Contents

• 1 Quick Start
• 2 6811 Downloaders
  • 2.1 Overview
  • 2.2 Putting the Handy Board into Bootstrap Download Mode
  • 2.3 MS-DOS
  • 2.4 Windows 3.1 and Windows 95
  • 2.5 Macintosh
  • 2.6 Unix
• 3 Using IC
  • 3.1 IC Commands
  • 3.2 Line Editing
  • 3.3 The Main Function
• 4 A Quick C Tutorial
• 5 Data Types, Operations, and Expressions
  • 5.1 Variable Names
  • 5.2 Data Types
    • 16-bit Integers
    • 32-bit Integers
    • 32-bit Floating Point Numbers
    • 8-bit Characters
  • 5.3 Local and Global Variables
    • 5.3.1 Variable Initialization
    • 5.3.2 Persistent Global Variables
  • 5.4 Constants
    • 5.4.1 Integers
    • 5.4.2 Long Integers
    • 5.4.3 Floating Point Numbers
    • 5.4.4 Characters and Character Strings
  • 5.5 Operators
    • 5.5.1 Integers
    • 5.5.2 Long Integers
    • 5.5.3 Floating Point Numbers
    • 5.5.4 Characters
  • 5.6 Assignment Operators and Expressions
  • 5.7 Increment and Decrement Operators
  • 5.8 Precedence and Order of Evaluation
• 6 Control Flow
  • 6.1 Statements and Blocks
  • 6.2 If-Else
  • 6.3 While
  • 6.4 For
  • 6.5 Break
• 7 LCD Screen Printing
  • 7.1 Printing Examples
  • 7.2 Formatting Command Summary
  • 7.3 Special Notes
• 8 Arrays and Pointers
  • 8.1 Declaring and Initializing Arrays
  • 8.2 Passing Arrays as Arguments
  • 8.3 Declaring Pointer Variables
  • 8.4 Passing Pointers as Arguments
• 9 Library Functions
  • 9.1 Output Control
    • 9.1.1 DC Motors
      • void fd(int m)
      • void bk(int m)
      • void off(int m)
      • void alloff()
      • void ao()
      • void motor(int m, int p)
    • 9.1.2 Servo Motor
      • void servo_on()
      • void servo_on()
      • int servo(int period)
      • int servo_rad(float angle)
      • int servo_deg(float angle)
  • 9.2 Sensor Input
    • int digital(int p)
    • int analog(int p)
    • 9.2.1 User Buttons and Knob
      • int stop_button()
      • int start_button()
      • void stop_press()
      • void start_press()
      • int knob()
    • 9.2.2 Infrared Subsystem
      • int sony_init(1)
      • int sony_init(0)
      • int ir_data(int dummy)
  • 9.3 Time Commands
    • void reset_system_time()
    • long mseconds()
    • float seconds()
    • void sleep(float sec)
    • void msleep(long msec)
  • 9.4 Tone Functions
    • void beep()
    • void tone(float frequency, float length)
    • void set_beeper_pitch(float frequency)
    • void beeper_on()
    • void beeper_off()
• 10 Multi-Tasking
  • 10.1 Overview
  • 10.2 Creating New Processes
  • 10.3 Destroying Processes
  • 10.4 Process Management Commands
    • kill_all
    • ps
  • 10.5 Process Management Library Functions
    • void hog_processor()
    • void defer()
• 11 Floating Point Functions
• 12 Memory Access Functions
  • int peek(int loc)
  • int peekword(int loc)
  • void poke(int loc, int byte)
  • void pokeword(int loc, int word)
  • void bit_set(int loc, int mask)
  • void bit_clear(int loc, int mask)
• 13 Error Handling
  • 13.1 Compile-Time Errors
  • 13.2 Run-Time Errors
• 14 Binary Programs
  • 14.1 The Binary Source File
    • 14.1.1 Declaring Variables in Binary Files
    • 14.1.2 Declaring an Initialization Program
  • 14.2 Interrupt-Driven Binary Programs
  • 14.3 The Binary Object File
  • 14.4 Loading an ICB File
  • 14.5 Passing Array Pointers to a Binary Program
• 15 IC File Formats and Management
  • 15.1 C Programs
  • 15.2 List Files
  • 15.3 File and Function Management
    • 15.3.1 Unloading Files
• 16 Configuring IC
• About this document ...