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Embedded System Design

Chapter 2: Microcontroller
1. PIC16 Series 1.1 Introduction to PICs 1.2 PIC16F84 1.3 PIC16F87x 2. ARM Cortex-M Series 2.1 Introduction to ARM Cortex 2.2 ARM Cortex-M3
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1.1 Introduction to PIC microcontroller

PIC is a family of modified Harvard architecture microcontrollers made by Microchip Technology The PIC1650 was originally developed by General Instruments The name PIC initially referred to "Peripheral Interface Controller"

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Why is PIC popular?

PICs are popular with developers due to
low cost wide availability large user base extensive collection of application notes availability of low cost or free development tools serial programming capability
PIC18F4XK20 Starter Kit 128x64 Organic LED Display (SPI) 32.768 kHz External Oscillator (Timer1) Analog input filtering and gain control into RE1 PWM output filtering from RC2 4 push buttons for user interfacing

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PIC microcontroller
Comparison of PIC families

Complete portfolio: 6 to 100 pins, 384B to 512KB of program memory, up to 80MHz Upward compatible architectures to preserve investment in code development Pin compatibility in multiple packages facilitates drop-in replacement Range of memory technologies: Self Programming Flash, OTP, ROM Easy Migration across 8, 16, and 32-bit families

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PIC Microcontroller

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Some members of PIC16 Series

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Some members of PIC16 Series

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PIC speed
Can use crystal, clock oscillator, or even an RC circuit Some PICs have a built-in 4MHz RC clock, not very accurate, but requires no external components Instruction speed = clock speed
12C50x 12C67x 16Cxxx 17C4x/17C7xxx 18Cxxx 4MHz 10MHz 20MHz 33MHz 40MHz

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PIC Clock

Three ways to provide the clock signal to a PIC

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PICs program memory

PICs have two difference types of program storage:
EPROM (Erasable Programmable ROM)
need high voltage from programmer to program (~13V) need windowed chips and UV light to erase PIC examples: any C part 12C50x, 17C7xx,

FLASH
rewriteable much faster to develop on PIC examples: any F part 16F84, 16F87x, 18Fxxx
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PIC16 Series

http://tme.com.vn
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1.2 The Microchip PIC16F84

The Microchip PIC16F84 is a low-cost, single-chip, 8-bit microcontroller.
Only 35 single word instructions All instructions single-cycle except for program branches which are two-cycle Operating speed: DC - 20 MHz clock input DC - 200 ns instruction cycle 1024 words of program memory 68 bytes of Data RAM 64 bytes of Data EEPROM 14-bit wide instruction words 8-bit wide data bytes

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The PIC 16F84A pin connection diagram

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PIC16C8X PINOUT DESCRIPTION

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PIC16C8X PINOUT DESCRIPTION ..

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Architecture of the PIC16F84

Buses: Communication lines for transferring data within the processor. Oscillator: Used to drive the microprocessor, clocking data and instructions in the processor. Timing: The PIC has an internal divide by 4 whereby 4 oscillator pulses form one clock pulse. This makes instruction times easy to calculate.
Most instructions (except calls and returns and other instructions involving jumps and branches) take one clock cycle, so with a 4MHz oscillator (divided by 4), instructions take 1s.
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Architecture of the PIC16F84

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W Register

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The 16F84A Status register

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The PIC16F84 Status register

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16F84A memory features

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PIC16F84 Memory
There are two memory blocks in the PIC16C84; program memory and data memory. Each block has its own bus, so that access to each can occur during the same clock cycle. The data memory can be further broken down into general purpose memory and special purpose registers

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PIC16F84 Program Memory

Pointed to by reset vector

Pointed to by interrupt vector

0x00 0x01 0x02 0x03 0x04

0x3FF

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PIC16F84 Data Memory

0x00 0x01 0x02 0x03 0x04 Ind. address. TMR0 PCL STATUS FSR PORTA data PORTB data

Special-purpose registers
Indirect pointer PORT A PORT B Not used

(This is a simplified memory map that excludes bank1. Study the memory banks in the Microchip data sheets).

0x05 0x06 0x07

0x08 EEPROM prog. 0x09 0x0A 0x0B 0x0C PCLATH INTCON .. .. .. .. .. Program counter Interrupt control
\: \ | | / / General-purpose file registers.

