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DUINOMITE USERS MANUAL

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1. Note If x1 y1 is not specified last x y coordinates are used LINE 100 100 200 200 1 BF draw box 100 100 200 200 LINE 300 100 17 Br araw box 20072007300 L00 Examples LINE MM HRES 2 0 MM HRES 2 MM VRES Draws a vertical line which divides the screen in half from top to bottom LINE 0 MM VRES 2 MM HRES MM VRES 2 Draws a horizontal line which divides the screen in half from left to right LINE 0 0 MM HRES MM VRES Draws a diagonal line from the top left to lower right corner of the screen LINE 10 10 20 20 1 Draws a line from 10 10 to 20 20 with white color LINE 10 10 20 20 0 Draws a line from 10 10 to 20 20 with black color erases the line drawn above 10 CLS 20 LINE RND 1 MM HRES RND 1 MM VRES 30 PAUSE RND 1 100 40 GOTO 20 Draw random lines with random speed i CLs 20 FOR I 1 TO MM HRES STEP 5 30 LINE 0 0 I MM VRES 40 LINE MM HRES 0 I MM VRES 50 NEXT 60 DO LOOP UNTIL INKEYS 5 Draws pattern and waits until SPACE is pressed DEPRECIATED COMMANDS These commands are only included to assist in converting programs written for Microsoft BASIC For new programs the corresponding commands in MM BASIC should be used PSET PRESET Statements Purpose To display a point at a specified place on the screen Please for new code do use PIXEL x y Syntax PSET x y PR
2. Opening a file for OUTPUT orAPPEND fails if the file is already open in any mode OPEN COM n Statement Purpose To allocate a buffer to support Serial asynchronous communications with other computers and peripheral devices in the same manner as OPEN for disk files Syntax OPEN COM n speed buf FC OC AS filenum OPEN COM n speed buf FC 0C AS CONSOLE Comments COM n isa valid communications device com1 com2 com3 com4 coml RX is Arduino D2 or GPIO 13 TX is Arduino D3 or GPIO 14 RTS is Arduino D4 or GPIO 15 if FC is used CTS is Arduino D5 or GPIO 16 if FC is used com2 RX is Arduino D6 or GPIO 17 TX is Arduino D7 or GPIO 18 com3 RX is UEXT 4 TX is UEXT 3 com4 RX is RS232 Rx if R2 is mounted also Arduino DO or GPIO 11 TX is RS232 Tx if R3 is mounted also Arduino D1 or GPIO 12 speed isa literal integer specifying the transmit receive baud rate The default is 1200 bps Note com1 and com2 are implemented with bit bang by MM BASIC and maximum speed is 19200 bps com3 and com4 are real UARTs and maximum speed is 8 000 000 bps speed over 115200 bps is not reliable in practice Fc enables flow control on com1 filenum is a number between 1 and 10 A communications device may be opened to only one file number at a time If you try to open com other than com1 com4 Invalid syntax error will occur if you try to open already opened filenumber COMx is already open error will oc
3. Syntax EXIT EXIT FOR Comments The program execution will continue after the LOOP or NEXT statement Examples This example will print HELLO until q key is pressed 10 DO 20 PRINT HELLO 30 IF INKEYS q THEN EXIT 40 LOOP 50 PRINT DONE This example will print the numbers from 1 to 5 instead to 10 10 FOR I 1 TO 10 20 PRINT Is se 30 IF 5 THEN EXIT FOR 40 NEXT FILES Command Purpose List files in the current directory on the SD card Syntax FILES search patternS Comments The SD card drive B may use an optional search patternS Question marks will match any character and an asterisk as the first character of the filename or extension will match any file or any extension If omitted all files will be listed Example FILES BAS Will list all files on the SD card with BAS extension FONT Statement Purpose Select a font for the video output Syntax FONT number scale reverse Comments number is the font number in the range of 1 to 10 the symbol is optional scale is the multiply factor in the range of 1 to 8 e g a scale of 2 will double the size of a pixel in both the vertical and horizontal Default is 1 If reverse is a number other than zero the font will be displayed in reverse video Default is no reverse There are three fonts built into MM BASI
4. TIMER function returns the elapsed time in milliseconds e g 1 1000 of a second since reset If not specifically reset this count will wrap around to zero after 49 days The timer is reset to zero on power up and you can also reset it by using TIMER command TRON TROFF Commands Purpose To trace the execution of program statements Syntax TRON TROFF Comments As an aid in debugging the TRON trace on command enables a trace flag that prints each line number of the program as it is executed The numbers appear enclosed in square brackets TRON may be executed in either the direct or indirect mode The trace flag is disabled with the TROFF trace off command or when a NEW command is executed Examples TRON 10 K 10 20 FOR J 1 TO 2 30 L K 10 40 PRINT J K L 50 K K 10 60 NEXT 70 END RUN 10 20 30 40 1 10 20 50 60 30 40 2 20 30 50 60 70 TROFF XMODEM Commands Purpose To transfer a file to or from a remote computer using the XModem protocol Syntax XMODEM SEND files XMODEM RECEIVE files Comments Transfers a file to or from a remote computer using the XModem protocol The transfer is done over the USB connection or if a serial port is opened as console over that serial port files is the file on the SD card or internal flash to be sent or received The XModem protocol requires a cooperating software program running on the remote co
5. Syntax LINE INPUT prompts string variable Comments prompt is a string literal displayed on the screen that allows user input during program execution A question mark is not printed no matter if the delimiter is or unless it is part of prompts String variable accepts all input from the end of the prompt to the carriage return Trailing blanks are not ignored LINE INPUT is almost the same as the INPUT statement except that it accepts special characters such as commas in operator input during program execution If a line feed carriage return sequence this order only is encountered both characters are input and echoed Data input continues ALINE INPUT may be escaped by typing CTRL BREAK MM BASIC returns to command level and displays gt Typing CONT resumes execution after the LINE INPUT line Example 100 LINE INPUT A Program execution pauses at line 100 and all keyboard characters typed thereafter are input to string A until ENTER CTRL M CTRL C Or CTRL BREAK is entered LINE INPUT Statement Purpose To read an entire line up to 255 characters without delimiters from a sequential disk file to a string variable Syntax LINE INPUT filenumber string variable Comments Filenumber 1s the number under which the file was opened string variable 1s the variable name to which the line will be assigned LINE INPUT reads all characters in th
6. commands Example In the following example a LED connected to ARDUINO AO and GND will light ON when User button is pressed 10 SETPIN 1 8 20 PIN 1 PIN 0 30 GOTO 20 POS Function Purpose To return the current cursor position Syntax POS Comments The leftmost position is 1 Example 10 CLS 20 AS INKEYS IF AS THEN GOTO 30 ELSE PRINT AS 40 IF POS gt 10 THEN PRINT CHRS 13 CHR 10 50 GOTO 30 Causes a carriage return and line feed after the 10th character is printed on each line of the screen PIXEL Function Purpose To return the current value of a pixel on the VGA or composite screen Syntax PIXEL x y Comments Zero is off 1 is on Most upper left coordinate is 0 0 the most right down coordinates are MM HRES MM VRES See the statement PIXEL x y for setting the value of a pixel Example CLS PRINT PIXEL 100 100 0 RIGHTS Function Purpose To return the rightmost n characters of string x Syntax RIGHTS x n Comments If n is equal to or greater than LEN x RIGHTS returns x If n equals zero the null string length zero is returned see the MIDS and LEFTS functions Example 10 AS DISK BASIC 20 PRINT RIGHTS AS 5 RUN BASIC Prints the rightmost five characters in the A string RND Function Purpose To return a random number between
7. the string will consist of all characters read between the first double quotation mark and the second A quoted string may not contain a double quotation mark as a character The second double quotation mark always terminates the string If the first character of the string is not a double quotation mark the string terminates on a comma carriage return line feed or after 255 characters have been read If end of the file is reached when a numeric or string item is being INPUT the item is terminated IRETURN Statement Purpose To return from a interrupt Syntax IRETURN Comments The IRETURN statement causes MM BASIC to branch back to the statement where interrupt occurs A subroutine may contain more than one IRETURN statement to return from different points in the subroutine Subroutines may appear anywhere in the program KILL Command Purpose To delete a file from a disk Syntax KILL filenames Comments filenames can bea program file or data file KILL is used for all types of disk files Note You must specify the filename s extension when using the K1 in MM BASIC are given the default extension BAS LL command Remember that files saved Ifa KILL command is given for a file that is currently open no error will occurs Examples The following command deletes the MM BASIC file DATA and makes the space available for reallocation to another fi
8. 34 I think He said Hello I think In listofexpressions numeric expressions must be delimited by semicolons For example PRINT I At Be Cy Ke Y Z If commas are used as delimiters the extra blanks inserted between print fields will also be written to the diskette Commas have no effect however if used with the exponential format String expressions must be separated by semicolons in the list To format the string expressions correctly on the file use explicit delimiters in 1 istofexpressions For example the following 10 AS 12345 BS 67890 20 PRINT 1 AS B gives a file image of 12345 67890 30 PRINT 1 AS BS gives a file image of 1234567890 RANDOMIZE Statement Purpose To reseed the random number generator Syntax RANDOMIZE expression RANDOMIZE TIMER Comments If expression is omitted MM BASIC will generate error Invalid syntax If the random number generator is not reseeded the RND function returns the same sequence of random numbers each time the program is run To change the sequence of random numbers every time the program is run place a RANDOMIZE statement at the beginning of the program and change the argument with each run One good way to do this is use the TIMER function RANDOMIZE TIMER Examples 10 RANDOMIZE TIMER 20 FOR I 1 to 5 30 PRINT RND 1 100 40 NEXT READ Statem
9. PIN 9 PIN 10 are marked with blue as they are multiplexed with SPI which is used for UEXT and SD card this means that if UEXT or SD card is accessed these lines will change their states Please do not use or use with care if you use also UEXT and SD card operations in your code PIN 19 PIN 20 are marked with blue as they are multiplexed with VGA VSYNC and VGA VIDEO DETECT Please do not use or use with care if you use also VGA monitor 3 8 PS 2 KEYBOARD PS2 keyboard CLOCK is connected to RD6 and DATA is connected to RD7 Note that the Keyboard requires 5V to work correctly so the keyboard will not work when the DuinoMite Mega is powered by 3 7V LiPo battery 3 9 VGA Video The VGA monitor is uses the PIC32 SPI to generate the video signal VGA HSYNC is generated by RD4 VGA VSYNC is generated by RB12 which is also connected to LED2 YELLOW and ARDUINO D9 VGA R G B signals are connected together via small SMD jumpers if you selectively cut them you can make your Video output RED GREEN BLUE AMBER or YELLOW in color PIC32 RG8 RG9 generates the Video signal Composite video signal is also generated if VGA monitor is not detected The composite video is output to the VIDEO RCA connector PAL SECAM NTSC modes are supported note that in Composite Video mode the screen resolution is lower than VGA mode 3 10 AUDIO The DuinoMite has two connectors an AUDIO RCA jack connector and a 3 5mm headphone connector MM
10. Purpose To renumber program lines currently held in memory including all references to line numbers in commands such as ELSE GOTO GOSUB THEN ON GOTO ON GOSUB Syntax RENUMBER first increment start Comments first is the first line number to be used in the new sequence The default is 10 increment 1s the increment for each line The default is 10 start isthe line number in the old program where renumbering should commence from The default is the first line of the program This command will first check for errors that may disrupt the renumbering process and it will only change the program in memory if no errors are found However it is prudent to save the program before running this command in case there are some errors that are not caught If a nonexistent line number appears after one of these statements ELSE GOTO GOSUB THEN ON GOTO ON GOSUB the error message Line number does not exist Cancelling RENUMBER appears RENUMBER cannot be used to change the order of program lines or to create line numbers greater than 65000 Examples RENUMBER Renumbers the entire program The first new line number will be 10 Lines increment by 10 RENUMBER 1000 10 Renumbers the entire program The first new line number will be 1000 Lines increment by 10 RENUM 1000 10 200 Renumbers the lines from 200 up so they start with line number 1000 and are incremented b
11. This implementation was developed by Gerard Sexton and fully supports master and slave operation 10 bit addressing address masking and general call as well as bus arbitration i e bus collisions in a multi master environment In the master mode there is a choice of 2 modes interrupt and normal In normal mode the I2C send and receive commands will not return until the command completes or a timeout occurs if the timeout option has been specified In interrupt mode the send and receive commands return immediately allowing other MM BASIC commands to be executed while the send and receive are in progress When the send receive transactions have completed an MM BASIC interrupt will be executed This allows you to set a flag or perform some other processing when this occurs When enabled the I2C function will use UEXT pins 5 and 6 UEXT 5 becomes the I2C clock line SCL and UEXT 6 becomes the I2C data line SDA Both of these pins have pullup resistors 4 7k I2C is also connected via R4 and R26 to PIN 5 and PIN 6 ARDUINO A4 SDA and ARDUINO AS SCL Be aware that when running the I2C bus at above 150KHz the cabling between the devices becomes important Ideally the cables should be as short as possible to reduce capacitance and also the data and clock lines should not run next to each other but have a ground wire between them to reduce crosstalk If the data line is not stable when the clock is high or the clock line is jitt
12. hiword loword Comments Returns the byte decimal integer within the range of 0 to 255 read from the specified memory location hiword is the top 16 bits of the address while 1 oword is the bottom 16 bits See the POKE command for notes and warnings related to memory access PEEK is the complementary function to the POKE statement PINO Function Purpose To read from a specified external GPIO port Syntax PIN n Comments If the GPIO ports is initialized as Digital Input with the SETPIN command zero means digital low read 1 means digital high For GPIO ports initialized with SETPIN command as analogue inputs it will return the measured voltage as a floating point number between 0 and 3 3 which corresponds to OV to 3 3V For GPIO ports initialized with SETPIN command as Frequency inputs will return the frequency in Hz maximum 200KHz For GPIO ports initialized with SETPIN command as Period inputs will return the period in milliseconds For GPIO ports initialized with SETPIN command as Count input will return the count since reset counting is done on the positive rising edge The count input can be reset to zero by resetting the pin to counting input even if it is already so configured PT N 0 is a special case which will always return the state of the user push button on the PC board non zero means that the button is down Also see the SETPIN and PIN
13. snd len snd data Receive data from the 12C slave device with the optional ability to send some data first address is the slave 12C address note that 10 bit addressing is not supported option is anumber between 0 and 3 1 keep control of the bus after the command a stop condition will not be sent at the completion of the command 2 treat the address as a 10 bit address 3 combine 1 and 2 hold the bus and use 10 bit addresses rcv len is the number of bytes to receive rcv buf is the variable to receive the data this is a one dimensional array or if rcv len is 1 then this may be a normal variable The array subscript does not have to be zero and will be honoured also bounds checking is performed Optionally you can specify data to be sent first using snd len and snd data These parameters are used the same as in the I2CSEND command ie snd data can be a constant an array or a string variable Examples I2CRCV amp H6F 1 1 BYTE I2CRCV SH6F 1 5 ARR 0 I2CRCV amp HOF 1 4 ARR 2 3 amp H12 amp H34 amp H56 I2CRCV amp HOF 1 3 RCVARRAY 0 4 SNDARRAY 0 The automatic variable MM 12C will hold the result of the transaction PC Slave Mode Commands I2CSEN address mask option send int line rcv int line Enables the 12C module in slave mode address is the slave 12C address mask is the address mask bits set as 1 will always match option is a number between 0 and 3 1 allows MM BA
14. starts as inactive i e high The SPI enable signal is often used to select a slave and prime it for data transfer This signal is not generated by this function and if required should be generated using the PIN function on another pin The SPI function does not take control of the I O pins like the serial and 12C protocols and the PIN command will continue to operate as normal on them Also because the I O pins can be changed between function calls it is possible to communicate with many different SPI slaves on different I O pins Example The following example will send the command amp H80 and receive two bytes from the slave SPI device Because the speed is not specified it defaults to high SOOKHz 10 SETPIN 1 2 PIN 1 as Rx digital input 20 SETPIN 2 8 PIN 2 as Tx digital output 30 PIN 3 1 SETPIN 3 8 PIN 3 clock as output 40 PIN 4 1 SETPIN 4 8 PIN 4 as slave select SO 7 100 PIN 4 0 slave select 110 junk SPI 1 2 3 amp H80 send amp H80 120 BYTEL SPI 1 2 3 read first byte 130 BYTE2 SPI 1 2 3 read second byte 140 PIN 4 1 slave de select 5 18 I2C Communication The Inter Integrated Circuit 12C bus was developed by the electronics giant Philips for the transfer of data between integrated circuits It has been adopted by many manufacturers and can be used to communicate with many devices including memories clocks displays speech modules etc
15. 0 and 0 99999 Syntax RND x Comments The same sequence of random numbers is generated each time the program is run unless the random number generator is reseeded See RANDOMIZE statement x value is ignored if supplied To get a random number within the range of zero through n use the following formula INT RND n 1 Examples PRINT RND 0 5133 71 PRINT RND 1 prints two numbers due to the space between RND and Ort 7S 726 1 PRINT RND 1 0 94763 PRINT INT RND 101 prints random number 0 100 53 SGN Function Purpose To return the sign of x Syntax SGN x Comments x is any numeric expression If x is positive SGN x returns 1 If x is 0 SGN x returns 0 If x is negative SGN x returns 1 Examples 10 INPUT Enter value x 20 ON SGN X 2 GOTO 100 200 300 MM BASIC branches to 100 if X is negative 200 if X is 0 and 300 if X is positive SIN Function Purpose To calculate the trigonometric sine of x in radians Syntax SIN x Comments To obtain SIN x when x is in degrees use SIN x m 180 Examples PRINT SIN 125 0 997495 The sine of 1 5 radians is 0 997495 SPACES Function Purpose To return a string of x spaces Syntax SPACES x Comments x is rounded to an integer and must be within the range of 0 to 255 If the number is outside this range error Number out of boun
16. 1 A subsequent INPUTS statement such as the following would input CAMERA to A and 93604 1 to B INPUT 1 AS BS 6 CODE EXAMPLES BLINK LED 10 SETPIN 1 8 ARDUINO AO as output 20 PIN 1 1 PAUSE 500 set high and wait second 30 PIN O 0 PAUSE 500 set low and wait second 40 GOTO 20 BLINK LED WITH INTERRUPTS 10 SETPIN 1 8 ARDUINO AO as output 20 LED 0 LED state variable 30 SEITICK 500 100 set high and wait second 40 DO LOOP endless loop 100 IF LED 0 THEN PIN 1 1 LED 1 IRETURN 110 IF LED 1 THEN PIN 1 0 LED 0 IRETURN BLINK LED WITH POTENTIOMETER 10 SETPIN 1 8 ARDUINO AO as output 20 SETPIN 2 1 read potentiometer on ARDUINO A1 30 PIN 1 1 set high ARDUINO AO 40 PAUSE PIN 2 100 wait depend on potentiometer reading 50 PIN 1 0 set low ARDUINO AO 60 PAUSE PIN 2 100 wait depend on potentiometer reading 70 GOTO 30 BRICK GAME http www thebackshed com forum forum_posts asp TID 4365 amp PN 1 3D GRAPHICS http www thebackshed com forum forum_posts asp TID 4353 amp PN 1 MOON LANDER http www thebackshed com forum forum_posts asp TID 4377 amp PN 1 7 UEXT HARDWARE DEMO CODE 7 1 PLAYING WITH MOD GPS How to use GPS with DuinoMite Global Positioning System GPS is a satellite based global navigation system that provides location and time information in all weather anywhere on or near Earth where there is an unobstructed line of sight to four or mo
