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BLUTOOTH IN REMOTE CONTROL

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Project Owner : VANITHA G
Created Date : Sat, 27/08/2011 - 12:06
Project Description :

Bluetooth Remote Control… From Your Mobile Phone 1 of 43
Bluetooth Remote Control…
From Your Mobile Phone
Richard Hoptroff
Published (in abridged form)
in Elektor Electronics, Summer 2004
Bluetooth Remote Control… From Your Mobile Phone 2 of 43
Bluetooth Remote Control… From Your Mobile
Phone
Flick through any electronics magazine – professional or hobbyist – and you will
see a wide range of single board computers and microcontroller boards. For many
applications, they make product development so much simpler than it used to be.
Attach a few auxiliary components and a control panel, write the computer
program, and you’re finished
What makes the process easier is that the computer board is programmable, so
one off-the-shelf component can be applied to many tasks. Could this concept be
taken even further? A few auxiliary components will always be needed in any
product, but what about the control panel? Couldn’t an off-the-shelf
programmable component be made to replace custom control panels on electronic
devices?
FlexiPanel’s remote user interface module (Figure 1) does just this. Using
Bluetooth radio, it asks a remote device – a mobile phone or handheld computer,
perhaps – to create the required control panel on its behalf (Figure 2). The
module has a Class 1 radio, so the remote device can be up to 100m away. The
module operates at TTL levels, and a standalone RS232 device (Figure 3) will
soon also be in production.
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A user may connect to the appliance at any time using any suitable device. The
device will display the required control panel, but its appearance may vary
according to the remote device used. For example, compare the same user
interface on a mobile phone (Figure 17, Figure 19) and a handheld computer
(Figure 18, Figure 20). On the handheld’s touch sensitive screen, large buttons
are used. The phone, on the other hand, assigns “hot keys” to controls on the user
interface display.
The software on the remote devices is the same for each application and does not
require customization or re-installation. It is freely downloadable from
www.FlexiPanel.com. At the time of writing, Pocket PCs, Windows PCs, and
Smartphones (e.g. SPV E200 from Orange) software are supported. Software for
Palm Operating System and Java phones supporting the JABWT standard (e.g.
Nokia 6600 and Sony Ericsson P900) is due for release in June 2004.
A Bluetooth Protocol
Bluetooth is a 2.4GHz digital radio communication protocol developed and
licensed by Ericsson. Serving the “personal area network”, Bluetooth devices can
come and go ad hoc. In contrast, the WiFi protocol, operating at the same
frequency, is more suited to longer-term wireless infrastructure, with each
individual node needing to be assigned a fixed IP (internet protocol) address.
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Thanks to Bluetooth headsets, Bluetooth is now solidly entrenched in the mobile
phone market. Intel intends to incorporate Bluetooth into its Centrino 2 chipset,
to be launched in Autumn 2004. Not only will this allow PCs to connect
wirelessly to printers, etc, but it will boost the growth of VoIP (voice over internet
protocol), i.e. phone calls over the internet.
The Bluetooth standard provides interfaces for a wide range of communications
protocols, from a simple serial port to audio. Like many higher-level protocols
such as OBEX file exchange, FlexiPanel sits on top of the serial port emulation
layer of the Bluetooth protocol stack (Figure 4). It is not part of the “official”
Bluetooth standard. However, the standard is relatively open in that anyone is
free to create software for remote devices, and product-side components such as
the FlexiPanel module are manufactured under license, just like any Bluetooth
radio module. The first FlexiPanel products were software libraries to provide
remote control for Windows applications and high-end embedded systems.
From the electronic product’s perspective, the FlexiPanel module is a peripheral
providing graphical user interface services. It maintains a list of the controls
required by the product, and the current state of the controls. (The ten types of
control available are shown in Table 1.) The product can update a control at any
time. If a user modifies a control, the product is notified. The pin functions of the
FlexiPanel module are detailed in Table 2.
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Three Projects In One
Developing applications of the FlexiPanel module is simple enough that three
mini-projects can be detailed within this article. They all use a BASIC Stamp
BS2p and the Board of Education development board featured in Elektor in
September 1999. Parallax Inc, who supply the Basic Stamp, also distribute the
FlexiPanel module.
The BASIC Stamp can be programmed using the BASIC programming language
from any PC computer using a serial cable. The same link is used to program the
control panel into the FlexiPanel module for each of the three mini-projects.
The first example project is a temperature logger. The second is a secure access
control device. The last is a robot controller with route tracking.
The BASIC programs and FlexiPanel designer data files used in these projects are
available from Elektor Readers’ Services as free software downloads.
