Microcontroller Overview
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1 Microcontroller Overview Microprocessors/Microcontrollers/DSP Microcontroller components Bus Memory CPU Peripherals Programming
2 Microcontrollers vs. µproc. and DSP Microprocessors High-speed information processing High-speed standard digital I/O and communication Large memory space Flexible architecture (e.g. DMA, PIC, IDE, etc.) Microcontrollers General purpose parallel and serial I/O Special functions (ADC, timers, drivers) High-speed flexible interrupts Small amount of RAM, ROM Low power Cheap! DSP - Digital signal processors Fast recursive signal processing Fast multiply and accumulate Some include floating point Usually this is a single-chip solution!
3 Typical Bus-Oriented Microcomputer The real world Microcontroller Functions Microprocessor Functions Peripheral Devices CPU Memory Input/Output
4 Embedded Controllers Power supply Signal conditioners Sensors Single board computer Power drivers Actuators Other computers/ devices User interface Choice of microprocessor or microcontroller Driven by cost, power, reliability in application Size becoming less of a factor in choice
5 State Machines Useful abstraction for systems with discrete states States are engaged based on events sensed in the world To set up a state machine: Define the events Define the states Determine order of transition between states Set the initial state of the state machine Example: let us consider a wristwatch MODE SET TICK event
6 State Machine: Wristwatch timekeeping SET setting Show_time hour minute MODE MODE Show_date SET MODE month SET MODE day SET MODE MODE SET Tick_event
7 State Machines: Logic Control Fill sensor Dispenser controller Dispenser on Embedded Computer Motor Rotation sensor Init Bottle sensor bottle_sensed (includes I/O interface circuits) Rotate (dispenser_off, motor_rotate) Fill (motor_stop, dispenser_on) dispensing bottle_full End Error (Alarm) rotating
8 State Machine Programming Example enum State {Rotate, Fill, Error}; enum Event {bottle_sensed, bottle_full, dispensing, rotating}; void motor_stop(); void motor_rotate(); void dispenser_on(); void dispenser_off(); void Alarm(); Static State s = Rotate;... void Transition(Event e) { switch(s) { case Rotate: switch(e) { case bottle_sensed: s = Fill; motor_stop(); dispenser_on(); break; case dispensing: s = Error; Alarm(); break; } break; case Fill: switch(e) { case bottle_full: s = Rotate; dispenser_off(); motor_rotate(); break; case rotating: s = Error; Alarm(); break; } break; case Error: sleep(); break; } }
9 PIC 16F877 Features PIC16F877 microcontroller Up to 20 MHz operation 8k x 14 words FLASH program memory 368 bytes internal SRAM, 256 bytes data EEPROM 33 TTL digital I/O lines total 10-bit multiplexed analog input module (8 channels) 2 Capture/Compare/PWM modules 3 timers 14 interrupt sources Serial communications: MSSP/USART Parallel communications: PSP
10 PIC 16F pin DIP Most port pins are multiplexed with alternate functional options Timing inputs and outputs Compare inputs and outputs Interrupt inputs Parallel I/O control
11 The PIC Prototype Board Runs at 4 MHz It also accepts the PIC16C74 Crystal Oscillator Power regulator U5 +B U6 GND + C3 1uF XTAL MHZ C1 33pF C uF Vin C2 33pF U2 Gnd V2 5V +V Vout PORTE C4 0.1uF PORTCPC0 PC1 PC2 PC3 PORTC PA0 PA1 PA2 PA3 PA4 PA5 PORTA PD0 PD1 V3 5V +V MCLR' RA0 RA1 RA2 RA3 RA4 RA5 RE0 RE1 RE2 Vdd Vss OSC1 OSC2 RC0 RC1 RC2 RC3 RD0 RD1 R1 4.7k U1 RB7 RB6 RB5 RB4 RB3 RB2 RB1 RB0 Vdd Vss RD7 RD6 RD5 RD4 RC7 RC6 RC5 RC4 RD3 RD2 PIC16F877 PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0 PD7 PORTD PD6 PD5 PD4 PORTD PD3 PD2 V1 5V +V PC7 PC6 PC5 PC4 PORTA PA0 PA1 PA2 PA3 PA4 PA5 PB0 PB1 PB2 PB3 PB4 PB5 PB6 PB7 PORTB PORTB I/O Ports PC0 PC1 PC2 PC3 PC4 PC5 PC6 PC7 PORTC PORTD PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7 PORTD PORTD
12 The PIC prototype board Printed-circuit board size = 5.35 by 3.66 Socketed PIC16F877 Voltage regulator Header area Mounting Prototype area holes
13 Electrical Characteristics Power 5 V, 1 A regulator on board < 2 ma typical (@ 4 MHz clock) Microcontroller has a sleep mode < 1 ma typical standby current Digital I/O current limit High sink/source current: 25 ma Don t push it!
