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Info for iMac/G3 users: there's a list of USBand internalserial solutions on my Mindstorms info page. All of the devicesmentioned have been tested and are compatible with Handy Boardsoftware. Also, make sure to use 6811 Downloader MCL (PPC or 68K version) toload pcode into your HB.(Wed Sep 8 15:21:25 1999)
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Kam Leang contributed alow-cost, high power motor driver design compatible with the HandyBoard. See the Software/Contributed page.(Sun Dec 13 00:12:57 1998)9600 baud serial outputdriver. Communicate with other serial devices, such asthe Scott Edwards Serial ServoController, without having to unplug the RJ11 serial connection toInteractive C. Get the new drivers in the Software/Libraries section. (Thu Dec 18 09:40:35 1997)
Quicktime movies of high school kids at the East Providence Career and Technical Center working on their fire-fighting robots, using MIT Programmable Bricks. (Tue Mar 11 19:54:10 1997)A schematic of the proposed Expansion Board is available. Please look at the specifications of the board and provide feedback. For example, there are two free digital output lines -- would you prefer to have +5v/100 mA transistor drivers, +9v/1A transistor drivers, or just the plain digital outs? (Fri Feb 7 00:08:39 1997)Contests and ConferencesThe Western CanadianRobot Games will be held at the Southern Alberta Instituteof Technology in Calgary, Alberta during the month of May, 1998. Craig Maynard is the event'smain organizer.The 1998Trinity College Fire-Fighting Robot Contest! To be heldsometime in April, 1998 at Trinity College in Hartford, CT, this is afifth annual event. There are two divisions, one for adults and onefor kids, with a $1000 cash prize to the winner in each! Also readFred's comments from the 1996 contest and 1997contest. This is an open call for HandyBoard owners to enter a robot or just come to mingle.The SixthAnnual Mobile Robot Competition at the AAAI-97conference, was held in Providence, RI from July 27 to 31, 1997.Spatial Reasoning in MobileRobots and Animals:A Workshop on Robot Navigation.Conference was held 8th - 9th April 1997 atManchester University, UK. From the conference description: ``It isthe organizers' intention to bring together scientists from the broadareas of biology and mobile robotics and to facilitate the necessarycross fertilization to advance the field of robot navigation.''MicrocontrollersFerretTronicshas created the FT639, an8-pin DIP that receives 2400 baud serial to control five servo motors.They're advertising it for desktop control applications, but it hasobvious robotic applications as well, for only $19.95. There's alsothe FT629,which lets you read the state of 5 digital inputs over the serialline. (Tue Jan 13 09:26:20 1998)
The single-sided, 400K Sony microfloppy disk drive on the Macintosh was innovative to be sure! But it wasn't without its drawbacks, the main one being its limited storage space. After subtracting the requirements for the MFS catalog and System folder, the typical startup disk had not much more than 240K available for applications and documents (this is on the May 1985 System disk). That's to say nothing of additional fonts or Desk Accessories added to the System file. A second disk drive was practically a necessity, and especially so with the 128K Macintosh.Therefore, mass storage systems, as with the Apple II, were a hot commodity on the Macintosh. There were several third-party hard disk systems available for Macintosh by 1985; we're going to examine Apple's Macintosh Hard Disk 20 (HD20) in this blog entry.We will uncover the history of the HD20, report new findings, as well as correct some commonly-repeated misstatements concerning the HD20.Looking for practical information or downloads for the HD20?Scroll down towards the bottom of this article for downloads and practical, how-to information on the Hard Disk 20. This article begins with the history of the HD20.Introducing the Hard Disk 20The Hard Disk 20 was not the first hard disk for Macintosh. Nor was it Apple's first hard drive system.After announcing its external 20MB hard disk in April 1985, Apple introduced the HD20 on September 17, 1985, with a suggested retail price of $1499 and a respectable storage capacity of about 20 MB. Apple's press release stated that "Hard Disk 20 units for demonstration will begin shipping to authorized Apple dealers in November with quantity shipments expected in early 1986."Whereas all third-party Macintosh hard disk vendors had played by the rules (well, most all of them did) and attached their disk system to the Mac's serial port, Apple broke its own rules and used the Macintosh disk drive port instead