Temperature Logger
Measuring environmental variables such as temperature is vital for quality control
in the food, chemicals and drugs industries. In this project, the FlexiPanel module
logs the output of a temperature sensor. It is a simple project but sufficient to
illustrate the four steps in the design process:
- Designing the electronic circuit
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- Design of the user interface
- Programming the user interface into the FlexiPanel module
- Writing the BASIC program to interface between the circuit and the
FlexiPanel module.
First, the circuit is designed. In addition to the BASIC Stamp and the FlexiPanel
module, a real time clock (a Philips PC8583 and 32768Hz crystal) and a digital
temperature sensor (a Dallas DC1921) are connected over an I2C bus. The circuit
is shown as a schematic diagram in Figure 5 and on the prototyping area of the
Board of Education in Figure 6.
Next, the user interface is designed using the PC-based FlexiPanel Designer
software freely available from www.FlexiPanel.com. Four controls are required:
- a readout of the current temperature
- a readout of the current time
- a table of historical temperatures
- a control to set the time
Once controls are created using FlexiPanel Designer (Figure 7), their appearance
may be simulated and tested on remote devices, provided the PC is Bluetooth
enabled.
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When the user interface design is complete, it is programmed into the FlexiPanel
module. Pressing the Send To Target button in FlexiPanel Designer creates a
BASIC program. When this is run in the BASIC Stamp editor (supplied with the
BASIC Stamp), the Stamp programs the user interface into the FlexiPanel
module’s memory. The FlexiPanel module acknowledges successful
programming with an “Acknowledge: ROM” message (Figure 8) and remote
devices may connect to view the user interface.
The final step is to write a runtime program for the BASIC Stamp to interface
between the electronics and the FlexiPanel module. To make this step easy, the
BASIC program created by FlexiPanel Designer contains commented-out
example code showing exactly how to read and write control values.
The runtime BASIC program for the Temperature Logger is shown in Listing 1.
After initialization, the program reads the temperature and the time each second.
These values are written to the temperature, time and temperature history controls.
Then, the program checks to see whether the user has set the clock time. If so, the
new time is read and programmed into the real time clock.
In operation, the controls appear on a Smartphone as shown in Figure 9. The
controls update once every five seconds. Figure 10 shows a temperature history
full-screen view after a brief tour in the refrigerator. To the author’s surprise, the
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project maintained radio contact throughout, despite being confined by the steel
case of the refrigerator.
Access Controller
The second mini-project is a secure access controller for garage doors, safes, etc.
It is essentially a password entry system, but has the following advantages:
- each user has a separate password, and a log is kept of who accessed when
- no custom transmitter is needed – any suitable mobile phone or handheld
computer may be used
- the lack of any visible components makes the system vandal proof and
does not attract burglars
In addition to the BASIC Stamp and the FlexiPanel module, a real time clock (the
same Philips PC8583 and 32768Hz crystal) is connected over an I2C bus and a
relay is used to provide an isolated switch for opening the electric lock. The
circuit is shown as a schematic diagram in Figure 11 and on the prototyping area
of the Board of Education in Figure 12. The circuit illustrated is suitable for low
voltage circuits. For mains-voltage lock releases, a higher power relay would be
required along with more robust connection to the external circuit. In particular, a
PCB with screw-terminals should be used to connect to mains voltages.
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In FlexiPanel Designer, a user interface is created containing:
- three password controls, one each for Alice, Bob and Clare
- the current time
- a table of who accessed when
- a control to set the time
When the user interface has been programmed into the FlexiPanel module, the
BASIC Stamp is loaded with the runtime program shown in Listing 2. After
initialization, the program updates the clock display in the user interface. Then it
tests whether a password lock has been opened or closed. If the state of one of the
locks has changed, the electric lock is controlled appropriately and the access log
is updated. Finally it checks to see if the user has adjusted the clock time.
In operation, the controls appear on a Smartphone as shown in Figure 13. The
controls update once per second. Figure 14 shows the access log, showing who
opened the lock when. The log is stored in Flash memory, so even after power
loss, the log is retained.
Tracking Robot
The final mini-project is a robot controller. In some senses, this is a traditional
remote controller. It differs, however, in being able to send information back to
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the handheld device. By using an onboard compass, a route trace is recorded and
reported back to the handheld unit.
The Board of Education is mounted on the BoE-Bot robot superstructure available
from Parallax Inc. This has motorized wheels which may be controlled by pulse
width modulation direct from the BASIC Stamp. An I2C electronic compass (the
Devantech CMPS03 from Milford Instruments) is also used. The circuit is shown
as a schematic diagram in Figure 15 and on the prototyping area of the Board of
Education in Figure 16.
