From jrh@jack.securepipe.com Tue Jan 13 03:19:47 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA08834; Tue, 13 Jan 1998 03:19:47 -0500 Received: from splat.securepipe.com (splat.securepipe.com [169.207.51.74]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id CAA00703 for ; Tue, 13 Jan 1998 02:15:36 -0500 (EST) Message-Id: <199801130715.CAA00703@aleve.media.mit.edu> Received: (qmail 7615 invoked from network); 13 Jan 1998 07:23:07 -0000 Received: from jack.securepipe.com (network-user@169.207.51.75) by splat.securepipe.com with SMTP; 13 Jan 1998 07:23:07 -0000 X-Mailer: exmh version 2.0zeta 7/24/97 From: Joshua Heling To: handyboard@media.mit.edu Subject: questions re: unix version of IC Reply-To: Joshua Heling Mime-Version: 1.0 Content-Type: text/plain; charset=us-ascii Date: Tue, 13 Jan 1998 01:23:12 -0600 Sender: jrh@jack.securepipe.com Hi - I'm a handy-board/ic newbie, so please excuse this question if it's answers seem obvious. After two weeks of writing code in DOS/Windows (yuck), I downloaded the ic-2.860beta source code, which compiled without significant trouble in linux (redhat 5). The version is, of course, a bit different from that which came with the handy-board (from Gleason Rsch, was version 2.851). My question is, can I just copy the library files that came from Gleason Rsch. into the lib directory on the unix ic installation (it seems that I can, I just want to be sure)? Are there any other issues I should be aware of (w.r.t. the beta, or using ic from unix, end-of-line conventions on library files, etc.). I'm not particularly concerned with being able to download the pcode in unix - I do have DOS easily available... BTW, thanks to all that have contributed to this really neat project - this is my first exposure to robotics, and it's been great fun so far. ----- Begin Included Message ----- From owner-laser@ns1.qsl.net Thu May 1 09:58:06 1997 X-Authentication-Warning: ns1.qsl.net: majordom set sender to owner-laser@qsl.net using -f From: "Guy Hamblen" To: "Laser" Subject: [LASER] Which Circuit for OPT210? Date: Thu, 1 May 1997 12:53:29 -0400 X-Msmail-Priority: Normal X-Priority: 3 X-Mailer: Microsoft Internet Mail 4.70.1155 Mime-Version: 1.0 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Sender: owner-laser@qsl.net Reply-To: "Guy Hamblen" Content-Length: 1037 Thanks everyone for sourcing information on this device. I've got several in hand, feedback resistors are in the mail. Now can I get existing OPT1210 user experience re: the following questions: 1) I assume (dangerous I know...) that the easiest circuit (per the Burr-Brown App Notes) is the Fig. 3 "Single Power Supply Operation"? 2) Is 12v operation recommended? 3) If 12v operation, did you use a 5.6v zener or lower value? 4) Did you use electrolytics to bypass to ground pins 1 & 8? 5) Did you build this circuit in a shielded box? 6) Does the on-board opamp provide sufficient output to drive a set of headphones or did you add another opamp gain circuit? If so what low noise device? Any highpass filter circuits? Is there any need for a bandpass filter circuit to get rid of audio highs? I am using a 3" PVC with a focusing lens (f/4") - - how did you mechanically place the OPT210 so the focused light source falls on the photodiode? My approach would be trial-versus-error.... Thanks in advance....Guy N7UN/2 ----- End Included Message ----- - Joshua -------- Joshua Heling jrh@securepipe.com SecurePipe Communications, Inc. From fredm@ml.media.mit.edu Tue Jan 13 10:41:57 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA21129; Tue, 13 Jan 1998 10:41:57 -0500 Received: from ml.media.mit.edu (ml.media.mit.edu [18.85.13.107]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id JAA22423 for ; Tue, 13 Jan 1998 09:10:43 -0500 (EST) Received: from localhost (localhost [127.0.0.1]) by ml.media.mit.edu (8.8.7/8.8.7) with SMTP id JAA26699; Tue, 13 Jan 1998 09:10:37 -0500 (EST) Message-Id: <199801131410.JAA26699@ml.media.mit.edu> X-Authentication-Warning: ml.media.mit.edu: localhost [127.0.0.1] didn't use HELO protocol To: Joshua Heling Cc: handyboard@media.mit.edu Subject: Re: questions re: unix version of IC In-Reply-To: Your message of "Tue, 13 Jan 98 01:23:12 CST." <199801130715.CAA00703@aleve.media.mit.edu> Date: Tue, 13 Jan 98 09:10:37 -0500 From: "Fred G. Martin" X-Mts: smtp Joshua - There should be no problems using the Gleason Research libraries (or any of the libraries that are on the web site). There are no differences between version 2.851 and 2.860 from the point of view of the libraries. There is a pre-compiled version for Linux. See ftp://cher.media.mit.edu/pub/projects/interactive-c/unix/ Fred In your message you said: > Hi - > > I'm a handy-board/ic newbie, so please excuse this question if it's answers > seem obvious. After two weeks of writing code in DOS/Windows (yuck), I > downloaded the ic-2.860beta source code, which compiled without significant > trouble in linux (redhat 5). The version is, of course, a bit different from > that which came with the handy-board (from Gleason Rsch, was version 2.851). > > My question is, can I just copy the library files that came from Gleason Rsch . > into the lib directory on the unix ic installation (it seems that I can, I > just want to be sure)? Are there any other issues I should be aware of > (w.r.t. the beta, or using ic from unix, end-of-line