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GCTR - grifo¨ COM

1. 2 MINIMUM REQUIREMENTS 4 CONTROL CARD P 4 PERSONAL COMPUTERS cosssisasssscassvcesacevessccttscsasetsvassccstecendadsathonsteieeatatvenesacsbecsadodsstactateree 4 SERIAL COMMUNICATION CABLE 5 WORKING SOFTWARE 6 SOFTWARE TO DEVELOP THE APPLICATION PROGRAM 6 SOFTWARE AND FIRMWARE FOR THE CONTROL CARD 7 GCTR USER MANUA I P 7 EPROM PROGRAMMER 7 USE OF GCTR Aet 8 INSTALLATION cc C 8 DIRECTORY 5555 9 DIRECTORY C VTD_GCTR 9 DIRECTORY C GCTRXXPZX 9 USE 11 EPROM PROGRAMMING 12 FLASH EPROM PROGRAMMING FLASH WRITER
2. 12 BOARD CONFIGURATION 13 FLASH 5 P 13 FLASH WRITER EXECUTIONN 14 CHANGES TO INSTALLED APPLICATION DEVELOPMENT EXECUTION 15 HOW TO START upmemrr 17 DESCRIPTION OF GCTR c 20 MU V 4 LU LEE O TE onem 20 ADDRESSING OF HARDWARE STRUCTURES IN I O 20 LOCATOR m 21 FLOATING POINT EKNE cans dceuavedacuedonstcsunaesduuvenanasunasnsaasun 21 HARDWARE BREAKPOINT A 21 MEMORY ORGANIZATION 22 MEMORY USE NOT ES sesssissssesessesossssssoreoscssosssoscosescosnsssesossesesorssserececsssrsecsessocssssesosssss 24 RESERVED MEMORY 25 CONSOLE MANAGEMENT A 26 CONSOLE HARDWARE DEVICES
3. B 17 ERO Ii mm B 18 SERS VA TUS e B 18 JOE m B 19 eme ese B 19 SETSERIA T B 20 S104 V Lr B 21 ME D om B 21 SLEEP e ese B 22 _STRDATE B 22 au B 23 WHEREBX 555856 23 24 APPENDIX C ADDRESSES C 1 APPENDIX D ALPHABETICAL INDEX D 1 GCTR Rel 5 40 F Page III grifo F ITALIAN TECHNOLOGY FIGURES INDEX FIGURE 1 SERIAL CONNECTION BETWEEN DEVELOPMENT AND CONTROL CARD 5 FIGURE 2 SERIAL CONNECTION BETWEEN CONSOLE PC AND CONTROL CARD 5 FIGURE 3 SERIAL CONNECTORS AND CONNECTION ACCESSORIES
4. A 1 FIGURE 2 24P ELECTRIC DIAGRAM 1 OF 2 A 2 FIGURE 24 ELECTRIC DIAGRAM 2 OF 2 A 3 FiGuRE OTP 16P ELECTRIC DIAGRAM A 4 FIGURE A5 KDx x24 ELECTRIC DIAGRAM A 5 FIGURE I O REGISTERS ADDRESSES ON GPC 884 C 1 FIGURE C2 I O REGISTERS ADDRESSES ON GPC 188F 1 or 2 C 2 FiGuRE I O REGISTERS ADDRESSES ON GPC 188F 2 OF 2 C 3 FiGurE C4 I O REGISTERS ADDRESSES ON GPC 1880 1 OF 2 C 4 FicureE C5 I O REGISTERS ADDRESSES ON GPC 1880 2 OF 2 C 5 FIGURE C6 I O REGISTERS ADDRESSES ON GPC 883 C 6 Page IV INTRODUCTION The use of these devices has turned IN EXCLUSIVE WAY to specialized personnel The purpose of this handbook is to give the necessary information to the cognizant and sure use of the products They are the result of a continual
5. lt O lt s i j Be Be a 2 lC mi R2 122571 EE d K N M NM 120 N M RM 2 10 2 EE 7 7407 RR1 22KQ 9 1 SIP RR2 22 9 1 SIP 10KQ trimmer 00n F 22uF 6 3V Tantalium 00n F 00 5 22uF 6 3V Tantalium CN1 2 pins mini male connector CN2 10 pins male strip CN3 20 pins male low profile c connector a CN4 LCD L214 20x4 pen _ CN5 Futaba VFD20x2 Title KDL F 2 424 CN6 LCD 12012 20x2 7407 1 2 pins female jumper Date 22 0 7 1 9 9 8 O External Keyboard FiGcuRE 5 KDx x24 ELECTRIC DIAGRAM GCTR Rel 5 40 _ Page A 5 grifo ITALIAN TECHNOLOGY Page GCTR Rel 5 40 APPENDIX LIBRARY FUNCTIONS CHANGED CALLOC Definition include lt ALLOC H gt void calloc unsigned int items unsigned int size Library LCTR_T LIB Description Function calloc allocates a memory area and resets it The amount of memory allocated by a call to this function corresponds to items size bytes must be lower than 64K Bytes and is allocated in the heap area Example struct zoo park1 park 1 calloc 105 sizeof struct zoo Parameters returned Function calloc returns a pointer to t
6. 32 BLINKING CURSOR ON 32 LEDS ACTIVATION ssssscansatscitsscivscseastasecsailsresscxeusceiacuoseanscdsviastavbansidciveohncdescuatalveianaceuents 33 LEDS ACTIVATION WITH MASK 33 LIBRARIES e 34 EXTERNAL WATCH DOG i icasks nceinscksukis NcNS CR uS 34 USER CONFIGURATION S 35 DIFFERENCES AMONGST BORLAND C TURBO C OR AND GCTR 35 DEMO PROGRAMS 2 aa 36 VERSIONS m 38 BIBLIOGRAPHY sccsccesscissccsasssuszeccastevessctvectnacusacoadaiurtessivtecouastvachonedsicnaiaisntensieiessiactuadaessiebesssaisens 39 APPENDIX A ELECTRIC DIAGRAMS A 1 APPENDIX B LIBRARY FUNCTIONS CHANGED B 1 CA TRES B 1 108 Pa B 1 CLERSCR 222 B 2 CPRINTE T B 2 eiu Uy y P B 3
7. 26 CONSOLE PREDEFINED SYMBOLA 27 MATRIX KEYBOARD mmc 28 CONSOLE COMMANDS 29 GCTR Rel 5 40 _ Pagel grifo ITALIAN TECHNOLOGY CURSOR LEFT e v 29 CURSOR RIGHT e 29 CURSOR DOWN 30 CURSOR UP e 30 libr 30 CARRIAGE RETURN 30 CARRIAGE RETURN LINE EFEED 30 ALPHANUMERIC CURSOR PLACEMENT A 31 BACKSPACE cccscsusntnnsedenatacadssnsuassvscnedetuseisiaecasnactuaraincuescanscdsianscdbanshduivechsncdeaceaialsenesacalvens 31 UB 31 CLEAR LINE 31 CLEAR END OF LINE caanaduoneasicesteuscavantenastuconestoaneisianstcauadouscnsaassscanieouees 31 CLEAR END OF PAGE o 32 CURSOR OFF gc 32 STATIC CURSOR
8. 6 FIGURE 4 RUN AND DEBUG MODE SELECTION JUMPERS TABLE 16 FIGURE 5 MEMORY CONFIGURATION IN DEVELOPMENT wMops 22 FIGURE 6 MEMORY CONFIGURATION IN EXECUTION wMopes 23 FiGurRE 7 SRAM MEMORY ADDRESSES VALUES SET DURING INSTALLATION 23 Figure 8 SRAM MEMORY ADDRESSES VALUES OF CONTROL CARD CONFIGURATION 24 FIGURE 9 ROM MEMORY ADDRESSES VALUES SET DURING INSTALLATION 24 FiGcunE 10 ROM MEMORY ADDRESSES VAMUES OF CONTROL CARD CONFIGURATION 24 FIGURE 11 CONSOLE HARDWARE DEVICES 26 FIGURE 12 CONSOLE DEVICES CONNECTIONS 27 FIGURE 13 KEY CODES OF KDX x24 28 14 Key copes OF QTP 16P 28 1 15 Key copes OF 24 28 FIGURE A1 IAC 01 ELECTRIC DIAGRAM
9. ITALIAN TECHNOLOGY DEVICE ADDRESS PURPOSE W DOG F000H Watch Dog retrigger EEPROM EEPROM serial access LD3 4 F000H Activity LEDs management register F000H NX Battery status acquisition register RSB F080H Serial line B status register SCC 85C30 R F082H Serial line A status register B A A Serial line A data register DMA Disable DMA request register F180H F18EH 2 5 Sequencer instruction register low 0 7 even 9 7 Sequencer instruction register high 0 7 CNTL F190H Configuration register low CNTH F191H Configuration register high INTENL F192H Interrupt abilitation register low INTENH F193H Interrupt abilitation register high A D LM12458 INTSTL F194H E Interrupt status register low INTSTH F195H R Interrupt status register high MRL F196H Timer register low F197H Timer register high FIFOL F198H R Conversions to FIFO register low FIFOH F199H Conversions to FIFO register high LIMSTL FI9AH ES Limits status register low LIMSTH F19BH R Limits status register high FIGURE C2 I O REGISTERS ADDRESSES ON GPC 188F 1 or 2 5 RD F081H Serial line B data register SS 5 RD 2 RM EM Lm RN 4 lt T Page C 2 GCTR Rel 5 40 m rmm PPI 82C55 m re REGF F28FH F control and status register WRITE F300H SRAM write protection register DIP D
10. ITALIAN TECHNOLOGY grifo 90 5 8 0 AAAS S NUMERATION ON 24 24 GCTR Rel 5 40 grifo ITALIAN TECHNOLOGY MALLOC Definition include lt ALLOC H gt void malloc unsigned int nbytes Library LCTR_T LIB Description Function malloc allocates and so keeps reserved a memory block of size nbytes Bytes in heap memory area This function can allocate all the memory available up to 64 KBytes Example unsigned char tmp tmp malloc 8000 Parameters returned Function malloc returns a far pointer to memory succesfully allocated or a NULL pointer in case of errors The pointer returned is NULL also if free available memory is insuffucent to fulfil completely the request PUTCH Definition include lt CONIO H gt int putch int ch Library CL LIB Description Function putch manages a single characther representation to the selected output console hardware device the device must be selected and or initialized previously Example putch r Parameters returned Function putch returns the represented character Page B 16 GCTR Rel 5 40 ITALIAN TECHNOLOGY griifo n L QTPLED Definition include lt GCLIBD H gt void qtpled unsigned char nled unsighed char attr Library CL LIB Description Function qtpled gives the LED indicated in nled the attribute
11. e B 3 DELAY Q S B 4 NL Y No B 4 DELLINE M neasi na B 5 DOS GETDATE T 5 MILLS C MILL os B 6 DOS 6 BLUES Vo B 7 DOS SET TIMIE a B 7 DOS SETVECT 22 a 8 Mo rv bom B 8 5555 M 9 FAR ec E E B 10 GCTR Rel 5 40 FAR MALLOC Qe B 10 Liquide B 11 RE CIT Ur T o B 11 GETDATE 22 B 12 Di D B 12 et B 13 m 13 LEDBLINKSTATUS Pr B 14 LEDSTATUS 2 B 14 WEA LAL OC pa B 16 16 ie 17 SERIN T
12. GCTR is a complete and powerful software development package that allows to develop C application programs taking advantage ofits comfortable development and debugging environments It is available for all the grifo cards based on family Intel 86 microprocessors GCTR allows to work in a very advanced environment that needs no deep knowledge of the hardware used and has been designed with the goal to simplify and fasten the phases of development test and installation of the system to make The package is made of several subsets indipendent and not that satisfy the needs of modern programmers accoding to their working experiences In detail the package includes a compiler and linker a debugger a programmer general utility programs and examples ready for use in addition to the code needed to rom the application program is one of the most appreciated programming languages and thanks to its modularity compactness flexibility and efficence is very easy to find great amounts of code already written and often ready for use This language allows to manage directly the on board hardware take advantage of several kinds of data structures manage interrupts easily use powerful control instructions and exploit all the advantages of a high level programming language GCTR uses Borland C compiler certainly one of the most diffused so certainly well known by the programmers This latter is provided only of its essential files the user has the tas
13. grifo ITALIAN TECHNOLOGY CONTROL CODE OF ACCESSORIES FOR SERIAL CARD NAME CONNECTOR CONNECTION GPC 188F FLT 16 16 NCS 01 CCR 25425 or CCR 25 9 FIGURE 3 SERIAL CONNECTORS AND CONNECTION ACCESSORIES WORKING SOFTWARE In addition to the previously described hardware GCTR needs a software for working to develop and set up the application program Such software is made by a set of programs and files provided through the distribution disks and can be divided in two main groups as follows SOFTWARE TO DEVELOP THE APPLICATION PROGRAM GCTR is basec on Borland C compiler linker and debugger These software tools are normally used to generate executable files for standard personal computers with MS DOS or WINDOWS operating system installed To avoid the potential problems that may arise between different versions of the previously mentioned software packages GCTR provides also the essential parts of compilation linker and debug packages already installed and configured ready to use This simplifies the use of GCTR it is however essential that the user gets the complete Borland packages to use them regularly to read their documentation and to be able to use the generic utility tools provided with Borland software package Summarizing the software essential to develop the application program is Software package Borland TURBO C or Borland TURBO C or Borland C with its own documentation Soft
14. gt Added selection of control card memory amount added hardware breakpoint management Ver 3 4 gt Improved library functions added serial port selection on development PC increased warning leved added utilization from WINDOWS 3 1 95 98 ME Ver 3 5 gt Addedexternal watch dog retrigger improved demo programs added management of GPC 883 Any eventual improvement or addition the user thinks may be intresting can be suggested contacting grifo directly Page 36 GCTR Rel 5 40 MIMITI TT NTR ID wor BIUIBILIOGIRAIPISOY Here follows a list of manuals and technical notes to which user can refer to obtain further information that simplify the use of GCTR Title Author s The C programming language Brian W Kernighan and Dennis M Ritchie BORLAND C User Guide Borland BORLAND C Programming Guide Borland TURBO DEBUGGER User Guide Borland BORLAND C Libraries Borland To get all the updated versions of such manuals example application programs special writing etc please refer to the specific internet sites Page 39 GCTR Rel 5 40 _ grifo ITALIAN TECHNOLOGY Page 40 Rel 5 40 APPENDIX As ELECTRIC DIAGRAMS This appendix shows some of the console hardware managed by GCTR electric diagrams Each of the se interfaces can be produced in autonomy or can be ordered directly from grifo CN2 CN1 20
15. configure the console PC as previously described EXTERNAL WATCH DOG GCTR performs autonomously the periodic retrigger of external watch dog circuit available on each control card In this way the customer that develop an application that use external watch dog can restfully connect this circuit and he has not to perform retrigger when GCTR is executed start up code TURBO DEBUGGER library function with a long execution time Naturally when the application program developed by the user is executed the periodic retrigger of watch dog circuit must be performed by the same program to avoid circuit intervention and consequent card reset To spare unwanted retrigger if watch dog circuit intervenes when application program is executed you must always Page 34 GCTR Rel 5 40 restart communication with TURBO DEBUGGER through a keyboard breakpoint lt CTRL gt lt BREAK gt exit from TURBO DEBUGGER on development P C reset or resupply power to control card restart normal application program development USER CONFIGURATIONS As described in the previous paragraph GCTR features a range of configurations that allow the user to define the development package functionalities For completeness in this paragraph all these configurations are described defining for each one meaning and setting modalities EDITOR this is the editor by which the user writes and or modifies the source of application program
16. the file lt filename gt IMG will have been generated this file contains the binary image of the code to use for programming burning EPROM or FLASH EPROM for the control card A file called lt filename gt ABM is also created in this step Page 11 grifo ITALIAN TECHNOLOGY 6 The user must burn EPROM or FLASH EPROM with the file lt filename gt IMG For a detailed description of the execution of these operations please refer to the paragraphs EPROM PROGRAMMING and FLASH EPROM PROGRAMMING 7 gt the GCTR on EPROM is used the user must turn off the control card uninstall the EPROM labelled TDE B xxx and replace it with the one burned at point 6 if the GCTR on FLASH EPROM is used the user must turn off the control card set it to RUN mode please see paragraph CHANGES TO AN ALREADY INSTALLED APPLICATION Once the control card is supplied application program starts automatically The user must keep the work files of the application program sources includes macros etc in the directory C GCTRxxx eventually to simplify the icons dragging when working under WINDOWS itis possibleto copy the support link files CTODEB and CTOBIN on desktop and to use these copies EPROM PROGRAMMING The modalities of use of an EPROM programmer are not subject for this manual so in this paragraph only GCTR related information are provided The file lt filename gt IMG generated
17. Development environment for control card GPC xxx in EPROM FGCTR xxx Development environment for control card GPC xxx in FLASH EPROM size 128K Byte FGCTR xxx 512K Development environment for control card GPC xxx in FLASH EPROM size 512K Byte FWR xxx FLASH EPROM size 128 KByte for control card GPC xxx with FLASH WRITER programmed in the first sector FWR 512 FLASH EPROM size 512 KByte for control card GPC xxx with FLASH WRITER programmed in the first sector The five above reported signatures fit for the card with basic clock frequence 20 MHz for GPC 188F D and 26 MHz for 884 GPC 884 if the user wants to user GCTR with higher clock frequencies specific versions identified with suffix xxM must be ordered for example 40M for GPC 884 at 40 MHz Please remark that the above reported signatures can be used directly to make orders Like every software and firmware also GCTR is continuously changed and improved to satisy completely the new requirements ofthe users and correct the eventual problems Here follows a brief description of the changes made to the development package according to the version number 1 0 gt First version 11 gt Added installation program 20 gt Added complete management for floating point Ver 3 gt Added FLASH EPROM management employed large memory model added management of GPC 884 Ver 3 2 gt Improved start up code setting Ver 3 3
