TRƯỜNG ðẠI HỌC KHOA HỌC TỰ NHIÊNTRƯỜNG ðẠI HỌC KHOA HỌC TỰ NHIÊNKHOA ðIỆN TỬ KHOA ðIỆN TỬ -- VIỄN THÔNGVIỄN THÔNG

VI ðIỀU KHIỂN PICVI ðIỀU KHIỂN PICVI ðIỀU KHIỂN PICVI ðIỀU KHIỂN PIC

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ðặngðặng LêLê KhoaKhoa

TàiTài li ệuliệu thamtham kh ảokhảo•• SáchSách::

Designing Embedded Systems with PIC Microcontrollers Designing Embedded Systems with PIC Microcontrollers (principles and applications), 1st Ed, Tim (principles and applications), 1st Ed, Tim WilmshurstWilmshurst, , published by published by NewnesNewnes, 2007, 2007

•• BàiBài giảnggiảng•• BàiBài giảnggiảng•• Link Link thamtham khảokhảo: : http://psut.edu.jo/sites/qarallehhttp://psut.edu.jo/sites/qaralleh

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CHƯƠNG 1: GIỚI THIỆU

• Hệ thống nhúng• Vi ñiều khiển• Các họ vi ñiều khiển

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Hệ thống nhúng

• “A system whose principal function is not computational, but which is controlled by a computer embedded within it”within it”

• Ứng dụng rất phổ biến trong các thi ết bị trong nhà, v ăn phòng, ñiều khi ển xe hơi

• Thường sử dụng 1 vi ñiều khi ển

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Một số ứng dụng hệ thống nhúng

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Vi ñiều khiển là gì?

• Mini-Computer– Microprocessor

• The Brains• Arithmetic Logic Unit

(ALU)• Control Unit• Control Unit

• Program/ Data Storage

• Peripherals (Input/Output)

• Low-Cost

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Kiến trúc Vi ñiều khiển

CPUMemory I/O

(Ports A, B & C)

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A Computer on a chip

Timer

0

Timer

1

Timer

2

PWM

1

PWM

2

10-bit

A/DUSART

Microcontroller Families

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PIC12F508/509 block diagram

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CHƯƠNG 2: CẤU TRÚC HỌ PIC 18F452

• Sơ ñồ khối• Các giao tiếp• Bộ ALU• Mạch reset• Mạch reset• Các thanh ghi

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PIC 18F452 General Architecture

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PIC 18F452 : Peripherals

• The PIC 18F452 has the following peripherals:– Data ports:

• A (6-Bits)• B, C and D (8-Bits)• E (3- bits)• E (3- bits)

– Counter/Timer modules.• Modules 0,2 (8-Bits)• Modules 1,3 (16-Bits)

– I2C/SPI serial port.– USART port.– ADC 10-bits with 8-way input

multiplexer.– EEPROM 256 Bytes

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Microprocessor Unit

• Includes Arithmetic Logic Unit (ALU), Registers, and Control Unit

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Arithmetic Logic Unit (ALU)

• CPU dẫn nạp lệnh từ bộ nhớ, giải mã, và gửichúng ñến bộ ALU ñể thực thi

• ALU thực thi các lệnh cộng, trừ, dịch và cácphép toán logic.phép toán logic.

• ALU hoạt ñộng kết hợp với:– Một thanh ghi ña dụng gọi là thanh ghi W– Và thanh ghi f có thể ñịnh vị trong vùng nhớ dữ

liệu– Giá trị cố ñịnh (Literal) nhúng trong chương trình

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Arithmetic Logic Unit

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ExampleADDWF F, d, a ;Add WREG to File (Data) Reg.

;Save result in W if d =0;Save result in F if d = 1

Reset

• Reset sẽ ñặt vi ñiều khiển về trạng thái ban ñầu mà bộ vi xử lý sẽ thực thi lệnh ñầu tiên

• Reset có thể từ các yếu tố sau:– Reset ngoài bằng cách kéo MCLR xuống thấp.– Reset ngoài bằng cách kéo MCLR xuống thấp.– Reset khi mở nguồn– Reset khi bộ watchdog timer bị tràn

• Reset sẽ làm mất dữ liệu

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Registers– Bank Select Register (BSR)

• Thanh ghi 4 bit dùng ñể ñịnh ñịa chỉ trực tiếp trong bộ nhớ dữ liệu– File Select Registers (FSRs)

• Thanh ghi 16-bit ñược dùng như là con trỏ trong ñịnh ñịa chỉ gián tiếp trong bộ nhớ

