Programming PIC Microcontrollers

Module: EE2A2 Embedded Microprocessor Systems

Lecturer: James Grimbleby
y
URL: http://www.personal.rdg.ac.uk/~stsgrimb/
email: jj.b.grimbleby
g
y reading.ac.uk
g
Number of Lectures: 5
Recommended text book:
R Barnett
R.
Barnett, L OCull
O Cull and S
S. Fox
Embedded C Programming and the Microchip PIC
Thomson (2004)
ISBN 1401837484
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 1

Programming PIC Microcontrollers

Recommended Text Book:

R. Barnett, L OCull
O Cull and S. Fox
Embedded C Programming
and the Microchip
p PIC
Thomson (2004)
ISBN 1401837484
Price (Amazon) 47

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 2

Programming PIC Microcontrollers

On-line book describing PIC microcontrollers:

http://www.mikroelektronika.co.yu/english/product/books/
htt
//
ik l kt ik
/
li h/ d t/b k /
PICbook/0_Uvod.htm
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 3

Programming PIC Microcontrollers

Manual for CCS PIC

C compiler:

http://www ccsinfo com/downloads/ccs c manual pdf

http://www.ccsinfo.com/downloads/ccs_c_manual.pdf
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 4

Programming PIC Microcontrollers

This course is about programming PIC microcontrollers in C
using the CCS PIC-C compiler
Topics covered include:
PIC architecture
PIC specific limitations and extensions to C
PIC-specific
Programming PIC hardware such as ports, ADC, timers, etc
Using software libraries
You should already be familiar with the C and C++
programming languages
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 5

Assessment
This unit
nit will
ill be assessed b
by a m
multiple-choice
ltiple choice test
The multiple-choice
multiple choice test will last for 30 minutes
minutes, during which
20 questions must be answered
You will be permitted to bring your notebooks and the course
notes into the test
The test will be held at the end of the Autumn term
The marks from this test will contribute to the overall mark for
the module EE2A2
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 6

Multi-Choice
Multi
Choice Test Example
This question relates to the use of the CCS PIC C
compiler.
A variable q is declared:
long int q;
q can take
k on any value
l
in
i the
h range:
(a)
(b)
(c)
(d)
(e)

-128 to +127
0 to 255
2
-32768 to +32767
0 to 65535
-2147483648 to + 2147483647

Answer:

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 7

Programming PIC Microcontrollers

Lecture 1
PIC Architecture
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 8

PIC Microcontroller Architecture

PICs use Harvard architecture and a RISC instruction set
von Neuman Architecture:
CPU

Program and
P
d
data memory

CPU

Data
memory

Harvard Architecture:
Program
memory
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 9

PIC Microcontroller Architecture

Flash
program memory

Program
counter

Instruction
register

Stack

Counter/
ti
timers
RAM
g
file registers
Address MUX
FSR

I/O ports

g
Status register
Instruction
decode

Watchdog
Start up timer

Timing
generation
James Grimbleby

MUX

Brn out reset

ALU

Peripherals

Low volt prog

Debugger

W register

School of Systems Engineering - Electronic Engineering

Slide 10

PIC Microcontroller Peripherals

The 18F452 PIC has the following peripherals:
Data ports A (6
(6-bit)
bit), B (8
(8-bit)
bit), C (8
(8-bit)
bit), D (8
(8-bit)
bit), E (3
(3-bit)
bit)
Timer/counter modules 0 (8-bit), 1 (16-bit), 2 (8-bit), 3 (16-bit)
CCP/PWM modules (2)
I2C/SPI serial
i l portt
USART ((RS-232,, RS-485))
Analogue-to-digital converter (10-bit) with 10 way input
multiplexer
EEPROM (256 byte)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 11

Clock Generator
PICs use a fully static design so that any clock frequency up
to the specified maximum can be used
There are 4 possible clock configurations:
- external clock (eg crystal oscillator module)
- self-oscillating with external crystal or ceramic resonator
- external or self-oscillating with phase-locked loop
- self-oscillating with external RC
In practice the choice will normally be a compromise
between cost and clock speed or clock stability
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 12

Reset
A reset p
puts the PIC in a well-defined initial state so that the
processor starts executing code from the first instruction
Resets can result from:
- external reset by MCLR pulled low
- reset on power-up
- reset by watchdog timer overflow
- resett on power supply
l b
brown-outt
Reset can be used
sed as a last resort for reco
recovering
ering from some
catastrophic software event but all current data will be lost
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 13

Central Processing Unit

The CPU fetches instructions from memory, decodes
them, and passes them to the ALU for execution
The arithmetic logic unit (ALU) is responsible for adding,
subtracting, shifting and performing logical operations
Th ALU operates iin conjunction
The
j
i with:
ih
- a general-purpose register called the W register
- an f register that can be any location in data memory
- literals
lit l embedded
b dd d in
i the
th iinstruction
t ti code
d

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 14

Memory Organisation - Stack

A 31
31-level
level stack stores the return address during interrupts
and subroutine calls
Program Counter 21 bit

Stack level 1
Stack level 2
..
..
..
.
Stack level 31
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 15

Memory Organisation - Program

Program memory
contains the Reset and
Interrupt vectors
The PIC18F452 has 32k
(0x8000) locations of
program memory

Reset vector

0x0000

High priority int vector

0x0008

Low priority int vector

0x0018

P
Program
memory

0x7FFF
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 16

Memory Organisation - Data

Data memory contains general

purpose registers (GPRs) and
special function registers
(SFRs)
The PIC18F452 has 1536
(0x600) locations of GPR data
memory

GPR bank 0
GPR bank 1
GPR bank 2
GPR bank 3
GPR bank 4
GPR bank 5
Unused
SFRs

James Grimbleby

0x000
0x100
0x200
0x300
0x400
0x500
0x600

School of Systems Engineering - Electronic Engineering

0xF80
0xFFF
Slide 17

Memory Organisation SFRs

The memory block

0xF80 to 0xFFF (128
locations) references
special function
registers (SFRs)
Some of the SFRs
are shown
h
h
here

