Microcontrollers and embedded devices

Friday, April 21, 2017 #1/213
Microcontrollers and Embedded DevicesMicrocontrollers and Embedded Devices

@ #3/213
Th
● Introduction to microcontrollers and
embedded devices.
– History
– Single-board computer
– Single-chip computers
– Embedded devices
– Robots.

@ #4/213
Th Little History: Single board computers
●
single circuit board
● microprocessor(s)
●
memory
●
input/output (I/O)
REF: https://en.wikipedia.org/wiki/Single-board_computer

@ #5/213
Th History: System on a chip
REF: https://en.wikipedia.org/wiki/System_on_a_chip
● all components of a
computer
● other electronic system
into a single chip

@ #6/213
Th History: Embedded systems, microcontrollers
REF: https://en.wikipedia.org/wiki/Embedded_system
REF: https://en.wikipedia.org/wiki/Microcontroller
● Apollo Guidance
Computer
● Microcontroller

@ #7/213
Th Little History: Robots
REF: https://en.wikipedia.org/wiki/Robot
Karel Čapek
ASIMO by Honda
advanced humanoid robot
Industrial robots assembling cars

@ #8/213
Th Little History: Internet-of-things (IoT)
REF: https://en.wikipedia.org/wiki/Internet_of_things

@ #10/213
Th
● Numeral systems. Logical and bitwise
operations.
– Numeral systems; decimal, binary and other
numbers – conversion from and to; Logical and
bitwise operations.

@ #11/213
Th Numeral system
REF: https://en.wikipedia.org/wiki/Numeral_system
● Binary:
0 1
● Octal:
0 1 2 3 4 5 6 7
● Decimal:
0 1 2 3 4 5 6 7 8 9
● Hexadecimal:
0 1 2 3 4 5 6 7 8 9
A B C D E F

@ #12/213
Th Numeral system: Decimal
● Decimal numbers:
0 1 2 3 4 5 6 7 8 9
REF: https://en.wikipedia.org/wiki/Decimal
decimal
0
1
2
3
4
5
6
7
8
9

@ #13/213
Th Numeral system: Binary
● Binary:
0 or 1
true or false
yes or no
REF: https://en.wikipedia.org/wiki/Binary_number
binary decimal
000 0
001 1
010 2
011 3
100 4
101 5
110 6
111 7

@ #14/213
Th Numeral system: Hexadecimal
● Hexadecimal:
0 1 2 3 4 5 6 7 8 9
A B C D E F
binary decimal hex
0000 0 0
0001 1 1
0010 2 2
0011 3 3
0100 4 4
0101 5 5
0110 6 6
0111 7 7
1000 8 8
1001 9 9
1010 10 A
1011 11 B
1100 12 C
1101 13 D
1110 14 E
1111 15 F
REF: https://en.wikipedia.org/wiki/Hexadecimal

@ #15/213
Th Numeral system: Octal
● Octal:
0 1 2 3 4 5 6 7
binary decimal octal
000 0 0
001 1 1
010 2 2
011 3 3
100 4 4
101 5 5
110 6 6
111 7 7
REF: https://en.wikipedia.org/wiki/Octal

@ #16/213
Th Numeral system: Binary coded decimal
● Binary clock
REF: https://en.wikipedia.org/wiki/Binary-coded_decimal
binary decimal
0000 0
0001 1
0010 2
0011 3
0100 4
0101 5
0110 6
0111 7
1000 8
1001 9

