IAS0430 MICROPROCESSOR SYSTEMS
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1 IAS0430 MICROPROCESSOR SYSTEMS Fall 2018 Arduino and assembly language Martin Jaanus U , Learning environment : Materials :
2 Topics The digital electronics in analogue world. Write assembly code to initialize an AVR ATmega 328P and run code on it. Understand how it works line by line. Trying this in using the Arduino environment. Upload the code to Arduino Uno
3 Homeworks (can be done also in LAB) The aim is to demonstrate basic skills of programming in assemby language You need to prepare your code and demonstrate its working ability to teacher (teacher may ask you to make some modifications ) Before defending you need to upload your code in learning environment using pdf format. You can book a Arduino board with multi-functional shield (like Homelabkit) but you can use your own board and extensions (even with different microprocessor) From the number of completed tasks depends your grade. 30 sets avaiable for booking
4 Homeworks 5 tasks with different difficulty 1. Demonstrate usage of hardware output of MCU (ex. Write some led blinnking program) 500 points 2. Demonsrate usage of hardware input of MCU (ex. You press buttons and something happen) 500 points 3. Demonstrate writing text to LCD/LED screen or serial output of MCU 600 points 4. Demonstrate usage of MCU s analogue input points 5. Demonstrate usage of MCU s timer(s) and/or interrupt(s) points All tasks (or at least the major part of code ) must be written in assembler!
5 The assembly example of led blinker Example Atmega328 (Arduino) Three universal ports Arduino development environment Needs skill of using datasheet! Here and next AVR pictures :
6 Open Datasheet Prepare a solution You must read the datasheet! Find the Register Summary and you ll find all the records and object of our studies. Here you find the three main registers of atmel avr i/o ports: PORTx, DDRx and PINx
7 Open Datasheet Prepare a solution Here s a drawing of their basic functionality: as you can see, there s an internal pull-up for every pin. It can be activated by setting the DDR bit of the pin to 0 and the Port bit to 1. A cleared DDR bit means that the pin is an input pin. So the pin is disconnected from the Port register (see the driver in the drawing?) and the pin is floating. In this case the Port bit controls the pull-up. We highlight the configuration we will take in our project: we put the DDRx to 1 and we will switch PORTx between the high and low states to blink the LED. For writing code only some instructions can be used.
8 Install and run Arduino environment Install Arduino environment and makse sure it is connected and working! (check the connection)! You can also test the LED blinking sketch from examples!
9 Using Assembly code in C projects One possibility is to do like this: void somefunction(void) attribute ((naked)) { asm volatile (" ; your assembly code here } "); It is often used when the main program is written in C but it is needed to use ASM operations (usually for percise timing you cannot calculate processor cycles in C),
10 Full Assembly in Arduino Environment 1. Make empty project/sketch File > New, name as you want. 2. Modify the default code in in this way: extern "C" { // function prototypes void start(); ; } The name of exetutable routine void setup() { start(); } void loop() { }
11 Full Assembly in Arduino Environment (2) Add your assembly project file: 1.Click the upside down triangle button at the top right of the editor window. 2.New Tab > Name for new file: > blink.s - actually you can give it any name you like as long as it has the.s extension. It has to be an upper case S.
12 Full Assembly in Arduino Environment (3) You need to include definitions and set program start offset: #define SFR_OFFSET 0 #include "avr/io.h".global start This must be same in main.ino file start: ; the assembly code to execute sbi... DDRB,5 ; Set PB5 as output
13 #include "avr/io.h" Gives the names for registers It gives possibility to use predefined names You need to use definations written in datasheet! The assember does not accept Arduino definations!
14 Init your code Starting address The simpest possible program:.org 0x000 ; the next instruction has to be written to add 0x0000 ; this is required, when native ASM compiler is used ; infinite loop START: ; this is a label START rjmp START ; Relative JuMP to START The compiler translates labels into addresses respect to starting address When the instruction is executed, the CPU (ALU Arithmetic Logic Unit) will jump to START. The jump will be repeated over and over, resulting in an infinite loop.
15 Do the math Assuming that our Arduino AVR is running at 16 MHz (16 Million clock cycles per second), how long does all this take? T = 1/ F then T = 1 / 16E6 T = 0, seconds, not precisely 0,06 us That s pretty fast! We can not see at this frequency the blinking of the LED. So coming to the answer it has been observed experimentally that human eye can t make out a difference in the picture frame if it appears for less than 16ms to 13ms (0,016-0,013s).