17. DEC MAL S 20 HEXADECIMAL INKEYS Variable Purpose To return one character read from the keyboard Syntax vS INKEYS Comments If no character is pending in the keyboard buffer a null string length zero is returned If several characters are pending only the first is returned No characters are displayed on the screen and all characters except the following are passed to the program CTRL BREAK CTRL NUM LOCK CTRL ALT DEL CTRL PRTSCR PRTSCR Example 10 CLS game moves rectangle on the screen 1 2 3 keys are used 20 X 0 D 1 30 LINE X 20 100 X 20420 105 1 BF 40 PAUSE 100 50 LINE X 20 100 X 20 20 105 0 BF 60 C INKEYS 70 IF C 1 THEN D 1 move right to left 80 IF CS 2 THEN D 1 move left to right 90 IF CS 3 THEN END guit 100 X X D 110 IF X gt 23 THEN X 0 120 IF X lt 0 THEN X 23 130 GOTO 30 INPUTSQ Function Purpose To read and return characters from file Syntax VS INPUTS number file number Comments Will return a string composed of number characters read from a file previously opened for INPUT with the file number fi 1e number This function will read all characters including carriage return and new line without translation When reading from a serial communications port this will return as many characters as are waiting in the receive buffer up to number If there
18. GOTO linenumbers ON expression GOSUB linenumbers Comments Inthe ON GOTO statement the value of expression determines which line number in the list will be used for branching For example if the value is 3 the third line number in the list will be destination of the branch If the value is a non integer the fractional portion is rounded Inthe ON GOSUB statement each line number in the list must be the first line number of a subroutine If the value of expression is zero or greater than the number of items in the list but less than or equal to 255 MM BASIC continues with the next executable statement If the value of expression is negative or greater than 255 an Number out of range error occurs Examples 100 IF R lt 1 or R gt 4 then print ERROR END If the integer value of R is less than 1 or greater than 4 program execution ends 200 ON R GOTO 150 300 320 390 210 PRINT NEXT If R 1 the program goes to line 150 If R 2 the program branches to line 300 and continues from there If R 3 the branch will be to line 320 If R 4 the branch will be to line 390 OPEN Statement Purpose To establish input output I O to a file Syntax OPEN filenameS FOR mode AS filenumber Comments filenames is the name of the file 8 characters max with extension X XX max 3 characters mode is a string expression OUTPUT Sequential output mode will overwrite existing file with same name INP
19. Purpose To create a subdirectory Syntax MKDIR pathnameS Comments pathnameS is a string expression identifying the subdirectory to be created Examples MKDIR SALES JOHN Creates the subdirectory JOHN within the directory of SALES NAME Command Purpose To change the name of a disk file Syntax NAME oldfilenameS AS newfilenameS Comments oldfilenames must exist and newfilenamesS must not exist otherwise an error results After a NAME command the file exists on the same diskette in the same disk location with the new name Examples NAME ACCTS AS LEDGER The file formerly named ACCTS will now be named LEDGER The file content and physical location on the diskette is unchanged If LEDGER exist Error Cannot open file results NEW Command Purpose To delete the program currently in memory and clear all variables Syntax NEW Comments NEW is entered at command level to clear memory before entering a new program MM BASIC always returns to command level after a NEW is executed Examples NEW or 980 PRINT Do You Wish To Quit Y N 990 ANSS INKEYS IF ANSS THEN 990 1000 IF ANSS Y THEN NEW 1010 IF ANSS N THEN 980 1020 GOTO 990 ON GOSUB and ON GOTO Statements Purpose To branch to one of several specified line numbers depending on the value returned when an expression is evaluated Syntax ON expression
20. To display a up arrow your program would contain this 10 FONT LOAD ARROWS FNT AS 9 load the 20 FONT 9 30 PRINT oO EXAMPLE OF FONT FILE ARROWS FNT 11 11 48 49 x XXXXX XXXXXXXXX X X X X XXXXXXXXX XXXXX X END OF FONT Font FONT UNLOAD Statement Purpose Will remove font fontnumber and free the memory used the symbol is optional You cannot unload the built in fonts Syntax FONT UNLOAD fontnumber Comments number is the font number in the range of 3 to 10 the symbol is optional IF THEN ELSE Single line IF Statement Purpose To make a decision regarding program flow based on the result returned by an expression Syntax IF expression THEN statement s ELSE statement s IF expression GOTO line number ELSE statement s Comments If the result of expression is nonzero logical true the THEN or GOTO line number is executed If the result of expression is zero false the THEN or GOTO line number is ignored and the ELSE line number if present is executed Otherwise execution continues with the next executable statement A comma is allowed before THEN and ELSE THEN and ELSE may be followed by either a line number for branching or one or more statements to be executed GOTO is always followed by a line number If the statement does not contain the same number of ELSE s and THEN s line number each ELSE is matched with the close
21. are no characters waiting it will immediately return with an empty string The is optional Also see the OPEN command Examples In the following example MOD GPS is connected to DuinoMite Mega UEXT and the GPS message in NMEA format is read and will display it on the screen 10 OPEN COM3 19200 AS 3 20 PRINT INPUTS 1 3 30 GOTO 20 INSTR Function Purpose To search for the first occurrence of string y in x starting from position n and return the position at which the string is found Syntax INSTR n xS yS Comments Optional offset n sets the position for starting the search The default value for n is 1 If n equals zero the error message Number out of bounds is returned n must be within the range of 1 to 255 If n is out of this range an Number out of bounds error is returned INSTR returns 0 if e n gt LEN xS e xS isnull e yS cannot be found If ys is INSTR returns n xS and y may be string variables string expressions or string literals Examples 10 XS ABCDEBXYZ 20 YS B 30 PRINT INSTR XS YS INSTR 4 XS Y RUN 2 6 The interpreter searches the string ABCDFBXYZ and finds the first occurrence of the character B at position 2 in the string It then starts another search at position 4 D and finds the second match at position 6 B The last three characters are ignored since all conditions set out in line 30
22. can automatically set it by saving the following example program as AUTORUN BAS on the internal flash drive A 10 OPTION PROMPT MY PROMPT 20 NEW Examples Next example changes the prompt as in APPLE OPTION PROMPT This is also valid prompt OPTION PROMPT TIMES or OPTION PROMPT CWDS z OPTION Fnn Statement Purpose Sets the programmable function key Fnn to the contents of strings Syntax OPTION Fnn strings Comments Fnn is the function key F1 to F12 Maximum string length is 12 characters strings can also be an expression which will be evaluated at the time of running the OPTION command This is most often used to append the ENTER key chr 13 or double quotes chr 34 Normally these commands should be included in an AUTORUN BAS file see OPTION PROMPT for an example Examples OPTION F1 RUN CHRS 13 OPTION F2 SAVE CHRS 34 PAUSE Statement Purpose Will halt execution of the running program for number milliseconds Syntax PAUSE number Comments The maximum value of number is 4294967295 about 49 days Next code blink LED which anode is connected to Arduino A0 and cathode is connected to as Digital ooutput ON the LED OFF the LED Examples GND 10 SETPIN 1 8 set AO 20 DO do loop 30 PIN 1 1 switch 30 PAUSE 500 wait second 40 PIN 1
23. different points in the subroutine Subroutines can appear anywhere in the program but must be readily distinguishable from the main program To prevent inadvertent entry precede the subroutine by an END or GOTO statement to direct program control around the subroutine Examples 10 GOS 20 30 40 50 60 170 RET RI ND RI RI wW VU DW fH g RI RUN UB 40 NT BACK FROM SUBROUTINE NT SUBROUTINE NT IN NT PROGRESS URN UTINE IN PROGRESS SUBRO BACK FROM SUBROUTINE The END statement in line 30 prevents re execution of the subroutine GOTO Statement Purpose To branch unconditionally out of the normal program sequence to a specified line number Syntax GOTO line number Comments line number is any valid line number within the program If line number is an executable statement that statement and those following are executed If it is a non executable statement execution proceeds at the first executable statement encountered after line number Examples 10 READ R 20 PRINT R R 30 A 3 14 R 2 40 PRINT AREA A 50 GOTO 10 60 DATA 5 7 12 RUN R 5 AREA 78 5 153 86 R 12 AREA 452 16 R 7 AREA Error line 10 No more DATA to read The No more DATA to read advisory is generated when the program attempts to read a fourth DATA statement which does not exist in line 60 MKDIR Command
24. function PIN for reading inputs and the statement PIN for outputs Examples 10 SETPIN 1 8 20 PIN 1 1 30 PIN 1 0 make GPIO 1 ARDUINO AO as OUTPUT Toutput 3 3V to the port output OV to the port SETTICK Statement Purpose To setup periodic interrupt and forward the execution to interrupt routing Syntax SETTICK period line number Comments period is the time in milliseconds between interrupts The period can range from 1 to 4294967295 mSec about 49 days line number is the line number of the interrupt routine See also TRETURN to return from the interrupt This interrupt can be disabled by setting 1ine number to zero i e SETTICK 0 0 Examples In the following example LED connected to GPIO 1 ARDUINO AO will start blinking when 1 is pressed and will stop when 2 is pressed 10 SETPIN 1 8 ARDUINO AO is output 20 DO loop forever 30 CS INKEYS IF CS THEN 30 wait key pressed 40 IF CS 1 THEN SETTICK 100 100 set interrupt every 0 1 sec 50 IF CS 2 THEN SETTICK 0 0 PIN 1 0 clear the interrupts 60 LOOP 100 IF I 0 THEN I 1 PIN 1 1 IRETURN toggle LED 110 IF I 1 THEN I 0 PIN 1 0 IRETURN SOUND Statement Purpose To generate single tone sound Syntax SOUND freq duration duty Comments freq is the tone frequency in Hertz cycles per seco
25. if there is no power supply to any of the other sources DuinoMite Mega has a built in LiPo battery charger so once it senses power on POWER JACK USB or VIN it will charge the LiPo battery If present until the battery is charged to 100 The switching between the different power supplies is done automatically and glitch free with no need to change jumpers Board power is not lost during voltage source switching The LiPo battery with 3 7V 1400mA capacity and JST connector for DuinoMite Mega is available from Olimex At maximum frequency with a VGA monitor connected the consumption is 125mA which will allow the DuinoMite Mega to run about 10 hours on battery As the external power supply utilises a DC DC converter and not a linear voltage regulator the DuinoMite Mega power consumption when running at maximum frequency and with a VGA monitor and keyboard attached is 100mA when the input power supply is 12VDc at 30VDc the current will drop to 40mA and will rise to 130mA at 9VDC 3 1 2 DuinoMite Mini The DuinoMite Mini power supply is made with a linear voltage regulator to save cost an LM1117 is used The power source could be USB connector or POWER JACK The source is selected with a 3 way jumper The board has a protection ZENER diode 6 8V on the input to protect the board from over voltage spikes on the power supply Note The external power supply applied to the POWER JACK must be 5V REGULATED Note that applying non
26. issued Any previous date y g g yp is retained The current date as assigned when the operating system was initialized is fetched and assigned to the string variable if DATE is the expression ina LET or PRINT statement The current date is stored if DATES is the target of a string assignment With vS DAT 31 mm is the Examples VS DATES PRINT VS E DATES returns a 10 character string in the form dd mm yyyy dd is the day 01 to month 01 to 12 and yyyy is the year 2000 to 9999 01 01 2000 DELETE Command Purpose To delete program lines or line ranges Syntax DELETE line numberl1 line number2 DELETE line numberl1 Comments line number1 is the first line to be deleted line number2 isthe last line to be deleted MM BASIC always returns to command level after a DELETE command is executed Unless at least one line number is given an Invalid syntax error occurs If the line number do not exist Invalid line number error occurs Examples DELETE 40 Deletes line 40 DELETE 40 100 Deletes lines 40 through 100 inclusively DELETE 40 Deletes all lines up to and including line 40 DELETE 40 Deletes all lines from line 40 to the end of the program DIM Statement Purpose To specify the maximum values for array variable subscripts and allocate storage accordingly Syntax DIM variable subscripts variable subscripts Commen
27. load the code with a single mouse click 4 3 MM BASIC MM BASIC was developed by Geoff Graham you can see the original MaxiMite project at http www geoffg net What distinguishes the MM BASIC and the original MaxiMite design from all other development boards and tools is that it is a single chip complete computer solution with a PS2 keyboard and VGA monitor support so all you need for development is one small computer board which is build around the powerful PIC32MX795 microcontroller DuinoMite was started with the ambition to improve the current MaxiMite hardware by adding some hardware features that we felt were missing in the original design low power battery operation real UARTs CAN Arduino shield connector UEXT connector RTC support Ethernet etc 4 3 1 SOFTWARE INSTALLATION AND UPGRADE DuinoMite can reprogram itself with a new version of its firmware also known as firmware upgrading This is done with the help of small program called bootloader The same firmware is loaded on all DuinoMite boards there is no difference To start the bootloader software press and hold the BUT button then press and relese RESET button The green and yellow LEDs will start flashing 4 3 1 1 Bootloader exe For Windows The firmware upgrades can be downloaded from Olimex web site On your PC run the program called BootLoader exe and follow the instructions included in the upgrade package to re program the DuinoMite with th
28. loading assembly language subroutines and for passing arguments and results to and from assembly language subroutines PRINT Statement Purpose To output a text to the screen Syntax PRINT list of expressions list of expressions Comments If list of expressions 1s omitted a blank line is displayed If list of expressions is included the values of the expressions are displayed Expressions in the list may be numeric and or string expressions separated by commas spaces or semicolons String constants in the list must be enclosed in double quotation marks A semicolon at the end of the expression list will suppress the automatic output of a carriage return newline at the end of a print statement A question mark may be used in place of the word PRINT When numbers are printed on the screen the numbers are always followed by a space Positive numbers are preceded by a space Negative numbers are preceded by a minus sign Single precision numbers are represented with seven or fewer digits in a fixed point or integer format Integers whole numbers are printed without a decimal point while fractions are printed with the decimal point and the significant decimal digits Large numbers greater than six digits are printed in scientific format The function FORMATS can be used to format numbers The function TAB can be used to space to a certain column and the string functions can be used to justif
29. of an interrupt routine to be run when the send or receive command completes If this is not supplied the send and receive command will only return when they have completed or timed out If it is supplied then the send and receive will complete immediately and the command will execute in the background IZCDIS Disables the slave 12C module It will also send a stop if the bus is still held I2CSEND address option snd len snd data snd data Send data to the I2C slave device address is the slave 12C address cption is a number between 0 and 3 1 keep control of the bus after the command a stop condition will not be sent at the completion of the command 2 treat the address as a 10 bit address 3 combine and 2 hold the bus and use 10 bit addresses snd len is the number of bytes to send snd data is the data to be sent this can be specified in various ways all values sent will be between 0 and 255 The data can be supplied in the command as individual bytes Example T2CSEND amp HO6F 1 3 amp H23 amp H43 amp H25 The data can be in a one dimensional array the subscript does not have to be zero and will be honoured also bounds checking is performed Example I2CSEND amp H6F 1 3 ARRAY 0 The data can be a string variable not a constant Example I2CSEND amp H6F 1 3 STRINGS The automatic variable MM 12C will hold the result of the transaction I2CRCV address bus hold rcev len rcv buf
30. some receivers may place the various sentences in different samples since each sentence identifies which one it is The field called SNR Signal to Noise Ratio in the NMEA standard is often referred to as signal strength SNR is an indirect but more useful value than raw signal strength It can range from 0 to 99 and has units of dB according to the NMEA standard but the various manufacturers send different ranges of numbers with different starting numbers so the values themselves cannot necessarily be used to evaluate different units The range of working values in a given GPS will usually show a difference of about 25 to 35 between the lowest and highest values however 0 is a special case and may be shown on satellites that are in view but not being tracked GPGSV 3 1 11 13 72 323 37 23 61 046 34 04 43 273 20 07 41 198 37 78 GPGSV 3 2 11 10 38 307 30 20 35 126 24 16 21 084 25 02 18 314 22 70 GPGSV 3 3 11 30 13 044 18 08 12 203 36 32 12 119 19 4D GPGSV Satellites in view 3 Number of sentences for full data 1 sentence 1 of 3 11 Number of satellites in view 13 72 323 37 13 Satellite PRN number 72 Elevation degrees 323 Azimuth degrees 37 SNR higher is better for up to 4 satellites per sentence 78 the checksum data always begins with The three messages contain the info for all 12 satellites Example The following code reads RMC message and extract the time date latitu
31. statements may be placed anywhere in the program to terminate execution An END statement at the end of a program is optional MM BASIC always returns to command level after an END is executed END closes all files Example 520 IF K gt 1000 THEN END ELSE GOTO 20 Ends the program and returns to command level whenever the value of K exceeds 1000 ERASE Statement Purpose To eliminate arrays from a program Syntax ERASE list of array variables Comments Arrays may be re dimensioned after they are erased or the memory space previously allocated to the array may be used for other purposes If an attempt is made to re dimension an array without first erasing it an error occurs Examples 200 DIM B 250 450 ERASE A B 460 DIM B 3 4 Arrays A and B are eliminated from the program The B array is re dimensioned to a 3 column by 4 row array 12 elements all of which are set to a zero value ERROR Statement Purpose To simulate the occurrence of an error or to allow the user to define it Syntax ERROR errors Comments The program execution stops and errors is displayed as error Example The following example simulate error 15 the code for String too long 10 INPUT Number a 20 INPUT daw zD 30 IF B 0 THEN ERROR DIVISION BY ZERO 40 ELSE PRINT a b EXIT Statement Purpose Exit from DO LOOP or FOR NEXT statement
32. the clock The syntax of the SPI function is received data SPI Rx Tx Clock datal speed Where Rx is the pin number for the data input MISO Tx is the pin number for the data output MOSI clock is the pin number for the clock generated by MM BASIC CLK data is optional and is an integer representing the data byte to send over the output pin If it is not specified the tx pin will be held low speed is optional and is the speed of the clock It is a single letter either H Mor L where His 500KHz Mis 50KHz and L is 5KHz Default is H The SPI function will return the byte received during the transaction as an integer Note that a single SPI transaction will send a byte while simultaneously receiving a byte which is often discarded Transmission Format The format of the transmission matches the most common standard The clock is high when inactive and the data is valid on the clock s trailing edge ie low to high transition Data bytes are 8 bits high voltage is logic 1 and the most significant bit is sent first In SPI parlance the MM BASIC implementation of SPI has CPOL 1 and CPHA 1 or it operates in mode 3 T O Pins Before invoking this function the Rx pin must be configured as an input using the SETPIN command and the Tx and clock pins must be configured as outputs either normal or open collector The clock pin should also be set high using the PIN function before the SETPIN command so that it
33. were satisfied INT Function Purpose To truncate an expression to a whole number Syntax INT n Comments Negative numbers return the next lowest number This behaviour is for Microsoft compatibility the F1X function provides a true integer function The FIX and CINT functions also return integer values Examples PRINT INT 98 89 98 PRINT INT 12 11 13 LEFTS Function Purpose To return a string that comprises the left most n characters of x Syntax LEFTS x n Comments n must be within the range of 0 to 255 If n is greater than LEN x the entire string x will be returned If n equals zero the null string length zero is returned see the MI substring functions Example 10 AS BASTIC 20 B LEFT A 3 30 PRINT B RUN BAS The left most three letters of the string BASIC are printed on the screen D and RI GHT LEN FUNCTION Purpose To return the number of characters in x Syntax LEN x Comments x is any string expression Non printing characters and blanks are counted Example 10 XS PORTLAND OREGON 20 PRINT LEN XS RUN 16 Note that the comma and space are included in the character count of 16 LOC Function Purpose To return the number of bytes waiting in the receive buffer of a serial port ie COM1 COM2 COM3 or COM4 Syntax LOC
