Embedded C Programming and the Microchip PIC

, by Barnett, Richard H.; Cox, Sarah; O'Cull, Larry

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ISBN: 9781401837488 | 1401837484
Cover: Paperback
Copyright: 11/3/2003

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This new book is carefully designed to teach C language programming as it applies to embedded microcontrollers and to fuel knowledge in the application of the Microchip® family of PIC® microcontrollers. Coverage begins with a step-by-step exploration of the C language showing readers how to create C language programs to solve problems. PIC processors are then studied, from basic architecture to all of the standard peripheral devices included in the microcontrollers. Numerous worked-out example programs demonstrate common uses for each of the peripherals. Readers are subsequently introduced to the built-in functions available in C, to help speed their programming and problem solving. Finally, readers are taken through use of the C Compiler, and learn to efficiently develop custom projects.

PREFACE

xiii

INTENDED AUDIENCE

xiii

PREREQUISITES

xiv

ORGANIZATION

xiv

CHAPTER CONTENTS SUMMARY

xiv

RATIONALE

HARDWARE USED

xvi

CD-ROM CONTENTS AND SOFTWARE USED IN THE TEXTBOOK

xvi

ACKNOWLEDGMENTS

xvii

AUTHOR-SPECIFIC ACKNOWLEDGMENTS

xviii

INTRODUCTION

xix

CHAPTER 1 EMBEDDED C LANGUAGE TUTORIAL

1.1 OBJECTIVES

1.2 INTRODUCTION

(1)

1.3 BEGINNING CONCEPTS

(2)

1.4 VARIABLES AND CONSTANTS

(7)

1.4.1 Variable Types

(2)

1.4.2 Variable Scope

(1)

Local Variables

(1)

Global Variables

(1)

1.4.3 Constants

(1)

Numeric Constants

(1)

Character Constants

(1)

1.4.4 Enumerations and Definitions

(1)

1.4.5 Storage Classes

(1)

Automatic

(1)

Static

(1)

1.4.6 Type Casting

(1)

1.5 I/O OPERATIONS

(1)

1.6 OPERATORS AND EXPRESSIONS

(8)

1.6.1 Assignment and Arithmetic Operators

(4)

Bitwise Operators

(3)

1.6.2 Logical and Relational Operators

(1)

Logical Operators

(1)

Relational Operators

(1)

1.6.3 Increment, Decrement, and Compound Assignment

(1)

Increment Operators

(1)

Decrement Operators

(1)

Compound Assignment Operators

(1)

1.6.4 The Conditional Expression

(1)

1.6.5 Operator Precedence

(1)

1.7 CONTROL STATEMENTS

(15)

1.7.1 While Loop

(2)

1.7.2 Do/While Loop

(1)

1.7.3 For Loop

(2)

1.7.4 If/Else

(3)

If Statement

(1)

If/Else Statement

(3)

Conditional Expression

(1)

1.7.5 Switch/Case

(2)

1.7.6 Break, Continue, and Goto

(5)

Continue

(4)

1.8 FUNCTIONS

(8)

1.8.1 Prototyping and Function Organization

(2)

1.8.2 Functions that Return Values

(2)

1.8.3 Recursion

(3)

1.9 POINTERS AND ARRAYS

(14)

1.9.1 Pointers

(3)

1.9.2 Arrays

(3)

1.9.3 Multidimensional Arrays

(2)

1.9.4 Pointers to Functions

(5)

1.10 STRUCTURES AND UNION

(10)

1.10.1 Structures

(2)

1.10.2 Arrays of Structures

(1)

1.10.3 Pointers to Structures

(2)

1.10.4 Unions

(2)

1.10.5 Typedef Operator

(1)

1.10.6 Bits and Bitfields

(1)

1.10.7 Sizeof Operator

(1)

1.11 MEMORYTYPES

(7)

1.11.1 Constants and Variables

(4)

1.11.2 Register Variables

(3)

#bit and #byte

(2)

1.12 REAL-TIME METHODS

(10)

1.12.1 Using Interrupts

(3)

1.12.2 State Machines

(6)

CHAPTER SUMMARY

(1)

1.14 EXERCISES

(2)

1.15 LABORATORY ACTIVITIES

(2)

CHAPTER 2 PIC MICROCONTROLLER HARDWARE

2.1 OBJECTIVES

(1)

