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Microcontroller Projects
Using the Basic Stamp
Second Edition
Al Williams
CRC Press
c f lC Taylor & Francis G ro up
Boca Raton London New York
Copyright © 2 0 0 2 by A1 Williams
This book contains infoimation obtained from authentic and highly regarded sources. Reasonable efforts have been
made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity
o f all materials or the consequences o f their use. The authors and publishers have attempted to trace the copyright holders
o f all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has
not been obtained. I f any copyright material has not been acknowledged please write and let us know so we may rectify
in any future reprint
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and explanation without intent to infringe.
C M P B o o k s
Table of Contents
In tr o d u c tio n .........................................................................................xi
The Challenge....................................................................................................................xii
Is This Book for Y o u ? ..................................................................................................... xii
W hat’s New in the Second E d itio n ? ......................................................................... xiii
What You N e e d ..............................................................................................................xiii
How to P ro c e e d ..............................................................................................................xiv
C O M M A N D REFERENCE...........................................................54
Section I — Data C o m m a n d s ................................................. 55
DEBUG I, II, USX, HE, IIP ...................................................................................... 56
SYMBOL 1 ....................................................................................................................59
CON II, USX, HE, I I P ............................................................................................. 60
VAR II, USX, HE, I I P ............................................................................................. 61
LET I ...........................................................................................................................62
EEPROM 1 ....................................................................................................................63
BSAVE 1 ...................................................................................................................... 64
DATA II, USX, HE, I I P ........................................................................................... 65
READ I, II, USX, HE, IIP .........................................................................................67
WRITE I, II, USX, HE, IIP ...................................................................................... 68
PUT USX, HE, IIP.....................................................................................................70
GET USX, HE, IIP.....................................................................................................72
RANDOM I, II, USX, HE, IIP ....................................................................................73
Section II — Flow Control ...................................................... 75
END I, II, USX, HE, IIP ........................................................................................... 76
PAUSE I, II, USX, HE, IIP ...................................................................................... 77
NAP I, II, USX, HE, IIP ........................................................................................... 78
SLEEP I, II, USX, HE, IIP ...................................................................................... 79
GOTO I, II, USX, HE, IIP .........................................................................................80
IF I, II, USX, HE, IIP ..............................................................................................81
BRANCH I, II, USX, HE, IIP ....................................................................................84
GOSUB I, II, USX, HE, IIP ...................................................................................... 86
RETURN I, II, USX, HE, IIP ....................................................................................90
FOR I, II, USX, HE, IIP ........................................................................................... 91
NEXT I, II, USX, HE, IIP .........................................................................................93
RUN USX, HE, IIP.....................................................................................................94
Section III — Digital I / O ...........................................................95
INPUT I, II, USX, HE, IIP ...................................................................................... 96
Table of Contents V
Summary........................................................................................................................... 362
Exercises........................................................................................................................... 362
C h a p t e r 11 On Your O w n ......................................................411
The Parallax Mailing L is t ........................................................................................... 411
W e b S ite s .........................................................................................................................412
In d e x .................................................................................................... 451
xi
x ii Introduction
cassette recorder for exactly 30 seconds to record the incoming message. Finally, the
first cam released the solenoid so the phone would hang up. This also shut down the
motor so that the entire system was ready to go again.
That system was quite expensive and it was prone to answering the phone when
you slammed the door, or otherwise shook the device. Today, machines like this are
compact, reliable, and cheap. Why? Microprocessors.
The microprocessor is truly the universal machine. It does nothing unless you tell
it what to do, but that’s the good part: it will do whatever you tell it. Once an expen
sive component, volume and technological advances have made microprocessors
inexpensive enough to be in practically everything.
