Programming and Customizing the Multicore Propeller Microcontroller

495 Pages·2010·13.616 MB·English

by  Shane Avery, Chip Gracey, Vern Graner

PROGRAMMING AND
CUSTOMIZING THE
MULTICORE PROPELLERTM
MICROCONTROLLER
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PROGRAMMING AND
CUSTOMIZING THE
MULTICORE
PROPELLERTM
MICROCONTROLLER
THE OFFICIAL GUIDE
PARALLAX INC.
Shane Avery Chip Gracey Vern Graner
Martin Hebel Joshua Hintze André LaMothe
Andy Lindsay Jeff Martin Hanno Sander
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Copyright © 2010 by The McGraw-Hill Companies, Inc. All rights reserved. Except as permitted under the United States
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ISBN: 978-0-07-166451-6
MHID: 0-07-166451-3
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contract, tort or otherwise.
For Ellie, my lovely wife.
S. A.
To my wife Kym, my children Nic and Sami,
and my Mom and Dad for all the support.
V. L. G.
For BJ and Kris, thanks for being so supportive.
M. H.
For my wife Crystal and son Hunter.
J. M. H.
To inventors everywhere.
A. L.
For Stacy, Kaitlin, and Kaylani
who were wonderfully supportive
despite being deprived of my attention.
J. M.
For Mami and Papi, thanks for everything.
H. S.
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CONTENTS
About the Authors xi
Foreword xv
Introduction xvii
Chapter 1 The Propeller Chip Multicore Microcontroller 1
Introduction 1
Multicore Defi ned 2
Why Multicore? 3
Multicore Propeller Microcontroller 3
Summary 14
Exercises 14
Chapter 2 Introduction to Propeller Programming 15
Introduction 15
What’s the Secret? 16
Ready to Dive In? 17
Let’s Get Connected! 17
Your First Propeller Application 22
A Blinking LED 25
RAM versus EEPROM 27
A More Powerful Blink 28
All Together Now 32
Wrapping It Up 34
Timing Is Everything 38
Sizing the Stack 41
Propeller Objects and Resources 45
Summary 48
Exercises 49
Chapter 3 Debugging Code for Multiple Cores 51
Propeller Features That Simplify Debugging 52
Object Design Guidelines 56
Common Multiprocessor Coding Mistakes 58
Survey of Propeller Debugging Tools 78
Debugging Tools Applied to a Multiprocessing Problem 86
Summary 116
Exercises 117
vii
viii CONTENTS
Chapter 4 Sensor Basics and Multicore Sensor Examples 119
Introducing Sensors by Their Microcontroller Interfaces 119
On/Off Sensors 122
Resistive, Capacitive, Diode, Transistor, and Other 137
Pulse and Duty Cycle Outputs 144
Frequency Output 153
Voltage Output 156
Synchronous Serial 168
Asynchronous Serial 174
Questions about Processing and Storing Sensor Data 182
Summary 187
Exercises 188
Chapter 5 Wirelessly Networking Propeller Chips 189
Introduction 189
Overview of Networking and XBee Transceivers 191
Hardware Used in This Chapter 193
Testing and Confi guring the XBee 193
Sending Data from the Propeller to the PC 204
Polling Remote Nodes 208
Using the XBee API Mode 214
A Three-Node, Tilt-Controlled Robot with Graphical Display 221
Summary 231
Exercise 232
Chapter 6 DanceBot, a Balancing Robot 235
Introduction 235
The Challenge 235
Building the DanceBot 238
Controlling the DanceBot 255
Summary 255
Exercises 255
Chapter 7 Controlling a Robot with Computer Vision 257
Introduction 257
Understanding Computer Vision 258
PropCV: A Computer Vision System for the Propeller 259
Apply Filters and Track a Bright Spot in Real Time 265
Following a Line with a Camera 270
Track a Pattern 272
State-of-the-Art Computer Vision with OpenCV 274
OpenCV and Propeller Integration 276
Summary 279
Exercises 280
Chapter 8 Using Multicore for Networking Applications 281
Introduction 281
Ethernet and Internet Protocols 281
EtherX Add-in Card for the Propeller-Powered HYDRA 287
CONTENTS ix
Creating a Simple Networked Game 312
Summary 318
Exercises 318
Chapter 9 Portable Multivariable GPS Tracking and
Data Logger 319
Introduction 319
Overview of the Sensors 322
Main Spin Object 344
Experiment 346
Summary 351
Exercises 352
Chapter 10 Using the Propeller as a Virtual Peripheral
for Media Applications 353
Introduction 353
Overview, Setup, and Demo 354
System Architecture and Constructing the Prototype 362
Remote Procedure Call Primer 366
Virtual Peripheral Driver Overview 370
Client/Host Console Development 372
Exploring the Command Library to the Slave/Server 387
Enhancing and Adding Features to the System 389
Exploring Other Communications Protocols 389
Summary 396
Exercises 396
Chapter 11 The HVAC Green House Model 399
Introduction 399
Exploring the Problem 400
The HVAC Green House Model 402
Summary 423
Exercises 425
Chapter 12 Synthesizing Speech with the Propeller 427
Introduction 427
Using Spectrographs to “See” Speech 427
Exploring the VocalTract Object 431
Summary 441
Exercises 442
Appendix A Propeller Language Reference 443
Categorical Listing of Propeller Spin Language Elements 443
Categorical Listing of Propeller Assembly Language 449
Reserved Word List 457
Appendix B Unit Abbreviations 459
Index 463