@ #17/213
Th Boolean algebra
REF: https://en.wikipedia.org/wiki/Boolean_algebra

@ #18/213
Th Boolean operations, Truth table
c4 c3 c2 c1 Name Notes Abr
0 0 0 0 Contradiction Always FALSE
0 0 0 1 Logical NOR NOR
0 0 1 0 Converse nonimplication
0 0 1 1 Negation
0 1 0 0 Material nonimplication
0 1 0 1 Negation
0 1 1 0 Exclusive disjunction TRUE when different XOR
0 1 1 1 Logical NAND NAND
1 0 0 0 Logical conjunction AND
1 0 0 1 Logical biconditional TRUE when equal XNOR
1 0 1 0 Projection function
1 0 1 1 Material implication
1 1 0 0 Projection function
1 1 0 1 Converse implication OR
1 1 1 0 Logical disjunction
1 1 1 1 Tautology Always TRUE
REF: https://en.wikipedia.org/wiki/Truth_table
A B C
1 0 0 c1
2 0 1 c2
3 1 0 c3
4 1 1 c4

@ #19/213
Th Bitwise operations
REF: https://en.wikipedia.org/wiki/Bitwise_operation
● AND ● OR ● XOR
● XNOR● NOR● NAND
A1 A2 B
0 0 1
0 1 0
1 0 0
1 1 0
A1 A2 B
0 0 0
0 1 1
1 0 1
1 1 1
A1 A2 B
0 0 0
0 1 0
1 0 0
1 1 1
A1 A2 B
0 0 1
0 1 1
1 0 1
1 1 0
A1 A2 B
0 0 0
0 1 1
1 0 1
1 1 0
A1 A2 B
0 0 1
0 1 0
1 0 0
1 1 1

@ #20/213
Th Bitshift operations
● Logical shift
– Left – Right

@ #21/213
● Arithmetic shift
– Left – Right

@ #22/213
● Rotate no carry
– Left – Right

@ #23/213
● Rotate through carry
– Left – Right

# @25
LAB
● Introduction to microcontrollers and embedded devices.
– Demonstration of microcontroller and embedded devices.
– Basic principles.
– Simulation of a microcontroller system.

# @26
LAB Demo: Embedded devices and robots
● Digital alarm clock ● Rover
● Embedded
Computer
REF: https://en.wikipedia.org/wiki/Embedded_system REF: https://en.wikipedia.org/wiki/Rover_(space_exploration)

# @27
LAB Demo: Quadcopter
REF: https://en.wikipedia.org/wiki/Quadcopter

# @28
LAB Simulation: Microcontrollers
Specialized desktop software Web based platforms
● Advantages
– Very easy to use
● Disadvantages
– May not be exact match of the
device
– No connection to the real world
● Advantages
– Very close match to the real
device
– Allows debugging
– Could connect device to real
world
● Disadvantages
– Limited connectivity to the real
world

# @29
LAB Simulation: Microcontrollers – Atmel Studio Stimuli
● Atmel
Studio
Stimuli
REF: Atmel Studio Stimuli

# @30
LAB Simulation: Microcontrollers – Web based platforms
● Autodesk 123D –
Circuit.io
REF: https://circuits.io

# @32
LAB
● Introduction to microcontrollers and embedded devices.
– Conversion between numeral systems.
– Logical, bitwise and arithmetic operations. Optimizations.

# @33
LAB Numerical conversion: binary to decimal
nth
bit val 2n
0 1
1 2
2 4
3 8
4 16
5 32
6 64
7 128
4-bit
● 0101
0+4+0+1=5
● 1010
8+0+2+0=12
8-bit
● 01011010
0+64+0+16+8+0+2+0=...
● 10100101
128+0+32+0+0+4+0+1=...

# @34
LAB Numerical conversion: decimal to binary

# @35
LAB Numerical conversion: hexadecimal to/from binary
DEC HEX
0 0 0 0 0 0
0 0 0 1 1 1
0 0 1 0 2 2
0 0 1 1 3 3
0 1 0 0 4 4
0 1 0 1 5 5
0 1 1 0 6 6
0 1 1 1 7 7
1 0 0 0 8 8
1 0 0 1 9 9
1 0 1 0 10 A
1 0 1 1 11 B
1 1 0 0 12 C
1 1 0 1 13 D
1 1 1 0 14 E
1 1 1 1 15 F
4-bit
● 0001 = 1
● 0101 = 5
● 1010 = A
● 1111 = F
8-bit
● 0000 0001 = 01
● 0010 0011 = 23
● 0100 0101 = 45
● 0110 0111 = 67
● 1000 1001 = 89
● 1010 1011 = AB
● 1100 1101 = CD
● 1110 1111 = EF

