0 15 0F 15 2 15 2F 47 4 15 4F 79 6 15 6F 111 1 0 10 16 3 0 30 48 5 0 50 80 7 0 70 112 1 1 11 17 3 1 31 49 5 1 51 81 7 1
175. ar features is the availability of an onboard display and keypad The user interface is an important part of many control systems supplying the operator with important run time production information and allowing him to make control parameter changes 6 1 Using the Built In Display The Boss Bear is available with three types of onboard display 2 row by 40 character Liquid Crystal Display LCD 2 row by 40 character Backlit LCD 2 row by 40 character Vacuum Fluorescent Display VFD The main difference between the three display types lies in cost and readability The VFD is the most readable under varying lighting conditions and also the most expensive The LCD is least expensive and can be difficult to read in low ambient lighting conditions The backlit LCD is easier to read in low light Since all three displays are the same size they can be interchanged without affecting the Bear BASIC program LCD contrast is controlled by Clear 8 F1 Increase Clear amp F2 Decrease The display is accessed as FILE 6 Any of the file output statements can be used CLS ERASE FPRINT GOTOXY LOCATE and PRINT Each task maintains its own cursor position so multiple tasks can write to the display concurrently without corrupting each other s information The following example demonstrates the use of the display It starts by scrolling a message onto the top line of the display then it displays a counter value and the time of day on the second line
176. are installed If there is no onboard counter then the counter expansion modules would be 1 through 12 or 4 or 8 depending upon how many modules are installed mode an integer expression The mode to set the counter to one of the following 0 disable the counter 1 X1 quadrature mode 2 X4 quadrature mode 3 a pulse on counter input A causes the count to increase and a pulse on input B causes the count to decrease 4 counter input B sets the direction of counting increase or decrease and a pulse on input A causes the counter to count by 1 5 X1 quadrature mode RES input will enable disable counter 6 X4 quadrature mode RES input will enable disable counter 7 a pulse on counter input A causes the count to increase and a pulse on input B causes the count to decrease RES input will enable disable counter 8 counter input B sets the direction of counting increase or decrease and a pulse on input A causes the counter to count by 1 RES input will enable disable counter Description The Boss Bear s high speed counter circuit is extremely flexible it is capable of operating in several modes depending upon how the software and hardware is configured The hardware is configured using various jumpers The software is configured with the CNTRMODE statement See chapter 7 for a description of the counter hardware Example 100 CNTRMODE 1 2 Set counter 1 to X4 quadrature mode Related topics WRCNTR R
177. are root of its argument which must be a numeric expression The result is returned as a REAL value Example 100 REAL X Y 110 PRINT SOR 2 0 120 X 144 0 130 Y COS X 140 PRINT Square root of X is Y This produces the following output when run 1 41422 Square root of 144 00000 is 12 00000 Related topics COS ACOS SIN ASIN TAN ATAN 8 145 STAT Direct Command Summary The STAT direct command displays the Bear BASIC software version number and the memory usage of the last compiled program Syntax STAT Arguments STAT needs no arguments Description The STAT command can be issued at any time lt displays the Boss Bear s software version number lt also displays the memory usage information for the last successfully compiled program this information is always displayed but it is only valid after a program has been successfully compiled If a program was compiled and generated errors then some of the numbers displayed by STAT may be incorrect Example STAT displays data such as the following Start 0100 Starting address of program End 3EC4 End address of program code Variable E0F6 Starting address of program variables 27k Source Bytes Free Source code bytes free 40k Runtime Bytes Free Runtime bytes free BEAR BASIC Compiler Version 2 00 Boss Bear software version number Related topics COMPILE RUN 8 146 STOP Statement Summary The STOP statement stops execu
178. ariations in the plant dynamics thus providing long term reliability of the system without the need for extensive changes over the life of the system 1 3 1 Fuzzy Logic Control Examples Using FUZZY 1 3 1 1 Motor Speed Control An excellent real world example of using Fuzzy Logic is motor speed control Speed control is a traditional problem of closed loop control systems and is well understood by the majority of system designers Fuzzy Logic control lends itself to this problem because this expertise can be mapped into the control system design This is something which is not typically possible with traditional control design methodologies and demonstrates some of the exciting possibilities of this emerging technology in industry 3 1 1 1 Problem Statement The speed control problem is best defined as the tracking of the set point speed of a motor with robust recovery from extreme set point changes external disturbances and changes in plant dynamics 1 3 1 1 2 Input Output Definition According to the problem statement the primary goal of the control system is to track the set point speed of the motor In order to accomplish this one must know how far from the set point the system is and thus a required input to the Fuzzy Logic controller is the current speed error defined as follows INPUT1 SPEED ERROR CURRENT SPEED SET POINT Additionally previous information about speed is critical For instance suppose at the current
179. arity set 150 baud even parity if parity set 38400 baud odd parity if parity set 19200 baud odd parity if parity set 9600 baud odd parity if parity set 4800 baud odd parity if parity set 2400 baud odd parity if parity set 1200 baud odd parity if parity set 600 baud odd parity if parity set 300 baud odd parity if parity set 150 baud odd parity if parity set Figure 18 COM Port Baud Rate Parameters 7 6 2 COM2 COM2 supports RS 232 RS 422 and RS 485 It is unused while at the command line prompt At runtime it may be accessed as FILE 5 as a general purpose serial port or it can be used to link the Boss Bear into the Bear Direct network On power up it is set to 7 14 9600 baud no parity 8 data bits and 1 stop bit The COM2 connector is a 9 pin female D connector the pinout is given in Figure 19 RS 422 RS 485 Pin ID Description Pin ID Description 1 TX Transmit data 1 TX Data 2 No connect 2 No connect 3 No connect 3 No connect 4 RX Receive data 4 No connect 5 GND Signal ground 5 GND Signal ground 6 RX Receive data 6 No connect 7 No connect 7 No connect 8 No connect 8 No connect 9 TX Transmit data 9 TX Data RS 232 Pin ID Description 1 No connect 2 TX Transmit data 3 RX Receive data 4 No connect 5 GND Signal ground 6 No connect 7 CTS Clear To Send Input 8 RTS Request To Send Output 9 No connect Figur
180. ask 2 EXI 400 TASK 3 410 PRINT This is task 3 Output to console COM1 420 FILE 6 Also to onboard display 430 PRINT Also task 3 EXIT Related topics PRINT FPRINT INPUT INPUT FINPUT KEY GET LOCATE GOTOXY CLS FINPUT Statement Summary The FINPUT statement provides a simple way to get numeric entry from the user Syntax FINPUT format variable Arguments formata string expression This defines the format of the number to get from the user The following are valid Ux unsigned integer where x is the number of digits allowed Ix signed integer where x is the number of digits allowed not including the minus sign ie 12 will allow the user to type 23 Fx y real where x is the number of digits to the left of the decimal point and y is the number to the right variable integer or real variable name The value entered will be put into this variable Description FINPUT provides a simpler way to get numeric input from the user It will only accept entries that follow the specified format the user will not be allowed to deviate from this format For example if a 2 digit product code must be entered the statement rixpuT 12 PRDCOD will only allow 2 digits to be entered If the user presses backspace when using a terminal with FILE O or 5 or CLEAR when using the built in keypad after entering some digits then these digits will be erased and the user can start again the cursor will
181. asured but the pulse width For example ifa100 sec pulse arrives about once per second the filter should be set to 100kHz since a lower filter cutoff would damp the pulse out Incremental Encoder Figure 11 Biphase Incremental Encoder Wiring Example 7 1 1 Counter Examples The simplest example of using the counter just reads the current count value and displays it on the onboard display To try this example just wire a pushbutton between the A and A inputs to use as a pulse source Each time that the button is pushed the counter will increment one or more times the button will probably bounce when pressed causing up to 20 pulses 100 INTEGER COUNT 110 CNTRMODE 1 3 A counts up B counts down 120 WRCNTR 1 0 10 Set counter value to 10 130 FILE 6 140 RDCNTR 1 0 COUNT Read the current value 7 6 150 FPRINT U6Z COUNT Now display it 160 GOTO 140 The next example shows how to handle counter interrupts and use the high speed output This example sets up task 1 as the interrupt handler for counter 1 In lines 120 and 130 it initializes counter 1 setting its mode to A count B direction and writing a O to the counter In lines 140 and 150 it sets the counter reload variable to 10 and writes this reload value into the counter s compare register Line 160 uses INTERRUPT to set task 1 as the interrupt handler for the counter Lines 210 to 240 form the program s main loop which just displays th
182. at acts as a slave processor to the Boss Bear These modules offload complex l O processing tasks from the Boss Bear s processor allowing faster system throughput and better I O timing accuracy Since these modules are custom programmed to perform their specified task the commands and parameters for each module are unique The EXMOD statement performs the communications between the Boss Bear s processor and the module s processor The exact form of this communications depends on the module being used refer to the module s data sheet to find detailed information EXMOD writes a command stored in st to the module plugged into the expansion connector referred to by port If the command causes a response from the module then EXMOD reads numbytes of data from the module which is then returned in st This is not currently being implemented on the UCP Example 100 Example to show EXMOD communicating with stepper module 110 INTEGER PORT CHNL STRING EX 10 200 PORT 4 CHNL 1 Module in J4 stepper channel 1 300 Set acceleration and deceleration rates for channel 1 310 EXS CONCATS CHR 83 CHRS CHNL Command 83 and channel number 320 EXS CONCATS EXS MKIS 2000 Accel rate 2000 pulse second 330 EXS CONCATS EXS MKIS 1500 Decel rate 1500 pulse second 340 EXMOD PORT EXS Send data to module 400 Read status back from stepper module 410 EXS CONCATS CHRS 84 CHRS CHNL Command 84 and channel number 420
183. at corresponds to the most recently detected error 0 0 No error 1 1 Serial transmission timeout 2 2 Failure programming EEPROM 16 10 COM1 receive error overrun parity framing 17 11 COM2 receive error overrun parity framing 256 100 Undefined error 263 107 Expression Error 264 108 String Variable Error 266 10A Line Number Does Not Exist 267 10B Task Error 271 10F RETURN Without GOSUB 272 110 Subscript out of Range 273 111 Overflow 275 113 Task Mismatch 276 114 Function Error 277 115 String Length Exceeded 280 118 Illegal Print Input Format 281 119 String Space Exceeded 282 11A Illegal File Number 283 11B Improper Data to INPUT Statement 285 11D Data Statement Does Not Match Read 286 11E Failure Programming EPROM or EEPROM The error numbers greater than 255 FF are fatal program errors that will cause the program execution to stop they can be trapped using JVECTOR and address 13 to jump to a task when a fatal error occurs see JVECTOR The error numbers up to 255 FF are nonfatal I O errors that can be handled with the ON ERROR statement or by checking the ERR function periodically Note that when ERR is referenced it returns the most recent I O error detected and resets the I O error to 0 This means that an error on one device could overwrite an error on another device if ERR isn t checked often enough It also means that the ERR value must be read into another variable if it will
184. ated with a previous version of the Bear BASIC software Load the source code recompile the program and save it onto anew EPROM don t forget to set JW3 correctly Quote or Parenthesis Mismatch Occurs when a program is being entered and a line with an odd number of parenthesis or double quotes is found RETURN Without GOSUB Occurs during program execution if a RETURN is encountered when no GOSUB is active All GOSUBs must have a corresponding RETURN Statement Formed Poorly Occurs when a statement is entered that does not conform to the syntax rules for Bear BASIC Statement Ordering Error Occurs if an INTEGER REAL or STRING statement appears after executable statements in the program String Length Exceeded Occurs when a string exceeds 127 characters or a string variable exceeds the maximum size assigned to it in the STRING statement String Space Exceeded Occurs if one line of the program requires too many string temporaries to evaluate Try splitting the line into several simpler ones String Variable Error Displayed when a variable is used incorrectly for example if a string is used as a real or integer Subscript out of Range Occurs if the subscript of a dimensioned variable exceeds the range assigned in an INTEGER or REAL statement Task Error can be caused by any of the following e receiving a hardware interrupt which was vectored to a non existent task e trying to RUN a non existent
185. ax CLS Arguments CLS needs no arguments Description CLS sends the clear screen command to the currently active FILE It works for the console terminal FILE 0 and the front panel display FILE 6 which can be either LCD or VFD Note that in order for this to work correctly with FILE 0 the terminal must be set to emulate an ADM3 or ADM5 terminal NOTE when entering BASIC programs that don t have line numbers any line that begins with the CLS statement must have a line number This is because CLS is also a direct command so the line will be seen by the compiler as a direct command not as part of the program This only occurs on lines that begin with CLS not on lines that just have CLS somewhere in the line This problem doesn t occur with the ERASE statement which performs the same operation so it is recommended that ERASE be used in programs instead of CLS Example 100 INTEGER J 110 FOR J 1 TO 1000 120 FILE 0 PRINT 130 FILE 6 PRINT 140 NEXT J 150 WAIT 100 160 CLS 170 FILE 0 CLS Related topics ERASE CNTRMODE Statement Summary The CNTRMODE statement sets the operating mode of the high speed counter Syntax CNTRMODE num mode Arguments num an integer expression The counter number to set up 1 through 13 If there is an onboard counter then it is 1 and the counter expansion modules would be 2 through 13 or 5 or 9 depending upon how many modules
186. ay output values Output roll count for product This is an integer number 0 99999 which shows the number of output rolls produced for this product so far in this shift Output roll count for batch This is an integer number 0 99999 which shows the number of output rolls produced for this batch so far in this shift Number of yards left on the input roll This is an integer number 0 9999 which shows the number of yards left on the input roll This is calculated by subtracting the number of yards run through the machine from the input roll length if the result is less than 0 then 0 should be displayed Network transfer values Current product number Current batch number Current operator number Total downtime thus far in shift For each product completed the product number total number of rolls and total yards are sent to the PC For each batch completed the batch number total number of rolls and total yards are sent to the PC The shift totals for number of rolls number of yards and downtime per category are retrieved by the PC at the end of each shift The operator number for the completed shift is also retrieved by the PC at the end of the shift Screen and report formats The display formats are not critical The normal operating display will be similar to this Product XXXX Batch XXXXXX Prod XXXXX Batch XXXXX Yds left XXXX The format of any other displays may be chosen by the programmer
187. backup memory Only the Yo sign Each time that the enter key is pressed the prompt character will be printed on the next line down The communications program should be set to emulate an ADM 3A or ADM 5 terminal type in order for the cursor positioning commands on the Boss Bear to work correctly Wiring Diagram Second Source Vendor Color Code 20 Figure 3 Serial Port COM 1 Wiring Diagram 2 2 Writing a Program in Bear BASIC The best way to become familiar with the Boss Bear is by writing some simple programs the following sections will use several programs to demonstrate different features We will start with a very simple program The first program that is always run on a new computer system looks like this 100 PRINT HELLO WORLD 2 3 Before entering this program type NEW followed by the enter key this will clear out any existing program that might be in the Boss Bear memory Although the examples in this manual primarily use upper case characters the Boss Bear is not case sensitive and so lower case and upper case may be used interchangeably Also from here on itis assumed that the user presses enter at the end of each line Enter the one line of the program in and then enter RUN The Boss Bear will print the message COMPILED followed by HELLO WORLD It will then return with the prompt awaiting further commands The screen should look like this EW 00 PRINT HELLO WORLD PILED O WO
188. based on the value of an expression Syntax ON expr GOTO linenum linenum Arguments expr an integer expression between 1 and the number of line numbers specified in the statement linenum a valid BASIC line number Description ON GOTO causes the program to GOTO to a line number based on the value of expr which must evaluate to a number from 1 to the number of line numbers given in the statement If expr evaluates to 1 then the program branches to the first line number If it is 2 then the program branches to the second line number and so on If exprevaluates to a number larger or smaller than the number of line numbers given then the error message Line Number Does Not Exist Will appear Example 100 INTEGER J 110 PRINT Enter a number 1 to 5 gt 120 FINPUT UL J 130 PRINT 140 ON J GOTO 200 300 400 500 600 150 STOP 200 PRINT Line 200 300 PRINT Line 300 400 PRINT Line 400 500 PRINT Line 500 600 PRINT Line 600 This example jumps to a line based on the number entered by the user in line 120 Note that there is no range checking on the value entered so it is possible to enter a number greater than 5 which will cause an error to occur Related topics ON GOSUB GOTO GOSUB 8 118 OUT Statement Summary The OUT statement writes a value to a hardware output port Syntax OUT port value Arguments port an integer expression between 0
189. be a numeric expression The result is returned as a REAL value To calculate the natural logarithm of X use LOG Example 100 REAL X Y 110 PRINT LOG10 72 35 120 X 0 82 130 Y LOG10 X 140 PRINT Common logarithm of X is Y This produces the following output when run 1 85944 Common logarithm of 82000 is 08619 Related topics LOG EXP 8 98 MID Function Summary The MID function returns a substring of a specified string Syntax st MID strexpr start num Arguments strexpr a string expression start a numeric expression The start of the substring num a numeric expression The number of characters in the substring Description MID returns a string that is a substring of strexor The substring will begin at start in strexpr and continue for num characters MID must not go beyond the end of strexpr if start numis greater then LEN strexpr thena string Length Exceeded error will result Example 100 STRING A 60 110 AS The quick brown fox jumped over the lazy dog 120 PRINT lt MIDS AS 1 3 gt 130 PRINT lt MIDS AS 20 10 gt 140 PRINT lt MID A 38 LEN A 37 gt 150 PRINT lt CONCATS MIDS A 5 6 MIDS A 17 3 gt This produces the following output when run lt The gt lt jumped ov gt lt azy dog gt lt quick fox gt In line 140 the LEN function is used to ensure that MID doesn t try to go beyond the en
190. be at its original starting position If the format string does not follow the form recognized by Bear BASIC then FINPUT will instantly return zero without waiting for input from the user FINPUT should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes FINPUT could cause the system to lock up Example 100 INTEGER J 110 REAL X 120 CLS LOCATE 10 1 140 PRINT Enter product number 0 99 gt Ms 150 OCATE 10 31 FINPUT I2 J 160 LOCATE 12 1 170 PRINT Enter temperature setpoint 180 00 209 99 gt Ms 180 OCATE 12 46 FINPUT F3 2 X 190 IF X lt 180 0 OR X gt 210 0 THEN GOTO 160 Related topics INPUT FPRINT 8 58 FNEND Statement Summary The FNEND statement marks the end of a user defined function Syntax FNEND Arguments FNEND needs no arguments Description FNEND is used in conjunction with DEF to create a user defined function DEF marks the beginning of the function and FNEND marks the end Example 100 INTEGER RIGHTN 110 STRING TESTS RIGHTS 127 RIGHTAS 127 120 This function returns the N rightmost characters of AS 130 DEF RIGHTS RIGHTAS RIGHTN 140 RIGHTS MIDS RIGHTAS LEN RIGHTAS RIGHIN 1 RIGHTN 150 FNE 160 TESTS This is a test 17
191. be needed again see the example below A successful I O operation won t reset the I O error value to 0 if a character is received on COM1 with a parity error and then other characters are received successfully when ERR is checked it will return 16 to indicate that a receive error occurred on COM1 Example 100 INTEGER J K 110 K KEY 120 IF K lt gt 0 THEN PRINT CHR K 130 J ERR 140 IF J lt gt 0 THEN FILE 6 PRINT Error J FILE 0 150 GOTO 110 Run this example with the terminal set to 9600 bps even parity 8 data bits and 1 stop bit Some of the ASCII characters sent to the Boss Bear will generate an error 16 because those characters will cause a framing error when received by the Boss Bear which is using 9600 bps no parity 8 data bits and 1 stop bit The value of ERR is stored in the variable J in line 130 because it may be needed twice in line 140 If line 130 were removed and J in line 140 were replaced with ERR then it would always print Error 0 because the first reference to ERR would set the error status back to 0 Related topics ON ERROR JVECTOR Chapter 11 8 50 ERROR Direct Command Summary The ERROR direct command enables error checking in the compiled BASIC program Syntax ERROR Arguments ERROR needs no arguments Description ERROR turns on the compiler s runtime error checking software It is the converse of NOERR When Bear BASIC is first started all
192. be taken away two optical sensors are positioned to detect that the roll drops The gate is closed then another gate is opened to allow a new core to drop into position from a hopper above the machine The operator attaches the product tail to the core then presses the RUN pushbutton to start the rewind operation again If an error is detected then the machine will be stopped and an error message will be displayed on the Boss Bear the operator will correct the error condition insert a new core and press the RUN pushbutton to start a new roll The user interface will consist of the Boss Bear keypad and display the RUN pushbutton and the emergency stop switch ESTOP The operator enters the product number batch number input roll length operator number and downtime code from the keypad The display will show the remaining product on the input roll and the number of output rolls produced When the input roll is removed the Boss Bear will display the number of yards left if any on the input roll the operator will write this on a tag to go on the roll If it takes longer than 60 seconds after a roll is produced for the operator to press the RUN button then the Boss Bear will accumulate downtime in seconds the operator must enter a downtime code before the machine can be run again One of the downtime codes is maintenance if this is ntered then th machine can be run but no production data will be collected
193. being typed by a user for this reason it is probably better to get user input using FINPUT If multiple numeric variables are to be input then this error will also be displayed if any spaces are entered INPUT should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes INPUT could cause the system to lock up 8 80 Examples 100 STRING A 110 PRINT What is your name 120 INPUT AS 130 PRINT Hello AS This example shows how text can be INPUT into a string variable Run this and try using BACKSPACE to modify the string Also try entering commas in the string 100 INTEGER J K 110 REAL X 120 PRINT Enter J K X gt 130 INPUT J K X 140 PRINT J K X This example shows how multiple items can be entered with one INPUT statement Run this and try entering more or less than three numbers 100 INTEGER J K 110 RUN 1 120 INPUT J 130 PRINT The valu ntered is 140 STOP 150 TASK 1 160 FILE 6 170 INPUT K 180 PRINT K K 190 EXIT This example shows how INPUT can be used concurrently in multiple tasks Related topics INPUT FINPUT GET KEY 8 81 INPUTS Statement Summary The INPUT statement is identical to INPUT except that it allows commas and some control characters to be entered in strings
194. ber of subroutines based on the value of an expression Syntax ON expr GOSUB inenum linenum Arguments expr an integer expression between 1 and the number of line numbers specified in the statement linenum a valid BASIC line number Description ON GOSUB causes the program to GOSUB to a line number based on the value of expr which must evaluate to a number from 1 to the number of line numbers given in the statement If expr evaluates to 1 then the program branches to the first line number If it is 2 then the program branches to the second line number and so on lf exprevaluates to a number larger or smaller than the number of line numbers given then the error message Line Number Does Not Exist Will appear Example 100 INTEGER J 110 PRINT Enter a number 1 to 5 gt 120 FINPUT UL Jd 130 PRINT 140 ON J GOSUB 200 300 400 500 600 150 GOTO 110 200 PRINT Line 200 RETURN 300 PRINT Line 300 RETURN 400 PRINT Line 400 RETURN 500 PRINT Line 500 RETURN 600 PRINT Line 600 RETURN This example calls a subroutine based on the number entered by the user in line 120 Note that there is no range checking on the value entered so it is possible to enter a number greater than 5 which will cause an error to occur Related topics ON GOTO GOSUB GOTO 8 117 ON GOTO Statement Summary The ON GOTO statement jumps to line number
195. bers Previously the variables were stored in different locations depending upon the number of tasks in the program This meant that variables couldn t be passed between programs when chaining unless both programs had the same number of tasks This has been changed so that CHAIN works regardless of the number of tasks in the programs variables can always be passed Removed the INTMODE statement which was unnecessary because of the Boss Bear hardware design Added resource locking for EEPOKE EEPEEK to allow them to be used in multiple tasks at the same time Previously if a task tried to EEPEEK while another task was EEPOKEing it would read an incorrect value G 3 G 4 The HELP direct command was added providing online help screens New Un option for FPRINT provides the ability to display an integer as an unsigned value New FINPUT statement allows easier user input of numeric values DIR direct command to display contents of user s EPROM and amount of free space on EPROM DOWNLOAD direct command disables echo to provide better error display during program download This also speeds up the download operation on long files L now works correctly as the short form for the LIST direct command A bug in RDCNTR has been fixed Previously if RDCNTR was called with a REAL variable the value 800000 when converted to a real number would cause the system to lock up The ERR function and ON ERR statement have been impleme
196. c ccc ween OA 8 145 SPAT epee eer O A VRNNNT TDP Cen SEIT Ee al 8 27 8 151 D 1 SLATS IT A A ibid ut bbe eigh teins nies ATA 3 3 3 9 O O 8 146 o aldo dae 8 61 A A EENET 8 17 8 147 O 8 148 SUN aaa 3 5 8 83 8 131 8 149 SUP ein creer A v Switch SW eraa e aaa EEA EA Ea EEEE a chen 2 6 2 7 8 14 8 18 SYSTEM ansiada 8 26 8 150 TAN RIRs 8 152 MAS A E A 5 2 8 53 8 153 A cabin ton cabin cakes 8 59 8 63 8 69 8 80 8 82 8 91 11 5 Terminal TY PO cirio ii AEE 2 3 MINA a ao 8 18 Timer high SO aii i 8 160 TMADDR oO OOOO E 8 154 TMREAD a ina eaee tues vzawpbunebaabeasctaw suetessias uber aa E a aa 8 155 TMSES AO 8 156 IMEI TES OS SN 8 157 O AAA O TR TR hee ane RL A A 8 61 Touch Memory TMADO ta AR 8 154 TMREA diia 8 155 TSE taa 8 156 TIMIV FRIES sanos 8 157 THRACE DEF rales 8 158 TRACGEON oidos 8 158 Variable declaratoria a Cavdinds kecdncebacuuedecnutis 3 4 A Ol KD 2 ee CPE ee OPO e ae ONe OREN ORE CO ONE MT ON Or OOO Se anno i Aer eee ho ae ee a ae ee 8 160 Video ie NA E is e biie da 8 93 Wild aa olaaa 4 5 5 3 8 124 8 162 WEE Nina a a 8 36 8 163 WPORE suits ta a aaa 8 36 8 45 8 164 E AAA A E E NS mane aeen ek 8 165 De COIN ORF a Nose 2 3 Index 6 Notes Index 7
197. calibration can be verified by specifying 12 0 as the DAC output value the multimeter should read 12 0mA DAC 1 249 OHM OUTPUT O a PY amp DIGITAL MULTIMETER SET FOR CURRENT Figure 26 D A Module 4 20mA Calibration Setup 9 4 4 Specifications Channels Resolution Output level Output null offset adjustments Output linearity error Output noise Output drive current Compliance voltage Load tolerance Output termination 1 2 3 or 4 depending upon part number 10 bits Each channel is user selectable 0 to 5V 0 to 10V 5 to 5 10 to 10V or 4 to 20mA 250mV or 0 6mA in current 4 to 20mA mode 10 05 FSR maximum Less than 4mV peak to peak For voltage output modes 10mA minimum at 10V For current 4 to 20mA mode 9VDC minimum For current 4 to 20mA mode 250 20 Detachable terminal blocks on 5mm centers Maximum wire size 18AWG Two terminals are provided for each channel with a single shield terminal 9 4 5 User Replaceable Parts List The following components are available from Divelbiss for user replacement if necessary Divelbiss Part Number 116 101673 117 100849 120 101705 120 100636 BM 8910579 3 Description 9 position removable terminal block Output mode programming shunts Mounting screws Cover screws Cover 9 18 10 1 10 2 10 4 10 5 Chapter 10 Networking with the Boss Bear Bear Direct Networking Principles Bear BAS
198. ces e seca abe 8 43 8 45 END aa e cios eee ee 8 41 EPROM OU ASIC Laia aii 8 21 EPROM OAD tontos arcttocteott a a aa a ae 8 47 8 95 EPROMPrOJaMMEE capos ise 1 2 2 6 ERRONEA a O 8 48 8 139 ERE ote tit 6 2 6 5 8 49 A iuat hed EE AE 8 50 8 51 8 90 11 2 EFA OUI hs ccs ree nesters A ieee aun eens 8 52 11 2 Errors a Pre eee eC rE ee TRUE Etre er veer er ery aea 8 51 11 2 A acca O A A terse Gee ec iets E 8 50 11 2 MOVIN AN eee ret a eE anie teceedunts teed E races bsueuanune sat tetas ceed se 11 2 SAET Rane AI O a Ro eM meter 5 3 8 17 8 53 8 54 8 124 8 138 O II T 8 55 Expansion MOUSE AA A AAA AA A A Sa 9 2 EXPansion POMS ictericia a aaa 1 2 8 4 e etna 8 24 8 49 8 58 8 59 8 63 8 75 8 96 8 105 FEINPUT 200 ai lili ltl tetade 8 59 8 80 FENDER 8 60 COR aaa 8 61 8 114 FERRIN Tossa na aia 6 2 6 5 8 63 11 5 Functions A A O tre Veer freryrer tre eee prer tre yea 3 13 Fuzzy LOGIC Fundamentals iia ii di 1 2 AA AA A aah peer asta ted aia ts 1 11 Index 2 GETDATE Sun aoads 7 13 8 70 H 12 EJEN cuota id do tas pitos 7 13 8 71 H 12 O 8 72 COS UD nas 8 73 8 135 8 153 GOTO ssa avn Sa ane Gases Gn aap Gans AAA Daa LIaNEoo 8 74 8 153 GOTOXY ara naa 6 2 6 5 8 75 TOUS e lll e Cath la sa ol 2 2 HEEP aaa 8 76 High speed counter 1 2 7 3 7 7 8 18 8 25 8 84 8 127 8 165 9 3 H 2 H 5 MEUD S aii aaa thats ae A ate dated R a aad iae el heh tebe a C 4 High Speed OUtpUt cccccccccccncnnncnnnnnnnnnnnnnnnnn
199. cifics can only be obtained with an example Therefore as atrial problem let us try to determine the appropriate fuzzy sets for a simple speed control problem Just as the problem in controlling the car accelerator the logical inputs to the Fuzzy Controller are the speed error and the rate of change of speed An appropriate system output might be the change in the speed Appropriate fuzzy sets for all three of these might be labeled NEGATIVE LARGE NEGATIVE SMALL 1 6 ZERO POSITIVE SMALL POSITIVE LARGE for a system with five 5 fuzzy sets per input or output The next problem is to determine where are the starting and ending points for the fuzzy sets Review Figures 63 64 and 65 for schematic representations of these inputs and outputs to the Fuzzy Controller The objective in a speed control is to reach the desired speed setpoint as smooth as possible in the fastest time and without going over overshoot or oscillating around the setpoint To avoid oscillations and to increase the chances of smooth control it is generally good practice to cover the entire range of the input with the membership functions Thus in this case a good choice might have POSITIVE SMALL centered at 40mph and POSITIVE LARGE centered at 80mph You may be asking yourself the obvious question How can a 40mph speed error be considered small By reviewing Figure 63 you can see that with POSITIVE SMALL centered at 40 the entire range actually spans from 0 to 80mph
200. closed in quotes a cell address a range address or an function that returns a string value The following examples show the proper use of READ READ 3 10 float This reads float register 10 from unit 3 READ B5 B6 unsigned16 This uses values from other spreadsheet cells If B5 is 4 and B6 is 7 then this would read integer register 7 from unit 4 The WRITE function writes a register value to a Boss Bear the syntax of WRITE is WRITE value unit regnum vartype value the data to be written to the device This can be a cell range or range name unit the unit number of the Boss Bear to access This is a string containing a number between 1 and 254 regnum the register number to write to This is a string containing a number vartype the variable data type to be written to the device unsigned16 for an integer register float for a float register or string for a string register Each OWRITE argument can be a string enclosed in quotes a cell address a range address or an function that returns a string value The following examples show the proper use of WRITE QWRITE 27 45 3 fstring 10 float This writes the value 27 45 into float register 10 of unit 3 WRITE B4 B5 B6 unsigned16 This uses values from other spreadsheet cells If B4 is 999 B5 is 4 and B6 is 7 then this would write 999 to integer register 7 of unit 4 10 5 BearLog Data Logging TSR Program
201. continue without jumping to the line referenced by the ON ERROR statement it will be as if no ON ERROR had occurred If all of the serial I O is performed within task 0 however then ON ERROR can be quite useful The ON ERROR approach to error handling generally works best in programs that perform simple serial I O operations I O errors can also be handled by checking the ERR value periodically while performing I O This allows the programmer more control over the error detection it doesn t change the program flow like ON ERROR does and it isn t limited to just task 0 This approach works well in more complex serial applications such as the packet based communications protocols used by many intelligent sensors In this type of communications it may only be necessary to check the error status at the end of each packet instead of after each character 100 INTEGER K 200 FILE 0 K GET Get a character from the console 210 FILE 6 Set up to print to onboard display 220 IF ERR 16 THEN PRINT Error Check for COM1 receive error 230 PRINT CHR K Print the character 240 GOTO 200 This example just checks the value of ERR after every character is received in line 220 If a receive error has occurred on COM1 then ERR will return a 16 10 causing line 220 to print Error 11 2 Program Errors Bear BASIC performs error checking while the program is running if error checking is enabled see ERROR a
202. cter is also used to represent the equality operator This means that the statement X A B is legal it sets X to a nonzero value if A is equal to B In multitasking programs the context switcher will not switch tasks during the assignment operation For example if a program has a real variable X and a task executes the statement X 3 1416 the task will always update all 4 bytes of X as a group without allowing another task to break in This is also true of integers and strings In an expression evaluation however the context switcher may allow another task to corrupt a variable If one task is executing the statement X X 1 5 and another task interrupts and executes X 4 3 then the value of X depends on the exact spot that the context switcher interrupted The programmer should avoid this type of situation by using different variables or using the PRIORITY statement to control the operation of the context switcher Example 100 INTEGER J 110 REAL X 120 X 2 7 4 0 J P 130 X 10000 21234 140 RINT J Related topics Section 3 6 8 2 ACOS Function Summary The ACOS function calculates the arccosine function Syntax x ACOS expr Arguments expr a numeric expression Description The ACOS function returns the arccosine of its argument which must be a numeric expression The result is returned as a REAL value in degrees Example 100 REAL X Y 110 PRINT ACOS 1 23 120 X 4 0 130 Y ACOS X
203. ction definitions Flush the keypad buffer and wait for a key to be pressed Returns key pressed Modifies flshtem def flush wait 10 if din 100 lt gt 0 then goto 520 wait 20 if key lt gt 0 then goto 530 flshtem din 100 if flshtem 0 then 540 flush flshtem fnend VAKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Initialization file 6 Use onboard display Set timeout delay to 30 seconds for waiting on the users input delay 300 IRUNBUT 1 RUN button is on input 1 4 15 1000 1020 1200 4 16 IESTOP 3 Emergency Stop switch LOBTIGC 2 Optical sensor OMDRV 7 Main drive enable is on output 7 OKNIFE 1 Knife output OCONV 2 Conveyor gate output OCORE 3 Core hopper gat maintmd 0 Not in maint mode to start with for a 0 to 3 dntime a 0 next a if len batnum gt 6 then batnum 000000 if prdnum lt 0 or prdnum gt 9999 then prdnum 0 maxspd 300 0 accelrt 200 0 decelrt 500 0 totdntm 0 estopmd 0 Not in emerg stop mode to start with entrmode 1 1 Quadrature X1 mode dout 5 1 dout 6 1 Enable shaft encoder inputs dout 0 1 Set counter reset latch to reset run 1 2 Start emergency stop task run 2 2 Start shift end task a eepeek 1 Get unit number network 0 a 50 50 2 b Initialize network with 50 integers 50 reals and 2 strings UT KKKKKKKKKKKKKKKKKKKKKKKK
204. ctions to be taken by the Bear BASIC program Multiple statements can be placed in a line separated by colons Statements can be grouped into seven categories program flow data storage memory access I O function definition multitasking and miscellaneous 3 7 1 Program Flow Statements Bear BASIC normally executes statements in linear order as they are stored in the program The following statements modify the program flow to allow code to be executed multiple times to allow code to be shared and to allow the program to make decisions CALL ladar arg call an assembly language subroutine CHAIN filenum or fname load and run another program from EPROM CHAIN fname load and run another program from EPROM 3 9 FOR num expr TO expr STEP expr beginning of a program loop see NEXT GOSUB linenum call a subroutine see RETURN GOTO linenum jump to a line number IF expr THEN conditional execution of rest of line NEXT end of a program loop see FOR ON ERROR linenum GOTO linenum if an error occurs ON expr GOSUB linenum linenum call subroutine based on value of expr ON expr GOTO linenum linenum jump to linenum based on value of expr RETURN continue at line following GOSUB STOP halt execution of program SYSTEM laddr regarray call an assembly language subroutine 3 7 2 Data Storage Statements These statements are used to declare the variables that are used in the program and to embed data values in the progra
205. d Two condititions must be met in order for this to work correctly SHARE must be loaded in the PC and the program must only open the file for a short period of time SHARE EXE is a program that is supplied with DOS that prohibits one program from accessing a file that another program is accessing As long as the foreground program ie the database program only opens the data file for less than one or two seconds no data will be lost The network version of most PC programs will fulfill this requirement 10 5 2 BearLog Data File Formats Since this is a low speed RS 485 network the cabling requirements are very modest An unshielded twisted pair with a separate common lead is daisy chained from one unit to the next The total cable length should not exceed 1000 feet A 150 ohm 1 2 watt resistor must be placed across the signal lines at the furthest end of the cable from the personal computer Divelbiss has sold two different Network Interface Cards each with different pinouts on the connectors The first one was a 3 4 length ISA bus card Figure 28 shows the wiring diagram for this version of the Network Interface Card The newer card uses pinouts that match the Boss Bear COM2 connector it is a 1 2 length ISA bus card Figure 29 shows the wiring diagram for the newer Network Interface Card 10 20 150 OVOHAONA o 7 OoNona yna Female 9 pin D e Male 9 pin D connector at PC e A A connector at end of cable Boss Bear