2.2 INTRODUCTION

(1)

2.3 ARCHITECTURAL OVERVIEW

(2)

2.4 MEMORY ORGANIZATION

(2)

2.4.1 Data Memory

(1)

2.4.2 FLASH Memory

(1)

2.4.3 Return Address Stack

(1)

2.5 INTERRUPTS AND RESET

(3)

2.5.1 Reset

(1)

2.6 I/O PORTS

(5)

2.6.1 Parallel Slave Port Mode

100

(2)

2.7 TIMERS

102

(26)

2.7.1 General

104

(4)

2.7.1.1 Timers as "Ticks"

104

(1)

2.7.1.2 Timers Measuring Pulse Widths or Frequencies

105

(1)

2.7.1.3 Timers as Output Devices

106

(2)

2.7.2 Timer 0

108

(3)

2.7.3 Timer 1

111

(10)

2.7.3.1 Capture and Compare Modules

113

(8)

2.7.4 Timer2

121

(6)

2.7.5 Watchdog Timer

127

(1)

2.8 Serial I/O

128

(21)

2.8.1 Asynchronous Serial Port (USART)

129

(8)

One-Second Recording Interval Using Timer0

134

(1)

Engine rpm Measurement Using Capture/Compare Module 1

135

(2)

2.8.2 CAN Bus Module

137

(1)

2.8.3 Synchronous Serial Port (MSSP)

138

(11)

2.8.3.1 SPI Bus

138

(6)

2.8.3.2 12C Bus

144

(5)

2.9 ANALOG TO DIGITAL I/O

149

2.9.1 Analog to Digital Background

149

(1)

2.9.2 Analog to Digital Module

150

(24)

Measuring Engine Measurement Using the AID Converter (ADC)

154

2.11 ASSEMBLY LANGUAGE

(3)

2.12 CHAPTER SUMMARY

(4)

2.13 WRITTEN EXERCISES

(101)

2.14 LABORATORY EXERCISES

165

(2)

CHAPTER 3 STANDARD I/O AND PREPROCESSOR DIRECTIVES

3.1 OB ECTIVES

167

(1)

3.2 INTRODUCTION

167

(1)

3.3 CHARACTER INPUT/OUTPUT FUNCTIONS - GETCHARO AND PUTCHARO

168

(6)

3.4 STANDARD OUTPUT FUNCTIONS

174

(3)

3.4.1 Put String, puts(), and File Put String, fputs()

174

(1)

3.4.2 Print Formatted, printf(), and File Print Formatted, fprintf()

175

(2)

3.5 STANDARD INPUT FUNCTIONS

177

(3)

3.5.1 Get String Functions - gets() and fgets()

178

(1)

3.5.2 Get String Function - get string()

179

(1)

3.6 STANDARD PREPROCESSOR DIRECTIVES

180

(10)

3.6.1 The #include Directive

181

(1)

3.6.2 The #define Directive

181

(3)

3.6.3 The #ifdef, #ifndef, #else, and #endif Directives

184

(5)

3.6.4 The #error Directive

189

(1)

3.6.5 The #pragma Directive

190

(1)

3.7 CCS-PICC FUNCTION-QUALIFYING DIRECTIVES

190

(2)

3.7.1 The #inline and #separate Directives

190

(1)

3.7.2 The #int default, #intglobal, and #int xxx Directives

191

(1)

3.8 CCS-PICC PREDEFINED IDENTIFIERS

192

(1)

3.9 CCS-PICC DEVICE SPECIFICATION DIRECTIVES

193

(3)

3.9.1 The #device Directive

193

(1)

3.9.2 The #fuse Directive

194

(1)

3.9.3 The #id Directive

195

(1)

3.10 CCS-PICC BUILT-IN LIBRARY PREPROCESSOR DIRECTIVES

196

(4)

3.10.1 The #use delay Directive

196

(1)

3.10.2 The #use fast_io, #use fixed_io, and #use standard_io Directives

196

(2)

3.10.3 The #use i2c Directive

198

(1)

3.10.4 The #use rs232 Directive

199

(1)

3.11 CCS-PICC MEMORY CONTROL PREPROCESSOR DIRECTIVES

200

(5)

3.11.1 The #type Directive

200

(1)

3.11.2 The #bit Directive

201

(1)