The Challenge
What does this mean? If you want to design, build, or troubleshoot modern elec
tronic equipment, you must understand microprocessors. Not too long ago, micro
processor development was an expensive undertaking requiring special equipment
(certainly more than most hobbyists were willing to spend and even more than some
small companies were willing to commit). Today, however, there is an alternative
that allows you to start working with microcontrollers with just a PC. No special
programming hardware, no expensive cross-compilers, no ultraviolet erasers
required! Just an ordinary PC, a simple to construct cable, a Basic Stamp (often
called a Stamp; from Parallax Incorporated), and a nine volt battery will get you
started.
Basic Stamps are simple to use, but they are very powerful. Better still, the princi
ples you’ll learn to master Basic Stamps will apply to all kinds of microprocessors,
regardless of the type.
However, you can also buy small PC boards specifically for the Stamp from Parallax.
My company, AWC, makes several solderless breadboard adapters that work with
the Stamp also. You can also use a plain, solderless breadboard but you’ll have to
wire it up yourself, which can get messy. Solderless breadboards make it very easy to
experiment and try different circuits with a minimum of expense. There are other
prototyping options available that you will read about in Chapter 1.
The last piece of the puzzle is a cable. Exactly what you need here depends on
what kind of Stamp you will use and how you are building your circuits. For exam
ple, the Stamp D or the Stamp I require a special cable you can build or buy from
Parallax. The Stamp II boards from Parallax and the AWC ASP-II require regular
cables that you can find nearly anywhere.
If you plan to build your own cables, be aware that the Stamp I and Stamp D plug
into the PC’s printer port. The other Stamps plug into the serial port. You’ll find
more details about the various Stamps, their boards, and cables in Chapter 1.
The only other essential requirement is some way to power the Stamp. This can
be a 9V battery (which works very well), an AC adapter, or a lab power supply. You
could even draw the power from a PC power supply, if you don’t mind breaking into
your PC. The Stamp is not picky. You can feed it regulated 5V, or supply it with a
higher voltage and let its onboard regulator provide 5V.
You don’t need anything else to get started. You don’t need any manuals or soft
ware — that’s on the CD -ROM (and you can get updates on the Internet at
www.paral 1 axinc.com). You don’t need special programming hardware — that’s on
the Stamp itself. You don’t need a special eraser — the Stamp knows how to erase
itself!
How to Proceed
If you are experienced in the ways of electronics and computers, you might want to
read just the beginning of Chapter 1 and then move on to the later chapters. If you’ve
used the Stamp before, you can probably skip right to the chapters that interest you
the most.
Everyone will probably browse Chapter 2. It contains all the Stamp’s program
ming commands along with explanations about them and the differences between
the versions of the Stamp. Browsing through this chapter will give you lots of ideas
about what you can make a Stamp do.
The simplicity of the Stamp makes it ideal in a teaching environment. I’ve person
ally taught some Stamp programming to sixth graders who were in a robotics com
petition! Because many high school and college courses make use of the Stamp, most
of the chapters include exercises and their solutions. Comparing your solutions to
the answers at the end of the book can be very enlightening. In microcontroller
How to Proceed XV
design, there are always many ways to accomplish any task. If your way works, it is
probably just as good as the book’s solution. Perhaps it is even better. You can evalu
ate the relative merit of different solutions in a variety of ways, so rating one answer
over another is fraught with peril when both give the same results.
As the old adage goes, “the longest journey begins with the first step.” If this is
your first step into microprocessors, you’ll find it to be one of the most fascinating
and enjoyable journey’s you’ve made. If you are already walking that road, I want to
show you some of the interesting spots I’ve found on my trip. Either way, get ready
to get addicted. Microcontroller projects are like potato chips: I’ll bet you can’t do
just one!
XVi Introduction
Chapter 1
Jump Right In
For many years, I’ve been an avid Star Trek fan (as are many engineers, I suppose).
But no matter how much I enjoy the show, I still can’t help but find fault with it on
occasion (perhaps that’s the part I enjoy). Take Mr. Spock. Spock has one thing in
common with many scientist-types on TV. He knows about everything. Remember
the professor on Gilligan’s Island? Same thing. He isn’t a biologist, or a chemist, or a
metallurgist. Nope. He is all of those things and more.