206. d of A which would cause an error Related topics LEN 8 99 MKI Function Summary The MKI function converts an integer to a binary string Syntax st MKI intexpr Arguments intexpr an integer expression Description A binary string is a string that may contain more than just ASCII text data it may contain bytes that are not valid ASCII characters Because of this they are not usually human readable A binary string is really just an array of numeric bytes The main use for binary strings is to provide a more efficient way to transfer blocks of numeric data over the serial ports numbers stored in binary strings take up fewer bytes than numbers stored as ASCII characters The functions MKI CVI MKS and CVS are provided to work with binary strings The MKI function returns intexpr as a two byte string For example mx1 1234 returns a string whose first byte is 34 and whose second byte is 12 note that 1234 takes up 4 characters when stored in ASCII but only 2 when stored in binary form Example 100 INTEGER J 110 STRING AS AS 1 FOR J 3030 TO 3036 130 AS CONCATS AS MKIS J J NE 150 PRINT AS 1 FOR J 1 to LEN AS 170 FPRINT H2X2Z ASC MIDS AS J 1 180 NEXT J 190 PRINT 200 J CVI AS FPRINT H4 J This produces the following output when run 00102030405060 30 30 3L 30 32 30 33 30 34 30 35 30 36 30 3030 The first line printed
207. d 3 if I 14 both outputs were beyond the range of an integer When an output is beyond the range of an integer the return value from the FUZZY statement will be clamped at 32767 or 32767 depending on the actual sign of the output The ST variable will contain a 0 in most circumstances and should only be checked in extreme cases A couple of things to note are that the data all 0 s for OUTPUT2 are required even though this output is not being utilized and that the first value read into the data array is FUZDAT 0 Thus the first value being passed to the FUZZY statement is the address of this variable ADR FUZDAT 0 The Fuzzy data to be read in must be in the order described above in the example routine A summary of this order is provided below INPUT1 midpoint sensitivity INPUT2 midpoint sensitivity OUTPUT1 midpoint sensitivity OUTPUT2 midpoint sensitivity RULE OUTPUT1 IN1 1 1N2 1 RULE OUTPUT1 IN2 1 IN2 1 RULE OUTPUT1 IN3 1 IN2 1 RULE OUTPUT1 IN4 1 IN2 1 RULE OUTPUT1 IN5 1 IN2 1 RULE OUTPUT1 IN6 1 IN2 1 RULE OUTPUT1 IN7 1 1N2 1 RULE OUTPUT2 IN1 1 IN2 1 RULE OUTPUT2 IN2 1 IN2 1 RULE OUTPUT2 IN3 1 IN2 1 RULE OUTPUT2 IN4 1 IN2 1 RULE OUTPUT2 IN5 1 IN2 1 RULE OUTPUT2 IN6 1 IN2 1 RULE OUTPUT2 IN7 1 IN2 1 RULE OUTPUT 1 IN1 1 IN2 7 RULE OUTPUT 1 IN1 2 IN2 7 RULE OUTPUT 1 IN1 3 IN2 7 RULE OUTPUT1 IN1 4 IN2 7 RULE OUTPUT 1 IN1 5 IN2 7 RULE OUTPUT 1 IN1 6 IN2 7 RULE OUTPUT 1 IN1 7 IN2 7 RULE
208. d and the output would be the change to the accelerator The inputs and output would be divided into subgroups labeled such things as NEGATIVE LARGE NEGATIVE SMALL ZERO POSITIVE SMALL and POSITIVE LARGE and the process logic which guides the control system is simply the way in which you as an expert of operating a car accelerator would react 1 1 1 3 Defuzzification Defuzzification is the process by which the applicable rules for a given situation are transformed into an actual output suitable for control of the plant In the example described above for controlling the accelerator of a car this would be change in force on the pedal Because in Fuzzy Logic it is not unusual for several output fuzzy sets to be affected by the input data there must be a method for determining the actual output Although there are several methods the most common technique is centroid defuzzification Centroid defuzzification takes the center of mass of all applicable outputs as the result Consider that both inputs were operated on by the process logic and three output rules were fired ZERO POSITIVE SMALL and POSITIVE LARGE Through some standard calculations of Fuzzy Logic it was determined that ZERO POSITIVE SMALL and POSITIVE LARGE had degree s of membership of 0 30 0 35 and 0 65 respectively The actual output would be the centroid of all of the fired outputs This process is shown graphically in Figure 62 5 ZR PS PL Degree 63 of Member
209. d using an ultraviolet light a flash EPROM is erased electrically without removing the flash EPROM from the UCP This erase operation is performed with the CLEARFLASH command and takes several seconds to complete The flash EPROM can be erased at least 1000 times The flash EPROM can be replaced with a battery backed SRAM which is erased and programmed just like a flash EPROM using the CLEARFLASH and SAVE commands respectively H 9 Display The UCP can have one of three different types of displays 2 rows by 20 characters LCD Liquid Crystal Display 2 rows by 20 characters backlit LCD 2 rows by 20 characters VFD Vacuum Fluorescent Display The contrast on the LCD can be adjusted in the same manner as the Boss Bear Clear amp F1 increase contrast Clear amp F2 decrease contrast Unlike the Boss Bear the VFD intensity can also be controlled Clear amp F1 increase brightness Clear amp F2 decrease brightness Note The VFD always powers up in full brightness H 18 IHANSFUHMEH YELLOW WIRES TO POWER INPUT ON UCP BLACK WIRES 120 yAc 50 60 Hz GREEN WIRE EARTH GROUND y NUT CONNECT TO MACHINE PANEL FRAME WHEN 118 120 VAC POWER IS SUPPLIED FOR UCP MAIN POWER USE SUPPLIED TRANSFORMER AND WIRE AS SHOWN ABOVE ALTERNATE WIRING METHOD SHOWN BELOW YELLOW WIRES TO POWER INPUT ON UCP 12 ypc oR i yAc NOT POLARITY SENSITIVE GREEN WIRE Figure 47 UCP Power Supply Wiring Schematic H 19
210. ders In order to understand the operation of the counter it is helpful to look at the hardware logic YA COUNTER CIRCUIT 5y A A INPUT DATA INT TO B INPUT RES INT PROCESSOR RES OUT LD CNT LD LATCH GATE RESET Figure 35 High Speed Counter Logic The A B and RES inputs can be used with either open collector or differential outputs The A and B inputs are the signals to be counted they are edge triggered The counter can operate in four input modes H 2 1 The A and B inputs are used in quadrature X1 mode for use with biphase encoders Thecountvaluechanges once for each biphase cycle 2 The A and B inputs are used in quadrature X4 mode for use with biphase encoders The count value changes with each input transition X4 mode counts four times faster than X1 mode given the same input signal 3 A falling edge on the A input while the B input is high causes the counter to increment and a falling edge on the B input while the A input is high causes the counter to decrement Inputs A and B should not be high at the same time 4 The B input sets the count direction high for increment low for decrement A falling edge on the A input causes the counter to count in the selected direction If the counter is to be used in unidirectional mode it should be put into mode 4 The count signal would be connected to the A input and the B input would control the direction The RES input can be used to
211. ding upon the range as the DAC output value Adjust the proper span potentiometer for the midpoint of the voltage range selected 2 499V for the 0 5V range or 4 99V for the 0 10V range The calibration can be verified by specifying 5 0 or 10 0 as the DAC output value the output should measure 4 99 to 5 00V or 9 99 to 10 00V depending upon the mode Calibrating the bipolar input modes 5 to 5V 10 to 10V With the BASIC D A calibration program running select the desired channel to calibrate and specify 0 as the DAC output value Adjust the proper zero potentiometer for 0 00V on the output terminals of the channel being calibrated Next specify 5 0 or 10 0 as the DAC output value Adjust the proper span potentiometer for the maximum value of the voltage range selected 4 99V for the 5V range or 9 99V for the 10V range The calibration can be verified by specifying 5 0 or 10 0 as the DAC output value the output should measure 4 99 to 5 00V or 9 99 to 10 00V depending upon the mode Calibrating the current loop 4 to 20mA input mode Use a 2500 5 or better load across the channel being calibrated refer to Figure 26 With the BASIC D A calibration program running select the desired channel to calibrate and specify 4 0 as the DAC output value Adjust the proper zero potentiometer for 4 00mA through the test load Next specify 20 0 as the DAC output value Adjust the proper span potentiometer for a 20 0mA reading The
212. dress inputs 1 and 2 outputs 1 and 2 and the return status Output 1 is the change in the speed and thus the drive signal is added to the output to obtain the next drive signal line 4140 which is then limited to ensure valid data Lastly the drive signal is output to the motor through D A channel 1 8 66 8 67 FOR MORE DETAILS ON Fuzzy LOGIC CONTROL AND USE OF THE FUZZY STATEMENT READ APPENDIX I Related topics Appendix 8 68 GET Function Summary The GET function returns one character from the current file Syntax x GET Arguments GET needs no arguments Description The GET function reads data from the current file it waits for the next available character and returns it as an INTEGER value without performing any conversions or filtering Specifically unlike INPUT and INPUTS which treat the carriage return as a delimiter GET will return the carriage return using it s ASCII value 13 0D GET waits for the next character to become available In a multi tasking program if there isn t a character available immediately GET will allow another task to execute minimizing the processor overhead while waiting when a character becomes available GET will return it the next time that the task gets to execute GET should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task execut
213. ds Because of the way Bear BASIC works internally the fastest time interval that can be reliably handled is 1 millisecond The timer can be read periodically by the BASIC program to perform its timing functions or a timer interrupt handler can be set up Note that the timer is a 16 bit integer number that rolls over approximately 5 times per second The following example shows how the WAIT statement timing can vary and how to read the timer to measure small time intervals 105 INTEGER X RL RLL RLH 110 INTEGER TIMER 120 INTEGER T2 T3 200 GOSUB 1000 Start the timer running 210 RUN 2 220 RUN 3 1 230 T2 0 300 IMER 0 Reset the timer value 310 WAIT 50 Wait for 50 100 second 320 PRINT TIMER Display length of WAIT in msec 330 GOTO 300 1000 VECTOR E6 1 Set up timer vector to task 1 1020 RL 6144000 0 20 0 1000 0 1000 ints sec reload value 1030 RLH RL 100 RLL BAND RL SFF 1040 OUT 14 RLL OUT 15 RLH Init timer value 1050 OUT 16 RLL OUT 17 RLH Init reload value 1060 OUT 10 BOR INP 10 22 Enable timer 1 1070 RETURN 1100 Timer interrupt task Called 1000 times per second by hardware 1102 timer 1 1105 TASK 1 1110 X INP 10 X INP 14 Reset the timer 1 interrupt flag 1120 TIMER TIMER 1 Increment global timer value 1130 EXIT End of timer interrupt task 2000 TASK 2
214. e by 10 to 20 msec Outputs may take 20 msec to change state this will limit the pulse rate that can be generated Addr Hex Dec 0 0 00 0 0 1 01 1 0 2 02 2 0 3 03 3 0 4 04 4 0 5 05 5 0 6 06 6 0 7 07 7 0 8 08 8 0 9 09 9 0 10 0A 10 0 11 0B 11 012 0C 12 0 113 0D 13 0 14 0E 14 0 115 0F 15 1 0 10 16 1 1 11 17 1 2 12 18 1 3 13 19 1 4 14 20 1 5 15 21 1 6 16 22 1 7 17 23 1 8 18 24 1 9 19 25 1110 1A 26 1 11 1B 27 112 10 28 1113 1D 29 1114 1E 30 1115 1F 31 Addr Hex Dec 2 0 20 32 2 1 21 33 2 2 22 34 2 3 23 35 2 4 24 36 2 5 25 37 2 6 26 38 2 7 27 39 2 8 28 40 2 9 29 41 2 10 2A 42 2 11 2B 43 2 12 2C 44 2 13 2D 45 2 14 2E 46 2 15 2F 47 3 0 30 48 3 1 31 49 3 2 32 50 3 3 33 51 3 4 34 52 3 5 35 53 3 6 36 54 3 7 37 55 3 8 38 56 3 9 39 57 3 110 3A 58 3 11 3B 59 3 12 3C 60 3 13 3D 61 3 14 3E 62 3115 3F 63 Addr Hex Dec 4 0 40 64 4 1 41 65 4 2 42 66 4 3 43 67 4 4 44 68 4 5 45 69 4 6 46 70 4 7 47 71 4 8 48 72 4 9 49 73 4 10 4A 74 4 11 4B 75 4 12 4C 76 413 4D 77 4 14 4E 78 4 15 4F 79 5 0 50 80 5 1 51 81 5 2 52 82 5 3 53 83 5 4 54 84 5 5 55 85 5 6 56 86 5 7 57 87 5 8 58 88 5 9 59 89 5 10 5A 90 5 11 5B 91 5 12 5C 92 5113 5D 93 5 14 5E 94 5 15 5F 95 Addr Hex Dec 6 0 60 96 6 1 61 97 6 2 62 98 6 3 63 99 6 4 64 100 6 5 65 101 6 6 66 102 6 7 67 103 6 8
215. e fprint i5x5i5x515x515x5z PRD 0 PRD 1 PRD 2 PRD 3 return VAKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to convert an integer to a left justified zero filled 8 character string For example 123 becomes 00123 v and 34567 becomes 34567 me Input INTGER is the number to convert Output LJZF8ST is the string Modifies J K M M 10000 LJUZF8ST for J 1 to 5 K INTGER M LJZF8ST concat LUZF8STS chr K 30 INTGER M next J LJZF8STS return INTGER K M 10 concat LJZF8STS 10 11 10 3 Using the Network Interface Card The Bear Direct Network Interface card is actually a full microcomputer system that is programmed to act as the Bear Direct master unit or as another network slave allowing multiple PCs on the Bear Direct network It accepts commands from the personal computer s processor and performs the requested operation It installs in an ISA bus personal computer it can be installed in either an 8 bit or 16 bit card slot The network cable is plugged into the card s bottom 9 pin D connector The program BDSETUP EXE must be run on the personal computer to operate the Network Interface card It accepts command line parameters so it can be used with batch files for automatic system configuration It is used to initialize the Network Interface card set network operation parameters and display the network status Multiple command
216. e It transfers ength number of bytes starting at location in the Touch Memory Note that no range checking is performed on the location and length arguments It is possible to attempt to write beyond the end of the Touch Memory device This causes data to be lost since the data that won t fit in the Touch Memory is discarded This is not currently being implemented on the Boss Bear Example 100 INTEGER NDEV NUM ST 110 STRING IDS 80 DATS 30 200 NDEV TMSEARCH IDS Read device IDs 210 IF NDEV 0 THEN WAIT 50 GOTO 200 Loop if none found 220 FOR NUM 0 O NDEV 1 230 TMADDR MIDS 1D NUM 8 1 8 Set up ID to write to 240 DATS This is a test 250 ST TMWRITE DATS 73 Write to bytes 73 86 260 PRINT S 270 ST TMREAD DAT 73 14 280 PRINT ST DATS 290 NEXT NUM Related topics TMADDR TMSEARCH TMWRITE 8 157 TRACEON and TRACEOFF Statements Summary The TRACEON and TRACEOFF statements enable and disable the line number trace respectively Syntax TRACEON TRACEOFF Arguments TRACEON and TRACEOFF need no arguments Description TRACEON causes the line number of each line to print as it is executed the line numbers are printed on the current FILE device TRACEOFF disables the trace Example 100 INTEGER J 110 TRACEON 120 FOR J 1 TO 3 130 PRINT Number J 140 NEXT J 150 TRACEOFF 160 PRINT Done
217. e POKEd into memory However the assembly code must be relocatable and arguments must be passed using fixed RAM locations ie POKEd into FB00 CALL is very easy to use from the BASIC standpoint since arguments are passed as BASIC variables ie CALL A000 J A From the assembly standpoint though it takes several lines of code to get load and store the arguments especially if the code is written to D 2 handle all of the possible input combinations integers reals strings and being called with the wrong number of arguments SYSTEM is harder to use from the BASIC viewpoint since arguments must be stored in an integer array before executing the SYSTEM statement From the assembly viewpoint though this is very simple to program with On entry the registers hold the input values and whatever is in the registers when the RET instruction is executed is passed back to BASIC The following points are valid regardless of which method is used CODE CALL or SYSTEM e No registers need to be saved during the assembly routine e The Z180 alternate register set MAY NOT be used An attempt to use any of the alternate registers will almost certainly lock up the Boss Bear e There is a small amount of stack space available to the assembly routine it should limit its stack usage to 12 bytes not including the return address which is already on the stack D 3 Examples D 3 1 CODE Example The code statement lends itself to short routi
218. e 19 COM 2 Connector Pin Out To set the operating mode for COM2 two I O ports must be written to Port 1 controls the number of data bits stop bits and whether parity is enabled see Figure 17 I O port 3 controls the baud rate and even odd parity if port 1 setup has enabled parity see Figure 18 For example the code OUT 1 97 OUT 3 13 sets COM2 to operate at 300 baud no parity 7 data bits and 1 stop bit since parity is disabled OUT 1 97 OUT 3 29 will set the same parameters As another example OUT 1 99 OUT 3 20 will set 2400 baud 7 data bits odd parity and 2 stop bits JW1 is used to select between RS 232 and RS 422 485 modes RS 232 can connect two pieces of equipment using three conductor cable it is generally used for short distances up to 50 ft in environments that don t have much electrical noise RS 422 can connect two pieces of equipment using five conductor cable it can drive much longer distances up to 5000 ft and is more immune to noise RS 485 can connect up to 32 pieces of equipment in a multidrop network using three conductor cable it can also drive long distances in noisy environments 7 15 To operate COM2 in RS 422 mode the line driver must be put into transmit mode using the code OUT B 0 OUT A 10 this need only be done once at the beginning of the program When operating in RS 485 mode the line driver must be switched between transmit and receive mode in an RS 485 multidrop network only o
219. e INTERRUPT statement but INTERRUPT is much easier to use in general the only time that VECTOR will be used is when copying code supplied in a Divelbiss application note When VECTOR is executed the starting address of task is stored at laddr which should be a hardware interrupt vector address When the interrupt occurs task will be executed as an interrupt service routine Unlike INTERRUPT VECTOR does not provide any hardware support for the interrupt source specifically it does not automatically clear the interrupt Example 100 INTEGER X T RL RLH RLL INTS 110 PRINT Enter number of ints per second 5 to 2000 120 FINPUT U4 INTS 130 T 0 140 FILE 6 150 GOSUB 200 Initialize interrupt counter Write to the onboard display Set up timer interrupt 160 LOCATE 1 1 FPRINT U5Z T Display current count 170 GOTO 160 Loop forever 200 Set up timer 1 for specified interrupt rate T T 1 1 210 RL 6144000 0 20 0 INTS Calc reload value 220 RLH RL 100 Calc high byte of reload 230 RLL BAND RL SFF Calc low byte of reload 240 VECTOR E6 1 Set up timer vector to task 1 250 OUT 14 RLL OUT 15 RLH Init timer value 260 OUT 16 RLL OUT 17 RLH Init reload value 270 OUT 10 BOR INP 10 5 22 Enable timer 1 280 RETURN 1000 Timer interrupt task 1010 TASK 1 1020 X INP 10 X INP 14 Reset the timer 1 interr
220. e circuit When RES is routed to the GATE RESET control line a pulse on RES will cause the counter hold its current value disregarding A and B or reset to 0 depending upon the software configuration of the circuit The RES input can be configured using JW13 to connect to ground or to connect to the LDCNT LDLATCH control line It can be connected to ground for ease of wiring the reset line a sensor can be attached across RES and RES If it is connected to the LDCNT LDLATCH control line then RES can be connected to GATE RESET allowing full access to the counter control signals In this configuration a single input signal can be wired to latch the current counter value into the output latch and then reset the counter value to 0 7 4 Figure 9 Internal Counter Logic When the counter value matches the value stored in the input latch the comparitor will assert the high speed output and also send an interrupt signal to the processor These signals stay active until the processor resets each of them with the appropriate control line RES_OUT and RES_INT RDCNTR can reset the high speed output The interrupt signal can be reset with OUT 40 1 although the INTERRUPT statement resets it automatically The output circuit is open collector Figure 10 shows two ways to use the output Load Solid State Output Figure 10 Using the Counter Direct Output 7 5 The counter inputs A B and RES are designed to be used wi
221. e latest counter value COUNT from the last interrupt it also increments and displays J just to cause some action on the display Lines 300 to 350 form task 1 the interrupt handler it reads the current counter value and updates the reload value Lines 400 to 440 form task 2 which turns off the high speed output about 1 2 second after it is turned on In task 1 the first thing that it does is read the current counter value At low pulse rates this will be the same as RELOAD since it is reading the same value that caused the interrupt As the pulse rate increases however the counter will increment before the task 1 gets to read the counter At avery high pulse rate a problem will occur when the counter has already gone beyond the new RELOAD value before RELOAD is written to the counter ie COUNT 783 and RELOAD 780 this effectively stops the interrupt since the counter will need to wrap completely around before the interrupt will occur again 100 Program to demonstrate the high speed counter interrupt 110 INTEGER J RELOAD COUNT T2TEMP 120 CNTRMODE 1 4 A count B direction 130 WRCNTR 1 0 0 Set count to 0 140 RELOAD 10 COUNT 0 150 WRCNTR 1 1 RELOAD Set counter interrupt value 160 INTERRUPT 1 1 1 Set counter interrupt to task 1 170 J 0 180 FILE 6 Output to onboard display 200 Main program loop 210 LOCATE 1 1 220 FPRINT U5X5U5Z J COUNT 230 J J 1 Increment
222. e of the keypad buttons can be used as a jog button The keypad is accessed when addris 256 100 the INTEGER returned is the key number same thing returned by KEY When the KEY function is used to read the keypad it has an autorepeat delay which makes it hard to determine how long a button has been pressed DIN just returns the status of the keypad at the current time disregarding the autorepeat logic DIN reads the keypad regardless of what the current FILE is unlike KEY which only reads the keypad if a FILE 6 statement has been executed Examples 100 Program to read all 16 inputs on I O page 3 110 INTEGER J K 120 FOR J 30 TO 3F 130 K DIN J 140 PRINT J K 150 NEXT J 100 Program to display the current keypad status 110 INTEGER J 120 LOCATE 1 1 130 FPRINT 1I3Z DIN 100 140 GOTO 120 Related topics DOUT BBOUT BBIN Chapter 7 KEY Chapter 5 DIR Direct Command Summary The DIR direct command displays a list of files contained on the user s EPROM Syntax DIR Arguments DIR needs no arguments Description DIR displays a list of files stored on the EPROM that is currently in the EPROM programming socket It displays the file name file number files are numbered sequentially file type source or code and file size truncated to the nearest KB It also displays the amount of free space on the EPROM truncated to the nearest KB Example Related t
223. e programs executing on the same processor Bear BASIC supports 32 tasks numbered 0 to 31 Since task 0 is always present the first user task is number 1 Tasks must be numbered sequentially starting with 1 an error will be generated if a TASK statement is found out of order 5 1 1 RUN and EXIT Statements The example above shows the simplest situation in which two tasks run continuously each getting about 50 percent of the processor s time In many cases the programmer needs more control of the task execution the RUN EXIT WAIT CANCEL and PRIORITY statements provide this control by causing task execution to be started stopped and postponed The following example is a modification of the previous example it shows the use of the RUN and EXIT statements 100 RUN 1 2 Start task 1 executing resched 2 110 PRINT Task 0 prints vertical bars 120 GOTO 110 Loop forever 200 TASK 1 Declare following code to be task 1 210 PRINT _ Task 1 prints an underscore 220 EXIT The RUN statement in line 100 starts task 1 executing with a reschedule interval of 2 This means that when task 1 executes an EXIT statement it will be rescheduled to begin execution again in 2 ticks Since task 1 just prints a single character it is finished in about 1 millisecond When it executes the EXIT statement in line 220 task 1 is stopped and scheduled to start again in 2 ticks The context switcher lets task O run for the rest of the tic
224. e real numbers are constructed by using powers of 2 the value 0 1 cannot be exactly represented It can be represented very closely within 2 but it will not be exact Therefore it is very dangerous to perform 3 5 a direct equality operation on a real number The statement IF A 0 123 assuming A is real will only pass the test if the two values are exactly equal a case which rarely occurs This is true for all real relational operators including for example the statement IF A gt B if values very close to the condition being measured are being used Be aware that the number you expect may not be exactly represented by the compiler If necessary use a slight tolerance around variables with relational operators 3 5 Operators Operators are connectors within expressions that perform logical or mathematical computations These operators work both with integer and real numbers addition subtraction 7 multiplication division Some operators are relational They generate a nonzero result if their condition is met the nonzero value is unspecified ie it isn t necessarily 1 or 1 as in many languages These operators may be used in mathematical expressions but they are more frequently used with IF THEN statements gt greater than lt less than lt gt or gt lt not equal to relational equality test gt greater than or equal integers and reals lt less than or equal integers and reals AND logical AN
225. e that someone who is VERY SHORT could have a height which is less than 5 SHORT may vary from 4 6 to 5 6 AVERAGE from 5 to 6 TALL from 5 6 to 6 6 and VERY TALL anybody who is greater than 6 Note that each description 1 3 involves a range of heights and all of the different descriptions actually overlap To draw this out graphically each of our five fuzzy sets might look like Figure 61 The horizontal axis of Figure 61 is the input values and the vertical axis is the degree of membership having values between 0 and 1 Take as an example someone who is 5 10 in height In reality that person is somewhat AVERAGE and somewhat TALL According to Figure 61 if you were to draw a vertical line at 5 10 you would intersect lines belonging to fuzzy sets AVERAGE and TALL at around 0 4 and 0 6 respectively Such an individual according to our fuzzy sets belongs to the set of people described by AVERAGE and TALL This is the way in which all inputs and outputs of a Fuzzy Control block are handled The inputs outputs are identified divided into subgroups fuzzy sets and given names One thing to note is that the triangular shapes of the fuzzy sets in Figure 61 may be replaced by other common shapes such as a bell and trapezoid However throughout this document all fuzzy sets will be addressed as triangles because that is the shape available when using the FUZZY statement to be described in detail later VS S AVG T VT Degree of M
226. e used to modify the input data before pressing enter In a multitasking program other tasks will continue executing while this task is waiting for input multiple tasks can even execute INPUT at the same time on different FILEs INPUT is particularly well suited to reading data that is being sent over one of the serial ports if data is to be entered by the user then FINPUT will probably work better If multiple variables are specified then multiple data values can be entered separated by commas For example INPUT J k x will accept 4 12 3 76 as a valid input Note however that it does not verify that the correct number of values was entered with the previous example if 10 8 were entered then X would retain its original value since no new value was entered Likewise if 3 4 10 32 8 were entered then the 8 would be thrown away since there is no variable for it to be assigned to J would be set to 3 K to 4 and X to 10 32 and no error would be generated If variable is a string then commas and control characters cannot be read by INPUT Commas are used as delimiters between input data values if necessary the INPUT statement allows commas and most control characters to be entered If variable is an integer or real and a string is entered then the error message Bad Input Please Re enter will be displayed and it will wait for another value to be entered Note that this could make a mess out of the screen display if the input is
227. e word as an INTEGER PEEK and WPEEK are similar except that WPEEK reads a word 2 bytes while PEEK only reads a byte Normally this reads from the 64KB address space that the BASIC program is running in However DEFMAP can be used to allow access to the entire 1MB physical address space see DEFMAP for a complete explanation Example 100 INTEGER J K 110 WPOKE A000 1234 Write a 1234 into A000 120 PRINT SA000 WPEEK A000 130 J 0 K 500 140 PRINT WPEEK ADR RK Print the value of K This produces the following output when run A000 4660 500 Line 120 prints A000 4660 because 4660 is the decimal equivalent of 1234 Line 140 reads the variable K by WPEEKing the address of K Related topics WPOKE POKE PEEK EEPOKE EEPEEK DEFMAP 8 163 WPOKE Statement Summary The WPOKE statement writes an integer word value to the specified address Syntax WPOKE logadadr value Arguments logadar an integer expression The logical address to write to value an integer expression The value to write Description The WPOKE statement writes a word value into memory at logaddr POKE and WPOKE are similar except that WPOKE writes a word 2 bytes while POKE only writes a byte Normally this writes into the 64KB address space that the BASIC program is running in However DEFMAP can be used to allow access to the entire 1MB physical address space see DEFMAP for a compl
228. ect number of fuzzy sets Tuning of a Fuzzy Logic controller involves modifying any or all of the four listed items above until acceptable system behavior is obtained The first two items being incorrect typically results from a lack of understanding of the overall system prior to the implementation of the controller Without the correct process logic the system cannot respond as desired Having incorrect inputs and or outputs sometimes results because other factors are more important in the system than they appear at first Generally speaking it is easier to change the process logic than the inputs and outputs because the latter may involve changing the overall system design including hardware Thus understanding what needs to flow into and out of a Fuzzy Logic controller is critical from the outset of a design The last two items being incorrect could result because of a lack of understanding of Fuzzy Logic fundamentals As described in section 1 1 1 3 Selecting Fuzzy Set Values it is not uncommon to be overly aggressive in selecting fuzzy set values Being too aggressive with these values from the outset can result in unstable or erratic operation of the control system Thus it is generally a good practice to be very conservative in the initial implementation of the controller and tune the system up for more aggressive response after the initial implementation This involves increasing the values for what might be considered 1 10 SMALL etc
229. ecuted it automatically turns interrupts back on ie simulates an INTON This feature is needed by hardware device interrupt handlers to insure that the device interrupt handler can return just as interrupts are re enabled Example 100 INTEGER J K 110 PRINT Press any key to stop 120 J 0 RUN 1 100 130 K GE 140 CANCEL 1 150 PRINT Wait 2 seconds WAIT 200 160 STOP 200 TASK 1 210 PRINT J 220 J J 1 230 WAIT 50 240 PRINT CHRS 13 250 EXI Related topics RUN CANCEL STOP Chapter 5 8 52 Start task 1 with 1 sec reschedule Wait for a key Cancel task 1 Wait for it to stop Halt the program Wait for 5 seconds Stay on same line print CR Abort task go get rescheduled EXMOD Statement Summary The EXMOD statement is used to communicate with any of the intelligent expander modules Syntax EXMOD port st numbytes Arguments port expansion port number 3 4 or 5 corresponding to J3 J4 or J5 si string containing data to transfer to the module If we are reading from the module then the return data will be passed back in this string also numbytes this parameter is only specified when reading from the module It is the number of bytes to be returned back from the module Description Some of the Divelbiss I O expander modules are classed as intelligent expanders which means that they are a complete microprocessor system th
230. ed count register The counter channels are assigned based on the hardware available on the Boss Bear channel 1 could be the onboard counter or in any of the expansion ports if there is no onboard counter The order of precedence for assigning counter channels is onboard counter followed by J3 followed by J4 followed by J5 The counter automatically wraps around when it reaches the 24 bit limit SF FFFFF When it is read as an integer value it will wrap from 32767 back to 32768 or from 32768 to 32767 if counting down When it is read as a real value it will wrap from 8388607 0 to 8388608 0 or from 8388608 0 to 8388607 0 if counting down Care must be exercised when accessing the counter using real values because the roundoff error associated with real numbers may affect the operation of the counter If real values are to be used then it will be simpler if the counter is not allowed to go above about 4000000 0 or below about 4000000 0 for instance the counter should be set to 0 periodically such as at the end of a batch or the end of a shift 8 127 Examples 100 INTEGER COUNTI REAL COUNTR 120 CNTRMODE 1 4 A count B direction 130 WRCNTR 1 0 65500 0 Set count to 65500 140 Main program loop 150 RDCNTR 1 0 COUNTI Read current count as integer 160 RDCNTR 1 0 COUNTR Read current count as real 170 PRINT COUNTI COUNTR 180 WAIT 10 GOTO 150 This example demonstrates reading counte
231. ed for approximately 10 years without power The battery H 17 backed up RAM is most suitable for values that change often such as production information When a BASIC program is started the RAM is not modified except by the BASIC program itself This means that the variables will all have the same values that they held when power was removed Note that every time the UCP is turned on the compiler is initialized which deletes the BASIC source code This does not affect the runtime memory area so the variable values will be unchanged This allows the programmer to leave information in BASIC variables it will be retained while the UCP is without power H 7 Automatically Running a Program On Power Up When the UCP is powered up it will automatically run the last program code that was saved to flash EPROM If no code is found on the flash EPROM then it will run the compiled code in RAM if there is any To prevent the UCP from automatically running a program on power up press the cear key while power is being turned on this will cause the UCP to issue the command line prompt and wait for a command to be entered If the CLEAR key is held down while the BYE command is entered the UCP will go straight to the command line A CTRL C received on File 0 within the first second will function the same as the Clear key H 8 Flash EPROM The UCP uses flash EPROM to store the user s source code and compiled programs Unlike an EPROM which is erase
232. edule the task when it next executes an EXIT statement This example also shows an important point about task timing below a certain resolution it is unpredictable In the sixth line of the output an extra character is printed because of slight timing variations in the program execution and the serial port This point will be brought up several times as it is extremely important 5 1 4 PRIORITY Statement 5 5 Sometimes one task needs to exclude the other tasks from executing For example a task may be performing a time critical section of code and needs to guarantee that the context switcher won t switch to other tasks in the middle of this code causing an unacceptable delay The PRIORITY statement provides a solution to this problem When the context switcher is choosing the next task to execute it will execute the highest priority task that is ready to run The task that has the highest priority will continue to execute until it hits a WAIT statement or an EXIT statement or until it resets its priority level low enough to allow another task to run If the highest priority task doesn t WAIT EXIT or reset its priority then no other task will get a chance to execute The priority level of each task is set to 0 when the program begins executing causing the tasks to be executed in a round robin manner until PRIORITY statements are used to set higher priorities The priority level ranges from 0 through 127 with a higher number indica
233. eives messages over the network lt returns an error code Syntax ercode NETMSG messagef rdwr unit Arguments message if rdwris 0 then message is a string expression this string will be sent to the specified unit If rdwris 1 then message is a string variable if a message is available in the receive buffer then it will be returned in message rdwr an integer expression that evaluates to 0 or 1 0 indicates that the message is to be sent to another unit while 1 indicates that a message should be read from the network buffers if one is waiting unit if rdwr is 0 then unitis the network address of the unit to send the message to and should be an integer expression that evaluates between 0 and 255 If rdwr is 1 then unit is an integer variable that will be set to the network address of the unit that sent the message Description The NETMSG function performs two different but related functions it sends messages over the network and retrieves messages that have arrived over the network In both cases it returns an integer error code that indicates the success or failure of the operation To send a message to another unit the message is assembled into a string then the string is sent with NETMSG message 0 unit which will wait until a response is received or until it times out in approximately 5 seconds It returns a 0 if the message was successfully transferred or a 1 if a timeout error occurred Any incomin
234. embership 4 6 5 5 6 6 6 6 Input Height Feet VS Very Short S Short AVG Average T Tall VT Very Tall Figure 61 Membership Functions for Input Height 1 1 1 2 Process Logic The next step in Fuzzy Logic processing is to operate on the fuzzified input with process logic This logic is the rules which guide the operation of the control system and are entered by you the expert of the system All process logic is in the form of IF THEN statements An excellent real world example is the way in which we operate the accelerator of a car Consider that our desire is to maintain the speed of the car at 55 MPH A couple of typical rules which might govern the way we think are 1 4 IF OUR SPEED ERROR IS POSITIVE SMALL AND OUR RATE OF CHANGE IS NEGATIVE SMALL THEN CHANGE THE ACCELERATOR ZERO IF OUR SPEED ERROR IS NEGATIVE LARGE AND OUR RATE OF CHANGE IS ZERO THEN CHANGE THE ACCELERATOR POSITIVE LARGE In other words Rule 1 is saying that the car is going a little faster than we want but we are decreasing in speed so don t change anything Rule 2 suggests that we are going much slower than we would like and not currently increasing or decreasing in speed so punch on the accelerator This simple example clearly shows that a system to control the accelerator of a car would require a minimum of two 2 inputs and one 1 output The inputs would be the current speed error and the rate of change of spee
235. en the line INTEGER J FINPUT F3 2 J was executed a problem occurred if a number starting with a decimal point ie 34 is entered The system would print the Bad input please re enter message This has been fixed It would accept a line numbered 0 but the compiler didn t handle it correctly The parser has been changed to give an error if line 0 is entered Interrupts are now left enabled while converting a real number to a string The SETOPTION DAC direct command was added to allow the DAC channels to be initialized at reset The ADC function uses channels 1 through 12 for both the onboard 10 bit A D and the onboard 12 bit A D Version 2 03 Additions and Modifications Version 2 03 was released on July 14 1992 G 6 The network handler now supports more network registers There is now about 20K of space available for storing network registers which allows up to 10000 integer registers 5000 real registers or 485 string registers This is useful for downloading recipes using Lotus 123 and FACTORY by making a huge spreadsheet containing all of the configuration data and sending it with WRITE functions The SETOPTION DAC direct command was modified so that it only initializes the DAC on power up not when a BASIC program stops or when chaining between programs Version 2 03 Anomalies The contrast adjustment on the LCD versions doesn t work correctly while a program is running This happens when a program wri
