Embedded C Programming and the Microchip Pic

PREFACE xiii INTENDED AUDIENCE xiii PREREQUISITES xiv ORGANIZATION xiv CHAPTER CONTENTS SUMMARY xiv RATIONALE xv 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) 1.3 BEGINNING CONCEPTS 2(2) 1.4 VARIABLES AND CONSTANTS 4(7) 1.4.1 Variable Types 4(2) 1.4.2 Variable Scope 6(1) Local Variables 6(1) Global Variables 6(1) 1.4.3 Constants 7(1) Numeric Constants 7(1) Character Constants 8(1) 1.4.4 Enumerations and Definitions 8(1) 1.4.5 Storage Classes 9(1) Automatic 10(1) Static 10(1) Register 10(1) 1.4.6 Type Casting 10(1) 1.5 I/O OPERATIONS 11(1) 1.6 OPERATORS AND EXPRESSIONS 12(8) 1.6.1 Assignment and Arithmetic Operators 12(4) Bitwise Operators 13(3) 1.6.2 Logical and Relational Operators 16(1) Logical Operators 16(1) Relational Operators 16(1) 1.6.3 Increment, Decrement, and Compound Assignment 17(1) Increment Operators 17(1) Decrement Operators 18(1) Compound Assignment Operators 18(1) 1.6.4 The Conditional Expression 18(1) 1.6.5 Operator Precedence 19(1) 1.7 CONTROL STATEMENTS 20(15) 1.7.1 While Loop 20(2) 1.7.2 Do/While Loop 22(1) 1.7.3 For Loop 23(2) 1.7.4 If/Else 25(3) If Statement 25(1) If/Else Statement 25(3) Conditional Expression 28(1) 1.7.5 Switch/Case 28(2) 1.7.6 Break, Continue, and Goto 30(5) Continue 31(4) 1.8 FUNCTIONS 35(8) 1.8.1 Prototyping and Function Organization 36(2) 1.8.2 Functions that Return Values 38(2) 1.8.3 Recursion 40(3) 1.9 POINTERS AND ARRAYS 43(14) 1.9.1 Pointers 44(3) 1.9.2 Arrays 47(3) 1.9.3 Multidimensional Arrays 50(2) 1.9.4 Pointers to Functions 52(5) 1.10 STRUCTURES AND UNION 57(10) 1.10.1 Structures 57(2) 1.10.2 Arrays of Structures 59(1) 1.10.3 Pointers to Structures 60(2) 1.10.4 Unions 62(2) 1.10.5 Typedef Operator 64(1) 1.10.6 Bits and Bitfields 65(1) 1.10.7 Sizeof Operator 66(1) 1.11 MEMORYTYPES 67(7) 1.11.1 Constants and Variables 67(4) 1.11.2 Register Variables 71(3) #bit and #byte 72(2) 1.12 REAL-TIME METHODS 74(10) 1.12.1 Using Interrupts 75(3) 1.12.2 State Machines 78(6) CHAPTER SUMMARY 84(1) 1.14 EXERCISES 85(2) 1.15 LABORATORY ACTIVITIES 87(2) CHAPTER 2 PIC MICROCONTROLLER HARDWARE 2.1 OBJECTIVES 89(1) 2.2 INTRODUCTION 89(1) 2.3 ARCHITECTURAL OVERVIEW 90(2) 2.4 MEMORY ORGANIZATION 92(2) 2.4.1 Data Memory 92(1) 2.4.2 FLASH Memory 92(1) 2.4.3 Return Address Stack 93(1) 2.5 INTERRUPTS AND RESET 94(3) 2.5.1 Reset 97(1) 2.6 I/O PORTS 97(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 57(3) 2.12 CHAPTER SUMMARY 60(4) 2.13 WRITTEN EXERCISES 64(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