18. GCTR software package It is essential to follow the ordere here specified 1 Install on the development PC if not already present the software package Borland TURBO C or TURBO C or following the indication given by the package itself This step is optional but recommended toeasy the successive operations of writing and syntactic checking of the application programs to develop 2 Assure that at least 4 MBytes of free space are available on the development PC s hard disk 3 Insert the disk 1 GCTR xxx in the floppy disk drive of the development PC and run the installation program INSTALL EXE by double clicking on its icon 4 Read the informative window showed by the installation program click on the Next button to continue 5 Atthis point the installation programs checks the hardware and software requirements of the development PC and if they are enough installation continues otherwise the program awarns about the lacks inviting to remove them 6 Wait for the end of the serch for a Borland development environment I D E on the development PC hard disk After the serch the possible development environment found is shown orhterwise in case no C Borland compiler has been installed the standard editor EDIT COM is shown Should the user not appreciate the development environment presented by GCTR it can be modified by specifing the path of the preferred programs in the specific displayed window or by editing the f
19. MAP files the complete program allocation etc After it has worked locator prints the amount of ROM used both as percentage and as number of bytes currently used Locator generates an absolute MAP file with extension ABM that reports the addresses of all public functions and data structures it has the same format of MAP file generated by Borland linker with addresses changed FLOATING POINT GCTR provides fast and precise floating point support with typical C mathematic and trigonometric functions For grifo control cards not provided with mathematic coprocessor Borland C C mathematic management means a floating point software emulation Mathematic errors are managed by a specific ROMed function that exits from application program execution and retuns an unique error code to provide the user information about what happened There is an example program called DEMOFP C specific to show the use modalities of all the functions available HARDWARE BREAKPOINT In the application program DEVELOPMENT and debug mode the user can employ two breakpoints that provide tha possibility to take the control of the control card execution even when the the application program has jumped into an infinite loop or other not predicted situations The first breakpoint is the classic one activable through development PC keyboard by pressing lt gt lt gt it is a software interrupt matched to the reception interrupt of serial
20. TEST C as target file typing C GCTRxxx gt CTODEB TEST C lt ENTER gt under MS DOS dragging the icon of file TEST C on the icon CTODEB under WINDOWS verify that the selected I D E program is run and that it opens file TEST C This latteris the classical program that prints to the console the prime numbers lower than 100 its purpose is merely didactical and demonstrative Example Run the support program for debugger as above noted If Borland I D E is used continue reading from here otherwise jump to step 12 Configure Borland I D E selecting the signalation of all warnings and the use of large model Example Select the option in the window Display Warnings visualized with the command OptionlCompilerlMessages select the option Large in the window Model visualized through the command OptionslCompilerlCode generation save these settings with the command OptionslSave and confirming with OK Examine he program TEST C without changing it using the editor commands then run the compilation using the specific command of Borland I D E Example scroll the program source with arrow keys verify the potentialities of edit and search menus commands without changing the program compile the program selection the option CompilelCompile Correct the error signaled during the compilation at row 48 the source contains a typing error that is an s has been omitted so the string flag 1 should hav
21. be erased the last character of the last row of the display CLEAR PAGE Code 12 Hex code 0x0C Mnemonic FF This command clears all data on the display and it moves the cursor to Home position CLEAR LINE Code 25 Hex code 0x19 Mnemonic EM This command erases all characters displayed on the current line and it moves the cursor to the first column of the said line CLEAR END OF LINE Code 27 75 Hex code 1 0x4B Mnemonic ESC K This command erases all characters displayed from the current cursor position to the end of line inclusive The cursor mantains the previous position If for example the cursor is at the beginning of a display line the complete line will be erased GCTR Rel 5 40 Page 31 grifo ITALIAN TECHNOLOGY CLEAR END OF PAGE Code 27 107 Hex code 0 1 0x6B Mnemonic ESC k This command erases all characters displayed from the current cursor position to the end of display inclusive The cursor mantains the previous position If for example the cursor is at Home position the complete display will be erased CURSOR OFF Code 27 80 Hex code 0 1 0x50 Mnemonic ESC P The cursor is not active and it is not more visible STATIC CURSOR ON Code 27 79 Hex code 0 1 4 Mnemonic ESC O The cursor is activated so it is visible Now it is a not blinking line placed under the char NOTE This command is not available when fluorescent di
22. by the CTOBIN support program is a binary file whose size is the same as the size of the selected EPROM during the GCTR installation phase this file must be burned from address 00000H If the EPROM programmer being used requires the Intel HEX format the binary file must be transformed into the equivalent Intel HEX file through the program GHEX2 COM The syntax to use GHEX2 is CAGCTRxxx gt GHEX2 filename IMG ENTER it must be type at MS DOS prompt or in the StartlExecute window of WINDOWS and it generates the file lt filename gt HEX featuring extended Intel HEX format Should the application program need external data to store in EPROM configuration data messages tables etc they must be stored after the last byte of the previously saved code As the binary file generated by GCTR fills the whole EPROM content the user has to locate the address of code end as described in the paragraph RESERVED MEMORY FLASH EPROM PROGRAMMING FLASH WRITER Oneofthe GCTR remarkable features is the possibility to manage in autonomy the FLASH installed on the control card This feature makes really easier the development of an application in fact it an external EPROM programmer is not needed any more it is replaced simply by the development PC connected to the control card through a serial port The updating verify and maintenance phases of the software under development may comfortably performed even on the field for example u
23. datebuf Parameters returned Function _strdate returns buf that is the address from where the string has been stored Page B 22 GCTR Rel 5 40 ITALIAN TECHNOLOGY O grifo n STRTIME Definition include lt TIME H gt char strtime char buf Library CL LIB Description Function _strtime converts current time from Real Time Clock on the control card into a string that stores in the buffer buf The string generated is terminated by the classic null character and features the notation HH MM SS where HH MM and SS are two figures numbers for hours minutes and seconds So the buffer buf must be at least 9 characters long Example char timebuf 9 strtime timebuf cprintf Time 96s timebuf Parameters returned Function strtime returns buf that is the address from where the string has been stored WHEREX Definition include CONIO H int wherex void Library CL LIB Description Function wherex returns current orizontal position x column of cursor on console display Example int col row col wherex Move cursor 5 chars forward row wherey gotoxy col 5 row Parameters returned Function wherex returns the column where the cursor finds the range of this value changes according to which console is selected GCTR Rel 5 40 _ Page B 23 grifo ITALIAN TECHNOLOGY WHEREY Definition
24. debouncing and autorepeat features In detail GCTR sets debouncing time 20 msec autorepeat time 100 msec first autorepeat delay 500 msec keyboard buffer size 5 keys Page 28 GCTR Rel 5 40 The autorepeat management starts to save a key code in buffer once every 100 msec if that key has been pressed for more than 500 msec and stoos saving when the key is released The code of every key pressed is saved in the buffer which is a FIFO here it is ready to be read by the library functions pressing more than 3 keys without any read from the buffer means the loss of these extra characters because there is no physical space where to store them CONSOLE COMMANDS This paragraphs shows all the command sequences that can be used to take advantage of the main console device hardware features GCTR shows on the display all the characters having a code included in the range 32 255 20 FF Hex if it is sent a code not included in this range and this latter is not a command the code is ignored The charactes is printed in the current cursor position this latter will move one position to the right if the cursor is in the last position bottom right corner it will be moved to Home position top left corner For each command a double description is reported a mnemonic description based on ASCII characters and the numeric desription both in decimail and hexadecimal form These commands are compliant to ADDS View P
25. in case of getche echo of input character to output console device is made Example unsigned char scelta if getchQ S scelta getche Parameters returned Functions getch and getche return the first available character from input console GCTR Rel 5 40 _ Page 11 grifo ITALIAN TECHNOLOGY GETDATE Definition include DOS H void getdate struct date datep Library CL LIB Description Function getdate fetches current date from Real Time Clock on the control card and stores it to the structured variable datep This latter must be a pointer to the type date declared in the header file DOS H that contains three variables day char da month char year int Example struct date d getdate amp d cprintf Current date 2d 2d 2d day d da mon d da year Parameters returned Function getdate returns nothing GETTIME Definition include lt DOS H gt void gettime struct time timep Library CL LIB Description Function gettime fetches current time form Real Time Clock of control card and stores it in the structured varable timep This latter must be a pointer to a variable of type time declared in header file DOS H that contains four variables ti_hour ti_min ti_sec ti_hsec all char Control card RTC does not manage hundreds of seconds structure member ti_hsec so its value is always zero Example
26. line A on the control card The second is real hardware breakpoint matched to Not Maskable Interrupt NMT of control card This interrupt can be activated by pressing simply a button that connects NMI signal available on the control card connectors to the ground Differently from the first breakpoint this one can t be disactivated by software it is always active so it is always usable Another difference between these two breakpoints 15 that the first one stops the application program execution while the second exits from program execution so this must be reloaded for eventual next debug phases Of course no breakpoint is available and or actived during EXECUTION mode of application program GCTR Rel 5 40 Page 21 grifo ITALIAN TECHNOLOGY MEMORY ORGANIZATION Basically all C programs use three fundamental memory areas code area data area stack andheap area while the control card features two kind of memories ROM EPROM or FLASH EPROM which is read only and SRAM readable and writeable GCTR charges to organize all the memory installed on the control card to make it available to the application program in the way the user has chosen During installa phase in fact GCTR ask for the size of code area in EPROM or FLASH EPROM and data stack heap area in SRAM and self configures automatically with the selections input by the user for this reason it is not essential to worry ab
27. must be developed Should the control card and GCTR be purchased in the same order the EPROM or FLASH EPROM memory device is provided already installed on the control card On the label of such device all the information about board code version of code stored its size and clock frequence are specified in a form like the one above described PERSONAL COMPUTERS GCTR software package needs a personal computer from now called development PC with at least the following features Personal Computer IBM compatible with CPU gt 386 RAM At least 8M Bytes Operating system WINDOWS 3 11 95 98 ME Monitor Colour Mass storage Floppy disk drive 3 1 2 Hard Disk with at least 4M Byte of free space One Serial port 1 or2 in RS 232 compliant to V24 standard capable to manage 115 2 KBaud Mouse Microsoft compatible with its own driver installed Page 4 GCTR Rel 5 40 Another personal computer from now called console PC is suggested to be able to use directly the demo program provided with GCTR and to create a traditional user interface The console PC just needs to have are a keyboard a monitor an RS 232 serial line and a serial communication program to perform the tasks of a simple terminal the shows on the monitor data received from the serial port and sends there all the keys pressed on the keyboard SERIAL COMMUNICATION CABLE During the debugging phase and for the eventual pr
28. of the application program CTODEB runs the program indicated here This is the binary image of the program executable on the control card that is charged to communicate with the TURBO DEBUGGER and so it manages the whole set up phase of the application program This file changes according to the memory configuration chosen at point 8 of installation This is the intelligent terminal emulation program used by FLASHWR to program the FLASH EPROM On line help file for GET188 Installation program for GET188 This is an utility program that allows to transform a binary file into the equivalent file in Intel HEX format This is a text file containing the list of the installed files This is the uninstallation program for GCTR and can be used to delete the files installed on the development PC This is a set of demo programs directly usable on the control card with GCTR This files contains the latest updates not yet reported in this manual vM GCTR Rel 5 40 USE Here follows the description of how to use GCTR software package please remark that the use procedure has been simplified making it usable by all the user who are programmers capable to use C The following steps must be performed to obtain an application program written in C completely debugged to be installed on the control card and must be executed in the reported order To give complete description both the use modalities under MS DOS and the moda
29. phase For further information please refer to the next chapters These are the library files that contain the C mathematic procedures in the version with emulated math coprocessor essentialto perform floating point operations and to use the wide range of mathematical functions These are the header files where the declarations of Borland functions are stored they can be included in the main function of the application program according to the rules of Borland documentation This program allows to transform the EXE executable file obtained after compiling and liking in the corresponding binary image to be used for burning EPROM or FLASH EPROM for the control card This file contains the transformation parameters for LOC EXE that specify the memory configuration of the control card Of course this file changes according to the memory configuration of control card input by the user at point 8 of installation These files are support programs that provides to run sequentially the Borland I D E or the text editor the compiler the linker and the debugger for the specified application program These files are support programs that provides to run sequentially the compiler the linker and the locator for the specified application program These files are support programs that allow to program the FLASH EPROM on the control card This is a text file containg the path of the I D E program or the text editor that must be used during the development