In FlexiPanel Designer, a user interface is created containing:
- compass bearing display
- latching pushbuttons for stop, forward, reverse, left and right
- a table showing the route traced by the robot
When the user interface has been programmed into the FlexiPanel module, the
BASIC Stamp is loaded with the runtime program shown in Listing 3. After
initialization, the program tests to see what kind of motor control pulse it is
supposed to output. Then it reads the compass and writes the bearing to the
bearing display and the route tracker.
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In operation, the controls appear on a Smartphone as shown in Figure 17. Note
the numbers on the right hand side: these correspond to the keypad buttons which
may be used for real-time control of the robot. Figure 18 shows the robot track as
an X-Y plot. For comparison, Figure 19 and Figure 20 show the same user
interface when displayed on a Pocket PC.
Readers wishing to take this mini-project further should consider the following
points:
- The FlexiPanel module can generate a signal indicating when a remote
unit is connected. The robot could automatically halt if it went out of
range of the remote unit.
- The compass is significantly influenced by the surrounding metal and
direct currents. These influences may be counteracted by local calibration
of the compass.
A Universal Controller
The FlexiPanel module is an interesting development providing a user interface
for electronic projects on a wide range of existing devices. The fact that no
custom development is required on the remote devices simplifies product
development significantly. My wife, for one, looks forward to the day that she
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can “hide that ugly hi-fi in the cupboard” and control it remotely using a mobile
phone.
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Figures and Tables
Figure 1 – The FlexiPanel module.
(Available as BthModule.jpg 1071 x 1168 pixels)
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Electronic
Application
Remote Device
FlexiPanel
Software
User Interface
Display
FlexiPanel Bluetooth
Module
Figure 2 – A FlexiPanel in operation. The electronic application
asks the remote device to display a user interface for it.
(Available as a Microsoft Word Drawing)
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Figure 3 – Prototype RS232 version of the FlexiPanel Bluetooth module.
(Shown uncased.)
(Available as RS232Module.jpg 1156 x 1801 pixels)
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Figure 4 – FlexiPanel in the Bluetooth Protocol Stack
(Available as a Microsoft Word Drawing)
Baseband
Link Manager, Link Controller & Radio
L2CAP
Logical Link Control
Audio
RFCOMM
Serial Port Emulation
SDP Service Discovery
FlexiPanel
Remote UI
OBEX
File Exchange
Application
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FlexiPanel
Module
Vss Vdd
RxD
TxD
RTS
CTS
Data P12
P8
P6
P4
P2
Vss Vdd
BS2p
BASIC
Stamp
LM2940
5Vreg
Vunreg
Vss
_ Power In +
100uF
0.1uF
100uF
Board of Education Prototyping Area
P0
P1
SDA
SCL
7
9
11
13
17
3
4
5
6
8
4k7 4k7
5
6
Vdd Vss
1
2
8 4
5
6
7 A0
A1
A2
DC1621
Temp
Sensor
SCL
SDA
5
6
8 4
Vdd Vss
A0
3
1 2
OSCI OSCO
PCF8583
Real Time
Clock
32.768kHz
Figure 5 – Schematic diagram of the temperature data logger.
(Available as a Microsoft Word drawing)
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Figure 6 – Prototyped circuit for the Temperature Logger.
The FlexiPanel module is mounted vertically, just above the green Power LED.
(Available as the file FxPDesigner.jpg 467 x 403 pixels)
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Figure 7 – Screenshot of FlexiPanel Designer for the Data Logger project.
(Available as the file FxPDesigner.jpg 467 x 403 pixels)
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Figure 8 – The BASIC Stamp editor programming the FlexiPanel module.
(Available as the file ProgramModule.jpg 450 x 337 pixels)
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Figure 9 – The Temperature Logger user interface on a Smartphone.
(Available as the file SmPhDatLogCtls.jpg 1716 x 2281 pixels)
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Figure 10 – The Temperature Logger temperature history.
(Available as the file SmPhDatLogChart.jpg 1619 x 2201 pixels)
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FlexiPanel
Module
Vss Vdd
RxD
TxD
RTS
CTS
Data P12
P8
P6
P4
P2
Vss Vdd
BS2p
BASIC
Stamp
LM2940
5Vreg
Vunreg
Vss
_ Power In +
100uF
0.1uF
100uF
Board of Education Prototyping Area
P0
P1
SDA
SCL
7
9
11
13
17
3
4
5
6
8
4k7 4k7
5
6
Vdd Vss
A0
5
6
8 4
3
1 2
OSCI OSCO
PCF8583
Real Time
Clock
32.768kHz
5V DIL Relay
14
2 6
8 14
To Door Release Circuit
P9
Figure 11 – Schematic diagram of the Access Controller.