236. ent should not be used if the task is already executing This will cause the task to be restarted at the beginning regardless of where it is currently executing This would cause erratic operation of the task Examples 100 RUN 1 100 Start task 1 running resched once second 110 GOTO 110 Loop forever 200 TASK 1 210 PRINT Task 1 running 220 EXIT Line 100 sets up task 1 to start running with a reschedule interval of 100 tics or once per second The main program then sits in a loop forever When task 1 runs it prints a message then EXITs which causes it to be rescheduled for 100 tics later 100 RUN 1 100 Start task 1 running resched once second 110 GOTO 110 Loop forever 200 TASK 1 210 PRINT Task 1 running 220 GOTO 210 Loop and print again The difference between this example and the previous one is in line 220 In the second example task 1 doesn t EXIT but instead just loops and prints the message again Since it doesn t EXIT the reschedule interval has no effect so line 100 could have just been RUN 1 Related topics EXIT CANCEL 8 138 SAVE Direct Command Summary The SAVE direct command saves the BASIC source or compiled code that is in memory to the user s EPROM Syntax SAVE CODE filename Arguments filename a text string up to 10 characters long The filename to be stored on the EPROM The name will be stored in uppercase even if it is entered in lowercase Description
237. er a CANCEL statement is encountered the priority level for that task is dropped to 0 This yields faster context switching Example 8 124 100 RUN 1 10 110 RUN 2 20 120 GOTO 30 130 TASK 1 140 PRIORITY 3 150 PRINT Task 1 160 EXI 170 TASK 2 180 PRINT Task 2 190 EXI This program shows task 1 issuing a PRIORITY 3 This means that if this task is ready to run and if task 2 is also ready then task 1 will execute first and will continue to execute until it is complete When it is done task 2 will run since task 1 has been told to wait 10 tics via the RUN statement in line 10 before starting again Related topics EXIT WAIT CANCEL 8 125 RANDOMIZE Statement Summary The RANDOMIZE statement reseeds the random number generator Syntax RANDOMIZE Arguments RANDOMIZE needs no arguments Description The RND function generates pseudo random numbers which means that they are generated by a mathematical algorithm This algorithm starts with a seed number the first call to RND returns a number that is based on this seed Each succeeding number is based on the previous number and becomes the new seed The RANDOMIZE statement changes the seed value by reading the processor refresh register which provides a constantly changing value Example 100 INTEGER J 110 RANDOMIZE Reseed the random number generator 120 FOR J 1 TO 20 130 FPRINT U2X3U5 J RND Print 2
238. er is running TMDR must be read low byte followed by high byte If the counter is not running TDE is 0 then TMDR can be read in either order TMDR can be written in either order but the counter must be inhibited using the TDE bit Timer Reload Register PRTO and PRT1 each have a 16 bit Timer Reload Register RLDRO I O address OEH and OFH and RLDR1 I O address 16H and 17H When TMDR counts down to O it is automatically reloaded with the contents of RLDR Timer Control Register TCR is used to monitor and control the operation of both PRT channels C 9 TCR I O Address 10H CAPA A sist E E E TIFO TIEO Toco TDE1 TDEO pa r aw pw ew aw rw rw TIF TIFO TIE TIEO TOC1 0 TDE1 TDEO Timer Interrupt Flag 1 When TMDR1 decrements to 0 TIF1 is setto 1 This can generate an interrupt request if enabled by TIE TIF1 is reset to 0 when TCR is read and then either byte of TMDR1 is read Timer Interrupt Flag 0 When TMDRO decrements to 0 TIFO is set to 1 This can generate an interrupt request if enabled by TIE TIFO is reset to 0 when TCR is read and then either byte of TMDRO is read Timer Interrupt Enable Flag 1 When TIE1 is set to 1 TIF1 will generate a CPU interrupt request When TIE1 is cleared to 0 the interrupt request is inhibited Timer Interrupt Enable Flag 0 When TIEO is set to 1 TIFO will generate a CPU interrupt request When TIEO is cleared to 0 the interrupt request is inhibited
239. ered PRIORITY takes one argument which is the relative priority level for that task The larger the number the more important the task is These numbers may range from 0 to 127 Therefore 0 is least important and 127 is most important Note that Bear BASIC assumes all tasks run at priority level 0 if no PRIORITY statement is issued In a multitasking program with no PRIORITY statements each task is executed in a round robin fashion This means that upon receipt of a tic Bear Basic stops running the current task and starts running the next sequential task if it is ready to be run PRIORITY can be used to alter this sequence Whenever a tic is received Bear Basic examines the priority levels of all tasks that are ready to execute The first highest priority task is then run This means that if task 1 is level 2 task 2 is level 3 and task 3 is level 3 then task 2 will run until it completes If all the tasks have the same priority level than the lowest number task that is ready to run will continue to run until it relinquishes control by executing EXIT WAIT INPUT etc If the task with the highest priority level does not EXIT or WAIT then it will use all of the computer time effectively disabling multitasking until it EXITs goes into a WAIT or reduces its priority level Bear Basic reevaluates the priorities on each tic so tasks can dynamically change their level and the compiler will alter the scheduling as demanded Whenev
240. es GET could cause the system to lock up Example 100 Program to get keys from the console and the keypad 110 INTEGER J K 120 FILE 0 GOSUB 200 Read keys from the console 130 FILE 6 GOSUB 200 Read keys from the keypad 130 STOP 200 Subroutine to get 5 characters from the current file and 210 echo them back 220 FOR J 1 TO 5 230 K GE 240 PRINT K CHR K 250 NEXT J 260 RETURN Related topics KEY INPUT INPUT FILE 8 69 GETDATE Statement Summary The GETDATE statement retrieves the current date from the Real Time Clock Syntax GETDATE month day year wday Arguments month an integer variable The month is stored in this variable The months are represented as 1 Jan 2 Feb 12 Dec day an integer variable The day of the month is stored in this variable The days are represented as 1 31 year an integer variable The year is stored in this variable The years are represented as 0 99 wday an integer variable The day of the week is stored in this variable The days are represented as 1 Sunday 2 Monday 7 Saturday On the UCP this value is always returned as 0 Description GETDATE reads the current date from the Real Time Clock Note that the Real Time Clock is an option on the Boss Bear GETDATE takes about 200 microseconds to execute UCP The UCP uses a Touch Memory device for the real time clock The GETDATE statement takes about 150
241. es in a BASIC program This frees the programmer from having to check whether the chosen location is still unused after making each program change In the Boss Bear however it is usually easier to store the code at FBOO If more than one assembly routine is being used then it is a good idea to build a jump table to provide indirect access to each routine This will allow the assembly language code to be modified without requiring that the addresses be changed in the BASIC program For example if a program has four assembly language routines stored in the FBOO region then the first 12 bytes would contain the jump table ORG SFBOO JP ROUTINE_1 JP ROUTINE_2 JP ROUTINE_3 JP ROUTINE_4 ROUTINE_1 Code for assembly routine 1 goes here To call the second routine ROUTINE_2 the BASIC code could execute carr sFB03 This way regardless of where ROUTINE_2 ends up being stored the BASIC code won t need to be changed D 2 Calling an Assembly Routine Once the assembly code is loaded in memory but not before it can be called from BASIC with the CALL or SYSTEM statements If the code is stored inline using the CODE statement then it doesn t need to be called since it will be executed when BASIC gets to that line during execution Each method of calling subroutines CODE CALL and SYSTEM has different strengths and weaknesses CODE is the simplest to use from the BASIC standpoint since the code doesn t have to b
242. ese examples are referred to throughout this chapter The examples show the main network operations that are useful in a production monitoring system uploading current production values uploading values when data is available at the Boss Bear product totals in the example and uploading values when the central master computer needs them shift totals in the example The first example referred to as NETDEMO1 BAS will be used in this chapter with a Lotus 123 spreadsheet section 10 4 The second example referred to as NETDEMO2 BAS will be used with the BearLog data logging TSR section 10 5 10 2 1 Network Register Example This program demonstrates how to transfer data using only the network registers A problem occurs when a block of data must be transferred a flag register must be used to indicate that the entire block of data is valid This is necessary so that one unit doesn t read part of the block while the other unit is updating the block which would cause incorrect information to be transferred In this program the PC must continually read integer register 0 10 to see if new product data is available If 10 is 1 then the PC must read 11 through 14 which contain the totals for the product and then set 10 back to 0 At the end of the shift the PC must write a 1 to 110 to tell the Boss Bear that the shift totals are needed The Boss Bear checks 110 periodically when it sees 110 set to 1 it will put the current shift tot
243. esets this flip flop INT2 is masked when a DI instruction is executed which disables all maskable C 4 interrupts or by clearing the ITE2 bit in the ITC register When a low level is applied to the INT2 line the current PC is pushed onto the stack and execution commences at the logical address that is found at location OOE2H ie it is an indirect reference The INT2 service routine should end with the El instruction followed by RETI so that the interrupts are re enabled Internal Interrupts The internal interrupts except for TRAP use the same vectored response mode as INT1 and INT2 When one of the interrupt conditions occurs the current PC is pushed onto the stack and execution commences at the logical address that is found at the corresponding vector location between OOE4H and OOFOH The interrupt service routine should end with the El instruction followed by RETI so that the interrupts are re enabled The internal interrupts are described independently below C 4 Asynchronous Serial Communications Interface The two independent ASCI channels on the Z180 are configurable to cover the majority of asynchronous serial interface possibilities Each channel is double buffered and has its own configuration registers ASCI Transmit Data Register 0 1 Data is written into TDRO I O address 06H or TDR1 I O address 07H to be sent over the corresponding serial channel The data is moved from this register into a shift register to be
244. ete explanation Example 100 INTEGER J K 110 WPOKE A000 1234 Write a 1234 into A000 120 PRINT SA000 WPEEK A000 130 J 0 K 500 140 WPOKE ADR K J Write a 0000 into low byte of K 150 PRINT K This produces the following output when run A000 4660 0 Line 120 prints A000 4660 because 4660 is the decimal equivalent of 1234 Line 140 stores a 0 into the variable K Related topics WPEEK POKE PEEK EEPOKE EEPEEK DEFMAP 8 164 WRCNTR Statement Summary The WRCNTR statement writes the count value into the high speed counter Syntax WRCNTR chan flag expr Arguments chan an integer expression between 1 and the number of counter channels installed This is the counter channel to write to flag an integer expression of 0 or 1 This determines whether to write to the actual counter or to the compare register O to write to both the actual counter and the compare register 1 to write to only the compare register expr a numeric expression The count value to be stored If itis an integer then it will be sign extended to fit into 24 bits If it is a real then all 24 bits will be stored Description The counter hardware has an actual count register and a compare register WRCNTR is used to write a value to these registers In order to write to the actual count the value is also written into the compare register which means that the actual count should always be se
245. f frustration later 4 10 Many different techniques can be used to lay out the structure of a program such as flow charting data flow diagrams state descriptions etc Each of these has been the focus of entire books and so won t be discussed in detail here Primarily the structure of a program depends upon two things determining which actions must be performed sequentially one following another and determining which actions must be performed concurrently taking place at about the same time Drawing a state diagram will point up any concurrency issues in a design The example program can be divided into 8 main states of operation Some of these states could be broken down again into another level of state diagrams but for a simple program like this one it won t be necessary Here are the main states 1 Program initialization Set up the program variables and system hardware prior to performing any control functions Unless problems are detected which prohibit the system from being used this goes to state 4 Running a product roll Using the specified product length calculate the motor ramping parameters Ramp the motor speed up to the preset operating speed run until it reaches the ramp down point and ramp the motor speed down to a full stop Cut the product by enabling the Knife output for 200 msec Drop the product onto the conveyor belt Drop a new core into position This goes to state 3 Update current production data If n
246. for 1 second H 24 ON BOARD ISOLATED INPUT OUTPUT CIRCUIT DIAGRAMS INPUT INPUT CIRCUITS HDIO 1 02 03 04 2K ISOLATED INPUTS WIRING DIAGRAMS SINKING INPUT SOURCING INPUT DEVICE SOURCING INPUT SINKING INPUT DEVICE DC ISOLATEL INPUTS Y DC ISOLATEL INPUTS OUTPUT QUTPUT CIRCUITS HDIO 01 03 05 OPTO COUPLER ISOLATED OUTPUT CIRCUIT SINKING OUTPUT POWER SUPPLY DC SOURCING OUTPUT DC PONER SUPPLY C PL x CONNECTOR 6B FOR I O 8 127 x COM 1 COM 2 FILE 0 FILE 9 W_Divelbiss PN Se we e one Poe re SERIAL Hass Laa ees Set LS 2 o 2 0 PA E E aie enay a 1 1 ATA a Hays me o 3 3 AR ra ees INPUTS OUTPUTS 10 30VDC 10 30VDC 1 AMP Figure 58 Digital l O Board Back Panel Detail 4 In 4 Out H 26 H 27 Appenalx Using Fuzzy Logic l 1 Fuzzy Logic Fundamentals 2 Using the Fuzzy Statement I 3 Applications and Examples of Fuzzy Logic 1 4 Conclusion This document describes using Fuzzy Logic with the Universal Control Panel UCP and Boss Bear Fuzzy Logic as described in this document is a methodology for using the know how of experts in the implementation of control systems In its most basic form Fuzzy Logic is based onrigorous mathematical theory involving numerous calculations Superior resul
247. for approximately 200 msec after both optical sensors show that the roll has moved Core hopper gate output This is a discrete output that causes the upper gate to open allowing the core to fall into place This output can turn off as soon as both optical sensors show that the core is in place RUN pushbutton input This is a discrete input attached to a momentary pushbutton mounted near the operator s position Emergency stop pushbutton input This is a discrete input attached to a push pull switch near the operator s position Other poles of the emergency stop switch are connected to hardware failsafe systems this input just informs the Boss Bear that the system has been stopped input values Product number This is an integer number 0 9999 which the operator enters at the start of a product run Operator number This is an integer number 0 999 which the operator enters at the start of the shift Input roll length This is an integer number 0 9999 which the operator nters when a new input roll is mounted on the machine It is the length of the input roll in yards Batch number This is an integer number 0 999999 which the operator enters at the start of a new batch Downtime code This is a number entered by the operator when the machine is stopped for more than 60 seconds The operator will be prompted for the following downtime codes Maintenance break time input roll loading and machine jam Displ
248. for example B 80 If no string length is specified a string length of 20 will be assigned The maximum allowable string length is 127 String arrays are defined by specifying the length of each element followed by the number of elements in the array STRING A 10 20 specifies 20 strings each of length 10 Any element can be accessed just like a singly dimensioned array A 3 123 assigns a value to the third element of the string array Subscripted variables are specified within the INTEGER and REAL statements Note that subscripted variables start with the zero dimension and extend to the maximum dimension specified Therefore the statement INTEGER A 10 defines a variable with eleven members A 0 through A 10 Integer variables are stored using a sixteen bit two s complement representation An integer value can range from 32 767 to 32 768 Positive values which exceed 32 767 will appear as negative numbers Real values are four byte 32 bit IEEE compatible single precision real numbers This means that approximately 6 5 digits of precision are maintained for real numbers ie numbers between 3 4028235x10 Many BASIC interpreters and compilers use BCD mathematics or 64 bit representations resulting in high accuracy numbers that require lots of memory Bear BASIC does not support either of these in the interest of maximizing speed The user must be aware that a real number may not be exactly the number anticipated For example sinc
249. from a network register into a BASIC variable There are three sets of network registers INTEGERs REALs and STRINGs the number of each of these is set up with the NETWORK 0 statement Each group of registers is numbered starting at 0 for example if there is a NETWORK 0 1 25 15 5 ST Statement then there are 25 INTEGER registers numbered 0 to 24 15 REAL registers 0 to 14 and 5 STRING registers 0 to 4 If an attempt is made to read outside of these ranges then an error will be returned for example NETWORK 4 0 30 3 sT would return an error ST will be nonzero because only 25 INTEGER registers were declared above Example 100 INTEGER J K ST 110 NETWORK 0 1 20 30 0 ST Initialize the network 120 IF S HEN PRINT Init Error 130 FOR J 0 TO 19 140 NETWORK 4 0 J K ST Read registers 0 19 150 PRINT J K 160 NEXT J Related topics NETWORK 0 NETWORK 1 NETWORK 2 NETWORK 3 Chapter 10 8 112 NEW Direct Command Summary The NEW direct command erases the program currently in memory Syntax NEW Arguments NEW needs no arguments Description NEW erases the BASIC source code that is currently in memory It enables runtime error checking clears the duplicate line numbers flag and erases the compiled code Related topics ERROR DOWNLOAD GO 8 113 NEXT Statement Summary The NEXT statement marks the end of a FOR NEXT control structure Syntax NE
250. g messages are received and buffered by the low level network handler NETMSG message 1 unit will return a O if no message is waiting in the buffer It will return a 1 if there is a message the message will be returned in message and the number of the unit that sent the message will be returned in unit Examples 100 INTEGER J K 110 STRING NMS 127 200 Initialization 210 NETWORK 0 1 1 1 1 J 220 IF J lt gt 0 THEN PRINT Network initialization failed STOP 300 Send a message to unit 2 310 NMS CHRS 0 Message type 0 320 NMS CONCATS NMS MKSS 20 0 Send the value 20 0 330 J NETMSG NM 0 2 Send the message to unit 2 340 IF J lt gt 0 THEN PRINT Network send error STOP 400 Now wait for a response 8 102 410 420 430 440 J NETMSG N 1 K IF J 0 THEN GOTO 410 i IF K lt gt 2 TH EN GOTO 410 j PRINT Response CVS MIDS NMS Loop if no response yet Loop if not from unit 2 2 4 The program above is run on one Boss Bear on the network It initializes the Boss Bear to be unit number 1 sends a message that consists of the number 20 0 and then waits for a response to arrive The following program is run on another Boss Bear on the network to generate the response to the program above 100 110 120 200 210 220 300 310 320 330 400 410 420 430 440 450 460 EGER ING I 1X nitia
251. h to hold both 110 AS This is one string 120 BS and this is another 130 AS CONCATS AS BS 140 PRINT lt A gt Related topics Chapter 3 COS Function Summary The COS function calculates the cosine function Syntax x COS expr Arguments expr a numeric expression Description The COS function returns the cosine of its argument which must be a numeric expression in degrees The result is returned as a REAL value Example 100 REAL X Y 110 PRINT COS 45 0 120 X 68 3 130 Y COS X 140 PRINT Cosine value of X is Y This produces the following output when run 70711 Cosine value of 68 29999 is 36975 Related topics ACOS SIN ASIN TAN ATAN CVI Function Summary The CVI function converts a binary string to an integer Syntax x CVI st Arguments st a string expression Description CVI performs the opposite function of MKI it takes the first two bytes of a string and returns them as an integer value See MKI for a full explanation of binary strings Example 100 STRING A 110 AS MKIS 1234 120 PRINT CVI AS This produces the following output when run 1234 Related topics MKI CVS MKS CVS Function Summary The CVS function converts a binary string to a real Syntax x CVS st Arguments st a string expression Description CVS performs the opposite function of MKS it takes the first four bytes of a string
252. hannel 1 is attached to a motor controller which accepts a 0 to 10 VDC input each 1 VDC corresponds to 100 RPM ie 3 4 VDC is 340 RPM Line 130 converts the speed given in RPMs to the DAC value necessary to set the motor controller speed Since the DAC statement works with integer values it seems reasonable that MOTOR should be an integer SPEED is a real so we want the calculation to be handled using real numbers result 767 25 the result should be truncated and stored in MOTOR 767 Unfortunately when Bear BASIC evaluates the parenthesis it converts the result at that point 7 50 to an integer 7 and then evaluates the rest of the expression in integer mode The integer multiplication of 7 1023 causes a final result of 716 This is a relatively small error but if the numbers that were being multiplied resulted in a value greater than 32767 then the integer overflow would cause the actual result to be quite far off By changing MOTOR to a real the calculation in line 130 is performed as intended providing a result of 767 25 to be stored in MOTOR When the DAC statement is executed in line 140 MOTOR is truncated to 767 which is the expected result If MOTOR is left as an integer and the parenthesis in line 130 are removed then the correct result is also obtained In this case the entire calculation is performed in real mode and then the result 767 25 is truncated and stored in MOTOR 3 7 Statements Statements describe the a
253. hat can be buffered depends upon the number of network registers allocated but is always at least 2 It is possible to broadcast a message to all units on the network simultaneously This is done by sending a message to unit number FF every unit will receive this message at the same time This is used when the activities of multiple Boss Bears must be synchronized For example a message could be sent at the end of each shift to cause all units to add up the shift totals and send them back In most network applications there are several types of data that are transferred around There must be a flag in each message that identifies what type of data the message contains This is called the message type and is held in the first byte of a message the first character in the string When sending data to the BearLog TSR the message type tells which file to store the data from this message into in this case the message type is between 0 and the number of files being created on the personal computer The message types between 192 and 255 are reserved for system messages defined by Divelbiss such as the time update message number 255 When sending messages between Boss Bears the message types can be any number less than 192 and greater than the number of files being created by the BearLog program 10 4 10 2 Bear BASIC Network Examples The following examples demonstrate the use of the Bear Direct network from within a Bear BASIC program th
254. he open circuit potential is 10 15VDC Input current Logic low 3 2mA maximum Logic high 1 A at 15VDC maximum Input low level 1VDC maximum Input high level 3 5VDC minimum Max high level input sourcing 12VDC Input filtering Individually user selectable for inputs A B and RESET on each channel 20Hz 420 5kHz 20 100kKHz 120 9 6 High Speed Output drive Open drain open collector Maximum sink current 100 mA continuous Available power VA is available for each channel 10 to 15VDC unregulated Maximum collective load current 80mA Wiring termination Detachable terminal blocks on 5mm centers Maximum wire size 18AWG 9 2 5 User Replaceable Parts List The following components are available from Divelbiss for user replacement if necessary Divelbiss Part Number Description 116 101673 9 position removable terminal block 117 100849 Output mode programming shunts 120 101705 Mounting screws 120 100636 Cover screws 9 3 12 Bit Analog to Digital Converter Module The 12 bit A D converter module provides enhanced analog measurement capabilities to the Boss Bear It can be configured with 16 single ended channels 8 differential channels or 8 current loop 4 20mA channels The input span can be set to 0 to 5V 0 to 10V 5 to 5 10 to 10V or 4 to 20mA because the channels are multiplexed all channels are set to the same mode The 4 to 20mA mode is factory configured and cannot be changed by t
255. he task that is using COM1 to finish and loops back to check again When COM1 is finally available SEM1 0 then it decrements SEM1 to 1 to indicate to other tasks that COM1 is in use The interrupts must be turned off while accessing SEM1 so that two tasks don t access it at the same time which could allow both tasks to access COM1 concurrently When the task is finished with COM1 it unlocks it by incrementing SEM1 in line 350 allowing another waiting task to continue when it sees SEM1 0 In task 1 lines 420 430 and 450 perform the same locking function that lines 320 330 and 350 do This technique will work with any number of tasks by using these three lines around any critical code that must be protected 5 5 Organization of Tasks and Subroutines This section discusses the manner in which a multitasking program should be organized It is extremely important that the tasks and subroutines are put in the proper locations if they aren t then the BASIC program will operate unpredictably Incorrect organization of the program can cause some very subtle problems that can be quite difficult to find Fortunately the problem can be avoided in most cases by following a few simple rules Before getting into the details a few comments must be made about tasks Tasks must be declared in numerical order starting with number 1 also note that the code before the task 1 statement actually belongs to task 0 All of the code between two TASK state
256. he user The A D module is accessed using the ADC function of Bear BASIC The A D module is available in three models Divelbiss Part Number Description EX MOD AD12 S 16 single ended inputs field selectable as O to 5V 0 to 10V 5 to 5 or 10 to 10V EX MOD AD12 D 8 differential inputs field selectable as 0 to 5V 0 to 10V 5 to 5 or 10 to 10V EX MOD AD12 C 8 current loop 4 to 20mA inputs This features a true current loop in that it is not referenced to any common This analog input mode provides the best immunity to noise and cable loss 9 3 1 Wiring Recommendations For best noise immunity shielded cable should be used between the analog inputs and the device being monitored this is especially important for long cable runs Except in cases where the analog signals are very dynamic all channels can be sheathed in the same cable with one common overall shield Use the shield terminal provided or connect the shield to earth ground by other means Do not connect the cable shield at both ends of the cable as this can have an adverse effect Always use separate returns minus terminal for each channel as this lessens the chance of ground loops occurring by making all common terminations at the A D module of course separate returns are required when using the differential and 4 20mA modules 9 7 Figure 22 Counter Module Jumper Configuration VA A1 GNDtB1 RS LDGND COSHD Channel 1 VA A2 GND B2 RS
257. hich is an acronym for American Standard Code for Information Interchange is one of the main ways in which computers process text data Each printable character is represented as a number between 32 and 126 20 and 7E The numbers between 0 and 31 00 and 1F form the control codes such as carriage return CR backspace BS and horizontal tab HT F 2 Appendix G Bear BASIC Release History Divelbiss is constantly improving and extending the Boss Bear and Bear Bones product lines New versions of the Bear BASIC compiler are periodically released in order to support new expansion modules add new features and fix software bugs The following lists show the enhancements at each software release Some Bear BASIC updates affect the operation of the Boss Bear in ways that may require changes in the user s BASIC source code Most existing programs should run without modifications Programs which contain critical timing that has been tuned to work with the previous software will probably require modification since the compiler generates slightly different code with each new release Note In order to run existing programs with new firmware the programs must be recompiled If an EPROM containing code that was compiled with a previous version is installed the message PROM is incompatible with this Compiler Version will be displayed Simply load the original source code for the program recompile it and save the compiled code ont
258. his problem is described in the original manual and is well documented in the new manual at this point it will probably never be changed e The statement EEPOKE J WPEEK ADR M K doesn t store anything at EEPROM location J If this is broken into two parts however it seems to work fine X WPEEK ADR M K EEPOKE J X e When saving to the EPROM the Duplicate line numbers detected error is printed sometimes The code is saved successfully however e User defined functions don t handle strings correctly under some conditions Avoid using string operations in user defined functions e The CHAIN operation does not clear the source code area so when using CHAIN the source code may not reflect the object code that is in memory For example assume that the source code for program A is loaded compiled and run program A chains to program B which then STOPs The source code for program A will still be loaded but if the programmer types GO without COMPILE then program B will be executed since it is the most recently loaded compiled program Problem with LOCATE and GOTOXY when using the console If multiple tasks try to perform LOCATE GOTOXY and print operations the screen becomes garbled because one task could corrupt another task s terminal control codes e A PRINT statement followed by many array references causes the compiler to lock up while compiling the line e When the line INTE
259. iable variable Arguments variable a text string The name to use for the string variable String variable names in Bear BASIC consist of an alphabetic character followed by up to 6 alphanumeric characters followed by a To declare an array this will be followed by one or two numbers enclosed in parenthesis The following are valid string variable names A A 20 NAMES TIME4 10 A 10 7 Description String variables are used to hold text data All variables in a Bear BASIC program must be declared as INTEGER REAL or STRING all variable declarations must occur before any executable statements in the BASIC program Variables in the STRING statement may have a maximum string length specified by enclosing the maximum length in parenthesis no more than 127 may be specified If no maximum is given it will default to 20 characters If an attempt is made to access beyond the end of the string the error message string Length Exceeded will be displayed A string array may be specified by giving two parameters enclosed in parenthesis the firstis the length of each element and the second is the number of elements in the array When accessing a string array however only one parameter is given inside the parenthesis for example if STRING rzs 10 24 is used to declare an array of 25 strings each 10 characters long then the 11th array element is accessed using RL 10 Example 100 INTEGER J 110 STRING AS
260. ick occurs For example if a program only has one task currently executing and that task executes a WAIT 1 statement then the delay will be between 200 usec and 10 msec If the tick occurs immediately after the WAIT statement is executed then the task will continue executing after a 200 to 1000 usec delay the amount of time required for the context switcher to process everything and restart the task If the WAIT statement is executed immediately after a tick has occurred then it will be 10 msec until the next tick causes the task to be restarted The situation is even more complex if multiple tasks are currently executing since one or more tasks may get to execute before a task that has executed a WAIT statement For example in a program with three tasks that are all at priority level 0 the default level suppose that task 1 executes a WAIT 10 statement After 10 ticks in which tasks 0 and 2 continue to execute task 1 is ready to run again However being ready to run does not mean that the task will run immediately only that it will be run the next time that the context switcher gets to it This means that it could execute both task 0 and 2 before it gets to task 1 causing the total time delay for the WAIT 10 statement to be 12 ticks If task 1 were executing at a higher priority than tasks 0 and 2 however then it would have executed before them causing the delay to be 10 ticks The result of this is that the BASIC programmer shouldn t
261. id if the CTS1E bit is set to 1 When written CTS PS specifies the baud rate generator prescale factor a 1 selects prescale by 30 while a 0 selects prescale by 10 PEO Parity Even Odd A 1 selects odd parity a O selects even parity DR Divide Ratio Specifies the baud rate data sampling divider a 1 selects divide by 64 while a O selects divide by 16 SS2 1 0 Speed Select 2 1 0 Specifies the data clock source internal or external and baud rate prescale factor according to the following table SS2 SSi SSO Divide Ratio 0 0 0 1 0 0 1 2 0 1 0 4 0 1 1 8 1 0 0 16 1 0 1 32 1 1 0 64 1 1 1 use external clock C 5 Clocked Serial I O Port This is a simple high speed synchronous serial I O port On the Boss Bear it is not used at all as a serial port the Transmit Data line TXS is used to control the RS 485 driver direction CSI O Transmit Receive Data Register TRDR I O address OBH is used for both CSI O transmission and reception which means that transmission and reception can t occur simultaneously CSI O Control Status Register CNTR is used to monitor and control the operation of the CSI O CNTR I O Address OAH EF EF is set to 1 by the CSI O to indicate completion of an 8 bit data transmit or receive operation If EIE is 1 when EF is set to 1 then a CPU interrupt request will be generated EIE End Interrupt Enable EIE should be set to 1 to enable EF to generate a CPU interrupt request RE Rece
262. ied expression CHR is the converse of ASC Example 100 Print the character equivalents of the values 32 to 126 110 INTEGER J 120 FOR J 32 TO 126 130 FPRINT i3xls1x3z J CHR J 140 NEXT J This produces the following output when run 32 33 4 34 35 36 37 38 39 40 41 42 43 44 45 3 46 47 48 0 49 1 50 2 Sl 3 52 4 53 9 54 6 55 7 56 8 OS 58 59 60 lt 61 62 gt 632 2 64 Q 65 A 66 B oF 68 D 69 E 70 E LLG 12H 73 I 74 J 75 K 76 L 77 M 78 N 79 O 80 P 81 Q 82 R 83 S 84 T 85 U 86 V 87 W 88 X 89 Y 90 Z 91 92N 93 Dah ah NO 96 97 a 98 b 99 c 100 d 101 e 102 f 103 g 104 h 105 i 106 3 107 k 108 1 109 m 110 n 111 o 112 p 113 q 114 r 115 s 116 t 117 u 118 v 119 w 120 x 121 y 122 z 123 124 12 5 12 6 gt Related topics ASC 8 20 CLEARFLASH Direct Command Summary The CLEARFLASH direct command erases the flash EPROM that the user s code is stored on Syntax CLEARFLASH Arguments CLEARFLASH needs no arguments Description The UCP stores the user s programs on a flash EPROM which can be erased electrically without being removed from the UCP The CLEARFLASH command performs this erase operation removing all data from the EPROM This command takes about 10 seconds to complete The flash EPROM can be erased at least 1000 times Example CLEARFLASH Related topics SAVE SAVE CODE CLEARMEMORY Direct Command Summary The CLEARMEMORY direct
263. ified by applying 5 000V or 10 000V depending on the mode selected to the channel 1 input terminals the displayed value should match the input voltage level Calibrating the bipolar input modes 5 to 5V 10 to 10V With the BASIC A D calibration program running short the plus and minus inputs of channel 1 with a jumper wire Adjust the NULL adjustment until 0 000V is displayed by the program Remove the shorting jumper and apply 5 000V or 10 000V depending upon the mode selected to the channel 1 input terminals observing polarity Adjust the span pot until the displayed value matches the input level The calibration can be verified by applying 5 000V or 10 000V depending on the mode selected to the channel 1 input terminals the displayed value should match the input voltage level Calibrating the current loop 4 to 20mA input mode With the BASIC A D calibration program running apply 4 00mA to channel 1 and adjust the null pot until 4 00 is displayed Apply 20 00mA to channel 1 and adjust the span pot until 20 00 is displayed 9 3 4 Specifications Channels 8 or 16 depending upon part number Resolution 12 bits Input level For models EX MOD AD12 S and EX MOD AD12 D user selectable 0 to 5V 0 to 10V 5 to 5 10 to 10V For model EX MOD AD12 C factory set 4 to 20mA Input linearity error 1 least significant bit Input noise rejection 1 least significant bit Input impedance Model Impedance Channel trac
264. ime total 134 shift end machine jam downtime total 135 shift end maintenance downtime total UV KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Variable declarations nteger inlen eal ydsleft nteger prdnum nteger opnum i i a3 string batnum 6 ES i is Product number Operator number Batch number eal lnsetp Length setpoint nteger curlen Input roll length Yards left on roll Length of current roll 0 9999 0 0 9999 0 0 9999 0 999 0 999999 1 50 s of an inch 1 50 s inch 18000 54000 18000 54000 T T 1 1 nteger dntime 3 Current downtime totals 0 28800 0 operator break time 1 change input roll 2 machine jam d 3 machine maintenance integer totdntm Total downtime for shift real rrolcnt Output roll count for input roll 0 1000 real prolcnt r Output roll count for product real pyards Total yards for product real brolcnt Output roll count for batch real byards Total yards for batch real srolcnt Output roll count for shift real syards Total yards for shift integer maintmd if in maintenance mode otherwise 0 integer estopmd d if in emergency stop mode otherwise 0 min sec sttime dmin dsec integer hour integer dhour Control loop variables real curpos real spd 4 14 Counter value indicating position in rol
265. in a single task In this case each subroutine should be within the boundaries of the task that calls it for example a subroutine that is called by task 4 must be between the task 4 and task 5 statements Let s expand the preceding program to illustrate this point again even though a lot of code is missing from this example all of the TASK and GOSUB statements are shown here The important point in this example is that the subroutine at 1000 which is in task 0 is only called from within task 0 and the subroutine at 10200 which is in task 1 is only called from task 1 The test variable is checked in each task since it is always 0 no messages will be printed 100 Variable declarations integer test integer x0 xl x2 200 Start of program code This is task 0 run 1 10 Run task 1 10 times second run 2 5 Run task 2 20 times second test 0 ainline code loop 300 if test lt gt 0 then print Failed mainline gosub 1000 goto 300 1000 Subroutine called only by task 0 mainline Code for subroutine goes here x0 x0 1 return 10000 task 1 Code for task 1 gosub 10200 xl x1 1 if test lt gt 0 then print Failed task 1 exit 10200 Subroutine called only by task 1 Code for subroutine goes here This is still part of task 1 return 5 11 11000 task 2 Last task in program Code for task 2 x2 x2 1 if test lt gt 0 then print Failed task 2 exit If the two rules out
