Industrologic, Inc.
3201 Highgate Lane
St. Charles, MO
63301
USA
Phone: (636) 723-4000
www.industrologic.com
info@industrologic.com
TMB-DR51 includes features that make it easy to write and understand bit manipulation programs. When entering programs it will understand values entered in decimal or hexadecimal as well as single byte character strings. It also features commands that can change the display of number values from decimal to hexadecimal.
Instructions entered while programming are saved as two-byte tokenized instructions, not as BASIC source code, therefore, all instruction arguments and line numbers are limited to a single byte (values from 0 to 255). Values that exceed this limit at run time will "roll over" or "roll under" back to a byte value, and will not cause a run-time error. Similarly, instructions that use a limited range of values and are given values outside that range will not cause a run-time error, but will either ignore the instruction or convert the illegal value to a legal value.
A "command" consists of an instruction and its single byte "argument", and will be performed as soon as entered. A program line entry consists of a number from 1 to 255, a space, an instruction, and a single byte argument. Lower case characters are converted to upper case when typed since all instructions must be in upper case. Line numbers and arguments are always a single byte and can be entered as decimal values, e.g. x xx xxx xD xxD xxxD, hexadecimal values, e.g. xH xxH, or quoted single character strings, e.g. "x".
Instructions that manipulate the I/O port bits of the microcontroller must be used in ways that are compatible with the port hardware. If any port bit is to be used as an input, it must be set to a logic level "high" state, or "1". (On power up the port pins are set high.)
Comments may be added to program files created and saved on a host computer and uploaded, but the program saved in the DR51 will not contain comments. Comments must be on separate lines, and any line that does not begin with a program line number may be a comment. When comment lines are sent to the DR51 during program upload, syntax errors occur, and the lines are ignored.
A, B, C, D general purpose byte variables where certain operations are performed E, F, G and where the results of certain operations are storedThe following is a list of byte variables that can be read and displayed, but cannot be assigned values by the user program. The user program must read KEY often enough to insure that it contains current and valid values.
KEY the ASCII value of the last character received at the
Serial Port (cleared after being read)
(A) a special description of variable A used to display the ASCII
character rather than the numeric value
The command instructions will normally be used only as a command at the prompt, and the rest of the instructions will normally be used in a program, but may be used as a command at the prompt to see how the instruction works.
BAUD=[arg] Set baud rate of the Serial Port to [arg] times 100, and save in
EEPROM. Allowable values are 192, 96, 48, 24, 12, 6, 3. (If you
change the baud rate in TMB-DR51, you will also need to change it
in your terminal software!)
Example:
BAUD=96 set the Serial Port baud rate to 9600
BOOTON Run your program when TMB-DR51 starts (i.e., on power up)
BOOTOFF Turn off the BOOTON feature (both are saved in EEPROM)
Note: The BOOTON feature can be overridden by connecting the two pins of
J2 while power is applied to the DR51. TMB-DR51 will then return a prompt
at 9600 baud (regardless of the baud rate specified with the BAUD instruction).
NEW Erase all program lines
LIST Display the program lines (if there are more than 20 lines the
listing will pause until you press a key)
RUN Run the program from the command prompt (>)
END Stop the program and return to the prompt
The program can be stopped with the END instruction, by having no further
lines to execute, (possibly by going to a non-existant line number above the
rest of the lines), or by telling the program to go to line zero. If the
program does not have a method of exiting in response to some program condition,
the power will need to be cycled to return to the prompt.
DELAY [arg] Pause the program for [arg] tenths (1/10) of a second GOTO [arg] Jump to the instructions beginning at line number [arg] GOSUB [arg] Call subroutine at line number [arg] (1 layer deep only) RETURN Return to next instruction after the last GOSUB LOOP [arg] Begin a loop with [arg] iterations (1 layer deep only) ENDLOOP Terminate a loopSubroutines and loops may only be one layer deep, that is, a subroutine may not contain another GOSUB instruction, and an ENDLOOP instruction must be performed before another LOOP instruction is performed.
Examples:
DELAY 255 delay 25.5 seconds
1 GOSUB 10 call subroutine at line 10
2 GOTO 1 jump to line 1
10 PRINT "A" send an upper case A to the serial port
11 RETURN jump to line following the GOSUB instruction
10 GOSUB A call subroutine at the line number of the value of variable A
(if the value of A is 20 it would be the same as GOSUB 20)
1 LOOP 255 start a loop of 255
2 PRINT "A" send an upper case "A" to the serial port
3 ENDLOOP jump back to line 2 until 255 loops have been done
PRINT [arg] Display a byte value in decimal/hexadecimal, or as character
(This instruction sends characters out the serial port)
See Appendix A for a table of these values
The PRINT instruction does not include a carriage return/line feed sequence
(13D/10D or 0DH/0AH) after displaying a value or character like most BASIC
languages. If either of these characters are desired they will need to be
displayed separately. The PRINT instruction, when in HEX mode, will always
display values with two digits followed by "H".