(Available as a Microsoft Word drawing)
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Figure 12 – Prototyped circuit for the Access Controller.
The red wires lead to the low-voltage electric lock release.
(Available as the file AccessPlan.jpg 2195 x 1606 pixels)
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Figure 13 – The Access Controller user interface on a Smartphone.
Bob has entered his password and his padlock icon is in the open position.
(Available as the file SmtPhAccessCtls.jpg 1650 x 2244 pixels)
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Figure 14 – Access Controller log displayed on a Smartphone.
(Available as the file SmtPhAccessLog.jpg 1651 x 2199 pixels)
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FlexiPanel
Module
Vss Vdd
RxD
TxD
RTS
CTS
Data P12
P8
P6
P4
P2
Vss Vdd
BS2p
BASIC
Stamp
LM2940
5Vreg
Vunreg
Vss
_ Power In +
100uF
0.1uF
100uF
Board of Education Prototyping Area
P0
P1
SDA
SCL
7
9
11
13
17
3
4
5
6
8
4k7 4k7
5
6
Vdd Vss
3
2
1 9
7
CMPS03
Digital
Compass 50/60Hz
Left
Motor Motor
Right
PWM
V+
V-
20
19
P15
P14
Figure 15 – Schematic diagram of the route tracking robot.
(Available as a Microsoft Word drawing)
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Figure 16 – Prototyped circuit for the Tracking Robot.
The Board of Education is mounted on the Boe-Bot from Parallax Inc.
The motors should be connected to socket X4 at the top right of the board.
(Available as the file AccessPlan.jpg 2272 x 1704 pixels)
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Figure 17 – The Tracking Robot user interface on a Smartphone.
(Available as the file SmtPhRobotCtls.jpg 1642 x 2222 pixels)
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Figure 18 – The Tracking Robot route trace displayed on a Smartphone.
(Available as the file SmtPhRobotRoute.jpg 1720 x 2284 pixels)
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Figure 19 – The Tracking Robot user interface on a Pocket PC.
(Available as the file PPCRobotButtons.jpg 1704 x 2272 pixels)
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Figure 20 – The Tracking Robot route trace displayed on a Pocket PC.
(Available as the file PPCRobotTrace.jpg 2272 x 1704 pixels)
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Logical control Example depiction on a
remote client
Function / value
Button Button Single-press event
Latch Check box
Radio button
Binary value
Text Static text
Edit text
Character string
Number Progress bar
Slider
Integer or fixed-point value
Matrix Table
Column chart
Line chart
2-D array of numeric values
Date Time Date time picker Seconds to years plus day of week
List List box 1-of-n selection
Section Popup menu Arranges controls in a hierarchy
Password Client-specific dialogs Controls access to user interface
Message Message box Alerts user
Table 1 – Controls provided by the FlexiPanel protocol.
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Pin Name Function
1 Vss Power ground reference
2
3 RxD Serial data input
4 TxD Serial data output
5 RTS Data handshaking output
6 CTS Data handshaking input
7 Mode May be left unconnected (see product documentation)
8 Data Outputs high when initializing or new data available
9
10 Vdd Power supply +5V regulated input
Table 2 – FlexiPanel module pin functions.
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'-------------------------------------------------------------------------------
'
' Data Logger Runtime.bsp
'
' BS2p code for Data Logger runtime program
'
'--------------------------------------------------------------------------------
' Initialization
'{$STAMP BS2p}
'{$PBASIC 2.5}
' Constants (code generated by FlexiPanel Designer)
TxPin CON 2 ' Transmit pin (from stamp)
RxPin CON 4 ' Receive pin (to Stamp)
CTSPin CON 6 ' Transmit flow control pin (input to Stamp)
RTSPin CON 8 ' Receive flow control pin (output from Stamp)
DataPin VAR IN12 ' Data ready pin (input to Stamp)
BaudM CON 110 ' Baud mode
AckData CON $05 ' Acknowledge data signal (sends DataPin low again)
GetData CON $01 ' Get control data command
SetData CON $02 ' Set control data command
SetRow CON $06 ' Set a row of matrix data command
AddRow CON $07 ' Append a row of matrix data command