30. specified by attr on the connected console hardware device 24 and 24 the device must be selected and or initialized previously LEDs numbers are included in the range 0 15 as shown in figure while the attributes can be 0 00 Hex gt LED Off 255 Hex gt LED 85 55 Hex gt LED blinking If parameters are not valid the function does nothing Example qtpled 5 85 Sets LEDS blinking Parameters returned Function qtpled returns nothing SERIN Definition include lt GCLIBD H gt unsigned char serIn unsigned char nser Library CL LIB Description Function serIn manages a character reception from serial line nser serial line must be initialized previously The function can use one of the control card serial lines according to the parameter nser 0 serial B and 1 gt serial A It waits for character reception suspending the program Example unsigned char rx 10 for 120 1 lt 5 i rx 1 serIn 0 Cycle to receive 5 chr from serial B Parameters returned Function serIn resturns the character code received GCTR Rel 5 40 Page B 17 grifo ITALIAN TECHNOLOGY SEROUT Definition include lt GCLIBD H gt void serOut unsigned char nser unsigned char c Library CL LIB Description Function serOut manages the single characther c transmission to serial line indicated by nser the serial line must be initia
31. struct time t gettime amp t cprintf Current time 2d 2d 2d t ti hour t ti_min t ti_sec Parameters returned Function gettime returns nothing Page B 12 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo GOTOXY Definition include lt CONIO H gt void gotoxy int x int y Library CL LIB Description Function gotoxy moves the cursor to the position specified by the input parameters x and y which correspond to row or column of console If a serial line has been selected as output console device it willreceive the ADDS View Point codes for this action Ifthe indicated coordinates are not suitable for the selected console the function will do nothing Example int npz gotoxy 2 5 cprintf Number of pieces produced d npz Parameters returned Function gotoxy returns nothing KBHIT Definition include CONIO H int kbhit void Library CL LIB Description Function kbhit manages checks whether a character is available for selected input console hardware device the device will have to be selected and or initialized previously The function checks for a character available without suspending the program execution Example while kbhit Wait for a key Parameters returned Function kbhit returns a value different from O if a character is available and viceversa GCTR Rel 5 40 l Page B 1
32. tt _dos_getdate amp tt cprintf Current time 2d 2d 2d tt hour tt minute tt second Parameters returned Function _dos_gettime returns nothing DOS Definition include lt DOS H gt void interrupt _dos_getvect unsigned int intnum Library LCTR_T LIB Description Function _dos_getvect fetches the address of response routine of interrupt specified by intnum from the memory area reserved to interrupt vectors in a safe way disabling interrupts themselves Intel86 microprocessors family can manage 256 different interrupts numbered from 0x00 to OxFF whose vectores are stored sequentially in the first kilobyte of memory from 0x0000 to 0x0400 Example void interrupt oldfunc CPPARGS oldfunc _dos_getvect 5 Parameters returned The far address one world for segment and one word for offset of the specified interrupt response procedure is returned by this function Page B 6 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo DOS SETDATE Definition include lt DOS H gt unsigned char _dos_setdate struct dosdate_t datep Library CL LIB Description Function _dos_setdate sets on Real Time Clock of control card the date stored in the structured variable datep This latter must be a pointer to the type dosdate_t declared in the header DOS H that contains four variables day unsigned char month unsigned cha
33. 3 grifo ITALIAN TECHNOLOGY LEDBLINKSTATUS Definition include lt GCLIBD H gt unsigned int ledblinkstatus void Library CL LIB Description Function ledblinkstatus returns the bliking status of LEDs that the console hardware device connected may eventually have QTP 24 and QTP 24P the device will have to be selected and or initialized previously Example unsigned int blink blink ledblinkstatus Parameters returned Function ledblinkstatus returns a 16 bit word whose least significant bit bit 0 corresponds to LEDO and most significant bit bit 15 corresponds to LED15 as indicated in figure If a bit in the word returned is set 1 the correspoding LED is blinking and viceversa LEDSTATUS Definition include lt GCLIBD H gt unsigned int ledstatus void Library CL LIB Description Function ledstatus returns the activation status of LEDs that the console hardware device connected may eventually have QTP 24 and QTP 24P the device will have to be selected and or initialized previously Example unsigned int led led ledstatus Parameters returned Function ledblinkstatus returns a 16 bit word whose least significant bit bit 0 corresponds to LEDO and most significant bit bit 15 corresponds to LED 15 as indicated in figure If a bit in the word returned is set 1 the correspoding LED is on or blinking and viceversa Page B 14 GCTR Rel 5 40
34. 7 QTP24P 27 SERO 27 SERI 27 VFD20X2 27 CONTROLCARD 4 CTOBIN 11 25 CTODEB 11 18 35 D DATA AREA 8 17 22 35 DATE 36 DEBOUNCING 28 DEBUG 21 DEBUGGER 9 11 15 25 DESCRIPTION OF GCTR 20 DEMO PROGRAMS 36 DEMOCONS C 27 DEMOFPC 21 DEVELOPMENT 4 8 ITALIAN TECHNOLOGY DIFFERENCES AMONGST BORLAND C TURBO C OR C AND GCTR 35 DIRECTORY CAGCTRXXX 9 DIRECTORY GCTR 9 DIRECTORY C TD_GCTR 9 DMA 20 25 DOWNLOAD TIME 2 E EMULATORS 21 EPROM 4 7 15 16 17 22 EPROM PROGRAMMER 7 EPROM PROGRAMMING 12 EXETOBIN 21 Page D 2 GCTR Rel 5 40 FLASH EPROM 4 7 12 13 15 16 17 22 FLASH EPROM AREAS 13 FLASH EPROM PROGRAMMING FLASH WRITER 12 FLASH WRITER 13 16 24 FLASH WRITER AREA 13 FLASH WRITER EXECUTION 14 FLOATING POINT 21 FWR 4 7 13 17 37 G GCLIBD H 27 GCTRIDE 35 GENERAL INFORMATION 2 GET188 14 17 5 6 17 2 12 1880 4 13 16 27 4 GPC 188F 4 13 16 27 C 2 883 4 16 27 C 6 GPC 884 4 16 27 C 1 H HARDWARE BREAKPOINT 21 HEAP 22 HOW TO START 17 I LD E 8 11 17 18 35 INSTALLATION 8 INTERRUPTS 20 B 4 B 6 B 8 INTRODUCTION 1 ADDRESSES 20 1 K KDX 26 27 A 5 KEYBOARD 28 L LIBRARY 10 26 34 36 B 1 LIBRARY FUNCTIONS B 1 DISABLE 4 DOS GETDATE 5 DOS GETTIME 6 DOS GETVECT 6 GCTR Rel 5 40 Page D 3 g
35. E USE OF 8 USER AREA 13 15 USER AREA DELETION 15 USER CONFIGURATION 35 USER MANUAL 7 V VERSIONS OF GCTR 38 W WATCH DOG 20 34 WORKING SOFTWARE 6 Page D 6 ITALIAN TECHNOLOGY GCTR Rel 5 40
36. ECTIONS For further information about console devices nominated in this paragraph and their possible configurations and potentialities please refer to the specific documentation available on grifo website or CD CONSOLE PREDEFINED SYMBOLS GCTR provides an header file called GCLIBD H that includes the definition of a set of symbols that must be used for high level management of console device QTPI6P gt Identifies the hardware console device 16 QTP24P gt Identifies the hardware console device 24 KDxx24 gt Identifies the hardware console device KDx x24 SERO gt Identifies the hardware console device serial port B SERI gt Identifies the hardware console device serial port A PRINTER gt Identifies the hardware console device parallel printer LCD20x2 Identifies a 20 characters by 2 rows LCD display LCD20x4 gt Identifies a 20 characters by 4 rows LCD display LCD40x2 gt Identifies a 40 characters by 2 rows LCD display VFD20x2 gt Identifies a 20 characters by 2 rows fluorescent display In the same file are present in addition to these symbols the prototypes of all the library functions for console management available to the user these latter are widely described in APPENDIX B Please remark that the symbols can be used directly as parameters for the library functions and that symbols marked with must be ORed with symbols marked with to define complete
37. GCTR Grifo Rom USER MANUAI Via Artigiano 8 6 0 40016 San Giorgio di Piano 9 fo Bologna ITALY ITALIAN TECHNOLOGY E mail grifo grifo it http www grifo it http www grifo com Tel 39 051 892 052 a r FAX 39 051 893 661 GCTR Edition 5 40 Rel 06 February 2002 GPC grifo are registered trademarks of grifo GCTR Grifo Rom USER MANUAI GCTR is a complete and poweful software package that allows to develop C application programs taking advantage of its fast comfortable and efficent development environment and debuggin environment It is available for each of the grifo cards based on microprocessors of family Intel 86 GCTR can save in FLASH EPROM the code developed inits environments this makes easier the final update and installation phase that can be done even on the field A wide set of library functions allow to manage immediatly several operator interfaces normally present in most of automation applications Via Artigiano 8 6 40016 San Giorgio di Piano 9 fo Bologna ITALY ITALIAN TECHNOLOGY E mail grifo it http www grifo it http www grifo com Tel 39 051 892 052 a r FAX 39 051 893 661 GCTR Edition 5 40 Rel 06 February 2002 GPC grifo are registered trademarks of grifo DOCUMENTATION COPYRIGHT BY grifo ALL RIGHTS RESERVED No part of this document may be reproduced transm
38. GURATION IN EXECUTION The values of the addresses reported in figures 5 and 6 change according to the memory configuration installed on the control card and the memory area sizes set during the installation phase as described in the following tables Size of DATA area set ADDR 0 ADDR1 ADDR2 ADDR3 ADDR4 during installation FIGURE 7 SRAM MEMORY ADDRESSES VALUES SET DURING INSTALLATION GCTR Rel 5 40 Page 23 grifo ITALIAN TECHNOLOGY Configuration SRAM on card ADDR 5 128 Kbyte 10000H 256 Kbyte 20000H 512 Kbyte 80000H FIGURE 8 SRAM MEMORY ADDRESSES VAMUES OF CONTROL CARD CONFIGURATION Size of CODE area set ADDR 6 ADDR ADDRS ADDR 10 during installation FIGURE 9 ROM MEMORY ADDRESSES VALUES SET DURING INSTALLATION Configuration ROM on card ADDR 6 128 Kbyte E0000H 256 Kbyte C0000H 512 Kbyte 80000H FIGURE 10 ROM ADDRESSES VALUES OF CONTROL CARD CONFIGURATION size change according to the size of the application program under development and can be decided only by the user MEMORY USE NOTES Information about both data area and code area size of application program can be found in the files lt filename gt MAP and lt filename gt ABM which are generated by GCTR during its normal work The user area referred to by paragraph FLASH EPROM PROGRAMMING is the FLASH EPROM area delimited between the add
39. ND C TURBO OR C AND GCTR The differences are due to the fact that the first three have been developed for PC hardware platforms where also an operating system exists while the control card where the last one works does not have this structure 1 Thestandard start up code must be replaced with a specific one capable to work from EPROM or FLASH EPROM even when the operating system is absent for further information please refer to the paragraph START UP CODE GCTR Rel 5 40 Page 35 grifo ITALIAN TECHNOLOGY Jrz Some library functions related to date and time cannot be used In detail the functions to set and get the current date and time have been changed to manage the hardware real time clock RTC the control card while the functions based on system ticks cannot be modified and so used Library functions related to PC hardware peripherals files on hard disk or floppy disk mass memories monitor graphic printer serial communicatio etc cannot be used on the control card The library functions related to the console cannot be used on their original form because they use operating system calls so they have been modified to redirect their data flow on one of the hardware devices supported as described in the paragraph CONSOLE MANAGEMENT An application program developed with GCTR enters an infinite loop when it terminates because the control cannot be returned t
40. R There is the need for an EPROM programmer to burn the files generated on the development PC and to complete the application In fact the code already developed debugged and tested in all its parts must be stored permanently in a EPROM to install on the control card Please remark that the EPROM programmer is needed only if the GCTR used is not on FLASH EPROM because in this latter case the burning on the FLASH itself is performed in autonomy by the control card through the development PC anda specific programming firmware FWR xxx included in GCTR GCTR Rel 5 40 _ Page 7 grifo ITALIAN TECHNOLOGY 7 TON Cx US E Q JE GCIR To use correctly GCTR it is essential to perform the operations both sequential and not described in the following paragraphs To verify the correct working of the software package and to obtain a system ready for use in short time please follow the information reportedin the next chapter whose title is HOW TO START INSTALLATION Please consider the GCTR is a software package designed to perform all the operation of the application program creation of course except debugging on the development PC not on the control card for this reason it is convenient for the user to choose a powerful fast and secure PC to make the installation Here follows the list of operations that the user must perform to install correctly the
41. READ ME and that they can be read and printed also in a second moment 13 Verify that on the development PC s hard disk the directories C TC_GCTR C TD_GCTR and C GCTRxxx have been created correctly and that they contain the files described in the following paragraphs 14 At this point installation is completed To complete the explanation here follows a short description of all the files installed on the development PC use information are reported in the next chapter DIRECTORY C TC_GCTR This directory contains 9 files and or programs that allow to compile and link the C source of the application program and to obtain the executable file Documentation about these files can be found in Borland C TURBO C TURBO manuals DIRECTORY C TD_GCTR This directory contains 15 files and or programs that allow to debug the application program under development please remark that the debugger in the GCTR software package is a very powerful symbolic source level debugger capable to manage directly the control board hardware breakpoint trace data structures visualization etc in a simple and intuitive mode with a multiple windows representation pull down menus shortcuts etc Also for this program documentation can be found in Borland TURBO DEBUGGER manuals DIRECTORY C GCTRXXX After the installation this directory contains 80 files and or programs that allow to use the whole GCTR software package The user must alwats work in th
42. SWI F300H Dip Switch isiti SWITCH ip Switch acquisition register FIGURE I O REGISTERS ADDRESSES ON GPC 188 2 or 2 GCTR Rel 5 40 Page C 3 grifo ITALIAN TECHNOLOGY woes w ron feae DMA DMA F100H R W Disable DMA request register IOBUS F180H F1FFH Addresses for 1 0 BUS T O BUS management PA F200H Port A data register PB F201H Port B data register PPI 82C55 202 Port data register F203H Control and command register FicunE C4 I O REGISTERS ADDRESSES ON GPC 188D 1 or 2 GCTR Rel 5 40 Page C 4 DEVICE PURPOSE Units of seconds data register Decines of seconds data register Units of minutes data register Decines of minutes data register Units of hours data register Decines of hours data register AM PM M Units of day data register Decines of day data register F288H Units of month data register MOIO F289H Decines of month data register wa F28AH Units of year data register Decines of year data register HI 10 1 10 Ol YI Day of week data register D control and status register E control and status register GF F28FH F control and status register WR PROT F300H SRAM write protection register DIP or SWITCH DSWI F300H E Dip Switch acquisition register LEDS F340H Register to manage act