for the HD20.On this score, the HD20 was mentioned briefly in the August 1985 edition of Macworld, page 45, noting that there is "lack of a hard disk standard; each hard disk has a different way of handling the software interface to the Mac, and none of the strategies works perfectly."Every hard disk system needed a device driver loaded from floppy disk and the Macintosh Hard Disk 20 was no exception: it came with a boot disk that loaded up to the Welcome to Macintosh screen, then transferred control to the System on the hard disk to continue the startup process. The The Hard Disk 20 also came with a brand-new file system, named the Hierarchical File System (HFS). This file system was codenamed Turbo File System (TFS) while in development. We will talk more about the development of TFS and HFS in a future blog article, so as not to encumber this one with too many topics.Early Accounts and Reviews of the HD20David Whiteman gives us a contemporary account of his first trial with the Hard Disk 20 on September 23, 1985, writing in the Usenet newsgroup net.micro.apple. At the time, a pre-release version of Finder was used for the demonstration. He also compares the HD20 to other hard disk systems. David Whiteman, 23 Sep 1985 in net.micro.apple wrote:Well tonight I finally saw it, the 20 meg Apple hard disk, as well as the new imagewriter. First let me say the disk and the imagewriter were displayed for us; we were not allowed to play with them, nor make timing tests. The hard disk is about the size of three MacBottoms stacked one on top of the other. It plugs into the external drive port of the Macintosh and has another port for another drive, either another Apple hard disk or an external floppy drive. At most only two hard drives followed by a floppy can be connected. Also currently the hard drive cannot be booted without a floppy in the internal drive.In terms of performance it is certainly the most quiet of any of the disk drives I have heard. In terms of speed it is slower that the Hyperdrive, and slower than the MacBottom, but faster than any of the other hard drives. We were only shown how fast it takes for the drive to startup the switcher and some applications; we were not shown how long it takes to restart up the Finder after quitting a program a procedure which often slows down the other hard discs.Also new is the filing system in which folders are used to a greater extent as directories and subdirectories. The new drive is not partitionable into separate volumes, but the role of folders is expanded into a form more like directories. File names now need only be unique within a folder and not unique within a volume. Folders are no longer simply creations of the Finder which only exist within the Desktop. If you are in an application and activate open in the menu you are presented with a list of files to choose from which are in the active folder. Another window lists all the folders within the active folder if your file is not in the current folder, and there is an icon to click the to access the folder or disk which holds the active folder.The Apple representative stated that neither the number of files, nor the number of folders, nor degree of nesting changes the speed in accessing the drive; thus Apple claims that large number of files does not slow the system down which is a problem many of the other drives have.The new system is called the Turbo File System which is a RAM based operating system and is accompanied with Finder version 4.26. The demonstration of the new filing system was very impressive. I asked a question about backing up the hard disc, and was only told that the second port on the drive was configured so that a 3rd party company can market a tape drive for backup. Also future plans include a server program to allow the drive to be shared on Appletalk. Other incidental trivia which was mentioned: The drive does not have an automatic print spooler. It has a separate on/off switch. It automatically parks the disk heads when powered off, and can withstand 20 g's while operating and 60 g's when off. Also there is no problem stacking two of them underneath the Mac.The Hard Disk 20 was first reviewed by Lon Poole in Macworld January 1986 with the article "A Hierarchy and 20 Megabytes," page 76. Poole's seven-page review covers much: basic operation of the hard disk system, comparison with other disk systems, compatibility with existing applications, and use of the new Hierarchical File System. Lon Poole, January 1986 in Macworld wrote:The HD 20 connects to the Macintosh's external disk drive port, leaving the modem and printer ports free for other devices. Since the HD 20 itself has a disk port, you can attach an external floppy disk drive--or even a