Table Of Content00_FM_Clark 6/23/03 2:08 PM Page i
Programming and
Customizing the
OOPic Microcontroller
00_FM_Clark 6/23/03 2:08 PM Page ii
Other Books of Interest in the McGraw-Hill
Programming and Customizing Series
Predko/Programming and Customizing PIC Microcontrollers, 2nd Edition, 0-07-136172-3
Edwards/Programming and Customizing the Basic Stamp Computer, 2nd Edition, 0-07-137192-3
Gadre/Programming and Customizing the AVR Microcontroller, 0-07-134666-X
00_FM_Clark 6/23/03 2:08 PM Page iii
Programming and
Customizing
the OOPic
Microcontroller
The Official OOPic Handbook
Dennis Clark
McGraw-Hill
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00_FM_Clark 6/23/03 2:08 PM Page iv
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00_FM_Clark 6/23/03 2:08 PM Page v
For Shannon, who is now happy I’m not burning the midnight oil
anymore, and Brendan, who I’m sure is a unique two year old, since he
not only knows what a robot is, he can pronounce it too.
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CONTENTS
Foreword xiii
Acknowledgments xv
Introduction xvii
1. OOPic Family Values 1
Common Features in AllOOPic Devices 2
Hardware Features 2
Software Features 3
The OOPic Programming and Networking Cables 3
The I2C Programming and Debugging Cables 3
OOPic I2C Programming Port 4
OOPic I2C Networking Port 5
OOPic R and OOPic C Serial Programming Cable 6
OOPic I (A.2 Firmware) Description 6
Hardware Details 6
OOPic I Features 8
OOPic I Object Listing 9
OOPic II (B.2 Firmware) Description 11
Hardware Details 11
OOPic II Features 11
OOPic II Object Listing 12
OOPic II1 (B.21 Firmware) Description 16
Hardware Details 16
OOPic II1 Features 17
OOPic II1 Object Listing 18
OOPic R (B.21 Firmware) Description 18
Hardware Details 19
OOPic R Features 20
OOPic R Object Listing 26
OOPic C (B.21 Firmware) Description 26
Hardware Details 26
OOPic C Features 28
OOPic C Object Listing 29
vii
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VIII CONTENTS
2. The OOPic IDE and Compiler 31
Installing the OOPic Environment 32
Windows 95 and Windows 98 32
Windows NT, Windows 2000, and Windows XP 33
Windows XP Additional Procedure 34
Programming Options for OOPic Variants 35
Setting OOPic Options 35
Parallel Port Programming 37
Serial Port Programming 41
Troubleshooting OOPic Programming Problems 43
Debugging Virtual Circuits 50
OOPic B.2.X1 SCP Communication 52
Build a Buffered Parallel Port Cable 52
3. OOPic Object Standard Properties 55
How OOPic Objects Work 56
The OOPic Object List Loop 56
oServo, oSerialX, oSonar:The Exceptions to the Rule 59
Object Attributes and How to Use Them 59
Common Properties Shared by Objects 60
Linking OOPic Objects Together 61
Linking Flag Properties 62
More on oGate and Flag Linking 63
Linking Value Properties 64
Linking Properties Using the oRam Object 67
The Oddball Objects:Nonstandard Properties 72
Oddball Hardware Objects 72
Oddball Processing Objects 72
Objects That Are Different from Any Other Type 73
Now What? Where to Go from Here 78
4. Your First OOPic Program, OOPic I/O
(Project #1: Das Blinken Light) 79
The oDio Hardware Objects 80
Common Features of oDio Hardware Objects 80
oDio1 82
oDio4 82
oDio8 83
oDio16 83
oDebounce Processing Object 84
oDebounce 84
oWire Processing Object 85
oWire 85
Blinking an LED, the Embedded World’s Version of “Hello, World” 85
Procedural Programming the OOPic 86
Object-Oriented Event-BasedProgramming 87
Project:Push a Button and Toggle an LED 88
Hardware Layout 88
Design the VC 89
Linking Objects 90
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CONTENTS IX
Writing OOPic Programs 91
Variables and Data Objects 92
OOPic Math 92
OOPic Internal Functions 94
Looping Construct Gotchas 95
Final OOPic Programming Hints 96
Using the Debugger 97
Now What? Where to Go from Here 98
5. Analog-to-Digital and Hobby Servos
(Project: Push My Finger) 99
OOPic A2D Conversion 100
OOPic A2D Channel Types, Configurations, and Maximum
Voltage Limits 100
Setting External Reference Voltage on I/O Line 4 101
OOPic A2D Hardware Objects 102
Measuring Analog Voltages 104
OOPic Hobby Servo Objects 106
Servo Control and Resolution 106
The OOPic Servo Update Queue 107
The OOPic Servo Objects 108
Connecting and Powering RC Hobby Servos 112
Data Bus Processing Objects 114
oMath Processing Object (A.X.X Firmware and Later) 114
oBus Processing Object (B.X.X Firmware and Later) 115
Project:Read a Bend Sensor and Move a Servo 115
Hardware Layout 116
Define the Virtual Circuit (VC) 117
Write the Code 118
Experiments 118
Experiment #1:Jitter Removal 119
Experiment #2:Getting a Larger Servo Movement 120
Experiment #3:B.X.X Firmware and URCP 122
Now What? Where to Go from Here 125
6. OOPic Timers, Clocks, LCDs, and SONAR
(Project: SONAR Ping) 127
Timers in the OOPic 128
You Only Get One 16-bit Timer 128
Prescaling and Getting the Timer Period or Frequency You Want 129
OOPic External Clock Source 129
The oTimer and oTimerX Hardware Objects 131
Clock Resources in the OOPic 132
OOPic Hz1 and Hz60 Clocks 132
The oClock Processing Object 132
Using oTimerX as a Clock Resource 133
The OOPic Real-Time Clock (RTC) 133
OOPic RTC Objects 134
Creating an RTC Object 135