3.11.3 The #byte Directive

201

(1)

3.11.4 The #locate Directive

202

(1)

3.11.5 The #reserve Directive

202

(1)

3.11.6 The #zero_ram Directive

202

(1)

3.11.7 The #rom Directive

203

(1)

3.11.8 The #org Directive

203

(1)

3.11.9 The #asm and #endasm Directives

204

(1)

3.12 CCS-PICC COMPILER CONTROL PREPROCESSOR DIRECTIVES

205

(1)

3.12.1 The #case Directive

205

(1)

3.12.2 The #opt Directive

205

(1)

3.12.3 The #priority Directive

206

(1)

3.13 CHAPTER SUMMARY

206

(1)

3.14 EXERCISES

207

(1)

3.15 LABORATORY ACTIVITIES

208

(1)

CHAPTER 4 THE CCS-PICC C COMPILERAND IDE

4.1 OB ECTIVES

209

(1)

4.2 INTRODUCTION

209

(1)

4.3 INTEGRATED DEVELOPMENT ENVIRONMENT

210

(1)

4.4 PROJECTS

210

(4)

4.4.1 Open Existing Projects

211

(1)

4.4.2 Create New Projects

211

(1)

4.4.3 Setting the Include Directories for a Project

212

(1)

4.4.4 Compile Projects

212

(2)

4.4.5 Close Projects

214

(1)

4.5 PIC WIZARD CODE GENERATOR

214

(10)

4.5.1 General Tab

216

(1)

4.5.2 Communications Tab

217

(1)

4.5.3 SPI and LCD Tab

218

(1)

4.5.4 Timers Tab

218

(2)

4.5.5 Analog Tab

220

(1)

4.5.6 Interrupts Tab

220

(1)

4.5.7 Drivers Tab

220

(2)

4.5.8 I/O Pins Tab

222

(1)

4.5.9 Generated Project

222

(2)

4.6 SOURCE FILES

224

(1)

4.6.1 Open an Existing Source File

225

(1)

4.6.2 Create a New Source File

225

(1)

4.6.3 Changing the Main Source File for a Project

225

(1)

4.7 EDITOR OPERATION

225

(2)

4.7.1 Bookmarks

225

(1)

4.7.2 Indentation and Tabs

226

(1)

4.7.3 Brace Matching

227

(1)

4.7.4 Syntax Highlighting

227

(1)

4.7.5 Other Editor Options

227

(1)

4.8 VIEW MENU

227

(5)

4.8.1 C/ASM List

228

(1)

4.8.2 Symbol Map

228

(1)

4.8.3 Call Tree

229

(1)

4.8.4 Statistics

230

(1)

4.8.5 Compiler Messages

230

(1)

4.8.6 Data Sheet

230

(1)

4.8.7 Valid Fuses

230

(1)

4.8.8 Valid Interrupts

230

(1)

4.8.9 Binary File

230

(2)

4.8.10 COD Debug File

232

(1)

4.9 PROGRAM THE TARGET DEVICE

232

(1)

4.10 TOOL MENU

232

(4)

4.10.1 Device Editor

232

(1)

4.10.2 Device Selector

233

(1)

4.10.3 File Compare

233

(1)

4.10.4 Numeric Converter

234

(1)

4.10.5 Serial Port Monitor

234

(2)

4.11 MICROCHIP MPLAB

236

(6)

4.11.1 Launch MPLAB from CCS-PICC

236

(1)

4.11.2 MPLAB Workspace and Project

237

(1)

4.11.3 Simulator Development Mode

238

(1)

4.11.4 Compiling under MPLAB

238

(1)

4.11.5 Source File and Program Memory Windows

238

(1)

4.11.6 Execution Speed

239

(1)

4.11.7 Debugging Commands

239

(1)

4.11.8 Set and Clear Breakpoints

239

(1)

4.11.9 Run to Cursor

240

(1)

4.11.10 Watch

240

(1)

4.11.11 File Registers (RAM)Window

241

(1)

4.11.12 Modify Memory

241

(1)

4.11.13 View and Modify the Machine State

241

(1)

4.12 CHAPTER SUMMARY

242

(1)

4.13 EXERCISES

243

(1)

4.14 LABORATORY ACTIVITIES

244

(3)

CHAPTER 5 PROJECT DEVELOPMENT

5.1 OB ECTIVES

247

(1)