Lower case characters are converted to upper case when typed since all instructions must be in upper case. If a lower case displayable character is used as a value argument, the ASCII code must be used since it cannot be enclosed in quotes. For example, to print an "a" you must use PRINT 97 or PRINT 61H.
HEX Display values in hexadecimal (try this at the command prompt)
DECIMAL Display values in decimal (returns it to normal)
INPUT [arg] Wait for a value to be entered (followed by a carriage return) and
then put the value in [arg]. (This instruction waits for characters
from the serial port). See Appendix A for a table of these values.
The ESCAPE key will cancel value entry with the INPUT instruction, (but not stop the program)
Examples: PRINT 0DH send a carriage return to the serial port PRINT 13 send a carriage return to the serial port PRINT 0AH send a line feed to the serial port PRINT 10 send a line feed to the serial port PRINT "A" send an upper case A to the serial port PRINT 65 send an upper case A to the serial port PRINT 97 send a lower case A to the serial port INPUT A wait for a value and then set variable A to that value A=66 ASCII code for 'B" PRINT (A) send ASCII character "B" to serial port
A=[arg] Set byte variable A to [arg]
A=A+[arg] Add the value in [arg] to variable A
A=A-[arg] Subtract the value in [arg] from variable A
A=A*[arg] Multiply variable A by the value in [arg]
A=A/[arg] Divide variable A by the value in [arg], (remainder is discarded)
A=A\[arg] Remainder of dividing variable A by the value in [arg]
IF A=0 [arg] If variable A is zero jump to line number [arg]
IF A<>0 [arg] If variable A is not zero jump to line number [arg]
IF A=B [arg] If variable A equals variable B jump to line number [arg]
IF A<>B [arg] If variable A does not equal variable B jump to line number [arg]
IF A<B [arg} If variable A is less than variable B jump to line number [arg]
IF A>B [arg] If variable A is greater than variable B jump to line number [arg]
Examples:
A=KEY get value of last character at Serial Port 1
A=A-66 subtract the ASCII value for "B", which is 66
IF A=0 30 if character was "B" then jump to line 30
A=A+B add the value of variable B to variable A
A=A+10 add 10 to variable A (e.g., if A contained 10 it would
become 20, if A contained 255 it would roll over to 9)
A=A-1 subtract 1 from A (e.g., if A contained 2 it would
become 1, if A contained 0 it would roll under to 255)
A=A*10 multiply variable A by 10 (e.g., if A contained 10 it would
become 100, if A contained 30 it would roll over to 44)
A=A/5 divide variable A by 5 (e.g., if A contained 10 it would
become 2, if A contained 202 it would become 40)
A=A\7 divide variable A by 7 and return the remainder in variable A
(e.g., if A contained 10 it would become 3, if A contained 21 it
would become 0)
IF A=0 10 if variable A is equal to 0 then jump to line 10
IF A<>0 15 if variable A is not equal to 0 then jump to line 15
IF A<B 20 if variable A is less than variable B then jump to line 20
RELAY1=[arg] Turn on Relay 1 if [arg] is 1, off if 0 (uses bit 0 of [arg])
RELAY2=[arg] Turn on Relay 2 if [arg] is 1, off if 0 (uses bit 0 of [arg])
RELAYS=[arg] Change on/off status of both relays based on [arg], where
Relays 2 and 1 are controlled by bits 1 and 0 of [arg] respectively
IF RELAY1=0 [arg] If Relay 1 is off jump to line number [arg]
IF RELAY1=1 [arg] If Relay 1 is on jump to line number [arg]
IF RELAY2=0 [arg] If Relay 2 is off jump to line number [arg]
IF RELAY2=1 [arg] If Relay 2 is on jump to line number [arg]
Examples:
RELAY1=1 turn on Relay 1
IF RELAY1=0 100 if Relay 1 is off jump to line number 100
LED=[arg] Turn on programmable LED if [arg] is 1, turn off if 0
(uses bit 0 of [arg])
IF LED=0 [arg] If programmable LED is off jump to line number [arg]
IF LED=1 [arg] If programmable LED is on jump to line number [arg]
DO1=[arg] Set digital I/O #1 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO2=[arg] Set digital I/O #2 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO3=[arg] Set digital I/O #3 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO4=[arg] Set digital I/O #4 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO5=[arg] Set digital I/O #5 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO6=[arg] Set digital I/O #6 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO7=[arg] Set digital I/O #7 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO8=[arg] Set digital I/O #8 high if [arg] is 1, low if 0 (uses bit 0 of [arg]) DO=[arg] Set digital I/O #1-#8 to the byte value in [arg], with bit 0-7 = #1-8
If any digital I/O is to be used as an input, it must be set high, (its power up setting.)