266. inputs and the device being monitored this is especially important for long cable runs To minimize any potential crosstalk problems between channels it is recommended that individually paired and shielded cables be used for each channel especially at high counting speeds Use the shield terminal provided or connect the shield to earth ground by other means Do not connect the cable shield at both ends of the cable as this can have an adverse effect Always use separate returns minus terminal for each channel as this lessens the chance of ground loops occurring by making all common terminations at the counter module 9 3 Figure 20 Expansion Module Side View 9 4 ELE aE a I METI ME a gt a O a al MH f f D Q Mm D K O Y D on 9S a A f f y f IA A 1 MH 4 f f f f U H f CO y f f ZZ ZZZZIZLZIA SECTION A A Module Cover Screw Module Mounting Typ 2 ples TEN Screw a P A gt lyp 2 ples A Typ 2 ples a 7 l O O Z rt TTI DACI rt x DAC24 z HS 7 00 y DACS H 2 TA 6 2 3 pacad E SHIELD T A 312 a Figure 21 Expansion Module Panel View 9 2 2 VA AX GND BX RX
267. int first string 270 READ AS PRINT A Print second string 280 READ X PRINT X Wrap around do first one again This produces the following output when run DATA statement exampl 3 3 0000 N Uds UN SA 3 14159 1 66670 893 66381 Data 1 8 129 This is a test Hi 4 77000 The two 999 values in lines 160 and 170 are used as flags to indicate the end of portions of the table this makes it easy to add to the DATA table without needing to change the program where the READ statements are executed In line 270 it prints This is a test Hi because the string variable A defaults to 20 character maximum length so it truncates the rest of the string when it is read Note that in line 280 it reads beyond the end of the DATA table so it wraps around and reads the first value in the table Related topics DATA RESTORE 8 130 REAL Statement Summary The REAL statement is used to declare floating point variables Syntax REAL variable variable Arguments variable a text string The name to use for the variable Variable names in Bear BASIC consist of an alphabetic character followed by up to 6 alphanumeric characters To declare an array this will be followed by one or two numbers enclosed in parenthesis The following are valid real variable names J J 20 PRESURE CHANS5 TIME4 10 J 10 7 Description Real variables are used to hold numeric data that ranges between 1 7x10 and 1 7x10 Reals are
268. ional operators are lt gt gt and lt Note that if rel_expris TRUE then the rest of the line is executed This means that multiple statements can be placed after THEN the statements will only be executed if the expression is TRUE Often statement will be a GOTO statement for example IF x gt 3 5 THEN GoTo 260 The compiler accepts a shortened form of this in which the word GOTO is left out ie IF x gt 3 5 THEN 260 The compiler will insert the GOTO into the statement so when the line is listed it will read IF x gt 3 5 THEN GOTO 260 Examples 100 INTEGER J K N 110 J 3 K 5 N 0 120 PRINT J 3 J 3 J gt 3 J gt 3 130 IF J 3 HEN PRINT J 3 PRINT 140 PRINT 150 IF J gt 3 HEN PRINT J gt 3 PRINT 160 PRINT 170 IF J lt 5 AND K gt 2 THEN PRINT Passed line 170 180 IF K THEN PRINT K is RUE 190 IF N HEN PRINT N is RUE This produces the following output when run 8 77 J 3 257 J gt 3 0 J 3 Passed line 170 K is TRUE 100 STRING A B 110 A ABC B ABD 120 IF A lt gt B THEN PRINT Strings not equal 130 IF A lt gt THEN PRINT 1 String not empty 140 A 150 IF A lt gt THEN PRINT 2 String not empty This produces the following output when run Strings not equal 1 String not empty Related topics Chapter 3 8 78 INP Function
269. ipton Pin Description Port A Port B ao E ETA ol tans cra tetas 7 mucama 2 re Roneatosne 2 tocomes Call Note that CTS is supported by Port A COM1 only H 6 Nonvolatile Memory Nonvolatile memory retains its state with the system power turned off The UCP supports two types of nonvolatile memory as options Touch Memory and battery backed up RAM Each of these has characteristics that make it more suitable for some applications H 6 1 Touch Memory The UCP uses a Dallas Touch Memory in place of the EEPROM that is available in the Boss Bear under most circumstances the Touch Memory can be treated just like an EEPROM The Touch Memory requires no power to retain its state it can even be moved from one unit to another without affecting its contents Touch Memory technology provides at least ten years of data retention Unfortunately it takes approximately 150 milliseconds to read or write each word in a Touch Memory This makes the Touch Memory most suitable for values that aren t written to very often such as configuration and calibration data If a value must be read frequently it should be copied from Touch Memory into a BASIC variable The UCP Touch Memory holds 224 words 448 bytes Bear BASIC uses the EEPOKE and EEPEEK statements to access the Touch Memory H 6 2 Battery Backed Up RAM The UCP has a battery back up option for the system RAM With this option installed the UCP memory will be retain
270. irect command causes a slight delay to be performed with each carriage return line feed that is sent to the console Syntax LFDELAY Arguments LFDELAY needs no arguments Description Some video terminals cannot scroll the screen fast enough to keep up at 9600 baud they will lose the first few characters at the beginning of each line The LFDELAY command causes the Boss Bear to pause at the beginning of each line to allow the terminal to catch up Once the LFDELAY command is issued it remains in effect until the Boss Bear is reset by executing the BYE command or turning the power off and back on LIST Direct Command Summary The LIST direct command displays the current BASIC program Syntax LIST starf end Arguments start a valid BASIC line number The first line number to display end a valid BASIC line number The last line number to display Description LIST displays the program currently in memory on the system s console terminal If LIST is typed with no arguments or just Lis typed then the entire program will be listed If LIST is typed and only start is specified then only that line will be listed if it exists If both start and end are specified then the program from start through end will be listed Examples LIST Lists the entire program L Lists the entire program LIST 190 Lists line 190 if it exists LIST 190 240 Lists lines 190 through 240 8 94 LOAD Direct Command Summary The LO
271. is decoded by the Boss Bear hardware Onboard counter interrupt reset CSRCNT 40H Expansion connector J3 CSEXP1 80H 9FH Expansion connector J4 CSEXP2 AOH BFH Expansion connector J5 CSEXP3 COH DFH C 2 C 3 Interrupts The Z180 has twelve interrupt sources four external and eight internal with fixed priority The priorities are as follows listed from highest to lowest priority Highest priority 4 2 3 4 5 6 7 8 10 11 Lowest priority 12 Interrupt Vectors TRAP undefined op code trap NMI Non Maskable Interrupt INTO maskable interrupt level 0 INT1 maskable interrupt level 1 INT2 maskable interrupt level 2 Timer 0 Timer 1 DMA channel 0 DMA channel 1 CSIO Clocked Serial I O port ASCIO serial channel 0 ASCI1 serial channel 1 Internal External External External External Internal Internal Internal Internal Internal Internal Internal The processor has different methods of vectoring to the interrupt service routines for each of the interrupt sources The current program counter value is always PUSHed onto the stack regardless of interrupt type The TRAP interrupt vectors to logical address 0000H the code can examine the TRAP bit of the ITC register to determine if a TRAP interrupt or RESET occurred The NMI vectors to logical address 0066H INTO vectors to 0038H INTO also supports two other modes of operation that aren t useful with the Boss Bear hardware All of the other interrupts are
272. is operation The NETWORK 3 and NETWORK 4 statements write into and read out of network registers respectively This happens independently of network accesses to the network registers so that the BASIC program could be writing data into a network register while the network master is reading data out of a network register Each individual register access is protected however so that a register won t be read halfway through a write cycle in other words once data is being written into a register that register won t be read until the data is entirely written The NETWORK 1 and NETWORK 2 statements transfer network registers from one Boss Bear to another this is referred to as peer to peer communications The transfer is actually performed via the network master as more units are added to a network the transfer time will increase because it will take longer for the master to poll through the network 10 3 10 1 2 Network Messages The Boss Bear often needs to send a group of data to another unit on the network For example after each part is produced the dimensions and weight for this part must be sent to a personal computer so that the information can be stored in a file for later SPC Statistical Process Control analysis The easiest way to handle this is for the Boss Bear to send a message containing all of the pertinent data to the destination PC This transfers all of the associated data at one time eliminating the possibility that
273. it is factory assigned at I O page 0 but can optionally be set in the field to any page The Boss Bear accesses the interface page with the BBOUT statement and BBIN function The Bear Bones interfaces using standard ladder logic to access page 0 The Boss Bear is connected to the Bear Bones by wiring into the Bear Bones I O expansion bus as shown in Figure 13 This feature allows a powerful dual processor system to be assembled at a very low cost The Bear Bones handles the discrete logic control and the Boss Bear handles the analog functions high speed counters user interface and network communications Each processor performs the tasks that it is best suited to providing performance that is greater than the sum of their individual capabilities It also allows the I O count to be increased since each unit supports a chain of I O expanders Bear Bones Interface Cable Assembly e Bear Bones P Al Interface Boss Bear A E E mao Battelle pasini Figure 13 Boss Bear to Bear Bones Connection Example 7 4 Boss Bear Input and Output The Boss Bear I O Bus allows up to 128 inputs and 128 outputs using the standard Divelbiss Bear Bones Expanders and Presto Panel I O boards of different types can be intermixed in any combination Figure 14 shows how the boards are connected to the Boss Bear The DIN function is used to read the status of inputs and the DOUT statement is used to control outputs Figure 15 shows how the exp
274. it is important to avoid corrupting a portion of the display that another task may be using In fact it is often easier to handle all display operations in one task just to simplify the program debugging The display is a relatively slow device by computer standards When a PRINT or FPRINT statement is executed it is very likely that other tasks will get to execute before the statement returns 6 2 Reading the Built In Keypad The keypad is composed of 20 keys 4 rows by 5 columns 0 9 ENTER CLEAR and F1 Fs Itis accessed as FILE 6 Any of the file input statements or functions can be used FINPUT GET INPUT INPUT and KEY Figure 5 shows what values are returned for each key The keypad is scanned continuously in the background if a key press is detected that key is inserted into an 8 key buffer Each input operation returns the next character from this buffer The keypad should not be read from more than one task at the same time Some of the key presses would go to one task and some would go to another causing erroneous input Multiple tasks can read the keypad but not concurrently 6 3 Keypad GET KEY INPUT INPUT Overlay Integer String variable Numeric variable y 48 o 0 1 49 li 1 2 50 2 2 7 51 3 3 A 52 4 4 a 53 g 5 6 54 6 6 7 55 7 7 i 56 8 8 9 57 9 9 ENTER 13 CR LF CR LF CLEAR 8 Backspace Backspace z 65 A re 66 B ES 67 C rA 68 D ES 69 E Ge 70 F x 4
275. ith real numbers and verifies it If everything is working it will print the numbers 0 to 24 and then a series of real numbers 10 15 Notes A BDSETUP U Will show a small help screen B NETTEST 1 40 1000 will perform 1000 test transfers using packets that contain 40 integers each with unit 1 The middle argument 40 above should be between 1 and 70 The last argument must be less than 32768 C If the network polling is enabled NETTEST will slow down because of the extra overhead imposed by the polling operation 10 4 Interfacing to Lotus 123 The Bear Direct network can be accessed with the popular spreadsheet Lotus 123 by using the Lotus add in WFACTORY in conjunction with the Divelbiss driver program DIRECT EXE FACTORY adds two new functions to Lotus 123 READ and WRITE These functions read and write register data in Boss Bear network registers over the network 10 4 1 Loading DIRECT EXE Before FACTORY can be used from within Lotus 123 the DIRECT EXE driver must be loaded To start DIRECT EXE atthe DOS prompttype direct aaddr where adaris the card address When shipped from the factory the card is set to default address 320H so you would normally type direct a320H to load the driver The a switch tells the TSR where the card is addressed If this switch is not given then the program will simply terminate without going memory resident the a switch must be given The only other s
276. ivates the Non Maskable Interrupt NMI line when the 12V power source drops below approximately 9V Then when the processor power drops below about 4 6V it will be halted this leaves a little bit of time between when the NMI occurs and when the processor is halted The example shows how to set up a task to run when power is lost This task could be used to disable output control lines write a data value to EEPROM etc The example sets up the NMI task and then sits in a loop when the power is switched off the NMI task will output characters until the processor finally halts This demonstrates how much time is available between power loss and system lockup each takes about 1 msec to send at 9600 baud The vector for the NMI is at address 66 100 REAL X 110 JVECTOR 13 1 Set up vector to task 1 on error 120 X 3 5 0 0 Cause a Divide by 0 error 130 PRINT Done STOP 130 Fatal program error handler 140 TASK 1 150 PRINT Error ERR Print error message 160 CALL 100 Restart BASIC program When a program error occurs such aS Return Without Gosub Or Subscript Out of Range Bear BASIC normally prints an error message on the console terminal and returns to the 8 89 compiler prompt By using JVECTOR it is possible to trap the error and handle it in the BASIC program The vector for the error handler is at address 13 Normally PRINT should not be executed inside of an interrupt service tas
277. ive Enable A CSI O receive operation is started by setting RE to 1 From that point a data bit is shifted in 2 sec after each data clock falling edge C 8 TE Transmit Enable A CSI O transmit operation is started by setting TE to 1 From that point a data bit is shifted out on each data clock falling edge SS2 1 0 Speed Select 2 1 0 Specifies the CSI O data clock source internal or external and baud rate prescale factor according to the following table SS2 SS1 SSO Divide Ratio Baud Rate 0 0 0 20 307200 0 0 1 40 153600 0 1 0 80 76800 0 1 1 160 38400 1 0 0 320 19200 1 0 1 640 9600 1 1 0 1280 4800 1 1 1 use external clock C 6 Programmable Reload Timer The Z180 contains a two channel 16 bit Programmable Reload Timer Each PRT channel consists of a 16 bit down counter and a 16 bit reload register both of which can be directly read and written The down counter overflow can be programmed to generate a CPU interrupt request Both PRT channels use an input clock that is the system clock 6 144 MHz divided by 20 or 307200 Hz Timer Data Register PRTO and PRT1 each have a 16 bit Timer Data Register TMDRO I O address OCH and ODH and TMDR1 I O address 14H and 15H TMDR is decremented once each 20 system clocks every 3 255 sec When TMDR counts down to 0 it is automatically reloaded with the value contained in the Reload Register RLDR In order to ensure that the correct count value is read when the count
278. ivities As an example the rule table for OUTPUT 1 1 12 states that if INPUT is in division 3 and INPUT2 is in division 6 then OUTPUT1 responds within division 3 To implement this controller using the BEARBASIC language and the FUZZY statement the first step is the variable declarations INPUTI INPUT2 N lon n A w N INPUT2 N a n ies N Figure 69 Rule Table for Output 2 1 13 Thus the portion of a BEARBASIC program related to the FUZZY statement for this example might be as follows 100 INTEGER IN1 IN2 OUT1 OUT2 ST 110 INTEGER FUZLOOP 120 INTEGER FUZDAT 106 140 DATA 0 15 160 DATA 0 30 180 DATA 0 4 200 DATA 0 0 200 DATA 7 7 7 7 6 5 4 220 DATA 7 6 6 6 5 4 3 240 DATA 6 6 5 5 4 3 2 260 DATA 5 5 5 4 3 3 3 280 DATA 6 5 4 3 3 2 2 300 DATA 5 4 3 2 2 2 1 320 DATA 4 3 2 1 1 1 1 340 DATA 0 0 0 0 0 0 0 360 DATA 0 0 0 0 0 0 0 380 DATA 0 0 0 0 0 0 0 400 DATA 0 0 0 0 0 0 0 420 DATA 0 0 0 0 0 0 0 440 DATA 0 0 0 0 0 0 0 460 DATA 0 0 0 0 0 0 0 FOR FUZLOOP 0 TO 105 READ FUZDAT FUZLOOP NEXT FUZLOOP IN1 20 IN2 5 FUZZY ADR FUZDAT 0 IN1 IN2 OUT1 OUT2 ST The return values from the statement are contained in variables OUT1 and OUT2 which can then be manipulated as required in the remaining portion of your BEARBASIC software The status variable ST will be 0 if the processing occurred correctly 1 if OUT2 was beyond the range of an integer 2 if OUT1 was beyond the range of an integer an
279. k approximately 9 milliseconds At the next tick task 0 gets to continue executing 5 3 because task 1 is still waiting for the second tick of its 2 tick reschedule period At the next tick task 1 gets to execute starting the process over again The output from this program should be a series of about 19 vertical bars in the 19 milliseconds that task 0 executes followed by an underscore repeated over and over Here is a sample of the output 5 1 2 WAIT Statement When it is necessary for a task to delay processing for a given time period the WAIT statement is used WAIT causes the task to suspend processing for the specified number of ticks for example WAIT 100 will delay for 1 second since each tick is 1 100 second While this task is suspended other tasks continue to execute When the context switcher executes at the beginning of each tick it decrements the wait counter for any task that has executed a WAIT statement When a task s counter reaches 0 that task is considered to be ready to run and re enters the normal scheduling system this does not necessarily mean that this task will be the next one to be executed unless it has the highest priority If all of the tasks are waiting at the same time then the context switcher just kills time until one of them is ready to run background interrupt processing continues during this period The WAIT statement is useful in non multitasking programs also since it allows the programmer t
280. k see line 150 but since no other PRINT could be active in this program it should work In line 160 it restarts the BASIC program by jumping to the starting address for the program all Bear BASIC programs start at 100 Related topics VECTOR ON ERROR ERR Chapter 11 8 90 KEY Function Summary The KEY function reads one byte from the current FILE it doesn t wait if no byte is available Syntax x KEY Arguments KEY needs no arguments Description KEY returns a byte from the current FILE if one is available the byte is returned as an integer value 0 is returned if no byte is available if the byte s value is 0 then it is returned as 256 100 KEY returns all bytes entered no control codes are filtered out Since KEY goes through the normal FILE routines it provides an autorepeat function when accessing the onboard keypad FILE 6 Sometimes it is desirable to access the keypad directly as if it were an input module The DIN function can be used to get the current keypad state without performing the autorepeat See the DIN description for more information KEY should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes KEY could cause the system to lock up Example 100 INTEGER N K N 0 110 K KEY 120 FILE 6 LOCATE 1 1 PRINT N 130 FILE 0 N N 1 140 IF K 0
281. k size and speed increase the complexity and cost increase as well In keeping with the low cost design philosophy of the Boss Bear the Bear Direct network operates at a low speed doesn t require expensive hardware to be added to the Boss Bear and uses simple twisted pair wiring The function of the network hardware and software is to transfer data between remote points without errors Since the communications media always has a relatively high error rate compared with most other computer hardware the network must be designed to detect these errors and get the correct data through The Bear Direct network uses a 16 bit CRC Cyclic Redundency Code checksum and sequence bits to detect transmission errors If an error is detected the data is transferred again until it is received correctly after several attempts the transfer is aborted The error checking and retransmission is handled by the Boss Bear network driver software transparently to the BASIC programmer The Bear Direct network uses a multidrop master slave topology The term multidrop means that all devices are connected to a single pair of wires in other words each unit is not only attached to its neighbor but also to every other unit This implies that while one unit is transmitting all other units must be in receive mode if two units try to transmit concurrently then both data transfers will be corrupted A master slave network is used to ensure that only one unit will trans
282. k to the BASIC program Example 100 INTEGER RA 3 110 INTEGER J K 200 DATA 3C INC A 205 DATA 04 INC B 210 DATA 0C INC C 215 DATA 14 INC D 220 DATA 1C INC E 225 DATA 24 INC H 230 DATA 2C INC L 235 DATA C9 RE 300 305 Store the assembly language subroutine at address 8000 310 FOR J 0 TO 7 315 READ K 320 POKE J 8000 K 330 NEXT J 350 RA 0 0001 A 00 F 01 360 RA 1 0203 B 02 C 03 370 RA 2 0405 D 04 E 05 380 RA 3 0607 H 06 L 07 400 SYSTEM 8000 RA 0 Must specify RA 0 410 Display return values from subroutine 420 FPRINT H4X2H4X2H4X2H4 RA 0 RA 1 RA 2 RA 3 8 150 This program stores an assembly language subroutine at location 8000 in lines 310 to 330 and calls it with the SYSTEM statement in line 400 The address 8000 was chosen because STAT indicated that the area from around 3C00 to around E800 was unused so an address in the middle of this range was picked The subroutine just increments all of the registers except the flags register and returns Lines 350 to 380 set the values to pass to the subroutine Line 420 displays the return values from the subroutine This produces the following output when run 0101 0304 0506 0708 Related topics CALL CODE Appendix D 8 151 TAN Function Summary The TAN function calculates the tangent function Syntax x TAN ex
283. king EX MOD AD12 S 2 3MQ min N A EX MOD AD12 D 3 3MQ min N A EX MOD AD12 C 2500 t2 0 2 0 60 C Maximum input voltage For models EX MOD AD12 S and EX MOD AD12 D the maximum safe input voltage on any channel is 24VDC Input termination Detachable terminal blocks on 5mm centers Maximum wire size 18AWG Two terminals are provided for each channel with a shield terminal for each group of four channels Conversion time 600 sec using the ADC function of Bear BASIC 9 3 5 User Replaceable Parts List The following components are available from Divelbiss for user replacement if necessary Divelbiss Part Number Description 116 101673 9 position removable terminal block 117 100849 Output mode programming shunts 120 101705 Mounting screws 120 100636 Cover screws 9 4 10 Bit Digital to Analog Converter Module The 10 bit D A converter module provides analog output capabilities to the Boss Bear Using this module up to 12 analog outputs can be added to a Boss Bear Each channel can be individually set to 0 to 5V 0 to 10V 5 to 5 10 to 10V or 4 to 20mA The D A module is available in four models Divelbiss Part Number Description EX MOD DA10 01 1 channel DAC module EX MOD DA10 02 2 channel DAC module EX MOD DA10 03 3 channel DAC module EX MOD DA10 04 4 channel DAC module In the 4 to 20mA mode this unit implements a true current loop it is not referenced to any common This is the best D A drive to use f
284. l 500 520 530 540 800 real accelrt real decelrt real maxspd real decelpt I O redirection variables These are constant values that hold the channel number corresponding to each I O function This makes it easy to change the I O layout if necessary integer IRUNBUT Operator run pushbutton integer IESTOP Emergency Stop switch integer IOPTIC Optical sensor for core in position integer OMDRV Main drive enable integer OKNIFE Knife output integer OCONV Conveyor gate integer OCORE Core hopper gat Variables for user interface code integer flush User defined function name integer flshtem Temp used by flush integer ch User interface temp integer timeout delay User interface timeout variables integer K uivlu uilen real uirvlu string uifmt 50 uifmt2 50 string uisvlu Temporary scratchpad variables integer temp a b c Miscellaneous integer temps integer done integer tltmp integer t2 t2st integer st real ftemp Real temp string tempstr 40 String temp VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK DATA statements data 1000 18000 0 data 1001 36000 0 data 1002 5400 0 data 1003 5450 0 Product 1000 360 0 inches 1001 720 0 inches 1002 108 0 1003 109 0 data 1 End of table flag VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK Fun
285. l be stored in INTEGER registers 36 and 37 Of course a register can be sent to the same register number for example NETWORK 1 1 7 1 2 7 ST Will send REAL register number 7 to unit 2 where it will be stored in register 7 No range checking is performed If an attempt is made to read from a register that does not exist then invalid data will be transferred If an attempt is made to store into a register that does not exist then other registers will be overwritten and unpredictable operation may occur 8 107 This statement may not be used concurrently in a multitasking program in other woras it can t be called from two tasks at the same time It is highly recommended that all NETWORK 1 and NETWORK 2 statements be located in the same task Example 100 INTEGER J K ST 110 NETWORK 0 1 20 30 0 ST Initialize the network 120 IF S THEN PRINT Init Error 130 FOR J 0 TO 19 140 NETWORK 3 0 J J 100 ST Store 100 119 in registers 0 19 150 NEXT J 160 NETWORK 1 0 0 20 2 0 ST Send integer registers to unit 2 170 IF S HEN PRINT Timeout 180 NETWORK 1 0 18 1 3 28 ST Send reg 18 to unit 3 reg 28 190 IF S HEN PRIN Timeout In line 110 the network driver is initialized to unit 1 with 20 INTEGER registers 30 REAL registers and O STRING registers In lines 130 to 150 the 20 integer registers 0 to 19 are filled with the values 100 to 119 In
286. line 160 all 20 integer registers are sent to unit 2 where they are stored in the same register locations Inline 180 integer register 18 is sent to unit 3 where it is stored in register 28 Note that in line 160 we are assuming that unit 2 has at least 20 integer registers are available and in line 180 we are assuming that unit 3 has at least 28 integer registers available Related topics NETWORK 0 NETWORK 2 NETWORK 3 NETWORK 4 Chapter 10 8 108 NETWORK 2 Statement Summary The NETWORK 2 statement reads a block of network registers from another unit on the network Syntax NETWORK 2 vartype dest_reg number unit_id source_reg status Arguments vartype an integer value of 0 1 or 2 This indicates the type of network register to read 0 for INTEGER 1 for REAL and 2 for STRING dest_reg an integer expression This is the first register number to store into in the destination unit number an integer expression This is the number of registers in the block to read unit_id an integer expression that evaluates between 1 and 254 This is the unit number of the Boss Bear to read from Each unit in the network must have a unique number source reg an integer expression This is the first register number to read from the source unit status an integer variable This will hold the status of the NETWORK operation a O will indicate successful completion while a nonzero value will indicate that an error occurred Desc
287. lined above are followed then your program will work as expected Once again the rules are 1 All tasks must be at the end of the program 2 Never call a subroutine that is outside of the task that contains the GOSUB to that subroutine Unfortunately the second rule is quite limiting because it means that multiple tasks can t call a common subroutine In order to arrive at a solution to this problem you must understand how the compiler works and why the above rules are necessary The situation comes about because of the method that the Bear BASIC compiler uses to allocate memory for a program As each BASIC statement is executed there are temporary values that are calculated and stored in a set of temporary variables these values are only needed during the execution of a single statement Each task has its own set of temporary variables every statement within a task uses the same set of temporary variables which is the cause of the difficulty Let s assume that a statement is being executed when the timer tick occurs one or more tasks will execute before that statement gets to complete If any one of those tasks is using the same temporary variables as the statement then when it finally gets to complete execution its temporary values will have been altered resulting in incorrect operation of the program How could one of the intervening tasks use the same temporary variables as the original statement The simplest situation would be if o
288. logarithm base e of expr LOG10 expr common logarithm base 10 of expr RND generate a pseudo random number SIN expr sine of expr SQR expr square root of expr TAN expr tangent of expr 3 8 2 String Functions These are used to work with strings and convert between strings and numbers ASC strexpr ASCII equivalent of first char in strexpr CHR expr one char equivalent of expr CONCATS strexpr strexpr appends second string after first CVI strexpr converts binary string to integer CVS strexpr converts binary string to real LEN strexpr length of strexpr MID strexpr expr expr substring of strexpr MKIS expr converts an integer to a binary string MKS expr converts a real to a binary string STR expr converts a number to a string VAL strexpr converts a string to a number 3 8 3 Memory Access Functions These functions allow the programmer to directly access the Boss Bear memory ADR varname address of specified variable EEPEEK ee_addr read a word from EEPROM PEEK laddr read a byte from laddr WPEEK laddr read an integer value from laddr 3 8 4 Input Output Functions Each of these functions returns a value read from an input device ADC chan A D value for chan BBIN chan read a data bit from an attached Bear Bones DIN chan read digital input channel O or 1 GET waits for one byte from current FILE INP port reads a hardware output port KEY reads one byte from FILE doesn t wait
289. ls the baud rate and even odd parity if port O setup has enabled parity see Figure 45 For example the code OUT 0 97 OUT 2 13 sets COM1 to operate at 300 baud no parity 7 data bits and 1 stop bit since parity is disabled OUT 0 97 OUT 2 29 will set the same parameters As another example OUT 0 102 OUT 2 5 will set 1200 baud 8 data bits Start bit 7 data bits 1 stop bit Start bit 7 data bits 2 stop bits Start bit 7 data bits parity 1 stop bit Start bit 7 data bits parity 2 stop bits Start bit 8 data bits 1 stop bit Start bit 8 data bits 2 stop bits Start bit 8 data bits parity 1 stop bit Decimal Hex Binary Description 96 60 01100000 97 61 01100001 98 62 01100010 99 63 01100011 100 64 01100100 101 65 01100101 102 66 01100110 103 67 01100111 Start bit 8 data bits parity 2 stop bits Figure 44 UCP COM Port Setup Parameters 38400 baud even parity 19200 baud even parity 9600 baud even parity 4800 baud even parity 2400 baud even parity 1200 baud even parity 600 baud even parity 300 baud even parity 150 baud even parity 38400 baud odd parity 19200 baud odd parity 9600 baud odd parity 4800 baud odd parity 2400 baud odd parity 1200 baud odd parity 600 baud odd parity 300 baud odd parity Decimal Hex Binary Description 0 00 00000000 1 01 00000001 2 02 00000010 3 03 00000011 4 04 00000100 5 05 00000101 6 06 00000110 13 0D 00001
290. lts are present Channel 3 indicates that 2 05 volts is present 13440 32767 5 0 2 05 Related topics DAC Chapter 7 8 4 ADR Function Summary The ADR function returns the address of a variable in the BASIC program Syntax addr ADR name Arguments name a character constant The name of a variable declared in the BASIC program Description The ADR function returns the address of a variable it is returned as an integer value This can be used to find the address of a string or array in which an assembly language program will be POKEd It can also be used to access a variable without using the normal BASIC operations Example 100 Swap the bytes in a variable 110 INTEGER J K 120 K 1234 130 POKE ADR J PEEK ADR K 1 140 POKE ADR J 1 PEEK ADR K 150 FPRINT S2H4S4H4 J J K K This produces the following output when run J 3412 K 1234 The key to understanding this example lies in remembering that an INTEGER occupies 2 bytes in memory In line 130 we put the second byte of K into the first byte of J and in line 140 we put the first byte of K into the second byte of J The numbers are represented in hexadecimal to make the swap operation a little more obvious Related topics CALL PEEK POKE 8 5 ASC Function Summary The ASC function calculates the ASCII numeric equivalent of the first character of a string Syntax x ASC st Argument
291. m DATA arg arg store data for READ to access INTEGER varname varname declare signed integer variables READ arg arg read values from DATA statements REAL varname varname declare floating point variables RESTORE reset READ pointer to first DATA statement STRING varname varname declare text string variables 3 7 3 Memory Access Statements These statements allow the programmer to directly access the Boss Bear memory CODE int int store assembly language code in program DEFMAP int set memory map for POKE PEEK etc EEPOKE ee_addr int store a word in EEPROM POKE ladadr byte store byte at laddr WPOKE laddr int store integer value at laddr 3 7 4 Input Output Statements Control applications depend upon input and output with the real world and the Boss Bear supports a wide variety of I O devices so this is the largest group of Bear BASIC statements BBOUT chan bin_val send a data bit to an attached Bear Bones CLS erase the current FILE display device CNTRMODE chan int set operating mode for counter DAC chan int set D A output level DOUT chan bin_val control digital output channel ERASE erase the current FILE display device FILE int set current file I O device FINPUT fmt_str arg formatted INPUT from current FILE FPRINT fmt_str arg arg formatted PRINT to current FILE 3 10 GETDATE month day year wday GETIME hour minute second GOTOXY xpos ypos INPUT arg arg INPUT arg arg
292. m designer In practice much of this information is often only expressed verbally which may be acceptable if the project is small or if everyone involved has experience with the application In a larger project or if some parties are unfamiliar with the application then a detailed specification will help to prevent misunderstandings Typically a specification such as the following example would be arrived at through discussions between the client and the programmer The example is printed in courier 12cpi to distinguish it from the rest of the text General description of application A control system is needed for a new rewind machine which is being constructed The machine pulls the product off of an input roll The input roll will be approximately 3000 yards long and 2 5 feet in diameter Each product number has a preset length between 10 and 30 yards associated with it this length of product will be wound onto each output roll The Boss Bear is attached to the main drive motor it ramps the speed up winds at a preset speed and ramps the speed down A shaft encoder quadrature with A B and MARK outputs will be used to measure the main drive motion The ramp down must be calculated so that the main drive stops within 0 25 inches of the selected length When the main drive is stopped the Boss Bear will cause a knife to cut the product and then retract A gate is then opened to allow the output roll to drop onto a conveyor to
293. m implementation errors These are mistakes made by the programmer in the coding of the program that may or may not get caught by the Bear BASIC system while the program is running An example of one that would get caught would be to declare an array of 10 elements and then try to access the 12th element generating a Subscript Out of Range error error checking would have to be enabled for this to get caught see ERROR and NOERR These errors can be extremely difficult to find and correct especially if they occur in a section of code that is seldom executed Runtime errors caused when an I O device detects an error condition An I O error may or may not be important depending upon the individual system Logic errors in the design of the system These can be the most difficult errors to correct since they result from insufficient planning and incomplete understanding of the system operation A fundamental logic error may not be detected until the system is in operation but it may require that large portions of a program be rewritten In addition to detecting syntax errors during the program entry and compile phases Bear BASIC provides facilities that allow the BASIC program to handle two types of errors at runtime I O errors and program errors These are handled in different ways so they are discussed separately The ERR function returns the latest error that was detected by Bear BASIC Each time a new error occurs it overwrites the previ
294. may not be used concurrently in a multitasking program in other woras it can t be called from two tasks at the same time It is highly recommended that all NETWORK 1 and NETWORK 2 statements be located in the same task Example 100 INTEGER J K ST 110 NETWORK 0 1 20 30 0 ST Initialize the network 120 IF S THEN PRINT Init Error 130 FOR J 0 TO 19 140 NETWORK 3 0 J 0 ST Zero out registers 0 19 150 NEXT J 160 NETWORK 2 0 0 20 2 0 ST Read integer registers from unit 2 170 IF S HEN PRINT Timeout 180 FOR J 0 TO 19 190 NETWORK 4 0 J K ST K register J value 200 PRINT J K 210 NEXT J 220 NETWORK 2 0 18 1 3 28 ST Read reg 28 from unit 3 into reg 18 230 IF S HEN PRINT Timeout 240 NETWORK 4 0 18 K ST 250 PRINT Register 18 K In line 110 the network driver is initialized to unit 1 with 20 INTEGER registers 30 REAL registers and O STRING registers In lines 130 to 150 the 20 integer registers 0 to 19 are filled with 0 In line 160 all 20 integer registers are read from the same registers in unit 2 Lines 180 to 210 print out the 20 values just read Inline 180 integer register 18 is read from unit 3 register 28 this value is printed in lines 230 and 240 Note that in line 160 we are assuming that unit 2 has at least 20 integer registers are available and in line 180 we are assuming that unit 3 has at least 28 integer
295. mentals A Bear BASIC program may be divided into portions called tasks which can be thought of as independent programs which execute concurrently Bear BASIC contains a piece of software called the context switcher which manages all of the multitasking operations Every 10 milliseconds ie 100 times per second the Boss Bear suspends normal program execution and jumps to the context switcher this is handled through the processor s internal TIMERO interrupt for those interested in the technical details The context switcher updates its timing information performs some system housekeeping reads the keypad handles the network etc and then starts a task executing The task that is started could be the one that was just interrupted one that was interrupted at some earlier time or one that had been waiting for an event to occur Each 10 millisecond time interval is referred to as a tick in Bear BASIC This is known as preemptive scheduling since a task is preempted so that another task can execute All Bear BASIC programs consist of the main program which is also known as the lead task or task 0 In order to form a multitasking program one or more tasks must be created using the TASK statement and task execution must be started with the RUN statement The context switcher then causes the processor to be split among the executing tasks Tasks are executed asynchronously with respect to each other this means that it is impossible to predict
296. ments is part of the same task as far as the compiler is concerned everything up to the task 1 statement is in task O and everything from the task 1 statement up to the task 2 statement is in task 1 for example In general a Bear BASIC program must have its tasks declared at the end of the program after the variable declarations and mainline code this includes any tasks that are handling hardware interrupts ie referred to in a VECTOR statement The following example illustrates the proper form for a program the program would contain code that has been left out for clarity but all TASK and GOSUB statements are included here there are no GOSUBs in this program Note the test after line 300 if test lt gt 0 then this will never print because test is always 0 The following example demonstrates the basic form that a Bear BASIC program should follow 5 10 100 Variable declarations integer test integer xl x2 200 Start of program code This is task 0 run 1 10 Run task 1 10 times second run 2 5 Run task 2 20 times second test 0 Initialize test flag ainline code loop 300 if test lt gt 0 then print Failed mainline goto 300 10000 task 1 code for task 1 xlo xI 1 exit 11000 task 2 Last task in program code for task 2 x2 x2 1 exit The existence of subroutines in a program complicates matters The simplest situation occurs when each subroutine is only called from with
