Designing Embedded Systems with PIC Microcontrollers
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1 Designing Embedded Systems with PIC Microcontrollers Principles and applications Tim Wilmshurst $^NIMI '.jfcjjjls. 2LSEVIER AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD P ARJ S ' SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Newnes is an imprint of Elsevier
2 Contents Introduction Acknowledgements xxi xxv Section 1 Getting Started with Embedded Systems 1 1 Tiny Computers, hidden control The main idea - embedded Systems in today's world What is an embedded system? Some example embedded Systems The domestic refrigerator A car door mechanism The electronic'ping-pong' The Derbot Autonomous Guided Vehicle Some Computer essentials Elements of a Computer Instruction sets - CISC and RISC Memory types Organising memory Microprocessors and microcontrouers Microprocessors Microcontrollers Microcontroller families Microcontroller packaging and appearance Microchip and the PIC microcontroller Background PIC microcontrouers today An introduction to PIC microcontrouers using the 12 Series The 12F508 architecture What others do - a Freescale microcontroller 20 Summary 22 References 22 Section 2 Minimum Systems and the PIC 16F84A 23 2 Introducing the PIC 16 Series and the 16F84A The main idea - the PIC 16 Series family A family overview 25
3 vi Contents The 16F84A A caution on Upgrades An architecture overview of the 16F84A The Status register A review of memory technologies Static RAM (SRAM) EPROM (Erasable Programmable Read-Only Memory) EEPROM (Electrically Erasable Programmable Read-Only Memory) Flash The 16F84A memory The 16F84A program memory The 16F84A data and Special Function Register memory ('RAM') The Configuration Word EEPROM Some issues of timing Clock oscillator and Instruction cycle Pipelining, Power-up and Reset What others do - the Atmel AT89C Taking things further - the 16F84A on-chip reset circuit 41 Summary 44 References 44 3 Parallel ports, power supply and the clock oscillator The main idea - parallel input/output The technical challenge of parallel input/output Building a parallel interface Port electrical characteristics Some special cases Connecting to the parallel port Switches Light-emitting diodes The PIC 16F84A parallel ports The 16F84A Port B The 16F84A Port A Port output characteristics The clock oscillator Clock oscillator types Practical oscillator considerations The 16F84A clock oscillator Power supply The need for power, and its sources F84A operating conditions The hardware design of the electronic ping-pong 63
4 Contents vii Summary ( 64 References 64 4 Starting to program - an introduction to Assembler The main idea - what programs do and how we develop them The problem of programming and the Assembler compromise The process of writing in Assembler The program development process The PIC 16 Series instruction set, with a little more on the ALU More on the PIC 16 Series ALU The PIC 16 Series instruction set - an introduction Assemblers and Assembler format Introducing Assemblers and the Microchip MPASM Assembler Assembler format Assembler directives Number representation Creating simple programs A simple data transfer program Adopting a development environment Introducing MPLAB The elements of MPLAB The MPLAB file structure An introductory MPLAB tutorial Creating a project Entering source code Assembling the project An introduction to Simulation Getting started Generating port inputs Viewing microcontroller features Resetting and running the program Downloading the program to a microcontroller What others do - a brief comparison of CISC and RISC instruction sets Taking things further - the 16 Series instruction set format 87 Summary 88 References 88 5 Building Assembler programs The main idea - building structured programs Flow diagrams State diagrams Flow control - branching and subroutines Conditional branching and working with bits Subroutines and the Stack 94
5 viii Contents 5.3 Generating time delays and intervals 5.4 Dealing with data Indirect addressmg and the File Select Register Look-up tables Example program with delays and look-up table 5.5 Introducing logical Instructions 5.6 Introducing arithmetic Instructions and the Carry flag Using add Instructions Using subtract Instructions An arithmetic program example Using indirect addressing to save the Fibonacci series 5.7 Taming Assembler complexity Include Files Macros MPLAB special Instructions 5.8 More use of the MPLAB Simulator Breakpoints Stopwatch Trace 5.9 The ping-pong program A structure for the ping-pong program Exploring the ping-pong program code 5.10 Simulating the ping-pong program - tutorial Setting up input Stimulus Setting up the Watch window Single stepping Animate Run Breakpoints Stopwatch Trace Debugging the füll program 5.11 What others do - graphical Simulators Summary References 6 Working with time: interrupts, counters and timers The main idea - interrupts Interrupt structures The 16F84Ainterrupt structure The CPU response to an interrupt Working with interrupts Programming with a Single interrupt Moving to multiple interrupts - identifying the source 126