GetMod CON $03 ' Get modified control command
ShowMsg CON $04 ' Show message command
ID_Temp_Now CON $01 ' Temp_Now control ID
ID_TimeNow CON $02 ' TimeNow control ID
ID_Temp_History CON $03 ' Temp_History control ID
ID_Set_Time CON $04 ' Set_Time control ID
' I2C Constants
SerPt CON 0 ' I2C is on P0 and P1 of BASIC Stamp
TmpOut CON $90 ' I2C Write Address of thermometer
TmpIn CON $91 ' I2C Read Address of thermometer
GetTmp CON $AA ' Read temperature command
Start CON $EE ' Start temperature measurement command
ClkOut CON $A0 ' I2C Write Address of clock
ClkIn CON $A1 ' I2C Read Address of clock
TmAdd CON $02 ' Read/write time address
'---------------------------------------------------------------------------
' Start of code
' Variables used in program
Tempr VAR Byte ' Temperature now, degrees C
sec VAR Byte ' time seconds
mnt VAR Byte ' time minute
hour VAR Byte ' time hour
dayofweek VAR Byte ' time day of week
date VAR Byte ' time date
month VAR Byte ' time month
year VAR Word ' time year
' Initialize Serial Port
DIR2 = 1 ' Tx to FxP (SEROUT output from Stamp)
OUT2 = 1 ' Initialize Tx as high
DIR6 = 0 ' CTS from FxP (SEROUT flow control input to Stamp)
DIR4 = 0 ' Rx from FxP (SERIN input to Stamp)
DIR8 = 1 ' RTS to FxP (SERIN flow control output from Stamp)
OUT8 = 1 ' Initialize RTS as high
DIR12 = 0 ' Data from FxP (SERIN input to Stamp)
' The following code assumes both Basic Stamp and FlexiPanel module were powered up at the
' same time; it gives flexipanel sufficient time to send Data pin high indicating
' initialization and then waits for it to go low
PAUSE 50
Init: IF DataPin = 1 THEN Init
Tempr = 27
' Start temperature logging
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I2COUT SerPt, TmpOut, Start , [ 0 ]
' Set clock
GOSUB GetTime
MainLoop:
' Get temperature & write to flexipanel
I2CIN SerPt, TmpIn, GetTmp, [Tempr]
SEROUT TxPin\CTSPin, BaudM, [SetData, ID_Temp_Now, Tempr, 0, 0, 0]
' Read time
I2CIN SerPt, ClkIn, TmAdd, [sec, mnt, hour, date, month]
' convert date to flexipanel format
sec = (sec & $0F) + ((sec>>4)*10)
mnt = (mnt & $0F) + ((mnt>>4)*10)
hour = (hour & $0F) + (((hour>>4) & $03)*10)
year = date>>6 ' year is 0 - 3, 0 being a leap year
date = (date & $0F) + (((date>>4) & $03)*10)
month = (month & $0F) + (((month>>4) & $01)*10)
' write time to datetime control
SEROUT TxPin\CTSPin, BaudM, [SetData, ID_TimeNow, sec, mnt, hour, date, 7,
month, year.LOWBYTE, year.HIGHBYTE]
' write time to data log
SEROUT TxPin\CTSPin, BaudM, [AddRow, ID_Temp_History, Tempr, sec, mnt,
hour, date, 7, month, year.LOWBYTE, year.HIGHBYTE ]
' check to see if date has been updated
IF DataPin = 1 THEN
GOSUB GetTime
ENDIF
' wait five seconds
PAUSE 5000
GOTO MainLoop
GetTime:
' Clear data pin
SEROUT TxPin\CTSPin, BaudM, [AckData]
' get new time
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Set_Time]
SERIN RxPin\RTSPin, BaudM, [sec, mnt, hour, date, dayofweek, month,
year.LOWBYTE, year.HIGHBYTE]
' convert to RTC's format
sec = (sec // 10) + ((sec / 10) << 4) ' converts to BCD
mnt = (mnt // 10) + ((mnt / 10) << 4)
hour = (hour // 10) + ((hour / 10) << 4)
date = (date // 10) + ((date / 10) << 4) + ((year // 4) << 6)
month = (month // 10) + ((month / 10) << 4)
' Set time
I2COUT SerPt, ClkOut, TmAdd, [sec, mnt, hour, date, month]
RETURN
Listing 1 - Runtime BASIC code for Temperature Logger
(Available as Data Logger Runtime.bsp)
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'-------------------------------------------------------------------------------------------
'
' Access Controller Runtime.bsp
'
' BS2p code for Access Controller runtime program
'
'-------------------------------------------------------------------------------------------
'{$STAMP BS2p}
'{$PBASIC 2.5}
' Constants (code generated by FlexiPanel Designer)
TxPin CON 2 ' Transmit pin (from stamp)
RxPin CON 4 ' Receive pin (to Stamp)
CTSPin CON 6 ' Transmit flow control pin (input to Stamp)
RTSPin CON 8 ' Receive flow control pin (output from Stamp)
DataPin VAR IN12 ' Data ready pin (input to Stamp)
BaudM CON 110 ' Baud mode
AckData CON $05 ' Acknowledge data signal (sends DataPin low again)
GetData CON $01 ' Get control data command
SetData CON $02 ' Set control data command