# @36
LAB Bitwise operations: NOT, AND, OR, XOR in C and C++
REF: https://en.wikipedia.org/wiki/Bitwise_operations_in_C
● NOT
uint8_t a, b;
a = 0b10110111;
b = ~a;
/* b = 01001000 */
● AND
uint8_t a, b;
a = 0b10110111;
b = a & 0b00001111;
/* b = 00000111 */
● XOR
uint8_t a, b;
a = 0b10110111;
b = a ^ 0b00001111;
/* b = 10111000 */
● OR
uint8_t a, b;
a = 0b10110111;
b = a | 0b00001111;
/* b = 10111111 */

# @37
LAB Bitwise operations: shifting in C and C++
● Right shift
uint8_t a, b;
a = 0b10110111;
b = a >> 1;
/* b = 01011011 */
b = a >> 2;
/* b = 00101101 */
● Left shift
uint8_t a, b;
a = 0b10110111;
b = a << 1;
/* b = 01101110 */
b = a << 2;
/* b = 11011100 */

# @38
LAB Bitwise operations: shifting, arithmetic equivalents
● Right shift
Divide by power of 2
uint8_t a, b;
a = 0b01011010; /* 90 */
b = a >> 1; /* div 2 */
/* b = 00101101 = 45 */
b = a >> 2; /* div 4 */
/* b = 00010110 = 22 */
● Left shift
Multiply by power of 2
uint8_t a, b;
a = 0b01011010; /* 90 */
b = a << 1; /* mul 2 */
/* b = 10110100 = 180 */
b = a << 2; /* mul 4 */
/* b = 01101000 = 104 */

# @39
LAB Bitwise operations: Microcontroller – simplified architecture

# @40
LAB Bitwise operations: Setting and clearing specific bit
● Setting specific bit
uint8_t a, b;
a = 0b10110111;
b = a | 0b00001000;
/* b = 10111111 */
____________________________
● Multiple bits
uint8_t a, b;
a = 0b10110111;
b = a | 0b00001001;
/* b = 10111111 */
● Clearing specific bit
uint8_t a, b;
a = 0b10110111;
b = a & 0b11101111;
/* b = 10100111 */
____________________________
● Multiple bits
uint8_t a, b;
a = 0b10110111;
b = a & 0b10101111;
/* b = 10100111 */

# @41
LAB Bitwise operations: Setting and clearing specific bit
● Setting specific bit
uint8_t a, b;
a = 0b10110111;
b = a | (1 << 3);
/* 00000001 */
/* 00001000 */
/* b = 10111111 */
● Clearing specific bit
uint8_t a, b;
a = 0b10110111;
b = a & ~(1 << 4);
/* 00000001 */
/* 00010000 */
/* 11101111 */
/* b = 10100111 */

# @42
LAB Bitwise operations: Flipping (set/clear) specific bit
● Flipping specific bit
uint8_t a, b;
a = 0b10110111;
b = a ^ 0b00001000;
/* b = 10111111 */
b = a ^ 0b00001000;
/* b = 10110111 */
____________________________
● Multiple bits
b = a ^ 0b00001001;
/* b = 10111110 */
● Flipping specific bit
uint8_t a, b;
a = 0b10110111;
b = a ^ (1 << 4);
/* 00000001 */
/* 00010000 */
/* b = 10100111 */
b = a ^ (1 << 4);
/* 00000001 */
/* 00010000 */
/* b = 10110111 */

# @43
LAB Bitwise operations: Checking specific bit(s)
● Check if specific bit is set or clear
uint8_t a;
a = 0b10110111;
if (a & 0b00000100) {
/* TRUE */
} else {
}
if (a & 0b00001000) {
} else {
/* FALSE */
}
uint8_t a;
a = 0b10110111;
if (a & (1 << 2)) {
/* TRUE */
} else {
}
if (a & (1 << 3)) {
} else {
/* FALSE */
}

# @44
LAB Bitwise operations: Check and conditionally set/clear bit
● Check if a bit is set/clear and depending on that set/clear another bit

@ #46/213
Th
● Designing of a microcontroller system
– Basic principles in the design of a microcontroller
systems.
– Defining of the requirements and
implementation.

