Hydrover - User contributions [en]

HYD-MB-REV-1.1

2017-09-27T14:12:21Z

Andrea: /* Hardware */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 4 (0-5V, 0-10V, 0-20mA software controlled)
* Digita inputs / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Outputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

HYD-MB-REV-1.1

2017-09-27T14:11:35Z

Andrea: /* Hardware */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 4 (0-5V, 0-10V, 0-20mA software controlled)
* Digita inputs / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

HYD-MB-REV-1.1

2017-09-27T14:11:04Z

Andrea: /* Hardware */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 4 (0-5V, 0-10V, 0-20mA software controlled)
* Digita input / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

HYD-MB-REV-1.1

2017-09-27T14:10:10Z

Andrea: /* Hardware */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 4 (0-5V, 0-10V, 0-20mA software seletable)
* Digita input / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

HYD-MB-REV-1.1

2017-09-27T14:04:57Z

Andrea: /* Pinout */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 6 (0-5V, 0-10V, 0-20mA software seletable)
* Digita input / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

File:HYD-MB CONN.png

2017-09-27T14:04:16Z

Andrea:

HYD-MB-REV-1.1

2017-09-27T13:58:28Z

Andrea:

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 6 (0-5V, 0-10V, 0-20mA software seletable)
* Digita input / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:H6104-P-CONN.png|320px]]

HYD-MB-REV-1.1

2017-09-27T13:57:21Z

Andrea: Created page with "__NOTOC__ = Description = 200px The HYD-MB-REV-1.1 ( aka MB Mobile Board ) is an advanced slave board driven by H6105-D for controlling on/off an..."

__NOTOC__
= Description =
[[File:H6104-P.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 6 (0-5V, 0-10V, 0-20mA software seletable)
* Digita input / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Otputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:H6104-P-CONN.png|320px]]

Electronics

2017-09-27T13:49:28Z

Andrea: /* Mobile Solution */

= Hydrover Automation System =

The '''Hydrover Automation System''' is our solution to actual [[Electronics#Industrial_Solution | industrial]] and [[Electronics#Mobile_Solution | mobile]] automation needs that are hard to face with standard PLC.

It is composed of two brand of boards: [[Electronics#Industrial_Solution | industrial]] and [[Electronics#Mobile_Solution | mobile]].

We have made a big effort in putting together a single [[Hydrover Developement System | developement system]] that works on both brands, that way you can share and reuse your code within various different applications.

== Hydrover Developement System ==

The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

== Industrial Solution ==

* composed of four type of board, connected with [https://en.wikipedia.org/wiki/CAN_bus Can bus]
* controlled by the simple yet powerfull [[Hydrover Developement System]]

{| border="1" cellspacing="0" cellpadding="5" align="center"
|-
! Image
! Code
! Description
|-
| [[File:H6105-D.png|100px]]
| [[H6105-D]]
| Control Panel, master of the system
|-
| [[File:H6105-E.png|100px]]
| [[H6105-E]]
| Control Expansion, slave board for expanding inputs of [[H6105-D]]
|-
| [[File:H6103.png|100px]]
| [[H6103]]
| Input Output, slave board for sensing inputs and drive outputs
|-
| [[File:H6104-P.png|100px]]
| [[H6104-P]]
| Control Axis, slave board for proportional PWM axis control
|}

== Mobile Solution ==

* composed of two type of board, connected with [https://en.wikipedia.org/wiki/CAN_bus Can bus]
* controlled by the simple yet powerfull [[Hydrover Developement System]]

{| border="1" cellspacing="0" cellpadding="5" align="center"
|-
! Image
! Code
! Description
|-
| -
| -
| Control Panel, master of the system that can be interfaced with: trucks / tractors
|-
| [[File:MB.png|100px]]
| [[HYD-MB-REV-1.1]]
| MB Power Module, slave board with: digital / analog / pwm / input / output / power output
|}

Pagina principale

2017-08-03T09:44:29Z

Andrea: /* main */

#REDIRECT [[Electronics]]

Pagina principale

2017-08-03T09:40:36Z

Andrea: Creata pagina con "= main ="

= main =

H6105-D and H6103 basic input/output

2017-07-06T12:25:17Z

Andrea:

= Description =

This programming example make use of events to monitor the switchs S1 and S2 and drive the corresponding lamps L1 and L2,
refer to the [[H6105-D and H6103 basic input/output wiring]] example.

