From dblank@comp.uark.edu Wed Jul 1 13:17:17 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA10324; Wed, 1 Jul 1998 13:17:17 -0400 Received: from comp.uark.edu (root@comp.uark.edu [130.184.252.197]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id LAA00083 for ; Wed, 1 Jul 1998 11:56:44 -0400 (EDT) Received: from comp.uark.edu (IDENT:dblank@dangermouse.uark.edu [130.184.201.233]) by comp.uark.edu (8.9.0/8.9.0) with ESMTP id KAA12202; Wed, 1 Jul 1998 10:56:30 -0500 (CDT) Sender: dblank@comp.uark.edu Message-Id: <359A5C2E.202B4BA3@comp.uark.edu> Date: Wed, 01 Jul 1998 10:56:30 -0500 From: Douglas Blank Organization: University of Arkansas, CS X-Mailer: Mozilla 4.04 [en] (X11; I; Linux 2.0.33 i686) Mime-Version: 1.0 To: Aaron Edsinger Cc: handy Subject: Re: Serial Interface References: <199807010601.XAA26862@mail3.sirius.com> Content-Type: text/plain; charset=us-ascii Content-Transfer-Encoding: 7bit Aaron Edsinger wrote: > Hello, > I've been having some problems using my HandyBoard to talk directly to my > PC via the serial interface. I disable Interactive C and then Poke() and > Peek() as has been described on this list. I send short character strings > from my PC to the HandyBoard under Windows 95. If I send strings longer > than 2 characters, it seems that some of the characters get lost. This > behavior seems to be affected by repositioning or slightly modifying the > code, suggesting perhaps a timing issue. Although there is the HEXMON program, I too, have been trying to do what you describe, and encountered the same problems. I found it to be a timing issue, and, through trial and error, have a found some settings that seem to work most of the time. My goal was to make C code that looked the same when compiled and run on the Host is the code that ran under IC. I am including the host and HB programs here. If anyone knows of a better way of communicating, please let us know. -Doug Blank ===================================================================== dblank@comp.uark.edu Douglas Blank, University of Arkansas Assistant Professor Computer Science ==================== http://www.uark.edu/~dblank ==================== This code was written for MS C++4.0 running on Win95. //************** BEGIN: serial_HOST.c /* VC++4.0 HandyBoard Host Programming System Dr. Douglas S. Blank University of Arkansas, Department of Computer Science www.uark.edu/~dblank This code runs on a host PC. */ #include #include #include #include #include "serial_HOST.h" void main(int argc, char *argv[]) { motor(0, 100); motor(1, 100); motor(2, 100); motor(3, 100); sleep(1000); motor(0, -100); motor(1, -100); motor(2, -100); motor(3, -100); sleep(1000); ao(); print("\nThis is a test"); printf("Knob is %d\n", knob() ); printf("Analog(0) is %d\n", analog(0)); printf("Digital(0) is %d\n", digital(0)); printf("Analog(1) is %d\n", analog(1)); printf("Digital(1) is %d\n", digital(1)); printf("Analog(2) is %d\n", analog(2)); printf("Digital(2) is %d\n", digital(2)); printf("Analog(3) is %d\n", analog(3)); printf("Digital(3) is %d\n", digital(3)); printf("Analog(4) is %d\n", analog(4)); printf("Digital(4) is %d\n", digital(4)); printf("Analog(5) is %d\n", analog(5)); printf("Digital(5) is %d\n", digital(5)); printf("Analog(6) is %d\n", analog(6)); printf("Digital(6) is %d\n", digital(6)); printf("Analog(7) is %d\n", analog(7)); printf("Digital(7) is %d\n", digital(7)); printf("Analog(8) is %d\n", analog(8)); printf("Digital(8) is %d\n", digital(8)); printf("Analog(9) is %d\n", analog(9)); printf("Digital(9) is %d\n", digital(9)); printf("Analog(10) is %d\n", analog(10)); printf("Digital(10) is %d\n", digital(10)); printf("Analog(11) is %d\n", analog(11)); printf("Digital(11) is %d\n", digital(11)); printf("Analog(12) is %d\n", analog(12)); printf("Digital(12) is %d\n", digital(12)); printf("Analog(13) is %d\n", analog(13)); printf("Digital(13) is %d\n", digital(13)); printf("Analog(14) is %d\n", analog(14)); printf("Digital(14) is %d\n", digital(14)); printf("Analog(15) is %d\n", analog(15)); printf("Digital(15) is %d\n", digital(15)); beep(); sleep(1000); while (! stop_button() ) { sprintf(buffer, "%d.0", (knob() * 10)); tone( buffer, "0.1"); } } //************** END: serial_HOST.c //************** BEGIN: serial_HOST.h /* VC++4.0 HandyBoard Host Programming System Dr. Douglas S. Blank University of Arkansas, Department of Computer Science www.uark.edu/~dblank */ #define MOTOR 0 #define AO 1 #define ANALOG 2 #define DIGITAL 3 #define PRINTF 4 #define KNOB 5 #define BEEP 6 #define TONE 7 #define START_BUTTON 8 #define STOP_BUTTON 9 #define QUIT 113 #define sleep(NUM) _sleep(NUM) #define SERIALWAIT 5 unsigned short PORT = 0x3f8; // LPT1: 0x378 COM1: 0x3f8 int send(int i) { int retval; retval = _outp( PORT, i); _sleep(SERIALWAIT); return retval; } int receive() { int retval; retval = _inp( PORT); _sleep(SERIALWAIT); retval = _inp( PORT); return retval; } void hangup() { send(QUIT); } void print(char buffer[]) { int i; send(PRINTF); for (i = 0; buffer[i] != 0; i++) send(buffer[i]); send('\0'); } void motor(int motornum, int power) { send(MOTOR); send(motornum); send(power + 100); // taken off on the other end } int analog(int sensor) { send(ANALOG); send(sensor); return receive(); } int digital(int sensor) { send(DIGITAL); send(sensor); return receive(); } void ao() { send(AO); } int knob() { send(KNOB); return receive(); } void beep() { send(BEEP); } void