In real life, we aren’t so lucky. We have to specialize in something. I have a lot of
friends who are chemical engineers, for example. I know a few astronomers. I only
know a cursory amount about what they do, and for the most part, they don’t know
much about computers.
The catch is that computers are the universal machines and no matter what your
field of endeavor, you probably have some ideas about how a computer could help
you do it better. Maybe you want to control a chemical process, or move a telescope
by remote control. Spock or the professor would have no trouble. But in real life,
many people have to turn to specialized engineers to make these ideas a reality.
Of course, computers are ubiquitous, and many people from many different disci
plines now understand the ideas behind writing a program and routinely write soft
ware that helps them do their job. Sometimes these programs will help many people
in the same field do their job. But there seems to be a difference between writing
1
2 Chapter 1: Jum p Right In
some PC software in, say, Visual Basic, and designing a dedicated computer to move
a telescope, right?
In the past, that has been true. Dedicated microcontrollers were the province of
experts that understood digital hardware and programming. With the advent of
Basic Stamps, however, all this is changing. The Basic Stamp is a special microcon
troller that requires very little (if any) supporting hardware. As the name implies,
you program it using a special dialect of Basic — a language that many people know
and is considered easy to learn.
The Basic Stamp is opening up microcontroller design to a whole range of people
who want to build solutions . Even electronic specialists who know how to use the
more arcane microcontrollers find that Basic Stamps are easy, productive, and fun to
use. In a few minutes you can develop something that would take days or even weeks
using conventional techniques. Little jobs that would be too much trouble to solve
with a common microcontroller are simple with Basic Stamps.
In fact, the Basic Stamp is so much fun that is has a fan club — sort of. There is a
very active mailing list, maintained by Parallax (the company that makes the Stamp),
where over 1,000 Stamp users ask questions and offer advice. The users of this list
generate an unthinkable amount of mail each day with problems that range from the
simple to the complex. (See Chapter 11 for more about this mailing list and other
resources).
Another reason the Stamp is so popular is that it doesn’t require much investment
to get started. If you are a resourceful scrounger, you’ll only need the Stamp itself
(and a PC, of course). Even if you want to buy everything ready-made, you’ll only
wind up spending a few dollars more, depending on what choices you make.
Getting Started
So your first step is to select a Stamp and buy it. Using software on the CD-ROM ,
you can actually get your first taste of the Stamp without buying anything (sort of a
virtual reality Stamp). Of course, that Stamp only runs on your PC. To control the
real world, you will have to get a real Stamp.
You can order Stamps directly from Parallax, buy them from Radio Shack (they
order them for you), or get them from most major electronic catalogs (see Chapter
11). The question is: what kind of Stamp should you get?
There are several when it comes to Stamps. Each one is a bit different, and you’ll
have to decide for yourself which best suits your needs. You’ll find a summary of
your choices in Table 1.1. You can also find the specifications for each in the
datasheets on the CD-ROM . For the purposes of most of this book, the Stamp I and
the Stamp D are the same, so I’ll usually refer to the Stamp I, and you can assume the
Stamp D is the same. The only difference is in the packaging.
Hardw are 3
By the same token, many of the Stamp variants have different packaging (for
example, the OEM Stamp II or the BSIIP/40). From a software point of view, these
parts are the same, so I will treat them as equivalent.
Don’t be alarmed at the Stamps’ apparently small sizes of memory. You’ll find
that it is often more than enough for the types of jobs you’ll tackle with the Stamp. If
you are used to dealing with PCs with dozens of megabytes and high-speed Pentium
processors, you’ll have a bit of culture shock. But for embedded microcontrollers,
the Stamps have plenty of memory and speed.