@ #47/213
Th
Microcontroller
Designing of a microcontroller system: Basic principles
CPUCPU
RAMRAM
ProgramProgram
ROMROMUtility
● Timers
● Counters
Utility
● Timers
● Counters
I/O (GPIO)
● Digital
● ADC
● DAC
● Serial
I/O (GPIO)
● Digital
● ADC
● DAC
● Serial
System
● ISP
● Debug
System
● ISP
● Debug

@ #48/213
Th
Protection
Designing of a microcontroller system: Basic principles
PowerPower
ResetReset
PeripheralsPeripherals
MicrocontrollerMicrocontrollerProgrammingProgramming

@ #50/213
Th
● Minimal microcontroller configuration
– The minimal allowed
(or acceptable, based on the requirements)
microcontroller configuration.

@ #51/213
Th Minimal microcontroller configuration: Atmel ATtiny85
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
● Clock 1/8/20 MHz
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
VccVcc
PB2PB2
PB1PB1
PB0PB0
ResetReset
PB3PB3
PB4PB4
GNDGND
(+)
Power
Supply
(-)
(+)
Power
Supply
(-)
ResetReset

@ #52/213
Th Tinusaur
● Digital input
● Digital output
● Analog to digital input
● Pulse-width modulation
(analog output)
● Timers
● Serial input and output
PB0PB0
PB1PB1
PB2PB2
PB3PB3
PB4PB4

# @54
LAB
● Designing a microcontroller system
– Circuit diagram. Practical design considerations
– PCB. Practical design considerations.
– Assembling of a minimal microcontroller system.

# @55
LAB The Circuit Diagram
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
VccVcc
PB2PB2
PB1PB1
PB0PB0
ResetReset
PB3PB3
PB4PB4
GNDGND
(+)
Power
3.3 V
(-)
(+)
Power
3.3 V
(-)
Reset
10K
100uF
100nF
REF: https://en.wikipedia.org/wiki/Circuit_diagram

# @57
LAB Assembling the Board

# @59
LAB
● Minimal microcontroller configuration
– Programming and testing of a minimal microcontroller system.
(under Windows and Linux)

# @60
LAB Programming the Microcontroller
#include <avr/io.h>
#include <util/delay.h>
int main(void) {
DDRB |= (1 << PB0);
while (1) {
PORTB |= (1 << PB0);
_delay_ms(200);
PORTB &= ~(1 << PB0);
_delay_ms(400);
}
return (0);
}

# @61
LAB Testing Programs
● Testing programs for
the Shield LEDx2
– Blinking LED
– Blinking LEDs
– Fading LED/LEDs
● Testing programs for
the Shield EDUx4IO
– Blinking LED
– Buzzer sound

@ #63/213
Th
● Development tools.
● Compiling the source code to binary.
● Cross-compilers for C/C++ and Assembly
language.
● Specialized development environments.

@ #64/213
Th Development Tools
● Compilers
● Linkers and other tools.
● Programmers.
● Debugging tools.