= Source Code =

This is the source code in PAWN language of the '''H6105-D and H6103 basic input/output''' example:

<syntaxhighlight lang="pawn">

/***************************************************************
*
* Basic Input Output - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// define inputs
//
#define SWITCH_S1 MAKE_DIN_BOARD_CP(0)
#define SWITCH_S2 MAKE_DIN_BOARD_IO(0,0)

// define outputs
//
#define LAMP_L1 MAKE_OUT_BOARD_IO(0,0)
#define LAMP_L2 MAKE_OUT_BOARD_IO(0,1)

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf( "Basic IO" );

// set initial state of SWITCH_S1 and LAMP_L1
//
dCursor( 0, 10 );
if( DinRead( SWITCH_S1 ) )
{
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}
else
{
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// set initial state of SWITCH_S2 and LAMP_L2
//
dCursor( 0, 20 );
if( DinRead( SWITCH_S2 ) )
{
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
else
{
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// digital input activate
//
case SevDinActive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
}

// digital input deactivate
//
case SevDinInactive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}
}
}
}

// program end
}

</syntaxhighlight>

H6105-D and H6103 basic input/output

2017-07-06T12:10:34Z

Andrea: /* Desription */

= Description =

= Source Code =

This is the source code in PAWN language of the '''H6105-D and H6103 basic input/output''' example:

<syntaxhighlight lang="pawn">

/***************************************************************
*
* Basic Input Output - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// define inputs
//
#define SWITCH_S1 MAKE_DIN_BOARD_CP(0)
#define SWITCH_S2 MAKE_DIN_BOARD_IO(0,0)

// define outputs
//
#define LAMP_L1 MAKE_OUT_BOARD_IO(0,0)
#define LAMP_L2 MAKE_OUT_BOARD_IO(0,1)

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf( "Basic IO" );

// set initial state of SWITCH_S1 and LAMP_L1
//
dCursor( 0, 10 );
if( DinRead( SWITCH_S1 ) )
{
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}
else
{
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// set initial state of SWITCH_S2 and LAMP_L2
//
dCursor( 0, 20 );
if( DinRead( SWITCH_S2 ) )
{
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
else
{
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// digital input activate
//
case SevDinActive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
}

// digital input deactivate
//
case SevDinInactive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}
}
}
}

// program end
}

</syntaxhighlight>

H6105-D and H6103 basic input/output

2017-07-06T12:09:31Z

Andrea: Creata pagina con "= Desription = = Source Code = This is the source code in PAWN language of the '''H6105-D and H6103 basic input/output''' example: <syntaxhighlight lang="pawn"> /********..."

= Desription =

= Source Code =

This is the source code in PAWN language of the '''H6105-D and H6103 basic input/output''' example:

<syntaxhighlight lang="pawn">

/***************************************************************
*
* Basic Input Output - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// define inputs
//
#define SWITCH_S1 MAKE_DIN_BOARD_CP(0)
#define SWITCH_S2 MAKE_DIN_BOARD_IO(0,0)

// define outputs
//
#define LAMP_L1 MAKE_OUT_BOARD_IO(0,0)
#define LAMP_L2 MAKE_OUT_BOARD_IO(0,1)

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf( "Basic IO" );

// set initial state of SWITCH_S1 and LAMP_L1
//
dCursor( 0, 10 );
if( DinRead( SWITCH_S1 ) )
{
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}
else
{
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// set initial state of SWITCH_S2 and LAMP_L2
//
dCursor( 0, 20 );
if( DinRead( SWITCH_S2 ) )
{
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
else
{
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// digital input activate
//
case SevDinActive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
}

// digital input deactivate
//
case SevDinInactive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}
}
}
}

// program end
}

</syntaxhighlight>

The Queue of Events

2017-07-06T10:39:12Z

Andrea: /* Processing Events */

= Introduction =

The queue of events is the queue where the system send events such as: input change, user action, encoder or transducer match, and from where the user's program get events to process and react to.