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PIC16F84 Register-Mapped I/O

PORTA and PORTB can be programmed as an input or an output. PORTA is 5 bits wide and PORTB is 8 bits wide. (Bit 4 of port A can be used for an
external timer input.) PORTA has pins/bits labelled RA4:RA0 PORTB has pins/bits labelled RB7:RB0
0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 EEPROM prog. 0x09 0x0A 0x0B 0x0C PCLATH INTCON .. .. .. .. .. Program counter Interrupt control
\: \ | | / / General-purpose file registers.

Ind. address. TMR0 PCL STATUS FSR PORTA data PORTB data

Special-purpose registers
Indirect pointer PORT A PORT B Not used

Referencing bits . Bits are numbered 7-0 from left to right, i.e., msb-lsb. One of the most common programming errors is incorrect specification of bit numbers.

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PIC16F84A CONFIGURATION WORD

bit 13-4 CP: Code Protection bit

1 = Code protection disabled 0 = All program memory is code protected

bit 3

PWRTE: Power-up Timer Enable bit

1 = Power-up Timer is disabled 0 = Power-up Timer is enabled

bit 2

WDTE: Watchdog Timer Enable bit

1 = WDT enabled 0 = WDT disabled

bit 1-0

FOSC1:FOSC0: Oscillator Selection bits

11 = RC oscillator (Resistor/capacitor) 10 = HS oscillator (High Speed Crystal/Resonator) 01 = XT oscillator (Crystal/Resonator) 00 = LP oscillator (Low Power Crystal)
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OPTION REGISTER (ADDRESS 81h)

bit 7 RBPU: PORTB Pull-up Enable bit
1 = PORTB pull-ups are disabled 0 = PORTB pull-ups are enabled by individual port latch values

bit 6 INTEDG: Interrupt Edge Select bit

1 = Interrupt on rising edge of RB0/INT pin 0 = Interrupt on falling edge of RB0/INT pin

bit 5 T0CS: TMR0 Clock Source Select bit

1 = Transition on RA4/T0CKI pin 0 = Internal instruction cycle clock (CLKOUT)

bit 2-0 PS2:PS0: Prescaler Rate Select bits

bit 4 T0SE: TMR0 Source Edge Select bit

1 = Increment on high-to-low transition on RA4/T0CKI pin 0 = Increment on low-to-high transition on RA4/T0CKI pin

bit 3 PSA: Prescaler Assignment bit

1 = Prescaler is assigned to the WDT 0 = Prescaler is assigned to the Timer0 module

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DIRECT/INDIRECT ADDRESSING

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DIRECT/INDIRECT ADDRESSING
A simple program to clear RAM locations 20h-2Fh using indirect addressing
movlw movwf NEXT clrf incf btfss goto CONTINUE : 0x20 FSR INDF FSR FSR,4 NEXT ;initialize pointer ;to RAM ;clear INDF register ;inc pointer ;all done? ;NO, clear next ;YES, continue

An effective 9-bit address is obtained by concatenating the 8bit FSR register and the IRP bit (STATUS<7>) However, IRP is not used in the PIC16F84A.
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EEPROM Data Memory

EEPROM data memory
readable and writable during normal operation indirectly addressed through the Special Function Register (SFR)

SRFs are:
EECON1 EECON2 EEDATA EEADR
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EECON1 Register (Adr. 88h)

bit 7-5 Unimplemented: Read as '0' bit 4 EEIF: EEPROM Write Operation Interrupt Flag bit
1 = The write operation completed (must be cleared in software) 0 = The write operation is not complete or has not been started 1 = A write operation is prematurely terminated (any MCLR Reset or any WDT Reset during normal operation) 0 = The write operation completed 1 = Allows write cycles 0 = Inhibits write to the EEPROM 1 = Initiates a write cycle. The bit is cleared by hardware once write is complete. The WR bit can only be set (not cleared) in software. 0 = Write cycle to the EEPROM is complete 1 = Initiates an EEPROM read RD is cleared in hardware. The RD bit can only be set (not cleared) in software. 0 = Does not initiate an EEPROM read 31

bit 3 WRERR: EEPROM Error Flag bit

bit 2 WREN: EEPROM Write Enable bit

bit 1 WR: Write Control bit

bit 0 RD: Read Control bit

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Reading The EEPROM Data Memory

Reading the EEPROM data memory
write the address to the EEADR register set control bit RD the data us available, in the next cycle, in the EEDATA register
BCF STATUS, RP0 MOVLW CONFIG_ADDR MOVWF EEADR BSF STATUS, RP0 BSF EECON1, RD BCF STATUS, RP0 MOVF EEDATA, W ; Bank 0 ; ; Address to read ; Bank 1 ; EE Read ; Bank 0 ; W = EEDATA

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Writing to the EEPROM Data Memory

Writing to the EEPROM data memory
write the address to the EEADR register and data to the EEDATA register follow a specific sequence to initiate the write for each byte
BSF STATUS, RP0 BCF INTCON, GIE BSF EECON1, WREN MOVLW 55h MOVWF EECON2 MOVLW AAh MOVWF EECON2 BSF EECON1,WR BSF INTCON, GIE ; Bank 1 ; Disable INTs. ; Enable Write ; ; Write 55h ; ; Write AAh ; Set WR bit ; begin write ; Enable INTs.