@ #65/213
Th Compiling to Binary
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB0);
while (1) {
PORTB |= (1 << PB0);
_delay_ms(200);
PORTB &= ~(1 << PB0);
_delay_ms(400);
}
return (0);
}
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 0 0 0 0
C 1 9 A C 0 9 8
9 F E 7 2 8 E 3
8 1 E 0 9 1 5 0
2 0 4 0 8 0 4 0
E 1 F 7 0 0 C 0
0 0 0 0 E C C F
F 8 9 4 F F C F

@ #66/213
Th Cross-compilers for C/C++ and Assembly Language
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB3);
while (1) {
PORTB |= (1 << PB3);
_delay_ms(200);
PORTB &= ~(1 << PB3);
_delay_ms(400);
}
return (0);
}
30: b8 9a sbi 0x17, 0
32: b9 9a sbi 0x17, 1
34: c0 9a sbi 0x18, 0
36: c1 98 cbi 0x18, 1
38: 8f e4 ldi r24, 0x4F
3a: 93 ec ldi r25, 0xC3
3c: 01 97 sbiw r24, 0x01
3e: f1 f7 brne .-4
40: 00 c0 rjmp .+0
42: 00 00 nop
44: c1 9a sbi 0x18, 1
46: c0 98 cbi 0x18, 0
48: 9f e7 ldi r25, 0x7F
4a: 28 e3 ldi r18, 0x38
4c: 81 e0 ldi r24, 0x01
4e: 91 50 subi r25, 0x01
50: 20 40 sbci r18, 0x00
52: 80 40 sbci r24, 0x00
54: e1 f7 brne .-8
56: 00 c0 rjmp .+0
58: 00 00 nop
5a: ec cf rjmp .-40
5c: f8 94 cli
5e: ff cf rjmp .-2
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 0 0 0 0
C 1 9 A C 0 9 8
9 F E 7 2 8 E 3
8 1 E 0 9 1 5 0
2 0 4 0 8 0 4 0
E 1 F 7 0 0 C 0
0 0 0 0 E C C F
F 8 9 4 F F C F

@ #67/213
Th Specialized Development Environment

@ #69/213
Th
● Compiling the source code to a binary.
● Linking the compiled binary code.
● Deployment.
● Debugging tools.

@ #70/213
Th Compiling the Source Code to Binary
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB3);
while (1) {
PORTB |= (1 << PB3);
_delay_ms(200);
PORTB &= ~(1 << PB3);
_delay_ms(400);
}
return (0);
}
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 . . .
● main.c
– int main(void) {
...
...
}
● mylib.c
● myio.c

@ #71/213
Th Linking the Compiled Binary Code
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 0 0 0 0
C 1 9 A C 0 9 8
9 F E 7 2 8 E 3
8 1 E 0 9 1 5 0
2 0 4 0 8 0 4 0
E 1 F 7 0 0 C 0
0 0 0 0 E C C F
F 8 9 4 F F C F
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 . . .

@ #72/213
Th Deployment
B 8 9 A B 9 9 A
C 0 9 A C 1 9 8
8 F E 4 9 3 E C
0 1 9 7 F 1 F 7
0 0 C 0 0 0 0 0
C 1 9 A C 0 9 8
9 F E 7 2 8 E 3
8 1 E 0 9 1 5 0
2 0 4 0 8 0 4 0
E 1 F 7 0 0 C 0
0 0 0 0 E C C F
F 8 9 4 F F C F
● Enter programming mode
● Upload binary code
● Verify data
● Start program

@ #73/213
Th Debugging Tools
● Debugging
● Debugging tools

# @75
LAB
● Development tools.
– GCC-AVR, make, AVRDUDE.
● Specialized development environments.
– Atmel AVR Studio.
– Arduino IDE. Installation and setup.
● Specialized debugging tools.

# @76
LAB GCC-AVR, make, AVRDUDE

# @78
LAB Arduino IDE
● Edit source code
● Verify source code
● Upload

# @79
LAB Specialized Debugging Tools
● Print over serial line
● Specialized tools

# @81
LAB
● “Hello, World!” for
the microcontrollers:
the blinking LED.
– Setup and algorithm.
– 1 blinking LED.
– 2 blinking LEDs.
● Practical implementation.
– Loop and delay.
– Compiling.
– Uploading.
● Advanced
– Using the timers – the idea.