James Grimbleby

Port A
Port B
Port C
Port D
Port E
...
..
Tris A
Tris B
Tris C
Tris D
Tris E

0xF80
0
F80
0xF81
0xF82
0xF83
0xF84
0xF92
0xF93
0xF94
0xF95
0xF96

SPBRG
...
..
Timer1L
Timer1H
...
..
Timer0L
Timer0H
...
..
Wreg
...
..
StkPtr

School of Systems Engineering - Electronic Engineering

0 FAF
0xFAF
0xFCE
0xFCF
0xFD6
0xFD7
0xFE8
0xFFC
Slide 18

PIC Instruction Set

The PIC instruction set has a small number of simple (RISC)
instructions
PIC16 series: 35 instructions coded into 14 bits
PIC 18 series: 59 instructions coded into 16 bits
PIC 24 series: 71 instructions coded into 24 bits
Most instructions are executed in one instruction cycle which
corresponds to 4 clock cycles
Thus a PIC operating at 40 MHz clock frequency will have an
instruction rate of 10 MIPS.
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 19

PIC 18Fxxx Instruction Set

Most PIC 18Fxxx instructions occupy a single 16-bit program
memory location
Each instruction consists of an opcode and one or more
operands
The instruction set is highly orthogonal and can be
partitioned:
- 31 byte-oriented file register operations
- 5 bit-oriented file register operations
- 23 control instructions
- 10 literal instructions
- 8 data memory program memory operations
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 20

PIC 18Fxxx Instruction Set

Byte-oriented file register operations :
ADDWF
CLRF
DECF
MOVF

Add W and
d f:
f resultlt in
i W or f
Clear f
Decrement f
Move contents of f to f or W

Bit-oriented file register operations:

BCF
BTFSC

James Grimbleby

Clear bit in f
Test bit in f; skip if clear

School of Systems Engineering - Electronic Engineering

Slide 21

PIC 18Fxxx Instruction Set

Control instructions :
BRA
CALL
RETURN
BNZ

Branch unconditionally
Call subroutine (function)
Return from subroutine (function)
Branch if not zero

Literal instructions :
MOVLW
ADDLW

Move literal to W
Add literal
lit l tto W

Data memor
memory program memor
memory operations
operations:
TBLRD*+
James Grimbleby

post-increment
Table read with p

School of Systems Engineering - Electronic Engineering

Slide 22

Status Register
The 8-bit status register
g
is set during
g arithmetic operations
p
N
OV
Z
DC
C

OV

DC

Negative bit - result of arithmetic operation was negative

Overflow bit overflow occurred for signed arithmetic
Zero bit - result of arithmetic operation was zero
Digit Carry bit carry out from 4th low order bit of result
Carry bit carry out from most-significant bit of result

The bits of the status register can then be used in conditional

branches,, for example:
p
BNZ Branch if Not Zero
BOV Branch of OVerflow
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 23

Programming PIC Microcontrollers

Lecture 2
CCS Compiler
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 24

What is C ?
In 1970 a team at Bell Labs led by
y Brian Kernighan
g
were
developing the UNIX computer operating system
They required a high-level computer language for writing
computer operating systems
Starting from an existing language called BCPL they
developed C
C was used
d tto write
it th
the nextt version
i off UNIX system
t
software
UNIX eventually became the world's first portable operating
system
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 25

What is C ?
C has now become a widely
y used professional
p
language
g g for
various reasons:
It has
h high
hi h llevell constructs
t t
It can handle low level activities
It produces efficient programs
It can be compiled on a wide variety of computers
The standard for C programs was originally the features set
by Brian Kernighan
Later an international standard was developed: ANSI C
(American National Standards Institute)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 26

What is C++
C ?
More recently another group at AT&T led by Bjarne Stroustrup
developed C to reflect modern programming techniques
The new language was called C++
C++ has stronger type checking and supports object-oriented
programming
C++ may be considered in several ways.:
An extension of C
A "data
data abstraction
abstraction" improvement on C
A base for "object oriented" programming
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 27

Why Program PICs in C?

C is a p
portable language,
g g requiring
q
g minimal modification when
transferring programs from one processor to another
Programming in a high-level language rather than assembler
allows programs to be developed much more rapidly
Typically a program which takes a few weeks in assembler
can be written in C in a ffew days
Code efficiency of compiled C programs is typically 80% of
well-written assembler programs
The related language C++ is too complex for use with the
present g
p
generation of PICs
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 28

CCS PIC Compiler

A compiler converts a high-level language program to machine
instructions for the target processor
A cross-compiler
il iis a compiler
il th
thatt runs on a processor
(usually a PC) that is different from the target processor
Most embedded systems are now programmed using the
C/C++ language
Several C compilers are available that target Microchip PICs,
for example HiTech, Microchip and CCS
The PIC programming laboratory at Reading is equipped with
the CCS cross-compiler
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 29

CCS PIC Compiler

int main()
{
int x, y, z;
for (;;) {
lcd(clear);

PC with
CCS compiler

PIC
USB
ICD2
debugger

PIC system

Programs are edited

P
dit d and
d compiled
il d tto PIC machine
hi iinstructions
t ti
on a PC
PIC machine instructions are uploaded from PC to PIC system
gg
via the ICD2 debugger
Code is executed on the PIC system and can be debugged
(break points,
points inspect variables
variables, single step etc
etc.)) using PC
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 30

CCS PIC Compiler

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 31

CCS PIC Compiler

The CCS compiler comes with an integral syntax-aware editor
CCS C is standard C plus limited support for reference
parameters
t
in
i functions
f
ti
PIC-specific
PIC
specific pre
pre-processor
processor directives are provided in addition
to the standard directives (#include, #define etc):
implement the following function inline
set priority of interrupts

#inline
#priority

Additional functions supporting PIC hardware are provided:

output_low()
delay_us()
James Grimbleby

set an I/O port bit low

delay
y by
y a specified
p
number of
s

School of Systems Engineering - Electronic Engineering

Slide 32

CCS PIC Compiler Data Types

PICs are optimised
p
for p
processing
g single
g bits or 8-bit words,
and this is reflected the CCS compiler word sizes:
short int (or int1)
int (or int8)
long int (or int16)
i t32
int32
char
float

1 bit
8 bit
16 bit
32 bit
8 bit
32 bit

0 or 1
0 to 255
0 to 65535
0 tto 4294967295
0 to 255
38 to 310+38
38
310-38

Contrary to the C standard, CCS C integers are by default

unsigned
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 33

CCS PIC Compiler Data Types

In CCS C it is necessary
y to use the signed
g
q
qualifier if signed
g
integer are required:
short int
signed int
signed long int
signed
i
d iint32
t32
char
float

