Propforth v5.5 is available for download

caskaz · 2016-04-08 14:16

Operated touchsensor(RH6010:i2c-device)

caskaz · 2016-04-28 11:19

Made SingFace by using 8x8Matrix and MicrophoAmp

caskaz · 2016-05-08 11:56

Built up Tinkerkit Braccio.
Only moving.

caskaz · 2016-05-09 08:52

Anybody have curcuit diagram of Braccio-shield board?

Moving code is below;

fl

{
BRACCIO
PropForth5.5

2016/05/08 21:10:08

QuickStart             BRACCIO shield board
            ---------
     3V3---|VCCA VCCB|----5V          
     P8----|A0     B0|----M1
     P9----|A1     B1|----M2
     P10---|A2     B2|----M3
     P11---|A3     B3|----M4
     P12---|A4     B4|----M5
     P13---|A5     B5|----M6
     GND---|GND    OE|----GND
            ---------
             FXMA108
}

\ -------------------------------------------------------
\ Constants
\ -------------------------------------------------------
\ Special register
h1F8	wconstant ctra
h1FA	wconstant frqa 
h1FC	wconstant phsa 
\ Time for servo
d80 wconstant 1usec
\ Max-limit and Min-limit for each servo
wvariable servo_limit -2 allot
d500 w, d2500 w,         \ base
d900 w, d2300 w,         \ shoulder
d600 w, d2500 w,         \ elbow
d500 w, d2500 w,         \ vertical wrist
d500 w, d2500 w,         \ rotary wrist
d1350 w, d2200 w,        \ gripper

\ top pin number of contiguous servo group
8 wconstant servo
\ each servo ch
0 wconstant base
1 wconstant shoulder
2 wconstant elbow
3 wconstant vert_wrist
4 wconstant rot_wrist
5 wconstant gripper

\ channel[max:8]
6 wconstant ch


\ -------------------------------------------------------
\ Variables
\ -------------------------------------------------------
\ target[ch],delta[ch],usec[ch]: each channel has 2byte(total 12byte)
variable target 8 allot 
variable delta 8 allot
variable usec 8 allot

\ -------------------------------------------------------
\ Main
\ -------------------------------------------------------

\ Get address of target for each ch
\ ( n1 -- n2 )  n1:servo ch n2:target_position's variable address for each ch
: tgtPos 2 u* target + ;

\ Get address of delta for each ch
\ ( n1 -- n2 )  n1:servo ch n2:delta's variable address for each ch
: deltaVal 2 u* delta + ;

\ Get address of usec for each ch
\ ( n1 -- n2 )  n1:servo ch n2:current_position's variable address for each ch
: curPos 2 u* usec + ;

\ Set servo-motor's pin to output
\ ( n1 -- )   n1:top pin number of contiguous servo group
: setup ch 0 do dup pinout 1+ loop drop ;

\ Check if position is inside region
\ ( n1 n2 -- n3 )  
\ n1:servo ch  
\ n2:servo position(microsecond)
\ n3:Checked servo position(microsecond)
: posCheck 
over 4 * servo_limit + W@ max \ Check Min-limit 
over                          \ ( n1 [n2 or min-limit] n1 )
4 * 2+ servo_limit + W@ min   \ Check Max-limit
;

\ Set selected servo(ch) to new position 
\ ( n1 n2 -- )  
\ n1:servo ch 
\ n2:newpos specified in microseconds
: setpos
posCheck                      \ ( n1 n2 )
over                          \ ( n1 n2 n1 ) 
\ delta[ch] = 0
deltaVal 0 swap W!            \ ( n1 n2 )  Save delta=0 to specified ch                    
swap 2dup                     \ ( n2 n1 n2 n1 )
tgtPos W!                     \ ( n2 n1 )  Save target_position to sprcified ch
\ usec[ch] = newpos
curPos W!                     \ ( -- )  Save new_position to specified ch
;