6 Contents ix Stopping interrupts from wrecking your program 1 - context saving Stopping interrupts from wrecking your program 2 - critical regions and masking The main idea - counters and timers The digital counter reviewed The counter as timer The 16F84A Timer Omodule Applying the 16F84A Timer 0, with examples using the electronic ping-pong Object or event counting Hardware-generated delays The Watchdog Timer Sleep mode What others do Taking things further - interrupt latency 141 Summary 142 Section 3 Larger Systems and the PIC 16F873A Larger Systems and the PIC 16F873A The main idea - the PIC 16F87XA The 16F873A block diagram and CPU Overview of CPU and core Overview of memory Overview of peripherals F873A memory and memory maps The 16F873A program memory The 16F873A data memory and Special Function Registers The Configuration Word 'Special' memory Operations Accessing EEPROM and program memory In-Circuit Serial Programming (ICSP ) The 16F873A interrupts The interrupt structure The interrupt registers Interrupt identification and context saving The 16F873A oscillator, reset and power supply The clock oscillator Reset and power supply The 16F873A parallel ports The 16F873A Port A The 16F873A Port B The 16F873A Port C 164
7 x Contents 7.8 Test, commission and diagnostic tools The challenge of testing an embedded System Oscilloscopes and logic analysers In-circuit emulators On-chip debuggers The Microchip in-circuit debugger (ICD 2) Applying the 16F873A: the Derbot AGV Power supply, oscillator and reset Use of the parallel ports Assembling the hardware Downloading, testing and running a simple program with ICD A first Derbot program Applying the ICD Setting the configuration bits within the program Taking things further - the 16F874A/16F877A Ports D and E 180 Summary 182 References The human and physical interfaces The main idea - the human interface From Switches to keypads The keypad Design example: use of keypad in Derbot hand Controller LED displays LED arrays: seven-segment displays Design example: the Derbot hand Controller seven-segment display Liquid crystal displays The HD44780 LCD driver and its derivatives Design example: use of LCD display in Derbot hand Controller The main idea - interfacing to the physical world Some simple sensors The microswitch Light-dependent resistors Optical object sensing The opto-sensor applied as a shaft encoder Ultrasonic object sensor More on digital input F873A input characteristics Ensuring legal logic levels, and input protection Switch debouncing 212
8 Contents xi 8.8 Actuators: motors and servos DC and stepper motors Angular positioning: the'servo' Interfacing to actuators Simple DC switching Simple switching on the Derbot Reversible switching: the H-bridge Motor switching on the Derbot Building up the Derbot Applying sensors and actuators - a 'blind' navigation Derbot program 222 Summary 223 References 223 Taking timing further The main ideas - taking counting and timing further The 16F87XA Timer 0 and Timer Timer Timer Application of Timer 0 and Timer 1 as counters for Derbot odometry Using Timer 0 and Timer 1 to generate repetitive interrupts The 16F87XA Timer 2, comparator and PR2 register Timer 2 " The PR2 register, comparator and postscaler The capture/compare/pwm (CCP) modules A capture/compare/pwm overview Capture mode Compare mode Pulse width modulation The principle of PWM Generating PWM signals in hardware - the 16F87XA PWM PWM applied in the Derbot for motor control Generating PWM in Software An example of software-generated PWM Further Assembler directives for memory dennition and branching PWM used for digital-to-analog conversion An example of PWM used for digital-to-analog conversion Frequency measurement The principle of frequency measurement Frequency (speed) measurement in the Derbot Speed control applied to the Derbot Where there is no timer Sleepmode Where do we go from here? Building up the Derbot 262
9 xii Contents Summary 262 References Starting with serial The main idea - introducing serial Simple serial links - synchronous data communication Synchronous basics Implementing synchronous serial I/O in the microcontroller Microwire and SPI (Serial Peripheral Interface) Introducing multiple nodes The 16F87XA Master Synchronous Serial Port (MSSP) module in SPI mode Portoverview Port configuration Setting the clock Managing data transfer A simple SPI example The limitations of Microwire and SPI, and of simple synchronous serial transfer Enhancing synchronous serial, and the Inter-Integrated Circuit bus Main I 2 C features and physical interconnection The pull-up resistor I 2 C signal characteristics The MSSP configured for I 2 C The MSSP I 2 C registers and their preliminary use The MSSP in I 2 C Slave mode The MSSP in I 2 C Master mode I 2 C applied in the Derbot AGV The Derbot hand Controller as a serial node The AGV as an I 2 C master The hand Controller as an I 2 C slave Evaluation of the Derbot I 2 C programs Evaluation of synchronous serial data communication and an introduction to asynchronous Asynchronous principles Synchronising serial data - without an incoming clock The 16F87XA Addressable Universal Synchronous Asynchronous Receiver Transmitter (USART) Portoverview The USART asynchronous transmitter The USART baud rate generator The USART asynchronous receiver An asynchronous example Using address detection with the USART receive mode The USART in synchronous mode 302