1 bit
8 bit
16 bit
32 bit
8 bit
32 bit

0 or 1
-128 to +127
-32768 to +32767
-2147M
2147M tto +2147M
2147M
0 to 255
38 to 310+38
38
310-38

It is not appropriate to use the signed qualifier with char or

short int, and floats are signed by default
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 34

Constants
Constants can be specified in either decimal, octal,
hexadecimal or binary, or as a special character:
123
0123
0x123
0b010010

Decimal
Octal
Hex
Binary

'x'
\010
'\010'
'\0xA5

Character
Octal character
Hex character

James Grimbleby

'\n'
\n
'\r'
'\t'
\t
'\b'
'\f'
\f
'\a'
\v
'\v'
'\?'
'\''
\
'\"'
'\\'

Line Feed
Return Feed
TAB
Backspace
Form Feed
Bell
Vertical Space
Question Mark
Single
S
g e Quote
Double Quote
A Single
g Backslash

School of Systems Engineering - Electronic Engineering

Slide 35

CCS PIC Compiler Data Types

In CCS C a short int is effectively
y a boolean variable
To make programs more readable it is a helpful to make use
of the definitions (already in the device definition files):
#define boolean short int
#define false 0
#define true 1

Now it is possible to declare boolean variables:

boolean finished = true;

The standard boolean operators (||,

(|| &&,
&& ! etc)) can be used
with these variables
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 36

Multi-Precision
Multi
Precision Operations
It is often necessary to process data words that are larger
than can be operated on by a single instruction
PIC instructions only operate on 8-bit words
Multi-precision arithmetic uses a sequence of basic
instructions on existing data types
In CCS C the long int (16 bit) and int32 (32 bit) types are
processed using multi-precision arithmetic
This is much more expensive in time and code size than
single instructions
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 37

Multi-Precision
Multi
Precision Operations
Ams

Als

+=

Bms

Bls

Als += Bls
Overflow?

Yes

Ams ++

No
Ams += Bms
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 38

Multi-Precision
Multi
Precision Operations
16-bit addition using 8-bit operations:
Ams

Als

+=

Bms

Bls

MOVF Bls, W
ADDWF Als
MOVF Bms
Bms, W
ADDWFC Ams

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 39

Multi-Precision
Multi
Precision Operations
32-bit addition using 8-bit operations:
Ams

A2

A1

Als

+=

Bms

B2

B1

Bls

MOVF Bls, W
ADDWF Als
MOVF B1, W
ADDWFC A1
MOVF B2, W
ADDWFC A2
MOVF Bms
Bms, W
ADDWFC Ams

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 40

Reference Parameters
CCS C provides C++
C like reference parameters to functions:
Traditional C:

CCS C ((C++):
)

void swap(int *x,

x, int *y)
y)
{
int temp = *x;
* = *y;
*x
*
*y = temp;
}

void swap(int &x, int &y)

{
int temp = x;
x = y;
y = temp;
}

int j = 5, k = 8;
swap(&j,
(&j &k);
&k)

int j = 5, k = 8;
swap(j,
(j k);
k)

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 41

Built-In
Built
In Functions
RS-232 I/O:

SPI two wire I/O:

Discrete I/O:

getc()
putc()
fgetc()
gets()
puts()
f t ()
fgets()
fputc()
fputs()
printf()
kbhit()
p
()
fprintf()
set_uart_speed()
perror()
assert()
getchar()
putchar()
setup uart()
setup_uart()

read_bank()
setup_spi()
spi read()
spi_read()
spi_write()
spi_data_is_in()

output_low()
output_high()
output float()
output_float()
output_bit()
input()
output_X()
t t ()
output_toggle()
input_state()
input_X()
port_b_pullups()
_
_ ()
set_tris_X()

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 42

Built-In
Built
In Functions
Parallel Slave I/O:

I2C I/O

Processor control:

setup_psp()
psp_input_full()
psp_output_full()
psp_overflow()

i2c_start()
i2c_stop()
i2C_read
i2c_write()
i2c poll()
i2c_poll()

sleep()
reset_cpu()
restart_cause()
disable_interrupts()
enable interrupts()
enable_interrupts()
ext_int_edge()
read_bank()
write bank()
write_bank()
label_address()
goto_address()
getenv()
t
()
clear_interrupts
setup_oscillator()

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 43

Built-In
Built
In Functions
Bit/Byte Manipulation:

Standard C Math:

shift_right()
shift_left()
rotate right()
rotate_right()
rotate_left()
bit_clear()
bit
bit_set()
t()
bit_test()
swap()
make8()
make16()
()
make32()

abs()
acos()
asin()
atan()
ceil()
cos()
()
exp()
floor()
labs()
sinh()
g()
log()
log10()
pow()
sin()
cosh()
tanh()

James Grimbleby

fabs()
fmod()
atan2()
frexp()
ldexp()
df()
modf()
sqrt()
tan()
div()
ldiv()

School of Systems Engineering - Electronic Engineering

Slide 44

Built-In
Built
In Functions
Standard C Char:
atoi()
atoi32()
atol()
atof()
tolower()
toupper()
isalnum()
isalpha()
i
isamoung()
()
isdigit()
islower()
isspace()
isupper()
g ()
isxdigit()
strlen()
strcpy()
strncpy()
James Grimbleby

strcmp()
stricmp()
strncmp()
strcat()
strstr()
strchr()
strrchr()
isgraph()
i
iscntrl()
t l()
strtok()
strspn()
strcspn()
strpbrk()
strlwr()
()
sprintf()
isprint()
strtod()

strtol()
strtoul()
strncat()
strcoll()
strxfrm()

School of Systems Engineering - Electronic Engineering

Slide 45

Built-In
Built
In Functions
A/D Conversion:

Timers:

Standard C memory:

setup_vref()
setup_adc_ports()
d
()
setup_adc()
set_adc_channel()
read_adc()

setup_timer_X()
set_timer_X()
i
()
get_timer_X()
p
setup_counters()
setup_wdt()
restart_wdt()

memset()
memcpy()
()
offsetof()
offsetofbit()
malloc()
calloc()
free()
realloc()
memmove()
memcmp()
memchr()

Analog Compare:
setup_comparator()

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 46

Built-In
Built
In Functions
Capture/Compare/PWM:

Internal EEPROM:

setup_ccpX()
set pwmX duty()
set_pwmX_duty()
setup_power_pwm()
setup_power_pwm_pins()
set power pwmx duty()
set_power_pwmx_duty()
set_power_pwm_override()

read_eeprom()
write eeprom()
write_eeprom()
read_program_eeprom()
write_program_eeprom()
read calibration()
read_calibration()
write_program_memory()
read_program_memory()
write_external_memory()
i
l
()
erase_program_memory()
setup_external_memory()