\ Move selected servo from current position to newpos in n1 frames
\ ( n1 n2 n3 -- )  
\ n1:frame [1frame is 15msec(servo frame timing)]
\ n2:servo ch
\ n3:newpos
: movpos
posCheck                      \ ( n1 n2 n3 )
rot                           \ ( n2 n3 n1 )
dup 1 =
if
     \ Moving rapidly
     drop                     \ ( n2 n3 )
     setpos
else
     \ Moving slowly through frames
     over                     \ ( n2 n3 n1 n3 )
     >r                       \ ( n2 n3 n1 ) Push newpos
     >r                       \ ( n2 n3 )   Push frame
     over                     \ ( n2 n3 n2 )
     curPos W@ -              \ Calculate (difference from newpos and usec)
     abs d10 u*               \ ( n2 n3 calc_value )
     r>                       \ Pop frame
     u/                       \ ( n2 n3 calc_value )  Calculate 0.1usec/frame
     5 + d10 u/ 1 max         \ ( n2 compared_result )  round up to 1usec/frame
     over                     \ ( n2 compared_resulte n2 )
     deltaVal W!              \ ( n2 )  Update delta to specified ch
     r>                       \ ( n2 n3 ) Pop newpos
     swap                     \ ( n3 n2 )
     tgtPos W!                \ ( -- ) Update new_position to specified ch
then
;

\ Returns position (current output command to servo) of channel
\ ( n1 -- n2 )  
\ n1:servo ch  n2:ch's position(microseconds)
: position curPos W@ ;

\ Returns True when servo ch is at desired target
\ ( n1 -- n2 )  
\ n1:servo ch  n2:t/f
: at_target dup curPos W@ swap tgtPos W@ = ;

\ Wait until servo channel reaches at target position
\ ( n1 -- )  n1:ch
: wait_tgt begin dup at_target until drop ;

\ Runs 6 servos
\ ( n1 -- )  n1:top pin number of contiguous servo group
: deltaServo
dup 
setup
1 frqa COG!
0 phsa COG!
cnt COG@ d200000 +                 \ cnt + 2.5msec  
swap
\ run 6 slot(15msec)
begin
     ch 0 do   
          \ Set PWM/NCO mode on servo pin       
          dup i + h10000000 or ctra COG!
          \ Set negative value to phsa      
          i curPos W@ 1usec u* negate phsa COG!
               
          i curPos W@ i tgtPos W@ <
          if
               i curPos W@ i deltaVal W@ +
               i tgtPos W@ min
               i curPos W!
          else
               i curPos W@ i tgtPos W@ >
               if
                    i curPos W@ i deltaVal W@ -
                    i tgtPos W@ max
                    i curPos W!
               then
          then
          swap                                                    
          d200000 waitcnt                    \ cnt + 2.5msec
          swap
          0 ctra COG! 
     loop
0 until
\ fkey? swap drop until drop
;

\ Start servo cog
\ ( -- )   
: servo_init
base d1500 setpos                       
shoulder d1800 setpos              
elbow d1000 setpos
vert_wrist d2500 setpos
rot_wrist d1500 setpos
gripper d1500 setpos

c" servo deltaServo" 0 cogx
;

: disp_pos
ch 0 do 
     ." ch:" i .
     ." target:" i tgtPos W@ .
     ." delta:" i deltaVal W@ .
     ." usec:" i curPos W@ .
     cr
loop
cr
;

: demo1
d100 base d1500 movpos
d100 shoulder d1600 movpos
d100 elbow d1600 movpos
d100 vert_wrist d1500 movpos
d100 rot_wrist d1500 movpos
d100 gripper d1500 movpos
;

: demo2
d100 base d1500 movpos
d100 shoulder d1800 movpos
d100 elbow d1000 movpos
d100 vert_wrist d2500 movpos
d100 rot_wrist d1500 movpos
d100 gripper d1500 movpos
;
: demo3
d100 base d2000 movpos
d50 rot_wrist 500 movpos
d50 gripper d1350 movpos
begin rot_wrist at_target until    \ Wait until reached at desired position    
d50 rot_wrist 2500 movpos
begin gripper at_target until      \ Wait until reached at desired position
d50 gripper d2200 movpos
;


: wait
begin base at_target until
begin shoulder at_target until
begin elbow at_target until
begin vert_wrist at_target until
begin rot_wrist at_target until
begin gripper at_target until
;

: test demo1 wait demo2 wait demo3 wait demo2 ;

caskaz · 2016-07-25 22:13

I wrote code for OLED-LCD128x32dots(SSD1306).

prof_braino · 2016-08-04 22:28

Hey Kaz! Will you post the code for SSD1306? I'd like see it if I could.

caskaz · 2016-08-04 22:55

Hi prof_braino.
Please check i2c_device's folder inside my github.

prof_braino · 2016-08-07 23:11

Got it! Thanks!

caskaz · 2016-08-11 00:13

Modified a little.

caskaz · 2016-08-28 06:30

File-loading use "fl" using hubram.
In case of Development kernel, free area is 15kbyte.
Big file cannot load in free area.
So, I made RAMDISK(512kbyte).