= Structure of an Event =

An event is defined in the library as an array of values:

<code>[.opcode, .p0, .p1, .p2, .p3]</code>

where:

* <code>.opcode</code> is used to uniquely identify the event type
* <code>.p0, .p1, .p2, .p3</code> contains informations specific to that event

= Events' Library Functions =

The library functions for events management are:

* <code>#define BASE_EVENT(%1) Event:%1[.opcode, .p0, .p1, .p2, .p3]</code> is a macro to help in creating an event container
* <code>SysEvEnable()</code> enable the system to post events into the queue
* <code>SysEvDisable()</code> disable the system to post events into the queue
* <code>EventGet( BASE_EVENT(ev) )</code> get an event from the queue, if an event is not available will wait for
* <code>EventSend( BASE_EVENT(ev) )</code> send an event to the queue, can be used to inject custom and/or simulated events

= Processing Events =

In [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming] the main loop of a program
takes care of fetch, process and/or dispatch incoming events, the following code is an example of a minimal one.

<syntaxhighlight lang="pawn">
/***************************************************************
*
* Minimal Event Processing Loop
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Processing Events");

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// push button activate
//
case SevDinActive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Pressed");
}
}

// push button deactivate
//
case SevDinInactive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Released");
}
}
}
}

// program end
}
</syntaxhighlight>

= Type of Events =

This are the system events, declared in the library

<syntaxhighlight lang="pawn" line>
/* events codes */
const
{
SevEmergExit = 1, // receiving this event means that the program must stop execution

SevOnEnter, // the first event sent while entering a state
SevOnExit, // the last event sent while exiting a state

SevTick100mSec, // system tick sent at 100 (ms) rate
SevTick500mSec, // system tick sent at 500 (ms) rate
SevTickOneSec, // system tick sent at 1 (s) rate

SevTimerElapsed, // p0=timer number

SevEncCount, // p0=0, p1=1(count UP), p1=2(count DW)

SevDinChange, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinActive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinInactive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinFastRel, // p0= din number (0-19 = CP) (3000-3119 = CE)
SevDinKeep, // p0= din number (0-19 = CP) (3000-3119 = CE)

SevAccMatch, // p0= acc number

SevAxisMoveDone, // p0= board number
SevAxisMoveAbort, // p0= board number p1= abort code ( 0= cil0 stalled max curr, 1= cil1 stalled max curr, 2= cil0 stop by cil1, 3= cil1 stop by cil0, 4= max delta )

SevCsDone, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsAbort, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsStep, // p0= board number p1= pwm channel p2= cs number p3= step number

SevMenuChange, // p0= return code of menu item selected
SevMenuClick, // p0= return code of menu item clicked

SevBareditChange, // no params
SevBareditExit, // no params

SevNumeditChange, // p0= numedit
SevNumeditExit, // p0= numedit, p1= exit code ( 0= cancel, 1= ok)

SevCmd, // p0,p1,p2,p3 came from command line eg:(script cmd 0 1 2 3)
SevCustom // opcode to use to feed in custom events
}
</syntaxhighlight>

H6105-D Hello World !!!

2017-07-06T10:38:46Z

Andrea:

This is the source code in PAWN language of the Hello World example:

<syntaxhighlight lang="pawn">
/***************************************************************
*
* Hello World - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Hello World !!!");

// print on console
//
printf("Hello World !!!\n");

// wait a couple of seconds
//
Sleep( 2000 );

// program end
}
</syntaxhighlight>

Hydrover Developement System

2017-07-06T10:32:25Z

Andrea: /* Programming */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [https://en.wikipedia.org/wiki/Event-driven_architecture Event-driven architecture]
* [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming]
* [[The Queue of Events]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

Finite State Machine

2017-07-06T10:15:28Z

Andrea:

= Introduction =

A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an [https://en.wikipedia.org/wiki/Abstract_machine abstract machine] that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some external inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the conditions for each transition.

= Event-driven FSM =

An '''Event-driven FSM''' is a kind of FSM where transistions from one state to another are triggered by events ( see [[The Queue of Events]] )

= Example =

This is one example of an '''Event-driven FSM'''

* [[H6105-D Rotary Encoder and Menu]]

Finite State Machine

2017-07-06T10:02:01Z

Andrea: /* Introduction */

Finite State Machine

2017-07-06T10:00:55Z

Andrea:

= Introduction =

A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an [[abstract machine]] that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some external inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the conditions for each transition.

= Event-driven FSM =

An '''Event-driven FSM''' is a kind of FSM where transistions from one state to another are triggered by events ( see [[The Queue of Events]] )

Finite State Machine

2017-07-06T09:59:52Z

Andrea:

[ Introduction ]

A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an [[abstract machine]] that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some external inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the conditions for each transition.