Delays:
delay_us()
delay_ms()
delay cycles()
delay_cycles()

Standard C Special:
rand()
srand()

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 47

Device Definition File

A CCS C program will start with a number of pre-processor
directives similar to:
#include <18F452.H>
#fuses HS,NOWDT,NOBROWNOUT,NOPROTECT,PUT
#
#use
delay(clock=20000000)
d l ( l k 20000000)
#include "lcd.c"

The first directive instructs the compiler to include the system

header file 18F452.H
This is a device-specific file that contains information about
the location of SFRs and the values to be written to them
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 48

Device Definition File

PIC 18F452 Definition File (18F452.H):
#define
#define
. . . .
#define
#define
. . . .
#define
#define
#define
#define
. . . .
#define
#define
#define
#define
. . . .
James Grimbleby

PIN_A0 31744
PIN
PIN_A1
A1 31745
. . . .
PIN_B0 31752
PIN
PIN_B1
B1 31753
. . . .
T1_DISABLED
T1
T1_INTERNAL
INTERNAL
T1_EXTERNAL
T1_EXTERNAL_SYNC
. . . .
CCP_OFF
CCP_CAPTURE_FE
CCP_CAPTURE_RE
CCP_CAPTURE_DIV_4
. . . .

0
0x85
0x87
0x83
0
4
5
6

School of Systems Engineering - Electronic Engineering

Slide 49

Fuses
CCS C p
provides a fuse directive:
#fuses HS,NOWDT,NOBROWNOUT,NOPROTECT,PUT

which specifies the states of the configuration fuses that

should be programmed onto the PIC
In this example:
HS
NOWDT
NOBROWNOUT
NOPROTECT
PUT
James Grimbleby

Clock is a high-speed crystal or resonator

W t hd ti
Watchdog
timer iis di
disabled
bl d
Brown-out detector is disabled
Code protect off
Power-on timer is enabled

School of Systems Engineering - Electronic Engineering

Slide 50

Delays
CCS C p
provides functions for g
generating
g delays:
y
delay_us()
delay ms()
delay_ms()

These delayy functions actually

y delayy byy a number of machine
cycles
The compiler needs to know the clock frequency in order to
calculate the required number of machine cycles
#use delay(clock=20000000)

This use-delay directive specifies that the clock frequency of

the PIC is 20 MHz
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 51

Multiple Source Code Files

CCS C does not allow separate compilation and linking of
source code files
It is convenient (and good programming practice) to put
commonly-used
commonly
used library functions in separate files
#include "lcd.c"

This directive instructs the compiler to include the user library

fil lcd.c
file
l d in
i th
the fil
file currently
tl b
being
i compiled
il d
This is
Thi
i nott particularly
ti l l efficient
ffi i t (the
(th library
lib
file
fil iis compiled
il d every
time) - however typical PIC programs compile in a few seconds
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 52

Programming PIC Microcontrollers

Lecture 3
Data Ports
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 53

Data Ports
Simplified
p
diagram
g
representing
p
g a single
g data I/O p
pin of one
of the ports A-E:
Data bus

D Q

I/O pin

Data write
D Q
Tri-state
s a e write
e

Data read
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 54

Data Ports
Data I/O p
port functions:
Data write - this latches the data written to the pin which
should be configured as an output
Tri-state write - this latches the data direction for the pin
(0 = output, 1 = input)
Data read - this reads the current value of the pin which
should
h ld b
be configured
fi
d as an iinputt
Each data port (A-E)
(A E) consists of a n
number
mber of pins
pins, each of
which can individually be configured as an input or output
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 55

Hardware Access in C
Memory-mapped hardware is traditionally accessed in C using
pointers
If the hardware is byte (8-bit) organised then char or int (PIC)
pointers are used
Example:
a pe a
an 8
8-bit
b t input
put po
portt memory-mapped
e o y apped to location
ocat o
0xF81:
#d fi
#define
portb
tb (int
(i t *) 0xF81
0 F81

Thus portb is an int pointer whose value is the address of the

bus device
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 56

Hardware Access in C
Th portt is
The
i accessed
d by
b the
th use off the
th indirection
i di ti operator
t **:
int p;
p = *portb;

In this example the value of the data on the port mapped to

memory location 0xF81 (port B) is assigned to variable p
Before the p
port can be read it is necessary
y to set the data
direction register:
#define trisb (int *) 0xF93
*trisb = 0xFF;
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 57

Accessing the Data Ports

Complete program to toggle all pins on the B port:
#include <18F452.H>
#fuses HS,NOPROTECT,NOBROWNOUT,NOWDT,NOLVP,PUT
#use delay(clock=20000000)
#define trisb (int *) 0xF93
#define portb (int *) 0xF81
void main()
{
*trisb = 0x00;
for (;;) {
*portb = ~*portb;
delay_ms(100);
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 58

Accessing the Data Ports

Or more elegantly using functions:
void set_portb_output()
_p
_
p ()
{
*trisb = 0x00;
}
void write_portb(int
_p
(
p)
{
*portb = p;
}

void main()
()
{
int q = 0x0F;
set_portb_output();
t
tb
t t()
for (;;) {
write_portb(q
_p
(q = ~q);
q);
delay_ms(100);
}
}

Although
Alth
h thi
this code
d iis llonger th
than th
the previous
i
example
l it iis
better structured
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 59

Accessing the Data Pins

Data pins within a port can be set or read by using logical
operators
To set pin 2 of data port B to logic 1:
*
*portb
tb |=
| 0b00000100;
0b00000100

and to reset pin 2 of data port B to logic 0:

*portb &= 0b11111011;

To read the value of pin 7 of data port B:

if (*portb & 0b10000000) { ...
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 60

CCS C Support for Port I/O

Comprehensive
C
h
i supportt iis provided
id d iin CCS C ffor accessing
i
data ports and individual pins of the ports
Three different methods of I/O can be used, specified by the
directives:
#use standard_io(port)
#use fast_io(port)
#use fixed
fixed_io(port_outputs=pin_x1,pin_x2,
io(port outputs=pin x1 pin x2 ...)
)

The differences between these I/O methods are to do with the

way that the data direction registers are controlled
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 61