SetRow CON $06 ' Set a row of matrix data command
AddRow CON $07 ' Append a row of matrix data command
GetMod CON $03 ' Get modified control command
CtlMod CON $08 ' Was specific control modified command
ShowMsg CON $04 ' Show message command
ID_Alice_s_Password CON $01 ' Alice_s_Password control ID
ID_Bob_s_Password CON $02 ' Bob_s_Password control ID
ID_Clare_s_Password CON $03 ' Clare_s_Password control ID
ID_TimeNow CON $04 ' TimeNow control ID
ID_Access_History CON $05 ' Access_History control ID
ID_Set_Time CON $06 ' Set_Time control ID
' I2C Constants
SerPt CON 0 ' I2C is on P0 and P1 of BASIC Stamp
TmpOut CON $90 ' I2C Write Address of thermometer
TmpIn CON $91 ' I2C Read Address of thermometer
GetTmp CON $AA ' Read temperature command
Start CON $EE ' Start temperature measurement command
ClkOut CON $A0 ' I2C Write Address of clock
ClkIn CON $A1 ' I2C Read Address of clock
TmAdd CON $02 ' Read/write time address
' Lock constants
Lock VAR OUT9 ' Lock control output pin
'-------------------------------------------------------------------------------------------
' Start of code
' Variable used in program
state VAR Byte ' state of a control
sec VAR Byte ' time seconds
mnt VAR Byte ' time minute
hour VAR Byte ' time hour
dayofweek VAR Byte ' time day of week
date VAR Byte ' time date
month VAR Byte ' time month
year VAR Word ' time year
NewLockState VAR Byte ' new lock state
' Initialize Serial Port
DIR2 = 1 ' Tx to FxP (SEROUT output from Stamp)
OUT2 = 1 ' Initialize Tx as high
DIR6 = 0 ' CTS from FxP (SEROUT flow control input to Stamp)
DIR4 = 0 ' Rx from FxP (SERIN input to Stamp)
DIR8 = 1 ' RTS to FxP (SERIN flow control output from Stamp)
OUT8 = 1 ' Initialize RTS as high
DIR12 = 0 ' Data from FxP (SERIN input to Stamp)
' initialize lock
DIR9 = 1 ' Lock pin is an output
Lock = 0 ' Lock is initially closed
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' The following code assumes both Basic Stamp and FlexiPanel module were powered up at the
' same time; it gives flexipanel sufficient time to send Data pin high indicating
' initialization and then waits for it to go low
PAUSE 50
Init: IF DataPin = 1 THEN Init
' Initialize clock
GOSUB SetTime
MainLoop:
' Read time
I2CIN SerPt, ClkIn, TmAdd, [sec, mnt, hour, date, month]
' convert date to flexipanel format
sec = (sec & $0F) + ((sec>>4)*10)
mnt = (mnt & $0F) + ((mnt>>4)*10)
hour = (hour & $0F) + (((hour>>4) & $03)*10)
year = (date>>6) ' year is 0 - 3, 0 being a leap year
date = (date & $0F) + (((date>>4) & $03)*10)
month = (month & $0F) + (((month>>4) & $01)*10)
' write time to datetime control
SEROUT TxPin\CTSPin, BaudM, [SetData, ID_TimeNow, sec, mnt, hour, date, 7, month,
year.LOWBYTE, year.HIGHBYTE]
' check to see if password changed state or time set
IF DataPin = 1 THEN
GOSUB DataChanged
ENDIF
' wait one second
PAUSE 1000
GOTO MainLoop
DataChanged:
' password open?
NewLockState = 0
' check Alice's password (password is '111')
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Alice_s_Password]
SERIN RxPin\RTSPin, BaudM, [state]
IF NOT state = 0 THEN
' Alice's password is open
NewLockState = 1
' log Alice's access as a '1' in the access history
SEROUT TxPin\CTSPin, BaudM, [AddRow, ID_Access_History, 1, sec, mnt, hour, date, 7,
month, year.LOWBYTE, year.HIGHBYTE]
ENDIF
' check Bob's password (password is '222')
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Bob_s_Password]
SERIN RxPin\RTSPin, BaudM, [state]
IF NOT state = 0 THEN
' Bob's password is open
NewLockState = 1
' log Bob's access as a '2' in the access history
SEROUT TxPin\CTSPin, BaudM, [AddRow, ID_Access_History, 2, sec, mnt, hour, date, 7,
month, year.LOWBYTE, year.HIGHBYTE]
ENDIF
' check Clare's password (password is '333')
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Clare_s_Password]
SERIN RxPin\RTSPin, BaudM, [state]
IF NOT state = 0 THEN
' Clare's password is open
NewLockState = 1
' log Clare's access as a '3' in the access history
SEROUT TxPin\CTSPin, BaudM, [AddRow, ID_Access_History, 3, sec, mnt, hour, date, 7,
month, year.LOWBYTE, year.HIGHBYTE]
ENDIF
Bluetooth Remote Control… From Your Mobile Phone 39 of 43
' set state of lock
Lock = NewLockState
' time changed?