34. with a USB connection thus there is no need to use a VGA monitor or PS2 Keyboard USB FAULT signal is low when there is no power supplied to either the USB or the POWER JACK It is connected to port RG7 and could be used to detect when you are powered only on battery 3 3 SD CARD A micro SD card connector is available on DuinoMite Mega DuinoMite Mini DuinoMite eMega and DuinoMite boards this connector is with push push action to insert and remove the card The uSD power supply is designed with ferrite bead filtering to minimise noise problems As DuinoMite and DuinoMite Mega are designed to be low power boards there is provision for the SD card power supply to be shut down this is done with FET2 connected to STB_E on RB13 port of PIC32 SD CARD presence is sensed by the SD_ CS connected to RD5 port there is low pull down made with 100K on this port so when there is no card inserted RDS is read as 0 when SD card is inserted it have 10K pullup inside which pull RDS high and it s read as 1 Note that the SPI used for the SD card is also wired to UEXT and ARDUINO connectors so programmer should take care of this when writing their code 3 4 UEXT The UEXT connector is a 10 pin connector which have the following signals 3 3V power supply GND Serial RX Serial TX SPI MOSI SPI MISO SPI CLK I2C CLK I2C DATA By having these signals available on a fixed interface allows us to develop different modules which can be used on any
35. 0 blink LED on ARDUINO AO until USER button is press 30 PIN 1 1 PAUSE 100 PIN 1 0 PAUSE 100 40 WEND WRITE Statement Purpose To write data to a sequential file Please use PRINT for new code Syntax WRITE filenum list of expressions Comments Outputs the value of each expression separated by commas filenum is the number under which the file was opened for output or append if missing writes to screen List of expressions isa list of string and or numeric expressions separated by commas or semicolons The WRITE and PRINT statements differ in that WRITE inserts commas between the items as they are written and delimits strings with quotation marks making explicit delimiters in the list unnecessary Another difference is that WRITE does not put a blank in front of a positive number After the last item in the list is written a carriage return line feed sequence is inserted If the expression is a number it is outputted without preceding or trailing spaces If it is a string it is surrounded by double quotes The list is terminated with a new line Examples WRITE 1 2 3 4 5 HELLO 12 34 5 HELLO 6699 As you can see WRITE removes the spaces add commas between the expressions and keeps the Let A CAMERA and B 93604 1 The following statement WRITE 1 AS BS writes the following image to disk CAMERA 93604
36. 0 switch 50 PAUSE 500 wait second 60 LOOP loop forever PIN nn Statement Purpose Will halt execution of the running program for number milliseconds Syntax PIN n value Comments For a PIN configured as digital output this will set the output to low if value is zero or high if value is non zero You can set an output high or low before it is configured as an output and that setting will be the default output when the SETPIN command takes effect See the function PIN for reading from a pin and the command SETPIN for configuring it Examples Next code blink LED which anode is connected to Arduino A0 and cathode is connected to GND 10 SEEPIN 1 8 set AO as Digital ooutput 20 DO do loop 30 PIN 1 switch ON the LED 30 PAUSE 500 wait second 40 PIN 1 0 switch OFF the LED 50 PAUSE 500 wait second 60 LOOP loop forever PIXEL Statements Purpose To display a point at a specified place on the screen Syntax PIXEL x y value Comments x y represents the coordinates of the point value if zero the point is with black color otherwise with white The function PIXEL x y returns the value of a pixel with coordinates x y Coordinate values can be beyond the edge of the screen 0 0 is always the upper left corner and MM HRES MM VRES is the lower right corner Example 1 The following draws a diagonal line from 0 0 to 100 100
37. 10 CLs 20 FOR I 0 TO 100 30 PIXEL I I1 1 40 NEXT Example 2 The following clears out the line by setting each pixel to 0 50 FOR I 100 TO 0 STEP 1 60 PIXEL I I 0 70 NEXT POKE Statement Purpose To write poke a byte of data into a memory location Syntax POKE hiword loword byte Comments hiword is the upper 16 bit of the memory address loword is the low 16 bit of the memory address Byte must be within the range of 0 to 255 The PIC32 maps all control registers flash program memory and volatile RAM memory into a single address space The PIC32MX7XX Family Data Sheet lists the details of this address space while the source code will provide the symbolic names used in the firmware and the map file produced after a successful compile will list the addresses of these symbols These addresses will change with each version of the firmware so programs should use the predefined variable MM VER to determine the currently running version Note This command is for expert users only If you use this facility to access an invalid memory address the MIPS CPU will throw an exception which causes the processor to reset and clear all memory To see this effect try POKE 0 0 0 The complementary function to POKE is PEEK The argument to PEEK is an address from which a byte is to be read POKE and PEEK are useful for efficient data storage
38. 1000 OR VAL ZIPS gt 9000 THEN PRINT INVALID ZIP 30 IF VAL ZIPS 4000 THEN PRINT THIS IS THE ZIP POST CODE FOR THE CITY OF PLOVDIV WHERE DUINOMITE WAS BORN IF THEN ELSE ELSEIF ENDIF Multi line IF Statement Purpose To make a decision regarding program flow based on the result returned by an expression Syntax IF expression THEN statement s ELSE statement s ENDIF IF expression THEN statement s ELSEIF expression THEN statement s ENDIF Comments If the result of expression is nonzero logical true the statements after THEN are executed otherwise the statements after ELSE are executed THEN and ELSE may be followed by either a line number for branching or one or more statements to be executed Example In the following example a test determines if N is greater than 10 and less than 20 If N is within this range execution branches to line 200 If N is not within this range execution continues with line 110 100 FOR A 3 TO 7 110 PRINT A IF A lt 5 THEN PRINT A lt 5 5 THEN PRINT A 5 bo a bo ojja 5 O U A W N 0 0 0 ELSEIF A 0 0 170 PRINT VA gt 5 180 ENDIF 190 NEXT LINE INPUT Statement Purpose To input an entire line up to 255 characters from the keyboard into a string variable ignoring delimiters
39. 118 20 30 14 047 08 10 203 24 01 01 169 71 GPRMC 192159 110 A 4208 3428 N 02445 0242 E 0 10 84 84 211111 A 5B This will continue forever each message starts with Gpxxx then some data separated wit and ends with xx which is the checksum in Hex Some messages contain several i e empty parameters When the GPS receiver is started for the very first time or after it was moved any distance without being powered the GPS receiver will have lost connection to some satellites it takes time to lock onto them again called cold start time and is usually about minute If you are inside a building or the signal is weak due to other obstacles the GPS receiver may not lock to some satellites at all MOD GPS can lock onto 12 satellites but even 4 are enough to calculate it s correct location There are 4 types of messages which MOD GPS sends GPGGA 192839 000 4208 3343 N 02445 0342 E 1 07 1 5 171 8 M 37 1 M 0000 56 GPGSA A 3 07 23 20 10 13 08 04 3 1 1 5 2 7 3A GPGSV 3 1 11 13 72 323 37 23 61 046 34 04 43 273 20 07 41 198 37 78 GPGSV 3 2 11 10 38 307 30 20 35 126 24 16 21 084 25 02 18 314 22 70 GPGSV 3 3 11 30 13 044 18 08 12 203 36 32 12 119 19 4D GPRMC 192840 000 A 4208 3343 N 02445 0342 EF 0 00 37 14 211111 A 51 These messages are in NMEAO183 format and the prefix GP means that the message is ordinated from the GPS receiver http www gpsinformation org dale nmea htm has an explanation of the different NMEA
40. 30 END RUN The operator types a number 5 in response to the question mark 5 SQUARED IS 25 Example 2 To find the area of a circle when the radius is known LO PL 3 14 20 INPUT WHAT IS THE RADIUS R 30 A PI R 2 40 PRINT THE AREA OF THE CIRCLE IS A 50 PRINT 60 GOTO 20 RUN WHAT IS THE RADIUS 7 4 THE AREA OF THE CIRCLE IS 171 9464 INPUT filenumber Statement Purpose To read data items from a sequential file and assign them to program variables Syntax INPUT filenumber variable list Comments file number is the number used when the file was opened for input variable list contains the variable names to be assigned to the items in the file The data items in the file appear just as they would if data were being typed on the keyboard in response to an INPUT statement The variable type must match the type specified by the variable name With INPUT no question mark is printed as it is with INPUT Numeric Values For numeric values leading spaces and line feeds are ignored The first character encountered not a space or line feed is assumed to be the start of a number The number terminates on a space carriage return line feed or comma Strings If MM BASIC is scanning the sequential data file for a string leading spaces and line feeds are ignored If the first character is a double quotation mark
41. 42 deg 08 3343 N 02445 0342 E Longitude 24 deg 45 0342 E 1 Fix quality 0 invalid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 4 Real Time Kinematic 5 Float RTK 6 estimated dead reckoning 2 3 feature 7 Manual input mode 8 Simulation mode 07 Number of satellites being tracked 1 5 Horizontal dilution of position 171 8 M Altitude Meters above mean sea level 37 1 M Height of geoid mean sea level above WGS84 ellipsoid empty field time in seconds since last DGPS update empty field DGPS station ID number 56 the checksum data always begins with GSA GPS DOP and active satellites This sentence provides details on the nature of the fix It includes the number of the satellites being used in the current fix and the DOP DOP dilution of precision is an indication of the effect of satellite geometry on the accuracy of the fix It is a unit less number where smaller is better For 3D fixes using 4 satellites a 1 0 would be considered to be a perfect number however for multi satellite fixes it is possible to see numbers below 1 0 There are differences in the way the PRN s Pseudorandom Noise are presented which can affect the ability of some programs to display this data For example in the example shown below there are 5 satellites in the solution and the null fields are scattered indicating that the almanac would show satellites in the null positions that are not being used as part of this solu
42. AN will be implemented to be seen as a file the same as the COM ports so you will be able to do OPEN CAN AS 1 and use INPUT INPUTS and PRINT to send and receive CAN messages The CAN connector consists of these 3 signals CAN H CAN L these are the CAN physical layer twisted pair GND the shielding connection The CAN end node should have termination resistor and if CAN T is soldered shorted add such termination resistor to the CAN bus 3 7 GPIO The original MaxiMite introduced the 26 pin GPIO connector With the emergence of the DuinoMite and support for ARDUINO we expanded the GPIO layout as shown below ARefma ARef Gnd Gnd DI3 Pin 10 Reset Reset D2 Pin 9 Dil Pin 8 3 3 3v3 DIO Pin 7 o5 Gnd Gnd D9 Pin 20 Gnd Gnd D8 Pin 19 Vin Vin D7 Pin 18 D Pin 17 AO Pin 1 D5 Pin 16 Al Pin 2 D4 Pin 15 A2 Pin 3 D3 Pin 14 A3 Pin 4 D2 Pin 13 A4 Pin 5 D1 Pin 12 A5 Pin 6 DO Pin 11 26 Pin Arduino GPIO Header with Arduino standard names for reference RARARAR AAAS aANMTWMO OR ODS v e r gt fLfffLfffeecee OMmaacaaaaaadaaayd 3 0000000000000 2 oo0oo0oo0000000000 m PVOReRKSaT AVS e DOV See a L EELELLEELSE a aaacaaaaaaa 26 Pin Maximite Duinomite GPIO Header Looking inte rear of male header MM BASIC allows the GPIO ports to be accessed with the PIN command and function and different functions to be set w
43. BASIC can output to these connectors with the SOUND command with frequencies up to 1Mhz and by using the duty cycle parameter PWM will be available from these connectors 3 11 LEDS The DuinoMite has three LEDs RED power supply LED is ON when the board is powered by external power supply or USB and is OFF if the power supply is the LiPo battery YELLOW is the system RUN status if this LED is ON VGA video is generated correctly and the board is ready to work GREEN this is SD card activity LED and is ON when SD card is accessed PIN 0 will also drive this LED on and off 3 12 BUTTONS The DuinoMite has two buttons RESET and USER BUTTON RESET button does a hardware reset hot start and all code in memory is cleared and board initialized as if it was just powered up The Duinomite has a boot loader which allows the firmware to be upgraded without need of an external programmer To enter the boot loader the USER button should be pressed at power up or RESET To enter the boot loader press and hold USER button then press and release RESET button When you release the USER button the YELLOW and GREEN LEDs will blink alternately to show that the board is in boot loading mode To load the new firmware run the Bootloader exe and select the new HEX code The USER button status can also be read with the PIN 0 function 3 13 BATTERY The DuinoMite and DuinoMite Mega have a built in LiPo battery charger and the hardware is de
44. C 1 is the standard font of 10 x 5 pixels containing the full ASCII set 2 is a larger font of 16 x 11 pixels also with the full ASCII set 3 is a jumbo font of 30 x 22 pixels consisting of the numbers zero to nine and the characters plus minus comma and full stop Other fonts can be loaded into memory see the FONT LOAD command Font 1 with a scale of one and no reverse is the default on power up and will be reinstated whenever control returns to the input prompt So if you execute FONT statement at command prompt there will be no font change Examples 10 FONT 3 2 1 doubles scale and reverse video of font 3 10 FONT 3y 24 1 same as above FONT LOAD Statement Purpose Will load the font contained in file and install it as font number which can be any number between 3 and 10 Syntax FONT LOAD filenameS AS fontnumber Comments filenames is file name where the font is contained number is the font number in the range of 3 to 10 the symbol is optional The font is loaded into the memory area used by arrays and strings use the MEMORY command to check the usage of this area A font file is just a text file containing ordinary characters which are loaded line by line to build the bitmap of each character in the font Each character can be up to 64 pixels high and 255 pixels wide Up to 255 characters can be defined The first non comment line in the file must be the specifications for the font as follow
45. DuinoMite Mega software the Duinomite drivers for virutal com port console Unzipped it and store it in a folder that can be easily remembered Then under control panel system hardware device manager go to the named device Duinomite and update its driver to point to the files unzipped After the driver installation is complete the new port number will show up for the DuinoMite under Ports COM amp LPT Please take note of this port number Now you can use terminal program like Putty Terraterm MMIDE etc 5 MM BASIC LANGUAGE 5 1 MM BASIC INTRODUCTION BASIC is an interpreted language this means as you type the commands on the command prompt they execute immediately if you type a line number before the command it is stored in memory then by using the RUN command you can execute the stored commands in the order defined by the line numbers For instance if you type gt PRINT 22 7 3 14286 i e the command is executed immediately But if you type 20 PRINT 22 7 The code will be not executed until the command RUN is typed If you want to clear the screen first you can add 10 CLS Now if you want to see what code is in memory you can do this with the LIST command gt List 10 CLS 20 PRINT 22 7 A To replace a line you simply enter the new line with the same line number as the one you are replacing to delete a line you enter the line number on its own without any following text BASIC automatically keeps the l
46. DuinoMite User s Manual Revision 1 03 December 2011 Copyright 2011 Olimex Ltd Based on original Maximite by Geoff Graham www geoffg net Released under Creative Commons Attribution Share Alike 3 0 United States Licensee 1 INTRODUCTION DuinoMite is a series of compact development boards based on the PJC32 microcontroller from Microchip Technology Inc The DuinoMite is a complete computer running a BASIC interpreter called MM Basic originally written by Geoff Graham which when interfaced with a PS2 keyboard and VGA monitor is reminiscent of the old retro APPLE and TRS 80 personal computers No need for a PC no need for compilers IDEs programmers all you need to write embedded applications is DuinoMite DuinoMites have ARDUINO shield connectivity allowing ARDUINO shields to be directly interfaced making the DuinoMite the world s first stand alone ARDUINO Single Board Complete BASIC computer DuinoMite is a completely open source platform and the schematic and board files are available for download from the Olimex www olimex com web site and released under the Creative Commons Attribution Share Alike 3 0 United States License which generally means that you are free to use these files to create your own product providing you credit Olimex as the source and release your files with the same license as well The heart of DuinoMite is the PIC32MX795F512 which amongst others includes the following features On Chip 80Mhz cloc
47. ELLO BAS SAVE Command Purpose To save a program file the SD card Syntax SAVE filenames Comments filenames is a quoted string that follows the normal MS DOS naming conventions i e 8 characters name and 3 characters extension If fi 1enameS already exists the file will be written over If the extension is omitted bas will be used Examples The following command saves the file TEST BAS SAVE TEST SAVEBMP Command Purpose To save the current VGA or composite screen as a BMP file in the current working directory on the SD card Syntax SAVEBMP filenames Comments filenameS is a quoted string that follows the normal MS DOS naming conventions i e 8 characters name and 3 characters extension If fi 1enameS already exists the file will be written over If the extension is omitted BMP will be added Note Note that Windows 7 Paint has trouble displaying the image This appears to be a bug in Paint as all other software tested including Windows XP Paint can display the image without fault To save a program file the SD card Examples The following command saves the file JMAGE BMP SAVEBMP IMAGE SETPIN Statement Purpose To configure external IO port Syntax SETPIN pin number config SETPIN pin number config line number Comments pin number is the number of the GPIO port It s in range 1 20 for DuinoMite Mega DuinoMite Mini and DuinoMite config d
48. ES returns the current date based on MM BASIC internal clock as a string in the form DD MM YYYY For example 26 06 2011 With vS DAT dd is the day Examples vS DATES PRINT V E DATES returns a 10 character string in the form dd mm yyyy 01 to 31 mm is the month 01 to 12 and yyyy is the year 2000 to 9999 O1 12 200 EOF Function Purpose To return true if the end of file has been reached or to return 0 if end of file EOF has not been found Syntax v EOF file number Comments Will return true if the file previously opened for INPUT with the file number is positioned at the end of the file If used on a file number opened as a serial port this function will return true if there are no characters waiting in the receive buffer The is optional Also see the OPEN INPUT and LINE INPUT commands and the INPUTS function Examples 10 OPEN COM1 19200 AS 5 20 IF NOT EOF 5 THEN PRINT INPUTS 1 5 30 GOTO 20 Open the COM serial port and if character is received in the buffer print it on the screen EXP Function Purpose To return e the base of natural logarithms to the power of x Syntax EXP x Comments X must not cause overflow Examples 10 X 5 20 PRINT EXP X 1 RUN 54 5981 Prints the value of e to the 4th power FIX Function Purpose To truncate x to a whole number Syntax FIX x Comments FIX does
49. ESET x y Comments x y represents the coordinates of the point PSET display pixel with white PRESET display pixel with black color Coordinate values can be beyond the edge of the screen 0 0 is always the upper left corner and MM HRES MM VRES is the lower right corner Example 1 The following draws a diagonal line from 0 0 to 100 100 10 CLS 20 FOR I 0 TO 100 30 PSET 1 1 40 NEXT Example 2 The following clears out the line by setting each pixel to 0 50 FOR I 100 TO 0 STEP 1 60 PRESET I I 70 NEXT I WHILE WEND Statement Purpose To execute a series of statements in a loop as long as a given condition is true Please for new code use DO LOOP statements Syntax WHILE expression loop statements WEND Comments If expression is non zero true loop statements are executed until the WEND statement is encountered MM BASIC then returns to the WHILE statement and checks expression If it is still true the process is repeated If it is not true execution resumes with the statement following the WEND statement WHILE and WEND loops may be nested to any level Each WEND matches the most recent WHILE An unmatched WHILE statement causes a WHILE without matching WEND error An unmatched WEND statement causes a LOOP without matching DO error Examples 10 SETPIN 1 8 20 WHILE PIN 0