43. a GCTR application program can manage even more than one input and output devices provided that they all have been initialized and that the device to be used has been selected also if a different device has been previously selected The distinction between input and output devices allows to use different hardware system for these purposes allowing for example to read data from a serial port and to print them on a parallel printer CONSOLE HARDWARE DEVICES GCTR libraries are designed to manage a set of hardware console devices that can be used for input and or output operations and that use some resources of the control card as indicated below Hardware console device Resources of control card used Serial terminals QTP xxx P C etc C I Parallel printer IAC 01 DEB 01 O 16VOdigtallins FIGURE 11 CONSOLE HARDWARE DEVICES GCTR Rel 5 40 Page 26 The devices that use 16 digital I O lines provided with a standard connector and can be connected directly to the control card following the indications of figure 12 the connector also provides power supply Should the interfaces manufactured by grifo not fulfil the user needs it is possible to build own operator interfaces following the indications in APPENDIX A where the electric diagrams of some interfaces are reported CONTROL CARD CONNECTOR CONNECSION CABLE GPC 188F FLAT 20920 GPO 188D FLAT 20 20 FIGURE 12 CONSOLE DEVICES CONN
44. and systematic elaboration of data and technical tests saved and validated from the manufacturer related to the inside modes of certainty and quality of the information The reported data are destined IN EXCLUSIVE WAY to specialized users that can interact with thedevicesin safety conditions forthe persons forthe machine and forthe enviroment impersonating an elementary diagnostic of breakdowns and of malfunction conditions by performing simple functional verify operations in the height respect of the actual safety and health norms To be on good terms with the products is necessary guarantee legibility and conservation of the manual also for future references In case of deterioration or more easily for technical updates consult the AUTHORIZED TECHNICAL ASSISTANCE directly To prevent problems during card utilization itis a good practice to read carefully all the informations of this manual After this reading the user can use the general index and the alphabetical index respectly at the begining and at the end of the manual to find information in a faster and more easy way grifo gives no warrany that this software may fulfil the user needs the production does not stop or be without errors or all the eventual errors can be corrected grifo is not responsible for problems caused by hardware changes of the computers and the operating system that may happen in the meantime the trademarks in this manual are property of the res
45. ation has been completed the development PC is not needed any more and can also be disconnected from the control card Example perform the above described operations considering that for GPC 884 the DEBUG modeis set connecting jumper J1 and that when programming the address to confirm is 000 Turn off the control card and set it to EXECUTION mode which in case of GCTR on EPROM means to replace the EPROM on the control card with the one obtained at step 17 in case of GCTR on FLASH EPROM means to set the control card in RUN mode disconnecting the specific jumper Example turn off GPC 884 and disconnect jumper J1 Turn on the control card and check that the application program starts automatically that is check that on the console PC all the prime numbers between 1 and 100 are represented So the creation of the first application program is terminated Example perform the above instructions Page 19 grifo ITALIAN TECHNOLOGY DESCRIPTION OF GCTR Here follow some general information about GCTR that the user must use during the development of the application program to take the best advantage of the control card features Of course the different features of different hardware are shown separately START UP CODE By start up code we mean that piece of code always executed by the control card immediatly after a reset or a power on that is charged to set up all the conditions needed fo
46. beginning of this area In user area be stored one or more binary files located on development PC mass memory devices floppy disk hard disk etc that have been generated by GCTR or other software packages These files can be written to FLASH EPROM starting from an user specified address until the last file is writtern or the user area is full User area cannot be written twice with different data in such case a FLASH EPROM malfunctioning error is visualized so user area must first be deleted Page 13 grifo ITALIAN TECHNOLOGY The application program developed with GCTR must be aloways stored at the beginning of the user area to be executed in RUN mode For further information about previously described memory areas please refer to the paragraphs MEMORY ORGANIZATION FLASH WRITER EXECUTION To execute correctly the FLASH EPROM management program the following steps must be performed when needed the differences between MS DOS and WINDOWS are specified 1 Run GET188 on the development PC connected to the control card typing gt 88 T lt ENTER gt under MS DOS double clicking on the icon FLASHWR under WINDOWS and wait for the presentation window to disappear 2 Preparethecontrolcardas describedin the previous paragraph BOARD CONFIGURATION then reset or turn off and on the control card to run FLASH WRITER 3 FLASHWRITER starts showing its version number size o
47. cribed in paragraph CONSOLE PREDEFINED SYMBOLS Example unsigned int devin devin QTP16P LCD20x4 Set as console 16P with display LCD 20x4 setIn devin Parameters returned Function setIn returns 0 in case of invalid device and viceversa SETOUT Definition include lt GCLIBD H gt unsigned int setOut unsigned int device Library CL LIB Description Function setOut allows to select the output console hardware device and prepares it for the future operations performed by other console functions The input parameter device specifies the console connected to control card and must be defined as described in paragraph CONSOLE PREDEFINED SYMBOLS Example unsigned int devout devout SERO Set as console serial B setOut devout Parameters returned Function setOut returns 0 in case of invalid device and viceversa GCTR Rel 5 40 _ Page B 19 grifo ITALIAN TECHNOLOGY SETSERIAL Definition finclude lt GCLIBD H gt void setSerial unsigned char nser unsigned long baud unsigned char bitxchr unsigned char parity unsigned char stopbit Library CL LIB Description Function setSerial manages initialization of serial line indicated by nser to prepare it to work with successiveconsole functions The five input parameters are nser serial port to initialize 0 serial B 1 gt serial A baud baud rate 50 115200 bitxchr bit pe
48. d about next possible operations 10 During the execution of most of the phases it is possible to stop the operation by pressing the ESC key that terminates the FLASH WRITER This key has the same effect of exit operation 11 During every phase of the program possible malfunctioning are verified file system access error FLASH deletion error FLASH write error etc and in case one of them occours and informative message appears immediatly 12 Exit from GET188 on the development PC pressing at the same time the keys lt ALT gt lt X gt to return the control to the operating system CHANGES TO INSTALLED APPLICATION DEVELOPMENT EXECUTION A very common feature requested to any system is the possibility to intervent easily on the application programs to update them modify them or verify their working when they are operational GCTR responds to this request by providing the possibility to perform these operations of updating modifing and verifing in a simple and efficent way always using the only development PC The technique provided is the possibility to stop the already installed application program execution EXECUTION mode and to return to the verify and modification condition described in the paragraph USE OF GCTR DEVELOPMENT mode Both EXECUTION and DEVELOPMENT mode have already been widely described in the previous paragraphs so in this paragraph only the passage from one mode to the other is described in two differe
49. ddition madalities are the typical ones of the used Borland package managed by dedicated program TLIB When the source code of the library functions that must be modified or added is available it can be alternatively used the include tecnique the source files will be simply inserted inside the application program used with CTODEB and CTOBIN Using the library functions means to include its specific header files H where function protoypes and eventual data structures are declared The complete set of H files it stored in the work directory of GCTR during the installation and the user should include only the ones needed In APPENDIX B of this manual the list of library functions ROMed and or modified is present in the list also function s needed header file name is specified The library functions provided replace the standard functions with the same name so can be used directly in the applications program developed by the user The source file of libraries is not included in GCTR package but can be requested directly to grifo if this is essential Several demonstration program that use library functions are proveded to make them immediatly usable Remarkable is the possibility to manage directly the console redirected to the serial port of control card in fact this feature provides the user a minimun interface like the one usually available for Borland C on PC without any effort To take full advantage of this feature the user will have to
50. documentation included in the software package In stall a Borland C programming package Example install Borland C Ver 3 1 following the information and the possibilities of its installation program Install GCTR selecting the development environment I D E the development PC serial port and the configuration for the memories installed on the control card Example confirm the choice of Borland I D E BC EXE select COMI in the serial port request window set the size for CODE AREA SIZE to 128K Bytes set the size for DATA AREA SIZE to 128K Bytes after the copy reselct COMI in the GET188 installation window and insert the user personal data Install the EPROM TDE B xxx or FLASH EPROM FWR xxx on the specific socket of control card and set it to DEVELOPMENT mode Example install FLASH EPROM FWR 884 on socket 5 connect jumper J1 run FLASHWR on the development PC supply the control card cancel the user area with FLASH WRITER on the FLASH EPROM then program it with file TD884 IMG at the beginning of user area confirming the truncation exit from GET188 pressing lt ALT gt and lt X gt at the same time disconnect jumper J1 and turn off and on the control card Connect serial line A of control card to the development PC s selected serial port taking care to respect the RS 232 standard in the connection of signals GND TxD and RxD For further information about this connection please refer
51. e DMA transfers If the user needs to save 10 Kbytes of messages in four different languages totalizing 40 KBytes in ROM and the application program size is 50 KBytes then the control card will have to be configured with 128 KBytes of EPROM or FLASH EPROM GCTR will have to be installed with 128 KBytes of code area and messages wil be storable starting from F0000H This address has been chosen 14 KBytes after ADDR 7 EC800H to let the application program grow in size without having to move the messages To get information about size of code and data areas used by the application programs developed with GCTR to sum to size of reserved areas to install correctly the package and select the right quantity of memory installed on the control card the user can examine the file ABM generated by the support program CTOBIN This file in fact contains the list of all application program segments specifing their size in bytes Should the available configurations not to be able to satisfy the application program requirements please contact grifo directly GCTR Rel 5 40 Page 25 grifo ITALIAN TECHNOLOGY CONSOLE MANAGEMENT The development system GCTR is charged to manage a set of operator interfaces that can be used through C high level instructions dedicated to console management Operator interfacement has always been one of the worst problems of application programs so availability of tool
52. e been flags 1 After having added the missing letter compilation must be repeated and if there are no errors compilation must be repeated Example move to row 48 where the compiler has found an error and add the missing s repeat the compilation described at step 9 After having verified and corrected the syntax of TEST C exit from I D E check for errors absence during the next phases of compiling and linking wait for TURBO DEBUGGER to run and confirm the program transmission through the serial line as requested by the specific pop up window Example perform the above described operations confirming by keyboard pressing ENTER or by mouse clicking on key Yes when the message Program out of date send over link appears Wait for the transmission phase to end and the source of TEST C to appear on the monitor select the execution command RunlRun Doing so on the console PC s monitor the list of the prime numbers included in the range 1 to 100 will appear it is possible to verify the correctness and completeness of the list The user should immediatly note the absence of prime number 1 program TEST C has a functional error that must be located Example perform the above described operations Stop the program execution by pressing lt CTRL gt lt BREAKs gt close the CPU window that appears with lt ALT gt lt F3 gt reload the program with the command RunlProgram Reset place the cursor at the e
53. el console functions cprintf cputs getch kbhit etc to manage a set of operator panels like QTP xxx QTP xxxP serial terminals or more simply alphanumeric display and matrix keyboards Flexible locator for 80x86 microprocessors preset to generate binary files Ready to operate also matched with application programs that manage interrupts without limits for the response procedures Code can be stored into EPROM or FLASH EPROM Possibility to use only part of available SRAM for data stack and heap and to keep the remaining for storing parameters data logher etc Possibility to use only part of available ROM for code and to keep the remaining for storing messages tables etc Use of Borland standard linker and compiler Hardware debugging Complete management of target board watch dog circuit The user can mantain always connected the watch dog circuit when required even during download and debug phases GCTR is a non intrusive development environment in fact it does not use interrupts for its own and performs no action in autonomy One serial line on the debugged board is used during the debugging phase GCTR is deterministic execution times of its functions are constants so it can also be used in real time applications Included there is a specific installation program to perform automatically the package configurations No royalties or further costs Provided on floppy disks pre programmer memor
54. er to C programming manual Example integer i float d cscanf 46d f amp i amp d Parameters returned Function cscanf returns the number of values correctly acquired GCTR Rel 5 40 Page B 3 grifo ITALIAN TECHNOLOGY DELAY Definition include DOS H void delay unsigned int milliseconds Library CL LIB Description Function delay performs a calibrated delay whose lasting is determined by parameter milliseconds and is expressed in milliseconds Example outp PA 0x01 Activates output for 50 msec delay 50 outp PA 0x00 Parameters returned Function delay returns nothing DISABLE Definition include lt DOS H gt void _disable void Library LCTR_T LIB Description Function _disable disables the microprocessor interrupt management bit which finds in the flags register Example _disable Parameters returned Function _disable returns nothing Page B 4 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo DELLINE Definition include lt CONIO H gt void delline void Library CL LIB Description Function delline deleters the line where the cursor finds then the cursor is located at the beginning of the line If a serial line has been selected as output console device it will receive the ADDS View Point codes for this action Example integer i de