Hardware
Once you have your Stamp, you’ll need some way to program it. Here’s the good
news. The only thing you really need is a 9V battery and a cable. What kind of cable
you need depends on the Stamp you select. The Stamp I and Stamp D connect to
your PC’s printer port, and therefore require a DB25 cable. For the Stamp D, the
other end of the cable connects to some pins (like jumper pins) on the Stamp’s PC
board. You can buy the cable ready-made from Parallax, or build your own using the
instructions in Appendix C. Because printer cables are cheap, you can easily buy one,
cut the end off, and wire the correct end. The other Stamps require a connection to
your serial port.
4 Chapter 1: Jum p Right In
All of the Stamps except for the Stamp D and the OEM Stamps resemble inte
grated circuits (ICs). The Stamp I has a single row of pins (a Single Inline Pin or SIP
package). The other Stamps utilize a DIP (Dual Inline Pin package). In either case,
you’ll find you need something to hold the Stamp while you work.
The simple approach is to get a piece of perfboard (often known as Vector Board
or Vero Board) with holes on 0.1-inch centers. You can then use solder or wire wrap
ping techniques to make connections between your cable and the Stamp (as well as
other circuit components).
While this approach is simple, it isn’t ideal. Of course, you’d want to solder to a
socket, not the Stamp directly, but the soldering makes it tedious to make changes
and experiment.
If you prefer, you can buy a small PC (printed circuit) board (known as a carrier)
from Parallax. These boards have a socket for the Stamp and a connector for the
cable. The Stamp I carrier uses the same cable as the Stamp D. The carrier for the
other Stamps use a standard 9-pin serial cable connector. These carriers offer a small
area where you can solder or wire wrap your creations. They also provide for a 9V
battery to connect to the Stamp. However, they also require major surgery if you
want to build something different or even change your existing design. Also, the area
for your circuits is small. You can find a picture of the carrier boards in Figure 1.1
and 1.2.
Figure 1.1 This carrier board holds the Stamp I for prototyping.
The best way, in my opinion, to work with Stamps is with a solderless bread
board. The breadboards themselves are available from a variety of vendors and are
quite common. The breadboard provides holes that have spring contacts beneath
them. You insert components (including the Stamp) into the holes and the springs
grab the wire leads and grip them. The holes connect in certain patterns, so inserting
wires in particular holes make connections between parts of your circuit.
H ardw are 5
The only problem with breadboards is that it is not very handy to connect cables
to them. You can always make up something that will connect the cable to the bread
board, or you can get adapters especially designed for this purpose from AWC (see
Chapter 11). If you want to roll your own, you might consider soldering wires to a
socket, plugging the socket into the breadboard, and then plugging the Stamp into
the socket.
Regardless of your choice in prototyping boards, it all boils down to about the
same thing. You need a way to connect a battery, a cable, and whatever parts you
need to the Stamp. The battery, by the way, isn’t critical. The Stamp can run off a 5V
regulated voltage supply or you can feed in an unregulated voltage (like a battery)
and the Stamp will regulate it. Except for the Stamp USX, the regulator is beefy
enough that you can power simple circuits that need 5V from the Stamp’s regulator,
if you like. The Stamp USX, however, uses almost all the juice its regulator can pro
vide. Because the Stamp has a built-in regulator, you can use nearly any power
source — an AC adapter, a battery, or a lab supply. Just make sure the output is DC
and doesn’t exceed the maximum voltage the Stamp can take.
