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The system will operate as follows for the programs we will write: The first cog will control the system on initial startup. It runs the initial program and assigns the execution of the various subprograms (that are part of the main program) to the other cogs as specified in the main program. The Spin Interpreter is copied from main ROM to cog RAM for each cog that will execute Spin code. The hub assigns system control to each cog, in a round-robin fashion. At this stage, we do not need to understand the details of how all this happens, but we do need to understand that this overall process exists. Once the system is up and running, all the cogs are equal and any one of them can stop or start any other cog and assign it a program to run. All cogs can modify the clock speed. They are equal in every way. The Propeller Tool allows you to write programs on a PC and move them to and execute them on a Propeller chip with one keystroke. Using the tool is easy and intuitive. The difficult part is learning to use the Spin language. The Propeller can also be programmed in the Assembly language (Propeller Assembly) provided by Parallax and described in the Propeller Manual, but we will not cover that language in this book. (In addition, third-party C compilers are available for the Propeller chip, but using them is outside the scope of this book.) Everything can be done in Spin except tasks that require extreme speed. The use of the Propeller screen is discussed in detail in the Propeller Manual (see Figure 7-1). It is well worth doing all the exercises provided therein.
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The Propeller Tool screen layout
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note Counter modules (sometimes referred to in this text as counters ) are an advanced subject not suitable for beginners. We are going to need to generate a pulse width modulated (PWM) signal for many of our experiments, so we need to talk about just this one application of a counter in a very cursory manner. Do not worry if you do not understand this in every detail just yet.
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Each cog contains two identical, independent counter modules that can be configured to perform a variety of tasks some independent and some cooperatively with the cog. These counter modules are typically referred to as Counter A and Counter B, and on startup they are both disabled (off). Because the counter modules are capable of operating independent of the cog, they have no effect on the cog s execution speed. Although each counter module has 32 different modes of operation and a myriad of applications, in this beginner s book we will only discuss one use of these counter modules: pulse generation. It is important to emphasize that the operation of the counters can be independent of the operation of the cog once they have been set up. The cog can continue to fetch and execute Spin tokens while the counters do whatever they get configured to without interference between the two. Another approach for some applications involves code that modifies and/or reads the counter module s registers. Depending on the application, this can be done once or periodically. In this next experiment, we will use one counter module to generate a series of pulses called a PWM (pulse width modulated) signal. The PWM signal s pulses will repeat at a regular interval, as shown in Figure 7-2. This interval is called the signal s period or cycle time, and repetitions of the signals are sometimes referred to as cycles. The duration of the pulse during a given cycle can be varied. These variations can be used for information exchange with devices such as servo controllers and TV remotes or for motor control by limiting the amount of time during each cycle that current is allowed through a transistor that supplies the motor. We will use a counter module to
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