tone(char f1[], char f2[]) { int i; send(TONE); for (i = 0; f1[i] != 0; i++) send(f1[i]); send('\0'); for (i = 0; f2[i] != 0; i++) send(f2[i]); send('\0'); _sleep((unsigned long) (atof(f2) * 1000)); // to keep from overflowing serial line } void interactive() { char c; char key = ' '; while (key != 'q') { key = getch(); send(key); printf("Sent %c\n", key); c = receive(); printf("Got %c as a return value\n", c); } } int start_button() { send(START_BUTTON); return receive(); } int stop_button() { send(STOP_BUTTON); return receive(); } //************** END: serial_HOST.h //************** BEGIN: serial_HB.c /* VC++4.0 HandyBoard Programming System (Parts taken from other HB programs) Dr. Douglas S. Blank University of Arkansas, Department of Computer Science www.uark.edu/~dblank This code runs on the HB */ #define MOTOR 0 #define AO 1 #define ANALOG 2 #define DIGITAL 3 #define PRINTF 4 #define KNOB 5 #define BEEP 6 #define TONE 7 #define START_BUTTON 8 #define STOP_BUTTON 9 #define QUIT 113 int _isspace(int a) /* returns 1 for space or tab, 0 otherwise */ /* internal routine used by atof() and cgets() */ { return ((a == 32) || (a == 9)); /* 32 is space, 9 is tab */ } /*****************************************************************************/ int _isdigit(int a) /* returns 1 if a digit 0-9, 0 otherwise */ /* internal routine used by atof() */ { return ((a >= 48) && (a <= 57)); /* 48 is '0', 57 is '9' */ } float atof(char s[]) /* Convert a string containing a number in ASCII */ /* form (integer, float, or exponential float) to a */ /* float. Strips whitespace characters (space and */ /* tab) from the front of the string, but stops */ /* parsing at the first (unexpected) non-numeric */ /* character if the string has garbage at the end. */ /* This means that " 34.3foo78" translates to 34.3. */ /* Modified from atof() function in the standard */ /* library of the Hi-Tec C compiler for CP/M. */ /* Note: all string literals converted to decimal */ /* form because IC can't deal with string literals */ /* in math calculations. */ /* Also note: very ugly code because IC will not */ /* allow any math operations on pointers! Thus, the */ /* the number string has to be treated as an array! */ /* Also also note: no error handling; assumes that */ /* the string is a valid representation of a number! */ /* Valid range for exponential-format numbers is */ /* approximately 2.0e-38 to 3.4e+38. */ { int i=0; /* index into string array */ int sign=0; /* mantissa sign flag: 0=positive, 1=negative */ int exp0=0; /* mantissa exponent counter */ int eexp=0; /* E-form exponent counter */ int expsign=0; /* exponent sign flag: 0=positive, 1=negative */ float m=0.0; /* mantissa accumulator */ /* skip any leading whitespace (space, tab) */ while (_isspace(s[i])) i++; /* skip it */ /* check for mantissa sign */ if (s[i] == 45) /* 45 is '-' */ { sign = 1; /* flag minus sign */ i++; /* point to next */ } else if (s[i] == 43) /* 43 is '+' */ i++; /* point to next */ /* now get all digits up to either a decimal point or an e/E */ while (_isdigit(s[i])) { m = 10.0*m + (float)(s[i] - 48); /* 48 is '0' */ i++; /* point to next */ } /* no more digits, so check for decimal point */ if (s[i] == 46) /* 46 is '.' */ { i++; /* point to next */ /* get all digits after decimal point */ while (_isdigit(s[i])) { exp0--; m = 10.0*m + (float)(s[i] - 48); /* 48 is '0' */ i++; /* point to next */ } } /* check for e/E exponential form */ if ((s[i] == 101) || (s[i] == 69)) /* 101 is 'e', 69 is 'E' */ { i++; /* point to next */ /* check for exponent sign */ if (s[i] == 45) /* 45 is '-' */ { expsign = 1; /* flag negative exponent */ i++; /* point to next */ } else if (s[i] == 43) /* 43 is '+' */ i++; /* point to next */ /* now get exponent */ while (_isdigit(s[i])) { eexp = eexp*10 + s[i] - 48; /* 48 is '0' */ i++; /* point to next */ } /* adjust exponent sign */ if (expsign) eexp = -eexp; /* make it negative */ } /* compute absolute value of final float */ exp0 += eexp; while (exp0 < 0) /* for negative exponents */ { m = m / 10.0; exp0++; } while (exp0 > 0) /* for positive exponents */ { m = m * 10.0; exp0--; } /* adjust final float sign from mantissa */ if (sign) return (-m); /* negative */ else return (m); /* positive */ } void disable_pcode_serial() /* necessary to receive characters using serial_getchar */ { poke(0x3c, 1); } void reenable_pcode_serial() /* necessary for IC to interact with board again */ { poke(0x3c, 0); } /* ====================================================================== For sending and receiving single bytes, you can use Randy's IC code: */ void serial_putchar(int c) { while (!(peek(0x102e) & 0x80)); /* wait until serial transmit empty */ poke(0x102f, c); /* send character */ } int serial_getchar() { while (!