Standard I/O
#use standard
standard_io(port)
io(port) affects how the compiler will generate
code for input and output instructions that follow
This directive takes effect until another #use xxx_io directive
is encountered
The
e sta
standard
da d method
et od o
of I/O
/O will cause tthe
e co
compiler
p e to
generate code to set the direction register for each I/O
operation
p
Standard_io is the default I/O method for all ports.
Examples: #use standard_io(A)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 62

Fast I/O
#use fast
fast_io(port)
io(port) affects how the compiler will generate code
for input and output instructions that follow
This directive takes effect until another #use xxxx_io directive
is encountered
The
e fast
ast method
et od of
o doing
do g I/O
/O will cause tthe
e co
compiler
p e to
perform I/O without programming of the direction register
The user must ensure the direction register is set correctly via
set_tris_X() .
Example: #use fast_io(A)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 63

Fixed I/O
#use fixed
fixed_io(port)
io(port) affects how the compiler will generate code
for input and output instructions that follow
This directive takes effect until another #use xxx_io
directive is encountered
The fixed method of I/O will cause the compiler to generate
code to set the direction register for each I/O operation
The pins are programmed according to the information in this
directive (not the operations actually performed)
Examples: #use fixed_io(a_outputs=PIN_A2,PIN_A3)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 64

CCS C Support for Port I/O

Functions are p
provided for reading
g from a complete
p
p
port:
value = input_a()
value = input
input_b()
b()
. . . . . . . . .

for writing to a complete port:

output_a(value)
output_b(value)
. . . . . . . . .

and for setting the data direction register:

set_tris_a(int)
set
tris a(int)
set_tris_b(int)
. . . . . . . .
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 65

Standard I/O
#use standard
standard_io(b)
io(b)
void main()
{
int q;
for (q = 0b00000001;; q ^
^= 0b00000101) {
output_b(q);
delay_ms(100);
y
}
}
output_b(q);
CLRF 0xf93
MOVFF 0x6, 0xf8a
James Grimbleby

Set DDR
Write port

School of Systems Engineering - Electronic Engineering

Slide 66

Fast I/O
#use fast_io(b)
fast io(b)
void main()
{
int q;
set tris b(0b11111010);
set_tris_b(0b11111010);
for (q = 0b00000001;; q ^= 0b00000101) {
output_b(q);
p
q
delay_ms(100);
}
}

output_b(q);
MOVFF 0x6, 0xf8a
James Grimbleby

Write port

School of Systems Engineering - Electronic Engineering

Slide 67

Fixed I/O
#use fixed
fixed_io(b_outputs=pin_b2,pin_b0)
io(b outputs pin b2 pin b0)
void main()
{
int q;
for (q = 0b00000001;; q ^
^= 0b00000101) {
output_b(q);
delay_ms(100);
y
}
}
output_b(q);
MOVLW 0xfa
MOVWF 0xf93
MOVFF 0x6, 0xf8a
James Grimbleby

Set DDR
Write port

School of Systems Engineering - Electronic Engineering

Slide 68

CCS C Support for Pin I/O

A function is p
provided for reading
g from a p
pin of a data p
port:
value = input(pin)

and for writing to a pin of a data port :

output_bit(pin,value)
bi ( i
l )
output_low(pin)
output high(pin)
output_high(pin)
output_toggle(pin)

Pin names are of the form:

pin_a1
pin
a1
pin b1
pin_b1
pin_c1
pin
c1
pin_a2
pin_b2
pin_c2
. . . . . . . . . . . . . . . .
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 69

Standard I/O
#use standard_io(b)
void main()
{
boolean q;
for (q = false;; q = !q) {
if (q)
output_high(pin_b2);
else
output_low(pin_b2);
delay_ms(100);
}
}
output_high(pin_b2);
output
high(pin b2);
BCF 0xf93, 0x2
BSF 0xf8a,
, 0x2
James Grimbleby

S t DDR
Set
Write pin

School of Systems Engineering - Electronic Engineering

Slide 70

Fast I/O
#use fast_io(b)
void main()
{
boolean q;
set_tris_b(0b11111010);
for (q = false;; q = !q) {
if (q)
output_high(pin_b2);
else
output_low(pin_b2);
delay ms(100);
delay_ms(100);
}
}
output_high(pin_b2);
BSF 0xf8a, 0x2
James Grimbleby

Write pin

School of Systems Engineering - Electronic Engineering

Slide 71

Fixed I/O
#use fixed_io(b_outputs=pin_b2,pin_b0)
void main()
{
boolean q;
for (q = false;; q = !q) {
if (q)
output_high(pin_b2);
else
output low(pin b2);
output_low(pin_b2);
delay_ms(100);
}
}
p
g (p
);
output_high(pin_b2);
MOVLW 0xfa
MOVWF 0xf93
BSF 0xf8a,
0xf8a 0x2
James Grimbleby

S t DDR
Set
Write pin

School of Systems Engineering - Electronic Engineering

Slide 72

More Efficient Program

#use fast_io(b)
fast io(b)
void main()
{
set_tris_b(0b11111010);
for (;;) {
output_toggle(pin_b2);
delay_ms(100);
y
}
}

output_toggle(pin_b2);
output
toggle(pin b2);
BTG 0xf8a, 0x2
James Grimbleby

Toggle pin

School of Systems Engineering - Electronic Engineering

Slide 73

Pull-ups
Pull
ups
Some data p
ports have optional
p
internal weak p
pull-ups
p which
pull the I/O lines high by default
A switch used as input can pull the line low (against the weak
pull-ups) and no further hardware is required
These are only available on ports A and B
The commands to activate the pull-ups are:
port_a_pullups(value)
port_b_pullups(value)

where a value true will activate, and a value false de-activate,

the internal pull
pull-ups
ups
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 74

Programming PIC Microcontrollers

Lecture 4
Timer/Counter/PWM
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 75

Timer/Counters
The PIC 18F452 has 4 timer/counters: Timer0, Timer1,
Timer2, Timer3
Timer 0:
Ti
0
Timer 1:
Timer 2:
Timer 3:

8 or 16
16-bit
bit ((selectable)
l t bl )
16-bit
8 bit
8-bit
16-bit

The timer/counters can be used to:

-

generate timed interrupts

count incoming logic transitions
capture timer/counter on an input event
generate variable PWM outputs