[ Event-driven FSM ]

An '''Event-driven FSM''' is a kind of FSM where transistions from one state to another are triggered by events ( see [[The Queue of Events]] )

Finite State Machine

2017-07-06T09:53:05Z

Andrea: Creata pagina con " A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an abstract machine that can be in exactly one of a finite number of states at any given ti..."

A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an [[abstract machine]] that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some external inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the conditions for each transition.

Configuration of Notepad++ for use with PAWN

2017-07-06T09:42:45Z

Andrea: /* Auto-completation */

This section cover all the necessary steps to get Notepad++ to compile your PAWN script, highlight errors and warnings and fast jump to where they are generated.

= Associate Notepad++ with PAWN source files =

From '''Settings''' Menu select '''Preferences...'''

[[File:Npp-set-pref.png]]

Select '''File Association''', then select '''Customize''', then add <code>.p .pwn .inc</code> extensions

[[File:Npp-file-assoc.png]]

= Compile =

== NppExec plugin ==

Is a plugin that allow for execution of external programs.

=== Installation ===

From '''Plugins''' Menu: select '''Plugin Manager''', then select '''Show Plugin Manager'''

[[File:Npp-open-plugin-manager.png]]

In the '''Available''' tab: find & select '''NppExec''', then click '''Install'''

[[File:Npp-exec-inst-1.png]]

=== Configuration ===

From '''Plugins''' Menu: select '''NppExec''', then select '''Execute'''

[[File:Npp-exec-cfg-1.png]]

In the Command(s) window type:

<pre>
npp_save
cd $(CURRENT_DIRECTORY)
"C:\Program Files (x86)\Pawn\bin\pawncc.exe" -V -d0 -O3 -v2 -t4 "$(FILE_NAME)"
</pre>

then clik '''Save'''

in the Script Name type:

<pre>
PAWN Compile
</pre>

then clik '''Save'''

[[File:Npp-exec-cfg-2.png]]

From '''Plugins''' Menu: select '''NppExec''', then select '''Advanced Options'''

[[File:Npp-exec-shortcut-1.png]]

In '''Menu items *''' frame

* check '''Place to the Macros submenu'''

In '''Menu item''' frame:

* in '''Associated script''' select '''PAWN Compile''' from the list
* click '''Add/Modify''', then click '''OK'''

[[File:Npp-exec-shortcut-2.png]]

== Compile Shortcut ==

From '''Settings''' Menu select '''Shortcut Mapper'''

[[File:Npp-exec-shortcut-3.png]]

Select the '''Plugin Commands''' tab, search & select '''PAWN Compile''', then click '''Modify'''

[[File:Npp-exec-shortcut-4.png]]

Select the combination that you want e.g.: '''Shift + F7''' than click '''OK'''

[[File:Npp-exec-shortcut-5.png]]

== Compile Toolbar Button ==

=== Installation ===

From '''Plugins''' Menu: select '''Plugin Manager''', then select '''Show Plugin Manager'''

[[File:Npp-open-plugin-manager.png]]

Under the '''Available''' tab: find & select '''Customize Toolbar''', then click '''Install'''

[[File:Npp-cust-tbar-inst.png]]

=== Configuration ===

* Download this image [[File:Compile.bmp]] and save it in: <code>%appdata%\Notepad++\plugins\config</code> as <code>compile.bmp</code>
* Into the same folder create a file named <code>CustomizeToolbar.btn</code> with this content <code>Macro,PAWN Compile,,,compile.bmp</code>
* From '''Encoding''' Menu select '''Encode in UCS-2 LE BOM''' ( this apply to <code>CustomizeToolbar.btn</code> )

[[File:Npp-cust-tbar-cfg2.png]]

* From '''Plugins''' Menu select '''Customize Toolbar''', then select '''Custom Buttons''' to enable

[[File:Npp-cust-tbar-cfg1.png]]

= Errors & Warnings =

From '''Plugins''' Menu select '''NppExec''', then select '''Console Output Filters'''

[[File:Npp-exec-cons-out-filt-1.png]]

In the '''Filter''' tab, check '''Enable Console Output Filter'''

[[File:Npp-exec-cons-out-filt-2.png]]

In the '''Replace''' tab:

* check '''Enable Replacing Filters'''
* check '''Replacing Filter 1'''
* fill Find what: <code>(</code>
* fill Replace with: <code>:</code>
* check '''Replacing Filter 2'''
* fill Find what: <code>)</code>
* leave empty Replace with:

[[File:Npp-exec-cons-out-filt-3.png]]

In the '''HighLight''' tab:

* check first item
* fill it with: <code>%FILE%:%LINE% :*error*</code>
* fill: Red 0x<code>FF</code>, Green 0x<code>00</code>, Blue 0x<code>00</code>
* check B

* check second item
* fill it with: <code>%FILE%:%LINE% :*warning*</code>
* fill: Red 0x<code>00</code>, Green 0x<code>00</code>, Blue 0x<code>FF</code>
* check B

* click OK

[[File:Npp-exec-cons-out-filt-4.png]]

= Syntax Highlight & In-line Help =

* From the '''config''' folder of the [[HydDevKit]] copy <code>userDefineLang.xml</code> into <code>%appdata%/Notepad++</code> folder
* From the '''config''' folder of the [[HydDevKit]] copy <code>PAWN.xml</code> into <code>C:\Program Files (x86)\Notepad++\plugins\APIs</code> folder

= Auto-completion =

From '''Settings''' Menu select '''Preferences...'''

[[File:Npp-set-pref.png]]

Select '''Auto-Completion''', then choose your preferred combination

[[File:Npp-auto-complete.png]]

The Queue of Events

2017-06-22T11:24:28Z

Andrea: /* Processing Events */

= Introduction =

The queue of events is the queue where the system send events such as: input change, user action, encoder or transducer match, and from where the user's program get events to process and react to.

= Structure of an Event =

An event is defined in the library as an array of values:

<code>[.opcode, .p0, .p1, .p2, .p3]</code>

where:

* <code>.opcode</code> is used to uniquely identify the event type
* <code>.p0, .p1, .p2, .p3</code> contains informations specific to that event

= Events' Library Functions =

The library functions for events management are:

* <code>#define BASE_EVENT(%1) Event:%1[.opcode, .p0, .p1, .p2, .p3]</code> is a macro to help in creating an event container
* <code>SysEvEnable()</code> enable the system to post events into the queue
* <code>SysEvDisable()</code> disable the system to post events into the queue
* <code>EventGet( BASE_EVENT(ev) )</code> get an event from the queue, if an event is not available will wait for
* <code>EventSend( BASE_EVENT(ev) )</code> send an event to the queue, can be used to inject custom and/or simulated events

= Processing Events =

In [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming] the main loop of a program
takes care of fetch, process and/or dispatch incoming events, the following code is an example of a minimal one.

<syntaxhighlight lang="pawn" line>
/***************************************************************
*
* Minimal Event Processing Loop
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Processing Events");

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// push button activate
//
case SevDinActive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Pressed");
}
}

// push button deactivate
//
case SevDinInactive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Released");
}
}
}
}

// program end
}
</syntaxhighlight>

= Type of Events =

This are the system events, declared in the library

<syntaxhighlight lang="pawn" line>
/* events codes */
const
{
SevEmergExit = 1, // receiving this event means that the program must stop execution

SevOnEnter, // the first event sent while entering a state
SevOnExit, // the last event sent while exiting a state

SevTick100mSec, // system tick sent at 100 (ms) rate
SevTick500mSec, // system tick sent at 500 (ms) rate
SevTickOneSec, // system tick sent at 1 (s) rate

SevTimerElapsed, // p0=timer number

SevEncCount, // p0=0, p1=1(count UP), p1=2(count DW)

SevDinChange, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinActive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinInactive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinFastRel, // p0= din number (0-19 = CP) (3000-3119 = CE)
SevDinKeep, // p0= din number (0-19 = CP) (3000-3119 = CE)

SevAccMatch, // p0= acc number

SevAxisMoveDone, // p0= board number
SevAxisMoveAbort, // p0= board number p1= abort code ( 0= cil0 stalled max curr, 1= cil1 stalled max curr, 2= cil0 stop by cil1, 3= cil1 stop by cil0, 4= max delta )

SevCsDone, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsAbort, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsStep, // p0= board number p1= pwm channel p2= cs number p3= step number

SevMenuChange, // p0= return code of menu item selected
SevMenuClick, // p0= return code of menu item clicked

SevBareditChange, // no params
SevBareditExit, // no params

SevNumeditChange, // p0= numedit
SevNumeditExit, // p0= numedit, p1= exit code ( 0= cancel, 1= ok)

SevCmd, // p0,p1,p2,p3 came from command line eg:(script cmd 0 1 2 3)
SevCustom // opcode to use to feed in custom events
}
</syntaxhighlight>

The Queue of Events

2017-06-22T11:15:24Z

Andrea:

= Introduction =

The queue of events is the queue where the system send events such as: input change, user action, encoder or transducer match, and from where the user's program get events to process and react to.