55. es in the least time possible Here follows the list of these demo programs with a short description C GCTRxxx DEMOCONS C Demo for the management of all console hardware devices through library functions C GCTRxxx DEMOFP C Demo for the management of the main mathematical functions on floating point variables C GCTRxxx DEMORIT C Demo for the management of the time delays functions Page 36 GCTR Rel 5 40 C GCTRxxx DEMORTC C Demo for the library functions that manage date and time through real time clock CAGCTRxxxMRQxxx C Demo for the management of interrupt generated by hardware peripherals of GPC xxx control card CAGCTRxxxWRxxx C Demo for the management of all hardware sections of GPC xxx control card C GCTRxxx TEST C Program to learn the GCTR use modalities used in the chapter HOW TO START C GCTRxxx DEBO1 C Demo programs for DEB 01 didactic board management connected to GPC xxx control card in all its sections Of course all these programs are provided in source form are well documented and are structured to be used directly by the user This latter will be able whether to use part of these examples for examples the functions without any change orto examine the source text and modify it according to the needs GCTR Rel 5 40 _ Page 37 The following basic versions of the sofware package are available GCTR xxx
56. executable typing CNGCTRxxx CTOBIN TEST C lt ENTER gt under MS DOS dragging the icon of file TEST C on the icon CTOBIN under WINDOWS to create the file TEST IMG in the work directory Example run the support program as above indicated Now the control card must be set in EXECUTION mode in case of GCTR on EPROM file TEST IMG must be used to burn an empty EPROM whose size is equal to the size indicated at step 3 through an EPROM programmer connected to the development PC in case of GCTR on FLASH EPROM control card must be turned off set to DEBUG mode the program GET188 must be run on the development typing C GCTRxxx gt GET188 T lt ENTER gt under MS DOS double clicking on the icon FLASHWR under WINDOWS turn on control card wait for program FLASH WRITER to start confirm the execution pressing lt gt select the user area deletion pressing lt 1 gt and confirm the operation pressing lt Y gt wait for the end of the deletion and press a key to return to FWR main menu here select the write user area option pressing lt 0 gt type the name of the file to store in the area CE TEST IMG lt ENTER3 gt cofirm the programming address pressing ENTER confirm programming with truncation pressing lt Y gt wait for the end of programming and press a key to return to the main menu select the option to exit form FWR pressing lt 3 gt exit from GET188 pressing lt Alt gt lt X gt In both cases after the programming oper
57. f FLASH start address of free user area and the first help screen 4 Read carefully the help screens selecting them with the keys N and P then continue the execution pressing ENTER 5 Select the operation desired by pressing the corresponding numeric key 0 3 as indicated in the menu 6 Ifthe write to user area operation is selected key 0 the user must insert the name of the file to write in this area This file must be in binary format IMG BIN etc and located in the current directory ofthe current drive The program checks forthe existance of the specified file if it exists the program continues otherwise request a new file name If the file exists the user must type the segment address from wich the programming of the selected file content must start the program will prompt automatically the first free address of FLASH that can be confirmed or changed by inserting a new hexadecimal upper case address FLASH WRITER verifies that the address inserted is included in the user area and in case it 15 it continues otherwise requires a new address If the address is valid the program checks whether the selected file can be completely written into the user area starting from the specified address and if it is possible the program continues otherwise prompts for a confirm to the programming and truncation of the final part that exceeds the user area If the user confirms the program continues otherwise the
58. function can allocate all the memory available and is particularly intresting to manage large arrays As this function returns a far pointer far_malloc does not have the 64 KBytes limit characteristic of function malloc which works with small model Example float matrix far array array far_malloc 80000L sizeof float Parameters returned Function far malloc returns a far pointer to memory succesfully allocated or a NULL pointer in case of errors The pointer returned is NULL also if free available memory is insuffucent to fulfil the request Page B 10 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo FREE Definition include lt ALLOC H gt void free void block Library LCTR_T LIB Description Function free releases memory previously allocated with function malloc If the memory indicated by block has never been allocated or is released twice unpredictable results may happen Example char buffer buffer malloc 10000 free buffer Parameters returned Function free returns nothing GETCH GETCHE Definition include lt CONIO H gt int getch void int getche void Library CL LIB Description Functions getch and getche manage the acquisition of character from the selected input console hardware device the device will have to be previoulsy selected and or initialized Acquisition suspends the execution of calling program and
59. he memory allocated if it works successfully ora NULL pointer in case of error The pointer returned is NULL also when available memory is insuffucent to fulfil completely the request CLREOL Definition include lt CONIO H gt void clreol void Library CL LIB Description Function clreol deletes all the characters from current cursor position to the end of the line without moving the cursor position If a serial line has been selected as output console device it will receive the ADDS View Point codes for this action Example integer 1 cputs Insert number of pieces clreol escanf d amp 1 Parameters returned Function clreol returns nothing GCTR Rel 5 40 _ Page B 1 grifo ITALIAN TECHNOLOGY CLRSCR Definition include lt CONIO H gt void clrscr void Library CL LIB Description Funtion clrscr deletes all the characters on the screen and locates the cursor to Home position the top left corner If a serial line has been selected as output console device it will receive the ADDS View Point codes for this action Example clrscr cputs Help screen select item with arrow keys cputs 2 Parameters returned Funtion clrscr returns nothing CPRINTF Definition include lt CONIO H gt cprintf const char format argument Library CL LIB Description Function cprintf manages the formatted represe
60. iable timep This latter must be a pointer to a variable of type time declared in header file DOS H that contains four variables ti_hour ti_min ti_sec ti_hsec all char Control card RTC does not manage hundreds of seconds structure member ti_hsec so it can be ignored Example struct time t t ti_hour t ti_min t ti_sec 1 Sets RTC to beginning of the day settime amp t Parameters returned Function settime returns nothing GCTR Rel 5 40 _ Page B 21 grifo ITALIAN TECHNOLOGY SLEEP Definition include lt DOS H gt void sleep unsigned int seconds Library CL LIB Description Function sleep performs a calibrated delay whose duration is specified in seconds by the input parameter seconds Example outp PA 0x02 Activates output for 5 sec sleep 5 outp PA 0x00 Parameters returned Functione sleep returns nothing STRDATE Definition include lt TIME H gt char _strdate char buf Library CL LIB Description Function _strdate converts current date from Real Time Clock on the control card into a string that stores in the buffer buf The string generated is terminated by the classic null character and features the American notation MM DD YY where MM DD and YY are two figures numbers for month day and year So the buffer buf must be at least 9 characters long Example char datebuf 9 _strdate datebuf cprintf Date 905
61. igure 4 in this manual NOTE For GPC 188F and GPC 188D do not connect jumpers J16 and J17 FLASH EPROM AREAS Referring to figures 5 and 6 only the areas marked with can be modified through the program FLASH WRITER Here follows a short description of these areas 1 GCTR Rel 5 40 FLASH WRITER area it corresponds to the last 16K Bytes of the FLASH and it contains the code of the FLASH management program The control card always executes this portion of code after a reset or a power on its first action is to detect whether RUN or DEBUG mode are set and in consequence run the program stored in FLASH RUN mode or the FLASH WRITER DEBUG mode This area cannot be modified by the user in any way in order to avoid wrong situations which would prejudice the control card correct working Not used area it may be present in FLASH EPROMs whose sector size is greater than the 16KBytes required by the FLASH WRITER area Size of this area is variable for example OK Bytes for 128Kx8 FLASH and 48KBytes for 512Kx8 FLASH however it corresponds to an area not usable for any operation User area it corresponds the remaining free space on the FLASH except for the two previous areas for example 112K Bytes for 128Kx8 FLASH 448K Bytes for 512Kx8 FLASH and it can contain code and or data like the application program configuration data messages tables etc In RUM mode the control card always starts by executing the code stored at the
62. ile GCTR IDE as described in the paragraph USER CONFIGURATIONS even at the end of the installation 7 Select the serial port to use on the development PC COMI or COMO 8 Select the size of the two memory areas CODE AREA SIZE and DATA AREA SIZE that are to be dedicated to GCTR taking care that such sizes are respectively lower than or equal to the amount of EPROM FLASH EPROM and SRAM installed on the control card 9 This far the installation program starts to copy the work files to the hard disk During this phase a specific windwo shows the name of the file currently being copied and a progress bar indicating the percentage of work already done Insert the other GCTR xxx disks when prompted and press a key to continue 10 Wait for the end of the copy phase which will be indicated by a window informing about the succesful installation then click on Next button to continue GCTR Rel 5 40 Page 8 11 Compile the options of GET188 installation window taking to select again the development PC serial port COM1 or COM2 the communication baudrate 115200 the messages language italian or english the type of monitor used and user and firm name After completing click on Install button to continue 12 Read the update notes not yet reported on this manual that are shown in a specific window during this phase Please remark that such update notes are stored in the file
63. in the same column If the cursor is in the first display line it will be moved to the last display line HOME Code 1 0x01 Mnemonic SOH The cursor is moved to Home position i e first line first column of the display or on the other hand the up left corner CARRIAGE RETURN Code 13 Hex code 0x0D Mnemonic CR The cursor is moved to the beginning of the line where it was located CARRIAGE RETURN LINE FEED Code 29 Hex code 0 1 GS The cursor is moved to the beginning of line above the one where it was located If the cursor is at the last display line it will be moved to the beginning of the first line i e Home position Page 30 GCTR Rel 5 40 ALPHANUMERIC CURSOR PLACEMENT Code 27 89 rc Hex code 1 59 Mnemonic ESC Y ASCII r ASCII c The cursor is moved to the absolute position indicated by r and c These codes are the row and column values of the position plus a constant offset of 32 20 Hex If forexample the user wants to place the cursor at Home position line 0 column 0 the following byte sequence must be sent 27 89 32 32 If row and or column values are not compatible to the installed display the command is ignored BACKSPACE Code 8 0x08 Mnemonic BS This command moves the cursor one character position to the left and it erase the contents of the reached cell If the cursor is in Home position it will
64. include lt CONIO H gt int wherey void Library CL LIB Description Function wherey returns current vertical position y row of cursor on console display Example int col row col wherex Move cursor 3 chars down row wherey gotoxy col row 3 Parameters returned Function wherey returns the row where the cursor finds the range of this value changes according to which console is selected Page B 24 GCTR Rel 5 40 ITALIAN TECHNOLOGY APPENDIX ADDRESS DEVICE REG ADDRESS PURPOSE 2 IOBUS R W ABACO I O BUS addresses RUN DEB RUNDEB F100H Register for configuration jumper acquisition HOU10 105 R W s D m FicunE I O REGISTERS ADDRESSES ON GPC 884 Data register for seconds units Data register for seconds decines Data register for minutes units Data register for minutes decines Data register for hours units Data register for hours decines and AM PM Data register for day units Data register for day decines Data register for month units Data register for month decines Data register for year units Data register for year decines Data register for week day Control register D 2 Control register E Control register F Register for watch dog retrigger GCTR Rel 5 40 _ Page 1 grifo
65. is directory because the files present allow to access the other directories so that all the operation like editing compilation linking debugging EPROM image preparation etc can be performed In detail these files are STDEB OBJ gt These are the startup code used during the linking of the application program STBIN OBJ gt for the debug phase and binary image generation such codes provides to set and to initialize opportunely the hardware being used so that the C main function of application program may take control of the card The files change according to the memory configuration chosen at point 8 of installation GCTR Rel 5 40 Page 9 grifo _ ITALIAN TECHNOLOGY LCTR_T LIB gt CL LIB gt EMU MATL LIB gt H gt LOC EXE gt EXETOBIN LOC gt CTODEB gt CTOBIN gt FLASHWR gt GCTR IDE gt TDxxx IMG gt GET188 EXE gt G188HELP HLP gt GET188IN gt GHEX2 COM gt INSTALL LOG gt UNINSTALL EXE gt C gt READ ME gt Page 10 This 15 a library file for the cotrol card used during the linking of the application program that allows the executable generated for an operating system to be ROMmed and executed on the control card This 15 the Borland standard library file for the Large memory model some of its functions have been modified to be used on the control card also this file is used during the linking
66. itialize the microprocessor register used to manage I O RELOC PACS A setting common for all the control cards is to set the I O internal microprocessor addresses starting from FF00H and to set the I O addresses of on board peripherals starting from the values reported in APPENDIX C of this manual These addresses especially the peripherals addresses must be used directly by the user in the C application program and are also used by the ROMed libraries provided with GCTR so they can t be changed for any reason Page 20 GCTR Rel 5 40 LOCATOR The GCTR locator allows to locate code and data anywhere in the control card conventional memory space It works on standard executable files EXE and on MAP files generated by the Borland C C creating a binary file that can be burned on EPROM or used to program a FLASH EPROM It may also create a file in Intel OMF absolut format if needed such file is used by most of the emulators Allocation commands are in an human readable format they indicate the files that the locator must use the ROM addresses the SRAM addresses of the segments and the memory areas available Such commands must not be provided by the user infact they are already written in the file EXETOBIN LOC during the GCTR installation Locator performs cross verifies during allocation It checks for ROM overflows code overlappings SRAM and ROM overlappings missing correspondances between EXE and