SEROUT TxPin\CTSPin, BaudM, [CtlMod, ID_Set_Time]
SERIN RxPin\RTSPin, BaudM, [state]
IF NOT state = 0 THEN
GOSUB SetTime
ENDIF
RETURN
SetTime:
' get new time
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Set_Time]
SERIN RxPin\RTSPin, BaudM, [sec, mnt, hour, date, dayofweek, month, year.LOWBYTE,
year.HIGHBYTE]
' convert to RTC's format
sec = (sec // 10) + ((sec / 10) << 4) ' converts to BCD
mnt = (mnt // 10) + ((mnt / 10) << 4)
hour = (hour // 10) + ((hour / 10) << 4)
date = (date // 10) + ((date / 10) << 4) + ((year // 4) << 6)
month = (month // 10) + ((month / 10) << 4)
' Set time
I2COUT SerPt, ClkOut, TmAdd, [sec, mnt, hour, date, month]
RETURN
Listing 2 - Runtime BASIC code for Access Controller
(Available as Access Controller Runtime.bsp)
Bluetooth Remote Control… From Your Mobile Phone 40 of 43
'-------------------------------------------------------------------------------------------
'
' Robot.bsp
'
' BS2p code for control Robot at runtime
'
'-------------------------------------------------------------------------------------------
'{$STAMP BS2p}
'{$PBASIC 2.5}
' Constants (code generated by FlexiPanel Designer)
TxPin CON 2 ' Transmit pin (from stamp)
RxPin CON 4 ' Receive pin (to Stamp)
CTSPin CON 6 ' Transmit flow control pin (input to Stamp)
RTSPin CON 8 ' Receive flow control pin (output from Stamp)
DataPin VAR IN12 ' Data ready pin (input to Stamp)
BaudM CON 110 ' Baud mode
AckData CON $05 ' Acknowledge data signal (sends DataPin low again)
GetData CON $01 ' Get control data command
SetData CON $02 ' Set control data command
SetRow CON $06 ' Set a row of matrix data command
AddRow CON $07 ' Append a row of matrix data command
GetMod CON $03 ' Get modified control command
ShowMsg CON $04 ' Show message command
ID_Bearing CON $01 ' Bearing control ID
ID_Forward CON $02 ' Forward control ID
ID_Left CON $03 ' Left control ID
ID_Right CON $04 ' Right control ID
ID_Stop CON $05 ' Stop control ID
ID_Reverse CON $06 ' Reverse control ID
ID_Route_trace CON $07 ' Route_trace control ID
' I2C Constants
CmpIn CON $C1
SerPt CON 0
' Motor control PWM constants - may need to be adjusted for different motors
rMax CON 2497
rMid CON 2025
rStop CON 1873
rMidZ CON 1700
rMaxZ CON 1249
lMax CON 1249
lMid CON 1700
lStop CON 1873
lMidZ CON 2025
lMaxZ CON 2497
lPort CON 14 ' Left motor PWM output pin
rPort CON 15 ' Right motor PWM output pin
'-------------------------------------------------------------------------------------------
' Variables used in program
brad VAR Byte ' Bearing in binary radians (0-255 is a full circle)
degs VAR Word ' Bearing in tenths of a degree (0-3599 full circle)
xloc VAR Word ' X position in mm
yloc VAR Word ' Y position in mm
bdata VAR Byte ' one byte utility variable
CmpCount VAR Byte ' counts down from when last log was taken
FwRvSp VAR Byte ' Current state: Forward/turn=1, Reverse=2, Stop=0
xloc = 0
yloc = 0
CmpCount = 50
DIR14 = 1 ' set motor controller as outputs
DIR15 = 1
FwRvSp = 0
Bluetooth Remote Control… From Your Mobile Phone 41 of 43
' Initialize Serial Port
DIR2 = 1 ' Tx to FxP (SEROUT output from Stamp)
OUT2 = 1 ' Initialize Tx as high
DIR6 = 0 ' CTS from FxP (SEROUT flow control input to Stamp)
DIR4 = 0 ' Rx from FxP (SERIN input to Stamp)
DIR8 = 1 ' RTS to FxP (SERIN flow control output from Stamp)
OUT8 = 1 ' Initialize RTS as high
DIR12 = 0 ' Data from FxP (SERIN input to Stamp)