5.2 INTRODUCTION

247

(1)

5.3 CONCEPT DEVELOPMENT PHASE

247

(1)

5.4 PROJECT DEVELOPMENT PROCESS STEPS

247

(6)

5.4.1 Definition Phase

248

(2)

5.4.2 Design Phase

250

(1)

5.4.3 Test Definition Phase

251

(1)

5.4.4 Build and Test the Prototype Hardware Phase

252

(1)

5.4.5 System Integration and Software Development Phase

252

(1)

5.4.6 System Test Phase

253

(1)

5.4.7 Celebration Phase

253

(1)

5.5 PROJECT DEVELOPMENT PROCESS SUMMARY

253

(1)

5.6 EXAMPLE PROJECT: AN ELECTRONIC SCOOTER

253

(82)

5.6.1 Concept Phase

253

(1)

5.6.2 Definition Phase

254

(5)

5.6.2.1 Preliminary Product Specification

255

(1)

5.6.2.2 Operational Specification

256

(1)

5.6.2.3 Basic Block Diagrams

257

(2)

5.6.3 System Considerations for the Design

259

(10)

5.6.3.1 Drive Requirements (According to Newton)

259

(4)

5.6.3.2 Motor Selection

263

(2)

5.6.3.3 Vehicle Speed Measurement

265

(1)

5.6.3.4 Battery Health Measurement

266

(1)

5.6.3.5 Motor Current Measurement

266

(1)

5.6.3.6 Brake Control Measurement

267

(1)

5.6.3.7 Electronic Braking

268

(1)

5.6.4 Hardware Design - Drive Unit

269

(6)

Speed Input

269

(2)

Braking Input

271

(1)

Motor Current Monitoring

271

(1)

Motor Power Control

272

(1)

Electronic Brake

272

(1)

CAN Interface

273

(1)

Power Supply

274

(1)

Battery Selection

274

(1)

5.6.5 Software Design - Drive Unit

275

(3)

5.6.6 Hardware Design - Display Unit

278

(4)

LCD Interface

278

(3)

Buttons, Lights, and Sound

281

(1)

5.6.7 Software Design - Display Unit

282

(3)

5.6.8 Test Definition Phase

285

(1)

Braking Input

285

(1)

Vehicle Speed

285

(1)

Battery Health

285

(1)

Motor Current

285

(1)

System Test for the Complete Project

285

(1)

5.6.9 Build and Test Prototype Hardware Phase

286

(6)

Drive Unit Checkout

286

(3)

Display Unit Checkout

289

(3)

5.6.10 System Integration and Software Development Phase, Drive Unit

292

(29)

Vehicle Speed

293

(4)

Battery Health and Motor Current Monitoring

297

(1)

Cruise and Brake Control

298

(1)

CAN Communications

298

(23)

5.6.11 System Integration and Software Development Phase, Display Unit

321

(8)

The Collection and Conversion of the CAN Data

321

(3)

The Buttons, Beeper, and Indicators

324

(5)

Driving the LCD

329

(1)

5.6.12 System Test Phase

329

(6)

5.7 CHALLENGES

335

(1)

5.8 CHAPTER SUMMARY

336

(1)

5.9 EXERCISES

336

(1)

5.10 LABORATORY ACTIVITY

337

(2)

APPENDIX A LIBRARY FUNCTIONS REFERENCE

339

(98)

APPENDIX B PROGRAMMING THE PIC MICROCONTROLLERS

437

(4)

APPENDIX C CCS ICD-S SERIAL IN-SYSTEM PROGRAMMER/DEBUGGER

441

(2)

APPENDIX D MICROCHIP ICD 2 SERIAL IN-SYSTEM PROGRAMMER/DEBUGGER

443

(4)

APPENDIX E THE "FLASH PIC-DEV" DEVELOPMENT BOARD

447

(6)

APPENDIX F ASCII TABLE

453

(6)

APPENDIX G PIC 16F877 INSTRUCTION SET SUMMARY

459

(10)

APPENDIX H PIC 18F458 INSTRUCTION SET SUMMARY

469

(8)

APPENDIX I ANSWERSTO SELECTED QUESTIONS (BY CHAPTER)

477

(8)

INDEX

485

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Embedded C Programming and the Microchip PIC

Summary

Table of Contents

Supplemental Materials