67. itted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means either electronic mechanical magnetic optical chemical manual or otherwise without the prior written consent of grifo IMPORTANT Although all the information contained herein have been carefully verified grifo assumes no responsability for errors that might appear in this document or for damage to things or persons resulting from technical errors omission and improper use of this manual and of the related software and hardware grifo reserves the right to change the contents and form of this document as well as the features and specification of its products at any time without prior notice to obtain always the best product For specific informations on the components mounted on the card please refer to the Data Book of the builder or second sources SYMBOLS DESCRIPTION In the manual could appear the following symbols Attention Generic danger J Attention High voltage Trade Marks GPC grifo are trade marks of grifo Other Product and Company names listed are trade marks of their respective companies GENERAL INDEX INTRODUCTION gm 1 SOFTWARE VERSION scsicisiccoscosasedcccianevescendutvcesdatedsoaanapeccbusses 1 GENERAL INFORMATION
68. ivity LEDs FicunE C5 I O REGISTERS ADDRESSES ON GPC 188 2 or 2 GCTR Rel 5 40 l Page C 5 grifo ITALIAN TECHNOLOGY DEVICE ADDRESS PURPOSE ABACO VO BUS FO00H FOFFH R W Addresses for ABACO I O BUS BUS management RUN DEB RUNDEB F100H EX Units of seconds data register SECI F100H Decines of seconds data register SEC10 Units of minutes data register MINI F102H Decines of minutes data register MIN10 F103H Units of hours data register HOUI F104H Decines of hours data register AM PM HOUIO F105H Units of day data register DAYI F106H Decines of day data register DAYIO F107H Units of month data register MONI F108H Decines of month data register MONIO F109H Units of year data register YEAI F10AH Decines of year data register YEAIO F10BH Day of week data register WEE F10CH D control and status register REGD F10DH E control and status register REGE F10EH F control and status register REGF F10FH Registro di controllo F DASCTRL F500H A D converter control register DASL F500H A D converter low data register DASH F501H EX A D converter high data register F540H Port A data register F541H Port B data register Port C data register Control and command register Watch Dog retrigger register DSWI R Dip switch acquisition register Registers to manage UART CAN SJA 1000 in BasicCAN or PeliCAN CAN F600H F67FH R W modalities regis
69. k to get the complete package to be able to take advantage of all of its tools library functions on line and on paper documentation etc Borland C C is development environment for DOS and or WINDOWS programs so even if its compiler and linker can be used to develop embedded code its debugger and libraries require the presence of an operating system GCTR provides the missing parts to the programmers who want to use Borland C C to develop programs for and embedded hardware that does not have an operating system Both GCTR and any program developed using GCTR are not subject to any royalty the user can develop an unlimited number of application programs also in different versions without having to inform grifo about them Complete development environment on ROM for family I86 CPU s and compatible Programmation in Borland C C On board debugging through Borland Turbo Debugger Source level remote debugging Short download time of application program to debug about 6 Kbyte second Start up code for ROM storage to execute the application program after a reset or a power on Large memory model is used to have maximum room available for code data stack and heap Floating point completely available Page 2 GCTR Rel 5 40 Library storable into that provides the most frequently used functions malloc free interrupt delay etc in the automation field Possibility to use high lev
70. lities under WINDOWS are shown when they happen to be different 1 2 2 GCTR Rel 5 40 Enter in directory C GCTRxxx on the development PC s hard disk Check the user configurations and modify them according with used editor and Borland C I D E settings as described in USER CONFIGURATIONS paragraph Run the support program CTODEB typing CNGCTRxxx CTODEB lt filename gt C lt ENTER gt under MS DOS dragging the icon lt filename gt C onto the icon of CTODEB under WINDOWS this runs the Borland I D E or the editor specified during the installation phase with file lt filename gt C as target In this environment the user must develop the C program according to the rules of the programming language being careful not to modify the name of the C source file being used after writing the application program or the part of it that must be tested it is convenitent if the user is running an I D E to check the syntax correctness giving the compilation command It is now possible to exit from the I D E or the text editor the source is automatically compiled and linked with the specific programs in the directory C TC_GCTR It is essential to check for absence of errors in this phase if errors are present the execution of CTODEB must be terminated and point 3 must be repeated since the beginning to correct the errors If compiling and linking complete succesfully the debugger that finds in directory C TD_GCTR is automatically
71. lized previously The function can use one of the control card serial lines according to the parameter nser 0 gt serial B and 1 gt serial A Example unsigned char tx 10 for 120 1 lt 5 i serOut 0 tx i Cycle to send 5 chr on serial B Parameters returned Function serOut returns nothing SERSTATUS Definition include lt GCLIBD H gt unsigned char serStatus unsigned char nser Library CL LIB Description Function serStatus checks for a character reception from serial line nser the serial line must be initialized previously The function can use one of the control card serial lines according to the parameter nser 0 gt serial B and 1 gt serial A and does not suspend program execution Example unsigned char rx if serStatus 0 If character received from serial B rx serin 0 fetch it Parameters returned Function serStatus returns a value different from 0 if a character has been received and viceversa Page B 18 2 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo SETIN Definition include lt GCLIBD H gt unsigned int setIn unsigned int device Library CL LIB Description Function setIn allows to select the input console hardware device and prepares it for the future operations performed by other console functions The input parameter device specifies the console connected to control card and must be defined as des
72. lline cputs Input number of pieces cscanf od amp 1 Parameters returned Function delline returns nothing DOS GETDATE Definition include lt DOS H gt void _dos_getdate struct dosdate_t datep Library CL LIB Description Function _dos_getdate fetches current date from Real Time Clock on the control card and stores it to the structured variable datep This latter must be a pointer to the type dosdate_t declared in the header DOS H that contains four variables day unsigned char month unsigned char year unsigned int and dayofweek unsigned char Example struct dosdate_t dd _dos_getdate amp dd cprintf Current date 2d 2d 2d dd day dd month dd year Parameters returned Function getdate returns nothing GCTR Rel 5 40 Page B 5 grifo ITALIAN TECHNOLOGY DOS GETTIME Definition include lt DOS H gt void _dos_gettime struct dostime_t timep Library CL LIB Description Function _dos_gettime fetches current time form Real Time Clock of control card and stores it in the structured varable timep This latter must be a pointer to a variable of type dostime_t declared in header file DOS H that contains four variables hour minute second hsecond all usigned char Control card RTC does not manage hundreds of seconds structure member hsecond so its value is always zero Example struct dostime t
73. ly the console device used No other symbols combination is allowed they may cause a console libraries malfunction For further information about the use of predefined symbols please refer to the specific demonstration program called DEMOCONS C which can manage all the console devices supported by GCTR GCTR Rel 5 40 Page 27 grifo F ITALIAN TECHNOLOGY MATRIX KEYBOARD Here follow the tables with codes returned by GCTR when a key on the console device martix keyboard is pressed To make the description as generic as possible the keys are identified through their position in the matrix that is through the signals of row and column available on the keyboard connector The tables on figures 13 14 and 15 and the electric diagrams on figures A2 A4 and A5 allow to know the key codes both for standard keyboards and for user made keyboards PIN CN2 24 oe eee FiGuRE 13 Key copes or KDx x24 7 5 QTP 16P ase FicurE 14 Key copes 16 24P pam rem ER aces FicURE 15 copes or 24 When the hardware device used as input is one of the above mentioned matrix keyboards in addition to the 16 I O lines also CPU Timer 2 and its interrupt are used This latter is used to perform a periodic scanning of keyboard to detect eventual key pressures and to provide the typical
74. n production EXECUTION mode it is possible to use the only necessary configuration RESERVED MEMORY One of the most common requirements during the development of industrial automation application programs is the availability of reserved memory areas completely manageable by the user where DMA transfers can be performed data acquired from the field or parameters tables and or messages can be stored etc GCTR allows to have reserved memory areas both in SRAM and in ROM by simply installing on the control card enough memory for the application program plus the reserved space and installing GCTR specifing data and code area sizes enough for the application program only Doing so all the memory amount installed on the control card but not declared is automatically reserved More in detail GCTR never accesses in autonomy SRAM in the range ADDR 4 ADDR 5 and ROM in the range ADDR 7 ADDR 10 in case EPROM is used ir in the range ADDR 7 ADDR 8 in case FLASH EPROM is used For example if the user needs 256 KBytes of SRAM to save data transferred through DMA and 50 100 KBytes of SRAM for data stack and heap area of application program then control card will have to be configured with 512 KBytes of SRAM and GCTR will have to be installed specifing 256 KBytes for data area Doing so GCTR and the application program will nevere access addresses greather than or equal to ADDR 4 40000 and starting from this address the user will comfortably manage th
75. nd of the prime numbers determination cycle row 61 then give command RunlGo To Cursor The program is executed up to the numbers representation cycle now the boolean vector flags already contains the status matched to the first 100 numbers The command DatalAdd watch specifing the variable flags pops up a window that shows its content it is easy to verify that the vector has the correct value for index 1so the absence found at step 13 is due to an error during representation Executing the code step by step by command Into it is immediate to see that the starting index is wrong in fact the first prime number printed has index 2 TmTAe GCTR Rel 5 40 15 16 17 18 19 GCTR Rel 5 40 Example perform the above described operations To correct the starting index exit from TURBO DEBUGGER with command FilelQuit and repeat step 8 correct row 63 with i 1 and repeat steps 10 and 12 Now also prime number 1 will be printed to the console PC so the program has been completely tested and verified Example perform the above described operations The program completely tested obtained in the previous step now can be stored to EPROM or FLASH EPROM on the control card to make it run automatically at power on even without the development PC connected To do this first run on the development PC the support program that generates a binary image of the
76. ng table CONTROL RUN DEBUG JUMPER GPC 188F GPC 883 884 FIGURE 4 RUN AND DEBUG SELECTION JUMPERS TABLE Where jumper not connected gt selects RUN mode jumper connected gt selects DEBUG mode NOTE Whenever the status of the RUN DEBUG mode selection jumper is changed the control board must be reset or turned off and then on because FLASH WRITER checks for its status only at startup Certainly the switching between these two operative modes is more comfortable in case of GCTR on FLASH EPROM in fact in this case the only physical intervent on the control card is the different connection of a comfortable jumper GCTR on FLASH EPROM is suggestable in the phase of application set up or however for small productions while GCTR on EPROM is certainly a better choice to produce a great number of systems with a stable application program Page 16 GCTR Rel 5 40 U MA W TO START This chapter describes the operations to perfom in order to begin to use GCTR In detail here is reported the correct sequence of operation with pratical use examples For further information please refer to the previous chpaters where each operation here explained is described with many more details Examples reported in this paragraph are reported to a GCTR in FLASH EPROM for GPC 884 with 128K FLASH EPROM FWR xxx and 128 K SRAM dis 2 GCTR Rel 5 40 Read all the
77. nt versions for GCTR in EPROM and in FLASH EPROM GCTR in EPROM EXECUTION mode is selected by installing on the control card the EPROM containing the application program obtained following the indications in the paragraph PROGRAMMING DEVELOPMENT mode is selected by installing on the control card the EPROM labelled TDEB and connecting serial port A of control card to development GCTR in FLASH EPROM EXECUTION mode is selected by setting the control card in DEBUG mode erasing the user area of FLASH EPROM then storing the application program at the beginning of the user area and setting back the control card to RUN mode DEVELOPMENT mode is selected by setting the control card in DEBUG mode erasing the user area of FLASH EPROM then storing the TURBO DEBUGGER file TDxxx IMQ at the beginning of the usera area and setting back the control card to RUN mode GCTR Rel 5 40 Page 15 grifo ITALIAN TECHNOLOGY The operations of user area deletion and programming must be performed using the FLASH WRITER following the indications given in the paragraph FLASH EPROM PROGRAMMING Both in EXECUTION and DEVELOPMENT modes when the program to save at the beginning of the user area is selected the storing with truncation of the file must be confirmed The operative mode selection RUN DEBUG is made positioning a specific jumper as described in the followi
78. ntation feature of the famous function printf to the selected output console hardware device the device must be selected and or initialized previously All formats can be used to create the constant format and for further information please refer to C programming manual Example integer 1 float d 100 cprintf Index 96d Value f r n i d i Parameters returned Function cprintf resturn the number of charactes printed Page B 2 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo CPUTS Definition include lt CONIO H gt int cputs const char str Library CL LIB Description Function cputs manages a string representation to the selected output console hardware device the device must be selected and or initialized previously String str must be terminated with null character and the function does not represent CR or LF characters Example cputs Produzione arrestata Parameters returned Function cputs resturns the represented character code CSCANF Definition include lt CONIO H gt int cscanf const char format address Library CL LIB Description Function scanf manages the formatted input feature of the famous function scanf from selected input console hardware device the device must be selected and or initialized previously All formats can be used to create the constant format and for further information please ref