50. Inside MOD LCD 1x9 is Philips PCF8576 Sample code to setup and write to LCD 1x9 is here 10 OPTION BASE 0 to make sure we have base 0 20 DIN CD22 LCD memory is 20 bytes 30 FOR I 2 TO 21 LCD I amp hFF NEXT all segments ON 40 LCD 0 amp hEO LCD 1 0 set data pointer 0 50 I2CEN 100 100 60 I2CSEND amp H38 1 2 amp HC8 amp HFO set 70 IT2CSEND amp H38 22 LCD 0 80 CS INKEYS 90 IF CS THEN 80 100 IF CS Q THEN 200 110 FOR I 2 TO 21 120 LCD I RND 255 130 NEXT 140 GOTO 70 200 I2CDIS 7 6 MOD IO MOD IO is a board with 4 RELAYS 4 opto isolated inputs 4 analog inputs and a UEXT connector MOD IO boards can be cascaded thus allowing many relays and inputs to be added to DuinoMite or any other development board that has a UEXT connector The latest firmware of MOD IO allow I2C control of the board the cascaded boards need to be addressed at different I2C addresses Initially they are set to respond to address 0x58 but this address is programmable This code changes the MOD IO address by I2C commands 5 edit line 40 to change new address 10 CLS 20 INPUT Press Hold But on MOD IO then hit enter a 30 CurI2c amp h58 40 Newl2c amp h5a 50 I2CEN 100 100 Enable I2C 60 I2CSEND Curl2c 1 2 amp hf0 Newl2c LO I2CDIS 80 END Sample code to drive the RELAYs 10 I2CEN 100 100 init LAC 20 I2CSEND amp H58 0 2 amp H10 amp HOF omd 0x10 all rela
51. P 10 30 CIRCLE 160 160 R 1 40 NEXT REM Statement Purpose To allow explanatory remarks to be inserted in a program Syntax REM comment comment Comments REM statements are not executed but are output exactly as entered when the program is listed Once a REM or its abbreviation an apostrophe is encountered the program ignores everything else until the next line number or program end is encountered REM statements may be branched into from a GOTO or GOSUB statement and execution continues with the first executable statement after the REM statement However the program runs faster if the branch is made to the first statement Remarks may be added to the end of a line by preceding the remark with an apostrophe instead of REM Examples 120 REM CALCULATE AVERAGE VELOCITY 130 FOR I 1 TO 20 440 SUM SUM V I 450 NEXT I or 129 FOR I 1 TO 20 CALCULATED AVERAGE VELOCITY 130 SUM SUM V I 140 NEXT CLEAR Command Purpose To set all numeric variables to zero all string variables to null See ERASE for deleting specific array variables Syntax CLEAR Comments The CLEAR command e Clears all user variables e Resets the strings Examples CLEAR Zeroes variables and nulls all strings CLOSE Statement Purpose To terminate input output to a disk file or a device Syntax CLOSE filenumbe
52. SIC can access ARDUINIO SHIELDS with the PIN function These ports may be digital inputs digital outputs and analog inputs note max voltage to these ports should not exceed 3 3V as they may be damaged ARDUINO AO gt PIN 1 ARDUINO A1 gt PIN 2 ARDUINO A2 gt PIN 3 ARDUINO A3 gt PIN 4 ARDUINO A4 gt PIN 5 ARDUINO AS gt PIN 6 These ports may be digital inputs digital outputs they are SV tolerant so the maximum input voltage which you should apply to them should not exceed 5V ARDUINO DO gt PIN 11 COMI RX COM4 RX from RS232 connector ARDUINO D1 gt PIN 12 COMI TX COM4 TX from RS232 connector ARDUINO D2 gt PIN 13 COMI RTS ARDUINO D3 gt PIN 14 COMI CTS ARDUINO D4 gt PIN 15 COM2 RX ARDUINO DS5 gt PIN 16 COM2 TX ARDUINO D6 gt PIN 17 ARDUINO D7 gt PIN 18 NOTES DO amp D1 are wired via protection resistors to the RS232 connector COM4 on the DuinoMite Mega this means that if there are signals on the RS232 connector they will affect DO if D1 is initialized as INPUT this signal will merge with the signal on ARDUINO DO connector Also if D1 is initialized as output it will affect COM4 port transmission If you want to separate COM4 from DO and D1 you can do this by removing R2 and R3 As COMI TX RX are available on same DO D1 ports anyway R2 and R3 may be removed unless you need a fast UART there These ports share mor
53. SIC to respond to the general call address When this occurs the value of MM I2C will be set to 4 2 treat the address as a 10 bit address 3 combine 1 and 2 respond to the general call address and use 10 bit addresses send int 1line is the line number of a send interrupt routine to be invoked when the module has detected that the master is expecting data rcv int line is the line number of a receive interrupt routine to be invoked when the module has received data from the master IZ2CSDIS Disables the slave 12C module I2CSSEND snd len snd data snd data Send the data to the 12C master This command should be used in the send interrupt ie in the snd int line when the master has requested data Alternatively a flag can be set in the send interrupt routine and the command invoked from the main program loop when the flag is set snd len is the number of bytes to send snd data is the data to be sent This can be specified in various ways see the I12CSEND commands for details IZCSRCV rev len rev but rev d Receive data from the 12C master device This command should be used in the receive interrupt ie in the rcv int line when the master has sent some data Alternatively a flag can be set in the receive interrupt routine and the command invoked from the main program loop when the flag is set rcv len is the maximum number of bytes to receive rcv buf is the variable to receive the data this is
54. T 45 67 46 45 67 is rounded up to 46 PRINT CINT 35 54 36 35 54 is rounded up to 36 COS Function Purpose To return the cosine of the argument x in radians Syntax COS x Comments x must be in radians COS is the trigonometric cosine function To convert from degrees to radians multiply by 7 180 Example 1 10 X 2 COS 4 20 PRINT X RUN 1 84212 Example 2 10 PI 3 14159 20 PRINT COS PI 30 DEGREES 180 40 RADIANS DEGREES PI 180 50 PRINT COS RADIANS RUN CWDS Function Purpose To return the current working directory on the SD card as a string Syntax CWDS Comments Can be used in string expression Example 1 PRINT CURRENT WORKING DIRECTORY IS CWDS CURRENT WORKING DIRECTORY IS DATES Statement and Variable Purpose To set or retrieve the current date Syntax As a statement DATES vs As a variable vS DATES Comments The internal clock calendar will keep track of the time and date including leap years The date is set to 1 1 2000 on power up To set the date use the command DATE v vs isa valid string literal or variable vs can be any of the following formats when assigning the date dd mm yy dd mm yy dd mm yyyy dd mm yyyy If vs isnota valid string a Invalid syntax error results Previous values are retained DAT
55. UT Sequential input mode APPEND Sequential output mode but from position at end of file If there is no existing file the APPEND option will act the same as the OUTPUT mode i e the file is created then opened for writing filenumber is a number between 1 and 10 The number associates an I O buffer with a disk file or device This association exists until a CLOSE or CLOSE file number statement is executed The INPUT LINE INPUT PRINT WRITE and CLOSE commands as well as the EOF and INPUTS functions all use fi lenumber to identify the file being operated on See also OPTION ERROR and MM ERRNO for error handling More than one file can be opened for input at one time with different file numbers For example the following statements are allowed OPEN TEMP TXT FOR INPUT AS 1 OPEN TEMP TXT FOR INPUT AS 2 However a file may be opened only once for output or appending For example the following statements are illegal OPEN TEMP TXT FOR OUTPUT AS 1 OPEN TEMP TXT FOR OUTPUT AS 2 Note Be sure to close all files before removing SD card see CLOSE When a disk file is opened for APPEND the position is initially at the end of the file PRINT then extends the file If the file is opened as INPUT attempts to write to the file result in Cannot find file errors If the file is opened as OUTPUT attempts to read the file result in Cannot read from file errors
56. W RUN LOAD etc as well as the specific commands CLEAR and ERASE Example gt MEMORY 5kB 17 Program memory used 3kB 16 Variable memory used 12kB 30 Array and string memory used MERGE Command Purpose Adds program lines from filenames to the program in memory Unlike LOAD it does not clear the program currently in memory Syntax MERGE filenames Comments filenames is a valid string expression containing the filename If no extension is specified then MM BASIC assumes an extension of BAS The SD card is searched for the named file If found the program lines on the SD card are merged with the lines in memory After the MERGE command the merged program resides in memory and MM BASIC returns to the direct mode If any line numbers in the file have the same number as lines in the program in memory the lines from the file replace the corresponding lines in memory Examples MERGE CODE BAS Merges the file code bas with the program currently in memory provided code bas was previously saved INPUT Statement Purpose To prepare the program for input from the terminal during program execution Syntax INPUT prompt string list of variables INPUT prompt string list of variables Comments prompt string is a request for data to be supplied during program execution list of variables contains the variable s that stores the data in the prompt string Ea
57. a 3 5 8 1234 5 gt 5 11 OPERATORS The following operators in order of precedence are recognized Operators that are on the same level for example and are processed with a left to right precedence as they occur on the program line Arithmetic operators Exponentiation y MOD Multiplication division integer division and modulus remainder Addition and subtraction examples 7 2 49 7 2 14 742 3 5 7 MOD 2 1 7 2 3 a 2 9 aa 3 Logical operators NOT logical inverse of the value on the right lt gt lt gt lt lt gt gt Not equal less than greater than less than or equal to less than or equal to alternative version greater than or equal to greater than or equal to alternative version AND OR XOR Logical AND Logical OR Logical Exclusive OR The operators AND OR and XOR are bitwise operators For example gt PRINT 3 AND 6 will output 2 The other logical operations result in the number 0 zero for false and for true For example the statement PRINT 4 gt 5 will print the number zero on the output and the expression A 3 gt 2 will store 1 in A The NOT operator is highest in precedence so it will bind tightly to the next value For normal use the expression to be negated should be placed in brackets For example IF NOT A 3 OR A 8 THEN String operators Join two strings lt gt lt gt lt lt gt gt Not equal less than greater than
58. a one dimensional array or if rcv len is 1 then this may be a normal variable The array subscript does not have to be zero and will be honoured also bounds checking is performed rcv d will contain actual number of bytes received by the command DPC Automatic Variable MM 12C Is set to indicate the result of an I2C operation 0 The command completed without error 1 Received a NACK response 2 Command timed out 4 Received a general call address when in slave mode DPC Utility Command NUM2BYTE number array x or NUM2BYTE number variablel variable2 variable3 variable4 Convert number to four numbers containing the four separate bytes of number MM BASIC numbers are stored as the C float type and are four bytes in length The bytes can be returned as four separate variables or as four elements of array starting at index x See the function BYTE2NUM for the reverse of this command BYTE2NUM array x or BYTE2NUM bytel byte2 byte3 byte4 Return the number created by storing the four arguments as consecutive bytes MM BASIC numbers are stored as the C float type and are four bytes in length The bytes can be supplied as four separate numbers or as four elements of array starting at index x See the command NUM2BYTE for the reverse of this function Example This code changes MOD IO address by I2C commands 5 tedit line 40 to change new address 10 CLS 20 INPUT Press Hold But o
59. an be a string constant i e enclosed in double quotes or a string variable This means you must use double quotes if you are directly specifying a file name Eg gt RUN TEST BAS If the extension is omitted the BAS extension will be added automatically 1 e gt RUN TEST Inside a running program you can save and read data to and from the SD card First a file must be opened using the OPEN command and then you can use the PRINT WRITE INPUT LINE INPUT INPUTS commands to write and read from the card For example the following code example will save the values of three variables into a file 200 OPEN MYDAT DAT FOR OUTPUT AS 1 210 PRINT 1 VARI 220 PRINT 1 VAR2 230 PRINT 1 VAR3 240 CLOSE 1 Files can be opened for input output and append and you can have up to 10 files open simultaneously The XMODEM command can be used to copy files to and from the internal flash drive or SD card This is particularly valuable when there is no SD card present and the internal flash drive is being used for storage 5 5 GRAPHICS Graphics commands operate on the video output only Coordinates are measured in pixels with x being the horizontal coordinate and y the vertical coordinate The top left of the screen is at location X 0 and Y 0 and the bottom right of the screen defined by the read only variables X MM HRES and Y MM VRES which change depending on the video mode selected VGA or composit
60. ard socket two UEXT connectors one inside enclosure one outside CAN connector GPIO connector ARDUINO shield connector PS2 Keyboard connector RS232 connector VGA connector Audio RCA jack Composite Video RCA jack Headphones 3 5 mm jack RESET and USER buttons three status LEDs build in LiPo Lithium Polimer battery charger ultra low power design which allow down to 30uA current consumption Industrial temperature operation 40 85C Noise immunity ICSP programming connector for programming and debugging 32 768 KHz low frequency crystal allow implementation of RTC and low power modes 2 2 DuinoMite Mini This is the compact low cost entry level board with size of only 65 mm x 50 mm The schematic of the current revision of DuinoMite Mini is at http www olimex com dev in the DUINO section where you can also find the CAD schematic and board files Hardware features PIC32MX795F512H processor running at 80Mhz with 128KB RAM and 512kB Flash Linear power regulator require EXACTLY 5V to the DC POWER JACK USB Device DuinoMite Mini can take power from USB also there is 3 way jumper which selects which source is used the DC POWER JACK or the USB mini SD card socket UEXT connector GPIO connector PS2 Keyboard connector VGA connector RESET button USER buttons three status LEDs Commercial temperature operation 0 70C Noise immuni
61. as the value is not changed from the initial setting Note You must code the OPTION BASE statement before you can define or use any arrays If an attempt is made to change the option base value after any arrays are in use an error results OPTION ERROR Statement Purpose Sets the treatment for errors in file input output Syntax OPTION ERROR CONTINUE OPTION ERROR ABORT Comments The option CONT NU will cause MM BASIC to ignore file related errors The program must check the variable MM ERRNO to determine if and what error has occurred The option ABORT sets the normal behavior ie stop the program and print an error message The default is ABORT Note that this option only relates to errors reading or writing from the SD card it does not affect the handling of syntax and other program errors Examples In the following example if 123 TXT exist on the SD card 0 will be printed If 123 TXT do not exist will be printed 6 Cannot find file 10 OPTION ERROR CONTINUE 20 OPEN 123 TXT FOR INPUT AS 1 30 PRINT MM ERRNO OPTION PROMPT Statement Purpose Sets the command prompt to the contents of prompts Syntax OPTION PROMPT prompt Comments prompts can be an expression which will be evaluated when the prompt is printed Maximum length of the prompt string is 48 characters The prompt is reset to the default gt on power up but you
62. board with a UEXT connector All DuinoMite boards have UEXT connectors and can interface Olimex s UEXT modules For more information on UEXT see _http www olimex com dev OTHER UEXT pdf Please look at the example section of this manual for sample MM BASIC code for various modules The DuinoMite Mega has two UEXT connectors one internal and one external 3 5 ARDUINO SHIELDS ARDUINO is popular platform for development by beginners and people with little knowledge in electronics This platform is gaining popularity and there are lot of projects using it Arduino allows various hardware modules to be stacked on top of each other They are called SHIELDS DuinoMite and DuinoMite Mega have this connector to allow ARDUINO SHIELDS to be connected This connector is also very useful for jumper wiring to an external breadboard The DuinoMite Mini has no ARDUINO shield connector on board but has the 26pin GPIO connector which can be connected to an external DuinoMite Shield board which adds the ARDUINO SHIELD connected via a 26 pin ribbon cable The ARDUINO SHIELD has these signals D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 AREF A0 A1 A2 A3 A4 A5 VIN GND 5V 3 3V RST CTS RTS DO D13 are digital I Os AO0 AS5 are analog I Os VIN input power which allows you to power DuinoMite or Mega by an external power supply RST reset CTS RTS handshake signals from the Mega s RS232 connector they are TTL levels MM BA
63. ce to DuinoMite 2MB on board Data Flash which could be used as disk for data and code storage PMP external connector with 80Mhz clock which could be used to interface to TFT displays fast ADCs allowing Duinomite to be used as Logic Analyzer Digital Storage oscilloscope capture for fast external signals 2 3 PIC32 1795 breadboarding PIC32MX795 This is a new breadboard based on Ken Segler s design It is T shaped and is intended to plug into a breadboard It incorporates a UEXT connector and USB with Device and Host OTG PIC32 T795 is the fastest way to make something with a breadboard and Jumper wires without the need to solder PIC32 T795 can be reused many times as no soldering is required 3 HARDWARE 3 1 POWER Supply 3 1 1 DuinoMite Mega DuinoMite Mega can be powered by four different sources POWER JACK with a 2 1 mm internal pin and 6 mm outer diameter the inner pin is positive the voltage that the DuinoMite Mega accepts on this connector is in range 9 30V DC note that there is a DC DC power supply implemented so the power consumption of this board is the same no matter what the input voltage is other similar boards we have seen use linear voltage regulators heat up when a higher voltage is applied and wastes energy There is a reverse voltage protection diode on this connector to protect against reverse polarity USB power supply when DuinoMite Mega is connected via a USB cable to a USB host it will take it
64. ch data item in the prompt string must be surrounded by double quotation marks followed by a semicolon or comma and the name of the variable to which it will be assigned If more than one variable 1s given data items must be separated by commas The data entered is assigned to the variable list The number of data items supplied must be the same as the number of variables in the list The variable names in the list may be numeric or string variable names including subscripted variables The type of each data item input must agree with the type specified by the variable name If more than the list of variables is entered only the first are used and the extra inputs are ignored INPUT A B C lpr AS will assign A 1 B 2 C 3 and the 4 and 5 entries will be ignored If the variable is number but string is entered then 0 will be assigned to the variable INPUT A B C 2 lAr will assign A 1 B 0 C 0 A comma may be used instead of a semicolon after prompt string to suppress the question mark For example the following line prints the prompt with no question mark INPUT ENTER BIRTHDATE B When an INPUT statement is encountered during program execution the program halts the prompt string is displayed and the operator types in the requested data When the operator presses the ENTER key program execution continues Example 1 To find the square of a number 10 INPUT X 20 PRINT X SQUARED IS X 2
65. cision must be preceded by a dot type can be one of g Automatically format the number for the best presentation Format the number with the decimal point and following digits Format the number in exponential format If uppercase G or F is used the exponential output will use an uppercase E If the format specification is not specified 9 is assumed Examples formats 45 willreturn 45 format 45 g will return 45 formatS 24 1 g will return 24 1 format S 24 1 f will return 24 100000 formats 24 1 e will return 2 410000e 01 formats 24 1 309 3f will return 00024 100 formats 24 1 3 3f will return 24 100 formats 24 1 9 3f will return 24 100 HEXS Function Purpose To return a string which represents the hexadecimal value of the numeric argument Syntax vS HEXS Comments x HEX converts decimal values within the range of 1677100 string expression within the range of 0 to FFFFFFFF Hexadecimal numbers are numbers to the base 16 rather than base 10 decimal numbers x is rounded to an integer before HEX x is evaluated If x is negative 2 s binary complement form is used i e 1 is FFFFFFFF Example LO GCLUS 20 AS HEXS X 30 PRINT RUN INPUT DE X INPUT INPUT DECI C MAL NUMBER X DECIMAL IS AS HEXADECIMAL MAL NUMBER 32 32
66. cur When the port fi 1enum is opened the port can be written to and read from using any commands or functions that use a file number buf is the maximum number of bytes which can be read from the communications buffer default of 128 bytes A serial port can be opened with AS CONSOLE In this case any data received will be treated the same as keystrokes received from the keyboard and any characters sent to the video output will also be transmitted via the serial port This enables the remote control of MMBasic via a serial interface Examples In the following File 1 is opened for communications with all defaults speed at 300 bps even parity seven data bits and one stop bit 10 OPEN COM1 AS 1 In the following File 2 is opened for communications at 2400 bps Parity and number of data bits are defaulted 20 OPEN COM1 2400 AS 2 In the following File 1 is opened for asynchronous I O at 1200 bits second No parity is to be produced or checked 10 OPEN COM1 1200 N 8 AS 1 OPTION BASE Statement Purpose To declare the minimum value for array subscripts Syntax OPTION BASE n Comments n is 1 or 0 The default base is 0 If the statement OPTION BASE 1 1s executed the lowest value an array subscript can have is 1 An array subscript may never have a negative value OPTION BASE gives an error only if you change the base value This allows chained programs to have OPTION BASE statements as long