(peek(0x102e) & 0x20)); /* wait for received character */ return peek(0x102f); } void main(void) { int pos, c = ' ', var1, var2; float f1, f2; char buffer[80]; disable_pcode_serial(); beep(); printf("\nSerial IO Mode!"); printf("Listening..."); msleep(500L); while (c != 'q') { c = serial_getchar(); /* printf("[%d] ", c); */ if (c == MOTOR) { var1 = serial_getchar(); var2 = serial_getchar() - 100; motor(var1, var2); } else if (c == AO) { ao(); } else if (c == ANALOG) { var1 = serial_getchar(); serial_putchar(analog(var1)); } else if (c == DIGITAL) { var1 = serial_getchar(); serial_putchar(digital(var1)); } else if (c == PRINTF) { pos = 0; while (c != 0) { buffer[pos++] = c; c = serial_getchar(); } buffer[pos] = '\0'; printf(buffer); } else if (c == TONE) { pos = 0; c = serial_getchar(); while (c != 0) { buffer[pos++] = c; c = serial_getchar(); } buffer[pos] = '\0'; f1 = atof(buffer); pos = 0; c = serial_getchar(); while (c != 0) { buffer[pos++] = c; c = serial_getchar(); } buffer[pos] = '\0'; f2 = atof(buffer); tone(f1, f2); } else if (c == START_BUTTON) { serial_putchar(start_button()); } else if (c == STOP_BUTTON) { serial_putchar(stop_button()); } else if (c == BEEP) { beep(); } else if (c == KNOB) { serial_putchar(knob()); } } reenable_pcode_serial(); printf("\nHB Mode!"); } //************** END: serial_HB.c From goldt@et.byu.edu Tue Jul 7 20:33:03 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA32480; Tue, 7 Jul 1998 20:33:03 -0400 Received: from wormwood.ee.byu.edu (wormwood.ee.byu.edu [128.187.30.54]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id TAA30127 for ; Tue, 7 Jul 1998 19:48:43 -0400 (EDT) Received: from wormwood (localhost [127.0.0.1]) by wormwood.ee.byu.edu with SMTP (8.7.6/8.7.1) id RAA26916 for ; Tue, 7 Jul 1998 17:48:42 -0600 (MDT) Sender: goldt@ee.byu.edu Message-Id: <35A2B3D9.1260@et.byu.edu> Date: Tue, 07 Jul 1998 17:48:41 -0600 From: "Timothy B. Gold" X-Mailer: Mozilla 3.04Gold (X11; I; HP-UX B.10.20 9000/780) Mime-Version: 1.0 To: handyboard@media.mit.edu Subject: Interrupt Handler for Serial communication Content-Type: multipart/mixed; boundary="------------18CC6AC44E2E" This is a multi-part message in MIME format. --------------18CC6AC44E2E Content-Type: text/plain; charset=us-ascii Content-Transfer-Encoding: 7bit Here's a bit of code that will buffer incoming serial information so that no information will be lost when transmitting to the handy board. There are two files: serial_isr.c and serial_isr.asm. You'll need to assemble the .asm file using as11_ic, and then both the .c file and the .icb file need to be loaded onto the handy board. I'm sure improvements could be made to the code to clean it up a little, but it's a start (and I haven't had any problems with it yet). Enjoy! --------------18CC6AC44E2E Content-Type: text/plain; charset=us-ascii; name="serial_isr.c" Content-Transfer-Encoding: 7bit Content-Disposition: inline; filename="serial_isr.c" /* C program to read serial port with interrupt service routine */ /* First version: Written by Anton Wirsch 20 Nov 1997 */ /* Second Version: Written by Tim Gold 27 May 1998 BYU Robotics Lab goldt@et.byu.edu Really, the only thing left from the original code are a few lines in the .asm file. Everything else I pretty much had to rewrite from scratch to get it to work the way I wanted to. But the orignal code by Anton was a very helpful starting point. Needed files: serial_isr.c serial_isr.icb serial_isr.asm (needed to change the buffer size) The buffer size here is 32 bytes (probably much larger than it needs to be.) To change the buffer size, do the following: 1. Change the BUFFER_SIZE constant below to the desired number of bytes. 2. Edit the line(s) in the serial_isr.asm which contain the word "EDIT" in the comment so that the value matches that of BUFFER_SIZE. 3. Recreate the serial_isr.icb file by typing the following: > as11_ic serial_isr.asm */ #define BUFFER_SIZE 32 /* change buffer size here -- see above */ /* various constants used by the program... */ #define BAUD 0x102b /* baud rate set to 9600 */ #define SCCR2 0x102d #define SCCR1 0x102c #define SCSR 0x102e #define SCDR 0x102f int buffer[BUFFER_SIZE]; /* this is the actual buffer */ void initSerial() { /* Call this routine to activate the serial interrupt handler. */ int i,temp; /* clear out buffer */ for(i=0; i as11_ic serial_isr.asm */ /* change this line to match your library path... */ #include "/usr/local/ic/libs/6811regs.asm" ORG MAIN_START variable_CURRENT: FDB 00 * ptr to next data to be read by user variable_INCOMING: FDB 00 * number of bytes received (circular count) variable_BASE_ADDR: FDB 00 * base address of buffer (to be set by init routine) variable_DATA_FLAG: FDB 00 * flag set when data is available variable_buffer_ptr: FDB 00 * pointer to CURRENT buffer subroutine_initialize_module: /* change this line to match your library path... */ #include "/usr/local/ic/libs/ldxibase.asm" ldd SCIINT,X std interrupt_code_exit+1 ldd #interrupt_code_start std SCIINT,X rts interrupt_code_start: ldad variable_INCOMING * store INCOMING into AB cmpb #00 * compare B with 0 bhi skip * goto "skip" if (B > 0) ldx variable_BASE_ADDR * STORE ADDRESS OF ARRY IN X inx * SKIP THE FIRST (?) inx * TWO BYTES (?) inx * OFFSET TO THE HIGHER BYTE (?) stx variable_buffer_ptr * SAVE PTR VALUE bra cont skip: ldx variable_buffer_ptr * load buffer pointer into x cont: ldad variable_INCOMING * load INCOMING into AB incb * increment INCOMING cmpb #32 * compare B and 32 --EDIT TO CHANGE BUFFER SIZE-- beq reset_count * if a=32, goto reset_count bra cont1 reset_count: ldad #00 * set count to zero cont1: stad variable_INCOMING * store AB into INCOMING ldab SCSR * load SCSR (SCI status register) into B (why?) ldab SCDR * load SCSR (SCI data register) into B stab ,X * store data in array inx * increment by two bytes inx stx variable_buffer_ptr * save the pointer value ldad #01 * load 1 into AB stad variable_DATA_FLAG * store AB into DATA_FLAG (indicating data is available) interrupt_code_exit: jmp $0000 --------------18CC6AC44E2E-- From aarone@sirius.com