– Program Counter (PC)• Thanh ghi 21-bit lưu trữ ñịa chỉ chương trình khi chương trình

thực thithực thi

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CHƯƠNG 3: BỘ NHỚ

• Bus ñịa chỉ• Các tín hiệu ñiều khiển• Bộ nhớ PIC18F452• Bộ nhớ chương trình• Bộ nhớ chương trình• Bộ nhớ dữ liệu• ðịnh vị ñịa chỉ

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PIC18F - Address Buses• BUS ñịa chỉ

– Bus ñịa chỉ có 21-bit: có bộ nhớ 2MB – Bus ñịa chỉ 12-bit: có khả năng quản lý bộ nhớ 4KB

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Data Bus and Control Signals• Bus dữ liệu

– 16-bit instruction/data bus for program memory– 8-bit data bus for data memory

• Các tín hiệu ñiều khiển– Read và Write

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PIC18F452/4520 Memory

• Bộ nhớ chương trình (Flash)

• Bộ nhớ dữ liệu

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FFF=212=16x256=4096=4K

Program Memory

Bộ ñếm chương trình 21-bit có khả năngñịnh vị bộ nhớ

chương trình2-Mbyte.

Vector RESET ở ñịa chỉ0000h và vector ngắt ở ñịa chỉ 0008h và 0018h.

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Truy xuất vùng nhớvới nội dụng là các số

’0 (là một lệnh).

PIC18F452 có 32 Kbytes bộ nhớ FLASH. ðiều này có nghĩa làchúng có thể lưu trữ 16K lệnhñơn.

Access RAM

Data Memory Organization

• Bộ nhớ dữ liệu lên ñến 4k bytes

• Chia thành các băng 256 byte

• Half of bank 0 and half of bank 15 form a virtual bank that is accessible no matter

PIC16F8F2520/4520

Register File Map

000h

07Fh

Bank 0 GPR

Bank 1GPR

Bank 2GPR

080h

0FFh

100h

1FFh

200h

2FFh00h

Access Bank

that is accessible no matter which bank is selected

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256 BytesBank 13

GPR

Bank 14GPR

Bank 15 GPR

Access SFR

Access RAM

Access SFRD00h

DFFh

E00h

EFFh

F00h

FFFh

F7Fh

F80h

00h

7Fh

80h

FFh

Data Memory with Access Banks

GPR=General Purpose Reg.

SFR=Special Function Reg.

These registers are always

accessible regardless which

bank is selected – acting as a

virtual memory -

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FFF=212=16x256=4096=4K

Data Memory also known as

“Register File”We will discuss the access to

every region later, while talking

about PIC18 instructions

Accessing Data Memory

• The machine code for a PIC18 instruction has only 8 bits for a data memory address which needs 12 bits. The Bank Select Register (BSR) supplies the other 4 bits.

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Data Memory Addressing�Direct Addressing - Operand address(es)

embedded in the opcode� 8 bits of the 16-bit instruction specify any one of 256

locations

� The 9th bit specifies either the Access Bank (=0) or one

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� The 9 bit specifies either the Access Bank (=0) or one of the banks (=1)

Data Memory Addressing�Direct Addressing Examples

�Direct addressing (banked)

movlb 02 ;set BSR to Bank 2 addwf 0x55, W, BANKED ; add WREG with the content of

; addr. 55 (f=55) in bank 2 (a=1),

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; addr. 55 (f=55) in bank 2 (a=1), ; save the result to WREG (d=0)

Operand is the content of data memory at add. 0x255

Mnemonic in MPASM:A (a=0) - the access bank; BANKED (a=1) - bankedW (d=0) - the WREG register; F (d=1) - the data register

Data Memory Addressing�Direct Addressing Examples

�Direct addressing (using access bank)

;movlb not required addwf 0x55, F, A ; add WREG to content of

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addwf 0x55, F, A ; add WREG to content of ; addr. 55 (f=55) in access ; bank (a=0), save the result; in the data memory at the ;address 0x55 (d=0)

Operand is the content of data memory add. 0x055

� Indirect Addressing� 3 File Select Registers (FSR) as a pointer to

the data memory location that is to be read or written.

Data Memory Addressing

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� Each FSR has an INDF register associated with it

� The INDFn register is not a physical register. Addressing INDFn actually addresses the register whose address is contained in the FSRn register.