297. ments to be put into the configuration file The keywords are SHIFT sh_hour sh_houris the hour number 0 23 that a shift begins on 10 18 FILE string class string is a valid DOS filename with extension The extension determines what format the data is logged into the files DBF would be DBASE IV format and DAT would be staight data class is a number which determines when a new file is opened to log data into 0 Continuous file all data will go into one file 1 Open a new file every hour 2 Open a new file according to the shift times 3 Open a new file every day 4 Open a new file every week 5 Each data packet will specify the filename to store its data in WEEK wday wday is a number 0 6 which tells which day to start the week on ie when to open the weekly files 0 is Sunday 1 is Monday etc To use the NETDEMO2 BAS program above the configuration file would look like this WEEK 1 FILE SHIFT DBF 4 FILE PROD DBF 5 This would store the shift data message type 0 into the subdirectory SHIFT as dBase files with a new file each week The week starts on Monday The product totals would be stored in the subdirectory PROD as dBase files with the filenames being supplied by the Boss Bear Note that when using file type 5 in which the Boss Bear supplies the filename as the first eight characters of the message that the filename is not stored in the file For example the message
298. mit at a time The term master slave is used because the network is managed by one unit the master which controls the communications of the other units the slaves Currently the master must be the Bear Direct Network Interface card which installs into an ISA bus personal computer If the master is not operating then none of the slaves will be able to communicate The network handler on a Boss Bear must be initialized before that Boss Bear can communicate on the network This is done at the beginning of a Bear BASIC program with 10 2 the NETWORK 0 statement This sets the unit s network address and allocates space for the network registers Each unit on the network must have a unique address between 0 and 254 inclusive The network registers are stored in an area of RAM that BASIC normally doesn t access this area is split between the integer real and string registers and can be up to about 20000 bytes There are two different methods of transferring data over the network network registers and messages The two methods can both be used in a program at the same time When communicating between Boss Bears either method may be used When communicating with a personal computer network registers support the Lotus Factory interface while messages support the BearLog data logging TSR program 10 1 1 Network Registers The Boss Bear supports the network using a set of network registers These registers can be accessed by both
299. mming Example ili 10 Multitasking in Bear BASIC 5 1 Multitasking Fundamentals 5 2 Determining Task Timing 5 3 Determining When and How to use Multitasking 5 4 Interaction Between Tasks 5 5 Organization of Tasks and Subroutines User Interface Support 6 1 Using the Built In Display 6 2 Reading the Built In Keypad 6 3 Working With the Serial Ports Onboard Hardware Support 7 1 High Speed Counter 7 2 Analog to Digital Converter 7 3 Bear Bones Interface 7 4 Boss Bear Input and Output 7 5 Real Time Clock 7 6 Serial Ports 7 7 Nonvolatile Memory Bear BASIC Language Reference Optional Modules 9 1 Module Installation 9 2 High Speed Counter Module 9 3 12 Bit Analog to Digital Converter Module 9 4 10 Bit Digital to Analog Converter Module Networking with the Boss Bear 10 1 Bear Direct Networking Principles 10 2 Bear BASIC Network Example 10 3 Using the Network Interface Card 10 4 Interfacing to Lotus 123 10 5 BearLog Data Logging TSR Program 11 Index Error Handling in Bear BASIC 11 1 I O Errors 11 2 Program Errors Specifications Error Messages Accessing the Hardware Using Assembly Language Subroutines Hardware Installation Recommendations ASCII Character Table Bear BASIC Release History UCP Onboard Hardware Support Using Fuzzy Logic vi Chapter 1 Introduction 1 1 Description of Features 1 2 Organization of This Manual 1 3 Notational Conventions The Divelbiss Boss Bear is a u
300. most process control applications both inputs are obtained from the ADC statement which converts an analog input i e speed pressure angle position temperature to the UCP into discrete numbers from 0 to 32767 The statement has three return values output 1 output 2 and status Outputs 1 and 2 are integer expressions which contain the results of the Fuzzy Logic processing The status expression will hold the status of the operation a 0 will 8 64 indicate a successful operation a 1 indicates output 2 was beyond the range of an integer a 2 indicates output 1 was beyond the range of an integer and a 3 indicates both outputs were beyond the range of an integer When an output is beyond the range of an integer the return value from the FUZZY routine will be 32767 or 32767 depending on the actual sign of the output As mentioned the statement requires 106 integer values in order to do the Fuzzy Logic processing Specifically there are 8 values for fuzzy set mid points and sensitivities 49 for the rules for output 1 and 49 rules for output 2 for a total of 106 The data must be contained in a data array in the following order input 1 midpoint input 1 sensitivity input 2 midpoint input 2 sensitivity output 1 midpoint output 1 sensitivity output 2 midpoint output 2 sensitivity rule output 1 in1 1 in2 1 rule output 1 in1 1 in2 7 rule output 1 in1 7 in2 1 rule output 1 in1 7 in2 7 rule output 2 in1 1 in2 1
301. n 0 and 999 to save space This list doesn t need to show the 4 12 temporary variables used within the program such as loop counters intermediate results etc The following is a preliminary list of variables that will be needed for the example program INLEN PRDNUM OPNUM BATNUM LENSETP CURLEN DNTIME TOTDNTM RROLCNT PROLCNT PYARDS BROLCNT BYARDS SROLCNT SYARDS Input roll length A number in the range 0 9999 it is stored as an integer Product number A number in the range 0 9999 it is stored as an integer Operator number A number in the range 0 999 it is stored as an integer Batch number A number in the range 0 999999 it is stored as a text string Length setpoint for the current product in shaft encoder pulses 1 50 s of an inch over the 10 to 30 yard range of output roll length this yields a number in the range 18000 54000 It is stored as a real Length of current roll being run in shaft encoder pulses 1 50 s of an inch A number in the range 18000 54000 It is stored as an integer Array of current downtime totals There are four downtime codes for which downtime is accumulated separately in seconds over a shift which is a range of 0 28800 This is an integer array Total downtime thus far in the shift in seconds A number in the range 0 28800 it is stored as an integer Output roll count for current input roll A number in the range 0 1000 it is stored as a re
302. n expression may consist of a combination of real and integer values Bear Basic will automatically convert the components of the expression to the proper mode before evaluating it and will convert the result to the mode of the variable to which the expression is being assigned This is very convenient for programmers however there are some important implications arising from it Whenever an expression is to be assigned to a real variable then every component of that expression is evaluated in real mode Components of the expression which are integer for example integer variables are automatically converted to real before any arithmetic is performed This conversion takes place entirely within temporary values in the compiler the integer values themselves are not changed Whenever a constant is specified with no decimal point the compiler assumes that it is an integer value Any constant designated with a decimal point will be assumed to be real Since the process of converting an integer to areal is relatively slow faster code will result with real operations when all real operands are specified Expressions are defined in terms of parentheses Whenever an expression in parentheses is encountered this is treated as a new expression although it may be part of a larger expression This has significance when expressions are being evaluated which will be assigned to integer arguments When the compiler encounters a new expression one with pare
303. n parity and 1 stop bit Bit 4 of port O the 10 bit controls the state of the RTS line for COM1 clearing bit 4 asserts RTS The CTS input is always enabled if CTS goes low COM 1 will stop transmitting Start bit 7 data bits no parity 1 stop bit Start bit 7 data bits no parity 2 stop bits Start bit 7 data bits parity 1 stop bit Start bit 7 data bits parity 2 stop bits Start bit 8 data bits no parity 1 stop bit Start bit 8 data bits no parity 2 stop bits Start bit 8 data bits parity 1 stop bit Decimal Hex Binary Description 96 60 01100000 97 61 01100001 98 62 01100010 99 63 01100011 100 64 01100100 101 65 01100101 102 66 01100110 103 67 01100111 Start bit 8 data bits parity 2 stop bits Figure 17 COM Port Setup Parameters Binary Description Decimal Hex 0 00 1 01 2 02 3 03 4 04 5 05 6 06 13 0D 14 0E 16 00 17 11 18 12 19 13 20 14 21 15 22 16 29 1D 30 1E 00000000 00000001 00000010 00000011 00000100 00000101 00000110 00001101 00001110 00010000 00010001 00010010 00010011 00010100 00010101 00010110 00011101 00011110 38400 baud even parity if parity set 19200 baud even parity if parity set 9600 baud even parity if parity set 4800 baud even parity if parity set 2400 baud even parity if parity set 1200 baud even parity if parity set 600 baud even parity if parity set 300 baud even parity if p
304. n ydsleft 0 0 return VKKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK AAA AAA AAA Update Current Production Data rrolcnt rrolcnt 1 if maintmd then 3490 ftemp lnsetp 50 0 36 0 Calc length of roll in yards brolcnt brolcnt 1 0 Update batch total byards byards ftemp Update batch yards prolcnt prolcnt 1 0 Update product total pyards pyards ftemp Update product yards srolcnt srolcnt 1 0 Update shift total syards syards ftemp Update shift yards return UT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Downtime Accumulation Wait for the operator to select a downtime code then add current downtime to that downtime total Note that maintenance downtime is a special case it sets the maintmd flag and returns so that the machine can still be run erase print Fl1 Break F2 Input Roll F3 Jam print F4 Maintenance dhour hour dmin min dsec sec 4030 4100 4190 4300 4390 4400 5000 ch get if ch lt 41 or ch gt 44 then 4030 if ch 44 then 4100 ch ch 41 gosub 4400 Update downtime array erase if ch 0 then print Break if ch 1 then print Input Roll if ch 2 then print Jam print downtime total gt dntime ch wait 500 goto 4190 Maintenance downtime selected maintmd 1 return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
305. nd NOERR If a program error occurs Bear BASIC will normally print an error message to the console COM1 serial port and return to the command prompt During the initial debugging this is an acceptable response During system testing or especially after the system is installed this can be very inconvenient for two reasons First if there isn t a terminal attached to COM1 then the error message will be lost Second stopping the program at the instant that the error is detected may leave the system in an unacceptable state To solve these problems the Bear BASIC programmer can get access to the program error handler by modifying the vector at 0013 By using JVECTOR the program can be made to jump to a task when a program error is detected this task should be treated as a hardware interrupt task This task can put the system into a safe state and store the error number in a variable or perhaps in EEPROM The task must either stop the program with the STOP statement or restart the program by using CALL 100 a program error indicates that an unrecoverable problem has occurred so it isn t possible to continue running the program 100 INTEGER K 110 STRING AS 25 150 JVECTOR 13 1 Set up error handler task 200 ASSN 210 FOR K 1 TO 26 220 AS CONCATS AS CHRS K 64 Fill string with ASCII letters 230 NEXT K 240 PRINT Done STOP 500 TASK 1 510 FILE 6 Display error message on onboard display
306. nd also discusses using a serial communications port with a terminal Chapter 7 Onboard Hardware Support describes the BASIC instructions that support the hardware options available on the Boss Bear Chapter 8 Bear BASIC Language Reference is an alphabetical list of all direct commands statements operators and functions in Bear BASIC Chapter 9 Optional Modules describes the optional hardware modules that are available for the Boss Bear Chapter 10 Networking with the Boss Bear describes how to setup and use the Boss Bear network Chapter 11 Error Handling in Bear Basic deals with the onboard Basic compiler Appendix A Specifications list of system hardware and software specifications Appendix B Error Messages describes the Boss Bear error messages Appendix C Accessing the Hardware is a technical description of the hardware available onboard the Boss Bear Appendix D Using Assembly Language Subroutines describes how to link assembly language routines into a BASIC program 1 4 Appendix E Hardware Installation Recommendations provides guidelines for installing the Boss Bear into the user s system Appendix F ASCII Character Table is the character table used in the Boss Bear Appendix G Bear Basic Release History is the version release history showing additions modifications and anomalies in the Boss Bear Basic Appendix H UCP Onboard Hardware Support i
307. nds The TMSEARCH function scans the Touch Memory interface port getting the ID strings for all attached Touch Memories All of these ID strings are concatenated together in dstr If two Touch Memories were found for example then dstr would be 16 characters long with the first ID at the first character of the string and the second ID starting at the eighth character of the string This is not currently being implemented on the Boss Bear Example 100 INTEGER NDEV NUM ST 110 STRING ID 80 DATS 30 150 DATS 160 FOR NUM 1 TO 30 170 DATS CONCATS DATS CHRS 0 Build string of 0 bytes 180 NEXT NUM 200 NDEV TMSEARCH IDS Read device IDs 210 IF NDEV 0 THEN WAIT 50 GOTO 200 Loop if none found 220 FOR NUM 0 TO NDEV 1 230 TMADDR MIDS ID NUM 8 1 8 Set up ID to write to 240 ST TMWRITE DATS 0 Zero out data at location 0 250 PRINT Write status ST 260 NEXT NUM Related topics TMADDR TMREAD TMWRITE 8 156 TMWRITE Function Summary The TMWRITE function writes data to a Touch Memory device attached to the Touch Memory port Syntax stat TMWRITE datstr location Arguments datstr string variable containing the data to write location an integer expression The starting byte location to read from within the Touch Memory Description TMWRITE transfers data from a BASIC string variable into a Touch Memory devic
308. ne of the intervening tasks called a subroutine that was in the same task as the statement that was interrupted Here are two examples that illustrate a few ways that this could happen 10 This example contains a task that calls a subroutine that is located within another task task 1 calls the subroutine at 1000 which is in task 0 If task 0 is executing the statement in line 300 when the timer tick occurs allowing task 1 to run then when task 0 finishes executing line 300 an erroneous conclusion will be reached When task 1 calls 1000 it will have altered th temporary variables being used in line 300 because 300 and 1000 both use the same temporary variables 100 Variable declarations integer test integer x0 xl x2 200 Start of program code This is task 0 run 1 10 Run task 1 10 times second run 2 5 Run task 2 20 times second test 0 Mainline code loop Line 300 will sometimes operat incorrectly printing the messag ven though test is 0 300 if test lt gt 0 then print Failed mainline gosub 1000 goto 300 1000 Subroutine called from multiple tasks Code for subroutine goes here x0 x0 1 return 5 12 10000 10200 11000 task 1 Code for task 1 gosub 10200 gosub 1000 xl xl 1 if test lt gt 0 then print Failed task 1 exit Subroutine called only by task 1 Code for subroutine goes here This is still part of task 1 return
309. ne unit can be in transmit mode at any given time As before the code OUT B 0 OUT A 10 sets it to transmit After all characters have been sent allow at least two extra character times ie 2 msec at 9600 baud then set the driver to receive mode using OUT B FF OUT A 10 7 7 Nonvolatile Memory Nonvolatile memory retains its state with the system power turned off The Boss Bear supports two types of nonvolatile memory as options EEPROM and battery backed up RAM Each of these has characteristics that make it more suitable for some applications 7 7 1 EEPROM An EEPROM Electrically Erasable Programmable Read Only Memory requires no power to retain its state it can even be moved from one unit to another without affecting its contents Current EEPROM technology provides at least ten years of data retention Unfortunately it takes approximately 10 milliseconds to write each byte into an EEPROM and each byte can only be written into approximately 10 000 times This makes the EEPROM most suitable for data that rarely changes such as configuration information and calibration data Bear BASIC supports either a 2KB or 8KB EEPROM using the EEPOKE and EEPEEK statements to access the EEPROM 7 7 2 Battery Backed Up RAM The Boss Bear has a battery back up option for the system RAM With this option installed the Boss Bear memory will be retained for approximately 6 months without power the battery is charging whenever the unit is powe
310. nes that only need to be used at one spotina BASIC program A good example of this would be a bit reversal routine Some equipment will transfer bits in the opposite order from the way that the Boss Bear stores them it is very time consuming to reverse the bits in BASIC but it is relatively fast in assembly language The following assembly language source code performs this reversal It takes an integer 16 bit argument that is passed using location FBO0 it reverses the bits in this integer and returns the result at location FBOO ARG_ADDR EQU OFBOOH LD HL ARG_ADDR Get input argument LD B 16 Set up loop counter LOOP RR H Rotate bits to the right RR L z out of input word RL E Rotate bits to the left RL D into output word DINZ LOOP Do all 16 bits LD ARG_ADDR DE Store result i 1 Note that there is no RET instruction When this routine is assembled and put into the BASIC program it would look like this 100 integer J RD Other code goes her gosub 2200 Get new RD value Other code goes her stop D 3 Subroutine to get a readin reading is an integer the Boss Bear format J 1234 wpoke FB00 J code 2A 00 FB code 06 10 CB 1C CB 1D code SCB 13 CB 12 10 SF6 code SED 53 00 SFB RD wpeek SFBOO fprint S2H4S5H4 J J return 2200 When this example is executed it g from other hardware Note that the and must have its bi
311. next address past it Even if the assembly routine requires no arguments ie 800 CALL C000 the end of table flag is still stored after the CALL instruction so the assembly routine must look atthe table to determine the correct return address A CALL to address 100 will restart the Bear BASIC program that is currently running It will cause the hardware to be re initialized Example 100 INTEGER NUM BYTE 110 DATA El pop hi Get table address 111 DATA 23 t nc hi Skip mode byte 112 DATA 5E ld e h1 Get low byte of arg address 113 DATA 23 ane hi 114 DATA 56 ld d h1 Get high byte of arg address 115 DATA 23 Ane hi Point to 0 byte 116 DATA 23 inc hi Point to next code byte 117 DATA E5 push hl Store new return address 118 DATA 1A La a de Get low byte of argument 119 DATA C6 05 add a 5 Add 5 120 DATA 12 ld de a Store low byte back 121 DATA 13 inc de 122 DATA la id a de Get high byte of argument 123 DATA CE 00 ade a 0 Propagate carry into high byte 124 DATA 12 ld de a Store high byte back 125 DATA C9 ret Return to BASIC 130 FOR NUM 0 TO 17 140 READ BYTE 150 POKE B000 NUM BYTE Store assembly program at B000 160 NEXT NUM 160 NUM 90 170 CALL B000 NUM Call assembly program 180 PRINT NUM This example calls a simple subroutine that gets the address of the argument adds 5
312. ng the FOR statement and this process repeats If variable is greater than or equal to expr2 then BASIC continues execution with the statement following the NEXT statement For example the statement FOR X 4 TO 13 STEP 2 will cause the loop to be executed 5 times for 4 6 8 10 and 12 In order to cause a loop to count downwards a negative STEP value may be used If expr3 is negative then variable will be decremented each time through the loop For example the statement FOR J 10 TO 1 STEP 1 will cause the loop to be executed 10 times for 10 9 8 1 Note that the body of the loop is always executed once because the test variable lt expr2 is performed when NEXT is encountered It is possible to alter the value of variable inside the body of the loop Extreme care should be used when doing this however as it can result in very subtle problems In general variable should not be altered except by the FOR statement itself A FOR NEXT loop may be used inside of another FOR NEXT loop this is called a nested loop Each loop must have a unique variable name in the variable field The inside FOR NEXT loop must be entirely enclosed in the outer one 8 60 Example 100 INTEGER J K 110 REAL X Y 120 FOR J 3 TO 8 130 FOR K 1 TO 7 STEP 2 140 FPRINT I2I2X2Z J K 150 NEXT K PRINT 160 EXT J N 170 PRINT 180 FOR X 360 0 TO 0 0 STEP 22 5 190 FPRINT F3 1F7 3 X SIN X 200 NEXT X
313. nique programmable control system that integrates many control functions into one easily used package It starts as a compact highly integrated industrial computer system that is programmed using an extended compiled BASIC It becomes an operations panel containing a 2 line by 40 character display and a 20 key entry pad both are fully programmable to suit the user s requirements It supports onboard control hardware such as a high speed counter analog inputs a Real Time Clock two serial ports nonvolatile memory and EPROM storage of the user s programs Three expansion ports are available for adding optional modules including analog outputs analog inputs high speed counters resolver inputs high speed input output etc The Boss Bear can be interfaced to a Divelbiss Bear Bones programmable controller with a single cable allowing a true multi processing system to be easily created this forms an inexpensive system that provides performance equal to much larger controllers Several Boss Bears can be linked together with a network to provide control over a larger area or to return information to a central point This network can then be linked to another computer system which can provide long term data storage and display supervisory control of the entire network and perform Statistical Process Control 2 X 40 Display LCD Industrial LCD W backlighting ali 256 1 0 Vacuum Fluorescent Computer gt gt User 32K 128K RAM User
314. nnnnnnnnnnnnnnnnnnnnnnnnninnns 7 3 7 5 8 127 H 2 H 4 HL E A CO 8 38 8 40 ENTREN AAA NA 8 77 A REO 8 79 8 119 TINT sara cscs A RIE 8 59 8 80 8 82 INPUT a aa 8 80 8 82 INTEGER oran iia 3 5 8 83 8 131 8 149 NT RRO Tosi soos E NES 7 5 8 84 8 160 O E e a Ty 8 53 INTO PE a a a a E E aan 5 7 8 86 8 88 INTO Nai 5 7 8 53 8 86 8 88 Jumpers e a ne ae MS ce a ee 7 4 IN idas 7 4 A A 7 4 a E O O 2 6 A 7 4 SA A RO 7 4 E 7 4 O O A O 8 50 8 89 11 4 O O O O O II N 8 38 8 91 A 1o ME E ede cues ts oicecd ed EEE fc suet N AE 8 38 Ntra islas aa ai 8 92 8 99 ERDELLA YV ba 8 93 A O A a E 2 4 3 3 8 94 ROJAN DEA E E E 8 47 8 95 LOCATED 6 2 6 5 8 96 A MA A cuentas R E a N 8 55 8 97 8 98 LO GTO s deder NO 8 97 8 98 EodicaladdteSS scan 8 36 Memory UNS CO aaa as D 1 A A 8 99 A O fs O AN 8 30 8 100 MI ina ar o ias 8 31 8 100 8 101 NMMUIMIOROCCS Istoric 1 2 NGSTSA OOD PARE EEEE AEE EE NEEE AEAEE ad aid 8 62 NETMSO saroien aE E AEE E EAEE tii 8 102 Nemo aii 1 2 A 10 2 MUITO A IrOn Tees nme sren men re ee 10 2 NETWORK TOQISIOES nrin ineeie reinen eedesecteelsanecsandsenattevacvedendiincttveaswclindiceciieatin s 10 3 NETWORK 0h este EE 8 105 10 3 NETWORK accede kerk inte tect Ee Moench tsk bol le he leet Meee dal elec Le le 8 107 10 3 NETWORK 2d oia aora 8 109 10 3 NETWORK Simri cairo cairo iaa 8 111 8 112 10 3 NETWORK diosa nnan ee a a tees sanytuneviay ious veers a a ales E 10 3 NEW 2 4 8 52 8 72 8 113 8 1
315. nt so it can t turn interrupts off This means that it must be put into a task by itself so that it doesn t share temporary variables with any other routine print x0 x0 return So we can add a third rule to the list 1 2 3 All tasks must be at the end of the program Never call a subroutine that is outside of the task that contains the GOSUB to that subroutine If the program contains subroutines that must be called from multiple tasks then put all of these subroutines into a separate task and disable interrupts during the subroutine execution The subroutines must be short and they can t use any of the PRINT GET or INPUT statements If subroutines can t disable interrupts while executing because they are too long or execute statements that enable interrupts then the subroutines should be treated as a scarce resource and protected with a semaphore This technique is described in section 5 4 above The subroutines are placed in a separate task and then all accesses to any subroutine in that task must be protected with a semaphore flag This will prevent multiple tasks from executing subroutines simultaneously thereby preventing the subroutine temporary variables from being corrupted 5 15 Chapter 6 User Interface Support 6 1 Using the Built In Display 6 2 Reading the Built In Keypad 6 3 Working With the Serial Ports 6 1 From an industrial control standpoint one of the most attractive Boss Be
316. nt EPROM Space The user s EPROM is full Line Number Does Not Exist Occurs if a line number is referenced in a GOTO GOSUB or IF statement and that line cannot be found Line Number Error Occurs when an illegal line number is used Line numbers must be integers from 1 to 32 767 Misuse of String Expression Occurs when a string expression is used in a place where a real or integer expression is needed or if a real or integer expression is used in lieu of a string No Compiled Code Occurs when the GO command is issued but there is no compiled code to execute If any change is made to the program it must be recompiled Not Enough Memory to Compile Program This can be issued under two circumstances First the compiled code and variable space may be too large try shrinking arrays compiling with NOERR and using subroutines to eliminate duplicate code Second the source code may be too large which doesn t leave enough room for the compiler s temporary storage try removing comments to save space Not in Program Mode EPROM SAVE was executed while SW1 was in the RUN mode Switch it to PROG and issue the command again Overflow Indicates that a math overflow occurred such as divide by 0 LOG of a negative number etc B 2 PROM is incompatible with this Compiler Version This occurs when a program on the user s EPROM is executed on power up or from a CHAIN statement The compiled code on the user s EPROM was cre
317. nted to allow a program to detect and handle serial communication errors and EEPROM programming failures without halting the program Address 0013 is the vector for the error processor so that a BASIC program can trap fatal errors using JVECTOR This allows the program to halt the system gracefully and restart the program or CHAIN to another program A program line can begin with a direct command string without being treated as a direct command For example the line CLS X 0 can now be entered without requiring a line number CLS by itself would still require a line number however The CNTRMODE statement now allows the LATCH input to enable and disable the counter The user s manual has been totally rewritten the new manual is much more accurate than the previous manual Version 2 01 Anomalies The contrast adjustment on the LCD versions doesn t work correctly while a program is running This happens when a program writes to the LCD very often there isn t enough time between LCD operations to allow the contrast adjustment to take place The solution is to write to the LCD less often CEXPR handles combined REAL and INTEGER expressions incorrectly If the overall result is INTEGER it will convert the partial result to INTEGER before it really should INTEGER J K REAL X Y Z X 6144000 Y 20 Z X Y 10 0 This returns 31220 0 J X Y 10 0 This returns 31220 J X Y 10 0 This returns 2048 T
318. nthesis it attempts to evaluate that expression in the mode of the variable to which it will be assigned In the case of a real operator this is not important since all values are converted to real before any operation takes place With integer variables however if any component of an expression is real the rest of that expression will be converted to real before the operation takes place A few examples will make this clear 100 INTEGER A 110 A 1 2 2 In this case the expression will evaluate to the value zero All operations specified are integer Integer operations take place by truncating the result so 1 divided by 2 evaluates to 0 100 INTEGER A 110 A 1 0 2 2 This expression also evaluates to zero but for a different reason The inner 1 0 2 evaluates to 5 but after the value is calculated the compiler attempts to convert this back to integer to be in the proper mode for variable A The integer version of 0 5 is 0 100 REALA 110 A 1 0 2 2 0 3 8 In this case the expression will evaluate to 1 Each of the operations is real so all operations take place in real mode 100 INTEGER MOTOR DAC value to send to motor controller 110 REAL SPEED Speed setpoint for motor 120 SPEED 750 0 Set to 750 RPM 130 MOTOR SPEED 100 0 1023 10 Convert RPM to DAC value 140 DAC 1 MOTOR This example illustrates the problem that can occur with real integer conversions in expressions In the example it is assumed that DAC c
319. ntrol which tasks are running and how often they are running CANCEL task EXIT JVECTOR laddr task PRIORITY int RUN task int TASK task VECTOR ladar task WAIT int 3 7 7 Miscellaneous Statements DEBUG INTOFF INTON RANDOMIZE halt the rescheduling of a task abort execution of current task store a jump instr for an interrupt vector set priority of current task begin task execution set resched interval mark the beginning of a task area store task number to an interrupt vector suspend task execution for int tics halt compile process to display variables disable all interrupt processing enable all interrupt processing re seed the random number generator REM string comment text TRACEON enable line number trace on current FILE TRACEOFF disable line number trace on current FILE 3 8 Functions A function is called by referencing it in an expression A function returns an integer real or string result Functions can be grouped into five categories math string memory access I O and miscellaneous 3 8 1 Math Functions These include trigonometric logarithmic and bitwise logical functions ACOS expr arccosine of expr ASIN expr arcsine of expr ATAN expr arctangent of expr BAND expr expr bitwise logical AND of expr s BOR expr expr bitwise logical OR of expr s BXOR expr expr bitwise logical XOR of expr s COS expr cosine of expr EXP expr exponential function e expr LOG expr natural
320. o 0 when the EFR bit is written to 0 RIE Receive Interrupt Enable Set to 1 to enable ASCI receive interrupts When enabled if any of the flags RDRF OVRN PE or FE become set to 1 then an interrupt request will be generated DCDO Channel 0 Data Carrier Detect On the Boss Bear this will always read 0 CTS1E Channel 1 CTS Enable Set to 1 to enable the CTS line for channel 1 TDRE Transmit Data Register Empty Set to 1 when TDR has been emptied to indicate that the next transmit data byte can be written to TDR After a byte is written to TDR TDRE is cleared to 0 until the ASCI transfers the byte into the transmit shift register when TDRE will be setto 1 again Note that when the shift register is already empty TDRE will be set within microseconds when the shift register is full however it will take up to one character time for TDRE to be set TIE Transmit Interrupt Enable Set to 1 to enable ASCI transmit interrupts When enabled an interrupt will be generated when TDRE 1 ASCI Control Register A 0 1 Each channel Control Register A configures the major operating modes CNTLAO I O Address 00H caia ati FR_ move MODO C 6 CNTLA1 I O Address 01H SAV eae E OKAID wooe mooi mono MPE RE TE RTSO CKA1D EFR MOD2 MOD1 MODO Multi Processor mode Enable A 1 will enable the multiprocessor communication mode Normally cleared to 0 on the Boss Bear Receiver Enable A 1 enables the ASCI receiver
321. o a blank EPROM Version 1 00 Version 1 00 was released in September 1989 It was the first release of the Bear BASIC compiler Version 1 02 Version 1 02 was released in January 1990 It was the first stable release of the Bear BASIC compiler Version 2 01 Additions and Modifications Version 2 01 was released on May 9 1991 It now swaps tasks while waiting for INPUT and GET statements This improves system performance e it now continues multitasking while file O and file 5 outputs are XOFFed It used to stop multitasking while waiting for an XON to be received giving the appearance that the system had locked up G 2 Support for windowing has been removed in order to provide more room for the user s program The window statements were not useful in most control applications and they are easily emulated using BASIC subroutines ERASE and CLS now support the LCD and VFD GOTOXY and LOCATE now support file O and file 5 Previously there was a bug in which programs that had more than 16 tasks would do strange things while accessing strings This has been fixed The context switcher now operates slightly faster resulting in more processor time available for running the user s program The multiply routine is now about 3 to 12 times faster than it was This speed increase is evident with the operator as well as with array indexing Previously there was a bug in the context switcher that would cause the system to
322. o easily delay for a fixed time period 100 PRINT 110 WAIT 100 120 GOTO 100 This example uses the WAIT statement to cause a 1 second delay in a program It will print a character each second until the program is stopped by pressing ctri c The next example shows a more complex use of the WAIT statement 100 RUN 1 10 Start task 1 resched 0 1 sec 110 PRINT _ 120 WAIT 20 Print _ every 0 2 second 130 GOTO 110 200 TASK 1 210 PRINT 220 WAIT 15 Delay for 0 15 second 230 PRINT ANAN 240 EXI Done It will run again in 0 1 sec This example uses WAIT in a multitasking program Note that task 1 performs a WAIT between printing the and characters and that there is another delay caused by the 0 1 second reschedule interval that occurs when the EXIT is executed The following output is produced when this program is run K 5 4 5 1 3 CANCEL Statement In most situations a task doesn t need to execute all of the time for example a task may only need to execute when the machine is moving The CANCEL statement stops the rescheduling of a task It does not halt the execution of the task at it s current location instead it prevents it from being started again after it executes the next EXIT statement A task may CANCEL itself or any other task except task 0 which always runs The following example shows the use of the CANCEL statement
323. oard hardware J3 J4 and J5 The following examples will clarify this A Boss Bear has the onboard 10 bit A D converter a 3 channel DAC module in J4 and a 4 channel DAC module in J5 The onboard A D will use A D channels 1 through 12 The DAC module in J4 will use DAC channels 1 through 3 The DAC module in J5 will use DAC channels 4 through 7 e A Boss Bear has the onboard 12 bit A D converter the onboard high speed counter a differential A D module in J3 a 2 channel high speed counter module in J4 and a single ended A D module in J5 The onboard A D will use A D channels 1 through 12 The A D module in J3 will use channels 13 through 20 since it is in differential mode 8 channels The counter module in J4 will use counter channels 2 and 3 The A D module in J5 will use A D channels 21 through 36 since it is in single ended mode 16 channels 9 1 Module Installation WARNING Do not install or remove any expansion module with power applied to the Boss Bear as damage to the module and or Boss Bear could result The Boss Bear expansion modules are secured to the Boss Bear with four 6 32 machine screws each 1 5 8 inch long A module can be installed in any Boss Bear expansion connector J3 J4 or J5 although it allows easier access to the Boss Bear configuration jumpers and user EPROM if expansion modules are installed in J4 and J5 before J3 Note that it is simpler to configure the modules jumpers before installing the modules
324. ode 0 5 0 10 etc from the user erase print L 0 to SV 2 0 to 10V Sii 5 SA print 4 10 to 10V 5 4 to 20mA Press 1 5 ch get if ch lt 31 or ch gt 35 then 320 mode ch 30 Get channel number to calibrate erase print Enter channel number to calibrate gt finput u2 chanl Display range that was chosen ie 5 to 5V erase restore for j 1 to 5 read a if j mode then print a next j locate 1 15 print Channel chanl locate 2 10 print Press a key to exit Get the zero and span values for the chosen mod for j 1 to mode read zero span next j Main loop to read the A D and display the value Exit this loop when a key is pressed anlgrd adc chanl 32767 0 span zero locate 1 26 fprint 3 32 anigra if mode lt 5 then print V if mode 5 then print mA wait 20 Delay to allow user to read number if key 0 then 400 goto 300 Calibrating the unipolar input modes 0 to 5V 0 to 10V 9 11 With the BASIC A D calibration program running short the plus and minus inputs of channel 1 with a jumper wire Adjust the NULL adjustment until 0 000V is displayed by the program Remove the shorting jumper and apply 1 2 of the input span voltage level to the channel 1 input terminals observing polarity this is 2 500V for the 0 5V mode 5 000V for the 0 10V mode Adjust the span pot until the displayed value matches the input level The calibration can be ver
325. ogic and some 1 9 standard calculations required by Fuzzy Logic Note that in some cases rules may not make sense It is always in the best interest of the design to remove unnecessary rules to avoid excess processing However one should be quite certain when doing this because the rules represent knowledge and a lack of knowledge can cause unpredictable results 1 1 5 Tuning a Fuzzy Logic Controller Once the system operation has been understood inputs and outputs determined and fuzzy sets generated the next step is to simulate or implement the controller for verification It is recommended that simulations of the system be performed first if such tools are available Computer modelling of the process will increase the probability of creating a system with acceptable results during the first implementation However in some cases this recommended design approach may not be possible and the only way to ensure correct operation is to implement the controller in a real system and then tune the controller Tuning of a Fuzzy Logic controller is required just as with conventional control systems However unlike tuning controllers such as PID Proportional Integral Derivative tuning a Fuzzy Logic controller is more intuitive because of the reliance on human experience Typically a Fuzzy Logic controller is not successful for the following reasons Incorrect process logic Incorrect inputs and or outputs Incorrect fuzzy set values An incorr
326. on so turn on output 250 DOUT 1 1 260 FLAG1 1 270 GOTO 200 300 Input just turned off so wait for 140 seconds then turn off output 1 310 GETIME HA MA SA Get current time 320 END1 MA 60 SA 140 Calculate end time cur time 140 330 IF END1 gt 3599 THEN END1 END1 3600 Convert to 0 3599 range 340 GETIME HA MA SA 350 IF MA 60 SA lt gt END1 THEN 340 Wait for 140 seconds to pass 360 DOUT 1 0 370 FLAG1 0 380 GOTO 200 In order to execute a 140 second delay the program reads the real time clock in line 310 It converts the minutes 0 59 and seconds 0 59 to just seconds 0 3599 and adds in the 140 second delay time This could result in a number larger than 3599 so it checks for this in line 330 wrapping the result around if itis larger than 3599 The program then loops in lines 340 and 350 waiting for the 140 seconds to pass With a resolution of approximately 10 msec the WAIT statement is suitable for medium time intervals on the order of 20 msec to 300 seconds In a multitasking program it can be 4 4 difficult to predict exactly what time delay a particular WAIT statement will generate since it depends upon what the other tasks are doing at the time as well as the relative priorities of all of the tasks For critical timing functions the Boss Bear relies on the hardware timer the Z180 s internal timer 1 which has a resolution of a few microsecon