Loading sample.f(size:33kbyte) by "fl"
sample.f combined from i2c_utility_0.4.2.f and SSD1306(128x32)_0.1 and demo_0.1.f.

9224 characters overflowed
Prop0 Cog6 ok

CON:Prop0 Cog5 RESET - last status: 0 ok

After Loading "RAMDISK_0,1.f" , execute below;

Prop0 Cog6 ok
initRAM
Prop0 Cog6 ok

Loading sample.f by "flRAM"

Success loading file.

There are text of "sample.f" inside RAMDISK

Prop0 Cog6 ok
0 500 dumpDISK
00000 01F4:
00000: 0D 0D 0D 0D 0D 3A 20 65 72 72 5F 6D 73 67 20 2E   .....: err_msg .
00010: 22 20 49 32 43 20 65 72 72 6F 72 22 20 3B 0D 3A   " I2C error" ;.:
00020: 20 65 72 72 3F 20 69 66 20 65 72 72 5F 6D 73 67    err? if err_msg
00030: 20 63 72 20 74 68 65 6E 20 3B 0D 0D 6C 6F 63 6B    cr then ;..lock
00040: 64 69 63 74 20 63 72 65 61 74 65 20 5F 65 65 73   dict create _ees
00050: 74 61 72 74 20 66 6F 72 74 68 65 6E 74 72 79 0D   tart forthentry.
00060: 24 43 5F 61 5F 6C 78 61 73 6D 20 77 2C 20 68 31   $C_a_lxasm w, h1
00070: 32 32 20 20 68 31 31 33 20 20 31 2D 20 74 75 63   22  h113  1- tuc
00080: 6B 20 2D 20 68 39 20 6C 73 68 69 66 74 20 6F 72   k - h9 lshift or
00090: 20 68 65 72 65 20 57 40 20 61 6C 69 67 6E 6C 20    here W@ alignl
000A0: 68 31 30 20 6C 73 68 69 66 74 20 6F 72 20 6C 2C   h10 lshift or l,
000B0: 0D 7A 31 5B 69 78 6E 57 20 6C 2C 20 7A 31 5B 69   .z1[ixnW l, z1[i
000C0: 78 6E 58 20 6C 2C 20 7A 32 57 79 50 5B 55 20 6C   xnX l, z2WyP[U l
000D0: 2C 20 7A 32 30 69 50 61 6B 20 6C 2C 20 7A 33 72   , z20iPak l, z3r
000E0: 79 50 57 30 20 6C 2C 20 7A 31 62 69 78 6E 57 20   yPW0 l, z1bixnW
000F0: 6C 2C 20 7A 32 57 79 50 5B 56 20 6C 2C 20 7A 32   l, z2WyP[V l, z2
00100: 30 69 50 61 6B 20 6C 2C 0D 7A 33 72 79 50 57 30   0iPak l,.z3ryPW0
00110: 20 6C 2C 20 7A 31 62 69 78 6E 58 20 6C 2C 20 7A    l, z1bixnX l, z
00120: 31 53 56 30 31 58 20 6C 2C 20 7A 6C 30 20 6C 2C   1SV01X l, zl0 l,
00130: 20 7A 43 57 20 6C 2C 20 7A 57 30 30 30 30 20 6C    zCW l, zW0000 l
00140: 2C 20 7A 47 30 30 30 30 20 6C 2C 0D 66 72 65 65   , zG0000 l,.free
00150: 64 69 63 74 0D 0D 3A 20 53 72 20 5F 65 65 73 74   dict..: Sr _eest
00160: 61 72 74 20 3B 0D 0D 3A 20 5F 65 65 73 74 6F 70   art ;..: _eestop
00170: 0D 5F 73 63 6C 69 20 20 20 20 20 5C 20 52 65 6C   ._scli     \ Rel
00180: 65 61 73 65 20 73 63 6C 20 0D 5F 73 64 61 69 20   ease scl ._sdai
00190: 20 20 20 20 5C 20 52 65 6C 65 61 73 65 20 73 64       \ Release sd
001A0: 61 0D 3B 0D 0D 3A 20 62 75 73 5F 63 6C 72 20 64   a.;..: bus_clr d
001B0: 31 30 20 30 20 64 6F 20 5F 73 63 6C 6C 20 5F 73   10 0 do _scll _s
001C0: 63 6C 6F 20 5F 73 63 6C 69 20 6C 6F 6F 70 20 3B   clo _scli loop ;
001D0: 0D 0D 0D 6C 6F 63 6B 64 69 63 74 20 63 72 65 61   ...lockdict crea
001E0: 74 65 20 5F 65 65 77 72 69 74 65 20 66 6F 72 74   te _eewrite fort
001F0: 68 65 6E 74 72 79 0D 24 43 5F 61 5F 6C 78 61 73   hentry.$C_a_lxas