79. nterrupt vectors in a safe way disabling interrupts themselves Intel86 microprocessors family can manage 256 different interrupts numbered from 0x00 to OxFF whose vectores are stored sequentially in the first kilobyte of memory from 0x0000 to 0x0400 Example _dos_setvect 5 intris void interrupt intris void Parameters returned Function _dos_setvect returns nothing ENABLE Definition include lt DOS H gt void _enable void Library LCTR_T LIB Description Function _enable enables the microprocessor interrupt management bit which finds in the flags register Example _enable Parameters returned Function _enable returns nothing Page 8 GCTR Rel 5 40 ITALIAN TECHNOLOGY I grifo EXIT Definition include lt STDLIB H gt void _exit int value Library LCTR_T LIB Description Function _ exit is different from the common C exit function because it does not to MS DOS or WINDOWS operating system but simply it stores the exit code to variable _exit_status enables interrupts and enters an infinite loop Function exit can be used with profit during debug phase in fact setting a breakpoint on it and getting the exit code it is always possible to determine the cause of program execution termination even it has not been explicitally called form application program To perform this check with TURBO DEBUGGER a breakpoint must be set on the label _exit
80. o an operating system that does not exist on the control card The termination conditions of an application program are the classical ones like an error during execution the reaching of main function end a call to INT 21H the function etc Timing of generated code are constant The absence of MS DOS or WINDOWS operating systems and their interrupts warrants unchangeable execution times of generated code consequently the possibility to fix in advance and to measure with certainty program performances The program generated by linker must be transformed in its memory utilization before being executed This transformation is called allocation and is performed by a specific program described in the paragraph LOCATOR In DEVELOPMENT mode of application program the serial line A on the control card is always used by TURBO DEBUGGER and so is not available for the application program Developing PC programs the debug is performed using monitor and keyboard which are not completely dedicated and so can continue to perform console tasks Further differences can be easily encountered during the debug phase and opportunely manged while for further information about the changes to the libraries please refer to the paragraph about libraries and to APPENDIX B DEMO PROGRAMS GCTR is delivered with a set of examples that show the employ modalities of the development package and allow to take adventage of the control board resourc
81. ogrammin of FLASH EPROM on the control card it is essential to perform a connection between one of the development PC serial ports and the serial line A of the control card This connection needs only the transmission reception and ground signals RxD TxD and GND and must be compliant to the V24 normatives of C C I T T A second communication cable may be required between console PC and serial line B of control card if the user wants to use the GCTR console This cable is like the previous described as reported here COM COM l CN2A CN 9pinsDB 25 6pinsplug 1 6 pins low p 10 TxA Development Control card FIGURE 1 SERIAL CONNECTION BETWEEN DEVELOPMENT PC AND CONTROL CARD COM COM CN B CN 9pinsDB 25 Spins plug 16 pins low p RxD 2 Console P C Control card 1 FIGURE 2 SERIAL CONNECTION BETWEEN CONSOLE PC AND CONTROL CARD The indication COM stands for one of PC serial lines while the indications CN 16 pins low p and CN 6 pins plug stand for grifo control card standard connectors described in the control card technical manual The table in the following figure shows connectors names and accessories codes cables cards etc that grifo can offer to easy and fasten the connection phase So the user can decide whether to make them in autonomy or purchase them directly from grifo GCTR Rel 5 40 _ Page 5
82. oint standard so all the command sequences start wtih character ESC corresponding to decimal code 27 0x1B Of course the effect of each command depends on the kind of hardware console peripheral used so for example all the listed commands will be managed correctly by QTP xx or QTP xxP but will not be managed by a printer or a serial terminal that is not ADDS View Point compliant Please remark that for some of the commands listed here below there are library functions which perform exactly the same action for further information refer to APPENDIX C of this manual CURSOR LEFT Code 21 Hex code 0x15 Mnemonic NACK The cursor is shifted of one position to the left without modifying the display contents If the cursor is in Home position it will be placed in the last position of the last row of the display CURSOR RIGHT Code 6 Hex code 0x06 Mnemonic ACK The cursor is shifted of one position to the right If the cursor is placed in the last position of the last row il will be moved to the Home position GCTR Rel 5 40 Page 29 grifo p ITALIAN TECHNOLOGY CURSOR DOWN Code 10 Hex code 0 0 Mnemonic LF The cursor will be moved to the line below but it will remain in the same column If the cursor is in the last display line it will be moved to the first display line CURSOR UP Code 26 Hex code Mnemonic SUB The cursor will be moved to the line above but it will remain
83. operation is aborted The next writing phase is shown by a specific status message that shows the address currently under programming during this phase the user has just to wait for its completion and verify its result The file name requested by the program is in the format lt drive gt lt name gt lt extension gt and the drives supported are all the ones of development PC Should the file to select not to be located in the current directory the right directory must be selected through the option FilelChange Dir of GET188 7 Ifthe user selects to delete the user area key 1 the confirmation request appears and in case of user confirmation the whole user area of the FLASH is deleted otherwise the operation is aborted Page 14 GCTR Rel 5 40 In case of confirmation the user has just to wait for completion of operation whose progress is indicated by a serie of dots printed on the monitor then verify its result This operation is normally used to delete the previous content of the FLASH EPROM and so making possible a successive programmation with new files data elimination is definitive so it must be selected and confirmed extemly carefully 8 Ifthe help screen representation is selected key 2 the help screens are shown to the user as described in step 4 9 If exit operation is selected key 3 the FLASH WRITER shows a proper message that informs about the stopped execution an
84. out the hardware configuration during the work but it is enough to respect the indications provided in this paragraph limitating to use only the allowed areas The grifo control cards based on microprocessors of family 186 it is possible to set size and addresses of memory devices by software through programming a set of microprocessor internal registers and the eventual on board MMU circuitery GCTR sets these registers UMCS MPCS MMCS LMCS MMU in the start up code which is also configured during the installation Control card always runs star up code after a reset or a power on so the correct memory configuration is always guaranteed in the operating phase If the memory needs of an application program change it is enough to reinstall GCTR and recompile the application program without any further modification The following figures show the possible memory configurations supported by GCTR GCTR ON EPROM GCTR ON FLASH EPROM RESET VECTOR RESET VECTOR ADDR 10 ADDR 9 USER RESERVED ROM NOT USED ADDR 8 ADDR 7 ADDR 1 ADDR O 00000H FIGURE 5 MEMORY CONFIGURATION IN DEVELOPMENT Page 22 GCTR Rel 5 40 GCTR ON FLASH EPROM FFFFFH RESET VECTOR RESET VECTOR ADDR 10 ADDR 9 USER RESERVED ROM NOT USED ADDR 8 USER RESERVED ROM ADDR 7 APPLICATION PROGRAM CODE APPLICATION ToS CODE 1 ADDR 5 ADDR 4 ADDR 3 ADDR O 00000H FIGURE 6 MEMORY CONFI
85. pective owners SOFTWARE VERSION The present handbook is reported to the GCTR release 3 5 and later The validity of the bring informations is subordinate to the number of the software release The user must always verify the correct correspondence among the two denotations Software release number is printed on the disk labels and is written in the source of some programs examples etc This manual also contains information about other programs that are part of GCTR package each of these programs has its own release number that will be specified when the explanation will require it In case of need for the technical assistance it is essential that the user provides the release number or numbers of the program s used in addtion to a clear and exhaustive description of the problem For information about GCTR releases that can be ordered and the description of the changes made please refer to chapter GCTR VERSIONS GCTR Rel 5 40 Page 1 grifo ITALIAN TECHNOLOGY GENERAL INFORMATION This manual gives all the software and hardware information to allow the user to take the maximum advantage of GCTR Grifo C To Rom feautres This manual uses the following conventions Application program is the program developed by the user it manages the software part of the system to build Control card is the grifo card used to develop the application program with GCTR as software development environment
86. pin Low Profile Male D1 D2 D3 D4 05 06 07 08 ACK BUSY PE SELECT AUTOLF FAULT RESET MODE 2 2 nF 2 2 nF 2 2 nF 2 2 nF Tide IAC 01 grifoe Date 13 11 98 Rel 1 1 Ficure A1 IAC 01 ELECTRIC DIAGRAM GCTR Rel 5 40 _ LCD 20x2 LCD 20x4 Contrast VLED i QTP 24 keyboard 6 5 4 2 O O O O O O 7407 Col 6 Col 5 Col 4 Col3 Col 2 Col 1 24 grifo Date 22 07 1998 1 2 f FicurE 2 24 ELECTRIC DIAGRAM 1 OF 2 GCTR Rel 5 40 Page A 2 r TE o ieri A ar 09 G9 9 C 1010 ZN eem c Title 24P grifoe Date 22 07 1998 Rel 1 1 FIGURE 24 ELECTRIC DIAGRAM 2 OF 2 GCTR Rel 5 40 _ Page A 3 a po DISPLAY 2x20 m OO O 2 Contrast Q Keyboard connector Keyboard 4x4 7 909 0 4 k b te 5117407 SWITCHING REGOLATOR OPTIONAL AC Power supply 16P Laie Date 22 07 98 FiGURE 4 16P ELECTRIC DIAGRAM GCTR Rel 5 40 Page A 4 20 pins VFD FUTABA LCD 20x2 LCD 20x4 CN6 CN4 lt 99509 2 d XXXXXXXX 7 x
87. r year unsigned int and dayofweek unsigned char Example struct dosdate_t dd dd day 1 Sets RTC to beginning of century dd month 1 dd year 0 _dos_setdate amp dd Parameters returned Function _dos_setdate always returns 0 to indicate that setting has been succesful DOS SETTIME Definition include lt DOS H gt unsigned char _dos_settime struct dostime_t timep Library CL LIB Description Function _dos_settime sets on Real Time Clock of control card the time stored in the structured variable timep This latter must be a pointer to a variable of type dostime_t declared in header file DOS H that contains four variables hour minute second hsecond all usigned char Control card RTC does not manage hundreds of seconds structure member hsecond so it is not evalued by the function Example struct dostime_t tt tt hour tt minute tt second 1 Sets RTC to beginning of day _dos_setdate amp tt Parameters returned Function _dos_settime always returns 0 to indicate that setting has been succesful GCTR Rel 5 40 _ Page B 7 grifo ITALIAN TECHNOLOGY DOS SETVECT Definition include lt DOS H gt void _dos_setvect unsigned int intnum void interrupt far isr O Library LCTR_T LIB Description Function _dos_setvect sets the address for the response procedure to interrupt specified by intnum into the memory area reserved to i
88. r character 558 parity parity bit management 0 gt no parity 1 gt odd parity 2 gt even parity stop bit number of stop bit 1 or 2 According to the control card used the values acceptable for the above parameters may vary the user must find the valid ones on the control card technical manual and use them to call the function correctly Hardware and or software handshakes management is never enabled by this function Example setSerial 0 19200 8 0 1 Initializes serial B serOut 0 65 Parameters returned Function setSerial returns nothing Page B 20 GCTR Rel 5 40 ITALIAN TECHNOLOGY grifo SETDATE Definition include lt DOS H gt void setdate struct date datep Library CL LIB Description Function setdate sets current date of Real Time Clock on the control card from structured variable datep This latter must be a pointer to the type date declared in the header file DOS H that contains three variables da_day char da_month char da_year int Example struct date d d da_day 1 Sets RTC to beginning of century d da_mon 1 d da_year 0 setdate amp d Parameters returned Function setdate returns nothing SETTIME Definition include lt DOS H gt void settime struct time timep Library CL LIB Description Function settime sets current time of Real Time Clock on the control card from structured var
89. r the next phases The main operations performed by start up code are listed below Sets the control card for selected memory size 2 Sets the I O configuration 3 Disables the circuiteries that can influence the program execution like internal watch dog interrupts DMA etc 4 Retrigger ther external watch dog circuit 5 Initializes an opportune stack for working 6 Resets the global variables area 7 Initializes the floating point emulator 8 Copies the initialized data area from EPROM or FLASH EPROM to SRAM 9 Installs an handler for interrupt 21H to intercept and refer eventual unexpected system callls 10 Jumps to the firsr instruction of main in C application program GCTR start up code is essential for any Capplication program and can t be replaced with Borland standard start up code because this latter is based on an execution under MS DOS or WINDOWS operating system Such code must be used also during the development phase of the application program infact TURBO DEBUGGER can execute it even if the control card hasn t been reset or turned off and on The start up code specific forthe selected memory configuration is provided already compiled in the files STDEB OBJ STBIN OBJ and are automatically linked to the application program through CTODEB and CTOBIN ADDRESSING OF HARDWARE STRUCTURES IN I O The start up code which is always executed before the main function of C application program is also charged to set and in
90. resses ADDR 6 and ADDR 8 as denoted by the which indicates the areas that the user can modify using FLASH WRITER For GCTR on FLASH EPROM the choice to have an area not used whose size depends on the memory size is due to the physical orgranization of the FLASH used In fact this latter is divided into 8 sectors of equal size for safety reasons it has been decided to protect the last sector making it unusable This safety decision reduces the user area of an amount of memory acceptable GCTR uses large memory model to provide the maximum dimension for all the areas of application program Anyhow please remind that the DGROUP segment can t exceed the 64K iclusive as described in Borland C documentation Page 24 GCTR Rel 5 40 As described on figure 5 the TURBO DEBUGGER doubles the data area of application program saved on RAM for an internal use Summarizing on control card must be installed the following SRAM size OFCOH application code application data application data stack and heap possible reserved memory In DEVELOPMENT mode GCTR uses really much more RAM than those required in EXECUTION mode in fact in the first condition TURBO DEBUGGER saves on RAM even other different areas of application program under development For simplicity security and cost reduction reasons it is possible to use a control card with the highest SRAM configuration during program generation DEVELOPMENT mode and after i