327. on the A D conversion time is approximately 350 microseconds The onboard A D provides 12 bit resolution or about 0 025 accuracy The A D input voltage is not limited but is buffered to protect the A D converter If an input goes above 5 VDC the A D will not read correctly Therefore the system should be designed so the input signal does not go above 5 VDC All signal cables should be shielded running to the sensor the shield should be attached to chassis ground CGND on the A D terminal strip at the UCP end only H 6 Figure 39 0 5V Analog l O Board Back Panel Detail When the 12 bit onboard A D option is installed it supplies the first 8 A D channels when read with the ADC function as follows Channel Description AD1 AD2 AD3 AD4 AD5 AD6 AD7 AD8 CONDOR WNDN The following example shows the use of the ADC function It simply displays the voltage being read by the 8 A D channels In line 140 it reads the A D value and converts it from A D units 0 to 32767 to voltage 0 0 to 5 0 100 Display the first 8 A D channels 110 INTEGER CHAN 120 REAL ADVAL 130 FOR CHAN 1 TO 8 140 ADVAL ADC CHAN 32767 0 5 0 150 PRINT Channel CHAN ADVAL 160 NEXT CHAN H 7 Itis often necessary to convert an A D reading into the appropriate engineering units either for display purposes or to make the program easier to understand In the previous example the number was displayed
328. on the Boss Bear Installing an expansion module in J4 or J5 is relatively easy because these connectors are self aligning with the module Looking at the back of the Boss Bear with the lettering right side up position the module over the desired connector with the module s lettering right side up also Press the module firmly into place ensuring that the mating connectors have seated properly Install the long screws into the corners of the module Expansion connector J3 on the Boss Bear is intended for enhanced function modules and has more pins than J4 and J5 Because of this it is not self aligning with some modules and requires more care when installing a module Carefully position the expansion module over J3 and align the left hand side of the module with the left hand side of the Boss Bear press the module firmly into place When the module is installed correctly a counter sunk machine screw will be visible on the Boss Bear to the right of the module the module 9 2 partially covers the screw If this screw is not visible or the left hand side of the module is not flush with the left hand side of the Boss Bear then the module is mis mated and must be removed and re installed properly Install the long screws into the corners of the module Figure 20 and Figure 21 show the mounting dimensions of the Boss Bear expansion modules These figures show the D A module but the overall dimensions of the other modules are the same 9 2
329. oop counters 200 SEM1 0 Initialize semaphore to 0 210 ERASE 220 COUNT1 0 COUNT2 COUNT1 Initialize task counters to 0 230 RUN 1 300 Task 0 main loop 310 COUNT1 COUNT1 1 315 Next two lines perform critical region protection to lock the 316 console display 320 INTOFF IF SEM1 lt 0 THEN INTON WAIT 1 GOTO 320 330 SEM1 SEM1 1 INTON 340 LOCATE 10 10 PRINT COUNT1 Display current count 350 INTOFF SEM1 SEM1 1 INTON Unlock the console display 360 FOR LOOP1 1 TO 500 NEXT LOOP1 Simulate execution of other code 370 GOTO 300 5 9 400 TASK 1 410 COUNT2 COUNT2 1 415 Next two lines perform critical region protection to lock the 416 console display 420 INTOFF IF SEM1 lt 0 THEN INTON WAIT 1 GOTO 420 430 SEM1 SEM1 1 INTON 440 LOCATE 20 10 PRINT COUNT2 Display current count 450 INTOFF SEM1 SEM1 1 INTON Unlock the console display 460 FOR LOOP2 1 TO 900 NEXT LOOP2 Simulate execution of other code 470 GOTO 410 This program has two tasks that are writing to different locations on the terminal attached to COM1 it uses a semaphore to control access to the COM1 port so that one task doesn t print at the other task s screen location In task 0 lines 320 330 and 350 implement the semaphore locking algorithm In line 320 it checks to see if COM1 is available indicated by SEM1 0 if it isn t then it waits 1 tick to allow t
330. operations and one of the tasks was set to a nonzero priority it was previously possible for the Boss Bear to enter a deadlocked state preventing it from executing the user s program Version 2 09 corrects this problem Version 2 09 Anomalies Same as V2 03 anomalies listed above Version 2 10 Additions and Modifications Version 2 10 was released on October 31 1994 The SERIALDIR statement was added to the Boss Bear to match the UCP A problem was corrected in which the network peer to peer transfers were not being transferred correctly and world overwrite the basic listing G 8 Comments using the will now be deleted in the basic listing This allows the user to download a program into the Boss Bear having comments with the and not take up source code space Comments using the REM or will function the same as before The EXPMEM statement was added to the UCP to use the expanded memory board option on the This board and statement allows the user to have an added 512K of data storage space Note that this does not expand the program space The HELP text has been expanded to include all the new commands added The FUZZY statement has been added to the UCP in the optional version 2 10f This is a fuzzy logic control statement to be used for a verity of control applications The NETSERVER statement has been added to the UCP This allows the UCP to arbitrate a peer to peer network without the use of a computer and netw
331. operations must be performed at particular times This differs from the general application program which is not timing dependent For example it doesn t matter too much whether a spreadsheet takes 1 second or 10 seconds to recalculate on the other hand it matters very much whether a motor controller ramps the motor speed down in 1 second or 10 seconds Real time events fall into three categories events that must happen before a specified time events that must happen at a specified time and events that must happen after a specified time Real time control often involves managing multiple processes concurrently in other words several things may be happening at the same time 4 1 1 The Primary Rule of Real Time Programming At its simplest real time programming can be reduced to one rule the program cannot disregard any of the processes for too long At any time that the program is waiting for an event to occur in one process it must still be handling the other processes The following example implements a system with two switches and two counters with a counter being incremented when the corresponding switch is closed This example breaks the rule by waiting for a switch to open without continuing to check the other switch 100 INTEGER C1 C2 Counter variables 105 C1 0 C2 0 Initialize the counters to 0 110 IF DIN 1 0 THEN 140 Continue if switch 1 not pressed 120 C1 C1 1 Switch 1 pressed increment counter 125 PRINT C1 C1
332. opics LOAD SAVE DOUT Statement Summary The DOUT Digital OUTput statement controls output expander modules attached to the Boss Bear Syntax DOUT adar state Arguments addr an integer expression between O and 127 The address of the output channel to turn off or on state an integer expression A value of 0 turns the output off any other value turns the output on Description One or more Divelbiss I O expander boards can be attached to the Boss Bear DOUT is used to control output modules Example 100 Program to turn all 16 outputs on I O page 2 off then delay 110 for 2 seconds then turn them on 120 INTEGER J K 130 FOR J 0 TO 1 Turn outputs off then on 140 FOR K 20 TO 2F Access all outputs on I O page 2 150 DOUT K J 160 NEXT K 170 WAIT 200 180 NEXT J Related topics DIN BBOUT BBIN DOWNLOAD Direct Command Summary The DOWNLOAD direct command disables echoing to the serial port to provide for more reliable program downloading Syntax DOWNLOAD Arguments DOWNLOAD needs no arguments Description Normally the Boss Bear echoes all characters entered at the command line prompt back to the terminal to allow the user to see what is being typed When downloading a program however this causes errors to be scrolled off of the screen The DOWNLOAD command solves this by disabling the console echo until either an END command or a crat z is received any
333. or optimum immunity to noise and cable loss The output current is regulated and can maintain the chosen analog output over a wide range of load impedance 9 4 1 Wiring Recommendations For best noise immunity shielded cable should be used between the analog outputs and the device being controlled this is especially important for long cable runs Except in cases where the analog signals are very dynamic all channels can be sheathed in the same cable with one common overall shield Use the shield terminal provided or connect the shield to earth ground by other means Do not connect the cable shield at both ends of the cable as this can have an adverse effect Always use separate returns minus terminal for each channel as this lessens the chance of ground loops occurring by making all common terminations at the D A module 22AWG or larger wire can be used for runs of less than 15 feet for longer runs 18AWG is recommended for minimum signal loss due to wire resistance For very long cable runs the 4 20mA mode is recommended since it compensates for cable loss within design limitations 9 4 2 10 bit D A Module Jumper Configuration The output drive level can be individually set for each output channel Each channel has two 9 pin jumper blocks that control the mode Refer to Figure 25 to set the D A module jumpers DAC1 Span Cal DACI Mode Blocks 0 to 10V DAC 1 Zero Cal DAC2 Span Cal DAC2 Mode Blocks DAC2 Zero Cal DA
334. ork card A problem with the Boss Bear LCD contrast was encountered when the manufacture of the control IC changed the device This problem has been fixed with this release Version 2 10 Anomalies Same as V2 03 anomalies listed above G 9 Appendix H Universal Control Panel H 1 High Speed Counter H 2 Analog Interface H 3 Universal Control Panel Input and Output H 4 Real Time Clock H 5 Serial Ports H 6 Nonvolatile Memory H 7 Automatically Running a Program On Power Up H 8 Flash EPROM H 9 Display H 10 Digital I O Board 4 in 4 out This appendix describes the differences between the Boss Bear and the Universal Control Panel UCP When working with the UCP any questions should be answered by turning here first and then referring back to the main portion of the manual if the topic isn t covered here The information in this appendix supercedes the rest of the manual when using the UCP H 1 High Speed Counter Counting is a very common operation in real time control systems For low speed signals less than 10 pulses second this can be handled easily in software At higher rates however hardware counters are required The UCP high speed counter circuit is very flexible providing several operating modes It is a 24 bit binary up down counter capable of greater than 1 MHz count rate 333 kHz in quadrature modes with a high speed output It supports quadrature mode which allows it to operate with biphase shaft enco
335. ot be attached to the sensor If the sensor shield which is probably it s housing is isolated from ground then the shield should be attached to the sensor If the sensor is attached to ground then do not attach the shield as this could cause a ground loop The cable should be kept short although it should be routed away from noise producing equipment and power lines if possible The sensor should be chosen so that its output in the normal operating range is at the upper end of the Boss Bear s A D range With the 12 bit O to 5 VDC A D an input of 0 5 VDC results in 0 24 accuracy while an input of 4 5 VDC results in 0 027 accuracy For the highest accuracy and greatest noise rejection an instrument amplifier should be installed at the Boss Bear Since the Boss Bear s onboard A D converter has single ended inputs it has no common mode rejection To improve the noise rejection especially on long cable runs a differential instrument amplifier in a four wire sensor configuration should be used This will provide high common mode rejection will remove the losses caused by the long cable run and allows the sensor output range to be adjusted to match the Boss Bear A D input range This amplifier should be mounted in the enclosure with the Boss Bear 7 3 Bear Bones Interface The Bear Bones interface allows direct access to the Bear Bones Controller I O Bus This looks like an I O panel to the Bear Bones with 16 inputs and 16 outputs
336. ot in maintenance mode then update the current production totals Update the display with the current number of rolls produced and the amount of material left on the input roll This goes to state 4 Operator data entry Based on the function key that was pressed prompt the operator to enter a product number operator number input roll length or batch number If a new product number or batch number is entered then go to state 6 This goes to state 2 when the RUN pushbutton is pressed If no operation is performed for 60 seconds then this goes to state 5 Downtime accumulation Display the downtime codes Accumulate downtime while waiting for the operator to enter a downtime code When a downtime code is selected this goes to state 4 Transfer product batch data over the network When a new product or batch number has been entered then the appropriate data is transferred to the central computer This goes to state 4 Transfer shift data over the network When the central computer requests the shift end totals transfer the data to it This can occur while in any of states 2 3 4 5 6 or 8 Emergency stop Put all outputs into a safe state Wait for the emergency stop pushbutton to be released This can occur while in any of states 2 3 4 5 6 or 7 Figure 4 graphically shows the relationship between the states Note thattwo of the states 8 Emergency stop and 7 Transfer shift data over the network aren t shown connected to any othe
337. ource code Syntax EDIT linenum or E linenum Arguments linenum a valid BASIC line number The number of the line to be modified Description EDIT invokes the Bear Basic line editor The line is displayed with the cursor positioned at the first character The following function keys can be used Control S Move the cursor left one position Control D Move the cursor right one position Control G Delete the character at the cursor Backspace Delete the character one space to the left of the cursor Control A Beginning of Line Control F End of Line Control V Toggle insert mode on and off If insert mode is off any character entered will replace the character at the cursor and will move the cursor to the right one space If insert mode is on any character entered will be added at the cursor position causing the entire line at the cursor and to the right of the cursor to move right one space A carriage return will cause the modified line to be sent to the compiler The editor will only work with a line short enough to fit on a single 80 character line Note that EDIT will not work correctly unless the console terminal is set up to emulate an ADM 3A or ADM 5 terminal type EEPEEK Function Summary The EEPEEK function returns the value stored at the specified address in the EEPROM memory Syntax x EEPEEK addr Arguments addr an integer expression between 0 and 991 for the 2K EEPROM between 0 and
338. ous error register value with the new error number Each time that ERR is referenced the error register is reset back to 0 The ERR function returns the following error numbers at runtime 0 0 No error 1 1 Serial transmission timeout 2 2 Failure programming EEPROM 16 10 COM1 receive error overrun parity framing 17 11 COM receive error overrun parity framing 256 100 Undefined error 263 107 Expression Error 264 108 String Variable Error 266 10A Line Number Does Not Exist 267 10B Task Error 271 10F RETURN Without GOSUB 272 110 Subscript out of Range 273 111 Overflow 275 113 Task Mismatch 276 114 Function Error 277 115 String Length Exceeded 280 118 Illegal Print Input Format 281 119 String Space Exceeded 282 11A Illegal File Number 283 11B Improper Data to INPUT Statement 285 11D Data Statement Does Not Match Read 286 11E Failure Programming EPROM or EEPROM 11 1 I O Errors Some O devices detect errors periodically during their normal operation On the Boss Bear the serial ports are the prime example of this in an electrically noisy environment they may detect parity and framing errors frequently These are not fatal errors which warrant stopping the program s execution but they are important enough that the program will need to process the error appropriately I O errors can be handled by the programmer in two ways using the ON ERROR statement and checking the ERR function periodically
339. ow to set up the Boss Bear and use its basic features The chapter includes sample programs that may be entered to learn about the general functions of the system these programs may then be used as a starting point from which to develop applications 2 1 Connecting to a Terminal or Personal Computer The Boss Bear requires a 10 volt AC or 12 volt DC power source in order to operate see appendix A to determine the current drain for the various Boss Bear configurations A transformer is available from Divelbiss that allows the unit to be powered from the 120 volt AC power line The unit has onboard rectification and regulation to generate the voltages used inside the system 10 12 volts is fed into the system using the 3 pin POWER INPUT connector on the back of the unit see Figure 2 It is extremely important to provide an earth ground for the unit both as a safety precaution and to minimize electrical noise related problems earth ground is the third prong on a standard 3 prong electrical wall socket WARNING DO NOT USE AUTO TRANSFORMER In order to program the Boss Bear it must be attached to a terminal or a personal computer that is running a serial communications program This manual assumes that a personal computer is being used the operation of the unit is the same in either case A cable connects the Boss Bear to the personal computer Divelbiss can supply a cable that will allow the unit to be used with an IBM FIGURE C TRANSFORMER W
340. parate J and K Two zeros are printed before the value of K because the field width is set to 4 The fractional part of X is truncated to two digits because the field with is F5 2 100 INTEGER J 110 STRING AS BS 120 J 40000 130 FPRINT I31I7U7 J J J 140 AS Hello BS There it is 150 FPRINT S552955 AS T BS This produces the following output when run 25536 40000 Hello There In this example it is important to remember that the representation of a number is different than the value of a number the same numeric value may be represented many different ways In particular the hexadecimal number 9C40 can be represented as a signed integer as 25536 or it can be represented as an unsigned integer as 40000 Three asterisks are printed because 25536 won t fit into the 3 digits allowed by the 13 format The next line shows how strings are handled B is truncated to the specified 5 characters Related topics PRINT FINPUT 8 63 FUZZY Statement Summary The FUZZY statement is a control algorithm for use on the UCP Syntax FUZZY array address input 1 input 2 output 1 output 2 status Arguments array an integer value of the address of the first element of the parameter address array The array contains all the mid values sensitivity values and rules tables for the FUZZY control algorithm input 1 an integer expression from 32767 to 32767 This is the first input variable pas
341. peed is obtained it can be compared to the previous sample to arrive at the rate of change Once this calculation is made the current speed may be saved as the old speed for use during the next sample Another important point is that the Fuzzy Logic control block has an output which is the change in the drive signal while the actual system output is simply the drive signal With programming it is possible to store the current drive signal and then add the Fuzzy Logic output to obtain the signal to transmit to the motor This once again demonstrates that the input output requirements of the Fuzzy Logic control block are not the input output requirements of the system UNIVERSAL CONTROL PANEL SPEED TRANSDUCER SYSTEM INPUT SPEED SYSTEM OUTPUT DRIVE Figure 70 Hardware Interface for Motor Speed Control 1 3 1 1 4 Membership Functions The next step is to determine the membership functions for both inputs and the single output See Figure 67 for a review of the membership functions utilized with the FUZZY statement The two values to determine for each input and output are the sensitivity s distance between triangle centers and the midpoint For all of the inputs and outputs of this system it is clear that the midpoint value is zero 0 This is because the goal for INPUT1 speed error is to have a value of zero 0 with the actual value being above or below the set point INPUT2 speed rate of change can also be zero with the
342. perator sorts the roduction items and puts each item onto a conveyor hich will take it past one of the sensors The operator periodically enters a product number which will be assigned to the product items that follow O O 03TTOQHH The system will maintain the total count for each sensor for the current product When a new product number is ntered these totals will be put into a network message for transfer to the central computer The system also maintains total counts for the current shift At the end of the shift these totals will be transferred to the central computer Network register usage I6 19 current product counts read periodically by PC Network message types used 0 shift end totals sent at 7am 3pm and 11pm 1 product totals sent when a new product number is entered SFF incoming time update from network master NOTE The unit address is stored in EEPROM at location 1 This must be set up by another program since this program only reads that location VU KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Variable declarations integer J K N M integer PRDNUM integer OPNU integer PRD 3 integer SHIFT 3 integer SIMDELY integer DAYMIN string MSG 127 Product number Operator number Product totals shift totals Delay variable for simulation Time of day in minutes 0 to 1439 Network message string LJZF8ST integer IN
343. piled code New optimization algorithms have been added to the compiler resulting in smaller compiled code and slightly faster operation There is more space available for storing the user s source code There is more space available for storing the compiled code The CHAIN command has been added it works with both integer file number and string file name arguments The INTERRUPT statement has been added in order to make it easier to utilize the high speed counter as an interrupt source As new expansion modules are added INTERRUPT will be modified to support them RDCNTR WRCNTR and CNTRMODE now support the high speed counter expansion modules The DAC statement supports the Digital to Analog DAC expansion modules The ADC function supports the 12 bit Analog to Digital ADC expansion modules it also automatically detects and supports the onboard 12 bit ADC and onboard 10 bit ADC The NETWORK statement has been added to provide a link into the Bear Direct factory communications network Previously if MID was called with a O length argument the system would lock up This has been fixed Previously the compiler did not detect when it had run out of memory It now displays the error Not Enough Memory to Compile Program when the program gets too large If there has been too much variable space allocated then it will give this error on the first code generating line of the program in this case STAT gives erroneous num
344. possible to call assembly language subroutines with all versions of the Boss Bear The CALL CODE and SYSTEM statements have been in every version since 1 00 However version 2 03 will include several features that will make it much easier to integrate assembly language into a Bear BASIC program D 1 Storing Assembly Routines Obviously the subroutine must be stored somewhere in memory before it can be called There are several possibilities available depending upon the size of the code and whether it is relocatable The code is actually stored in memory by READing it from DATA statements and POKEing it into memory or by using the CODE statement The subroutine can be stored in the unused space between the end of the user s compiled code and the start of the user s variables These addresses are given by the STAT command as End and Variable Care must be taken when the program is modified to ensure that the address range used is still valid in case the End or Variable values change This method has the advantage that the code doesn t have to be relocatable so it is preferred when writing large subroutines Of course this method will only work if there is enough free space to store the subroutine a very large BASIC program may not leave enough space The subroutine can be stored in the unused space between FB00 and FDFF In version 2 00 and 2 01 of the Bear BASIC system software this space is unused at runtime This area is overw
345. pr Arguments expr a numeric expression Description The TAN function returns the tangent of its argument which must be a numeric expression in degrees The result is returned as a REAL value Example 100 REAL X Y 110 PRINT TAN 45 0 120 X 68 3 130 Y TAN X 140 PRINT Tangent value of X is Y This produces the following output when run 1 00000 Tangent value of 68 29999 is 2 51288 Related topics ATAN COS ACOS SIN ASIN 8 152 TASK Statement Summary The TASK statement marks the beginning of a task Syntax TASK task Arguments task an integer number from 1 through 31 This is the number of the task in the program Description In a multitasking program all tasks other than task 0 the main program must begin with a TASK statement The TASK statement must be at the start of a BASIC line it cannot be in the middle of a multi statement line The tasks must be numbered sequentially starting at 1 the error message Task Error is displayed by the compiler if a task is numbered out of order Each task has its own set of temporary variables that are used by BASIC to perform operations they must be separate so that a task doesn t corrupt other task s variables when it starts to execute A task must not GOTO or GOSUB a line that is part of another task without taking special precautions see Chapter 5 for further details Example 100 RUN 1 100 Start task 1 reschedule once second
346. r 1 with both integer and real variables It simply sits in a loop reading and displaying the counter value Note that when the counter passes 65535 the values of COUNTI and COUNTR will be different because COUNTI only holds the least significant 16 bits of the counter value Related topics CNTRMODE WRCNTR Chapter 7 8 128 READ Statement Summary The READ statement loads variables with values stored in DATA statements Syntax READ variable variable Arguments variable an integer real or string variable name The next DATA item will be stored in this variable Description READ loads the variables in its argument list with values from DATA statements As successive READs are executed data is taken from each DATA statement in the program All DATA statements must appear before the first READ in the program Example 100 INTEGER J K 110 REAL X 120 STRING A 130 PRINT DATA statement example 140 Data table for program 150 DATA 4 77 2 3 4 5 23 83 8 Must be before first READ 160 DATA 999 3 14159 1 6667 170 DATA 893 664 999 Data 1 180 DATA This is a test Hi everybody 190 FOR J 1 TO 3 200 READ K PRINT K Print first 3 elements 210 NEXT J 220 READ J 230 IF J lt gt 999 THEN PRINT J GOTO 220 Print elements until a 999 240 READ X 250 IF X lt 999 0 THEN PRINT X GOTO 240 Print elements until a 999 260 READ AS PRINT AS Pr
347. r hardware reasons and timing desired by the user For a machine control application this could include machine cycle time setup time motor speed 4 6 minimum speed ramp time sample rate for a control parameter etc For an application that uses a personal computer this could include file access times network poll rate screen update speed etc Remember that minimum and maximum times can both be important Mechanical requirements List any special mounting or size requirements This may also include mechanical information about the machinery that will be interfaced to Environmental requirements List the operating and storage environment for the system This includes temperature humidity radiation etc Hardware requirements This is a list of hardware items to be used or interfaced with Include a note as to the reason for the requirement ie because it is a standard part already in inventory or because it is the only part that meets a particular specification Include exact part numbers if possible Software requirements This is a list of software packages to be used or interfaced with Include a note as to the reason for the requirement Note any special hardware that may be required by this software ie math coprocessor modem Initial system testing List the items that should be tested in the lab including the verification procedure for each item Final system testing List the items that should be tested in the
348. r in single loop process control applications Some examples might be temperature climate speed position pressure and fluid depth just to name a few All of these applications require at most two 2 inputs and usually one 1 output and thus would be well suited for Fuzzy Logic control using the UCP or Boss Bear Additionally because the UCP and Boss Bear are general purpose controllers other applications can be handled simultaneously along with your real time control requirements providing maximum flexibility in system design One necessity when designing a control system is understanding the performance requirements of the loop If conventional control techniques such as PID Proportional Integral Derivative have resulted in undesired behavior of the system such as slow response excessive overshoot and or poor disturbance response the Fuzzy Logic control capabilities using the UCP or Boss Bear might be the solution Additional considerations are the ease of tuning and the long term reliability of your control solution As described earlier Fuzzy Logic provides an intuitive approach to controller tuning which is not available with other techniques such as PID Finally it has been proven that a tuned PID control 1 16 loop is only good if the plant is reasonably stable over time Any change in the plant such as weight volume etc could result in erratic operation of the PID loop However Fuzzy Logic controllers are quite immune to v
349. r states These two states can be entered at any time based on outside events 1 Program Initialization 4 rator Data Entry 2 Running a Product Roll Transfer Product Batch Data Over the Network 3 Update Current Production Data Downtime Accumulation 7 Transfer Shift Data 8 Em Seo Over the Network Stop Figure 4 State Diagram for Example Program that occur asynchronously to the Boss Bear control program In other words they operate concurrently with the rest of the program This makes them likely candidates for being implemented as individual tasks in the program It is important to plan the program s data structures before writing the program The term data structure refers to the way that the program s data is stored in variables Data structure choices can have a huge effect on the operation of a program both in terms of programming complexity and of runtime size and speed Control applications generally have relatively simple data structures but it still makes the programming go more smoothly if they are laid out before hand A list of variables should be made to show the name of each variable its type integer real or string a description and a valid range ie 0 0 to 9 99 Note that the way a value is stored is often not the way that it is entered or displayed for example a number that may range from 0 0 to 99 9 may actually be stored as an integer betwee
350. ram code This is task 0 run 1 10 Run task 1 10 times second r n 2 5 Run task 2 20 times second test 0 Mainline code loop 300 if test lt gt 0 then print Failed mainline gosub 20000 Subroutine called from multiple tasks gosub 21000 Also called from multiple tasks goto 300 10000 task 1 Code for task 1 gosub 10200 Only called from task 1 gosub 20000 Called from multiple tasks xl x1 1 if band x1 7F 0 then gosub 22000 if test lt gt 0 then print Failed task 1 exit 10200 Subroutine called only by task 1 Code for subroutine goes here This is still part of task 1 return 11000 task 2 Last task in program Code for task 2 11010 x2 x2 1 if band x2 7F 0 then gosub 22000 gosub 21000 if test lt gt 0 then print Failed task 2 goto 11010 The next task statement is used to separate the subroutines from the rest of the code everything after the task 3 statement will use the same set of temporary variables Since the subroutines disable interrupts while executing they can be called from multiple tasks without any problems task 3 5 14 20000 21000 22000 Subroutine called from multiple tasks intoff Code for subroutine goes here x0 x0 1 inton return Subroutine called from multiple tasks intoff x0 x0 1 inton return task 4 Subroutine called from multiple tasks This routine uses the PRINT stateme
351. rarely occurs This is true for all real relational operators including for example the statement iF a gt s if values very close to the condition being measured are being used Be aware that the number you expect may not be exactly represented by the compiler If necessary use a slight tolerance around variables with relational operators 8 131 Example 100 110 110 120 130 140 150 160 INT REAL EG ER J REAL REAL FOR C T J 0 TO HAN J J DAT T 0 J J 1 234 NEXT J Related topics INTEGER STRING 8 132 Array of 10 integers 40 bytes 5 by 20 array 400 bytes Shows how arrays are accessed REM Statement Summary The REM statement is used to mark the rest of the line as comment text Syntax REM text Arguments text any text string Description The REM statement allows the programmer to put informational comments also called remarks into the BASIC program The compiler disregards anything between a REM statement and the end of the line including the colon Comment text increases the size of the BASIC source code but does not increase the size of the compiled code REM is equivalent to and which also mark comment text REM statements will be displayed as single quotes when the program is LISTed Example 100 REM This program demonstrates the REM statement 110 INTEGER J REM Declare an in
352. rdnum gosub 8300 if K 0 then 1400 The operator typed a product number in so we need to see if it is in the list restore read a if a uivlu then 1370 if a lt gt 1 then read a goto 1300 Looked through entire DATA table and didn t find it so display a message and let the operator try again erase print Unknown product number entered wait 200 goto 1250 Found it so update the network registers read the length setpoint and continue network 3 0 11 prdnum a Store product number network 3 1 10 prolcnt a Store product roll count network 3 1 11 pyards a Store product yards network 3 0 10 1 a Set data available flag prdnum uivlu read lnsetp prolcnt 0 0 pyards 0 0 network 3 0 0 prdnum st Update product number Read the new length setpoint Clear the roll count Clear the yards count Store product number in network var uifmt Input Roll Length 1 9999 gt uivlu inlen gosub 8300 if K 0 then 1450 inlen uivlu rrolcnt 0 ydsleft inlen uifmt Operator Number 0 9999 gt uivlu opnum gosub 8300 if K 0 then 1490 opnum uivlu network 3 0 1 opnum st Store operator number in network var return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Run a Product Roll if estopmd then 2990 EStop so don t run Start main drive moving slowly wrentr 1 0 0 dac 1 580 dout OMDRV 1 Enable m
353. red up The battery backed up RAM is most suitable for values that change often such as production information When a BASIC program is started the RAM is not modified except by the BASIC program itself This means that the variables will all have the same values that they held when power was removed Note that every time the Boss Bear is turned on the compiler is initialized which deletes the BASIC source code This does not affect the runtime memory area so the variable values will be unchanged This allows the programmer to leave information in BASIC variables it will be retained while the Boss Bear is without power With newer versions of the compiler v2 02 and up the BASIC source code is not deleted when power is applied Chapter 8 Bear BASIC Language Reference Statement Summary The statement assigns a value to a variable Syntax variable expr Arguments expr a numeric or string expression The expression type must match the type of variable Description The statement is used to store the result of an expression into a variable If variable is an integer or real then the result of the expression is converted to the proper type before being stored Care should be taken when assigning the result of an expression containing real values to an integer variable In this case Bear BASIC may lose precision during the expression evaluation see section 3 6 for a discussion of this problem Note that the chara
354. ree of Membership 2 Ha 2 2 2 Output Change in speed mph Figure 65 Output 1 Change in Speed Membership Function With some simple mathematics this works out to 1 2mph for every 1 second sample period 60 mph 5 seconds 1 seconds Thus a reasonable center value for POSITIVE SMALL for input 2 might be 1 2mph Once again just as with input 1 if this value is too small this will cause sudden and numerous changes in the output rules which are affected by your process logic and thus erratic operation If this number is too big the controller might never perceive its rate as being large positive or negative and thus will not behave correctly Thus common sense knowledge of the system and a basic understanding of fuzzy logic is required to appropriately select these values The last values to determine are those for the only system output change in speed The values assigned to the fuzzy sets for this output are also affected by the sampling time of the system Additionally a big consideration is the inherently slow response time of most cars to changes in speed Thus if the values for these fuzzy sets are too high the system will be jerky and most likely unstable because every time a new output rule is affected by 1 8 your process logic the transition will not be smooth Additionally if the input is too low the system will get to the setpoint slowly Once again conservative numbers are in order An appropriate
355. registers available Related topics NETWORK 0 NETWORK 1 NETWORK 3 NETWORK 4 Chapter 10 8 110 NETWORK 3 Statement Summary The NETWORK 3 statement writes data into a network register Syntax NETWORK 3 vartype regnum value status Arguments vartype an integer value of 0 1 or 2 This indicates the type of network register to read 0 for INTEGER 1 for REAL and 2 for STRING regnum an integer expression This is the register number to be written to value an numeric or string expression This is the value to be written to regnum status an integer variable This will hold the status of the NETWORK operation a O will indicate successful completion while a nonzero value will indicate that an error occurred Description The network registers are stored in an area that is normally inaccessible to the BASIC program as variable space The NETWORK 3 statement writes data into a network register This does not cause the data to be sent over the network however Data is only transferred when this unit performs a NETWORK 1 statement another Boss Bear performs a NETWORK 2 statement or the network master reads or writes data in the register There are three sets of network registers INTEGERs REALs and STRINGs the number of each of these is set up with the NETWORK 0 statement Each group of registers is numbered starting at 0 for example if there is a NETWORK 0 1 25 15 5 sT statement then there are 25 INTEGER registers n
356. rely on the context switcher to provide accurate timing at the millisecond level The Boss Bear is capable of performing operations with a timing accuracy of 1 msec if necessary using the timer interrupt Also the programmer can modify the task priorities to ensure that time critical sections of code get executed without interruptions from other tasks If a section of code is extremely time critical for example two outputs must be turned on within microseconds of each other then the INTON and INTOFF statements can be used to ensure that the code gets executed without any interruptions including hardware interrupts 5 3 Determining When and How to use Multitasking In many cases multitasking techniques can make a program much simpler to write and understand It is not the proper choice for all programs however If a multitasking approach is attempted in a situation which is not well suited to it the resulting program could be quite difficult to understand and debug Programming experience is highly desirable in order to determine whether a multitasking approach should be used The following guidelines can be used as a starting point when making this determination Fundamentally multitasking should be used when a system consists of parallel subsystems each subsystem can be programmed as a separate task An example would be a control program that implements a temperature control and a speed control each controller would be a separate task M