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 76

Timer/Counters
Fosc/4

0
0

1
I/O pin

Pre-scaler

T0SE

T0CS

Timer/
counter

PSA
D-bus

T0SE determines whether 01 or 10 transitions are active

T0CS determines
d
i
the
h source (I/O pin
i or internal
i
l clock)
l k)
PSA determine whether the input is pre-scaled
pre scaled or not
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 77

Timer/Counter Control Register

The 8-bit timer control register
g
T0CON controls the
configuration for timer/counter 0:
TMR0ON T08BIT T0CS

TMR0ON
T08BIT
T0CS
T0SE
PSA
T0PS0-2

T0SE

PSA

T0PS2 T0PS1 T0PS0

Enable: off (0) or on(1)

Mode: 16-bit (0) or 8-bit (1)
Time source: internal clock (0) or external (1)
Edge select: 01 (0) or 10 (1)
Prescaler: on (0) or off (1)
Prescaler ratio: 1/2 (000) .. 1/256 (111)

For example for 8-bit mode, external source, 01 edge, no

pre-scaler:
pre
scaler: T0CON = 0b11100000 = 0xE0
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 78

Counters
Program
g
to count p
pulses on external input
p to timer/counter 0:
#define t0con (int *) 0xFD5
#define tmr0l (int *) 0xFD6
void main()
{
*t0con = 0xE0;
*tmr0l = 0;
lcd_init();
for (;;) {
printf(lcd_putc, "\f%d", *tmr0l);
delay_ms(200);
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 79

Counters
Fortunatelyy it is not necessary
y to manipulate
p
the registers
g
directly because special functions are provided in CCS C:
setup_timer_0(mode)
setup
timer 0(mode)
setup_timer_1(mode)
. . . . . . . . . .

where mode depends on the timer, but for timer 0 can be:
RTCC INTERNAL RTCC_EXT_L_TO_H
RTCC_INTERNAL,
RTCC EXT L TO H or RTCC_EXT_H_TO_L
RTCC EXT H TO L
RTCC_DIV_2, RTCC_DIV_4, RTCC_DIV_8, RTCC_DIV_16,
RTCC DIV 32 RTCC_DIV_64,
RTCC_DIV_32,
RTCC DIV 64 RTCC_DIV_128
RTCC DIV 128 or RTCC_DIV_256
RTCC DIV 256
RTCC_OFF, RTCC_8_BIT

One constant may be used from each group ORed together with
the | operator
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 80

Counters
To set the counter:
set_timer0(value)
set_timer1(value)
(
)
. . . . . . . . .

For timers/counters 0, 1 and 3 the value is a 16 bit int

For timer/counter 2 the value is an 8 bit int
To read the counter:
value = get_timer0()
get timer0()
value = get_timer1()
. . . . . .

Timer/counters 0, 1 and 3 return a 16 bit int

Timer/counter 2 returns an 8 bit int
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 81

Counters
Program to count pulses on external input to timer/counter 0:

void main()
{
setup_timer_0(RTCC_EXT_L_TO_H | RTCC_8_BIT);
set_timer0(0);
lcd init();
lcd_init();
for (;;) {
printf(lcd_putc,
p
(
p
, "\f%d",
\
, (
(int)
) get_timer0());
g
());
delay_ms(200);
}
}

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 82

Timer Interrupts
Microprocessors
p
normally
y execute code sequentially
q
y
Sometimes execution must be suspended temporarily to
perform some other task
In PICs this happens as the result of interrupt requests
An interrupt is raised when a particular condition occurs:
-

timer/counter overflow
change in the state of an input line
data received on the serial bus
completion of an analogue-to-digital conversion
power supply
p
pp y brown-out

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 83

Timer Interrupts
An interrupt can be generated each time a counter/timer
overflows
This generates interrupts at a frequency determined by the
clock speed
p
and the timer/counter configuration
g
The clock, divided by 4 and pre-scaled, is applied to the
counter which counts to 2n-1 before overflowing back to 0

clock
l k frequency
f
interrupt rate =
4 65536 prescaler
(This assumes that a 16-bit timer/counter is being used)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 84

Timer Interrupts
Suppose that
S
th t the
th clock
l k frequency
f
is
i 20 M
Mz and
d a pre-scaler
l
ratio of 16 is used:

20000000
interrupt rate =
4 65536 16
20000000
=
4194304
= 4.768 Hz
Note that only a limited number of discrete interrupt rates are
possible with a given clock frequency
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 85

Timer Interrupts
CCS C provides the following functions to configure interrupts:
disable_interrupts()
enable_interrupts()
clear_interrupt()

disables the specified interrupt

enables the specified interrupt
clear specified interrupt flag

The are corresponding interrupt types and directives for each

off the
th available
il bl iinterrupt
t
t sources:
INT_TIMER0
INT
TIMER0
INT_AD
INT RB
INT_RB
INT_SSP
. . . . . . .
James Grimbleby

#INT_TIMER0
#INT
TIMER0
Counter/timer 0 oflo
#INT_AD
A/D conversion complete
#INT RB
#INT_RB
Change on B port
#INT_SSP
I2C Activity
. . . . . . . . . . . . . . . . .

School of Systems Engineering - Electronic Engineering

Slide 86

Timer Interrupts
#INT_TIMER0
#
0
void timer_irq()
{
output_toggle(pin_b1);
}
void main()
{
setup_timer_0(RTCC_INTERNAL | RTCC_DIV_16);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
bl i
(
)
for (;;) {
}
}

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 87

Timer Interrupts
Starting with a 20 MHz clock there is no power-of-2 prescaler ratio that gives an interrupt rate close to 1 Hz
A pre-scaler
l ratio
ti off 128 gives:
i

20000000
interrupt rate =
4 65536 128
= 0.59605
Interrupts occur when the counter overflows from 65535 to 0
If the counter is pre-loaded with a value n when an interrupt
occurs then the counter only has to count from n to 65535
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 88

Timer Interrupts
Pre-loading with a value n:

clock frequency
p rate =
interrupt
4 (65536 n ) prescaler
l
To generate
T
t a 1 Hz
H iinterrupt
t
t with
ith a clock
l k ffrequency off 20 MH
MHz
and a pre-scaler ratio of 128:
20000000
1=
4 (65536 n ) 128
20000000
n = 65536
4 128
= 26474
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 89

1 Hz Timer Interrupts
#INT_TIMER0
#
0
void timer_irq()
{
set_timer0(26474);
output_toggle(pin_b1);
}
void main()
{
setup_timer_0(RTCC_INTERNAL | RTCC_DIV_128);
enable_interrupts(INT_TIMER0);
bl i
(
0)
enable_interrupts(GLOBAL);
for (;;) {
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 90