Requirement

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I/O Port
PORT A:
5-bit wide, bi-direction port Corresponding data direction register is TRISA (TRISB bit = 1: input; TRISB bit = 0: output) On a Power-on Reset, PORTA pins are configured as inputs and read as 0

PORT B:
8-bit wide, bi-direction port Corresponding data direction register is TRISB RB7:RB4, have an interrupt-on-change feature
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I/O Port
Initializing Port A
BCF STATUS, RP0 ; CLRF PORTA ; Initialize PORTA by ; clearing output ; data latches BSF STATUS, RP0 ; Select Bank 1 MOVLW 0x0F ; Value used to ; initialize data ; direction MOVWF TRISA ; Set RA<3:0> as inputs ; RA4 as output ; TRISA<7:5> are always ; read as 0.
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Initializing Port B
BCF STATUS, RP0 ; CLRF PORTB ; Initialize PORTB by ; clearing output ; data latches BSF STATUS, RP0 ; Select Bank 1 MOVLW 0xCF ; Value used to ; initialize data ; direction MOVWF TRISB ; Set RB<3:0> as inputs ; RB<5:4> as outputs ; RB<7:6> as inputs

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Assignments
What are 8-bit and 16-bit families of PIC microcontrollers? What is maximum frequency of clock input for the PIC16F84A? How many word of program memory are physically implemented in PIC16F84A? 4. What is the maximum memory space the PIC16F84A can address? 5. What is the address of the PORT A? 6. What is the address of the Status Register? 7. How to set all bits of Port A as outputs? 8. How many program calls and interrupts can the stack handle? 9. How many bytes are there for EEPROM of the PIC16F84A? 10. Show how to read the EEPROM data memory for PIC16F84A? 11. Show how to write the EEPROM data memory for PIC16F84A? 12. Show how to perform write verification for PIC16F84A? 1. 2. 3.

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Assignments
1. Design a PIC16F84 schematic in which
Port A is input, connected with 4 buttons Port B is output, connected with 4 LEDs

Write a program to control 4 LEDs by 4 buttons 2. Design a PIC16F84 schematic in which

PIC16F84 interfaces with ADC0808 and 4-digit 7-segment LED through Port B RA0 and RA1 are to select digits of 7-segment LED RA2 is to control START signal of ADC0808 RA3 is to control OE signal of ADC0808

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1.3 The PIC16F87x

PIC16F873/ 874/ 876/ 877
35 single word instructions Operating speed
DC 20MHz clock input DC 200ns instruction cycle

Timer: timer0/timer1/timer2 2 Capturer, Compare, PWM modules 10-bit multi-channel ADC SSP with SPI and I2C USART

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1.3 The PIC16F87x

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PIC16F87x

Block diagram

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The program memory map and stack

PIC16F877/876 PIC16F874/873

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Data memory Organization

Data memory:
partitioned into multiple banks which contain the General Registers and the Special Function Register Bits RP1 (STATUS<6>) and RP0 (STATUS<5>) are the bank select bits

Each bank extends up to 7Fh (128 bytes).

The lower locations of each bank are reserved for the Special Function Registers. Above the Special Function Registers are General Purpose Registers

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General Purpose Register File (1)

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General Purpose Register File (2)

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Special Function Registers (1)

Reference: 16F87X datasheet

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Special Function Registers (2)

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PCL and PCLATH

The program counter (PC) is 13bits wide. The low byte comes from the PCL register, which is a readable and writable register. The upper bits (PC<12:8>) are not readable, but are indirectly writable through the PCLATH register. On any RESET, the upper bits of Loading of PC in different situations: the PC will be cleared.

how the PC is loaded on a write to PCL (PCLATH<4:0> PCH). how the PC is loaded during a CALL or GOTO instruction (PCLATH<4:3> PCH)
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Stack
The PIC16F87X family has an 8-level deep x 13-bit wide hardware stack. The stack space is not part of either program or data space and the stack pointer is not readable or writable. The PC is PUSHed onto the stack when a CALL instruction is executed, or an interrupt causes a branch. The stack is POPed in the event of a RETURN,RETLW or a RETFIE instruction execution. PCLATH is not affected by a PUSH or POP operation.