357. reset the counter RES is active high A pulse on RES will cause the counter hold its current value disregarding A and B or reset to 0 depending upon the software configuration of the circuit A pulse on LOAD will cause the counter value to be preset from the input latch or written to the output latch depending upon the software configuration of the circuit Both RES and LOAD are seperate inputs allowing full access to the counter control signals In this configuration a single input signal can be wired to latch the current counter value into the output latch and then reset the counter value to 0 Counter Circuit Output Counter A Input INT lon Comparator RES INT B Input LDCNT LDLATCH a Latch GATE RESET OUT Figure 36 Internal Counter Logic H 3 When the counter value matches the value stored in the input latch the comparitor will assert the high speed output and also send an interrupt signal to the processor These signals stay active until the processor resets each of them with the appropriate control line RES_OUT and RES_INT RDCNTR can reset the high speed output The output circuit is open collector Figure 37 shows two ways to use the output Counter Direct Output Circuit Solid State Relay Load 5V Power Supply Solid State Output Figure 37 Using the Counter Direct Output The counter inputs A B and RES are designed to be used with differential sensor outputs Cont
358. ression In the examples these variable values are used INTEGER J K J 4 K 7 REAL X Y X 2 3 Y 5 8 STRING A B A ABC B DEF Numeric expressions use integer or real arguments and return an integer or real result 2 3 Result is 5 2 0 3 Result is 5 0 Because 2 0 is a real constant 3 is converted to real before performing the addition J K 2 Result is 2 J K evaluates to 0 x Y Result is 13 34 SQR X X Y Y Result is 6 23969 String expressions use string arguments and return a string result CONCAT A B Result is ABCDEF Relational expressions are used to make logical decisions in a program they use the relational operators gt lt etc and return a 0 or nonzero result 3 gt 5 Result is 0 since 3 is not greater than 5 A lt gt B Result is nonzero since A is not equal to B 3 7 Bear BASIC is unlike many BASIC dialects in that it forces the user to declare the mode of each variable thereby optimizing the compiler s speed With all variables predeclared the compiler is not forced to evaluate all expressions in floating point at run time which is a very slow procedure and then convert to integer as the need arises Instead the algorithms used in Bear BASIC attempt to evaluate all expressions in the output mode the mode of the variable to which the expression is being assigned To make it easier to write programs Bear BASIC provides automatic mixed mode expression evaluation This means that a
359. riable names or names of Bear BASIC statements or functions even a function name very close to a Bear BASIC reserved word may not be acceptable Arrays cannot be used as arguments to functions Only simple strings reals or integers are legal Do not attempt to perform console inputs or outputs inside of a function if it will be used in a multitasking program Your program may hang up since Bear Basic blocks console access during some multitasking operations Functions are not recursive A function cannot call itself either directly or indirectly The result of a function can be assigned to the function name To do this in the function definition use an assignment statement to place the desired value in the function s name ie reference the function name like it was a variable name In the assignment statement do not specify the function s arguments on the left hand side of the sign For example the following function returns the value 1 100 INTEGER FNL 110 DEF FN1 120 FN1 1 130 FNEND 140 PRINT FN1 The value 1 will be printed The following function returns the sum of its arguments 100 INTEGER FN1 A B C 110 DEF FN1 A B C 120 FN1 A B C 130 FNEND 140 PRINT FN1 1 2 3 The value 6 will be printed Note that in line 120 the function is referred to without its arguments Here s another example This function returns the left N characters of a string
360. ription The NETWORK 2 statement is used to transfer data from another unit on the network It reads a block of network registers from the source Boss Bear to a register block in this unit The next time that the network master polls this unit a register request is transferred when the destination unit receives the request it will return the register data and this statement will return It will wait for at least five seconds for a response before timing out and returning an error in a multitasking program it may take longer than five seconds to time out perhaps as much as 30 seconds or more It is often useful to read a register from a different register number in the source unit The dest_reg and source_reg fields determine which registers are read and where they are stored in this unit For example NETWORK 2 0 12 2 3 36 ST will read INTEGER registers 36 and 37 from unit 3 and store them in INTEGER registers 12 and 13 in this Boss Bear Of course a register can be read from the same register number for example NETWORK 2 1 7 1 2 7 8T Will read REAL register number 7 from unit 2 and store it in REAL register 7 in this Boss Bear No range checking is performed If an attempt is made to read from a register that does not exist then invalid data will be transferred If an attempt is made to store into a register that does not exist then other registers will be overwritten and unpredictable operation may occur 8 109 This statement
361. ritten when the compiler is executed but not during runtime It isn t initialized even during a CHAIN so one program can load the code into memory then chain to another program which will call the assembly routines Divelbiss will attempt to leave this space available in future versions This method is desirable because the code doesn t have to be relocatable The code can be stored inline with the CODE statement This requires that the code be relocatable since there is no way of predicting what address it will be stored at This works best for simple short subroutines If the BASIC program is very large and the assembly portion is also large then the assembly portion can be stored in another memory bank and then called using a small routine that is in the BASIC runtime bank At runtime the Boss Bear doesn t use all of the 128K RAM allowing data or assembly routines to be stored in the unused memory banks This is a very sophisticated technique that should be used only by experienced programmers that fully understand the 2180 bank switching architecture Interrupts must be turned off while executing out of another bank This method allows very large programs to be written and the assembly subroutines don t need to be relocatable If the code is relocatable and the programmer doesn t want to risk storing it at a fixed location then it can be stored in an array or a string This is the time honored way of storing assembly language subroutin
362. rned on If SW1 is set to RUN run mode then the Boss Bear will load the last compiled code file from the EPROM and execute it Since the Boss Bear executes the last compiled code file from the EPROM the latest revision of a program will always be executed If SW1 is set to PROG program mode then the Boss Bear will respond with the compiler prompt when it is turned on Preprogrammed Eprom cannot be used with newer versions of firmware without downloading and recompiling erase Eprom and reprogram 2 7 2 8 Chapter 3 Overview of the Bear BASIC Compiler Direct Commands Organization of a Bear BASIC Program Numeric Constants Variables Operators Expressions Statements Functions User Defined Functions 3 1 The Boss Bear software consists of two parts the command line interface and the Bear BASIC compiler The command line interface executes direct commands as they are typed in it enters the BASIC source code loads and saves programs executes programs and starts the compiler Section 3 1 describes the direct commands that are available The compiler converts BASIC source code into executable compiled code it s input is the current BASIC program in memory Sections 3 2 through 3 9 describe the BASIC compiler the syntax of Bear BASIC and the statements and functions that Bear BASIC supports The Bear BASIC commands statements and functions are described individually in chapter 8 3 1 Direct Commands Direct commands
363. rogram to finish the reception of the file 2 6 Loading and Saving Programs With an EPROM The Boss Bear includes an onboard EPROM programmer that is used to save the user s programs An EPROM is a device that can be written to electrically but can only be erased by exposing it to ultraviolet light EPROM stands for Erasable Programmable Read Only Memory When an EPROM is erased the entire contents of the EPROM are lost there is no way to only erase part of the EPROM The same file can be stored multiple times allowing different versions to be saved while developing a program The programmer supports two sizes of EPROM 32KB and 128 KB KB stands for KiloByte which is 1024 bytes The jumper JW3 see Figure 6 page 7 2 must be set to match the type of EPROM that is being used failure to set the EPROM type correctly could destroy the EPROM along with its contents The EPROM is mounted in a special carrier for easier handling the carrier ensures that the EPROM can t be installed backwards The switch SW1 must be set to PROG program mode before the EPROM can be written to After installing the EPROM and checking that the JW3 setting matches the EPROM type the EPROM is ready to use The DIR command will display the contents of the EPROM and the amount of unused space remaining Two types of files can be stored on the EPROM source code and compiled code The source code is the human readable BASIC program this should be stored so that it isn
364. rol system and control block have been provided below Although confusing now these definitions will become clear by the end of this section Plant Device or process to be controlled Input Data feedback from the plant i e pressure speed angle position Output Result of the control block which is output to the plant Fuzzy Control Strategy for controlling the plant Rules amp Fuzzy Sets Your knowledge of the system being controlled Fuzzification Transforming the input into values related to your fuzzy sets Process Logic Your rules which guide the operation of the control system e Defuzzify Process to convert the output of the Process Logic to the actual output 1 1 1 Fuzzy Thinking 1 1 1 1 Fuzzy Sets and Membership Functions Before a firm grasp of Fuzzy Logic basics can be obtained an overview of some fuzzy thinking is required Absolutes must be forgotten when considering fuzzy logic Concepts like IF YOU ARE 6 FEET IN HEIGHT YOU ARE TALL must be replaced by IF YOU ARE AROUND 6 FEET IN HEIGHT THEN YOU BELONG TO THE CLASS OF TALL PEOPLE The basic idea is that nothing is absolute but everything is fuzzy and thus the name Fuzzy Logic Consider a system where an input is the height of a person As humans we might describe height with language such as VERY SHORT SHORT AVERAGE TALL VERY TALL and avoid saying that any one of these descriptions is an exact number For instance we might agre
365. rts single dimension string arrays 3 2 3 DATA and READ Statements All DATA statements must be located before the first READ statement in the program DATA statements can be interspersed with other executable statements but no DATA statement can follow a READ statement 3 2 4 Placement of Tasks In a multitasking program the beginning of each task is identified with a TASK statement The TASK statements must be in ascending numerical order starting with TASK 1 Whena task is run it begins execution with the statement following the TASK statement The code located before the TASK 1 statement actually belongs to task 0 task 0 is present in every Bear BASIC program The placement of tasks and subroutines can be critical In general the safest method is to not call subroutines that are located in another task See Chapter 5 for further discussion of multitasking 3 3 Numeric Constants Constants are formed by combining decimal digits with an optional decimal point Whenever a decimal point is included in a constant the compiler assumes this constant is a real number If the constant is expressed without a decimal point the compiler assumes that the value is an integer This has significance when combining real and integer values within an expression Even though 3 4 Bear Basic is smart enough to convert constants between integer and real as required programs will run more efficiently if modes are not mixed Bear Basic provides a facility
366. runtime error checking is on It stays on until explicitly disabled by NOERR Runtime error checking is essential in most programs to insure that mistakes don t blow up the compiler For example if a SUBSCRIPT OUT OF RANGE error were not detected a program could write over itself causing unpredictable and undesirable results Like NOERR ERROR modifies the code generated during compilation of the program so it must be specified before the program is RUN or COMPILEd if you have used NOERR in the Bear BASIC session before RUN or COMPILE ERROR will then remain in effect unless disabled by NOERR or NEW Unfortunately the runtime error checking software makes the compiled code larger and slower If code size and speed are important then the program should be compiled with NOERR enabled after it has been debugged Related topics NOERR Summary EXIT Statement The EXIT statement causes the currently executing task to abort When the schedule interval specified in the RUN statement has elapsed the task will be started at its beginning Syntax EXIT Arguments EXIT needs no arguments Description EXIT causes the currently executing task to abort When the EXIT is encountered the task stops until the schedule interval specified in the RUN statement elapses at which point the task starts over again from its beginning Note that EXIT does not stop the task from being rescheduled only CANCEL can do that Whenever EXIT is ex
367. s bbadar an integer value An address in the range 0 to 15 inclusive Description The BBIN function reads a single bit of information from an attached Bear Bones The Boss Bear and Bear Bones communicate using a single Bear Bones I O page normally page 0 which contains 32 single bit values 16 from Boss Bear to Bear Bones and 16 from Bear Bones to Boss Bear This function is only useful if a member of the Bear Bones family is attached to the Bear Bones Interface connector on the back of the Boss Bear It is important to remember that the Boss Bear and Bear Bones are running asynchronously to each other the Bear Bones could be at any point in its program when the Boss Bear executes the BBIN function Example 100 Read all 16 bits from 105 the Bear Bones 110 INTEGER NUM 120 FOR NUM 0 TO 15 130 PRINT NUM BBIN NUM 140 NEXT NUM This produces the following output when run Note that the actual values displayed would depend on the program that was executing in the Bear Bones Onl Ly do 2 0 370 E O a 67 2 7 0 80 9 1 10 1 11 0 12 0 13 1 14 1 Ld Related topics BBOUT DOUT DIN Chapter 7 BBOUT Statement Summary The BBOUT statement is used to interface with the Bear Bones Programmable Controller in a dual processor system Syntax BBOUT bbadar b Arguments bbadar an integer value An address in the range 0 to 15 inclusive b an integer value A value of 0 clears the outp
368. s si a string expression Description The ASC function returns the ASCII equivalent of the first character in the specified string The result is returned as an INTEGER value ASC is the converse of the CHR function Example A This produces the following output 110 INTEGER N 120 PRINT ASCII value of X ASC X when run 130 AS 012ABCabc 140 FOR N 1 TO LEN AS ASCII value of X 88 150 PRINT N ASC MIDS AS N 1 1 48 160 NEXT N RRw0J00dDH UN Oy Related topics CHR Appendix F 8 6 ASIN Function Summary The ASIN function calculates the arcsine function Syntax X ASIN expr Arguments expr a numeric expression Description The ASIN function returns the arcsine of its argument which must be a numeric expression The result is returned as a REAL value in degrees Example 100 REAL X Y 110 PRINT ASIN 1 23 120 X 4 0 130 Y ASIN X 140 PRINT Arcsine value of X is Y This produces the following output when run 67 36422 Arcsine value of 4 00000 is 14 93141 8 7 ATAN Function Summary The ATAN function calculates the arctangent function Syntax x ATAN expr Arguments expr a numeric expression Description The ATAN function returns the arctangent of its argument which must be a numeric expression The result is returned as a REAL value in degrees Example 100 REAL X Y 110 PRINT ATAN 1 23 120 X 4 0 130 Y ATAN
369. s store in block 2 register B E check for error read the integer into F check for error make sure they are the same show errors if any This program writes STRINGs into block O REALs into block 1 and INTEGERS into block 2 checking the values as there written Related topics 8 56 FILE Statement Summary The FILE statement causes all subsequent character I O to be performed with the specified device Syntax FILE fnum Arguments fnum an integer expression The file number to access one of the following 0 COM1 serial port the console port 1 future expansion 2 future expansion 3 future expansion 4 future expansion 5 COM2 serial port 6 onboard display and keypad 7 future expansion Description The FILE statement causes all subsequent I O from PRINT FPRINT INPUT INPUT FINPUT GET KEY LOCATE and GOTOXY to be performed with the specified device It sets the file number for the task that issues the statement each task maintains its own current file number The file number for each task defaults to file 0 not to the file number used in the preceding task Example 100 PRINT This is task 0 Output to console COM1 110 RUN 1 100 RUN 2 250 RUN 3 325 120 WAIT 1000 STOP Allow tasks to run a few times 200 TASK 1 210 FILE 5 Output to COM2 220 PRINT This is task 1 EXI 300 TASK 2 310 FILE 6 Output to onboard display 320 PRINT This is t
370. s been added to the example see line 100 it will be nonzero when FILE 0 is in use Lines 210 215 240 310 315 and 340 have been added to the previous example When a task is ready to output to the terminal it increments PF interrupts must be disabled while updating PF with INTOFF and INTON to ensure that two tasks don t conflict If PF is nonzero then the other task is already using the terminal so this task just waits and tries again later When PF is zero it indicates that the other task is finished so this task continues 100 INTEGER J PF J 0 PF 1 ELO CES 120 RUN 1 39 WAIT 30 RUN 2 60 130 J J 1 WAIT 9 GOTO 130 200 TASK 1 210 INTOFF PF PF 1 INTON Update print flag 215 IF PF THEN WAIT 1 GOTO 215 Wait for other tasks to finish 220 LOCATE 10 10 230 FPRINT S16U5Z Task 1 value is J 240 INTOFF PF PF 1 INTON Finished with terminal clear flag 250 EXIT 300 TASK 2 310 INTOFF PF PF 1 INTON Update print flag 315 IF PF THEN WAIT 1 GOTO 315 Wait for other tasks to finish 320 LOCATE 15 40 330 FPRINT S19U5Z Value in task 2 is J 340 INTOFF PF PF 1 INTON Finished with terminal clear flag 350 EXLT 6 6 Chapter 7 Onboard Hardware Support High Speed Counter Analog to Digital Converter Bear Bones Interface Boss Bear Input and Output Real Time Clock Serial Ports Nonvolatile Memory
371. s can be entered on the same command line the commands are executed in left to right order It accepts the following commands BDSETUP U This displays a brief description of the program usage BDSETUP Same as U option BDSETUP A address This sets the address where BDSETUP EXE will find the card If the card address has been changed from its default value 300H then this must be the first thing on the command line For example to initialize the card when it is at address 340H type BDSETUP A 340 L 0 BDSETUP L unitnum This initializes the card and sets the network address of the card to unitnum This must be done before the card can be used and before any of the following commands are performed This sets the number of units in the network to 1 and turns network polling off BDSETUP N numunits This sets the number of units in the network For example in a network with 3 Boss Bears and the Network Interface card the command BDSETUP N 3 would be used BDSETUP P ON or OFF This turns the network polling on or off it should only be used if the card is the network master unit 0 Polling should only be turned on if the Boss Bear programs are executing NETWORK 1 or NETWORK 2 statements peer to peer communications or the NETMSG function messages are being sent For example to turn network polling on the command BDSETUP P ON would be used BDSETUP R numretry This sets the retry count for the card it is only valid if
372. s the description of the UCP hardware differences from the Boss Bear Appendix Using Fuzzy Logic is a brief description of fuzzy logic and how it is implemented on the Boss Bear and UCP 1 3 Notational Conventions In this manual the following conventions are used to distinguish elements of text BOLD Denotes hardware labelling commands and literal portions of syntax that must appear exactly as shown italic Used for variables and placeholders that represent the type of text to be entered by the user EXAMPLE Used for example programs sample command lines and text displayed by the Boss Bear SMALL CAPS Used to show key sequences such as crrL c where the user holds down the lt Ctrl gt key and presses the lt C gt key at the same time Brackets are used to indicate optional elements of a command such as LOAD program_num where program _num is optional 1 5 1 6 Chapter 2 Getting Started With the Boss Bear Connecting to a Terminal or Personal Computer Writing a Program in Bear BASIC Bear BASIC Command Line Operation Using the Command Line Editor Loading and Saving Programs With a Personal Computer Loading and Saving Programs With an EPROM Automatically Executing a Program on Power Up 2 1 The Boss Bear is a relatively simple computer system to get up and running normally even an inexperienced user can have the unit operating a short while after unpacking it This chapter describes h
373. s will continue to run while the PRINT statement is taking place but no other task will be able to PRINT to the same port until the first PRINT finishes however Unfortunately another task could change the cursor position of the terminal between PRINT statements An example will demonstrate this problem and a simple solution 100 INTEGER J J 0 110 CLS 120 RUN 1 39 WAIT 30 RUN 2 60 130 J J 1 WAIT 9 GOTO 130 200 TASK 1 220 LOCATE 10 10 230 FPRINT S16U5Z Task 1 value is J 250 EXIT 300 TASK 2 320 LOCATE 15 40 330 FPRINT S19U5Z Value in task 2 is J 350 EXIT The desired result of this program is to display the count value J at two places on the screen using two tasks When the program is run however it will periodically display one of the strings at the wrong location This happens whenever the context switcher causes task 2 to execute immediately after task 1 has executed the LOCATE statement Task 2 will perform another LOCATE then print its message at the correct location When task 1 runs again though it will print its message at the location following the message printed by task 2 This same situation will occur in the opposite order causing task 2 s message to be printed at the location following that of task 1 s The solution to this is to use a variable as a flag to prohibit another task from moving the cursor while a task is accessing the terminal 6 5 The variable PF ha
374. sample the speed turns out to be exactly at the set point but at the previous sample the speed was significantly below the set point Thus in a short amount of time the speed increased significantly Because no real system can stop instantaneously it is quite probable that at the next sample the system will be well above the set point Therefore the rate of change of speed between samples is necessary in addition to the speed error INPUT2 RATE OF CHANGE CURRENT SPEED LAST MEASURED SPEED A logical control output for the system is the change in the drive signal to the motor This is logical because at all moments the system speed must be increased or decreased from its present value in order to track the set point speed OUTPUT1 DRIVE SIGNAL CHANGE 1 3 1 1 3 Hardware Interface Figure 70 describes the hardware design of this system Notice that only one analog input current speed is required into the unit and not two as was defined in Section 1 3 1 1 2 This is because the input output definition for the Fuzzy Control is not necessarily the same as the input output definition for the system With some BEARBASIC programming the set point can be entered from the keypad This setpoint can be compared with the current speed received from the transducer to arrive at INPUT1 required by the Fuzzy Control system INPUT2 to the Fuzzy Control block can also be obtained through software programming from the current speed Once the current s
375. sed to the FUZZY routine input 2 an integer expression from 32767 to 32767 This is the second input variable passed to the FUZZY routine output 1 an integer expression from 32767 to 32767 This is the first output variable passed from the FUZZY routine output 2 an integer expression from 32767 to 32767 This is the second output variable passed from the FUZZY routine status an integer expression This will hold the status of the operation a 0 will indicate a successful operation a 1 indicates output 2 was beyond the range of an integer a 2 indicates output 1 was beyond the range of an integer and a 3 indicates both outputs were beyond the range of an integer When an output is beyond the range of an integer the return value from the FUZZY routine will be 32767 or 32767 depending on the actual sign of the output Description The FUZZY statement supports two inputs two outputs seven fuzzy sets with symmetric triangles user definable fuzzy set values and a return status Typical applications include temperature climate speed position pressure flow and fluid depth just to name a few The statement utilizes a data array which contains 106 integer values which are used by the FUZZY statement to generate the outputs The array address is the first value required by the statement and provides the starting address of all of the data Inputs 1 and 2 are integer expressions which must be obtained and passed to the statement In
376. ship ae 30 Centroid Output Accelerator Force Change Pounds Figure 62 Centroid Defuzzification Thus using defuzzification a plant system can be controlled when used in conjunction with your expertise and experience encoded in the input output fuzzy sets and process logic 1 1 2 Selecting Inputs and Outputs A logical concern in a Fuzzy Logic application is what inputs are essential to the successful implementation of the system To put it simply the designer must have a thorough understanding of the system and Fuzzy Logic fundamentals A good design practice might be to first ensure complete system understanding ask yourself what are the variables you would use to control the system and then implement the system As an example consider our Fuzzy Logic control of the car accelerator Common sense dictates that a minimum of two input variables are required speed error and rate of change of speed Without these two pieces of information our mind could not even control a car s accelerator Thus as a rule of thumb always start with what appears to be the minimum number of inputs and then add additional inputs and process rules as increased performance dictates 1 1 3 Selecting Fuzzy Set Values After inputs and outputs have been selected the next step is to determine exactly what names and values are to be placed on the fuzzy sets A general overview can be obtained by carefully considering Figures 61 and 62 However spe
377. short although it should be routed away from noise producing equipment and power lines if possible e The sensor should be chosen so that its output in the normal operating range is at the upper end of the UCP s A D range With the 12 bit 0 to 5 VDC A D an input of 0 5 VDC results in 0 24 accuracy while an input of 4 5 VDC results in 0 027 accuracy H 2 2 4 to 20mA Analog l O Board The optional A D converter has 8 differential 12 bit 4 to 20 mA input channels The ADC function will return a value between 0 at 4mA and 32767 20mA A D conversion time is approximately 350us At 12 bit resolution the accuracy is about 025 The input resistance is 309 ohms H 8 Figure 40 RTD 4 20mA Analog l O Board Back Panel Details H 2 3 RTD and 4 to 20mA A D Converter On this optional A D board are 4 channels of RTD inputs and 4 channels of 4 to 20mA inputs The 4 to 20mA inputs are the same as covered in H 2 2 The RTD inputs are set up to use a 100 ohm 4 wire RTD Linearization is a value between 0 84 272 ohms and 32767 183 152 ohms The resolution is 024 ohms Straight line formula used for 100 ohm 385 curve RTD This formula is accurate to 2 degrees F in the range of 25 degrees F to 200 degrees F SUBROUTINE TO CONVERT deg F TO COUNTS 13000 TEMP ESETPNT 71 26 3010 333 SETPNT TEMP RETURN SUBROUTINE TO CONVERT COUNTS TO deg F 15000 TEMP 014033 A D VALUE 42 24436 RETURN H 9 H 2 4 0 10VDC Digital to Analog
378. sk 0 sets its priority to 1 in line 200 task 1 can t execute again until task 0 sets its priority back to 0 in line 230 A side effect of this is that task 1 executes less often because task 0 is spending most of the time at priority 1 If this is a problem then a WAIT 1 statement could be inserted at line 235 to allow task 1 time to execute A more serious problem with this approach is that it only protects task O from task 1 it doesn t protect task 1 from task 0 ie task O can interrupt task 1 and could modify values being used by task 1 A solution to this problem involves using variables as flags to protect critical regions of code these are normally called semaphores in computer literature 100 Example to demonstrate the use of semaphores to protect a region of 102 code from other tasks Task 0 and task 1 are both displaying numbers 104 on the terminal using the LOCATE and PRINT statements The code must 106 ensure that one task can t write to the display in between the other 108 task s LOCATE and PRINT thereby corrupting the display The display 110 is the scarce resource in this example it can only be used by one task 112 at a time without displaying values at the wrong locations 120 INTEGER COUNT1 COUNT2 Counter variables 130 INTEGER SEM1 Semaphore flag 140 INTEGER LOOP1 LOOP2 L
379. source code then it is entered into the current program 2 4 2 4 Using the Command Line Editor If it is necessary to change a line of the current BASIC program the line can be retyped the new line will replace the existing line This is fine for short lines but for longer lines this can cause a lot of extra typing In order to minimize the effort required to modify a line of the program Bear BASIC includes a line editor as a direct command The EDIT command allows a single line of BASIC source code to be modified without retyping the entire line For EDIT to work properly the line must be less than 80 characters long it must fit on a single line of the terminal For the cursor positioning to work correctly in EDIT the console terminal type must be set to ADM 3A or ADM 5 To use EDIT type EDIT followed by the line number of the BASIC line to be modified for example EDIT 120 The existing line will be displayed with the cursor at the first character in the line number The cursor may be moved left and right with the following key combinations cTrL s move the cursor left one character CTRL D move the cursor right one character CTRL A move the cursor to the beginning of the line cTRL F move the cursor to the end of the line The editor can be toggled between insert and overwrite mode In overwrite mode any character typed will replace the existing character at the current cursor position In insert mode any character typed will be
380. ssors This chip is also available as the Hitachi 64180 Both of these manufacturers can supply data books that describe the chip in detail the information presented here is a brief overview of the chip s operation The general features of the processor are as follows e 8 bit microcoded CMOS microprocessor e 512 KB physical address space e 64 KB logical address space An integrated memory management unit translates logical to physical addresses e 64 KB physical I O address space e atwo channel DMA controller e programmable wait state generator e provides DRAM refresh signals e two channel asynchronous serial communications interface e one channel synchronous serial interface e two channel 16 bit programmable reload timer e fixed priority interrupt controller manages four external and 8 internal interrupt sources Not all of these features are used in the Boss Bear for instance there isn t any need for the DMA controller since there aren t any I O devices that need to transfer large amounts of data C 2 I O Address Map The Z180 supports a 16 bit I O address bus The first 40H bytes are taken up by I O registers that are internal to the Z180 these must be accessed with the I O address high byte set to 0 I O addresses from 40H to OFFH are decoded by hardware outside of the processor only the low 8 bits of the I O address are decoded The following is a partial list of I O registers it is unlikely that some of the registers such as the DMA
381. starting byte location to read from within the Touch Memory length an integer expression The number of bytes to read from the Touch Memory Description TMREAD transfers data from a Touch Memory device into a BASIC string variable It transfers ength number of bytes starting at location in the Touch Memory Note that no range checking is performed on the location and length arguments It is possible to read beyond the end of the Touch Memory device This causes unpredictable values to be stored in datstr This is not currently being implemented on the Boss Bear Example 100 INTEGER NDEV NUM ST 110 STRING ID 80 DATS 30 200 NDEV TMSEARCH IDS Read device IDs 210 IF NDEV 0 THEN WAIT 50 GOTO 200 Loop if none found 220 FOR NUM 0 TO NDEV 1 230 TMADDR MIDS IDS NUM 8 1 8 Set up ID to write to 240 ST TMREAD DATS 30 10 Read bytes 30 39 250 PRINT ST DATS 260 NEXT NUM Related topics TMADDR TMSEARCH TMWRITE 8 155 TMSEARCH Function Summary The TMSEARCH function reads the ID string for all Touch Memory devices attached lt returns the number of devices found Syntax num TMSEARCH idstr Arguments idstr string variable to store any Touch Memory ID strings in Description Each Touch Memory device has a unique eight byte ID string stored permanently in it In order to access the device this ID must be sent as part of all comma
382. t addr in the EEPROM note that the address is specified as an offset from the beginning of the EEPROM Remember that due to the characteristics of EEPROM technology each byte in the EEPROM can only be written to approximately 10 000 times before failing if the value to be written matches the value already stored at that location then EEPOKE won t perform the write operation so that it doesn t waste one of the 10 000 write cycles Note also that it takes about 20 msec for this statement to return since EEPROMs write each byte in about 10 msec The EEPROM can also be written to by performing a DEFMAP 60 followed by a POKE or WPOKE this technique should be avoided however because EEPOKE handles the 20 msec delay required by the EEPROM whereas POKE and WPOKE do not take this delay into account See EEPEEK for an example demonstrating how to store real numbers in the EEPROM UCP The UCP uses a Touch Memory device for non volatile storage There are no limitations on the number of times that data can be written to this device The EEPOKE statement takes about 150 msec on the UCP Example 100 Program to write 20 values into EEPROM 110 INTEGER J K 120 FOR J 0 to 19 130 K J 3 7 140 EEPOKE J K 150 NEXT J Related topics EEPOKE PEEK POKE WPEEK WPOKE Appendix H EPROM LOAD Direct Command Summary The EPROM LOAD direct command loads a BASIC program from the user s EPROM Syntax EPRO
383. t before the compare value is set The counter channels are assigned based on the hardware available on the Boss Bear channel 1 could be the onboard counter or in any of the expansion ports if there is no onboard counter The order of precedence for assigning counter channels is onboard counter followed by J3 followed by J4 followed by J5 Examples 100 INTEGER COUNTI 120 CNTRMODE 1 4 A count B direction 130 WRCNTR 1 0 0 Set count to 0 140 WRCNTR 1 1 10 Set compare register to 10 150 Main program loop 160 RDCNTR 1 0 COUNTI Read current count as integer 170 PRINT COUNTI 180 WAIT 10 GOTO 150 Related topics CNTRMODE RDCNTR Chapter 7 8 165 8 166 Chapter 9 Optional Modules 9 1 Module Installation 9 2 High Speed Counter Module 9 3 12 Bit Analog to Digital Converter Module 9 4 10 Bit Digital to Analog Converter Module 9 1 The Boss Bear will accept up to three expansion modules mounted onto J3 J4 and J5 on the back of the unit Any of the existing modules can be installed into any of the expansion connectors at this time there are no modules that take advantage of the extra pins on J3 The expansion modules are powered by the Boss Bear and do not require an external power supply The Boss Bear determines the channel numbers used for expansion modules based on the hardware that it finds Channels are assigned starting with channel 1 channels are assigned in this order onb
384. t code they allow the logic to be debugged once and used many places and they can make the program easier to understand by hiding the details of the lower levels of the program Example 100 REAL SLOPE 1 OFFSET 1 ADJST 1 110 INTEGER CHANL 120 SLOPE 0 0 432 OFFSET 0 11 5 Set up coefficients for chan 0 130 SLOPE 1 1 28 OFFSET 1 5 29 Set up for chan 1 140 ADJST 0 ADC 2 Read value for chan 0 150 ADJST 1 ADC 5 Read value for chan 1 160 FOR CHANL 0 TO 1 170 GOSUB 1000 Perform adjustment 180 PRINT Adjusted value ADJST CHANL 190 NEXT CHANL 200 STOP 1000 Subroutine to perform a Y MX B adjustment 1010 ADJST CHANL SLOPE CHANL ADJST CHANL OFFSET CHANL 1020 RETURN This produces the following output when run 1241 83600 465 75000 Adjusted value Adjusted value Related topics GOTO RETURN 8 73 GOTO Statement Summary The GOTO statement transfers execution to a specific program line Syntax GOTO linenum Arguments linenum a line number in the BASIC program Description GOTO linenum causes execution of the BASIC program to continue at line inenum Example 100 PRINT Line 100 110 GOTO 200 120 PRINT Line 120 130 STOP 200 PRINT Line 200 210 GOTO 120 This produces the following output when run Line 100 Line 200 Line 120 Related topics GOSUB GOTOXY Statement Summary
385. t lost Compiled code is the executable code generated by the Bear BASIC compiler this is stored on an EPROM so that it can be 2 6 automatically executed on power up or so that it can be CHAINed to from another program Each type of file is numbered sequentially on the EPROM starting at 1 After a BASIC program the source code has been typed in it should be saved before compiling it and attempting to execute it this is so that the program won t be lost if the Boss Bear crashes when the program is run When entering a long program it is also advisable to save the program periodically so that the entire program isn t lost in the event of a power failure To save the source code to EPROM type SAVE progname where progname is the name of the program The program name will be stored as the file name on the EPROM if progname isn t entered then it will default to all spaces After a program has been successfully compiled ie no syntax errors were encountered by the compiler then the compiled code can be saved to the EPROM by typing SAVE CODE progname where progname is the name of the program The program name will be stored as the file name on the EPROM if progname isn t entered then it will default to all spaces 2 7 Automatically Executing a Program on Power Up When the user s program is operational and the Boss Bear is to be installed it will probably be necessary for the Boss Bear to automatically execute the program when it is tu
386. t to first character of string E now points past end of string concatenating each string onto the Get variable type flag Jump if no more arguments Jump if not a string BC is pointer to this string Save argument table pointer Oo PHRErPoQoOorrPrprk GZ OO Deo 000 IR CONT POP JR DONE POP LD LD INC PUSH RET ARG_ERROR LD JP LENGTH EE A HL Get string length A LENGTH Add to current length LENGTH A A HL Get string length again A Z CONT Jump if string is empty C A B 0 BC is loop counter HL Point at first character of string Copy the string into the destination HL Restore argument table pointer LOOP Copy next string DE Get pointer to destination string A LENGTH DE A Store new string length HL HL Push return address back on stack E 08H String variable error 0013H Jump to the ERROR handler which returns to the command line DS 1 This program is assembled and put into a Bear BASIC program to be tested 100 110 200 210 220 230 240 250 290 300 310 320 330 340 350 400 410 420 430 440 450 INTEG ER J K STRIN G A 100 B 40 C5 30 DATA DATA DATA DATA DATA SE1 7E B7 28 41 FE 03 20 3D 23 55E 23 56 23 D5 1A 13 32 4B SFB 83 5F 7A CE 00 57 S7E B7 28 20 SFE 03 20 24 23 4E 23 46 2