67. d CONTINUE will be invalid COPYRIGHT Command Purpose To print copyright message Syntax COPYRIGHT Comments Print copyright message DATA Statement Purpose To store the numeric and string constants that are accessed by the program READ statement s Syntax DATA constants Comments Constants are numeric constants in any format fixed point floating point or integer separated by commas Numerical constants can also be expressions such as 5 60 String constants in DATA statements must be surrounded by double quotation marks only if they contain commas colons a keyword such as THEN WHILE etc or significant leading or trailing spaces Otherwise quotation marks are not needed DATA statements are not executable and may be placed anywhere in the program A DATA statement can contain as many constants that will fit on a line separated by commas and any number of DATA statements may be used in a program READ statements access the DATA statements in order by line number The data contained therein may be thought of as one continuous list of items regardless of how many items are on a line or where the lines are placed in the program The variable type numeric or string given in the READ statement must agree with the corresponding constant in the DATA statement ora Type Mismatch error occurs DATA statements may be reread from the beginning by use of the RESTORE statement F
68. d listing will continue after key is pressed for the next screen of lines Examples HEST Lists all lines in the program LIST 20 Lists lines 1 through 20 LIST 10 20 Lists lines 10 through 20 LIST 20 Lists lines 20 through the end of the program LOAD Command Purpose To load a file from diskette into memory Syntax LOAD filenames Comments filenameS is the filename used when the file was saved If the extension was omitted BAS will be used LOAD closes all open files and deletes all variables and program lines currently residing in memory before it loads the designated program Second could be omited Examples LOAD DEMO Loads the file DEMO BAS LOCATE Statement Purpose To move the cursor to the specified x Y pixel position on the screen Subsequent PRINT command will place its output at this location Syntax LOCATE X Y Comments X is the horizontal pixel position with value from 0 to MM HRES Y is the vertical pixel position with value from 0 to MM VRES If x value is over MM HRES x will be assigned to 0 If y value is over MM VRES y will be assigned to MM VRES Example 10 LOCATE 100 100 20 PRINT HI print HI on position 100 100 MEMORY Command Purpose List the amount of memory currently in use Syntax MEMORY Comments Program memory is cleared by the NEW command Variable array and string memory spaces are cleared by many commands eg NE
69. de longitude LO CLS 20 PRINT GPS DEMO CODE 30 OPEN COM3 19200 AS 5 open UEXT UART at COM3 40 IF NOT EOF 5 THEN 60 if something is received 50 GOTO 40 60 CS INPUTS 1 5 get character 70 IF C CHR 10 THEN 100 until LF is received 80 MSG MSG C store in MSGS 90 GOTO 40 100 LOCATE 0 100 MSGS used for debug 110 IF LEFTS MSGS 6 SGPRMC THEN 140 wait for RMC message 120 MSGS 130 GOTO 40 140 LOCATE 0 100 PRINT MSGS RMC message received 150 LOCATE 0 20 PRINT UTC TIME gt 160 AS MIDS MSGS INSTR MSGS 1 170 PRINT MIDS AS 1 2 MIDS AS 3 2 2 SMI DS AS 5 2 180 GOSUB 500 190 GOSUB 500 200 LATITUDES LEFTS AS INSTR AS 1 210 LOCATE 0 50 PRINT LATITUDE sMELATITUDE S hs 220 GOSUB 500 230 NSS LEFTS AS 1 240 PRINT NSS 250 GOSUB 500 260 LONGITUDES LEFTS AS INSTR AS 1 270 LOCATE 0 60 PRINT LONGITUDE LONGITUDES 280 GOSUB 500 290 EWS LEFTS AS 1 300 PRINT EWS 310 GOSUB 500 320 SPS LEFTS AS INSTR AS 1 330 LOCATE 0 70 PRINT SPEED KNTS VAL SPS 340 GOSUB 500 330 GOSUB 500 340 LOCATE 0 303 PRINT UTC DATE T 350 PRINT MIDS AS 1 2 sMIDS AS 3 2 2 20 s MIDS AS 5 2 360 GOTO 120 500 AS MIDS AS INSTR AS 1 skip to next 510 RETURN 7 2 MOD BT Adding BLUETOOTH connectivity to DuinoMite is very easy All you need is to connect a MOD BT to the DuinoMite UEXT connector The following exampl
70. ds results Example 10 FOR N 1 TO 5 20 XS SPACES N 30 PRINT X N 40 NEXT N RUN 1 2 3 4 5 Line 20 adds one space for each loop execution SPC Function Purpose To skip a specified number of spaces in a PRINT Syntax SPC n Comments n must be within the range of 0 to 255 If n is greater than the defined width of the printer or the screen the value used will be n MOD width This function is similar to the SPACES function and is only included for Microsoft compatibility Examples PRINT OVER SPC 15 THERE OVER THERE SPI Command Purpose To send and receive a byte using SPI protocol Syntax SPI rx tx clock data speed Comments MM BASIC is the master i e it generates the clock rx is the GPIO port number for the data input aka MISO master input slave output tx is the GPIO port number for the data output aka MOSI master output slave input clock is the GPIO port number for the clock generated by MM MASIC aka CLK data is optional and is an integer representing the data byte to send over the data output pin If it is not specified the tx pin will be held low as if the data is 0 speed is optional and is the speed of the clock It is a single letter either H M or L where H is 500KHz M is 50KHz and L is 5KHz Default is H Examples 10 SETPIN 1 2 define Rx as input 20 SETPIN 2 8 define Tx as output 30 SETPIN 3 8 defin
71. e Increasing positive numbers represent movement down the screen and to the right MM BASIC has commands for clearing the screen CLS turning a pixel on or off PIXEL drawing lines and boxes LINE drawing a circle CIRCLE and saving the video screen as a BMP file SAVEBMP You can also position text anywhere on the screen by using the LOCATE command For example the following code example will draw a box and print the word STOP in the middle 200 LINE 50 75 150 125 1 3B 210 LOCATE 80 95 220 PRINT VSTOP 5 6 EXTERNAL IO You can configure an external I O pin using the SETPIN command set its output using the PIN command and read the current input value using the PIN function Digital I O uses the number zero to represent a low voltage and any non zero number for a high voltage An analogue input will report the measured voltage as a floating point number Four serial ports are supported COM1 and COM2 with speeds up to 19200 baud with configurable buffer sizes and optional hardware flow control COM3 and COM4 with speeds up to 115200 baud The serial ports are opened using the OPEN command and any command or function that uses a file number can be used to send and receive data Communications to slave or master devices on an I2C bus is supported with eight commands MM BASIC fully supports bus master and slave mode 10 bit addressing address masking and general call as well as bus arbitration i e bus collis
72. e clock as output 40 PRINT SPI 17273 255 8 send FF and receive one byt RUN 255 SQR Function Purpose Returns the square root of x Syntax SOR x Comments x must be greater than or equal to 0 Example 10 FOR X 10 TO 25 STEP 5 20 PRINT X SQR X 30 NEXT RUN 10 3 16228 19 B81 298 20 4 47214 25 5 STR Function Purpose To return a string representation of the decimal base 10 value of x Syntax STRS x Comments STR x is the complementary function to VAL x Examples 10 INPUT TYPE A NUMBER N 20 PRINT THIS IS A LEN STRS N DIGIT NUMBER gt RUN TYPE A NUMBER 123 THIS IS A 3 DIGIT NUMBER STRINGS Function Purpose To return e astring of length n whose characters all have ASCII code j or e the first character of x Syntax STRINGS n j STRING n x Comments STRING is also useful for printing top and bottom borders on the screen n and j are integer expressions in the range 0 to 255 Example 10 XS STRINGS 10 45 20 PRINT XS MONTHLY REPORT X RUN 45 is the decimal equivalent of the ASCII symbol for the minus sign TAB Function Purpose Spaces to position n on the screen Syntax TAB n Comments If the current print position is already beyond space n TAB goes to that position on the next line Space 1 is the leftmost position Th
73. e code sets up the MOD BT as a serial SPP Bluetooth profile device via a Serial 115200 bps link between DuinoMite and another Bluetooth enabled device e g a computer or even a mobile phone 10 OPEN COM3 115200 AS 1 20 PRINT 1 ATZ PAUSE 250 ATZ MOD BT 30 PRINT 1 AT BTAUT 1 0 PAUSE 250 set auto connect mode 40 PRINT 1 AT BTSRV 1 PAUSE 250 start SPP service now 41 other devices can 42 discover MOD BT as 43 BGB203 1SPP bluetooth 44 device and pair with it 50 CLOSE 1 now MOD BT make serial 51 bridge to COM3 60 OPEN COM3 115200 AS CONSOLE lets use this serial 65 bridge as console then After this code is executed you can pair to BGB203 1SPP with any bluetooth device and work with DuinoMite in console mode If you replace line 60 with just OPEN COM3 115200 AS 1 you can use INPUT 1 and PRINT 1 to communicate with other bluetooth devices paired to MOD BT 7 3 MOD GSM Adding GSM connectivity to DuinoMite is as easy as it is to add Bluetooth connectivity as we saw in the previous example All you need is to connect a MOD GSM to the DuinoMite UEXT connector 7 4 MOD MAG MAG3110 is a 3 axis magnetometer with high sensitivity MOD MAG is a MAG3110 on a small board with a UEXT connector and ribbon cable to connect directly to Duinomite and read magnetic fields What you can do with this board As it s so sensitive that it can detect the Earth s magnetic field you can bui
74. e new version 4 3 1 2 MPHIDFLASH For Linux Download mphidflash from http code google com p mphidflash Before you install it make sure you have installed libhid dev on your computer S sudo apt get install libhid dev then go to the directory where you downloaded and unpacked mphidflash and do make then sudo make install now the mphidflash is installed in usr local bin folder and you can access it from anywhere to load new firmware put DuinoMite in bootloader mode then type mphidflash w firmware hex v 15ba p 0032 r For MAC OS download the mphidflash binary and use like this mphidflash w firmware hex v 15ba p 0032 r 4 3 1 3 PIC32PROG For Linux Download PIC32PROG from http code google com p pic32prog you Can use svn svn checkout http pic32prog googlecode com svn trunk pic32prog 4 3 2 GETTING STARTED DuinoMite could work with PS2 keyboard and VGA monitor or with terminal via PC So to get started you will need either PS2 keyboard and VGA monitor either USB cable and PC STAND ALONE USE If you use PS2 Keyboard and VGA just plug them to the board and power it You will see on the VGA monitor this message MaxiMite BASIC Version x xx Copyright 2011 Geoff Graham Olimex Port By kenseglerdesigns com gt the gt prompt show that DuinoMite is ready to complete your commands BASIC is interpreter language which means that the instructions are decoded at executi
75. e rightmost position is the screen width n must be within the range of to 255 It is as though the TAB function has an implied semicolon after it TAB may be used only PRINT or PRINT statements Examples 10 PRINT HELLO TAB 3 WORLD RUN HELLO WORLD 10 PRINT HELLO TAB 10 WORLD RUN HELLO WORLD TAN Function Purpose To calculate the trigonometric tangent of x in radians Syntax TAN x Comments To obtain TAN x when x is in degrees use TAN x pi 180 Examples 10 Y TAN X When executed Y will contain the value of the tangent of X radians UCASES Function Purpose To return x converted to uppercase characters Syntax UCASES x Comments xS may be empty string Examples PRINT UCASES qWeRTyUIop QWERTYUIOP VAL Function Purpose Returns the numerical value of string x Syntax VAL x Comments The VAL function also strips leading blanks tabs and line feeds from the argument string For example the following line returns 3 VAL Ww 3 The STR function for numeric to string conversion is the complement to the VAL x function If the first character of x is not numeric the VAL x will return zero This function will recognize the amp H prefix for a hexadecimal number lt O for octal and amp B for binary Example 10 INPUT ENTER ZIP ZIPS 20 IF VAL ZIP lt
76. e sequential file up to a carriage return If a line feed carriage return sequence this order only is encountered it is input LINE INPUT is especially useful if each line of a data file has been broken into fields or if a BASIC program saved in ASCII mode is being read as data by another program Example 10 OPEN INFO TXT AS OUTPUT 1 20 LINE INPUT CUSTOMER INFORMATION CS 30 PRINT 1 CS 40 CLOSE 1 50 OPEN INFO TXT AS INPUT 1 60 LINE INPUT 1 C 70 PRINT C 80 CLOSE 1 RUN CUSTOMER INFORMATION If the operator enters LINDA JONES 234 MEMPHIS then the program continues with the following LINDA JONES 234 MEMPHIS LIST Command Purpose To list all or part of a program to the screen line printer or file Syntax LIST linenumber linenumber LIST linenumber Comments linenumber is a valid line number within the range of 0 to 65000 Use the hyphen to specify a line range If the line range is omitted the entire program is listed linenumber lists that line and all higher numbered lines 1inenumber lists lines from the beginning of the program through the specified line Any listing may be interrupted by pressing CTRL BREAK If the lines are more than size of the screen the list will display first lines then PRESS ANY KEY message will be displaying an
77. e than one function together and should be used with care ARDUINO D8 gt PIN 19 UEXT CS VIDEO SELECT ARDUINO D9 gt PIN 20 LED2 YELLOW VGA SYNC ARDUINO DIO gt PIN 7 UEXT SD CARD SS ARDUINO D11 gt PN 8 UEXT SD CARD MOSI ARDUINO DI2 PIN 9 UEXT SD CARD MISO ARDUINO D13 gt PIN 10 UEXT SD CARD CLK NOTES If you use UEXT SPI or SD CARD note that the SPI signals also go to ARDUINO D10 D13 ARDUINO D8 is shared with VIDEO SELECT and UEXT CS 3 6 CAN Controller Area Network CAN or CAN bus is a bus standard generally used in the automotive industry designed to allow micro controllers and devices to communicate with each other within a vehicle and without a host computer CAN is available only on the DuinoMite Mega CAN is a very useful interface it s the de facto standard for automotive bus applications so by having CAN it would be possible to connect to your car and read all of the data sensors for speed temperatures fuel consumption etc This video can give you rough idea what you can do with CAN and DuinoMite Mega http www youtube com watch v PbA_bOO2mMw Being a robust and noise immune protocol CAN is used not only in automotive but also in industrial robot applications For more information see the following links http en wikipedia org wiki DeviceNet http en wikipedia org wiki CANopen CAN is not supported currently in MM BASIC but in a future firmware C
78. e used within an interrupt If two or more interrupts occur at the same time they will be processed in order of pin numbers ie an interrupt on pin 1 will have the highest priority During processing of an interrupt all other interrupts are disabled until the interrupt routine returns with an IRETURN During an interrupt and at all times the value of the interrupt pin can be accessed using the PIN function A periodic interrupt or regular tick with a period specified in milliseconds can be setup using the SETTICK statement This interrupt has the lowest priority Interrupts can occur at any time but they are disabled during INPUT statements If you need to get input from the keyboard while still accepting interrupts you should use the INKEYS function When using interrupts the main program is completely unaffected by the interrupt activity unless a variable used by the main program is changed during the interrupt For most programs MM BASIC will respond to an interrupt in under 100uS To prevent slowing the main program by too much an interrupt should be short and execute the IRETURN statement as soon as possible Also remember to disable an interrupt if you have finished needing it background interrupts can cause strange and non intuitive bugs 5 9 SOUND The SOUND command will generate a simple square wave between 20Hz and 1MHz lasting fora specified duration This command can also be used to generate a Pulse Width M
79. ed the same as using ENTER before moving to the next line MM BASIC is always in edit mode when entering data at the command prompt or for the INPUT and LINE INPUT commands In these cases the ARROW KEYS can be used to move within the line to correct errors If the UP ARROW key is pressed at the command prompt it will act the same as EDIT with no line number edit the last error line or entered command Subsequent UP DOWN ARROW presses will move through the list of recent entries All the editing keys work with Terra Term and Putty in VT 00 mode so editing can also be accomplished over a USB or serial link using these terminal emulators or any other V7 00 compatible terminal emulator The maximum line length that can be edited is 79 chars in VGA mode and 49 chars in composite mode If more than this number of characters are entered in over type mode MM BASIC will automatically enter normal text entry mode without the editing functions If in insert mode any extra characters will be rejected The current line is always the last line referenced by an EDIT statement LIST command or error message If line number refers to a line which does not exist in the program an Invalid Line Number error occurs Examples EDIT 150 Displays program line number 150 for editing END Statement Purpose To terminate program execution close all files and return to command level Syntax END Comments END
80. efines how the port is configured for use 0 1 2 Nn nn A W Not configured or inactive Analog input reads input voltage 0 3 3V accuracy better than 1 Digital input read 0 if input voltage is 0 0 65V 1 if voltage is 2 5 3 3V 5 5V 5V tolerant ports are All digital inputs are Schmitt Trigger buffered Frequency input measure frequency up to 200KHz Period input measure period pulse width 10nS or more Counting input counts pulses up to 200KHz pulse width 10nS or more Interrupt on low to high input change configure as digital input and interrupt is generator on level change low to high Interrupt on high to low input change configure as digital input and interrupt is generator on level change high to low Digital output output 3 3V when 1 and OV when 0 Typical current draw or sink ability on any I O pin 10mA Maximum current draw or sink on any I O pin 25mA Maximum current draw or sink for all I O pins combined 150mA Open collector digital output to 5V OV when 0 Vcc when 1 Maximum open collector voltage I O pins 11 to 20 5 5V line number could be add only if config is 6 or 7 and configure the GPIO port to generate interrupt on level change 1ine number is the start of the interrupt routine This mode also configures the GPIO port as a digital input so the value of the port can always be retrieved using the function PIN See also 1 RETURN to return from the interrupt See the
81. empty string Example PRINT LCASES qWeRTyUIop qwertyuiop MIDS Function Purpose To return a string of m characters from x beginning with the nth character Syntax MID x n m Comments n must be within the range of 1 to 255 m must be within the range of 0 to 255 If m is omitted or if there are fewer than m characters to the right of n all rightmost characters beginning with n are returned Ifn gt LEN xS MIDS function returns a null string If m equals 0 the MIDS function returns a null string If either n orm is out of range an Number out of bounds is returned Example 10 AS GOOD 20 BS MORNING EVENING AFTERNOON 30 PRINT AS MIDS BS 8 8 RUN GOOD EVENING Line 30 concatenates joins the A string to another string with a length of eight characters beginning at position 8 within the B string OCTS Function Purpose To convert a decimal value to an octal value Syntax OCTS x Comments x is rounded to an integer before OCT x is evaluated OCT converts decimal values within the range of 1677100 to an octal string expression Octal numbers are numbers to the base 8 rather than base 10 decimal numbers See the HEXS function for hexadecimal conversion Examples 10 PRINT OCTS 18 RUN 22 Decimal 18 equates to Octal 22 PEEK Function Purpose To read from a specified memory location Syntax PEEK
82. ent Purpose To read values from a DATA statement and assign them to variables Syntax READ list of variables Comments A READ statement must always be used with a DATA statement RI GI AD statements assign variables to DATA statement values on a one to one basis El READ statement variables may be numeric or string If DATA value is string but you attempt to read number Expected a number error results The opposite is acceptable i e DATA value to be number but to read it in string variable A single READ statement may access one or more DATA statements They are accessed in order Several READ statements may access the same DATA statement If the number of variables in list of variables exceeds the number of elements in the DATA statement s an No more DATA to read error occurs If the number of variables specified is fewer than the number of elements in the DATA statement s subsequent READ statements begin reading data at the first unread element If there are no subsequent READ statements the extra data is ignored To reread DATA statements from the start use the RESTORE statement Examples 10 DATA 1 2 3 A BY O 20 BEAD Wi V2 V3 Bis 625 S35 30 PRINT V1 V2 V3 AO PRINT SLS S2S B39 RUN 1 r d A B C 10 DATA 1l 227 33 20 READ AS B C strings are read with numbers as DATA 30 PRINT AS BS CS RUN 112233 RENUMBER Command