10 Contents xiii Implementing serial without a serial port - 'bit banging' Building up the Derbot 303 Summary 303 References 303 Data acquisition and manipulation The main idea - analog and digital quantities, their acquisition and use The data acquisition System The analog-to-digital Converter Signal conditioning - amplification and filtering The analog multiplexer Sample and hold, and acquisition time Timing and microprocessor control Data acquisition in the microcontroller environment ThePIC 16F87XAADCmodule Overview and block diagram Controlling the ADC The analog input model Calculating acquisition time Repeated conversions Trading off conversion speed and resolution Applying the ADC in the Derbot light meter program Configuration of the ADC Acquisition time Data conversion Some simple data manipulation techniques Fixed-and floating-point arithmetic Binary to Binary Coded Decimal conversion Multiplication Scaling and the Derbot light meter example Using the voltage reference for scaling The Derbot light-seeking program The comparator module Review of comparator action The 16F87XAcomparators and voltage reference Applying the Derbot circuit for measurement purposes The electronic tape measure The light meter The Voltmeter Other measurement Systems Configuring the Derbot AGV as a light-seeking robot 332 Summary 332 References 332
11 xiv Contents Section 4 Smarter Systems and the PIC 18FXX2 12 Smarter Systems and the PIC 18FXX The main idea - the PIC 18 Series and the 18FXX The 18F2X2 block diagram and Status register 12.3 The 18 Series instruction set Instructions which are unchanged Instructions which have been upgraded New, variant, Instructions New instructions 12.4 Data memory and Special Function Registers The data memory map Access RAM Indirect addressing and accessing tables in data memory 12.5 Program memory The program memory map The Program Counter Upgrading from the 16 Series and computed goto instructions The Configuration registers 12.6 The Stacks Automatic Stack Operations Programmer access to the Stack ' The Fast Register Stack 12.7 The interrupts An interrupt structure overview The interrupt sources, their enabling and prioritisation Overall interrupt prioritisation enabling Global enabling Other aspects of the interrupt logic The Interrupt registers Context saving with interrupts 12.8 Power supply and reset Power supply Power-up and Reset 12.9 The oscillator sources LP, XT, HS and RC oscillator modes EC, ECIO and RCIO oscillator modes HS + PLL oscillator mode Clock source switching Introductory programming with the 18F Using the MPLAB IDE for the 18 Series The Fibonacci program Summary References 367
12 Contents xv 13 The PIC 18FXX2 peripherals The main idea - the 18FXX2 peripherals The parallel ports The 18FXX2 Port A The 18FXX2 Port B The 18FXX2 Port C The parallel slaveport Thetimers Timer Timer Timer Timer The Watchdog Timer The capture/compare/pwm (CCP) modules The control registers Capturemode Compare mode Pulse width modulation The serial ports The MSSP in SPI mode The MSSP in I 2 C mode TheUSART The analog-to-digital Converter (ADC) Low-voltage detect Applying the 18 Series in the Derbot The 18F2420 and the extended Instruction set Nanowatt technology The extended instruction set Enhanced peripherals 384 Summary 385 Reference Introducing C The main idea - why C? An introduction to C A little history A first program Laying out the program - declarations, Statements, comments and space Ckeywords TheCfunction Data type and storage C Operators Control of program flow, and the while keyword 393
13 xvi Contents The C preprocessor and its directives Use of libraries, and the Standard Library 14.3 Compiling the C program 14.4 The MPLAB C18 Compiler Specification of radix Arithmetic Operations 14.5 AC18tutorial The Linker and Linker Scripts Linking header and library flies Building the project Project files 14.6 Simulating a C program 14.7 A second C example - the Fibonacci program Program preliminaries - more on declanng variables The do-while construct Labels and the goto keyword Simulating the Fibonacci program 14.8 The MPLAB C18 libraries Hardware peripheral functions The Software peripheral library The general Software library The maths library 14.9 Further reading Summary References 15 C and the embedded environment 15.1 The main idea - adapting C to the embedded environment 15.2 Controlling and branching on bit values Controlling individual bits The if and if-else conditional branch structures Setting the configuration bits Simulating and running the example program 15.3 More on functions The function prototype The function definition Function calls and data passing Library delay functions, and DelaylOKTCYx() 15.4 More branching and looping Using the break keyword Using the for keyword 15.5 Using the timer and PWM peripherals Using the timer peripherals