Wed Jul 1 02:44:06 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA22669; Wed, 1 Jul 1998 02:44:06 -0400 Received: from mail3.sirius.com (mail3.sirius.com [205.134.253.133]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id CAA13214 for ; Wed, 1 Jul 1998 02:01:55 -0400 (EDT) Received: from edsinger (ppp-asfm03--126.sirius.net [205.134.240.126]) by mail3.sirius.com (8.8.7/Sirius-8.8.7-97.08.12) with ESMTP id XAA26862 for ; Tue, 30 Jun 1998 23:01:54 -0700 (PDT) Message-Id: <199807010601.XAA26862@mail3.sirius.com> From: "Aaron Edsinger" To: "handy" Subject: Serial Interface Date: Wed, 1 Jul 1998 02:06:39 +0100 X-Msmail-Priority: Normal X-Priority: 3 X-Mailer: Microsoft Internet Mail 4.70.1162 Mime-Version: 1.0 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Hello, I've been having some problems using my HandyBoard to talk directly to my PC via the serial interface. I disable Interactive C and then Poke() and Peek() as has been described on this list. I send short character strings from my PC to the HandyBoard under Windows 95. If I send strings longer than 2 characters, it seems that some of the characters get lost. This behavior seems to be affected by repositioning or slightly modifying the code, suggesting perhaps a timing issue. Why might this be? Is there any way to check for an error situation? Thanks for any help, Aaron From cmcmanis@freegate.com Thu Jul 16 03:13:49 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA23518; Thu, 16 Jul 1998 03:13:49 -0400 Received: from hq.freegate.com ([208.226.86.1]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id CAA18991 for ; Thu, 16 Jul 1998 02:17:47 -0400 (EDT) Received: (qmail+freegate 6968 invoked by alias); 16 Jul 1998 06:17:38 -0000 Received: from dialip-04.hq.freegate.com (HELO freegate.com) (208.226.86.222) by hq.freegate.com with SMTP; 16 Jul 1998 06:17:38 -0000 Message-Id: <35AD9BDA.3A9EC8F7@freegate.com> Date: Wed, 15 Jul 1998 23:21:14 -0700 From: Chuck McManis Reply-To: cmcmanis@freegate.com Organization: Freegate Corporation X-Mailer: Mozilla 4.04 [en] (Win95; I) Mime-Version: 1.0 To: David Rye Cc: handyboard@media.mit.edu Subject: Re: Handyboard/RWP without p-code References: <3.0.32.19980716151646.00809d20@nemo.mech.eng.usyd.edu.au> Content-Type: text/plain; charset=us-ascii Content-Transfer-Encoding: 7bit Get a copy of icc11 v5.0 or later (from www.imagecraft.com) and use the handyboard library from their site. --Chuck From Scott.Seaton@Aus.Sun.COM Thu Jul 16 03:42:38 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA24945; Thu, 16 Jul 1998 03:42:38 -0400 Received: from mercury.Sun.COM (mercury.Sun.COM [192.9.25.1]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id CAA07415 for ; Thu, 16 Jul 1998 02:44:58 -0400 (EDT) Received: from Aus.Sun.COM ([129.158.80.6]) by mercury.Sun.COM (SMI-8.6/mail.byaddr) with SMTP id XAA29734; Wed, 15 Jul 1998 23:44:52 -0700 Received: from war.Aus.Sun.COM by Aus.Sun.COM id QAA03011 (SMI-8.6/SMI-4.1 for <>); Thu, 16 Jul 1998 16:44:50 +1000 Received: from drone by war.Aus.Sun.COM (SMI-8.6/SMI-SVR4) id QAA10921; Thu, 16 Jul 1998 16:44:20 +1000 Message-Id: <199807160644.QAA10921@war.Aus.Sun.COM> Date: Thu, 16 Jul 1998 16:41:56 +1000 (EST) From: Scott Seaton - Systems Consultant - ESG Reply-To: Scott Seaton - Systems Consultant - ESG Subject: Re: Handyboard/RWP without p-code To: handyboard@media.mit.edu, rye@mech.eng.usyd.edu.au Mime-Version: 1.0 Content-Type: MULTIPART/mixed; BOUNDARY=Troop_of_Baboons_752_000 X-Mailer: dtmail 1.2.0 CDE Version 1.2 SunOS 5.6 sun4u sparc --Troop_of_Baboons_752_000 Content-Type: TEXT/plain; charset=us-ascii Content-MD5: i/HKSIa/Vk0mZT5ml+q21A== Hi I suggest that you contact ImageCraft. http://www.imagecraft.com/software/index.html or info@imagecraft.com They have a C compiler for 68HC11 CPU's that will do what you want, including a library for the HandyBoard (see attached e-mail) ! I have no affiliation with ImageCraft (other than as a satisfied customer). Hope this helps Scott ============================================================================== ,-_|\ Scott Seaton - Sun Enterprise Services - Systems Consultant / \ Sun Microsystems Australia Pty Ltd E-mail : scott.seaton@aus.sun.com \_,-\_+ 828 Pacific Highway Phone : +61 2 9844 5381 v Gordon, N.S.W., 2072, AUSTRALIA Fax : +61 2 9844 5161 ============================================================================== --Troop_of_Baboons_752_000 Content-Type: MESSAGE/rfc822; name=Mailbox Content-Description: Mailbox From someone@imagecraft.com Fri Jul 10 18:59:26 1998 Return-Path: Received: from Aus.Sun.COM by war.Aus.Sun.COM (SMI-8.6/SMI-SVR4) id SAA14426; Fri, 10 Jul 1998 18:59:26 +1000 Received: from earth.sun.com by Aus.Sun.COM id SAA24238 (SMI-8.6/SMI-4.1 for <>); Fri, 10 Jul 1998 18:59:48 +1000 Received: from iisesun.iise.CSIRO.AU (iisesun.iise.csiro.au [130.155.5.44]) by earth.sun.com (8.8.8/8.8.8) with SMTP id BAA18609 for ; Fri, 10 Jul 1998 01:59:44 -0700 (PDT) Received: from lists1.best.com (lists1.best.com [206.86.8.15]) by iisesun.iise.CSIRO.AU (SMI-8.6/8.6.12-IISE-SWA) with ESMTP id SAA25847 for ; Fri, 10 Jul 1998 18:49:31 +1000 Received: (from daemon@localhost) by lists1.best.com (8.9.0/8.8.BEST) id BAA15320 for icc11-list-errors@lists.best.com; Fri, 10 Jul 1998 01:04:34 -0700 (PDT) Message-Id: <199807100804.BAA15320@lists1.best.com> From: Christina Willrich & Richard Man Subject: icc11 Handyboard library