conventions on library > files, etc.). I'm not particularly concerned with being able to download the > pcode in unix - I do have DOS easily available... > > BTW, thanks to all that have contributed to this really neat project - this i s > my first exposure to robotics, and it's been great fun so far. > > > - Joshua > > -------- > Joshua Heling jrh@securepipe.com > SecurePipe Communications, Inc. > > > From dakott@alpha.delta.edu Thu Jan 1 05:56:53 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA29720; Thu, 1 Jan 1998 05:56:53 -0500 Received: from kott.my.domain (root@pm233-26.dialip.mich.net [198.110.144.127]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id FAA31795 for ; Thu, 1 Jan 1998 05:06:14 -0500 (EST) Received: from kott.my.domain (dakott@kott.my.domain [192.168.0.1]) by kott.my.domain (8.8.8/8.8.5) with SMTP id FAA01072 for ; Thu, 1 Jan 1998 05:06:33 -0500 (EST) Date: Thu, 1 Jan 1998 05:06:32 -0500 (EST) From: David Kott Sender: dakott@kott.my.domain To: handyboard@media.mit.edu Subject: Re: Digital outputs. In-Reply-To: <199712312227.QAA03595@augusta.netperceptions.com> Message-Id: Mime-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII On Wed, 31 Dec 1997, Tom Brusehaver wrote: > > G> Wich are the options to have 3 digital outputs in the handyboard? > G> No matter if i have to do little modifications to the Hardware. I > G> already know how to conect the keypad if you can tell me how > G> obtain 3 outputs.. :) > > > The SPI port is sitting there. I think you can get at 3 outputs from > those pins (SD/RD/CLK). > yet ANOTHER idea, if you are suitably masochistic, is to use the SPI port for a much more extensible I/O system. As you know, SPI uses 4 basic control signals, MOSI, MISO, CLK and SS... Ok, what we used to do in Embedded Controllers class is hook up a Serial In/Parallel Out (hereforward referred to as a SIPO) shift register. You must have at least ONE output available, so, this pretty much eliminates a L293 or, if you are bold enough, obtain additional outputs using a '138 as outlined in the HandyBoard FAQ. A SIPO you might use is the 8 bit 74164. Hook the DATA IN on the SIPO to the MOSI pin on the SPI. Hook the SPI's CLK output to the SIPO's clock pin. Use a transparent latch to update and hold the data on the outputs of the SIPO and update it with the one output pin, perhaps a 74373. To update the new 8 bits of data appearing at your latch's output, you load the SPI's data register with the byte value that you want to have across your new outputs. This data will be shifted out during the next 8 E-clock cycles. After the SPI's data register is empty indicating that the SIPO has the output byte on it's parallel outputs, pulse the single control output to update the latch's outputs. With this arrangement, you could, in theory, have many, many SIPO shift register/Latch pairs; the Serial Data In of the next stage connected to the last Parallel Output on the previous adjacent stage. One would just have to make sure that you coordinated the number of stages with the number of bytes outshifted by the SPI data register (naturally). The downside to this arrangement is the time it takes to update a digital output. The entire train (8 bits, 16 bits, 24 bits... more?) Need to be loaded and shifted out to change just ONE output. The upside is, the data will shift at 2 Mhz, which makes for a (250 ns * [8+2] ) 2.5 ms update time. Not suitable for time critical applications, (PWM, Communication) but not bad for bulk outputs. I don't think I have explained my little circuit here very well.. perhaps an ASCII graphic? Output originally going to an L293D +---------------------------------------+ |Or added via a '138 from the | |expansion buss. | | +--+----+ +----+---------+ +---------+ | LE | | | SPI CLK |'164 PO0|----| '373 |---- | +-----------+ CP PO1|----| |---- | 68HC11 | SPI MOSI | PO2|----| |---- | +-----------+ Data PO3|----| |---- New | | | PO4|----| |---- Digital +--------------+ | PO5|----| |---- Outputs | PO6|----| |---- | PO7|----| |---- +---------+ +-------+ Where: PO# is a "Parallel Output" on a SIPO Data is the "Serial Data Input" on a SIPO CP is the SIPO's clock -d Win95/NT - 32 bit extensions and a graphical shell for a 16 bit patch to an 8 bit operating system originally coded for a 4 bit microprocessor, written by a 2 bit company that can't stand 1 bit of competition. -UGU From fredm@ml.media.mit.edu Thu Jan 1 10:20:57 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA28944; Thu, 1 Jan 1998 10:20:57 -0500 Received: from ml.media.mit.edu (ml.media.mit.edu [18.85.13.107]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id JAA23720 for ; Thu, 1 Jan 1998 09:41:01 -0500 (EST) Received: (from fredm@localhost) by ml.media.mit.edu (8.8.7/8.8.7) id JAA32741 for handyboard; Thu, 1 Jan 1998 09:41:01 -0500 (EST) From: Fred G Martin Message-Id: <199801011441.JAA32741@ml.media.mit.edu> To: handyboard@media.mit.edu Subject: Re: Digital outputs. Thanks David for a nice explanation of how to add I/O using shift registers. Let us not all forget that the HB does have two uncommitted digital output ASIDE from the four SPI pins: PA7 (a bidirectional pin which is marked as digital input #9) and PA5 (a timer output pin which is marked as TO3 on the expansion header). It would seem silly to disconnect a motor driver signal when these two signals are available. Fred