READDI Read digital I/O #1-#8 and put their byte value in variable A,
where I/O #1-#8 = bits 0-7
IF DI1=0 [arg] If digital I/O #1 is low jump to line number [arg]
IF DI1=1 [arg] If digital I/O #1 is high jump to line number [arg]
IF DI2=0 [arg] If digital I/O #2 is low jump to line number [arg]
IF DI2=1 [arg] If digital I/O #2 is high jump to line number [arg]
IF DI3=0 [arg] If digital I/O #3 is low jump to line number [arg]
IF DI3=1 [arg] If digital I/O #3 is high jump to line number [arg]
IF DI4=0 [arg] If digital I/O #4 is low jump to line number [arg]
IF DI4=1 [arg] If digital I/O #4 is high jump to line number [arg]
IF DI5=0 [arg] If digital I/O #5 is low jump to line number [arg]
IF DI5=1 [arg] If digital I/O #5 is high jump to line number [arg]
IF DI6=0 [arg] If digital I/O #6 is low jump to line number [arg]
IF DI6=1 [arg] If digital I/O #6 is high jump to line number [arg]
IF DI7=0 [arg] If digital I/O #7 is low jump to line number [arg]
IF DI7=1 [arg] If digital I/O #7 is high jump to line number [arg]
IF DI8=0 [arg] If digital I/O #8 is low jump to line number [arg]
IF DI8=1 [arg] If digital I/O #8 is high jump to line number [arg]
Examples:
DO1=1 set digital I/O high for use as an input
IF DI1=0 100 if digital input #1 is low jump to line number 100
The following is a diagram of a typical 4 by 4 keypad switch matrix and how the switches are wired. The switches are identified by their "row" and "column" in the matrix. This diagram shows the rows and columns in a sequential order, but for manufacturing reasons many keypads have connections that are not in order. Documentation supplied with the keypad must be used in order to know which pins of the connector of the keypad (or other connections) are connected to which rows and columns.
Before using the keypad instruction it must be told how the keypad switch matrix is connected to the digital I/O and also which character to return when a particular switch in the matrix is pressed. Program lines 230-237 and 240-255 are reserved for special PRINT instructions that tell the keypad instruction how to do this.
Program lines 230-237 specify which connection on the keypad is connected to which digital I/O, in this order: Row 1, row 2, row 3, row 4, column 1, column 2, column 3, and column 4. If a particular I/O signal is not used, for example, when using a keypad that is smaller than 4 by 4, its corresponding line should remain blank. (This assumes the NEW instruction was used before entering the program.)
Example: 230 PRINT 1 keypad row 1 is connected to digital I/O #1 231 PRINT 2 keypad row 2 is connected to digital I/O #2 232 PRINT 3 keypad row 3 is connected to digital I/O #3 233 PRINT 4 keypad row 4 is connected to digital I/O #4 234 PRINT 5 keypad column 1 is connected to digital I/O #5 235 PRINT 6 keypad column 2 is connected to digital I/O #6 236 PRINT 7 keypad column 3 is connected to digital I/O #7 237 PRINT 8 keypad column 4 is connected to digital I/O #8Program lines 240-255 specify what character or ASCII value is returned when a particular switch is pressed. If any of the lines 240-255 do not contain a PRINT instruction, the character returned for that switch will be 255 decimal (FF hexadecimal). (This assumes the NEW instruction was used before entering the program.)
Example: 240 PRINT "1" specify the character 1 with the switch at row 1 column 1 241 PRINT "2" specify the character 2 with the switch at row 1 column 2 242 PRINT "3" specify the character 3 with the switch at row 1 column 3 243 PRINT "A" specify the character A with the switch at row 1 column 4 244 PRINT "4" specify the character 4 with the switch at row 2 column 1 245 PRINT "5" specify the character 5 with the switch at row 2 column 2 246 PRINT "6" specify the character 6 with the switch at row 2 column 3 247 PRINT "B" specify the character B with the switch at row 2 column 4 248 PRINT "7" specify the character 7 with the switch at row 3 column 1 249 PRINT "8" specify the character 8 with the switch at row 3 column 2 250 PRINT "9" specify the character 9 with the switch at row 3 column 3 251 PRINT "C" specify the character C with the switch at row 3 column 4 252 PRINT 27 specify the Escape character with the switch at row 4 column 1 253 PRINT "0" specify the character 0 with the the switch at row 4 column 2 254 PRINT 13 specify a Carriage Return with the switch at row 4 column 3 255 PRINT "." specify a period with the switch at row 4 column 4When used to specify keypad characters the PRINT instruction works just like it does when displaying characters by sending them to the serial port. The character can be entered as a character enclosed in quotes or as a decimal or hexadecimal value.