available Date: Fri, 10 Jul 1998 00:58:49 -0700 BestServHost: lists.best.com MIME-Version: 1.0 Content-Type: text/plain; charset="us-ascii" Sender: icc11-list-errors@lists.best.com Errors-To: icc11-list-errors@lists.best.com Reply-To: icc11-list@lists.best.com To: icc11-list@lists.best.com content-length: 399 Status: RO X-Status: $$$$ X-UID: 0000000001 At long last, I dusted off Chuck McManis Handyboard library and ported it to V5. No reason why it can't work with V4.5 either ;-) Anyway, to try it out, point your browser to ftp://ftp.imagecraft.com/pub/libhb.zip Chuck really did a great job with the LCD. There are commands to scroll, move etc. Make sure you try the lcdtest2.c test. // richard someone@imagecraft.com http://www.imagecraft.com --Troop_of_Baboons_752_000-- From dakott@alpha.delta.edu Wed Jul 1 05:33:51 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA20653; Wed, 1 Jul 1998 05:33:51 -0400 Received: from alpha.delta.edu (alpha.delta.edu [161.133.129.3]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id EAA12514 for ; Wed, 1 Jul 1998 04:41:22 -0400 (EDT) Received: from pm295-18.dialip.mich.net by alpha.delta.edu; (5.65v3.0/1.1.8.2/06Jan97-0932AM) id AA31111; Wed, 1 Jul 1998 04:44:45 -0400 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 WAA20239; Tue, 30 Jun 1998 22:34:32 -0400 (EDT) Date: Tue, 30 Jun 1998 22:34:31 -0400 (EDT) From: David Kott Sender: dakott@kott.my.domain To: brian-c@technologist.com Cc: handyboard@media.mit.edu Subject: Re: microcontroller In-Reply-To: <199806291430.KAA07909@web01.globecomm.net> Message-Id: Mime-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII On Mon, 29 Jun 1998 brian-c@technologist.com wrote: > -I'd like to say thanks to all the folks who replied > to my question on the microcontroller speeds. > > Here's another general question about them though. > Should any unused pins be left open or should they > be grounded? > Eeeeeeeeeeek! Outputs left floating, CMOS inputs taken to ground with a 4.7K resistor... presuming, of course, that a Logic 0 on that input won't generate adverse effects, e.g. a grounded active low interrupt line might be a problem. Such inputs should be taken to +5 with a 4.7K resistor. Floating CMOS inputs have a tendency to oscillate with the merest whisper of a voltage. TTL inputs may be left floating. Driving an output externally will just heat up your CPU.. or worse. -d -- The box said "Requires Windows 95/NT or better"... So I got Unix. Free the Source. Free your Computer... http://www.FreeBSD.org http://www.NetBSD.org http://www.OpenBSD.org From rshirk@sfgate.com Sun Mar 22 01:52:45 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA06355; Sun, 22 Mar 1998 01:52:45 -0500 Received: from cyber.sfgate.com (cyber.sfgate.com [198.93.154.11]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id BAA23676 for ; Sun, 22 Mar 1998 01:08:09 -0500 (EST) Received: from localhost by cyber.sfgate.com with smtp (Smail3.2 #1) id m0yGduz-000Is1C; Sat, 21 Mar 1998 22:07:37 -0800 (PST) Date: Sat, 21 Mar 1998 22:07:37 -0800 (PST) From: Richard X-Sender: rshirk@cyber To: handyboard@media.mit.edu Subject: Frob nobs and IR Message-Id: Mime-Version: 1.0 Content-Type: MULTIPART/MIXED; BOUNDARY="-559023410-1804928587-890546857=:21628" This message is in MIME format. The first part should be readable text, while the remaining parts are likely unreadable without MIME-aware tools. Send mail to mime@docserver.cac.washington.edu for more info. ---559023410-1804928587-890546857=:21628 Content-Type: TEXT/PLAIN; charset=US-ASCII OK...Im now pretty happy with states of things but I still have a few questions I hope you can help me answer. The code attached works and everything, but only when i take the bit about playing the songs out. problem 1) It keeps saying that play is undefined. I saw that before and fixed it by changing the names of the labels of the songs. I tried it this time and it didnt work...i was wondering if anyone out there knows why it does this and how to correct it.... problem 2) I figured out (thanks to you guys) how to work the built in IR sensor to detect and act upon 4 signals. One is for behing hostile, 3 is for seeking, signal 5 is when it gets annoyed, and 7 it just beeps and ignores it. 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aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA00723; Mon, 27 Jul 1998 18:34:05 -0400 Received: from theory.phys.vt.edu (theory.phys.vt.edu [128.173.176.33]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id RAA19984 for ; Mon, 27 Jul 1998 17:22:26 -0400 (EDT) Received: from localhost (wallace@localhost) by theory.phys.vt.edu (8.8.5/8.8.5) with SMTP id RAA00312 for ; Mon, 27 Jul 1998 17:22:24 -0400 (EDT) Date: Mon, 27 Jul 1998 17:22:24 -0400 (EDT) From: Mark Wallace To: handyboard@media.mit.edu Subject: sonar.c for the handyboard Message-Id: Mime-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII Hello, I have a handyboard and 6500 series poloroid ultrasonic ranging system. I have downloaded the sonar.c programs used to drive the transducer for distance measurements. There appears to be a problem, or atleast I think there is, with it. The sonar device is supposed to give distances of up to 35ft but the TCNC time register is 16 bit and in the program it says "if ((peekwork(0x100e)-start_time) < 0)" too much time has elapsed and it returns -1. Therefore as soon as about 32700 counts goes by, that