Pulse-Width
Pulse
Width Modulation
Pulse-width modulation (PWM) can be used to create an n-bit
digital-to-analogue converter (DAC)
A rectangular
t
l wave with
ith a given
i
mark-space
k
ratio
ti (d
(duty
t cycle)
l ) iis
generated and this is applied to a 1-bit DAC
DACs of this type have only a limited bandwidth because of the
need to filter out the rectangular wave
wave.
Typical applications are in dc motor control
control, brightness control
of lights and in dc-dc converters
The PIC18F452 has a PWM generator that make use of
counter/timer 2
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 91

Pulse-Width
Pulse
Width Modulation
Simplified
p
diagram
g
of PWM g
generator:
Duty-cycle
Duty
cycle register
Comparator
Counter/timer

R Q
reset

RC2
S

Comparator
P i d register
Period
i t
D-bus
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 92

Pulse-Width
Pulse
Width Modulation
PWM waveform:

Count = Period Register

0
PWM frequency:

Count = Duty Cycle Register

clock frequency
PWM frequency =
4 prescaler (1 + period register )
For example, 20 MHz clock, prescaler = 1, period register =
255:
255
20000000
PWM frequency =
= 19.53 kHz
4 1 (1 + 255)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 93

Pulse-Width
Pulse
Width Modulation
CCS C provides the following functions to control the PWM
generator:
setup_ccp1(CCP_PWM)
(
)
set_pwm1_duty(q)

sets
t PWM mode
d
sets duty-cycle register to q

Note that q should not exceed the value of the period register
It is also necessary to configure counter/timer 2:
setup timer 2(pre scaler period,
setup_timer_2(pre-scaler,
period 1);

pre-scaler is one of: T2_DIV_BY_1, T2_DIV_BY_4, T2_DIV_BY_16

period (the period register) is an int 0-255
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 94

Pulse-Width
Pulse
Width Modulation
#define period 100
void main()
{
int q;
setup_ccp1(CCP_PWM);
setup_timer_2(T2_DIV_BY_4,period,1);
for(;;) {
if (++q >= period)
q = 0;
set_pwm1_duty(q);
delay_ms(100);
}
}

20000000
PWM frequency =
= 12.38 kHz
4 4 (1 + 100)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 95

Programming PIC Microcontrollers

Lecture 5
LCD,, RS232,, ADC,,
2
I C, EEPROM
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 96

Liquid Crystal Display

A convenient method for displaying
p y g information is the alphap
numeric liquid crystal display (LCD)
A 2-line
2 li 16
16-character
h
t LCD iis provided
id d on th
the Pi
PicDem2
D 2b
board
d
The LCD has a 7
7-wire
wire interface (4 data and 3 control) and the
connections are hard-wired on the PicDem2 board:
#define en pin_a1
#define rw pin_a2
#define rs pin_a3
pin a3

#define
#define
#define
#define

d4
d5
d6
d7

pin_d0
pin_d1
pin d2
pin_d2
pin_d3

R ti
Routines
tto d
drive
i th
the LCD are available
il bl iin a fil
file lcd.c:
l d
#include "lcd.c"
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 97

Liquid Crystal Display

Before writing to the LCD it is necessary to initialise it:
lcd_init();

This function sets up the PIC I/O pins used to communicate

with the LCD and initializes the LCD registers
Then various routines can be used to control the display:
lcd_clear()
l
d l
()
lcd_home()
lcd backspace()
lcd_backspace()
lcd_panleft()
lcd panright()
lcd_panright()
lcd_gotoxy(int x, int y)
lcd putc(char c)
lcd_putc(char
James Grimbleby

clear complete display

goto 1st character on 1st line
backspace by 1 character
pan complete display left
pan complete display right
goto x character on y line
write character at current pos

School of Systems Engineering - Electronic Engineering

Slide 98

Liquid Crystal Display

In most cases it is convenient to use the printf() (print
formatted) function for all output to the LCD, for example:
printf(lcd_putc,
p
(
p
, "\fTime
\
= %d s",
, t);
);

printf() can print characters, text, integers and floating-point

numbers
The first parameter determines the output channel,
channel in this case
the LCD
The second parameter is the formatting string which
determines how the following parameters ae displayed
Any further parameters are variables or constants to be printed
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 99

Liquid Crystal Display

The printf() format takes the generic form %nt where n is
optional
ti
l and
d may b
be:
p
y number of characters to be output
p
1-9 to specify
01-09 to indicate leading zeros
1.1 to 9.9 for floating point and %w output
t is the type and may be one of:
c Character
u Unsigned int
Lu Long unsigned int
x Hex int (lower case)
Lx Hex long int (lower case)
f Float (truncated decimal)
e Float in exponential
p
format
James Grimbleby

s
d
Ld
X
LX
g
w

String or character
Signed int
Long signed int
Hex int (upper case)
Hex long int (upper case)
Float (rounded decimal)
Int with decimal p
point

School of Systems Engineering - Electronic Engineering

Slide 100

Liquid Crystal Display

#include "lcd.c"
void main()
{
long int q;
float p;
lcd_init();
for (;;) {
q = read_adc();
p = 5.0 * q / 1024.0;
;
printf(lcd_putc, "\fADC = %4ld", q);
printf(lcd_putc, "\nVoltage = %01.2fV", p);
delay ms(100);
delay_ms(100);
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 101

RS232
The PIC18F452 has a built-in Universal Synchronous
Asynchronous Receiver Transmitter (USART)
This allows it to communicate using the RS232, RS422 and
RS485 protocols
The
e 5 V logic-level
og c e e receive
ece e a
and
d ttransmit
a s t ssignals
g aso
of tthe
e PIC
Ca
are
e
converted to RS232 levels by a MAX232 device
Baud rates are generated by dividing down the system clock
The USART receive and transmit pins are c7 and c6
respectively
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 102

RS232
CCS C p
provides the following
g functions to control RS2323
communications:
getc()
kbhit()
putc(char)
printf(form,..)

returns character received on RS232

true when character received on RS232
transmits character over RS232
transmits formatted data over RS232