= Structure of an Event =

An event is defined in the library as an array of values:

<code>[.opcode, .p0, .p1, .p2, .p3]</code>

where:

* <code>.opcode</code> is used to uniquely identify the event type
* <code>.p0, .p1, .p2, .p3</code> contains informations specific to that event

= Events' Library Functions =

The library functions for events management are:

* <code>#define BASE_EVENT(%1) Event:%1[.opcode, .p0, .p1, .p2, .p3]</code> is a macro to help in creating an event container
* <code>SysEvEnable()</code> enable the system to post events into the queue
* <code>SysEvDisable()</code> disable the system to post events into the queue
* <code>EventGet( BASE_EVENT(ev) )</code> get an event from the queue, if an event is not available will wait for
* <code>EventSend( BASE_EVENT(ev) )</code> send an event to the queue, can be used to inject custom and/or simulated events

= Processing Events =

In [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming] the main loop of a program
takes care of fetch, process and/or dispatch incoming events, the following code is an example of a minimal one.

<syntaxhighlight lang="pawn" line>
/***************************************************************
*
* Minimal Event Processing Loop
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Processing Events");

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
break;
}

// push button activate
//
case SevDinActive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Pressed");
}
}

// push button deactivate
//
case SevDinInactive:
{
if( ev.p0 == 0 )
{
dCursor( 0, 10 );
dPrintf("Button Released");
}
}
}
}

// program end
}
</syntaxhighlight>

= Type of Events =

This are the system events, declared in the library

<syntaxhighlight lang="pawn" line>
/* events codes */
const
{
SevEmergExit = 1, // receiving this event means that the program must stop execution

SevOnEnter, // the first event sent while entering a state
SevOnExit, // the last event sent while exiting a state

SevTick100mSec, // system tick sent at 100 (ms) rate
SevTick500mSec, // system tick sent at 500 (ms) rate
SevTickOneSec, // system tick sent at 1 (s) rate

SevTimerElapsed, // p0=timer number

SevEncCount, // p0=0, p1=1(count UP), p1=2(count DW)

SevDinChange, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinActive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinInactive, // p0= din number (0-19 = CP) (1000-1159 = IO) (2000-2159 = CA) (3000-3119 = CE)
SevDinFastRel, // p0= din number (0-19 = CP) (3000-3119 = CE)
SevDinKeep, // p0= din number (0-19 = CP) (3000-3119 = CE)

SevAccMatch, // p0= acc number

SevAxisMoveDone, // p0= board number
SevAxisMoveAbort, // p0= board number p1= abort code ( 0= cil0 stalled max curr, 1= cil1 stalled max curr, 2= cil0 stop by cil1, 3= cil1 stop by cil0, 4= max delta )

SevCsDone, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsAbort, // p0= board number p1= pwm channel p2= cs number p3= step number
SevCsStep, // p0= board number p1= pwm channel p2= cs number p3= step number

SevMenuChange, // p0= return code of menu item selected
SevMenuClick, // p0= return code of menu item clicked

SevBareditChange, // no params
SevBareditExit, // no params

SevNumeditChange, // p0= numedit
SevNumeditExit, // p0= numedit, p1= exit code ( 0= cancel, 1= ok)

SevCmd, // p0,p1,p2,p3 came from command line eg:(script cmd 0 1 2 3)
SevCustom // opcode to use to feed in custom events
}
</syntaxhighlight>

The Queue of Events

2017-06-22T11:02:35Z

Andrea: /* Structure of an Event */

The Queue of Events

2017-06-21T17:12:23Z

Andrea: /* Processing Events */

The Queue of Events

2017-06-21T16:59:00Z

Andrea: /* Processing Events */

The Queue of Events

2017-06-21T16:57:37Z

Andrea: /* Processing Events */

The Queue of Events

2017-06-21T16:45:36Z

Andrea: /* Processing Events */

The Queue of Events

2017-06-21T16:07:47Z

Andrea:

The Queue of Events

2017-06-21T15:35:54Z

Andrea: /* Structure of an Event */

The Queue of Events

2017-06-21T15:30:44Z

Andrea: Creata pagina con "= Introduction = The queue of events is the queue where the system send events such as: input change, user action, encoder or transducer match, and from where the user's prog..."