83. ery the 12C peripherals can get confused and end up locking the bus normally by holding the clock line low If you do not need the higher speeds then operating at 100kHz is the safest choice There are four commands for master mode I2CEN I2CDIS I2CSEND and I2RCV For slave mode the commands are 12CSEN I2SDIS I2CSSEND and I2CSRCV The master and slave modes can be enabled simultaneously however once a master command is in progress the slave function will be idle until the master releases the bus Similarly if a slave command is in progress the master commands will be unavailable until the slave transaction completes Both the master and slave modes use an MM BASIC interrupt to signal a change in status These interrupt routines operate the same as a general interrupt on an external I O pin and must be terminated with an TRETURN command to return control to the main program when completed The automatic variable MM I2C will hold the result of a command or action I2C Master Mode Commands I2CEN speed timeout interrupt line Enables the 12C module in master mode speed is a value between 10 and 400 for bus speeds 10kHz to 400kHz timeout is a value in milliseconds after which the master send and receive commands will be interrupted if they have not completed The minimum value is 100 A value of zero will disable the timeout though this is not recommended interrupt line is optional It specifies the line number
84. es Each LOOP matches the most recent P statement causes a LOOP without matching DO error 20 PRINT HELLO 30 LOOP UNTIL i NKEYS ge 40 PRINT DONE DO EDIT Command Purpose Edit the line line number Syntax EDIT line number EDIT Comments Line number is the number ofa line existing in the program If no line number is used this command will edit the previous entry typed at the command prompt If a running program has just terminated with an error this will automatically edit the line that caused the error On entering the edit mode the line will be displayed the cursor placed at the end of the line and the editing mode set to over type The editing keys are LEFT RIGHT ARROWS Moves the cursor within the line HOME END Moves the cursor to the start or end of the line DELETE Delete the character over the cursor BACKSPACE Delete the character before the cursor INSERT Will switch between insert and overtype mode Use ENTER to finish editing even in insert mode The line is added to the program just as if it had been typed at the command prompt If the line number had been changed a new edited copy of the line will be added to memory if it is unchanged the line will replace line number When editing a program line the UP ARROW will switch to the previous line and DOWN ARROW to the next line number When doing this any changes will be automatically sav
85. f STEP is not specified the increment is assumed to be 1 A check is performed to see if the value of the counter is now greater than the final value y If it is not greater MM BASIC branches back to the statement after the FOR statement and the process is repeated If it is greater execution continues with the statement following the NEXT statement This is a FOR NEXT loop The body of the loop is skipped if the initial value of the loop times the sign of the step exceeds the final value times the sign of the step If STEP is negative the final value of the counter is set to be less than the initial value The counter is decremented each time through the loop and the loop is executed until the counter is less than the final value Nested Loops FOR NEXT loops may be nested that is a FOR NEXT loop may be placed within the context of another FOR NEXT loop When loops are nested each loop must have a unique variable name as its counter The NEXT statement for the inside loop must appear before that for the outside loop If nested loops have the same end point a single NEXT statement may be used for all of them The variable s inthe NEXT statement may be omitted in which case the NEXT statement will match the most recent FOR statement Ifa NEXT statement is encountered before its corresponding FOR statement a Cannot find a matching FOR error message is issued and execution is terminated Ifa NEXT variable stateme
86. file number Comments file number is the file number used when the Serial port was opened The is optional When transmitting or receiving a file through a communication port LOC returns the number of characters in the input buffer waiting to be read The default size for the input buffer is 127 characters If there are more than 127 characters received only the last 127 remain in the buffer Loc returns 127 If fewer than 127 characters remain in the buffer then LOC returns the actual count Examples 200 IF LOC 1 gt 5 THEN 300 process the input message when 5 are read The program jumps to line 300 after 5 characters are read LOF Function Purpose To return the free space in the transmit buffer Syntax LOF file number Comments file number is the number of the file that the file was opened under With communications files LOF returns the amount of free space in the input buffers Examples The following example reads message only when the buffer is half filled 10 OPEN COM1 9600 AS 1 20 IF LOF 1 gt 64 THEN MSGS INPUTS 64 1 LOG Function Purpose To return the natural logarithm of x Syntax LOG x Comments x must be a number greater than zero Examples PRINT LOG 2 693147 PRINT LOG 1 0 PRINT LOG 0 0001 9 21034 LCASES Function Purpose To return x converted to lowercase characters Syntax LCASES x Comments xS may be
87. ines sorted in ascending order so when you run or list a program it will start with the smallest line number first Pressing CTRL C during a running program run will break the execution and return to the gt prompt A program line held in memory can be changed using the EDIT command or by entering a new line with the same number thereby overwriting it A line can be deleted by entering its number on its own All program lines may be cleared from working memory with the NEW command Multiple commands separated by a colon can be entered on the one line as in INPUT A PRINT B 5 2 KEYBOARD DISPLAY Input can come from either a keyboard or from a computer using a terminal emulator via the USB or serial interfaces Both the keyboard and the USB interface can be used simultaneously and can be detached or attached at any time without affecting a running program Output will be simultaneously sent to the USB interface and the video display VGA or composite Either can be attached or removed at any time Keyboard A standard IBM compatible PS2 keyboard with a mini DIN connector or a compatible USB keyboard and a USB mini DIN adapter Non ASCII keys such as the function keys are mapped to ASCII characters Use a command like PRINT HEXS ASC INKEYS to check the actual mapping VGA Standard monochrome VGA 31 5KHz horizontal scanning with 60Hz vertical refresh 480x432 pixel graphic screen 80 characters per line and 36 lines pe
88. ion 1 For the latest hardware manuals examples and news your main source is the Olimex DuinoMite web pages at http www olimex com dev where you can always find the latest firmware and CAD files 2 Don McKenzie hosts various documents for both the MaxiMite and the DuinoMite at http www themaximitecomputer com 3 Ken Segler is hosting the DuinoMite MM BASIC firmware forum where you can report bugs post example code etc http www kenseglerdesigns com cms forums index php 4 The Pinguino IDE and forum are located at http www pinguino cc 5 A MaxiMite DuinoMite MM BASIC forum is located at http www thebackshed com forum forum_topics asp FID 16 REVISION HISTORY 1 00 create 27 11 2011 04 12 2011 1 01 add UEXT modules examples 04 12 2011 08 12 2011 1 02 add mphidflash bootloader for Linux and MAC OS 1 03 Mick s edition and translation from bulEnglish to British English 14 12 2011
89. ions in a multi master environment The Serial Peripheral Interface SPI communications protocol is supported with the SPI command A high performance Pulse Width Modulation PWM output is also available by utilising the sound connector and specifying an optional duty cycle parameter to the SOUND command 5 7 TIMING You can get the current date time using the DATES and TIMES functions and you can set them by assigning the new date and time to them If not set the calendar will start from midnight 1st Jan 2000 on power up You can freeze program execution for a number of milliseconds using PAUSE MM BASIC also maintains an internal stopwatch function the TIMER function which counts up in milliseconds You can reset the timer to zero or any other number by assigning a value to the TIMER Using SETTICK you can setup a tick which will generate a regular interrupt with a period from one millisecond to over a month 5 8 INTERRUPTS Any external GPIO I O pin can be configured to generate an interrupt using the SETPIN command with up to 21 interrupts including the tick interrupt active at any one time Interrupts can be set up to occur on a rising or falling digital input signal and will cause an immediate branch to a specified line number similar to a GOSUB The target line number can be the same or different for each interrupt Return from an interrupt is via the IRETURN statement All statements including GOSUB RETURN can b
90. ith SETPIN command SETPIN configurations 0 not defined 1 analog input AI 2 digital input DI 3 frequency input FI 4 period input PI 5 counter input CI 6 interrupt low to high IP 7 interrupt high to low IN 8 digital output DO 9 digital output open collector OC MMBasic Arduino 26pin header Allowable SETPIN Referrence Referrence Pin No Configurations PIN 1 gt ARDUINO AO 21 ALDI IPIN DO PIN 2 gt ARDUINO A1 19 AI DL IPIN DO PING gt ARDUINO A2 17 ALDI DO PIN 4 gt ARDUINO A3 15 ALDI DO PIN 5 gt ARDUINO A4 13 AI DI FI PI CI IP IN DO PIN 6 gt ARDUINO AS5 11 AI DI FI PI CI IP IN DO PIN 7 gt ARDUINO D10 9 Al DI FI PI CI IP IN DO gt DI gt 9 gt DO OC 7 PIN ARDUINO D12 5 Die s s DG 0C PIN 10 gt ARDUINO D13 3 DL DO OC PIN 11 ARDUINO DO 4 DI DO PIN 12 ARDUINO DI 6 DL DO PIN 13 ARDUINO D2 8 DL DO OC PIN 14 gt ARDUINO D3 10 DI DO OC PIN 15 ARDUINO D4 12 DL DO OC PIN 16 ARDUINO D5 14 DL DO OC PIN 7 gt ARDUINO D6 16 DL DO OC PIN 18 gt ARDUINO D7 18 DL DO O0C PIN 19 gt ARDUINO D8 20 ALDL DO PIN 20 ARDUINO D9 22 ALD gt 4 gt DO GND gt GND x3 1 2 25 26 5V gt 5v 1 23 3 3V gt 3 3v 1 24 NOTE The PIN 7 PIN 8
91. k operation 512KB Flash memory 128KB RAM memory USB with OTG functionality UARTs SPIs I2C ADC CAN PMP Three DuinoMite boards are in production DuinoMite Mega __http www olimex com dev DUINO duinomite mega hrml DuinoMite Mini http www olimex com dev DUINO duinomite mini hrml DuinoMite http www olimex com dev DUINO duinomite hrml and two more boards are in design phase at the current date DuinoMite eMega board with Ethernet Internal Flash and PMP with possibility for color VGA output PIC32 T795 which is a low cost general purpose development board for easy bread boarding using wire jumpers 2 BOARDS 2 1 DuinoMite Mega This is to date the most sophisticated board from DuinoMite range of boards BEPPPREER LEED h CIE 3393 pep CANT ie 2 A 449 a Glinex con dev dontronics com gt kenseglerdesigns com VRZI dus er gee Made in Bulgaria titt Rev C SPY PEE oh ery The schematic of the current revision of the DuinoMite Mega can be found online in the DUINO section at http www olimex com dev you will also find the CAD schematics and board files DuinoMite Mega is available for sale as either a pre assembled board only or alternatively in a laser cut custom made plastic enclosure Hardware features PIC32MX795F512H processor running at 80Mhz with 128KB RAM and 512kB Flash DC DC power supply 9 30V DC input USB Device USB Host OTG miniSD c
92. l to the main program when completed When using interrupts you need to be aware that it will take some time for MM BASIC to respond to the interrupt and more characters could have arrived in the meantime especially at high baud rates So for example if you have specified the interrupt level as 200 characters and a buffer of 256 characters then quite easily the buffer will have overflowed by the time the interrupt routine can read the data In this case the buffer should be increased to 512 characters or more 29 Note that the RENUMBER command does not renumber the interrupt line number in COMx Opening a Serial Port as the Console A serial port can be opened as the console for MM BASIC The command is OPEN COMx AS CONSOLE In this case any characters received from the serial port will be treated the same as keystrokes received from the keyboard and any characters sent to the video output will also be transmitted via the serial port This enables a user with a terminal at the end of the serial link to exercise remote control of MM BASIC For example via a modem Note that only one serial port can be opened AS CONSOLE at a time and it will remain open until explicitly closed using the CLOSE CONSOLE command It will not be closed by commands such as NEW and RUN 5 20 ASCII Table E E U 0 U o F ouw m E Ueoel ms 3 S1O S S sisle SIRIRIRIRTNINININIRISINTSISTRTR ES eg ert a 8 ovtd So EES QoTuU E
93. ld an electronic compass or scan for deviations in the magnetic field usually caused by buried metals you can use it to search for treasure The MAG3110 datasheet is available on the Freescale web site http cache freescale com files sensors doc data_sheet MAG3110 pdf It s I2C device and the code to setup and read it is 10 20 30 40 50 60 70 80 90 100 110 120 130 140 200 OPTION BASE 0 to make sure we have base 0 ID 0 DIM AXES 6 ID variable and AXES array I2CEN 100 100 Tenable I2C I2CRCV amp HOE 0 1 ID 1 7 read MAG3110 ID C4 PRINT ID HEXS ID should print C4 if MOD MAG is attached I2CSEND amp HOE 1 2 amp H11 amp H80 ctrl reg2 auto resets enbl I2CSEND amp HOE O 2 amp H10 amp HO1 ctrl regl active mode I2CRCV amp HOE 6 AXES 0 1 1 read 6 bytes from addr 1 PRINT X HEXS AXES 0 256 AXES 1 TAB 10 X axe PRINT Y HEXS AXES 2 256 AXES 3 TAB 20 Y axe PRINT Z HEXS AXES 4 256 AXES 5 Z axe IF INKEYS lt gt THEN 200 end if key is pressed PAUSE 300 wait a little GOTO 80 read and print again I2CDIS disable I2C 7 5 MOD LCD1x9 MOD LCD 1x9 is a nice black and white display which is controllable by I2C MOD LCD1x9 allows a low power LCD display to be attached to Duinomite and display useful information when used in a hand held device The datasheet of the LCD is at Olimex web site
94. le 200 KILL DATA1 BAS The following command deletes the MM BASIC file RAINING from the subdirectory dogs KILL CATS DOGS RAINING BAS LET Statement Purpose To assign the value of an expression to a variable Syntax LET variable expression Comments The word LET is optional that is the equal sign is sufficient when assigning an expression to a variable name The LET statement is seldom used It is included here to ensure compatibility with previous versions of BASIC that require it When using LET remember that the type of the variable and the type of the expression must match If they don t an error occurs A Hello Error Expected a number Example 1 The following example lets you have downward compatibility with an older system If this downward compatibility is not required use the second example as it requires less memory 110 LET D 12 120 LET E 12 2 130 LET F 12 4 140 LET SUM D E F Example 2 110 D 12 120 B 12 2 130 F 12 4 140 SUM D E F LINE Statement Purpose To draw lines and boxes on the screen Syntax LINE x1 y1 x2 y2 color BI F Comments xl1 y1 and x2 y2 specify the end points of a line color draw with white if nonzero B box draws a box with the points x1 y1 and x2 y2 at opposite corners BF filled box draws a box as B and fills in the interior with points
95. less than or equal to less than or equal to greater than or equal to greater than or equal to Example hello world hello world 5 12 EXPRESSIONS In most cases where a number or string is required you can also use an expression For example FILENAMES TEST RUN FILENAMES BAS Or as an extreme and not recommended example NBR 100 GOTO NBR 3 20 5 13 NAMING CONVERSION Command names function names variable names file names etc are not case sensitive so that Run and RUN are equivalent and doo and Doo refer to the same variable There are two types of variable numeric which stores a floating point number eg 45 386 and string which stores a string of characters eg Tom String variable names are terminated with a symbol eg name while numeric variables are not Variable names can start with an alphabetic character or underscore and can contain any alphabetic or numeric character the period and the underscore _ They may be up to 32 characters long A variable name must not be the same as a function or one of the following keywords THEN ELSE GOTO GOSUB TO STEP FOR WHILE UNTIL LOAD MOD NOT AND OR XOR Example STEP 5 is illegal as STEP is a keyword 5 14 CONSTANTS Numerical constants may begin with a numeric digit 0 9 for a decimal constant amp H fora hexadecimal constant amp O for an octal constant or amp B for a binary con
96. lines by themselves Examples AUTO 100 50 Generates line numbers 100 150 200 and so on AUTO Generates line numbers 10 20 30 40 and so on CHDIR Statement Purpose To change from one working directory to another Syntax CHDIR pathnames Comments PathnameS is a string expression of up to 63 characters To make games the working directory type the following command CHDIR GAMES c6 99 The special entry represents the parent of the current directory and represents the current directory CIRCLE Statement Purpose To draw a circle on the screen Syntax CIRCLE xcenter ycenter radius color F Comments Xcenter and ycenter are the x and y coordinates of the center of the circle and radius is the radius measured along the major axis of the circle The quantities xcenter and ycenter canbe expressions Color specifies the color of the circle 0 draws with black color anything different than 0 draw with white color The F is fill parameter and fills the circle with the color specified in color Ifthe circle goes outside the drawing area it s truncated and no error is generated Example 1 10 CIRCLE 100 100 50 Draws a circle of radius 50 centered at 100x and 100y coordinates 20 CIRCLE 100 1007 50 0 Erases the circle drawn with the previous command Example 2 10 CLS This will draw 16 circles 20 FOR R 160 TO 0 STE
97. messages RMC Recommended Minimum Essential GPS Data GPRMC 192840 000 A 4208 3343 N 02445 0342 E 0 00 37 14 211111 A 51 let s decode our message GPRMC message ID 192840 000 19 28 40 UTC time stamp A Status A active or V Void 4208 3343 N Plovdiv Latitude 42 deg 08 3343 N 02445 0342 E Longitude 24 deg 45 0342 E 0 00 Speed over the ground in knots 37 14 Track angle in degrees True 211111 Date 11 of November 2011 empty field Magnetic Variation empty field Magnetic Variation direction S1 The checksum data always begins with With this message we get information about time date our location and our speed the speed is calculated very precisely and you can even calibrate your car or motorcycle speedometer with the value read by the GPS as the car s mechanical speedometers usually have about 5 error This immediately leads me to an interesting project Car performance logger Having the change of speed of your car and the time you can calculate the acceleration and if you know the weight of your car you can also calculate the moment power as P A m i e you can monitor and log exactly how much horsepower or kw are used when your car accelerates GGA Essential 3D Location Fix Data Let s decode our message GPGGA 192839 000 4208 3343 N 02445 0342 E 1 07 1 5 171 8 M 37 1 M 0000 56 GPGGA Global Positioning System Fix Data 192839 000 Fix taken at 19 28 39 UTC 4208 3343 N Latitude
98. mputer and connected to its serial port It has been tested on Terra Term running on Windows and it is recommended that this be used After running the X MODEM command in MM BASIC select File gt Transfer gt XMODEM gt Receive Send from the Terra Term menu to start the transfer The transfer can take up to 15 seconds to start and if the XMODEM command fails to establish communications it will return to the MMBasic prompt after 30 seconds Download Terra Term from http ttssh2 sourceforge jp For Linux we recommend to use MINICOM Examples XMODEM RECEIVE FILE TXT XMODEM SEND DATA BAS CHRS Function Purpose To convert an ASCII code to its equivalent character Syntax CHRS n Comments n isa value from 0 to 255 CHR is commonly used to send a special character to the terminal or printer For example you could add CHR 13 or CHR 34 in string See the ASC function for ASCII to numeric conversion ASCII Codes are listed in page xxx Examples PRINT CHRS 66 B This prints the ASCII character code 66 which is the uppercase letter B PRINT CHR 13 This command prints a carriage return CINT Function Purpose To round numbers with fractional portions to the next whole number or integer Syntax CINT x Comments x should integer number range See also INT and FIX both of which return integers Examples PRINT CIN
99. n MOD IO then hit enter a 30 CurlI2c amp h58 40 Newl2c amp h5a 50 I2CEN 100 100 Enable I2C 60 I2CSEND Curl2c 1 2 amp hf0 Newl2c T0 I2CDIS 80 END 5 19 SERIAL Communication Four serial ports are available for asynchronous serial communications They are labeled COM1 COM2 COM3 and COM4 and are opened in a manner similar to opening a file on the SD card After they have been opened they will have an associated file number like an opened disk file and you can use any commands that operate with a file number to read and write to from the serial port Finally the serial port can be closed using the CLOSE command The following is an example 10 OPEN COM1 9600 AS 3 open serial port 20 PRINT 3 HELLO send hello 30 DATAS INPUTS 20 3 read up to 20 characters 40 CLOSE 3 20 SETPIN 278 PIN 2 as Tx digital output Pin assignments COM1 RX is Arduino D2 or GPIO 13 TX is Arduino D3 or GPIO 14 RTS is Arduino D4 or GPIO 15 if FC is used CTS is Arduino D5 or GPIO 16 if FC is used COM2 RX is Arduino D6 or GPIO 17 TX is Arduino D7 or GPIO 18 COM3 RX is UEXT 4 TX is UEXT 3 COM4 RX is RS232 Rx if R2 is mounted also Arduino D0 or GPIO 11 TX is RS232 Tx if R3 is mounted also Arduino D1 or GPIO 12 When a serial port is opened the pins used by the port are automatically set to input or output as required and the SETPIN and PIN commands are disabled for the pins When the p