16 Do the math (2) That s pretty fast! We can not see at this frequency the blinking of the LED. So coming to the answer it has been observed experimentally that human eye can t make out a difference in the picture frame if it appears for less than 16ms to 13ms (0,016-0,013s). Hence purely based on this we can say sampling frequency is 60 Hz to 80 Hz (about 0,06 & 0,08 MHz). So we will need to know how many times we will loop to in terms of a cycle of say half a second off and half a second on so that the LED flashes every half a second at a frequency of 16 MHz we need x cycles. Here s how: if 1 cycle takes , seconds x cycles will take ,5 seconds this makes 0,5 / 0, s = cycles How to achieve all this cycles if I can count only up to 255 (remember, we have an 8-bit chip )?
17 Do the math (3) For this we will have to implement two loops: inner and outloop. Calculations - The inner loop is treated like one BIG instruction needing clock cycles. The registers can be used in pairs, allowing to work with values from 0 to That s a word. The following piece of code clears registers 24 and 25 and increments them in a loop until they overflow to zero again. When that condition occurs, the loop doesn t go around again.
18 Math to asm clr r24 clr r25 ; clr needs 1 cycle ; clr needs 1 cycle DELAY_05: ; we need.5s delay adiw r24, 1 ; adiw needs 2 cycles and brne DELAY_05 ; brne needs 2 cycles if the branch is done ; and 1 otherwise Every time the registers don t overflow the loop takes adiw(2) + brne(2) = 4 cycles. This is done 0xFFFF (65 535) times before the overflow occurs. The next time the loop only needs 3 cycles, because no branch is done.
19 Math to asm The outer loop will be down-counting from 31 to zero using R16. ldi r16, 31 OUTER_LOOP: ; outer loop label ldi r24, 0 ; clear register 24 ldi r25, 0 ; clear register 25 DELAY_05: ; the loop label adiw r24, 1 ; add immediate to word : r24:r25 are ; incremented brne DELAY_05 dec r16 ; decrement r16 brne OUTER_LOOP ; load r16 with 8
20 Math to asm The overall loop needs: (inner loop) + 1 (dec) + 2 (brne) = * 31 = cycles. This is more like what we want, but cycles too long. This is where the fine-tuning comes in we need to change the initial value of r24:r25. The outer loop is executed 31 times and includes the big-inner-loopinstruction. We have to subtract some cycles from the inner loop: / 31 = cycles per inner loop. This is what the inner loop has to be shorter. Every iteration of the inner loop takes 4 cycles (the last one takes 3 but that s not so important, if needed NOP can be added), so let s divide those by 4. That s or less iterations. This is our new initial value for r24:r25 he result is clock cycles
21 Main code.org 0x0000 ; the next instruction has to be written to DELAY_05: ; the subroutine: ; address 0x0000 ldi r16, 31 ; load r16 with 31 rjmp START ; the reset vector: jump to "main" OUTER_LOOP: ; outer loop label START: out SPH, r16 ldi r16, 0xFF ; load register 16 with 0xFF (all bits 1) out DDRB, r16 Data ; write the value in r16 (0xFF) to ; Direction Register B LOOP: sbi PortB, 5 ; switch off the LED rcall DELAY_05 ; wait for half a second cbi PortB, 5 ; switch it on rcall DELAY_05 ; wait for half a secon rjmp LOOP ; jump to loop ldi r24, 0 ldi r25, 0 DELAY_LOOP: ; "add immediate to word": r24:r25 are ; incremented adiw r24, 1 ; if no overflow ("branch if not equal"), go ; back to "delay_loop" brne DELAY_LOOP dec r16 ; decrement r16 brne OUTER_LOOP ; and loop if outer loop not finished ret ; return from subroutine Arduino example (for comparision): void setup() { // initialize digital pin 13 as an output. pinmode(13, OUTPUT); } void loop() { digitalwrite(13, HIGH); // turn the LED on (HIGH is the voltage level) delay(1000); // wait for a second digitalwrite(13, LOW); // turn the LED off by making the voltage LOW delay(1000); // wait for a second } Delay function from library Remember if you using another Arduino board with different processor, this Assembly code may not work, C code may work! Refer to datasheet!!!!!
22 Send code to Arduino Uno And save those for future reference/ codes! The next task (code) can be written by using this template
23 Arduino Uno schematics
24 Arduino Uno pinouts The yellow background shows the processor s pin name
25 Arduino Multifuncional Shield The complete circuit
26 Arduino Multifuncional Shield LED Notice that they are connected between Vcc and I/O pins! Active state is LOW, Arduino pins are 10,11,12,13 Buzzer is connected to pin 3
27 Arduino Multifuncional Shield Buttons External pullup resistors Connected to Arduino pins A1,A2,A3 Pressed state is LOW Analogue input is connected to pin A0
28 Arduino Multifuncional Shield 7 segment LED array 2 of 74HC595 Shift registres are used as driver! It has 3 pins to connect Arduino RCLK 4 (output clock) SRCLK- 7 (input clock) SER 8 (data) You need to refer to datasheet!
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