second HD 20, which gives you up to 40 megabytes of storage. However, the second external drive--hard disk or floppy--is not recognized unless the first drive is turned on when you start up the Mac....Starting the Macintosh from the HD 20 is like starting from a floppy disk. You insert the HD 20 startup disk in the floppy drive. After 14 seconds the Mac ejects that floppy and completes the startup procedure with the files stored on the hard disk. This two-step method of starting isn't as fast as the method used by the HyperDrive. Until Apple puts the HD 20's startup files into ROM, you won't be able to start up directly from the hard disk....For the HD 20, Apple developed a hard disk file management system that incorporates the Finder's folders in the file system itself. The previous Finders listed only documents in their dialog boxes, but with the HD 20, the folders on the desktop also show up on the list.Whereas the program that implements the floppy file system [MFS] is stored in the 64k of the Macintosh's read-only memory (ROM), the hard disk file system software is loaded into RAM when you insert the HD 20 startup disk. So for now the hard disk system runs only on Macintoshes having 512K or more of memory. However, when Apple expands the existing 64K ROM to 128K, the hard disk file system will undoubtedly be included in that upgrade.At the time of Poole's review, the HD20 shipped with System 2.1 (September 1, 1985) and Finder 5.0, the first Finder version released to be compatible with HFS. Finder 5.0 introduced two new commands: Put Away, and View By Small Icon. According to Macworld June 1986, page 60, this version turned out to have some problems that weren't detected before release, so when System 3.0/Finder 5.1 were released in January 1986, Apple urged all HD20 owners to upgrade.Poole noted that the Hard Disk 20 came with no application to backup the hard disk to floppies. He also discovered that the Finder suffers in speed when a large number of files (700 files, 10.7 megabytes) are stored on the HD20, noting that "on the other hand, Finder 5.0 has not been improved much over previous versions, nor is its performance notably faster."HFS was indeed included in the 128K ROM release for the 1986 Macintosh Plus and Macintosh 512Ke. This new ROM included the SonyDCD driver for Hard Disk 20, formerly loaded from floppy disk, meaning that the Plus and 512Ke could boot directly from the Hard Disk 20. The SonyDCD driver was retained in ROM for several future Macintosh models through the 1990s.Development of the Macintosh Hard Disk 20Thanks to some internal Apple documents that came to light in the past 3 or 4 years we now have an interesting insight into the development of Apple's first hard disk system for the Macintosh, code-named Nisha.The principal designer of Nisha seems to have been Rodger Mohme. Development of Nisha began in 1984; the earliest internal documents date from that fall.According to the Nisha Firmware Specification, December 1984, Nisha appears to have been developed from Apple's earlier Widget hard disk for the Apple Lisa, and even included commands used to emulate a ProFile mass storage device to provide for downward compatibility. The Widget was designed to be backwards compatible with the then-current ProFile Driver, and to that end supported the three ProFile System commands: Read, Write, and Write Verify."This document is intended to specify the recommended use of the 20Mbyte Nisha Winchester disk drive as designed by its designers." So begins the introduction of the December 3, 1984 Nisha Operation Summary (Preliminary) written by Mr. Mohme. The introduction continues, "Furthermore, the Nisha FST (Final System Test) is designed to qualify the drive based on the criteria put forth within the following pages.""The Nisha disk drive is a microprocessor controlled Winchester device that is composed of mainly two (2) units: the servo processor/control, and the read/write channel. The servo processor is communicated with via a serial link operating at 58.6k baud and is used to position the read/write heads over a specific area of the disk. Both coarse and fine positioning are controlled by this mechanism. The read/write channel controls the head signals via a parallel interface with the host. All data into and out of the read/write channel is clocked NRZ."The Nisha hard disk assembly seems to have been entirely designed by Apple, as was the Widget. An April 1985 Nisha Drive Specification document gives the following specifications:CAPACITY - Recording Surfaces: 2 - Per Drive: 20.7 MB (formatted) - No. of Cylinders: 610 - Total No. of Tracks: 1220 - No. of Sector/Track: 32 - Bytes/Sector: 532 (formatted) - Total No. of Blocks (Data): 38,964 - Spare