� Indirect Addressing

Data Memory Addressing

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LFSR 02, num1 ;load FSR2 with the add. of num1 MOVWF INDF2, W ; move WREG to the register

; pointed by FSR2

� Indirect Addressing Operations

Data Memory Addressing

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� Indirect Addressing Examplecount set 0x02lfsr 0, num1lfsr 1, num2movlw 3movwf count, A

Data Memory Addressing

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movwf count, Abcf STATUS, c

addwfc POSTINC0, F

decfsz count, 1

bra Again

Again: movf POSTINC1, W

SFRs Examples

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CHƯƠNG 4: CÁC CỔNG I/OCHƯƠNG 4: CÁC CỔNG I/O

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PIC18F452 I/O Ports

• Five I/O ports– PORT A through PORT E

– Most I/O pins are multiplexed

– Generally have eight I/O pins with a few exceptions

– Addresses already assigned to these ports in the design stage

– Each port is identified by its assigned SFR – Each port is identified by its assigned SFR

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Parallel I/O Combined I/O Structure

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Parallel I/O ports Main Features

• Simple memory mapped access

• Can be configured through software as either input or output

• Ability to set or reset individual bits• Ability to set or reset individual bits

• Can have internal pull-ups

• Can drive small loads like LEDs

• Can be multifunction

• Different capability for pins (i.e. larger current)

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Parallel I/O ports

• For most ports, the I/O pin’s direction (input or output) is controlled by the data direction register TRISx (x=A,B,C,D,E): a ‘1’ in the TRIS bit corresponds to that pin being an input, while a ‘0’ corresponds to that pin being an output

• The PORTx register is the latch for the data to be output. Reading PORTx register read the status of the pins, whereas writing to it will write to the port latch.

• Example: Initializing PORTB (PORTB is an 8-bit port. Each pin is individually configurable as an input or output).

• Example: Initializing PORTB (PORTB is an 8-bit port. Each pin is individually configurable as an input or output).

bcf STATUS, RP0 ; select bank0

bcf STATUS, RP1

clrf PORTB ; clear PORTB output data latches

bsf STATUS, RP0 ; select bank1

movlw 0xCF ; value used to initialize data direction

movwf TRISB ; PORTB<7:6>=inputs, PORTB<5:4>=outputs,

; PORTB<3:0>=inputs

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Relationship between TRIS and PORT

Registers

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Illustration: Displaying a Byte

at an I/O Port (1 of 5)

• Problem statement:

– Write instructions to light up alternate LEDs at

PORTC.

• Hardware: • Hardware:

– PORTC

• bidirectional (input or output) port; should be setup as

output port for display

– Logic 1 will turn on an LED in Figure 2.10.

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Illustration (2 of 5)

• Interfacing LEDs to

PORTC

• Port C is F82H

TRISC=0

• Port C is F82H

• Note that PORT C is

set to be an output!

• Hence, TRISC

(address 94H) has to

be set to 0

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Illustration (3 of 5)

• Program (software)

– Logic 0 to TRISC sets up PORTC as an output port

– Byte 55H turns on alternate LEDs • MOVLW 00 ;Load W register with 0• MOVLW 00 ;Load W register with 0

• MOVWF TRISC, 0 ;Set up PORTC as output

• MOVLW 0x55 ;Byte 55H to turn on LEDS

• MOVWF PORTC,0 ;Turn on LEDs

• SLEEP ;Power down

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PIC18F Programming Model and

Its Instruction Set Its Instruction Set

PIC18F Programming Model

• The representation of the internal architecture of a microprocessor, necessary to write assembly language programs programs

• Divided into two groups– ALU Arithmetic Logic

Unit (ALU)

– Special Function Registers (SFRs) from data memory

Registers

• WREG

– 8-bit Working Register (equivalent to

an accumulator)

• BSR: Bank Select Register• BSR: Bank Select Register

– 4-bit Register (0 to F)

• Only low-order four bits are used to

provide MSB four bits of a12-bit

address of data memory.

• STATUS: Flag Register

• C (Carry/Borrow Flag):

Example: 9F+52 =F11001 11110101 0010-------------1111 0001 N=1,OV=0, Z=0, C=0, DC=1

Flags in Status Register

• C (Carry/Borrow Flag): – set when an addition generates a carry and a subtraction generates a borrow

• DC (Digit Carry Flag): – also called Half Carry flag; set when carry generated from Bit3 to Bit4 in an arithmetic

operation

• Z (Zero Flag): – set when result of an operation is zero

• OV (Overflow Flag): – set when result of an operation of signed numbers goes beyond seven bits

• N (Negative Flag): – set when bit B7 is one of the result of an arithmetic /logic operation

File Select Registers (FSR)

• There are three registers:

• FSR0, FSR1, and FSR2

• Each register composed of two 8-bit

registers (FSRH and FSRL)

• Used as pointers for data

registers

• Holds 12-bit address of data

register

Other Registers

• Program Counter (PC)

– 21-bit register functions as a pointer to program memory during program execution

• Table Pointer

– 21-bit register used as a

• Stack

– 31 word-sized registers used for temporary storage of memory addresses during execution of a program

• Special Function Registers – 21-bit register used as a

memory pointer to copy bytes between program memory and data registers

• Stack Pointer (SP)

– Register used to point to the stack

• Special Function Registers (SFRs):

– Data registers associated with I/O ports, support devices, and processes of data transfer