100. nd freq is a numeric expression within the range of 20 and 1 000 000 which corresponds to frequencies from 20Hz to 1Mhz for duration of milliseconds The sound is played in the background and does not stop program execution If duration is zero any active SOUND statement is turned off If no SOUND statement is running a duration of zero has no effect duty is the optional duty cycle of the waveform in percent If it is close to zero the output will be a narrow positive pulse if 50 a square wave will be generated and if close to 100 it will be a very wide positive pulse If it is not specified the duty cycle will default to 50 Setting the duty cycle allows the sound output to be used as a Pulse Width Modulation PWM output for driving analogue circuits The signal will be available at the sound connector and the voltage divider on this output should be removed so that the full signal level is available The frequency of the output is locked to the PIC32 crystal and is very accurate and for frequencies below 100KHz the duty cycle will be accurate to 0 1 Examples The following example creates random sounds of short duration 10 SOUND RND 1 1000 100 10 20 GOTO 10 TIMES Statement and Variable Purpose To set or retrieve the current time Syntax As a statement TIMES string exp As a variable string exp TIMES Comments string exp is a valid string literal or variable that lets you set hours hh hours and minu
101. not round off numbers it simply eliminates the decimal point and all characters to the right of the decimal point FIX x is equivalent to SGN x INT ABS x The major difference between FIX and INT is that FIX does not return the next lower number for negative x This behavior is for Microsoft compatibility FIX is useful in modulus arithmetic See also CINT Examples PRINT FIX 9 89 PRINT FIX 2 11 FORMATS Function Purpose To return a string representing number formatted according to the specifications in the string formats Syntax FORMATS number formatS Comments The formats specification starts with a character and ends with a letter Anything outside of this construct is copied to the output as is The structure of a format specification is Q 2 flags width precision type Where flags can be Left justify the value within a given field width 0 Use 0 for the pad character instead of space Forces the sign to be shown for positive numbers space Causes a positive value to display a space for the sign Negative values still show the sign width is the minimum number of characters to output less than this the number will be padded more than this the width will be expanded precision specifies the number of fraction digits to generate with an e or type or the maximum number of significant digits to generate with a g type If specified the pre
102. nt is encountered before its corresponding FOR variable statement a FOR without matching NEXT error message is issued and execution is terminated Examples The following example prints integer values 1 to 10 20 FOR I 1 TO 10 STEP 1 30 PRINT I 40 NEXT I RUN l2 SB 4 516 7 8 O10 In the following example the loop does not execute because the initial value of the loop exceeds the final value Nothing is printed by this example 10 R 0 20 FOR S 1 TO R 30 PRINT S 40 NEXT S In the next example the loop executes 10 times The final value for the loop variable is always set before the initial value is set 10 S 5 20 FOR S 1 TO S 5 30 PRINTS 40 NEXT S RUN 1234567 8 9 10 In the next example the NEXT variable is wrong and error occurs 10 FOR I 1 TO 5 20 PRINT I 30 NEXT S RUN 1 Error line 30 Cannot find variable gt GOSUB RETURN Statement Purpose To branch to and return from a subroutine Syntax GOSUB RETURN Comments line number line number 1s the first line number of the subroutine A subroutine may be called any number of times in a program and a subroutine may be called from within another subroutine A RETURN recent GOS dictate a RI statement in a subroutine causes MM BASIC to return to the statement following the most UB statement A subroutine can contain more than one RETURN statement should logic ETURN at
103. nted in MM BASIC for compatibility Syntax DO WHILE expression loop statements LOOP Comments If expression is nonzero true loop statements are executed until the LOOP statement is encountered MM BASIC then returns to the DO WHILE statement and checks expression If it is still true the process is repeated If it is not true execution resumes with the statement following the LOOP statement DO WHILE and LOOP loops may be nested up to 20 times Each LOOP matches the most recent DO WHILE An unmatched LOOP statement causes a LOOP without matching DO error Example 1 10 DO WHILE INKEYS lt gt q 20 PRINT HELLO 30 LOOP 40 PRINT DONE Example 2 90 BUBBLE SORT ARRAY AS 100 FLIPS 1 110 DO WHILE FLIPS 115 FLIPS 0 120 FOR N 1 TO J 1 130 IF AS N gt AS N 1 THEN SWAP AS N AS N 1 FLIPS 1 140 NEXT N 150 LOOP DO LOOP UNTIL Statement Purpose To execute a series of statements in a loop until a given condition is true Syntax DO loop statements LOOP UNTIL expression Comments The loop statements between DO and LOOP are executed then if expression is zero false the process is repeated If it is nonzero true execution resumes with the statement following the LOOP statement DO and LOOP UNTI An unmatched LOO Example 10 DO L loops may be nested up to 20 tim
104. nternal flash drive A This is normal and is caused by a requirement to shut off the video while reprogramming the flash memory On the uSD card both data and programs are stored using standard text and can be read and edited in Windows Apple Mac Linux etc AuSD card can have up to 10 files simultaneously open while the internal flash drive has a maximum of one file open at a time MM BASIC has a number of commands for saving and loading programs from the SD card For example gt SAVE MYPROG BAS will save the program currently in memory to a file on the SD card called MYPROG BAS You can later load that program back into memory with gt LOAD MYPROG BAS or both load and run it at the same time with gt RUN MYPROG BAS The filename AUTORUN BAS has a special meaning On startup MM BASIC will look for a file called AUTORUN BAS in the root directory of the internal flash drive A then the SD card B If the file is found it will be automatically loaded and run otherwise MM BASIC will print a prompt gt and wait for input MM BASIC also has commands for managing the SD card For example the FILES command will list all of the files in the current directory or folder as they are called in Windows CHDIR can be used to change to a new directory MKDIR will create a new directory and RMDIR will delete a directory KILL will delete a file NAME will rename file Whenever specified a file name c
105. odulation PWM signal 5 10 VARIABLES In MM BASIC all numbers are floating point which means that they can contain a decimal point and are safe to use in any type of calculation Variables names can be up to 32 characters long and can contain alpha numeric letters the full stop and underscore characters This means that you can use meaningful variable names in your program For example BatteryVoltage or test_load2 MM BASIC will also work with strings which are a collection of characters A constant string must be surrounded by double quotes and string variables are designated with a character at the end of the variable name For example gt FileNameS INFIX DAT gt PRINT FileNames INFIX DAT gt When used with strings the plus operator will join strings so the above example will join the constant strings INFIX and DAT and save the result in a string variable There are many functions in MM BASIC like this that can be used to pull apart and manipulate strings and this capability is one of the strengths of MM BASIC Another type of variable is the array MM BASIC allows arrays of numbers or strings and they can have up to eight dimensions For example the following sequence of commands will create a three dimensional array with 10 elements in each dimension a total of 1000 individual numbers and save a number into the array gt DIM AData 10 10 10 gt AData 3 5 8 1234 5 gt PRINT ADat
106. ogramming in C you will have access to all processor resources What you will need is Obtain MPLAB X and the C32 compiler from Microchip http www microchip com and download the latest DuinoMite firmware from Olimex http www olimex com we assume you already have a PIC32 programmer debugger if you do not have you may need to obtain the PIC KIT3 and PIC ICSP note that you will need the PIC ICSP even if you have the Microchip programmer as DuinoMite uses a small 0 05 ICSP connector instead of the more common 0 10 ICSP connector With this setup you have access to a complete development environment which works on Windows Linux MAC OS and you can use all of the hardware features of DuinoMite boards 4 2 PINGUINO IDE The Pinguino Project is a complete integrated IDE and C compiler It works with the boot loader so there is no need for programmers etc when you program using the Pinguino IDE The project page is at http www pinguino cc Pinguino implements the ARDUINO like language which is generally C libraries to allow easy programming of the hardware The DuinoMite boards are based on our PIC32 PINGUINO OTG project hardware and evolved from there so they can use the existing Pinguino programming environment the only difference is that a different boot loader should be programmed into the DuinoMite to support Pinguino IDE The Pinguino IDE allows you to program the DuinoMite in ARDUINO language or pure C C and
107. on time All Basic interpreters allow instructions to be executed at command prompt too First code on every language is to print HELLO WORLD this could be done in BASIC like this gt PRINT Hello world the result will be Hello world gt CONSOLE USE If you do not have PS2 keyboard and VGA monitor but have PC you still can develop with Duinomite by using it s virtual USB console To do this you need mini USB cable which you should plug to your PC and DuinoMite When you do this the red LED power will turn on along with the yellow LED which indicates the video sync and PIC32 CPU chip is good The green LED indicates SD card activity LINUX If you use Linux the DuinoMite drivers will be automatically recognized and installed Open console and install minicom terminal program S sudo apt get install minicom Then you should locate which virtual communication port is DuinoMite by running this command S dmesg grep tty You will see cdc_acm driver something like 1034731694556 cde acm S 171 0 TtyACMO USB ACM device Please remember tt yACMO as you have to setup minicom to use it minicom sS Setup the serial port to tt yACMO and you will see the greet message MaxiMite BASIC Version x xx Copyright 2011 Geoff Graham Olimex Port By kenseglerdesigns com gt WINDOWS If you use Windows it will try to search for drivers and will should fail so you have to download files from the Olimex website under
108. or further information and examples see the RESTORE statement and the READ statement Example 1 80 FOR I 1 TO 10 90 READ A 1 100 NEXT 110 DATA 3 08 5 19 3 12 3 98 4 24 120 DATA 5 08 35 74400 3 16 3637 This program segment reads the values from the DATA statements into array A After execution the value of A 1 is 3 08 and so on The DATA statements lines 110 120 may be placed anywhere in the program they may even be placed ahead of the READ statement Example 2 5 PRINT LO PRINT CLI STATE ALPY 20 READ C 98 2 30 DATA DENVER COLORADO 80211 40 PRINT C S Z RUN CITY STATE ZIP DENVER COLORADO 80211 This program reads string and numeric data from the DATA statement in line 30 DATES Statement and Variable Purpose To set or retrieve the current date Syntax As a statemen DATES vS As a variable vS DATES Comments t The date is set to 01 01 2000 at power up If MOD RTC Real Time Clock Module is connected to UEXT the current date will be set form the read content from MOD RTC vs isa valid string literal or variable vs can be any of the following formats when assigning the date dd mm yy dd mm yy dd mm yyyy dd mm yyyy If vs isnota valid string a Type Mismatch error results Previous values are retained If any of the values are out of range or missing an Invalid date error is
109. ort is closed using the CLOSE command all pins used by the serial port will be set to a not configured state and the SETPIN command can then be used to reconfigure them COM1 and COM2 are implemented with bit bang by MM BASIC and maximum speed is 19200 bps COM3 and COM4 are real UARTs and maximum speed is 8 000 000 bps speed over 115200 bps is not reliable in practice A serial port can be opened with AS CONSOLE In this case any data received will be treated the same as keystrokes received from the keyboard and any characters sent to the video output will also be transmitted via the serial port This enables the remote control of MM BASIC via a serial interface The signal polarity is standard for devices running at TTL voltages not RS232 Idle is voltage high the start bit is voltage low data uses a high voltage for logic 1 and the stop bit is a high voltage The flow control pins RTS and CTS use a low voltage to signal stop sending data and high as OK to send The RS232 connector has a MAX3232 driver which translates the TTL levels to RS232 levels 12V Reading and Writing Once a serial port has been opened you can use any commands or functions that use a file number to write and read from the port Generally the PRINT command is the best method for transmitting data and the INPUT function is the most convenient way of getting data that has been received When using the INPUT function the number of characters
110. r filenumber CLOSE CONSOLE Comments Filenumber 1s the number under which the file was opened The association between a particular file or device and file number terminates upon execution of a CLOSE statement The file or device may then be reopened using the same or a different file number A CLOSE statement with no file number specified will lead to error A CLOSE statement sent to a file or device opened for sequential output writes the final buffer of output to that file or device A CLOSE CONSOLE will close the serial port which is opened for console Examples 250 CLOSE 1 This closes file 1 300 CLOSE 2 3 Closes all files and devices associated with file numbers 2 and 3 CLS Statement Purpose To clear the screen Syntax CLS Comments CLS returns the cursor to the upper left corner of the screen Examples 10 CLS This clears the screen CONTINUE Command Purpose To continue program execution after a break Syntax CONTINE Comments Resumes program execution after CTRL BREAK or CTRL C Execution continues at the point where the break happened If the break took place during an INPUT statement execution continues after reprinting the prompt CONTINUE is useful in debugging in that it lets you break code modify variables using direct statements continue program execution or use GOTO to resume execution at a particular line number If a program line is modifie
111. r screen Composite Standard monochrome PAL 15 625KHz horizontal scanning with 50Hz vertical refresh non interlaced 304x216 pixel graphic screen 50 characters per line and 18 lines per screen SECAM and NTSC output is also available and possible to be configured with the SETUP command Video Output selector The DuinoMite hardware will auto detect when a VGA monitor is attached so if the VGA monitor is attached MM BASIC will generate a VGA signal if no VGA monitor is attached it automatically will output Composite VIDEO No need to open close jumpers 5 3 SD CARD STORAGE DuinoMite will accept MMC uSD or uSDHC memory cards formatted as FAT16 or FAT32 Note that there is no advantage in using a fast uSD card as the card is clocked at a fixed 20MHz regardless of its speed rating Two drives are available for storing and loading programs and data Drive A is a virtual drive using the PIC32 s internal flash memory and has a size of 256KB Drive B is the SD card if connected It supports MMC uSD or uSDHC memory cards formatted as FAT16 or FAT32 with capacities up to the largest that you can purchase File names must be in 8 3 format prefixed with an optional drive prefix A or B the same as DOS or Windows Long file names and directories are not supported The default drive is B and this can be changed with the DRIVE command Note that the video output will go blank for a short time while writing data to the i
112. re GPS satellites You can read more about how GPS was created and how it works in Wikipedia http en wikipedia org wiki Global Positioning System Also some theory is available in this web site http lea hamradio si s53mv navsats theory html It s very easy to use GPS with DuinoMite using Olimex s UEXT GPS module MOD GPS http www olimex com dev mod gps html which interfaces using DuinoMite s UEXT connector MOD GPS is based on the SiRF StarIII chipset which provides high precision low power and high sensitivity so MOD GPS is even able to lock onto satellites inside buildings MOD GPS output is via serial 19200 bps 8bits 1 stop bit No Parity It is easy to access MOD GPS data with DuinoMite using MMBasic for example you can view MOD GPS output using this small program 10 OPEN COM3 19200 AS 5 20 PRINT INPUTS 1 5 30 GOTO 20 Running this code will generate something like this GPRMC 192157 110 A 4208 3427 N 02445 0243 E 0 13 92 58 211111 A 5E GPGGA 192158 110 4208 3427 N 02445 0243 E 1 03 2 2 134 8 M 37 1 M 0000 5C GPGSA A 2 07 23 20 555929922 92 251 0 31 GPRMC 192158 110 A 4208 3427 N 02445 0243 E 0 11 83 24 211111 A 58 GPGGA 192159 110 4208 3428 N 02445 0242 E 1 03 2 2 134 8 M 37 1 M 0000 53 GPGSA A 2 07 23 20 5555952 952 2 1 0 31 GPGSV 3 1 12 23 63 042 38 20 38 124 35 07 38 197 39 13 72 313 24 70 GPGSV 3 2 12 04 43 277 22 10 35 306 25 16 20 087 02 16 316 24 72 GPGSV 3 3 12 32 14
113. read again 7 8 MOD IRDA The MOD IRDA board sends and receives IR remote control codes 7 9 MOD LCD3310 The MOD LCD3310 board is a Black and White 84x48 pixel graphical display 7 7 MOD LCD6610 The MOD LCD6610 board is a color TFT 128x128 pixel 4096 color LCD 7 8 MOD MP3 X The MOD MP3 X board adds MP3 music and voice to your embedded projects 7 9 MOD RFID125 BOX The MOD RFID125 BOX board reads RFID tags at 125 KHz 7 10 MOD RFID1356 BOX The MOD RFID1356 BOX board reads RFID tags at 13 56MHz 7 11 MOD EKG The MOD EKG board can monitor your heart activity 7 12 MOD RS485 The MOD RS485 board can provide DMX control and interface to equipment using industrial protocols 7 13 MOD SMB380 The MOD SMB380 board is a 3 axis digital accelerometer 7 14 PIC WEB The PIC WEB board adds internet connectivity to DuinoMite 7 15 MOD AD The PIC AD board has Serial DAC and ADC 7 16 MOD HRH The PIC HRH board measures humidity 7 17 MOD HDPMT The PIC HDTP board has a 2 axes digital compass as well as temperature and pressure measurement MATERIALS USED TO COMPLETE THIS USER MANUAL 1 Maximite User Manual 2 7 http www geoffg net Downloads Maximite Maximite 20User 20Manual 20V2 7 pdf 2 GW BASIC User s Manual http nwiegman home xs4all nl gw man USEFUL RESOURCES Please do remember the DuinoMite project is a work in progress here are a few places where you can check for the latest informat
114. regulated or voltage above 5V could DESTROY the DuinoMite Mini Our recommendation is to use USB to power this board or the cheap under 2 power supply adapters for iPods iPads e readers etc which are with specification 5V 1A and are available on eBay 3 1 3 DuinoMite The DuinoMite has same sophisticated power supply like DuinoMite Mega and allows power supply 9 30VDC 3 2 USB The PIC32MX795 has a USB controller which can work in two modes USB device in this mode you can make USB HID devices or USB CDC devices and emulate such devices like Keyboard Mouse Serial port etc this mode is supported by all DuinoMite boards USB On The Go OTG host device mode in which the USB host PIC32 can interface USB mouse USB keyboard USB camera USB printers USB Bluetooth WiFi modules USB memory stick etc Of course all of these devices need proper drivers to be implemented This mode is not yet supported by DuinoMite Mini board Special care is taken in the DuinoMite design for USB noise immunity and protection when it works in host mode When working as USB host DuinoMite may provide up to 500mA to the USB devices attached so this should be taken into account when you size the power supply input voltage current MM BASIC uses USB as an HID device during boot loading when new firmware is updating then as a CDC serial port to establish a virtual console from which you can write your MM BASIC code via a terminal program
115. s amp slelsigtelsfeis s I A Di N seals sfolclejersfepops rae A apr E I 6 t In pinyin o N N N vue Xa lI elele a A A ov Vecwun ZU ao rvusatvua mM yE mM wn g he T Solapslals S S s spa spsislalers isis sisi spelsysiepsislergi ayes Atolls N lt U LL ALMEMEmMEimEm im mim min mim im im imIitititivititivtivititivivisicicsis In J in Jin In in In Te cic x N N mMm mMm weit bol bol bol bl bol ulefos nimf N nimf N Of lt NI m n olnfoloa nimfy Nf o nioj P Di Di in in fin In ofofo o NI NI N NI N NI N NI NI S f of co co olojo k E xix E xj Hlul lulelo wj isionjitixizlolz aju v ula lt I gt EIEIO vfu Jlolololol lt i gt lA lt Sslulyv wn se o pee apap FTI PrP Pele lalalalalala olan pey per i x u nimfy N Wio Alot t fofolnfaola fe ofuju d u allele N J el Di N oleialniltlaniloeiniolscloleiainitinioeinoloiole iainta a ejeje y NINININI NIN IN INI NINE MEIMEMI MEME MIMIM IM M tit titititi Yt 5 21 SPECIAL KEYBOARD KEYS MMBasic generates a single unique character for the function keys and other special keys on the keyboard These are shown in the table as hexadecimal numbers Keyboard Key Key Code Hex Up Arrow 80 Down Arrow 81 Left Arrow 82 Right Arrow 83 Insert 84 Home 86 End 87 Page Up 88 Page Down 89 Alt 8B Num Lock 8C Fl 91 F2 92 F3 93 F4 94 F5 95 F6 96 F7 97 F8 98 F9 99 F10 9A F11 9B F12 9C If the control key is simultaneously pressed then 20 hex is added to the code this is