Blocks: 76ACCESS TIME - Track to Track: 10 ms - Average: 50 ms - Maximum: 150 ms - Average Latency: 10.9 msROTATIONAL SPEED 2749 RPMA 26-pin interface connected the Nisha hard disk to its controller board. The controller contained a Z8 microprocessor and firmware. The Z8 handled all Nisha servo control functions. The servo is what moved the read/write head across the platter to access data on the disk. "The Z8 handles all I/O operations, timing operations and communications with a host controller. Control functions to the Z8 Servo Controller are made through serial I/O."René: The Interface between the Macintosh and NishaIn February 1985, two design documents circulated in Apple's engineering department, on the subject of connecting a hard disk system to the Macintosh's IWM (Integrated Woz Machine) floppy disk controller. These were "DB19/IWM to Rigid Disk Interface Specification" and "Notes on IWM Rigid Disk Interface Meeting."The term "Directly connected disk" or DCD for short, was used to distinguish the hard disk from other types of disks that were accessed via a network, another subject for another blog entry.Karl B. Young (the author of Scavanger Mac, later Disk First Aid) and Michael Hanlon towards the end of March 1985 wrote "Software Protocol for Directly Connected Disks," a design document outlining the "software protocol for devices (usually disks) connected directly over the external drive port of the Macintosh." This five-page document described handshake and data transmission, as well as the command, status, and data formats. It is in this document that the codename "René" appears, and it is unclear if René refers to the hard disk assembly (formerly referred to as Nisha), or if it refers to the Nisha controller board with its Z8 microprocessor.Mr. Young revised the Directly Connected Disks specification in May 1985 with version 1.2a, and included a few changes from the earlier March document.These two documents are essential for anyone wishing to understand how the Macintosh Hard Disk 20 uses the floppy disk port and IWM controller.Rodime R0552: The Nisha Substitute?Despite the months of design development invested in it, is is not clear whether the Macintosh Hard Disk 20 ever shipped with a Nisha drive. The reason isn't entirely clear; it may have proved too unreliable or perhaps manufacturing costs would have been too high.No matter the reason, Apple chose Rodime to supply the hard disk assembly for the Hard Disk 20. I cannot find much information on the Rodime model 552 as used in the HD20. It uses a single 26-pin connection to the René controller board, providing both power, data, clock, and all other connections. It was probably custom-manufactured by Rodime according to Apple's Nisha specifications.The Rodime drive has the same capacity as Nisha, but its geometry is different. Instead of 610 cylinders on 2 recording surfaces, the Rodime 552 has 4 recording surfaces with 305 cylinders.There are 32 sectors per track. Each sector is 532 bytes: 512 for data, 20 bytes for tags. The tags contain file number, modification timestamp, and file type/creator code. The tags were intended to be used by disk recovery software, but Apple eventually deprecated them.Others have investigated the RO552's interface and have reported that it is not SCSI (though Rodime did produce other SCSI disks), nor is it a Seagate ST interface. I have not verified any of these reports, nor have I verified that the Rodime mechanism uses Apple's Nisha interface.PCPI SCSI Conversion Kit for the Hard Disk 20In 1986 Apple introduced the Macintosh Plus with an integrated 5380 SCSI controller. Several third parties also had SCSI add-ons for the Macintosh 512K.In the late-1980s, Personal Computer Peripherals Corp. (PCPC) based in Tampa, Florida released a SCSI controller board called WSI for the Apple Macintosh Hard Disk 20. This WSI board replaced the IWM controller board inside the HD20 enclosure. The DB19 port for an external floppy drive on the back of the HD20 was replaced by a DB25 SCSI port.PCPC was the manufacturer of the MacBottom 10 and 20 MB hard disks, so they already had experience with hard disk systems for the Macintosh.Here is the back of my PCPC SCSI HD20, showing the DB25 connector and port:Here is a photo showing the inside of my HD20 with the PCPC SCSI controller board:My PCPC board reads Copyright 1988, Model WSI P/N 99000017 REV D. The Rodime mechanism and power supply remain unchanged. All that this upgrade changes is to replace the IWM controller board, which now features SCSI connectors instead of floppy port connectors.I do not have much information on this SCSI board for the HD20. Just looking at my picture of it, I can identify a PAL, the NCR 5380 SCSI controller, a