READKP Read the status of the keypad switch matrix and if a key is pressed
place the associated character value for that key in variable B
If a key is pressed when this instruction is used put the value 1
variable A, otherwise put the value 0 in variable A
Example:
1 READKP read the keypad
2 IF A=0 1 keep reading until a key is pressed
3 PRINT B display the numeric value associated with the key
4 A=B place value in variable A
5 PRINT (A) display the character string
When data is written to an EEPROM address, it is likely that the data will represent program instructions and arguments, which TMB-DR51 will attempt to RUN and LIST. In order to prevent the program from running this data as an instruction, an END instruction must be placed at a line number lower than any data address used so that the program will stop before reaching the data. If this is not done, the program may do any number of undesirable things, e.g., erasing itself or changing the baud rate unexpectedly. It is also suggested that the highest possible EEPROM addresses be used for data so that it is LISTED after the normal program lines.
Most EEPROMs may be written over a million times, but even this limit could be exceeded if the program wrote to the EEPROM in an unintended loop caused by incorrect programming, so some caution should be used. EEPROMs may be read an unlimited number of times.
WRITEEE [arg] Write the 2 byte values in variables A and B to the EEPROM word at
address [arg], where [arg] is an address from 1 to 255
READEE [arg] Read the EEPROM word at address [arg] and put the 2 byte values in
variables A and B, where [arg] is an address from 1 to 255
Examples:
A=FFH set variable A value
B=FFH set variable B value
WRITTEE 250 write A and B to memory location 250
READEE 255 read memory location 255 and place in variables A and B
Decimal Control Char. Control Decimal Decimal
Value Character Abbreviation Key Value Character Value Character
-------------------------------------------------------------------------------------------
00 NULL NUL ^@ 45 - (hyphen) 90 Z
01 START OF HEADING SOH ^A 46 . (period) 91 [ (left bracket)
02 START OF TEXT STX ^B 47 / 92 \ (backslash)
03 END OF TEXT ETX ^C 48 0 93 ] (right bracket)
04 END OF TRANSMIT EOT ^D 49 1 94 ^ (carat)
05 ENQUIRY ENQ ^E 50 2 95 _ (underscore)
06 ACKNOWLEDGE ACK ^F 51 3 96 ` (accent)
07 BEEP BEL ^G 52 4 97 a
08 BACK SPACE BS ^H 53 5 98 b
09 HORIZONTAL TAB HT ^I 54 6 99 c
10 LINE FEED LF ^J 55 7 100 d
11 VERTICAL TAB VT ^K 56 8 101 e
12 FORM FEED FF ^L 57 9 102 f
13 CARRIAGE RETURN CR ^M 58 : 103 g
14 SHIFT OUT SO ^N 59 ; 104 h
15 SHIFT IN SI ^O 60 < 105 i
15 DEVICE LINK ESC DLE ^P 61 = 106 j
17 DC1 X-ON DC1 ^Q 62 > 107 k
18 DC2 DC2 ^R 63 ? 108 l
19 DC3 X-OFF DC3 ^S 64 @ 109 m
20 DC4 DC4 ^T 65 A 110 n
21 NEG. ACKNOWLEDGE NAK ^U 66 B 111 o
22 SYNC. IDLE SYN ^V 67 C 112 p
23 END OF TX BLOCK ETB ^W 68 D 113 q
24 CANCEL CAN ^X 69 E 114 r
25 END MEDIUM EM ^Y 70 F 115 s
26 SUBSTITUTE SUB ^Z 71 G 116 t
27 ESCAPE ESC 72 H 117 u
28 RIGHT ARROW (on PC) 73 I 118 v
29 LEFT ARROW (on PC) 74 J 119 w
30 UP ARROW (on PC) 75 K 120 x
31 DOWN ARROW (on PC) 76 L 121 y
32 BLANK SPACE 77 M 122 z
33 ! 78 N 123 { (left brace)
34 " (double quote) 79 O 124 | (vertical bar)
35 # (number sign) 80 P 125 } (right brace)
36 $ 81 Q 126 ~ (tilde)
37 % 82 R 127 DELETE
38 & 83 S
39 ' (single quote) 84 T
40 ( (open parenthesis) 85 U
41 ) (close parenthesis) 86 V
42 * 87 W
43 + 88 X
44 , (comma) 89 Y