116. s 10 XS TEN 20 PRINT ASC XS RUN 84 84 is the ASCII code for the letter T ATN Function Purpose To return the arctangent of x when x is expressed in radians Syntax ATN x Comments The result is within the range of 7 2 to 1 2 The expression x may be any numeric type To convert from degrees to radians multiply by 2 180 Examples 10 INPUT X 20 PRINT ATN X RUN 23 1 24905 Prints the arctangent of 3 radians 1 24905 AUTO Command Purpose To generate and increment line numbers automatically each time you press the ENTER key Syntax AUTO line number increment Comments AUTO is useful for program entry because it makes typing line numbers unnecessary AUTO begins numbering at line number and increments each subsequent line number by increment The default for both values is 10 If line number is not followed by a comma and increment is not specified the last increment specified in an AUTO command is assumed IfAUTO generates a line number that is already being used an asterisk appears after the number to warn that any input will replace the existing line However pressing ENTER immediately after the asterisk saves the line and generates the next line number AUTO is terminated by entering CTRL BREAK Or CTRL C Note The line in which CTRL BREAK or CTRL C is entered is not saved To be sure that you save all desired text use CTRL BREAK and CTRL C only on
117. s height width start end Where height and width are the size of each character in pixels start is the number in the ASCII chart where the first character sits and end is the last character Each number is separated by a comma So for example 16 11 48 57 means that the font is 16 pixels high and 11 wide The first character is decimal 48 the zero character and the last is 57 number nine character The remainder of the lines specify the bitmap for each character Each line represents a horizontal row of pixels A space means the pixel is not illuminated and any other character will turn the pixel on If the font is 11 pixels wide there must be 11 characters in the line The first line is the top row of pixels in the character the next is the second and so on If the character is 16 pixels high there must be 16 lines to define the character This repeats until each character is drawn Using the above example of a font 16x11 with 10 characters there must be a total of 160 lines with each line 11 characters wide This is in addition to the specification line at the top A comment line has an apostrophe as the first character and can occur anywhere A comment line is completely ignored all other lines are significant Example The following example creates two arrow icons up and down arrow Each is 11x11 pixels with the first up arrow in the position of the zero character 0 and the down arrow in the position of number one 1
118. s 5V power supply from the USB host source to power the board note that depending on what frequency the DuinoMite Mega runs at it may consume up to 140mA so the USB port needs to be able to provide this current some USB ports are set to 100mA maximum current supply and may be not able to power the DuinoMite Mega Lithium Polimer battery DuinoMite Mega hardware is build to be very power efficient In Low Power mode DuinoMite Mega consumes only 30uA plus current draw from the I O pins while the RTC low frequency clock is running so this allows handheld and battery powered devices to be built with the DuinoMite VIN port on the Arduino platform Connector 1 Note that on this connector there is NO reverse protection diode so you should make sure 9 30V DC is applied to this port DuinoMite Mega could be powered by more than one power source at the same time for instance POWER JACK and USB at same time The different power sources have different priorities this means when two or more power sources are available at the same time only one of them is used The priority is the POWER JACK and VIN if the power supply is applied to any of these two connectors the power is sourced from them and not from the USB and or the battery second priority is USB if there is no power applied to POWER JACK or VIN and USB is active then the power will be taken from the USB The battery power supply is with lowest priority and board will take power from it only
119. signed to allow them to run in low power mode for battery operation USB FAULT is connected to RG7 to allow the firmware to be aware that it is running on battery instead of an external power supply If USB FAULT is read as 0 the board is powered by battery The battery charge state can be monitored by measuring the power supply on BAT port RB2 The Lithium Polimer battery is connected via the R31 R29 voltage divider 0 319727891 to RB2 port as RB2 can handle a maximum voltage of 3 3V but the battery voltage can go up to 4 2V when completely charged DM firmware adds PIN 21 analog input pin which could be used for Battery voltage monitoring Note that voltage is sensed through voltage vivider as PIC32 inputs can t measure more than 3 3V while Li Po battery voltage may go up to 4 2V when completely loaded This is why the measured values from PIN 21 should be multiplied by the magic number 3 13 to get the real battery voltage 3 14 HARDWARE SIGNATURE The DuinoMite hardware signature allows the firmware to be aware of which board it is running This is very useful for the boot loader to determine which firmware to download to it The signature is done by a voltage divider made from R40 R30 read on RB14 initialized as analog input For the current revision of the hardware the voltage divider is 1 10 so if 0 33V is read on this port your code runs on the DuinoMite hardware 4 SOFTWARE 4 1 DIRECT PROGRAMMING USING MPLAB C32 PIC KIT3 By pr
120. specified will be the maximum number of characters returned but it could be less if there are less characters in the receive buffer In fact the INPUT function will immediately return an empty string if there are no characters available in the receive buffer The LOC function is also handy it will return the number of characters waiting in the receive buffer ie the number characters that can be retrieved by the INPUTS function The EOF function will return true if there are no characters waiting The LOF function will return the space in characters remaining in the transmit buffer When outputting to a serial port ie using PRINT the command will pause if the output buffer is full and wait until there is sufficient space to place the new data in the buffer before returning If the receive buffer overflows with incoming data the serial port will automatically discard the oldest data to make room for the new data Serial ports can be closed with the CLOSE command This will discard any characters waiting in the buffers return the buffer memory to the memory pool and set all pins used by the port to the not configured state A serial port is also automatically closed when commands such as RUN and NEW are issued Interrupts The interrupt routine if specified will operate the same as a general interrupt on an external I O pin see page 7 for a description and must be terminated with an IRETURN command to return contro
121. st unmatched THEN For example IF A B THEN IF B C THEN PRINT A C ELSE PRINT A lt gt C will not print a lt gt C whenA lt gt B Ifan IF THEN statement is followed by a line number in the direct mode an Invalid line number error results unless a statement with the specified line number was previously entered in the indirect mode Because IF THEN ELSE is all one statement the ELSE clause cannot be on a separate line It must be all on one line Example In the following example a test determines if N is greater than 10 and less than 20 If N is within this range execution branches to line 200 If N is not within this range execution continues with line 110 100 IF N lt 20 and N gt 10 THEN 200 110 PRINT OUT OF RANGE FOR NEXT Statements Purpose To execute a series of instructions a specified number of times in a loop Syntax FOR variable x TO y STEP z statements NEXT variable variable Comments Variable is used as a counter x y and z are numeric expressions STEP z specifies the counter increment for each loop The first numeric expression x is the initial value of the counter The second numeric expression y is the final value of the counter Program lines following the FOR statement are executed until the NEXT statement is encountered Then the counter is incremented by the amount specified by STEP I
122. stant For example amp B1000 is the same as the decimal constant 8 Decimal constants may be preceded with a minus or plus and may terminated with E followed by an exponent number to denote exponential notation For example 1 6E 4 is the same as 16000 String constants are surrounded by double quote marks e g Hello 5 15 PRE DEFINED CONSTANTS MM HRES The horizontal resolution of the current video display screen in pixels MM VRES The vertical resolution of the current video display screen in pixels MM VER The version number of the firmware in the form aa bbcc where aa is the major version number bb is the minor version number and cc is the revision number normally zero but A 01 B 02 etc MM DRIVES The current default drive returned as a string containing either A or B MM FNAMES The name of the file that will be used as the default for the SAVE command This is set by LOAD RUN and SAVE MM ERRNO Is set to the error number if a statement involving the SD card fails or zero if the operation succeeds This is dependent on the setting of OPTION ERROR The possible values for MM ERRNO are 0 No error 1 No SD card found 2 SD card is write protected 3 Not enough space 4 All root directory entries are taken 5 Invalid filename 6 Cannot find file 7 Cannot find directory 8 File is read only 9 Cannot open file 10 Error reading from file 11 Error writing
123. tes hh mm or hours minutes and seconds hh mm ss hh sets the hour 0 23 Minutes and seconds default to 00 hh mm sets the hour and minutes 0 59 Seconds default to 00 hh mm ss sets the hour minutes and seconds 0 59 If string exp is nota valid string Invalid Syntax error will occur As you enter any of the above values you may omit the leading zero if any You must however enter at least one digit If you wanted to set the time as a half hour after midnight you could enter TIMES 0 30 but not TIMES 30 If any of the values are out of range an Invalid time error is issued The previous time is retained The current time is stored if TIMES is the target of a string assignment The current time is fetched and assigned to the string variable if TIMES is the expression ina LET or PRINT statement If string exp TIMES TIMES returns an 8 character string in the form hh mm ss The time is set to 00 00 00 at power up Examples The following example sets the time at 8 00 o clock TIMES 08 00 PRINT TIMES 08 00 05 TIMER Statement and TIMER Function Purpose To set the timer to a number of milliseconds To read TIMER value Syntax TIMER value var TIMER Comments TIMER sets the TIMER to number of milliseconds Normally this is used to reset the timer to zero but you can set it to any positive integer value
124. the equivalent of setting bit 5 If the shift key is simultaneously pressed then 40 hex is added to the code this is the equivalent of setting bit 6 If both are pressed 60 hex is added For example Control PageDown will generate A9 hex The shift modifier only works with the function keys F1 to F12 it is ignored for the other keys MMBasic will translate most vt100 escape codes generated by terminal emulators such as Terra Term and Putty to these codes excluding the shift and control modifiers This means that a terminal emulator operating over a USB or a serial port opened as console will generate the same key codes as a directly attached keyboard This is particularly useful when using the EDIT command COMMANDS LISTING ABS Function Purpose To return the absolute value of the expression n Syntax ABS n Comments n must be a numeric expression Examples PRINT ABS 7 5 35 Prints 35 as the result of the action ASC Function Purpose To return a numeric value that is the ASCII code for the first character of the string x Syntax ASC x Comments If x is null 0 is returned If xS begins with an uppercase letter the value returned will be within the range of 65 to 90 If xS begins with a lowercase letter the range is 97 to 122 Numbers 0 to 9 return 48 to 57 sequentially See the CHR function for ASCII to string conversion See ASCII codes appendix for ASCII codes Example
125. tion Other receivers might output all of the satellites used at the beginning of the sentence with the null fields stacked up at the end This difference accounts for some satellite display programs sometimes not being able to display the satellites being tracked Some units may show all satellites that have ephemeris data without regard to their use as part of the solution but this is non standard GPGSA A 3 07 23 20 10 13 08 04 3 1 1 5 2 7 3A let s decode our message GPGSA Satellite status message A Auto selection of 2D or 3D fix M manual 3 3D fix values include 1 no fix 2 2D fix 3 3D fix 07 23 20 10 13 08 04 PRNs of satellites used for fix space for 12 3 1 PDOP dilution of precision 1 5 Horizontal dilution of precision HDOP ZF Vertical dilution of precision VDOP 3A the checksum data always begins with GSV Satellites in View Shows data about the satellites that the unit might be able to find based on its viewing mask and almanac data It also shows current ability to track this data Note that one GSV sentence only can provide data for up to 4 satellites and thus there may need to be 3 sentences for the full information It is reasonable for the GSV sentence to contain more satellites than GGA might indicate since GSV may include satellites that are not used as part of the solution It is not a requirement that the GSV sentences appear in sequence To avoid overloading the data bandwidth
126. to file 12 Nota file 13 Not a directory 15 Directory not empty 15 Hardware error accessing the storage media 5 16 LIMITS Maximum length of a command line is 255 characters Maximum length of a variable name is 32 characters Maximum number of dimensions to an array is 8 Maximum number of arguments to commands that accept a variable number of arguments is 50 Numbers are stored and manipulated as single precision floating point numbers The maximum number that can be represented is 3 40282347e 38 and the minimum is 1 17549435e 38 The range of integers whole numbers than can be manipulated without loss of accuracy is 16777100 Maximum string length is 255 characters Maximum line number is 65000 Maximum number of files simultaneously open is 10 on the SD card and one on the internal flash drive A Maximum SD card size is 2GB formatted with FAT16 or 2TB formatted with FAT32 Size of the internal flash drive A is 256KB Maximum size of a loadable video font is 64 pixels high x 255 pixels wide and 256 characters 5 17 SPI Communication The Serial Peripheral Interface SPI communications protocol is used to send and receive data between integrated circuits As implemented this function is suitable for moving small amounts of data to and from a chip like an accelerometer but not for shifting large amounts of data from EEPROMS etc The SPI function in MM BASIC acts as the master i e MM BASIC generates
127. ts If an array variable name is used without a DIM statement a Array must be dimensioned first error occurs The maximum number of dimensions for an array is 8 The minimum value for a subscript is always 0 unless otherwise specified with the OPTION BASE statement An array once dimensioned cannot be re dimensioned within the program without first executing a CLEAR or ERASE statement The DIM statement sets all the elements of the specified arrays to an initial value of zero Examples 10 DIM A 20 20 FOR I 0 TO 20 30 READ A 1I 40 NEXT I This example reads 21 DATA statements elsewhere in the program and assigns their values to A 0 through A 20 sequentially and inclusively DO LOOP Statement Purpose To create endless loop Syntax DO loop statements LOOP Comments This structure will loop forever the EXIT command can be used to terminate the loop or control must be explicitly transferred outside of the loop by commands like GOTO or RETURN if in a subroutine Example 10 DO 20 PRINT HELLO 30 IF INKEYS q THEN EXIT 40 LOOP 50 PRINT DONE This example will print HELLO until q key is pressed DO WHILE LOOP Statement Purpose To execute a series of statements in a loop as long as a given condition is True This is equivalent to the old WHILE WEND statement which is also impleme
128. ty ICSP programming connector for programming and debugging 32 768 KHz low frequency crystal allow implementation of RTC and low power modes 2 3 DuinoMite DuinoMite IO DuinoMite Shield This is a compact low cost board in ARDUINO form factor ready to interface with ARDUINO shields The schematic of the current revision of DuinoMite DuinoMite IO DuinoMite Shield is at http www olimex com dev in DUINO section where you will also find the CAD schematics and board files Hardware features PIC32MX795F512H processor running at 80Mhz with 128KB RAM and 512kB Flash DC DC power supply 9 30V DC input USB Device USB Host OTG mini SD card socket UEXT connector EXT connector to connect DuinoMite IO with Keyboard Video Audio connectors GPIO connector ARDUINO shield connector DUINOMITE IO connector RESET and USER buttons three status LEDs build in LiPo Lithium Polimer battery charger ultra Low power design which allow down to 30uA current consumption Industrial temperature operation 40 85C Noise immunity ICSP programming connector for programming and debugging 32 768 KHz low frequency crystal allow implementation of RTC and low power modes 2 4 DuinoMite eMega This is a new Ethernet enabled board still in development The features will be similar to the DuinoMite Mega but with some additional features such as Ethernet connector and PHY controller which will add a 100Mbit Ethernet interfa
129. y 10 RESTORE Statement Purpose To allow DATA statements to be reread from the start Syntax RESTORE Comments After RI Example 10 20 30 40 R RESTORE R FAI KAI ESTORE the next REAI D Ay Bre Cy D D E F DATA 57 68 79 D statement accesses the first item in the first DATA statement Assigns the value 57 to both A and D variables 68 to B and E and so on RMDIR Command Purpose To delete a subdirectory Syntax RMDIR pathnameS Comments pathnameS is a string expression identifying the subdirectory to be removed from its parent The subdirectory to be deleted must be empty of all files except and ora Directory not empty error occurs Example RMDIR SALES RUN Command Purpose To execute the program currently in memory or to load a file from the SD card into memory and run it Syntax RUN linenumber RUN filenames Comments RUN or RUN linenumber runs the program currently in memory If linenumber is specified execution begins on that line Otherwise execution begins at the lower line number If there is no program in memory when RUN will do nothing RUN filenames closes all open files and deletes the current memory contents before loading the specified file from SD card into memory and executing it If an extension is not specified BAS will be added to the file name Examples RUN HELLO Runs H
130. y or otherwise format strings Examples al 0 XS Monat 20 PRINT XS MONTHLY REPORT XS RUN MONTHLY REPORT The will space up to 10 characters LO PRINT 1 2 3 747 570 1787 97 10 RUN PRINT Statements Purpose To write data to a SD card file Syntax PRINT filenumber list of expressions Comments filenumber is the number used when the file was opened for OUTPUT or APPEND List of expressions consists of the numeric and or string expressions to be written to the file Double quotation marks are used as delimiters for numeric and or string expressions The first double quotation mark opens the line for input the second double quotation mark closes it If numeric or string expressions are to be printed as they are input they must be surrounded by double quotation marks If the double quotation marks are omitted the value assigned to the numeric or string expression is printed If no value has been assigned 0 is assumed The double quotation marks do not appear on the screen For example 10 PRINT 1 A 0 10 A 26 20 PRINT I A 26 10 A 26 20 PRINT 1 A A If double quotation marks are required within a string use CHR 34 the ASCII character for double quotation marks For example 100 PRINT 1 He said Hello I think He said 0 I think because the machine assigns the value 0 the variable Hello 100 PRINT 1 He said CHR 34 Hello CHR
131. ys ON 30 PAUSE 1000 40 I2CSEND amp H58 0 2 amp H10 amp HOF roma 0x10 all relays OFF 50 I2CDIS Sample code to read Digital Inputs INP bit 0 is IN1 bit 1 is IN2 bit 2 is IN3 and bit4 is IN4 i e if IN1 is 1 INP will be 1 if IN4 is 1 INP will be 8 10 I2CEN 100 100 init LAC 20 INP 0 input 30 I2ZCRCV amp H58 O 1 INP 1 amp H20 amp HOF cmd 0x20 read INP 40 PRINT INP 50 T2CDIS Sample code to read Analog input 1 change amp H30 to amp H31 amp H32 or amp H33 for AIN2 3 or 4 10 OPTION BASE 0 20 DIM ADC 2 30 I2CEN 100 100 init L2C 40 I2CRCV amp H58 0 2 ADC 0 1 amp H30 amp H30 amp H33 AIN1 AIN4 50 PRINT ADC HEXS ADC 0 ADC 1 256 voltage 3 3 1024 ADC 0 ADC 1 256 60 PAUSE 500 GOTO 40 7 7 MOD TC MOD TC board is UEXT module with MAX6675 IC which allow type K thermocouple to be attached and to read temperature in 0 1023 75 C range with 0 25C resolution 10 PIN 1 0 PIN 2 1 20 SETPIN 1 8 Stk 30 SETPIN 2 6 Cs 40 SETPIN 3 2 MISO 50 SETPIN 4 8 MOSI we do not use this 60 PIN 2 0 enable MOD TC 70 PAUSE 1 wait MAX6675 to settle 80 TEMP SPI 3 4 1 read first 8 bit 90 TEMP2 SPI 3 4 1 read next 8 bit 100 TEMP TEMP 256 TEMP2 110 TEMP TEMP 8 remove last 3 bits 120 PRINT Temperature TEMP 0 25 12 bit 0 1023 75C 130 PIN 2 disable MAX6675 140 PAUSE 300 150 GOTO 60

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