Figure 1.3 shows the breadboard I use most often. It is a large breadboard from
Elenco that I picked up at a hamfest (a swap meet for ham radio operators) for $5. I
permanently built a 5V regulator circuit and wired a socket for a Stamp II. The cable
plugs in with an AWC ASP-2 adapter. You can build some very large projects on a
board this big.
voltage regulator (see Figure 1.4). You can also use a regulated bench supply. You
may want to use this even with the other Stamps. Although most Stamps can supply
5V to your circuit, if you draw too much current you might blow the regulator and
damage the Stamp. Since a 7805 costs about $1.50 at Radio Shack, and the least
expensive Stamp is about $39, it is well worth a 7805 for a little protection. Besides,
a 78L05 can supply up to 140 mA and the 7805 over 1 amp (with a heat sink).
wA No more batteries
You can run a Stamp for quite some time on a single 9V battery. However, it
tip seems the battery will die just as you are about to finish a project. One simple
solution is to buy a 9V battery eliminator (available nearly everywhere). This is
a usually a small wall transformer that has a 9V battery connector on the end of
the wire. This allows you the most flexibility since you can use a 9V battery
when you want to be free of the wall outlet, or plug in when you don’t want to
use batteries.
Because the Stamp has its own regulator (or if you use the regulator in Figure
1.4), you’ll have no problem with your 5V supply. However, don’t assume that the
battery eliminator’s output will really be 9V. Usually, it will be higher and drop as
you draw more current from it. Make sure and measure the output if you have any
doubts and you are connecting a component to the supposed 9V power.
Some cheaper eliminators might have some hum (residual noise from the AC
power line) that could affect your circuits. If you think this might be a problem, just
put an electrolytic capacitor across the input (in addition to the .33uF unit in Figure
1.4). This won’t affect your battery operation, but will filter out any hum.
78L05
7-20VDC In _5V Out (,1A Max)
In Out
_L Gnd I
.33|iF .01|iF
^ rj
Another handy thing to have is a volt ohm meter (VOM). Digital VOM s (also
called DVMs) are quite inexpensive now and you really need one for any electronic
work. If you have access to an oscilloscope or other expensive test gear, good for
Another Random Document on
Scribd Without Any Related Topics
Riddell, Mr. Marsh, Marquis Gandolfi-
Hornyold, Hon. K. Dundas, Mr. Percival,
Mr. Churchill, Mr. D. J. Wilson.
The young Englishman, be he officer or settler in the East African
Highlands, cuts a hardy figure. His clothes are few and far between:
a sun hat, a brown flannel shirt with sleeves cut above the elbow
and open to the chest, a pair of thin khaki knickerbockers cut short
five inches—at least—above the knee, boots, and a pair of putties
comprise the whole attire. Nothing else is worn. The skin, exposed
to sun, thorns, and insects, becomes almost as dark as that of the
natives, and so hardened that it is nothing to ride all day with bare
knees on the saddle; a truly Spartan discipline from which at least
the visitor may be excused.
This is the way in which they hunt lions. First find the lion, lured to
a kill, driven from a reed-bed, or kicked up incontinently by the way.
Once viewed he must never be lost sight of for a moment. Mounted
on ponies of more or less approved fidelity, three or four daring
Britons or Somalis gallop after him, as in India they ride the pig—
that is to say, neck or nothing—across rocks, holes, tussocks,
nullahs, through high grass, thorn scrub, undergrowth, turning him,
shepherding him, heading him this way and that until he is brought
to bay. For his part the lion is no seeker of quarrels; he is often
described in accents of contempt. His object throughout is to save
his skin. If, being unarmed, you meet six or seven lions
unexpectedly, all you need do—according to my information—is to
speak to them sternly and they will slink away, while you throw a
few stones at them to hurry them up. All the highest authorities
recommend this.
But when pursued from place to place, chased hither and thither
by the wheeling horsemen, the naturally mild disposition of the lion
becomes embittered. First he begins to growl and roar at his
enemies, in order to terrify them, and make them leave him in
peace. Then he darts little short charges at them. Finally, when
every attempt at peaceful persuasion has failed, he pulls up abruptly
and offers battle. Once he has done this, he will run no more. He
means to fight, and to fight to the death. He means to charge home;
and when a lion, maddened with the agony of a bullet-wound,
distressed by long and hard pursuit, or, most of all, a lioness in
defence of her cubs, is definitely committed to the charge, death is
the only possible conclusion. Broken limbs, broken jaws, a body
raked from end to end, lungs pierced through and through, entrails
torn and protruding—none of these count. It must be death—instant
and utter—for the lion, or down goes the man, mauled by septic
claws and fetid teeth, crushed and crunched, and poisoned
afterwards to make doubly sure. Such are the habits of this cowardly
and wicked animal.