Prop0 Cog6 ok

caskaz · 2016-08-28 06:33

RAMDISK curcuit diagram

caskaz · 2016-09-19 08:49

My first microcontroller board was TK85(CPU:8085).
I wrote code to load program for TK85.
It sound like nostalgia.

caskaz · 2016-09-24 11:12

Controlled clock speed.
Uploded code and pdf to github(2016/9/25 11:54).

PaulRowntree · 2016-09-24 19:05

I always thought a variable speed clock with a week-long rotation period (weekends being 50% of the dial) would be a cool novelty item. Good to see caskaz !

caskaz · 2016-10-13 05:54

Alittle modified code for adafruit 16x64 LED Matrix.

c" PropForth5.5 " setUpperStr
c" May the Forth be with you." setLowerStr
2 color0 W!
1 color1 W!
adafruitStr

caskaz · 2016-11-23 08:03

Trying to work HD66732.
This LCD controler has JIS Level-1 and Level-2 Kanji ROM.
This also has character RAM(4line 20digit) and graphic RAM(120x52dots).
Not operating perfectly yet.

caskaz · 2016-11-29 12:21

Displayed Prop-character by using 2pcs of Adafruit16x32 LEDMatrix.

caskaz · 2016-12-01 11:04

Trying to work HD66732.
Not displaying 7bit-code characters yet.

Tor · 2016-12-01 11:21

An off-topic question.. that HD66732 is interesting, but it seems to be difficult to find now. Is it still possible to find it in Japan?

caskaz · 2016-12-01 13:06

This module(LM4049:using HD66732) are sold only this shop in Nipponbashi.
Including adaptor-board for film connector.
Price is 980 Yen(including tax).
It seems there are about 100 pcs in stock.
No parts in Akihabara.

Tor · 2016-12-01 14:22

Thanks, caskaz!
I found the place on google maps. I may be able to go to Osaka again in a few months. It's much easier for me to go there than to Tokyo anyway (I have never actually been in Akihabara).

caskaz · 2016-12-07 05:26

Graphic & character screen

caskaz · 2016-12-31 01:11

Hi.
I try to use USB-memory by using CH376S.
Using serial I/O.
I have trouble.
After opening/appending/writing file, error occur trying to open file again.
Searching files inside directory, opening file have no error.

When closing file, it seems file-pointer is file-end.

Do you have how to solve trouble?

Prop0 Cog6 ok
init_USBmemory
CMD_SET_USB_MODE operation successfull.USB device is present.
Checking USB Disk connection status:>Connection to USB -- ok
Mounting USB diskST: 0_000_000_031
ST: 0_000_000_020
>USB Mounted -- ok

20_690 00_036:
20_690: 000 128 000 001 031 115 109 105 066 085 070 070 065 076 079 032   .....smiBUFFALO
20_706: 085 083 066 032 070 108 097 115 104 032 068 105 115 107 032 032   USB Flash Disk
20_722: 052 048 048 048 058 032 100 105 115 107 081 117 101 114 121 013   4000: diskQuery.
BUFFALO USB Flash Disk  4000

Totale Capacity:505855 kb

Logical Total Capacity:505248 kb
Free Capacity:505248 kb
FAT file system type:FAT

Prop0 Cog6 ok
dir /*
>Readable inside directory
TEST1.TXT       TEST2.TXT       TEST3.TXT       TEST4.          TEST8.TXT
Prop0 Cog6 ok
setFileName TEST1.TXT
Prop0 Cog6 ok
openFile .
>File opened successfully
20 Prop0 Cog6 ok                      <--- USB_INT_SUCCESS
readFile
Reading file:PropForth5.5
Prop0 Cog6 ok
0 closeFile
Closing file:>File closed successfully.
Prop0 Cog6 ok
setFileName TEST1.TXT
Prop0 Cog6 ok
openFile .
>Failed to open file. Error code:66
66 Prop0 Cog6 ok                      <-- ERR_MISS_FILE
dir /*
>Readable inside directory
TEST1.TXT       TEST2.TXT       TEST3.TXT       TEST4.          TEST8.TXT
Prop0 Cog6 ok
setFileName TEST1.TXT
Prop0 Cog6 ok
openFile .
>File opened successfully
20 Prop0 Cog6 ok                      <--- USB_INT_SUCCESS
readFile
Reading file:PropForth5.5

Prop0 Cog6 ok
0 closeFile
Closing file>File closed successfully.
Prop0 Cog6 ok

caskaz · 2016-12-31 01:13

CH376S-board

caskaz · 2017-01-02 11:44

I modified a little code.