14 Contents xvii Using PWM The main program loop 421 Summary Acquiring and using data with C The main idea - using C for data manipulation Using the 18FXX2ADC The light-seeking program structure UseoftheADC Further use of if-else Simulating the light-seeking program Pointers, arrays and strings Pointers Arrays Using pointers with arrays Strings An example program: using pointers, arrays and strings A word on evaluating the while condition Simulating the program example Using the I 2 C peripheral An example I 2 C program Use of ++ and Operators Formatting data for display Overview of example program Using library functions for data formatting Program evaluation 442 Summary More C and the wider C environment The main idea - more C and the wider C environment Assembler inserts Controlling memory allocation Memory allocation pragmas Setting the Configuration Words Interrupts The Interrupt Service Routine Locating and identifying the ISR Example with interrupt on overflow - flashing LEDs on the Derbot Using Timer Using interrupts, and the ISR action Simulating the flashing LEDs program Storage classes and their application Storage classes 453
15 xviii Contents Scope Duration Linkage Working with 18 Series memory Storage class examples Start-up code: c018i.c The C18 start-up files The c018i.c structure Simulating c018i.c Structures, unions and bit-nelds Processor-specific header files SFR definitions Assembler Utilities in the header file Taking things further - the MPLAB Linker and the.map file What the Linker does The Linker Script The.map file 464 Summary 465 References Multi-tasking and the Real Time Operating System The main ideas - the challenge of multi-tasking and real time Multi-tasking - tasks, priorities and deadlines So what is'real time'? Achieving multi-tasking with sequential programming Evaluating the super loop Time-triggered and event-triggered tasks Using interrupts for pnoritisation - the foreground/background structure Introducing a 'clock tick' to synchronise program activity A general-purpose'operating System' The limits of sequential programming when multi-tasking The Real Time Operating System (RTOS) Scheduling and the scheduler Cyclic scheduling Round robin scheduling and context switching Task states Prioritised pre-emptive scheduling Cooperative scheduling The role of interrupts in scheduling Developing tasks Defining tasks Writing tasks and setting priority 478
16 Contents xix 18.6 Data and resource protection - the semaphore Where do we go from here? 479 Summary 479 References The Salvo Real Time Operating System The main idea - Salvo, an example RTOS Basic Salvo features Salvo versions and references Configuring the Salvo application Building Salvo applications - the library build Salvo libraries Using Salvo with Cl Writing Salvo programs Initialisation and scheduling Writing Salvo tasks A first Salvo example Program overview and the main function Tasks and scheduling Creating a Salvo/C18 project Setting the configuration file Building the Salvo example Simulating the Salvo program Using interrupts, delays and semaphores with Salvo An example program using an interrupt-based clock tick Selecting the library and configuration Using interrupts and establishing the clock tick Using delays Using a binary semaphore Simulating the program Running the program Using Salvo messages and increasing RTOS complexity A program example with messages Selecting the library and configuration The task: USnd_ Task The task: Motor_ Task The use of messages The use of interrupts, and the ISRs Simulating or running the program The RTOS overhead " 509 Summary 510 References 510
17 xx Contents Section 5 Techniques of Connectivity and Networking 20 Connectivity and networks 20.1 The main idea - networking and Connectivity A word on protocols 20.2 Infrared Connectivity The IrDA and the PIC microcontroller 20.3 Radio Connectivity Bluetooth Zigbee Zigbee and the PIC microcontroller 20.4 Controller Area Network (CAN) and Local Interconnect Network (LIN) Controller Area Network (CAN) CAN and the PIC microcontroller Local Interconnect Network (LIN) LIN and the PIC microcontroller 20.5 Embedded Systems and the Internet Connecting to the Internet with the PIC microcontroller 20.6 Conclusion Summary References Appendix 1 The PIC 16 Series instruction set Appendix 2 The electronic ping-pong Appendix 3 The Derbot AGV - hardware design details Appendix 4 Some basics of Autonomous Guided Vehicles Appendix 5 PIC 18 Series instruction set (non-extended) Appendix 6 Essentials of C Index
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