UM6116 static RAM, Zilog Z8, a 2764 EPROM, and an LCA.The red switches set the SCSI ID. I have no more information on this board, unfortunately. So we're not going to talk about it anymore in this article. But you can read all about it in this next article: PCPC WSI SCSI Upgrade for Macintosh Hard Disk 20.Setting up and Booting the Hard Disk 20The Hard Disk 20 is designed either to sit under your Macintosh (and raise it 3 inches) or sit to the right of your Macintosh and be a 3 inch plateau. Connect the floppy disk cable on the HD20 to the floppy disk port of the Mac. If you have an external disk drive (or, God forbid, another HD20 unit!) you can connect it to the floppy disk port on the back of the HD20. You can put the external floppy drive on top of the HD20.You'll also need a power cord for the HD20. If you were running your Mac off a single outlet up until now, well sorry, you'll now need a second outlet!CompatibilityNow I'm writing assuming you're using a Mac 512K (because this is the Mac 512K blog), but if you're not, the HD20 may work with the Mac that you're using instead. I tested the HD20 with these Mac models and found that it works OK:- 512Ke- Plus- Classic- Classic III tested the HD20 on a Mac SE/30 and found that it did not work. It would not show up on the Finder desktop.What about the Macintosh 128K? Well this is not the "Mac 128K blog," but it's an interesting exception and we'll talk about the HD20 and the 128K later on in this blog article.These are the only Macs that I had available to test with the Hard Disk 20.Hard Disk 20 Startup disk for Mac 512KNow if you are using a Macintosh 512K, you will need a startup floppy disk containing the Hard Disk 20 system document (note: this is not an INIT, as it is mistakenly referred to as. Take a look at it with ResEdit sometime; it's ZSYS/MACS). This Hard Disk 20 system document will load the new device driver and HFS into memory for your Mac 512K. For all later Macs that work with the HD20, the 512Ke, Plus, and beyond, you do not need a startup floppy disk.I used Smartcom (detailed in a past blog entry) to transfer the needed files for the Hard Disk 20 Startup disk, one by one, from my Mac mini to my own 400K disk on the Mac 512K. At first I only used the System 3.2, Finder 5.3, and Hard Disk 20 files. Also part of the Hard Disk 20 Startup disk was Font/DA Mover version 2.0. Later I added some more files, as I'll talk about later.If you are using XMODEM to transfer files to your Mac 512K to make an HD20 Startup disk, here is a handy pointer to keep in mind: the Finder only copies boot blocks to the 400K disk when you copy a System file from an existing disk with boot blocks to the new disk. That is, if you merely use Binhex or StuffIt to create the System file on a new disk, you won't get the boot blocks and that disk will therefore not boot. Instead, first copy a System file from a working startup disk. Then use Binhex or whichever application to overwrite that System with the version that you want. Alternatively, you can use Fedit or the Boot Configure utility application to ensure that your disk will boot the Mac.If you have a newer Mac that can use Disk Copy 4.2, it is probably preferable to make a 400K MFS startup disk that way.Click here to download the Hard Disk 20 Startup disk from Mac GUI Vault. Here is another Hard Disk 20 startup image. And here is the Hard Disk 20 file by itself.Booting up the Hard Disk 20First switch on the Hard Disk 20. It will spin up and you'll hear a variety of noises which are difficult to describe, but they're clicking noises. Part of this is the Hard Disk 20 performing its self-test. After 15 seconds, the green light on the front will stop blinking.When the green light is steady, switch on the Mac 512K and insert the Hard Disk 20 Startup disk in your Mac's disk drive.You will see the message "Hard Disk 20 Startup." under the "Welcome to Macintosh." message when starting up. (This message is in the System file. Older versions of the System, such as 3.0 from January 1986, will display "Using External Drive." instead)If the Hard Disk 20 contains a System and Finder, the Macintosh will switch over to this System and eject the floppy disk. Your Macintosh will continue starting up from the Hard Disk 20. When the desktop appears, you should see the Hard Disk 20 icon at the upper right corner. If you want to continue booting from the floppy disk instead, say if the system on the HD20 is damaged, hold down the mouse button at the Welcome to Macintosh screen.Alternatively, if no one has ever used the Hard Disk 20, or if it is otherwise unformatted, you will be asked by the Finder to initialize it. Then its icon will appear on the desktop.The Hard Disk 20 icon is stored in firmware