387. task e trying to RUN TASK O e trying to use more than 31 TASK statements Task Mismatch Internal task error B 3 Too many FOR statements More than 255 FOR statements found Too Many Variables More than 128 variable declarations found Undefined error Internal compiler error Undefined Variable Occurs during compilation if a variable is encountered which was not defined in an INTEGER REAL or STRING statement Unmatched FOR NEXT Pair Occurs during execution of a program if a NEXT is found without a FOR Unrecognizable Statement Occurs when a statement is entered that does not conform to the syntax rules for Bear BASIC B 4 Appendix C Hardware Description The information in this appendix is presented for the more advanced Boss Bear users that would like to access the hardware directly It will also be of interest to anyone that is curious about the Boss Bear hardware architecture The information is not presented in any particular order This is not intended to be a tutorial on the use of the hardware it is assumed that the reader has the background to be able to understand and use the information In this appendix hexadecimal numbers will be represented with a trailing H for example 00H 3EH 0D7H 2000H OFFOOH or 20345H C 1 The Z180 Processor The Boss Bear is based around the Zilog Z180 microprocessor This is an enhanced version of the Zilog Z80 which is one of the most widely used microproce
388. tch the corresponding entry in the format string Description FPRINT is a more sophisticated version of the PRINT statement which allows the programmer to control the format of the data output by the program FPRINT prints each argument in the list of expressions using the corresponding control information from the format string format above The type of each expression must match it s corresponding control string in format a runtime error will occur if the types do not match The specified field widths are strictly enforced each expression is forced to fit in it s field If a numeric value is too large to fit in the specified field then the field is filled with asterisks instead For example if a format of H2 is given and the number to be output is 123 then will be printed For a string field the string is truncated to fit in the specified field FPRINT should not be used in an interrupt task because it re enables interrupts and allows multitasking to continue Depending upon what the other tasks are doing at the instant that the interrupt task executes FPRINT could cause the system to lock up 8 62 Examples 100 INTEGER J K 110 REAL X 120 J 123 K SF7 X 38 8746 130 FPRINT I5X2H4F5 2 J K X This produces the following output when run 123 OOF7 38 87 Two spaces are printed before the value of J because the field width is set to 5 Two space are printed by the X2 format in order to se
389. teger this is still a comment 120 J 3600 This comment starts with the quote character 130 J J 3 Note that there doesn t have to be a colon before the quot 140 This comment starts with the exclamation point If this example were typed in or downloaded exactly as shown above and then LISTed it would be displayed like this 100 This program demonstrates the REM statement 110 INTEGER J Declare an integer this is still a comment 120 J 3600 This comment starts with the quote character 130 J J 3 Note that there doesn t have to be a colon before the quot 140 This comment starts with the exclamation point 8 133 Summary The RESTORE statement resets the DATA pointer to the first DATA statement in the program Syntax RESTORE RESTORE Statement Arguments RESTORE needs no arguments Description As READ statements are executed to load values from DATA statements a pointer is incremented to point to the succeeding DATA statement RESTORE sets this pointer to the first DATA statement in the program The next READ will load the first DATA item Example 100 INTEGER 110 DATA 1 120 DATA 5 130 FOR J 140 READ 150 NEXT J 160 RESTORE 170 READ K o 5 PRINT K Set back to first DATA which is 1 PRINT K This produces the following output when run POoOPBWNE Related topics DATA READ 8 134 RETURN Statement Summary
390. tes to the LCD very often there isn t enough time between LCD operations to allow the contrast adjustment to take place The solution is to write to the LCD less often The statement EEPOKE J WPEEK ADR M K doesn t store anything at EEPROM location J If this is broken into two parts however it seems to work fine X WPEEK ADR M K EEPOKE J X When saving to the EPROM the Duplicate line numbers detected error is printed sometimes The code is saved successfully however User defined functions don t handle strings correctly under some conditions Avoid using string operations in user defined functions The CHAIN operation does not clear the source code area so when using CHAIN the source code may not reflect the object code that is in memory For example assume that the source code for program A is loaded compiled and run program A chains to program B which then STOPs The source code for program A will still be loaded but if the programmer types GO without COMPILE then program B will be executed since it is the most recently loaded compiled program Version 2 04 Additions and Modifications Version 2 04 was released on October 12 1992 The system has been modified so that the BASIC source code is stored more efficiently allowing the user s source program to be about 2000 characters longer The EXMOD statement was added to provide access to the intelligent expander modules
391. th open collector ie sinking sensor outputs These inputs present a 12 VDC signal which the sensor must pull to ground The inputs must not be used with sourcing sensor outputs as this will cause erratic operation of both the sensor and the Boss Bear Contact Divelbiss for encoder recommendations Figure 11 shows an example of wiring a biphase incremental encoder to the Boss Bear For best noise immunity shielded cable should be used between the counter inputs and the device being monitored this is especially important for long cable runs To minimize any potential crosstalk problems it is recommended that individually paired and shielded cables be used for each I O device especially at high counting speeds Use the shield terminal provided or connect the shield to earth ground by other means Do not connect the cable shield at both ends of the cable as this can have an adverse effect Always use separate returns minus terminal for each signal pair as this lessens the chance of ground loops occurring by making all common terminations at the counter module When used correctly the low pass filters on the A B and RES inputs can prevent potential noise pickup problems Always use the lowest cutoff frequency that can be tolerated for your application but remember that these are not high Q filters and that a 20 corner frequency tolerance is specified The important point in determining the filter cutoff is not the pulse frequency being me
392. the program could be simpler if it took advantage of the context switcher Two tasks would be written with each one devoted to monitoring a switch The following example demonstrates this technique note that the two tasks are very similar to the two loops from the first example Because each task gets 50 percent of the processor time by executing every other tick a switch state that is shorter than 10 msec one tick may be missed For example if the program is executing in line 210 and switch 2 toggles low and then high again 5 msec later then when task 2 executes it will see input 2 high as if nothing had happened 100 INTEGER Cl C2 Counter variables 110 C1 0 C2 0 Initialize the counters to 0 120 RUN 1 200 Handle first switch 210 IF DIN 1 0 THEN 210 Wait for switch 1 to be pressed 220 C1 C1 1 Switch 1 pressed increment counter 230 PRINT C1 Cl 240 IF DIN 1 1 THEN 240 Wait for switch 1 to be released 250 GOTO 210 Loop forever 300 Handle second switch 305 TASK 1 310 IF DIN 2 0 THEN 310 Wait for switch 2 to be pressed 320 C2 C2 1 Switch 2 pressed increment counter 330 PRINT C2 C2 340 IF DIN 2 1 THEN 340 Wait for switch 2 to be released 4 3 350 GOTO 310 Loop forever 4 1 2 Managing Timing in a Control System Obviously one of the most important functions of a real time program is to ensure that control operations happen at the proper
393. the BASIC program and the network driver software independently of each other In Bear BASIC the registers are written to with the NETWORK 3 statement they are read with the NETWORK 4 statement There are three types of network registers integer real and string A network register is NOT automatically transferred across the network when the BASIC program writes to that register the register must be explicitly sent by the unit using the NETWORK 1 statement read by another unit using the NETWORK 2 statement or read by the network master The network registers can be thought of as an intermediate storage area between BASIC and the actual network handler they relieve the programmer from the having to worry about handling network messages at the moment that they come in The network register method is well suited to situations where one unit needs to monitor the current state of another unit For example suppose that a PC is used to display the current production totals for the machines on the network Each Boss Bear will update its network registers as items are produced the PC will read this data every few seconds and display it Notice that there is no need in this example for the Boss Bear to send a specific piece of data ie production data for a particular part to the PC this is more difficult using network registers because a register must be used as a flag to indicate that this specific data is available The example below demonstrates th
394. the card is the network master unit 0 The master normally retries an unsuccessful communications attempt 5 times before aborting the attempt The number of retries can be set from 1 to 20 with this command 10 12 BDSETUP T ON or OFF This turns the network time update on or off When it is turned on the card will broadcast the current time and date every minute BDSETUP E unit This displays the number of units in the network the polling state on or off and the retry count for 64 units starting at unit or 1 if unit isn t specified In most Bear Direct networks a network interface card will be the network master which is the heart of the network In order to get the best network operation it is important that the card is configured correctly The following examples show some common configurations The network includes 10 Boss Bears the slaves and the Network Interface card the master Lotus FACTORY is being used with the DIRECT EXE TSR program No network messages are being used in the system and no peer to peer communications are taking place Time updates are not needed The command line to configure the card would be BDSETUP L 0 N 10 The network includes 5 Boss Bears slaves numbered as units 1 through 5 a Network Interface card located in the plant PC the master and a Network Interface card located in an office PC a slave unit number 6 The plant PC is running FACTORY to display real time production data
395. ting higher priority 100 PRIORITY statement exampl 110 INTEGER J K 150 RUN 1 RUN 2 1 Start tasks running 190 J 0 Initialize counter variable 200 PRINT 0 205 FOR K 1 TO 52 NEXT K Delay for awhile 210 J J 1 IF J 15 THEN PRIORITY 1 Bump the priority up 220 IF J 38 THEN PRIORITY 0 J 0 PRINT Reset priority to 0 230 GOTO 200 300 TASK 1 310 PRINT 1 315 WAIT 1 320 GOTO 310 Task 1 is an infinite loop 400 TASK 2 410 PRINT 2 420 EXIT Task 2 gets rescheduled This example uses the PRIORITY statement to cause task 0 to lock out tasks 1 and 2 periodically After task O has printed 15 0 s it sets its priority up to 1 in line 210 making it the highest priority task After it has printed 38 0 s it resets its priority to 0 allowing tasks 1 and 2 to execute again Following is a sample of the output 00120 01200 000 00 01 00 00 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 I 0 0 0 2 0 0 J 2 0 12000 20000 00012 00120 12000 00000 00120 01200 20000 00000 01200 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 2 0 0 1 2 0 12000 20000 00012 00120 12000 00000 00120 01200 20000 00000 01200 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 2 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
396. tion of the program Syntax STOP Arguments STOP needs no arguments Description STOP immediately stops execution of the program and returns to the compiler prompt Example 100 PRINT Line 100 110 PRINT Line 110 120 STOP 130 PRINT Line 130 This produces the following output when run Line 100 Line 110 8 147 STR Function Summary The STR function converts a number into a string Syntax st STR expr Arguments expr a numeric expression Description The STR function returns a STRING result that is the human readable decimal text representation of expr It formats the result as a real number ie 12 34000 5 00000 etc Remember that a number may have many different representations for example the decimal number 100 is represented in hexadecimal as 0064 The result of STR 100 is a 9 character string 100 00000 Note that this is much different than MKI or MKS which convert a number into a binary string Binary strings are not human readable and in fact are just arrays of bytes Example 100 INTEGER J REAL X 110 STRING A 60 120 J 45 X 38 014 130 PRINT STRS J 140 AS CONCATS The value of X is STRS X 150 PRINT AS This produces the following output when run 45 00000 The value of X is 38 01399 Related topics VAL 8 148 STRING Statement Summary The STRING statement is used to declare string variables Syntax STRING var
397. to be tested 100 200 290 300 310 320 330 340 350 400 410 420 EGER J K ARG 3 TA SAF 06 10 SCB 1C SCB 1D TA 1 SFBOO wp READ K K 1 THEN 400 POKE J K J J 1 GOTO 310 ARG 3 SFFFE SYSTEM FB00 ARG 0 PRINT ARG 3 30 01 3C 10 SF7 26 00 S6F C9 oad the assembly routine at SFBOO When this program is run it prints 15 as the result just as expected D 6 Appendix E Hardware Installation Recommendations Because of its small size and use of plug in connectors the Boss Bear is easily mounted in a standard industrial enclosure The figures in this appendix provide the mounting dimensions for all versions of the Boss Bear 2 X 40 Display 1 LCD 2 LCD with backlighting 8 X 12 Front Panel WWDivell_ is CORPORATION Keys 0 9 8 Function Keys Enter amp Clear Figure 30 Boss Bear LCD or Backlight LCD Version D 7 WDivelbiss Keys 0 9 8 Function Keys Enter amp Clear Figure 31 Boss Bear Vacuum Fluorescent Display Version E 2 2 X 40 Display Vacuum Fluorescent 8 X 12 Front Pan Right Side View Figure 32 Boss Bear Back Panel Detail E 3 ol vo wi BU OO ae o O Sahak SHE RHR AE DG 0000000000000000 D0002000400000000 000000009000 00000 0c0060600000RVDULVDVLIO ts 10538 9989998909899999 SSSSSSSSss S
398. to the argument and returns In the interest of space and clarity this was programmed very badly no argument checking is done in the assembly language If B000 is called with the wrong number of arguments the system will almost certainly crash Related topics SYSTEM CODE Appendix D 8 16 CANCEL Statement Summary The CANCEL statement stops a task from being restarted when the schedule interval given in the RUN statement elapses Syntax CANCEL task Arguments task an integer expression The number of the task to cancel Description CANCEL stops the specified task from being started again when the schedule interval given in the RUN statement elapses CANCEL does not abort the task only EXIT or STOP can stop the execution of a task When a RUN statement is entered a schedule interval is specified each time the task EXITs it is scheduled to restart after that many ticks have elapsed CANCEL causes the scheduling of the task to cease When CANCEL is executed the task continues executing normally until it EXITs The task will not run again until it is specifically commanded to via another RUN statement CANCEL is useful when a task need only be run a fixed number of times the task can CANCEL itself as in the example below Example 100 INTEGER J K 105 K 0 Initialize counter for task 1 110 RUN 1 10 Set reschedule interval to 10 ticks 120 FOR J 1 TO 1000 130 PRINT 140 WAI
399. to the manual for that program to ensure proper file transfer To transfer a program from the personal computer to the Boss Bear enter NEW to clear the current program out of memory then enter DOWNLOAD Execute the command in the communications program to send a text or ASCII file and type in the appropriate file name The file will be transferred to the Boss Bear The file should not be echoed to the screen if it is being echoed then it may indicate that a craL z is stored in the file If any syntax errors are encountered while sending the file they will be displayed on the screen After the file has been transferred the Boss Bear will probably respond with the compiler prompt if it doesn t then type ctri z which turns off the DOWNLOAD mode If two or more lines were entered using the same line number then the warning message Warning duplicate line numbers detected will be printed this probably indicates an error in the BASIC source code To transfer a program from the Boss Bear to the personal computer type LIST but do not press enter Execute the command in the communications program to receive a text or ASCII file and type in an appropriate file name After the program is ready to receive the file press enter to make the Boss Bear display the program the program will capture it and store it in the selected file on the personal computer After the entire BASIC program has been displayed execute the command in the communications p
400. topics REAL STRING INTERRUPT Statement Summary The INTERRUPT statement attaches a task to a hardware interrupt source so that the task becomes the handler for that interrupt Syntax INTERRUPT device chan task Arguments device an integer expression The type of device to work with 1 High speed counter 2 Future expansion chan an integer expression The channel number of the device from 1 up to the number of channels available task an integer expression between 1 and 31 The number of the task to be attached to the device Description The INTERRUPT statement provides a simple way to write interrupt service routines in Bear BASIC It causes a task to be executed when a specific hardware interrupt occurs Forexample INTERRUPT 1 5 3 Will cause task 3 to be executed when high speed counter number 5 causes an interrupt Example 100 Program to demonstrate INTERRUPT using the high speed counter 110 INTEGER J RELOAD COUNT 120 CNTRMODE 1 4 A count B direction 130 WRCNTR 1 0 0 Set count to 0 140 RELOAD 5 COUNT 0 150 WRCNTR 1 1 RELOAD Set counter interrupt value 160 INTERRUPT 1 1 1 Set counter interrupt to task 1 170 J 0 180 FILE 6 200 Main program loop 210 LOCATE 1 1 220 FPRINT U5X5U5Z J COUNT 230 J J 1 Increment junk variable 240 GOTO 210 300 Counter interrupt handler task 310 TASK 1 320 RDCNTR 1 0 COUNT
401. troller to interface all of the others Each of these controllers handles its own small part of the system which allows each part of the system to be easily understood When a system such as this is implemented on a single controller however it can quickly become extremely complex because the controller must be programmed to perform all of the tasks concurrently For example while it is waiting for the operator to enter a number on the keypad it must still be controlling the motor speed process temperature etc It becomes especially difficult to modify the operation of the system such as adding another controller or changing the update rate of one of the existing controllers What is needed is some way to make the single controller act like multiple individual control modules The Bear BASIC compiler supports multitasking which is a powerful programming tool that allows portions of a program to execute concurrently The Boss Bear switches rapidly between different portions of the program called tasks giving the illusion that each task is being executed on it s own processor If each of the controllers in the above example were implemented as separate tasks then it would be similar to building the system out of individual controllers making the software simpler to write and easier to modify in the future This chapter explains how multitasking works how to decide when it should be used and how to use it correctly 5 1 Multitasking Funda
402. ts reversed to match Simulated value read from hardware Store for assembly language to access Assembly routine to reverse bits Load result into RD RD RD reverses the bits in the value 1234 in binary 0001001000110100 to get the result 2C48 in binary 0010110001001000 It produces the following output when run J 1234 RD 2C48 D 3 2 CALL Example This example uses an assembly language routine to concatenate multiple strings together It accepts two or more arguments all string that it will concatenate onto Th of which must be strings The first argument is the e succeeding arguments are the strings that will get concatenated onto the first string in the order that they are encountered ORG OFBOOH POP HL LD A HL OR A JR Z ARG_ERROR CP 3 JR NZ ARG_ERROR INC HL LD E HL INC HL LD D HL D INC HL Update DE so that it points gt String PUSH DE 22S LD A DE INC DE P LD LENGTH A ADD A E LD E A LD A D ADC A 0 LD D A D Now loop through all arguments first one LOOP OR A JR Z DONE CP 3 JR NZ ARG_ERROR INC HL LD C HL INC HL INC HL PUSH HL E LD H B D 4 Get argument table address Get variable type flag Jump if no arguments Jump if not a string E is pointer to destination to the first character past the end of the ave the pointer to the string Get length of string oin
403. ts to that of conventional control systems PID have been documented in applications ranging from elevator control to flight control in Navy aircraft Because of this Divelbiss Corporation has decided to make this exciting technology available using its general purpose controllers For simplicity our Fuzzy Logic approach requires only variable declarations minimal data setup and an easy to use callable BEARBASIC statement FUZZY FUZZY will make all of the calculations required by Fuzzy Logic transparent to the user thus requiring only the know how of the user to implement a sophisticated control system This document is organized into three sections 1 Fuzzy Logic Fundamentals 2 Using the FUZZY statement and 3 Examples Applications Section 1 will give some of the basic definitions of Fuzzy Logic and describe the technology from the end user s point of view Section 2 describes how to use the BEARBASIC statement FUZZY to implement Fuzzy Logic on the UCP and Boss Bear And finally Section 3 will provide some simple yet real world examples of using Fuzzy Logic l 1 Fuzzy Logic Fundamentals Figure 59 shows a block diagram of a typical fuzzy system Figure 60 describes in greater detail the Fuzzy Control Block of Figure 59 Rules amp Fuzzy Sets Fuzzy Control Figure 59 Typical Fuzzy Control System I 2 Process Figure 60 Fuzzy Control Block The definitions for each of the elements of the cont
404. twork 4 0 10 J K if J 0 then 2999 If flag not set then return for g 0 to 3 network 3 0 12 J SHIFT J K Store shift totals in network reg s SHIFT J 0 Reset shift totals next J network 3 0 16 OPNUM K Store current operator number network 3 0 11 1 K Set flag to indicate new data network 3 0 10 0 K Clear flag so we don t do this again return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK AAA Subroutine to handle user keypad input UIFMTS Product number 0 9999 gt UIVLU PRDNUM gosub 8300 A new product number has been entered Store the current count values into network registers set the new product flag register which will signal Central that there is new data available for J 0 to 3 network 3 0 J 1 PRD J K Store product count totals next J network 3 0 5 PRDNUM K Store product number with counts network 3 0 0 1 K Set flag to indicate new data Now reset the product counts and update the product number for J 0 to 3 PRD J 0 Reset the count totals network 3 0 6 J PRD J K Reset current count in network reg next J PRDNUM UIVLU Set up new product number UIFMTS Operator number 0 9999 gt UIVLU OPNUM gosub 8300 if UIFLAG then OPNUM UIVLU for J 1 to 10 K key next J Empty keyboard buffer return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Subroutine to get INTEGER user input cls print UIFMTS UIV
405. uild the message string would look like mscs coNcATS CHRS 1 CONCATS MKI DNUM CONCATS MKS DVLU NAMES The first byte is set to 1 which is 10 19 the file type The value of DNUM is stored in the next two bytes The value of DVLU is stored in the next 4 bytes The string NAMES is stored in the next 10 bytes the program must ensure that NAMES is exactly 10 bytes long before storing it in MSG For each file entry there must be a corresponding subdirectory of the same name minus the extension When creating dBase files each dBase subdirectory must contain a template file The template file is simply a small database that defines the record types being used only the record type is used any data in the file is disregarded by BEARLOG COM For raw data files a template file is not needed 10 5 3 Sharing Data Files The BearLog TSR executes each PC timer tick 18 2 times per second it retrieves a packet if one is waiting and tries to store the data into the appropriate disk file If the data cannot be stored to disk right now if the disk system is already busy for example then it will attempt to store the data on the next timer tick If it can t be stored within about 5 seconds then the packet is discarded and the next packet is read It is possible for a program running on the PC to try to open a file that the BearLog TSR is accessing this could happen if a database program were analyzing data as the data was collecte
406. ultitasking should not be used with systems that are primarily sequential these should be handled as regular sequential BASIC code For example a system that picks up a part moves it into position drills a hole and then drops it onto a conveyor consists of a sequence of actions that must be performed in order 5 7 attempting to write this as a multitasking program would be a major mistake In practice most systems consist of both sequential and parallel components multitasking should be used when the parallel components are large and relatively independent of each other Another primary consideration is program speed The overhead imposed by the context switcher increases as the number of tasks increases In some high speed applications it is necessary to avoid multitasking in order to get the greatest speed To get the maximum performance from the Boss Bear the program should be implemented using a combination of assembly language and C Divelbiss offers a C compiler and an assembler for the Boss Bear A program s user interface is often difficult to implement especially if the control system must continue to run while the operator is pressing keys This is a situation where multitasking can make the program much simpler since one task can handle the user interface while other tasks continue to control the system In general the program will be easier to write and debug if all user I O to a particular file is contained in a single task
407. umbered 0 to 24 15 REAL registers 0 to 14 and 5 STRING registers 0 to 4 If an attempt is made to write outside of these ranges then an error will be returned for example NETWORK 3 0 30 99 sT would return an error ST will be nonzero because only 25 INTEGER registers were declared above Example 100 INTEGER J K ST 110 NETWORK 0 1 20 30 0 ST Initialize the network 120 IF S THEN PRINT Init Error 130 FOR J 0 TO 19 140 NETWORK 3 0 J J 100 ST Store 100 119 in registers 0 19 150 NEXT J Related topics NETWORK 0 NETWORK 1 NETWORK 2 NETWORK 4 Chapter 10 8 111 NETWORK 4 Statement Summary The NETWORK 4 statement reads data from a network register Syntax NETWORK 4 vartype regnum variable status Arguments vartype an integer value of 0 1 or 2 This indicates the type of network register to read 0 for INTEGER 1 for REAL and 2 for STRING regnum an integer expression This is the register number to be read from variable a numeric or string variable The value read from regnum will be stored in this variable status an integer variable This will hold the status of the NETWORK operation a O will indicate successful completion while a nonzero value will indicate that an error occurred Description The network registers are stored in an area that is normally inaccessible to the BASIC program as variable space The NETWORK 4 statement reads data
408. up to 5000 ft and is more immune to noise RS 485 can connect up to 32 pieces of equipment in a multidrop network using three conductor cable it can also drive long distances in noisy environments Divelbiss supplies two types of COM port adapters RS 232 and RS 422 485 These adapters plug into the back panel of the UCP and convert the serial data to the proper signal levels H 5 1 COM1 While at the command line prompt COM1 is used to attach the console terminal which is the main programmer s interface to the UCP On power up it is set to 9600 baud no parity 8 data bits and 1 stop bit At runtime COM1 is accessed as FILE 0 it may be used as a general purpose serial port The COM1 connector is a 9 pin male D connector the pinout is given in Figure 43 Pin ID Description 1 No connect 2 RX Receive data 3 TX Transmit data 4 DTR Data Terminal Ready 10 VDC 5 GND Signal ground 6 No connect 7 RTS Request To Send Output 8 CTS Clear To Send Input 9 No connect Figure 43 UCP COM 1 Connector Pin Out Divelbiss can supply the following cables to connect the UCP COM1 port to a personal computer Part No Description ICM CA 28 ICM CA 29 9 pin female D to male 25 pin D 6 ft long 9 pin female D to female 25 pin D 6 ft long To set the operating mode for COM1 two I O ports must be written to Port 0 controls the number of data bits stop bits and whether parity is enabled see Figure 44 I O port 2 contro
409. upt flag 1030 T T 1 Increment counter value 1040 EXIT This example demonstrates how to use the spare timer on the processor to generate an extremely accurate high speed timebase Lines 110 and 120 get the timer rate from the user and store it in INTS Line 130 calls the subroutine at line 200 which sets up the timer 8 160 interrupt Line 210 calculates the reload value for the timer which determines how many interrupts per second will be generated Lines 220 and 230 split the reload value into a high byte and a low byte Line 240 uses VECTOR to attach task 1 to the timer interrupt Line 250 initializes the timer value and line 260 initializes the reload value every time the timer reaches 0 the reload value will be written into the timer Line 270 starts the timer running Lines 160 and 170 form the mainline of the program they just print the current count value onto the onboard display Task 1 is the timer interrupt task at line 1000 every time the timer reaches 0 this task is executed Line 1020 resets the timer 1 interrupt flag which is necessary so that it doesn t jump back into task 1 as soon as it exits since the interrupt flag would still be set Line 1030 just increments a count value Line 1040 EXITs back to continue processing an interrupt task must end with an EXIT statement Related topics INTERRUPT JVECTOR 8 161 WAIT Statement Summary The WAIT statement delays execution of the current task for a specified
410. ut bit to the Bear Bones while a nonzero value sets the output bit Description The BBOUT statement sends a single bit of information to an attached Bear Bones The Boss Bear and Bear Bones communicate using a single Bear Bones I O page normally page 0 which contains 32 single bit values 16 from Boss Bear to Bear Bones and 16 from Bear Bones to Boss Bear This statement is only useful if a member of the Bear Bones family is attached to the Bear Bones Interface connector on the back of the Boss Bear lt is important to remember that the Boss Bear and Bear Bones are running asynchronously to each other the Bear Bones could be at any point in its program when the Boss Bear executes the BBOUT statement Example 100 Clear all 16 bits going to the Bear Bones 110 INTEGER NUM 120 FOR NUM 0 TO 15 130 BBOUT NUM 0 140 NEXT NUM Related topics BBIN DOUT DIN Chapter 7 BOR Function Summary The BOR function performs a bitwise logical OR function Syntax x BOR expr1 expr2 Arguments expr1 a numeric expression expr2 a numeric expression Description The BOR function logically ORs expr and expr2 as 16 bit integers each of the bits is individually ORed together This is useful for setting bits in an integer variable such as when accessing hardware registers This differs from the OR operator which compares two numbers as boolean values ie true or false For example BOR 2 5 returns 7 while
411. ut repeater Leakage 1 A Dynamic Impedance 1 6M 1KHz 1 6K 1000KHz 8 channels 12 bit resolution 0 to 5 VDC input Approximately 350 microseconds per BASIC conversion Single channel 24 bit binary up down counter Support for quadrature X Open collector input circuitry Selectable input filtering none 20Hz 5KHz 100 KHz High speed open collector direct output Sensor power supply 5 VDC regulated or 12VDC 100mA unregulated Display Keyboard Discrete Input Output Bear Bones Interface Real Time Clock Expansion Connectors Operating Temperature Power Requirements Size Language Memory Available Multitasking A 2 Three types of alphanumeric display are available as an option 1 LCD 2 lines by 40 characters 2 Backlit LCD 2 lines by 40 characters 3 Vacuum Fluorescent 2 lines by 40 characters 20 key membrane keypad 0 9 ENTER CLEAR F1 F8 Up to 128 inputs and 128 outputs using standard Divelbiss Bear Bones I O panels which are available in a variety of configurations IO bus Direct interface to Bear Bones multiprocessor capability providing Battery backed up providing year month day hour minute and second 3 expansion bus connectors allow optional I O modules to be added by the user 0 to 60 degrees C Input voltage 115 VAC 10 VAC or 12 VDC Max Primary Max Secondary Secondary Model i at 120 VAC iat 10 VAC lat 12 VDC VFD 200 mA AC 1 1AA
412. value might be 5 10mph for the center of POSITIVE SMALL The primary point to be remembered in the selection of fuzzy set values is to use common sense and moderation In all cases values which are extreme can cause unstable operation of the system Especially before tuning a system be conservative with the values to avoid damage especially when the cost of erratic operation can be high 1 1 4 Constructing Process Logic Rule Tables Process logic is at the heart of why Fuzzy Logic provides an undisputed amount of flexibility in control systems design Unlike conventional control technology Fuzzy Logic control systems have the ability to take the expertise and human intuition of the user into account This expertise is encoded into the controller in terms of process logic Process logic are the rules which guide the operation of the system and are in the form of F THEN statements Process logic is usually constructed in the form of rule tables as is described in Figure 66 SPEED ERROR NL NS ZR PS PL wa R TEOR NS CHANGE ZR PL NL rs P Figure 66 Example Rule Table for Speed Control IF SPEED ERROR IS POSITIVE SMALL AND RATE OF CHANGE IS NEGATIVE SMALL THEN CHANGE SPEED ZERO or IF SPEED ERROR IS POSITIVE LARGE THEN CHANGE SPEED NEGATIVE LARGE Such rules are based on expertise and intuition of how the controller should operate The exact calculations depend on the input and output fuzzy sets process l
413. variable variable Arguments variable a text string The name to use for the variable Variable names in Bear BASIC consist of an alphabetic character followed by up to 6 alphanumeric characters To declare an array this will be followed by one or two numbers enclosed in parenthesis The following are valid integer variable names J J 20 PRESURE CHAN5 TIME4 10 J 10 7 Description Integer variables are used to hold numeric data that ranges between 32768 and 32767 Integers are stored in 16 bit two s complement form and therefore take up 2 bytes each All variables in a Bear BASIC program must be declared as INTEGER REAL or STRING all variable declarations must occur before any executable statements in the BASIC program Integer arrays may be declared with the INTEGER statement as well Bear BASIC allows one and two dimensional arrays The variable name is followed by parenthesis enclosing one or two array dimensions such as J 5 or J 7 5 Note that the array dimension is not the number of array elements but the number of the last array element arrays always start with element 0 The array J 5 actually contains 6 variables J 0 through J 5 Example 100 INTEGER J K 110 INTEGER CHAN 9 Array of 10 integers 20 bytes 120 INTEGER TDAT 4 19 5 by 20 array 200 bytes 130 FOR J 0 TO 9 140 CHAN J J Shows how arrays are accessed 150 TDAT 0 J J 4 160 NEXT J Related
414. witch to be used with DIRECT EXE is u Once DIRECT EXE is resident it can be unloaded from memory by specifying the u switch by typing direct u atthe DOS command line This should unload the TSR from memory If there was another TSR loaded after DIRECT EXE then it may not be possible to unload DIRECT EXE from memory 10 4 2 Using Lotus FACTORY The operation of FACTORY is described fully in the documentation that is supplied with it but a brief introduction is given here to cover the features that are specific to the Divelbiss Bear Direct network FACTORY is an add in to Lotus 123 which means that it loads into 123 and adds new functions to it Install the FACTORY files as shown in the FACTORY documentation After starting 123 select Add In Attach which will show a menu of add ins that are available select FACTFUN and press enter then select Quit to exit the Add In menu The functions READ and WRITE are now available for use The READ function reads a register value from a Boss Bear the syntax of READ is READ unit regnum vartype unit the unit number of the Boss Bear to access This is a string containing a number between 1 and 254 10 16 regnum the register number to read This is a string containing a number vartype the variable data type to be read from the device unsigned16 for an integer register float for a float register or string for a string register Each READ argument can be a string en
415. xkxkxkxkxkxkxkxkkkkkxkkkkkkxk Program mainline gosub 8800 Print monitor screen K key if K 41 then gosub 5000 gosub 2000 Check the photo eye sensors gosub 2500 Handle the network wait 1 goto 1010 Ikkxkxkxkxx xkxkxkxkxkxk xkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkkxkxkxkxkxkxkxkxkxkxkxkxkxkkxkkkkkkkxkxkxk Check the state of the photo eye sensors If any of them have turned on then update the corresponding count variable Since this is a simulation we will use random numbers to pick which photo eye has turned on First though we have a random time delay between photo eye turn ons if SIMDELY lt gt 0 then SIMDELY SIMDELY 1 goto 2499 SIMDELY rnd 4000 16 Random delay of about 1 second J rnd 32768 0 1 7 1 7 Simulate photo eye turning on J contains the number of the input that has turned on so 2499 2500 2999 5000 5100 8300 8310 8800 update the product count and shift count for that input PRD J PRD J 1 network 3 0 6 J PRD J K Update current count in network reg SHIFT J SHIFT J 1 return VT KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KKK Check for end of shift message from Central It will set register 10 to 1 when the end of shift occurs This is our Signal to copy the shift totals into network registers after which we set register 11 to 1 to signal Central that there is new data waiting ne
416. y might be 67 just as INPUT1 However to be conservative the first value to be implemented should be around 33 Once implemented these values should be tuned in order to optimize the response of the system 1 3 1 1 5 Process Logic Figure 71 describes reasonable process logic for a speed control problem If the speed error INPUT1 is negative large then regardless of the rate of change INPUT2 change the output drive signal positive large There are two important things to notice about the rule table the closer to the zero 0 the speed error becomes the more conservative the change in the output and the table is symmetric about INPUT1 only in the reverse direction Conservative behavior about the set point is quite typical for most of the applications listed in Section 1 3 1 ls Fuzzy Logic Right for Your Application This is because abrupt changes in the output around the desired value will most likely cause oscillations Thus the further away from the set point the more aggressively the output control action and visa versa as the input approaches the set point INPUTI SPEED ERROR INPUT2 RATE OF CHANGE 4 Figure 71 Rule Table for Speed Control Example With regards to the symmetry of the rule table this is also quite typical for process control applications As an example if INPUT1 is negative small 3 and INPUT2 is positive medium 6 then the rule table says change the output negative small 3 The opposite situation

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