value will go negative. I believe hex goes from 0 to 32768 then -32768 to -1. In this case the difference will be < 0 if the object is greater then about 9 ft. I have taken this out of the program and can get accurate measurements up to atleast 30 ft but I have to look at the value given and add multiples of 2^16 to it to figure out where it is. Taking this out of the program also can get you stuck if you really are out of range. I have looked on the motorola web pages to see about this clock and it says that the clock goes till it reachs $ffff and then flags somewhere that there is an overflow and then starts over. I don't know how to find out were in the chip this information might be stored. I know the TCNT time register is at 0x100e from the notes on Simplified Sonar for the Handy Board but I don't know where that overflow flag is stored. I thought that maybe by setting this flag and using it in the loop you might be about to get a greater distance out of you measurement. Another question I have is about IC. I would like to display numbers greater then 32000 and right now there are several int type variables and normal C comands don't seem to work to make a "long" or any other type that are larger then 32000. How does IC handle larger numbers? I am only a student and don't have much experience with this stuff so I would appreciate any feedback I can get on either of these problems. Thanks. Mark Wallace e-mail mawalla3@vt.edu wallace@astro.phys.vt.edu Web page http://sps1.phys.vt.edu/~mwallace/index.html "What a waste it would be after 4 billion tortuous years of evolution if the dominant organism contrived its own self-destruction" Carl Sagan From mwallace@sps1.phys.vt.edu Mon Aug 3 12:05:51 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA15988; Mon, 3 Aug 1998 12:05:51 -0400 Received: from sps1.phys.vt.edu (sps1.phys.vt.edu [128.173.176.53]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id LAA12381 for ; Mon, 3 Aug 1998 11:16:53 -0400 (EDT) Received: from localhost (mwallace@localhost) by sps1.phys.vt.edu (8.8.7/8.8.7) with SMTP id LAA20283; Mon, 3 Aug 1998 11:16:50 -0400 Date: Mon, 3 Aug 1998 11:16:50 -0400 (EDT) From: Mark Wallace To: alf.kuchenbuch@usa.net Cc: handyboard@media.mit.edu Subject: Re: Polaroid trouble again In-Reply-To: <35C5C521.446B@eikon.e-technik.tu-muenchen.de> Message-Id: Mime-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII I had this same problem when I got mine a few weeks ago. I ended up putting a capacitor from pin 1 to pin 3 on U2 of the sonar driver board. I also had to take out the 1k resistor from the BINH. It kept BINH at 1 V instead of Zero and that seamed to cause problems. As for the 6 ft problem, it should be closer to 9 ft. I think the problem there is the IC code you used. If you used the code for SONAR.C from the HB web site then there is a problem with it. What that program does is take the difference in time from the internal clock. the problem is that in the code it says that if the difference between start time and currnet time is negative too much time has elapsed. Well, this has a 16 bit counter so when the difference is greater the about 32,700 it becomes negative. If you do the math, that means at about 9 ft that happens so it tell you you are out of range. The way I fixed this was to slow the clock down. I looked up information on the motorola web page and found where the prescalers were for the clock. If you want to slow it down by a factor of four you can just add this line to you program in sonar_init() bit_set(0x1024, 1); I believe bit_set(0x1024, 2); will slow it down by a factor of 8 and bit_set(0x1024, 3); will slow it down by a factor of 16. There are better ways of fixing this problem but they appear much more complicated. For example the motorola chip has an overflow flag that says when the internal clock flips. You could incorporate that into your code instead of slowing the clock down. Good luck and I hope this helps. Mark Wallace e-mail mawalla3@vt.edu mwallace@sps1.phys.vt.edu Web page http://sps1.phys.vt.edu/~mwallace/index.html "What a waste it would be after 4 billion tortuous years of evolution if the dominant organism contrived its own self-destruction" Carl Sagan On Mon, 3 Aug 1998, Alf Kuchenbuch wrote: > Hi! > I am having trouble with my Polaroid sonar: > When I keep my HB hooked up > to external power, I will only get correct readings up to 20 inches. As > soon as I use battery power without hooking it up to external power, the > readings are correct up to 6 feet, not more! This sound like EMI, I > guess. I tried all the capacitor tricks from HB mailing list, but in > vain. Do you know a fix that works? > > Alf H. Kuchenbuch > From mawalla3@vt.edu Wed Aug 12 13:10:06 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA07529; Wed, 12 Aug 1998 13:10:06 -0400 Received: from quackerjack.cc.vt.edu (root@quackerjack.cc.vt.edu [198.82.160.250]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id MAA05729 for ; Wed, 12 Aug 1998 12:13:53 -0400 (EDT) Received: from sable.cc.vt.edu (sable.cc.vt.edu [128.173.16.30]) by quackerjack.cc.vt.edu (8.8.8/8.8.8) with ESMTP id MAA20678 for ; Wed, 12 Aug 1998 12:20:09 -0400 (EDT) Received: from research10.phys.vt.edu (dhcp9.phys.vt.edu [128.173.176.166]) by sable.cc.vt.edu (8.8.8/8.8.8) with SMTP id MAA05159 for ; Wed, 12 Aug 1998 12:13:51 -0400 (EDT) Message-Id: <3.0.5.32.19980812121345.00796960@mail.vt.edu> X-Sender: mawalla3@mail.vt.edu (Unverified) X-Mailer: QUALCOMM Windows Eudora Light Version 3.0.5 (32) Date: Wed, 12 Aug 1998 12:13:45 -0400 To: Handyboard@media.mit.edu From: Mark Wallace Subject: serial library for C++ Mime-Version: 1.0 Content-Type: text/plain; charset="us-ascii" Hello, I have a handy board with poloroid transducers and I am trying use the results of my distance measurments in a C++ program on the computer. I have found programs on the handyboard web page that should alow the handyboard to transmit information over the serial line. What I am looking for is if anyone knows were I could find a serial for Microsofts Visual C++ 5.0. I would like to find one that is free or sharware but any information on any serial that will work would be appreciated. Thanks. Mark Wallace e-mail mawalla3@vt.edu mwallace@sps1.phys.vt.edu web page http://sps1.phys.vt.ede/~mwallace "What a waist it would be after 4 billion tortuous years of evolution if the dominant organism contrived its own self-distruction" Carl Sagan From aarone@sirius.com Wed Sep 30 12:35:05 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v4.0/1.1/06Jun95-8.2MPM) id AA09172; Wed, 30 Sep 1998 12:35:05 -0400 Received: from mail3.sirius.com (mail3.sirius.com [205.134.253.133]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id KAA02849 for ; Wed, 30 Sep 1998 10:46:53 -0400 (EDT) Received: from aarone (ppp-asfm03--129.sirius.net [205.134.240.129]) by mail3.sirius.com (8.8.7/Sirius-8.8.7-97.08.12) with SMTP id HAA08635; Wed, 30 Sep 1998 07:46:49 -0700 (PDT) Message-Id: <008901bdec9a$76f469d0$63f186cd@aarone.sirius.com> From: "Aaron Edsinger" To: "Keith - Lui" Cc: "handy" Subject: Re: output to file Date: Wed, 30 Sep 1998 10:47:58 -0700 Mime-Version: 1.0 Content-Type: text/plain; charset="iso-8859-1" Content-Transfer-Encoding: 7bit X-Priority: 3 X-Msmail-Priority: Normal X-Mailer: Microsoft Outlook Express 4.72.2106.4 X-Mimeole: Produced By Microsoft MimeOLE V4.72.2106.4 Yes, Write a dos/windows client that reads the serial line and then writes it to file using the C stdio library. -----Original Message----- From: Keith - Lui To: handyboard@media.mit.edu Date: Wednesday, September 30, 1998 6:55 AM Subject: output to file >Dear all, > >I would like to output some HB data to a file, is that possible? > >Keith > From aarone@sirius.com Wed Aug 12 13:42:19 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA13439; Wed, 12 Aug 1998 13:42:19 -0400 Received: from mail3.sirius.com (mail3.sirius.com [205.134.253.133]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id MAA10630 for ; Wed, 12 Aug 1998 12:48:27 -0400 (EDT) Received: from aarone (ppp-asfm05--041.sirius.net [205.134.241.41]) by mail3.sirius.com (8.8.7/Sirius-8.8.7-97.08.12) with SMTP id JAA20821; Wed, 12 Aug 1998 09:48:24 -0700 (PDT) Message-Id: <004401bdc62a$e8ecc8c0$70f086cd@aarone.sirius.com> From: "Aaron Edsinger" To: "Mark Wallace" Cc: "handy" Subject: Re: serial library for C++ Date: Wed, 12 Aug 1998 12:53:41 -0700 Mime-Version: 1.0 Content-Type: text/plain; charset="iso-8859-1" Content-Transfer-Encoding: 7bit X-Priority: 3 X-Msmail-Priority: Normal X-Mailer: Microsoft Outlook Express 4.72.2106.4 X-Mimeole: Produced By Microsoft MimeOLE V4.72.2106.4 Check out this site. It works well. The only problem I had was timing issues when trying to read and write to the port too quickly. http://www.codeguru.com/show.cgi?general=/misc/misc_toc.shtml -----Original Message----- From: Mark Wallace To: Handyboard@media.mit.edu Date: Wednesday, August 12, 1998 9:25 AM Subject: serial library for C++ >Hello, > I have a handy board with poloroid transducers and I am trying use the >results of my distance measurments in a C++ program on the computer. I >have found programs on the handyboard web page that should alow the >handyboard to transmit information over the serial line. What I am looking >for is if anyone knows were I could find a serial library for Microsofts >Visual C++ 5.0. I would like to find one that is free or sharware but any >information on any serial librarys that will work would be appreciated. >Thanks. >Mark Wallace > > e-mail mawalla3@vt.edu > mwallace@sps1.phys.vt.edu >web page http://sps1.phys.vt.ede/~mwallace > >"What a waist it would be after 4 billion tortuous years of evolution if >the dominant organism contrived its own self-distruction" > Carl Sagan > From Scott.Seaton@Aus.Sun.COM Thu Jul 16 03:42:38 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA24945; Thu, 16 Jul 1998 03:42:38 -0400 Received: from mercury.Sun.COM (mercury.Sun.COM [192.9.25.1]) by aleve.media.mit.edu (8.8.7/ML970927) with SMTP id CAA07415 for ; Thu, 16 Jul 1998 02:44:58 -0400 (EDT) Received: from Aus.Sun.COM ([129.158.80.6]) by mercury.Sun.COM (SMI-8.6/mail.byaddr) with SMTP id XAA29734; Wed, 15 Jul 1998 23:44:52 -0700 Received: from war.Aus.Sun.COM by Aus.Sun.COM id QAA03011 (SMI-8.6/SMI-4.1 for <>); Thu, 16 Jul 1998 16:44:50 +1000 Received: from drone by war.Aus.Sun.COM (SMI-8.6/SMI-SVR4) id QAA10921; Thu, 16 Jul 1998 16:44:20 +1000 Message-Id: <199807160644.QAA10921@war.Aus.Sun.COM> Date: Thu, 16 Jul 1998 16:41:56 +1000 (EST) From: Scott Seaton - Systems Consultant - ESG Reply-To: Scott Seaton - Systems Consultant - ESG Subject: Re: Handyboard/RWP without p-code To: handyboard@media.mit.edu, rye@mech.eng.usyd.edu.au Mime-Version: 1.0 Content-Type: MULTIPART/mixed; BOUNDARY=Troop_of_Baboons_752_000 X-Mailer: dtmail 1.2.0 CDE Version 1.2 SunOS 5.6 sun4u sparc --Troop_of_Baboons_752_000 Content-Type: TEXT/plain; charset=us-ascii Content-MD5: i/HKSIa/Vk0mZT5ml+q21A== Hi I suggest that you contact ImageCraft. http://www.imagecraft.com/software/index.html or info@imagecraft.com They have a C compiler for 68HC11 CPU's that will do what you want, including a library for the HandyBoard (see attached e-mail) ! I have no affiliation with ImageCraft (other than as a satisfied customer). Hope this helps Scott ============================================================================== ,-_|\ Scott Seaton - Sun Enterprise Services - Systems Consultant / \ Sun Microsystems Australia Pty Ltd E-mail : scott.seaton@aus.sun.com \_,-\_+ 828 Pacific Highway Phone : +61 2 9844 5381 v Gordon, N.S.W., 2072, AUSTRALIA Fax : +61 2 9844 5161 ============================================================================== --Troop_of_Baboons_752_000 Content-Type: MESSAGE/rfc822; name=Mailbox Content-Description: Mailbox From someone@imagecraft.com Fri Jul 10 18:59:26 1998 Return-Path: Received: from Aus.Sun.COM by war.Aus.Sun.COM (SMI-8.6/SMI-SVR4) id SAA14426; Fri, 10 Jul 1998 18:59:26 +1000 Received: from earth.sun.com by Aus.Sun.COM id SAA24238 (SMI-8.6/SMI-4.1 for <>); Fri, 10 Jul 1998 18:59:48 +1000 Received: from iisesun.iise.CSIRO.AU (iisesun.iise.csiro.au [130.155.5.44]) by earth.sun.com (8.8.8/8.8.8) with SMTP id BAA18609 for ; Fri, 10 Jul 1998 01:59:44 -0700 (PDT) Received: from lists1.best.com (lists1.best.com [206.86.8.15]) by iisesun.iise.CSIRO.AU (SMI-8.6/8.6.12-IISE-SWA) with ESMTP id SAA25847 for ; Fri, 10 Jul 1998 18:49:31 +1000 Received: (from daemon@localhost) by lists1.best.com (8.9.0/8.8.BEST) id BAA15320 for icc11-list-errors@lists.best.com; Fri, 10 Jul 1998 01:04:34 -0700 (PDT) Message-Id: <199807100804.BAA15320@lists1.best.com> From: Christina Willrich & Richard Man Subject: icc11 Handyboard library available Date: Fri, 10 Jul 1998 00:58:49 -0700 BestServHost: lists.best.com MIME-Version: 1.0 Content-Type: text/plain; charset="us-ascii" Sender: icc11-list-errors@lists.best.com Errors-To: icc11-list-errors@lists.best.com Reply-To: icc11-list@lists.best.com To: icc11-list@lists.best.com content-length: 399 Status: RO X-Status: $$$$ X-UID: 0000000001 At long last, I dusted off Chuck McManis Handyboard library and ported it to V5. No reason why it can't work with V4.5 either ;-) Anyway, to try it out, point your browser to ftp://ftp.imagecraft.com/pub/libhb.zip Chuck really did a great job with the LCD. There are commands to scroll, move etc. Make sure you try the lcdtest2.c test. // richard someone@imagecraft.com http://www.imagecraft.com --Troop_of_Baboons_752_000-- From brian-c@technologist.com Mon Jul 6 11:54:19 1998 Received: from aleve.media.mit.edu by hub.media.mit.edu; (5.65v3.2/1.1/06Jun95-8.2MPM) id AA03667; Mon, 6 Jul 1998 11:54:19 -0400 Received: from web04.globecomm.net (web04.globecomm.net [207.51.48.104]) by aleve.media.mit.edu (8.8.7/ML970927) with ESMTP id TAA30534 for ; Mon, 6 Jul 1998 19:24:28 -0400 (EDT) From: brian-c@technologist.com Received: (from root@localhost) by web04.globecomm.net (8.8.8/8.8.0) id TAA03097; Mon, 6 Jul 1998 11:24:27 -0400 (EDT) Date: Mon, 6 Jul 1998 11:24:27 -0400 (EDT) Message-Id: <199807062324.TAA03097@web04.globecomm.net> Content-Type: multipart/mixed; boundary="0-0-0-0-0-0-0-0-____====$%&" Mime-Version: 1.0 To: Terri A Mortvedt , handyboard@media.mit.edu Subject: Re: Steppers --0-0-0-0-0-0-0-0-____====$%& Content-Type: text/plain Content-Transfer-Encoding: quoted-printable X-MIME-Autoconverted: from 8bit to quoted-printable by aleve.media.mit.edu id TAA30534 Dear Terri, If the motors turn sparatically, that means the coils are probably not hooked up in the correct order. Try swapping them around and see if anything improves. The motors you are using are the bipolar type. There=20 is a decent way of hooking up unipolar steppers to the HB at http://www.cctc.demon.co.uk/stepper.htm A basic difference between bipolar and unipolar is that unipolar motors have additional wires are=20 connected to the power supply. Bipolars also have more torque. Using fd(); and bk(); commands to power steppers is probably a lot to handle. I recommend trying the=20 method found on that link. There's even sample coding. You will have to modify some variables for the turn functions because your turning radius varies according to your distance between motors. I modified the step(); function to produce a gradual=20 increase in speed, and a gradual decrease in speed once the specified steps are almost complete.=20 I will attach my motors.c file as is. _________________________________________________ =AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF= =AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF Brian Carvalho [ brian-c@ieee.org ] DeVRY Institute New Jersey _________________________________________________ =AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF= =AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF=AF --------------------------------------------------- Get free personalized email at http://www.iname.com --0-0-0-0-0-0-0-0-____====$%& Content-Type: application/octet-stream Content-disposition: inline; filename=Motors.c Content-Transfer-Encoding: base64 LyogTW90b3JzLmMgKi8NCg0KLyoqKiBERUNMQVJBVElPTlMgKioqLw0KDQppbnQgRk9SV0FSRFMg 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