91. ritos DOS SETDATE B 7 DOS SETTIME B 7 DOS SETVECT B 8 ENABLE _EXIT 9 _STRDATE B 22 STRTIME B 23 CALLOC B 1 CLREOL B 1 CLRSCR B 2 CPRINTF B 2 CPUTS 3 CSCANF B 3 DELAY B 4 DELLINE B 5 FAR FREE 10 FAR MALLOC B 10 FREE GETCH GETCHE GETDATE B 12 GETTIME 12 GOTOXY B 13 KBHIT B 13 LEDBLINKSTATUS B 14 LEDSTATUS 14 MALLOC B 16 PUTCH B 16 QTPLED B 17 SERIN B 17 SEROUT 18 SERSTATUS B 18 SETDATE B 21 SETIN B 19 SETOUT B 19 SETSERIAL B 20 SETTIME B 21 SLEEP B 22 WHEREX B 23 WHEREY B 24 LMCS 22 LOCATOR 21 M MATRIX KEYBOARD 28 A 2 MEMORY MANAGEMENT 1 10 B 11 B 16 MEMORY ORGANIZATION 22 MEMORY USE NOTES 24 MINIMUM REQUIREMENTS 4 Page D 4 ITALIAN TECHNOLOGY GCTR Rel 5 40 5 22 22 5 22 N NOT USED AREA 13 O OMF 21 P PACS 20 PERSONAL COMPUTERS 4 PRINTER 26 A 1 Q QTP 26 27 29 A 2 B 14 R RELOC 20 RESERVED MEMORY 25 RS 232 4 5 36 B 5 B 6 B 7 12 21 22 23 RUN DEBUG 16 S SERIAL COMMUNICATION CABLE 5 SERIAL PORT 27 B 17 B 18 B 20 SOFTWARE AND FIRMWARE FOR THE CONTROL CARD 7 SOFTWARE TO DEVELOP THE APPLICATION PROGRAM 6 SOFTWARE VERSION 1 SRAM 4 STACK 22 START UP CODE 9 20 35 T TDEB 4 12 15 17 TDXXX IMG 15 TERMINAL 29 TEST C 18 TIME 36 TURBO 6 8 34 GCTR Rel 5 40 _ Page D 5 ie U UMCS 22 US
92. run Now the correct working of the application program must be verified taking advantage of the great potenitalities of Borland TURBO DEBUGGER testing it directly on the hardware of control card connected to eventual external electronic and to the development PC After terminating the test the user can exit form the debugger and return the control to the development PC operating sytstem because CTODEB terminates when the debugger is terminated During the execution of this phase the files lt filename gt OBJ lt filename gt MAP lt filename gt EXE lt filename gt C lt filenale gt BAK are created or modified but only the file lt filename gt C is intresting for the user If the correct working verify shows no problem or error the user can continue to point 3 otherwise must repeat point 3 until the complete verify of all the program parts Of course the errors found using the debugger must be solved by the user through changes to the source of the application program After the debugging phase the application program must be saved on the control card This operation is completely automatic and is performed running the support program CTOBIN typing C GCTRxxx gt CTOBIN lt filename gt C lt ENTER gt under MS DOS dragging the icon lt filename gt C onto the icon of CTOBIN under WINDOWS where lt filename gt C is the name of the C source file used at point 3 Also in this point user will have to check for the absence of errors and at the end
93. s ready to use to easy the solution of this problem surely simplifies the user work and reduces the development time The console device managed through GCTR may be matched to hardware devices to use as operation interface like printers serial terminals alphanumeric displays status LEDs matrix keyboards etc These devices can both be manufactured by grifo e g QTP xxx QTP xxxP KDx x24 DEB 01 01 etc and manufactured by third parts Console management is made by the application program thorugh specific C high level instructions cputs cscanf etc that call as many functions included in library CL LIB currently are available several functions that allow to activate status LEDs with attributes and to print and or read both numeric and alphanumeric data even formatted on all hardware devices supported For a detailed description of console functions please refer to APPENDIX B of this manual where definitions parameters description and use example are reported for each function Normally to manage correctly GCTR console the following operations must be performed in sequence a initializethe hardware device used to be able to connect the eventual console system connected operation essential only for serial systems b select the hardware device to use as input c select the hardware device to use as output d use the selected devices with high level instructions It is immediate to see that
94. sing a portable PC FLASH EPROM managementthrough GCTR is a supported operation that allows the user to modify the content of certain FLASH areas using a specific program starting from some files stored on any ofthe development PC s drives These are high level operations and are provided with help messages that support the user across all the phases Page 12 GCTR Rel 5 40 Please remark that to guarantee the integrity of data stored in FLASH EPROM and to assure everytime the presence of program FLASH WRITER this latter is always written in the last sector of the component and it can be written only by grifo The user can obtain other FLASH EPROMs for working or to install on a production system by ordering them to grifo using the code FWR xxx or FWR www 512K as described in chapter GCTR VERSIONS BOARD CONFIGURATION To manage correctly FLASH WRITER the user must perform the following hardware configurations 1 Connect the serial line A of the control card to the serial line of the development PC chosen during installation using the communication cable described in figure 1 2 Install the FLASH EPROM labelled FWR xxx on the specific socket of the control card 3 Install at least 128KBytes of SRAM on the specific sockets of the control card 4 Configure the jumpers of the control card according to its hardware configuration and select the DEBUG mode following the indications on the technical manual or f
95. splay 20x4 is used BLINKING CURSOR ON Code 27 77 Hex code 0 1 0x4D Mnemonic ESC M The cursor is activated so it is visible Now it is a blinking line placed under the char Page 32 GCTR Rel 5 40 LEDS ACTIVATION Code 27 50 n LED Attr Hex code 0 1 0x32 n LED Mnemonic ESC 2 ASCII n LED ASCII Attr The LED shown in n LED is setted with the attribute specified in Attr The LEDs numbers are included in 0 15 range as shwon in figure Bl The available attributes are as follows 0 00 Hex gt Not enabled LED 255 FF Hex gt Enabled LED 65 55Hex gt Blinking LED For example if you wish to enable LED n 5 with blinking attribute the following sequence has to be sent 27 50 5 85 If the parameters LED number or attribute are not valid the command is ignored LEDS ACTIVATION WITH MASK Code 27 52 maskl mask2 mask3 Hex code 1 0x34 maskl mask2 mask3 Menomonic ESC 4 ASCII mask1 ASCU mask2 ASCII mask3 All the LEDs available on the console system like QTP 24 QTP 24P QTP 22 QTP G28 etc are contemprarily managed as indicated in maskl mask2 and mask3 with the following corrispondence mask bit 0 7 gt LEDO LED7 mask2 bit 0 7 gt LED 8 LED 15 mask3 gt No function manteined for compatibility If a bit is placed at 0 logic state the correpondent LED is turned off disabled viceversa it will be turned on enabled if the corre
96. spondent bit is at 1 state If there are some LEDs having the blinking attribute this latter will be disabled LEDs numbers range from 0 to 15 and are assigned like in figure NOTE The mask3 must be always sent even if it has no meaning for a correct management of all the terminal s LEDs GCTR Rel 5 40 x 4 Page 33 grifo ITALIAN TECHNOLOGY LIBRARIES Libriaries cand be used when programming with GCTR like with any other C compiler The package delivers four library files LCTR T LIB to make the code ROMable CL LIB which is the Borland TURBO C standard library with console functions timing functions and date and time management functions modified MATHL LIB allows to use the wide set of Borland C mathematic functions EMU LIB to perform floating point operations with a math coprocessor software emulation when this latter 15 not available on the control card Suffix or prefix L present in many library names indicate the memory model used by GCTR This latter is Large model because it is the best choice to take the maximum advantage of the memory configuration on the control card The user can freely intervent on the libraries but only changing them in fact the support programs CTODEB and CTOBIN that perform link phase can t use other files different from those above listed Hovewer new library functions can be added to standard library CL LIB without restrictions The modification and or a
97. ters are the same reported in the component data sheet plus an offset of F600H 2 62421 2 z 2 A D MAX197 PA PPI 82 55 PC RC W DOG DIP SWITCH _ CAN SJA 1000 FIGURE C6 I O REGISTERS ADDRESSES ON GPC 883 GCTR Rel 5 40 Page C 6 APPENDIX D ALPHABETICAL INDEX SYMBOLS ABM 11 21 24 25 BAK 14 EXE 21 HEX 12 IMG 11 12 14 MAP 11 21 24 OBJ 11 NMI 21 A ADDRESSING OF HARDWARE STRUCTURES INI O 20 ADDS VIEW POINT 29 1 B 2 B 5 B 13 AUTOREPEAT 28 B BAUDRATE 9 BIBLIOGRAPHY 38 BOARD CONFIGURATION 13 BORLAND 6 8 11 17 18 20 34 35 BREAKPOINT 21 CHANGES AN ALREADY INSTALLED APPLICATION 15 CODE AREA 8 17 22 35 CONNECTION CABLE 17 CONSOLE 26 A 1 B 2 B 3 B 11 B 13 B 16 B 19 B 23 B 24 CONSOLE COMMANDS 29 ALPHANUMERIC CURSOR PLACEMENT 31 BACKSPACE 31 BLINKING CURSOR ON 32 CARRIAGE RETURN 30 CARRIAGE RETURN LINE FEED 30 CLEAR END OF LINE 31 CLEAR END OF PAGE 32 CLEAR LINE 31 CLEAR PAGE 31 CURSOR DOWN 30 CURSOR LEFT 29 CURSOR OFF 32 CURSOR RIGHT 29 CURSOR UP 30 GCTR Rel 5 40 Page D 1 gritos HOME 30 LEDS ACTIVATION 33 LEDS ACTIVATION WITH MASK 33 STATIC CURSOR ON 32 CONSOLE HARDWARE DEVICES 26 CONSOLEPC 5 CONSOLE PREDEFINED SYMBOLS 27 KDXX24 27 LCD20X2 27 LCD20X4 27 LCD40X2 27 PRINTER 27 QTPI6P 2
98. then execute single steps F8 when this is reached up to the infinite loop of _abort procedure at this point it is possible to inspect the value stored in variable _exit_status Here follows the correspondance between exit cuses and respective numeric exit codes Normal return from main gt 0x80 NULL pointer assignment gt Ox8l Stack overflow gt 0x82 Call to INT 21H of operating system gt 0x83 Floating point emulator not initialized gt 0x90 Division by 0 gt 0x91 Divisione overflow gt 0x92 Example exit 0 Parameters returned Function exit returns nothing and function itself does not return to the caller GCTR Rel 5 40 Page B 9 grifo ITALIAN TECHNOLOGY FAR FREE Definition include lt ALLOC H gt void far_free void far block Library LCTR_T LIB Description Function far_free frees the memory previously allocated by function far_malloc It is equivalent to function free in large memory model and releases memory only if the variable block has a valid value Example int huge array array far_malloc SOOOOL sizeof int far_free array Parameters returned Function far_free returns nothing FAR MALLOC Definition include lt ALLOC H gt void far far_malloc unsigned long nbytes Library LCTR_T LIB Description Function far_malloc allocates and so keeps reserved a memory block of size nbytes Bytes in heap memory area This
99. to figure 1 or to control card and PC technical manuals Example build a connection cable that connects respectively pins 2 3 and 5 ofa DB 9 female connector to pins 2 5 and 6 of a 6 pins male plug connector connect this cable to CN3A of 884 and to connector COMI of development Connect serial line B of control card to the console PC s one of its serial ports taking care to respect the RS 232 standard in the connection of signals GND TxD and RxD For further information about this connection please refer to figure 2 or to control card and PC technical manuals Example build a connection cable that connects respectively pins 2 3 and 5 ofa DB 9 female connector to pins 2 5 and 6 of a 6 pins male plug connector connect this cable to CN3A of 884 and to connector COMI of development Runonthe console PC a serial communication program and configure the logic communication protocol to 19200 Baud 8 bit per character 1 stop bit no parity on the serial port connected to serial line B of control card Example run the communication program GETS1 available on the site and or the CD of grifo9 set the above mentioned parameter in the window Option Serial port and activata the communication with the command OptionlTerminal Page 17 grifo ITALIAN TECHNOLOGY 8 10 11 12 13 14 Page 18 Run on the development PC the support program for the debugger with program
100. ware package Borland TURBO DEBUGGER with its own documentation Version and type of these software packages are not important for the above described reasons Itis suggested but not essential to use a generic communication programcapable to manage a classic terminal emulation with possibility to set through PC the console physical communication protocol Remarkable for this use are the following famous and diffused programs CROSS TALK PROCOMM BITCOMM TERMINAL HYPERTERMINAL etc or GET51 available grifo CD or website Page 6 GCTR Rel 5 40 SOFTWARE AND FIRMWARE FOR THE CONTROL CARD GCTR is based on a set of programs and files charged to make the C application program storable in a ROM despite the compiler has been designed to generate executable codes for system provided with an operating system This task is performed by libraries startup code remote debugging support programs utilities etc that change according to the features of the control card used and are made and provided by grifo For further information about software and firmware for control cards please refer to the paragraph called DIRECTORY C GCTRxxx GCTR USER MANUAL The present manual that reports all the technical information regarding GCTR operating system In detail it is possible to find hardware connections commands syntax libraries description procedures and support programs memory organization etc EPROM PROGRAMME
101. when uses CTODEB It is suggestable to use the editor integrated in Borland C LD E because it provides features like color coding syntax check an on line help about etc The choice of the editor is made during the installation phase or modifing the ASCII file GCTR IDE where the editor complete pathname 15 stored Borland if the Borlanc C I D E has been selected as editor of GCTR and the user wants to take advantage of its application program syntax check feature command Compile I D E itself must be configured for the memory model and warning level desired This means to select manually the Large memory model in the compilers options and to activate all alarm messages in messages options These configurations must be performed through the specific LD E modalities as described in its own documentation and saved to make them permanent refer to example at step 9 of HOW TO START chapter CODE AREA SIZE this is the size of memory area used by GCTR to store the application program code It can set only during installation phase DATA AREA SIZE thisisthe size of memory area used by GCTR to store data stack and heap of application program It can set only during installation phase Development PC serial port this is the development PC serial line connected to the control card used to debug and store to FLASH EPROM the application program It can set only during installation phase DIFFERENCES AMONGST BORLA
102. y device and with user manual on CD Considering the natural evolution of software packages please always refer to the eventual READ ME file in the work disk or directory This file reports all the additions changes and improvements made to all the software package not yet reported in the manual if this file is present it must be examined printed and added to this manual GCTR Rel 5 40 Page 3 grifo ITALIAN TECHNOLOGY MINIMUM REQUIREMENTS Here follows a brief description of all the material hardware and software needed to work with GCTR CONTROL CARD It is a control card belonging to grifo industrial cards listing based on a family 186 microprocessor like GPC 188F GPC 188D GPC 884 GPC 883 etc Indipendently from the requirements of the application to build the control card must be provided with at least 64K Byte of SRAM an asynchronous RS 232 serial line FLASH EPROM with one of the following labels TDE B xxx FWR xxx Ver Ver zzM yyyK zzM where control board code 77 program version yyy size of FLASH EPROM 128K or 256K Byte 77 control board clock frequence 20M 26M or 40M The above repoted list is minimum work structure in fact the same system can be expanded increasing its potentialities The control card configuration must be chosen according to the specific needs of the application that

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GCTR - grifo¨ COM