14 Reset Mechanisms The MCLR (master clear) pin Watchdog timer Power-on reset Brown-out reset T PWRT = 28 ms (min), 72 ms (typical) T OST = 0 for RC oscillator 1024 T OSC otherwise 5V 4.5V 4V 3V 2.1V 1.5V V DD Initial rise time must exceed 0.05V/ms T PWRT T OST Time (optional)
15 Beware of Current Transients! Ensure that power suppyy has adequate current capability Overcurrent will pull down voltage Use bypass capacitors across subsystems servo current (150 sweep) Current, 50mA/div Time, 50ms/div
16 PIC Instruction Set RISC CPU Only 35 instructions to learn Anyway, we are going to use a C compiler!
17 C Compiler C Compiler / assembler from Custom Computer Services, Inc. (CCS) Go from C program to.hex file (Intel hex format), to be programmed into the microcontroller Integrated with MPLAB Integrated Development Environment (IDE) Execute and debug program Step through program, set breakpoints, etc. You can invoke PCM from MPLAB: Create a new project Select CCS as the LANGUAGE TOOL SUITE Select.HEX file; click on NODE PROPERTIES; then select PCM as compiler To compile, just BUILD the project
18 Development Cycle Design hardware architecture Define State Machine (or any other abstraction that represents the operation you want to accomplish) Iterative design: Write code using C language We use CCS s PCM C compiler Don t need to use assembly language Compile your code Program firmware into the microcontroller We use Microchip s MPLAB Test your code in the prototype board Include complete circuitry Repeat as many times as required
19 PCM Compiler Subset of ANSI C It has typedef, float, struct, etc. int is 8 bits, char is 8 bits, long is 16 bits. Otherwise it looks exactly like C Some C I/O is supported printf, putc, getc, gets, puts Built in Math Functions - sqrt, sin, cos Special functions for dealing with the microcontroller set_timer0, set_pwm1_duty, etc.
20 What Does a Program Look Like? #include <16F877.H> // include file include and other pre-compiler #device PIC16F877 *=16 ADC=10 // set device type #fuses HS,NOWDT,NOPROTECT statements // set fuses for programming #use delay(clock= ) // 4 MHz clock speed #use rs232(baud=9600, xmit=pin_a3, rcv=pin_a2) // set serial I/O lines #define INTR_PER_SECOND 15 // ( /(4*256*256)) byte seconds; byte int_count; // A running seconds counter // Number of interrupts left before a second has elapsed #int_rtcc // Following function is clock_isr() { // RTCC (timer0) overflow interrupt (255->0) if(--int_count==0) { ++seconds; Interrupt service routine int_count=intr_per_second; // Interrupts occur approx. 15 times/sec } } main() { Main program body do { printf( Press any key to begin.\n\r ); byte start; int_count=ints_per_second; set_rtcc(0); setup_counters(rtcc_internal, RTCC_DIV_256); enable_interrupts(rtcc_zero); enable_interrupts(global); getc(); start = seconds; printf( Press any key to stop.\n\r ); getc(); printf( %u seconds.\n\r,seconds-start); } while (TRUE); }
21 Digital I/O Ports 16F877 Ports A, B, C, D, E Accessed through 8-bit registers Least significant bit = b0 Most significant bit = b7 MSb LSb b7 b6 b5 b4 b3 b2 b1 b0 Byte Mnemonics for registers are listed in include files E.g., Port B is called PORTB Or use #byte pre-compiler directive #byte PORTB 6 // sets PORTB to the address 06h
22 Digital I/O Ports Setup the port s data direction register TRISA, TRISB, TRISC, TRISD, TRISE 1=input; 0=output for each bit For example: #byte B_Port = 6 set_tris_b(0); B_Port = 0; Some port pins have additional functionality I/O may be overridden by other register bits
23 Bitwise Operations Operators & (AND) (OR) ^ (XOR) ~ (NOT) << (LEFT SHIFT) >> (RIGHT SHIFT) &=, =, ^=, <<=, >>= To read a single bit, use AND mask if(portb & 04) puts( pin 2 high!\n ); To write a single bit, use OR mask PORTB = PORTB 1;
24 Timers 3 timers: Timer0: 8-bit timer/counter with 8-bit prescaler Timer1: 16-bit timer/counter with prescaler Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler Four basic functions: timing input waveforms (input capture) generating timed output waveforms (output compare) generating PWM signals counting pulses
25 Timers Master clock set by external crystal 20 MHz max, we typically set to 4 MHz Programmable timer prescaler Divides clock down by binary fraction Useful for real world timing in seconds, minutes.. 4 MHz clock 4 Overflow at 256 counts Prescaler (counter) 3.9 khz clock 1 µs 2 µs 4 µs 8 µs 16 µs 32 µs Hz overflow 64 µs 128 µs 256 µs
26 Timer 0 Timer or counter Control register is OPTION_REG 8-bit prescaler Divide by 2 up to 256
27 Timer 1 16 bit timer Acts as a timer or a counter 0 = timer 1 = counter
28 Timer 2 8 bit timer PWM clock Prescale options 1/1, ¼, 1/16 PR2, period register Postscaler options 1/1 to 1/16
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