on its controller board.Using an External Disk drive with the HD20This section applies only to the Macintosh 512K. If you are using any external disk drive, it doesn't matter whether it is single-sided or double-sided, you will need to boot the Hard Disk 20 Startup disk. Otherwise the disk drive will remain inactive.The Hard Disk 20 system file now allows you to use the Macintosh 800K disk drive (released 1986 with the Mac Plus) on the Mac 512K. You can use the Apple II 3.5" drive with or without the Hard Disk 20 driver loaded. However, without it, you can only work with 400K or 800K MFS floppy disks. And you may have trouble initializing double-sided disks. The Hard Disk 20 driver installs HFS, meaning you can now initialize and work with 400K or 800K HFS floppy disks.My Customized HD20 Startup DiskThe 400K disk had enough space, so I added some applications, deleted some other files and made a customized HD20 Startup disk with the following files:- System 3.2 (June 1986)- Finder 5.3 (April 1986)- Hard Disk 20 (v1.1, May 1986)- Scavenger Mac (1985 ancestor of Disk First Aid)- HD Diag (Nisha diagnostics for René interface; low-level access to disk)- HD 20 Test (ancestor of HD SC Setup)- Remount HD20I would speak more of these applications, but I fear this blog entry will stretch on much too long. I'll save it for a later time.Hard Disk 20 and the Macintosh 128KI didn't spend too much time with it, but I did connect an HD20 to the Mac 128K and booted both versions of the HD20 Startup disk with it. Here is what I found. Both versions of the HD20 Startup disk will boot a Mac 128K, however neither the message "Hard Disk 20 Startup," nor "Using External Drive" will appear in the Welcome to Macintosh box. Because the HD20 patch isn't loaded, an external disk drive connected to the HD20 will not work.In a later Mac 512K Blog article, we're going to show how to patch the System so that the Hard Disk 20 driver will load on the Mac 128K.HD Diag (RenéDiag) will work and can be used to read blocks from the Hard Disk 20, showing that the disk driver can work on a 128K. Scavenger Mac will not show the HD20, probably because there is no entry for it in the device table. HD20 Test v1.1 by Rodger Mohme works. The Hard Disk 20 does not appear on the Macintosh desktop.It's a different story, however, if you install a Macintosh Plus ROM in your 128K, thus making it a 128Ke. This configuration fully supports the HD20 and the 800K drive in the same way that the 512Ke does. (Was the 128Ke ever an Apple-sanctioned upgrade?)Here is the 128Ke with the Hard Disk 20 mounted. The dot after the RAM size in the About the Finder dialog indicates that this Mac has the new 128K ROM:Examining the Hard Disk 20 system patch fileWhat's so special about this Hard Disk 20 system file? What does it contain and how does it work?First of all, it is not an INIT. Take a look at it with ResEdit. Its type/creator codes are ZSYS/MACS, the same as the System file. Within is just one resource type, PTCH, which is for patches to the Macintosh ROM.Secondly, it should be known that there are two versions. Both are exactly the same file size. Version 1.0 is dated September 1, 1985, as shown in the screenshot below. Version 1.1 is dated May 1986.There are three PTCH resources:ID 0 - TFS (24758 / 24078 bytes)ID 1 - Dispatch Kernel (290 bytes)ID 2 - .Sony (6606 / 7408 bytes)The sizes separated by parentheses are for version 1.0 versus version 1.1. The size of the Dispatch Kernel resource remained unchanged.The first and largest resource is RAM-based HFS. Recall that internally the new file system was called Turbo File System (TFS). The new file system patches the File Manager in ROM, providing, among other things, the new Open and Save standard file dialogs.The .Sony resource is a patch for the Sony 3.5" disk driver in the Macintosh ROM. This patched version, known as SonyDCD, supports the Hard Disk 20.I have not yet disassembled any of these resources, so I cannot say anything more about them, not even what the difference between versions 1.0 and 1.1 may be.More to Discuss with the Hard Disk 20There is much more to talk about, but it will have to wait for later articles. Further subjects include: repairing one of my HD20 units, the HFS and its origins, HD20 low-level access and diagnostics, disassembly of the Hard Disk 20 system patch file, and the PCPC SCSI interface for HD20. The Mac 512K Blog wrote:This blog chronicles the Macintosh 512K and my projects with it. We will test software, fix hardware, program it, hack it, and generally take the 512K Macintosh to its limits.Do leave any feedback you may have, either to my email dog_cow@macgui.com or by posting a comment to this article (when logged in to Mac GUI) 2ff7e9595c