' The following code assumes both Basic Stamp and FlexiPanel module were powered up at the
' same time; it gives flexipanel sufficient time to send Data pin high indicating
' initialization and then waits for it to go low
PAUSE 50
Init: IF DataPin = 1 THEN Init
' Main program loop
ReadControls:
' Acknowledge data pin
SEROUT TxPin\CTSPin, BaudM, [AckData]
' test for forward
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Forward]
SERIN RxPin\RTSPin, BaudM, [bdata]
IF bdata = $FF THEN GoForward
' test for veer left
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Left]
SERIN RxPin\RTSPin, BaudM, [bdata]
IF bdata = $FF THEN VeerLeft
' test for veer right
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Right]
SERIN RxPin\RTSPin, BaudM, [bdata]
IF bdata = $FF THEN VeerRight
' test for reverse
SEROUT TxPin\CTSPin, BaudM, [GetData, ID_Reverse]
SERIN RxPin\RTSPin, BaudM, [bdata]
IF bdata = $FF THEN BackUp
' Must be in stopped state; wait, record compass, test for button presses
StopWait:
PAUSE 20
FwRvSp = 0
GOSUB CheckCompass
IF DataPin = 1 THEN ReadControls
GOTO StopWait
' In forward state; send forward pulses, record compass, test for button presses
GoForward:
PULSOUT lPort, lMax
PULSOUT rPort, rMax
PAUSE 20
FwRvSp = 1
GOSUB CheckCompass
IF DataPin = 1 THEN ReadControls
GOTO GoForward
' In veer left state; send veer left pulses, record compass, test for button presses
VeerLeft:
PULSOUT lPort, lMax
PULSOUT rPort, rMid
PAUSE 20
FwRvSp = 1
GOSUB CheckCompass
IF DataPin = 1 THEN ReadControls
GOTO VeerLeft
' In veer right state; send veer right pulses, record compass, test for button presses
VeerRight:
PULSOUT lPort, lMid
PULSOUT rPort, rMax
PAUSE 20
FwRvSp = 1
GOSUB CheckCompass
IF DataPin = 1 THEN ReadControls
GOTO VeerRight
Bluetooth Remote Control… From Your Mobile Phone 42 of 43
' In reverse state; send veer right pulses, record compass, test for button presses
BackUp:
PULSOUT lPort, lMaxZ
PULSOUT rPort, rMaxZ
PAUSE 20
FwRvSp = 2
GOSUB CheckCompass
IF DataPin = 1 THEN ReadControls
GOTO BackUp
CheckCompass:
' only check every 50 pulses
CmpCount = CmpCount - 1
IF CmpCount > 0 THEN GoBack
CmpCount = 50
' Get compass direction in binary radians and in tenths of a degree
I2CIN SerPt, CmpIn, 1, [brad, degs.HIGHBYTE, degs.LOWBYTE]
' Send degrees value to bearing control (code generated by FlexiPanel Designer)
SEROUT TxPin\CTSPin, BaudM, [SetData, ID_Bearing, degs.LOWBYTE, degs.HIGHBYTE, 0, 0]
' Calculate position with Send binary radians value to bearing control
' (code generated by FlexiPanel Designer & cut'n'pasted)
IF FwRvSp = 1 THEN
xloc = xloc + COS( brad )
yloc = yloc + SIN( brad )
ELSEIF FwRvSp = 2 THEN
xloc = xloc - COS( brad )
yloc = yloc - SIN( brad )
ENDIF
' if moving, send to trace
IF NOT FwRvSp = 0 THEN
SEROUT TxPin\CTSPin, BaudM, [AddRow, ID_Route_trace, yloc.LOWBYTE, yloc.HIGHBYTE,
xloc.LOWBYTE, xloc.HIGHBYTE ]
ENDIF
' return to motor control
GoBack:
RETURN
Listing 3 - Runtime BASIC code for Robot Controller
(Available as Robot Runtime.bsp)
Bluetooth Remote Control… From Your Mobile Phone 43 of 43
Editor’s Appendix: Files to be provided to readers
(this page not to be typeset)
FlexiPanel Designer files:
AccessController.FxP
DataLog.FxP
Robot.FxP
BASIC Stamp FlexiPanel programming programs:
AccessController.bsp
DataLog.bsp
Robot.bsp
BASIC Stamp runtime programs:
AccessController Runtime.bsp
DataLog Runtime.bsp
Robot Runtime.bsp

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