There is also a directive which sets up the USART for RS232

operation:
#USE RS232(options)

where options include: transmit pin, receive pin, baud rate,

bits, and p
parity
y
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 103

RS232
#use rs232(baud=38400,
, xmit=PIN_C6,
, rcv=PIN_C7,
,
parity=n, bits=8)
void main()
{
float p;
lcd_init();
for (;;) {
p = 5.0 * read_adc() / 1024.0;
printf("\n\rVoltage
p
( \ \
g = %01.2fV",
, p);
if (kbhit())
printf(lcd_putc, "%c", fgetc());
delay ms(100);
delay_ms(100);
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 104

Analogue-to-Digital
Analogue
to Digital Converter
The PIC18F452 has a single 10-bit successive-approximation
ADC with up
p to 8 multiplexed
p
analogue
g inputs
p
The reference voltage
g Vref is software selectable to be either
the supply rail or the analogue input AN3
Analogue inputs should have a source resistance of less than
2.5 k to allow for charging of the sample-hold capacitor
Conversion takes 11 cycles of the ADC clock which can be
either a RC oscillator (2-6 S) or the pre-scaled system clock

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 105

Analogue-to-Digital
Analogue
to Digital Converter
AN7
AN6

Vin

AN5
AN4
AN3
AN2

VDD

10-bit
ADC
Vref

AN1
AN0

James Grimbleby

Db
D-bus

School of Systems Engineering - Electronic Engineering

Slide 106

Analogue-to-Digital
Analogue
to Digital Converter
CCS C provides
id the
th following
f ll i functions
f
ti
tto control
t l th
the ADC
ADC:
setup_adc(mode)
setup_adc_ports(value)
set_adc_channel(channel)
read_adc()

set the clock source

set which pins are analogue
set current input channel
perform conversion

There is also a directive which determines the return size for

read_adc():
#DEVICE ADC=xx

where
h
xx can b
be 8 or 10 ((when
h sett tto 8 th
the ADC will
ill return
t
th
the
most significant byte)
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 107

Analogue-to-Digital
Analogue
to Digital Converter
#device ADC=10
void main()
{
long int q;
float p;
p
setup_adc(ADC_CLOCK_DIV_64);
setup_adc_ports(AN0);
set_adc_channel(0);
lcd init();
lcd_init();
for (;;) {
q = read_adc();
p = 5
5.0
0 * q / 1024.0;
1024 0
printf(lcd_putc, "\fADC = %4ld", q);
printf(lcd_putc,
p
(
_p
, "\nVoltage
\
g = %01.2fV",
, p);
delay_ms(100);
}
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 108

EEPROM
The PIC18F452 has 256 byte of internal data eeprom
EEPROM is not directly mapped to the data space but is
accessed indirectly through the SFR: EEADR
This memory is non-volatile and can be used to store, for
example,
e
a p e, setup pa
parameters
a ete s
CCS C p
provides the following
g functions to read and write to
the EEPROM:
read_eeprom(address)
read
eeprom(address)
write_eeprom(address, value)
James Grimbleby

read data from address

write data to address

School of Systems Engineering - Electronic Engineering

Slide 109

Inter-Integrated
Inter
Integrated Circuit (I2C) Bus
The PIC18F452 has a Master Synchronous Serial Port (MSSP)
which can operate in either SPI or I2C mode
SPI is
i a synchronous
h
serial
i l protocol
t
l th
thatt uses 3 wires:
i
SDO
SDO,
SDI and SCK
I2C is a synchronous serial protocol that uses 2 wires: SDA and
SCL
The PicDem2 board used in the PIC laboratory has 2 devices
connected to the I2C bus:
- a TC74 digital thermometer with I2C address 0x9A
- a 24LC256 EEPROM (32 kbytes) with I2C address 0xA0
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 110

Inter-Integrated
Inter
Integrated Circuit (I2C) Bus
CCS C provides the following functions to control I2C
communications:
i2c_start()
_
()
i2c_write(data)
i2c_read()
i2c_stop()

Issues a start command on the I2C

Sends a single byte over the I2C
Reads a byte
y over the I2C
Issues a stop command on the I2C

There is also a pre-processor directive which configures the

device as a Master or a Slave:
#use i2c

This directive also assigns the SDA and SCL pins used for the
I2C interface
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 111

24LC256 EEPROM
The Microchip Technology 24LC256/ is a 32K x 8 (256 Kbit)
serial EEPROM
It has
h been
b
developed
d
l
d ffor advanced,
d
d llow-power applications
li ti
such as personal communications or data acquisition
This device is capable of operation across a broad voltage
range (1.8V
(1 8V to 5
5.5V)
5V)
Functional address lines allow up to eight devices on
the same bus, for up to 2 Mbit address space
It is available in the standard 8-pin plastic DIP,SOIC, TSSOP,
MSOP and DFN packages.
packages
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 112

24LC256 EEPROM
To p
perform a read operation
p
the master g
generates a Start with
R/W=0 and sends the word address (MS byte first)
Then the master generates a Start with R/W=1 and reads the
data
Finally the master generates a Stop

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 113

24LC256 EEPROM
#use i2c(master, sda=pin
sda pin_c4,
c4, scl
scl=pin
pin_c3)
c3)
#define eeprom_addr 0xa0
int read_ext_eeprom(long
i
d
(l
int
i
i)
{
int q;
i2c_start();
i2c_write(eeprom_addr & 0xfe);
i2
i2c_write(i
i (i >> 8);
8)
i2c_write(i & 0xff);
i2c start();
i2c_start();
i2c_write(eeprom_addr | 0x01);
q = i2c_read(0);
i2
i2c_stop();
()
return q;
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 114

24LC256 EEPROM
To p
perform a write operation
p
the master g
generates a Start with
R/W=0 and sends the word address (MS byte first) and data
Then the master generates a Stop
To prevent further writes while the device is busy the master
should wait for acknowledge (ack=0) before proceeding

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 115

24LC256 EEPROM
boolean busy()
{
boolean ack;
i2c_start();
ack
k = i2c_write(eeprom_addr
i
i (
dd & 0xfe);
f )
i2c_stop();
return ack;
;
}
void write_ext_eeprom(long int i, int d)
{
i2c_start();
i2c_write(eeprom_addr
_
( p
_
& 0xfe);
);
i2c_write(i >> 8);
i2c_write(i & 0xff);
i2c write(d);
i2c_write(d);
i2c_stop();
while (busy());
}
James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 116

Programming PIC Microcontrollers

J. B. Grimbleby, 21 October 2008

James Grimbleby

School of Systems Engineering - Electronic Engineering

Slide 117