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Program Memory Paging (1)

All PIC16F87X devices are capable of addressing a continuous 8K word block of program memory. The CALL and GOTO instructions provide only 11 bits of address to allow branching within any 2K program memory page. When doing a CALL or GOTO instruction, the upper 2 bits of the address are provided by PCLATH<4:3>. When doing a CALL or GOTO instruction, the user must ensure that the page select bits are programmed so that the desired program memory page is addressed. If a return from a CALL instruction (or interrupt) is executed, the entire 13-bit PC is popped off the stack. The contents of the PCLATH register are unchanged after a RETURN or RETFIE instruction
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Program Memory Paging (2)

Example:
call of a subroutine in page 1 from page 0 assumes that PCLATH is saved and restored by the Interrupt Service Routine (if interrupts are used).
ORG 0x500 BCF PCLATH,4 BSF PCLATH,3 CALL SUB1_P1 : ORG 0x900 SUB1_P1 : : RETURN ;called subroutine page 1 (800h-FFFh) ;return to Call subroutine ;in page 0 (000h-7FFh)

;Select page 1 (800h-FFFh) ;Call subroutine in page 1 (800h-FFFh) ;page 1 (800h-FFFh)

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Indirect Addressing (1)

Indirect addressing is possible by using the INDF register. Any instruction using the INDF register actually accesses the register pointed to by the File Select Register, FSR. Reading the INDF register itself, indirectly (FSR = 0) will read 00h. Writing to the INDF register indirectly results in a no operation (although status bits may be affected). An effective 9-bit address is obtained by concatenating the 8bit FSR register and the IRP bit (STATUS<7>),

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Indirect Addressing (2)

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Indirect Addressing (3)

A simple program to clear RAM locations 20h-2Fh using indirect addressing
MOVLW 0x20 MOVWF FSR NEXT CLRF INDF FSR,F BTFSS FSR,4 GOTO NEXT CONTINUE : ;initialize pointer ;to RAM ;clear INDF register ;inc pointer ;all done? ;no clear next ;yes continue

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IO Ports
Port A Support Width Direction Direction register Buffer
16F87X 6-bit

Port B
16F87X 8-bit

Port C
16F87X 8-bit

Port D
PIC16F874 /877 8-bit

Port E
PIC16F874 /877 3-bit

Bi-directional Bi-directional Bi-directional Bi-directional Bi-directional TRISA TTL buffer / Schmitt trigger TRISB TTL buffer / Schmitt trigger TRISC Schmitt trigger TRISD Schmitt trigger TRISE Schmitt trigger Analog input

Multiplexed Analog input with

Serial USART, PWM, Parallel slave Programming I2C, SPI port

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Port A Functions

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Port B Functions

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Port C Functions

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Port D Functions

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Port E Functions

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Initializing IO Ports
Example: initializing Port A
BCF BCF CLRF STATUS, RP0 STATUS, RP1 PORTA ; ; Bank0 ; Initialize PORTA by ; clearing output ; data latches ; Select Bank 1 ; Configure all pins ; as digital inputs ; Value used to ; initialize data ; direction ; Set RA<3:0> as inputs ; RA<5:4> as outputs ; TRISA<7:6>are always ; read as 0.
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BSF MOVLW MOVWF MOVLW

STATUS, RP0 0x06 ADCON1 0xCF

MOVWF TRISA

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PIC16CXXX Instruction Set (1)

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PIC16CXXX Instruction Set (2)

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Class Assignment
1. What are main differences between PIC16F84 and PIC16F87x? 2. What is the capacity of the FLASH memory of PIC16F877? 3. How many IO ports of PIC16F873 are there? 4. What are multiplexed with PORTC ? 5. How to initialize Port C as output of PIC16F877? 6. What is the address of TRISB? 7. Is PCLATCH affected by PUSH and POP operation?

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PIC Applications
LED Flasher
Loop: bsf call bcf call goto PORTB, 0 Delay_500ms PORTB, 0 Delay_500ms Loop

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PIC Applications
Button Read
Movlw movwf bsf Loop: btfsc goto goto Light: bsf goto No_light: bcf goto PORTB,0 Loop PORTB,0 Loop PORTD, 2 light No_light 0 TRISD, f TRISD, 2

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