It is at the stage when the lion has been determinedly "bayed"
that the sportsman from London is usually introduced upon the
scene. He has, we may imagine, followed the riders as fast as the
inequalities of the ground, his own want of training, and the burden
of a heavy rifle will allow him. He arrives at the spot where the lion
is cornered in much the same manner as the matador enters the
arena, the others standing aside deferentially, ready to aid him or
divert the lion. If his bullet kills, he is, no doubt, justly proud. If it
only wounds, the lion charges the nearest horseman. For forty yards
the charge of a lion is swifter than the gallop of a racehorse. The
riders, therefore, usually avoid waiting within that distance. But
sometimes they do not; or sometimes the lion sees the man who
has shot him; or sometimes all sorts of things happen which make
good stories—afterwards.
After this general description no particular example is required,
and the reader need not be disappointed to learn that our lion
escaped what, no doubt, would have been his certain destruction by
the breaking of a single link in the regular chain of circumstances.
He was not found upon the kill. His place was taken by a filthy
hyena, and it was not until we had beaten thoroughly for two hours
more than three miles of reed-bed that we saw him—a splendid
great yellow cat, looking as big as a bullock—bounding away up the
opposite hill. Off started our riders like falcons; but alas!—if "alas!" is
the proper word—a deep and impassable nullah intervened,
necessitating large circuits and long delays; so that the lion got clean
away out of sight of all men, and we were reduced to the slow and
tedious process of tracking him footprint by footprint through waving
grass, breast-high, hour after hour, always expecting to tread on his
tail, and always—disappointed!
Another hour or so and Lake Naivasha comes into view. This sheet
of water is about ten miles square, and the rim of a submerged
crater makes an odd, crescent-shaped island in its midst. Its brackish
waters repel the inhabitants, but afford shelter to numberless wild-
fowl and many hippopotami. At Naivasha there is the Government
stock farm. One may see in their various flocks the native sheep, the
half-bred English, the three-quarter-bred, etc. The improvement is
amazing. The native sheep is a hairy animal, looking to the
unpractised eye more like a goat than a sheep. Crossed with Sussex
or Australian blood, his descendant is transformed into a woolled
beast of familiar aspect. At the next cross the progeny is almost
indistinguishable from the pure-bred English in appearance, but
better adapted to the African sun and climate. It is the same with
cattle. In the first generation the hump of the African ox vanishes. In
the second he emerges a respectable British Shorthorn. The object
of this farm is twofold: first, to find the type best adapted to local
conditions; secondly, to supply the settlers and the natives with a
steadily broadening fountain of good blood by which their flocks and
herds may be trebled and quadrupled in value. The enthusiasm and
zeal of those in charge of this work were refreshing. At present,
however, their operations are restricted by insufficient funds and by
the precautions which must be taken against East Coast fever. The
first of these impediments may be removed; the second is less
tractable.
East Coast fever came across the German border a year and a half
ago, and since then, in spite of such preventive measures as our
scanty means allow, it has been gradually and slowly spreading
through the Protectorate. A diseased cow may take thirty days to
die. In the meantime wherever it goes the swarming ticks are
infected. They hold their poison for a year. If, during that time, other
cattle pass over the ground the ticks fasten upon them and inoculate
them with the sickness. And each new victim wanders off to spread
the curse to new ticks, who cast it back to new cattle, and so on till
the end of the story. At each point fresh areas of ground become
distempered, and fresh cows begin to drop off one by one, leaving
their evil inheritance to the ravening insects.
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