Hydrover Developement System

2017-06-21T14:50:45Z

Andrea: /* Tutorials */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [https://en.wikipedia.org/wiki/Event-driven_architecture Event-driven architecture]
* [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming]
* [[The Queue of Events]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

Hydrover Developement System

2017-06-21T14:50:04Z

Andrea: /* PAWN Programming */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [https://en.wikipedia.org/wiki/Event-driven_architecture Event-driven_architecture]
* [https://en.wikipedia.org/wiki/Event-driven_programming Event-driven programming]
* [[The Queue of Events]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

Hydrover Developement System

2017-06-21T14:43:12Z

Andrea: /* PAWN Programming */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [[The Queue of Events]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

Hydrover Developement System

2017-06-21T12:16:25Z

Andrea: /* PAWN Programming */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [[The Events' Queue]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

Programming H6105-D

2017-06-16T13:47:19Z

Andrea: /* USB port */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

[[File:Cp-console.png]]

== USB port ==

the USB port has three operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be used to flash a new firmware

= Programming =

follow this steps to download a new program into the board:

* enter in disk mode 1 with the <code>script stop</code> command
* at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code> inside this disk there is only one file named <code>PRMGFILE.AMX</code>
* delete this file then copy the new one
* start your new program with <code>script run</code> or reset the board with <code>reset</code>

Programming H6105-D

2017-06-16T00:36:37Z

Andrea: /* USB port */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

[[File:Cp-console.png]]

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be used to flash a new firmware

= Programming =

follow this steps to download a new program into the board:

* enter in disk mode 1 with the <code>script stop</code> command
* at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code> inside this disk there is only one file named <code>PRMGFILE.AMX</code>
* delete this file then copy the new one
* start your new program with <code>script run</code> or reset the board with <code>reset</code>

Programming H6105-D

2017-06-15T15:31:44Z

Andrea: /* Programming */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

[[File:Cp-console.png]]

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Programming =

follow this steps to download a new program into the board:

* enter in disk mode 1 with the <code>script stop</code> command
* at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code> inside this disk there is only one file named <code>PRMGFILE.AMX</code>
* delete this file then copy the new one
* start your new program with <code>script run</code> or reset the board with <code>reset</code>

Programming H6105-D

2017-06-15T15:27:17Z

Andrea: /* Serial Port */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

[[File:Cp-console.png]]

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Programming =

enter in disk mode 1 with the <code>script stop</code> command

at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code>

inside this disk there is only one file named <code>PRMGFILE.AMX</code>

first delete this file then copy the new one

when the copy is done you can:

* start your new program with <code>script run</code>
* reset the board with <code>reset</code>

File:Cp-console.png

2017-06-15T15:24:31Z

Andrea:

Programming H6105-D

2017-06-15T14:42:24Z

Andrea:

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Programming =

enter in disk mode 1 with the <code>script stop</code> command

at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code>

inside this disk there is only one file named <code>PRMGFILE.AMX</code>

first delete this file then copy the new one

when the copy is done you can:

* start your new program with <code>script run</code>
* reset the board with <code>reset</code>

Programming H6105-D

2017-06-15T14:15:38Z

Andrea: /* Entering disk mode 1 */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Entering disk mode 1 =

to enter in disk mode 1 you must stop a running script with the <code>script stop</code> command

at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code>

inside this disk there is only one file named <code>PRMGFILE.AMX</code>

first delete this file then copy the new one

when the copy is done you can:

* start your new program with <code>script run</code>
* reset the board with <code>reset</code>

Programming H6105-D

2017-06-15T14:14:00Z

Andrea: /* Hawrdware connection */

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hardware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Entering disk mode 1 =

to enter in disk mode 1 you must stop a running script with the <code>script stop</code> command
at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code>
inside this disk there is only one file named <code>PRMGFILE.AMX</code>
first delete this file then copy the new one
when the copy is done you can:

* start your new program with <code>script run</code>
* reset the board with <code>reset</code>

Programming H6105-D

2017-06-15T14:13:39Z

Andrea: Creata pagina con "this section explain how to connect and dowanload a PAWN program to the H6105-D master = Hawrdware connection = we need to make two connections: * use the USB to Seri..."

this section explain how to connect and dowanload a PAWN program to the [[H6105-D]] master

= Hawrdware connection =

we need to make two connections:

* use the USB to Serial adapter to connect to the serial port

* use the USB Type-B cable to connect to the USB port

= Functions of the ports =

== Serial Port ==

on the serial port we will find the Console with the command promt <code>cp></code>
pressing the ENTER key will show a help message

== USB port ==

the USB port has tree operating modes:

* '''libusb''', this mode is active when the script is running and can be used to give the control of the system to a PC program
* '''disk mode 1''', this mode is active when the script is not running and can be used to flash a new PAWN program
* '''disk mode 2''', this mode is active during the firmware update and can be usd to flash a new firmware

= Entering disk mode 1 =

to enter in disk mode 1 you must stop a running script with the <code>script stop</code> command
at this point you should see a new usb disk unit connected to your PC named <code>HYDCPAMXDRV</code>
inside this disk there is only one file named <code>PRMGFILE.AMX</code>
first delete this file then copy the new one
when the copy is done you can:

* start your new program with <code>script run</code>
* reset the board with <code>reset</code>

Hydrover Developement System

2017-06-14T22:16:42Z

Andrea: /* Developement System */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Programming H6105-D]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [[The Events Queue]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===

H6105-D Hello World !!!

2017-06-14T17:31:43Z

Andrea:

This is the source code in PAWN language of the Hello World example:

<syntaxhighlight lang="pawn" line>
/***************************************************************
*
* Hello World - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Hello World !!!");

// print on console
//
printf("Hello World !!!\n");

// wait a couple of seconds
//
Sleep( 2000 );

// program end
}
</syntaxhighlight>

H6105-D Hello World !!!

2017-06-14T17:25:11Z

Andrea:

This is the source code in PAWN language of the Hello World example:

<pre>

/***************************************************************
*
* Hello World - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf("Hello World !!!");

// print on console
//
printf("Hello World !!!\n");

// wait a couple of seconds
//
Sleep( 2000 );

// program end
}

</pre>

Hydrover Developement System

2017-06-13T23:29:23Z

Andrea: /* Developement System */

= Description =
The [[Hydrover Developement System]] is a collection of software tools and libraries that you can use for free to develop your applications.

It is mainly base on:

* [https://notepad-plus-plus.org Notepad++], powerfull programming editor
* [https://www.compuphase.com/pawn/pawn.htm PAWN], scripting language
* [[HydLib]], library that interface the PAWN language with the hardware
* [http://libusb.org/ libusb], library that allow custom softwares to interface and control the automation system through the USB port

= Tools =

Here you can find all the software that you need to get started in programming.

* [[HydDevKit]] all in one package with programs, libraries and device drivers for all our boards

If you prefer to download from the original Author's pages:

* [https://notepad-plus-plus.org Notepad++] one of the most powerfull editor for programmers with syntax highlight
* [https://www.compuphase.com/pawn/pawn.htm PAWN] the scripting language compiler
* [https://www.google.it/search?q=FastLCD.exe FastLCD] free program that help in fast icon/image creation
* [http://www.putty.org PuTTY] fast and flexible serial terminal emulator for comunication over RS-232
* [http://qfsm.sourceforge.net Qfsm] simple and fast program that help in designing FSM ( [https://en.wikipedia.org/wiki/Finite-state_machine Finite State Machine] )
* [http://libusb.org/ libusb], is a C library that gives applications easy access to USB devices on many different operating systems

= Tutorials =

=== Developement System ===
* [[Installation of HydLib]]
* [[Configuration of Notepad++ for use with PAWN]]
* [[Connecting your PC with the boards]]
* [[System configuration & boards addressing]]
* [[Firmware Updates]]

=== PAWN Programming ===
* [[The Events Queue]]
* [[Finite State Machine]]

= Examples =

== Industrial ==

=== Wiring ===
* [[CAN BUS wiring and terminators (Industrial)]]
* [[H6105-D and H6103 basic input/output wiring]]
* [[H6105-D wiring a rotary encoder with push button]]

=== Programming ===
* [[H6105-D Hello World !!!]]
* [[H6105-D and H6103 basic input/output]]
* [[H6105-D and H6103 power saving on outputs]]
* [[H6105-D and H6103 accessory management]]
* [[H6105-D Rotary Encoder and Menu]]
* [[H6105-D and H6104-P PWM Config and Usage]]
* [[H6105-D and H6104-P PWM Current Sequence]]
* [[H6105-D and H6104-P Axis Control]]

== Mobile ==

=== Wiring ===

* [[CAN BUS wiring and terminators (Mobile)]]

=== Programming ===