: stop_CH376  0 5 cogio 2+ W! 5 cogreset ;

Today is her 13years old birthday(Jan 2).

Tor · 2017-01-02 13:35

Nice doggie.. my wife's Shiba will be 14 later this month. She can still run 100 meters faster than I can..

caskaz · 2017-01-07 03:27

I try to get JPEG by LS-Y201.
Sending JPEG data to Processing after receiving them from LS-Y201.

Photo is a llitle dark and poor color.
This is under debug yet.

caskaz · 2017-01-19 05:09

CH376S code
Not complete yet.
Change directory to down is ok.
But cd to up is NG.

Createfile,Deletefile are ok.
CreateDirectory is NG.

Prop0 Cog6 ok
init_USBmemory
CMD_SET_USB_MODE operation successfull.USB device is present.
Checking USB Disk connection status:>Connection to USB -- ok
Mounting USB diskST: 0_000_000_031
ST: 0_000_000_020
>USB Mounted -- ok

21_052 00_036:
21_052: 000 128 000 001 031 115 109 105 066 085 070 070 065 076 079 032   .....smiBUFFALO
21_068: 085 083 066 032 070 108 097 115 104 032 068 105 115 107 032 032   USB Flash Disk
21_084: 052 048 048 048 032 032 032 032 032 032 032 032 032 032 032 032   4000
BUFFALO USB Flash Disk  4000

Totale Capacity:505855 kb

Logical Total Capacity:505248 kb
Free Capacity:505248 kb
FAT file system type:FAT16

Prop0 Cog6 ok
dir /*

>Readable inside directory
TEST1.TXT       TEST3.TXT       TEST4.          TEST9.TXT
Prop0 Cog6 ok
readDemo /TEST1.TXT

>File opened successfully
Reading file:PropForth5.5

Closing file>File closed successfully.
Prop0 Cog6 ok
appendDemo /TEST1.TXT

>File opened successfully
Setting file pointer:Pointer successfully applied
Writing to fileSetting data length
Writing data to file:7
Updating file size:20
Closing file>File closed successfully.
Prop0 Cog6 ok
readDemo /TEST1.TXT

>File opened successfully
Reading file:PropForth5.5-append

Closing file>File closed successfully.
Prop0 Cog6 ok
createFile /TEST2.TXT

Created file

Prop0 Cog6 ok
dir /*

>Readable inside directory
TEST1.TXT       TEST3.TXT       TEST4.          TEST9.TXT       TEST2.TXT
Prop0 Cog6 ok
deleteFile /TEST2.TXT

Successfully to delete file
Prop0 Cog6 ok
dir /*

>Readable inside directory
TEST1.TXT       TEST3.TXT       TEST4.          TEST9.TXT
Prop0 Cog6 ok
cd /TEST4

>Directory opened successfully.
>Readable inside directory
..      ...     TEST5.TXT       TEST6.
Prop0 Cog6 ok
cd TEST6

>Directory opened successfully.
>Readable inside directory
..      ...     TEST7.TXT
Prop0 Cog6 ok

caskaz · 2017-01-23 05:52

I tried USBmouse.
Yet strange operation.
Now under debug.

test1
Reset USBbus
CMD_SET_USB_MODE operation successfull.USB device is present.
SOF
mouse Low speed
USB-address is 1
CH376-USB-address successful
Configure successful

over14 ST:

0 1 0
over14 ST:

0 2 0
over14 ST:

0 2 0
over14 ST:

1 7 0
over14 ST:

1 23 FD
over14 ST:

0 FD 0
over14 ST:

0 E1 7
over14 ST:

0 B4 E
over14 ST:

0 2E 4
over14 ST:

0 32 0 -- Y axis
| |
| X axis
|
Left button=1
Right button=2

CH376S module has been reset.
Prop0 Cog6 ok

CON:Prop0 Cog5 RESET - last status: 0 ok

caskaz · 2017-01-23 05:54

CH376S-board and USBmouse

Propforth v5.5 is available for download

Comments