# @82
LAB Setup
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
Microcontroller
Atmel
ATtiny85
● RAM 512 bytes
● Flash 8 Kbytes
● ROM 512 Bytes
VccVcc
PB2PB2
PB1PB1
PB0PB0
ResetReset
PB3PB3
PB4PB4
GNDGND
330Ω
330Ω

# @83
LAB “Hello, World!” for microcontrollers – the Blinking LED
Loop
LED: turn on
Delay: 200 mS
LED: turn off
Delay: 400 mS
LED port: set as output
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB0);
for (;;) {
PORTB |= (1 << PB0);
_delay_ms(200);
PORTB &= ~(1 << PB0);
_delay_ms(400);
}
return (0);
}
Loop: start, infinite

# @84
LAB 2 Blinking LEDs
#include <avr/io.h>
// -----------------------------
#define LED1_PORT PB0
#define LED2_PORT PB1
// -----------------------------
int main(void) {
// Initialization
DDRB |= (1 << LED1_PORT);
DDRB |= (1 << LED2_PORT);
// Start the main loop
for (;;) {
PORTB |= (1 << LED1_PORT);
PORTB &= ~(1 << LED2_PORT);
_delay_ms(200);
PORTB &= ~(1 << LED1_PORT);
PORTB |= (1 << LED2_PORT);
_delay_ms(400);
}
return (0);
}

# @85
LAB Blinking LEDs Using Timers – the Idea
void init_timer(uint8_t max) {
// Set timer in CTC mode
TCCR0A |= (1 << WGM01);
// Set timer in interrupt mode
TIMSK |= (1 << OCIE0A);
sei(); // Enable interrupts
// set compare value
OCR0A = max;
// Prescale and start timer
TCCR0B |= TIMER_TCCR0B_1024TH;
}
// Define interrupt vector
ISR (TIMER0_COMPA_vect) {
// Flip the LED bit vector
PORTB ^= (1 << LED1_PORT);
}
OCR0A
1 1 0 0 1 0 1 0
TCNT0
x x x x x x x x
TCNT0 == OCR0ATCNT0 == OCR0A
for (;;) {
for (TCNT0 = 0; TCNT0 < OCR0A; TCNT0++) {
timer_delay(TCCR0B);
}
ISR (TIMER0_COMPA_vect);
}
for (;;) {
for (TCNT0 = 0; TCNT0 < OCR0A; TCNT0++) {
timer_delay(TCCR0B);
}
ISR (TIMER0_COMPA_vect);
}

@ #87/213
Th
● Microcontroller architecture
– Atmel ATtiny85 block diagram
● System clock and frequency
● Peripherals
– Digital input/output
– Analog input/output
– Interrupts
– Serial and other interfaces

@ #88/213
Th Microcontroller architecture: Atmel ATtiny85
● Instruction decoder, ALU
● Registers and pointers
● Flash and data memory
● Counters & comparators
● Input and output (A & D)
● Many other modules
– Too complicated, isn’t it? :)

@ #89/213
Th
MCU
CPU
Microcontroller Architecture Simplified
Memory
Flash
Program & data
Flash
Program & data
SRAM
Data
SRAM
Data
EEPROM
Data
EEPROM
Data
Digital
● Input / output
● Serial
Digital
● Input / output
● Serial
● ISP (programming)
● Debugging
● ISP (programming)
● Debugging
Analog-digital
● Converters
● Comparators
Analog-digital
● Converters
● Comparators
Registers
● 32 Registers
● Program counter
● Stack pointer
● Status registers
● Control registers
Registers
● 32 Registers
● Program counter
● Stack pointer
● Status registers
● Control registers
● Oscillators
● Timing &
Pre-scalers
● Oscillators
● Timing &
Pre-scalers
● Instruction register & decoder
● ALU
●
● Instruction register & decoder
● ALU
●
● Interrupts
● Interrupts

@ #90/213
Th System Clock and Frequency
Internal
Oscillator
8 MHz
Internal
Oscillator
8 MHz
PLL
Multiplier
x 8
PLL
Multiplier
x 8
System
Clock Source
64 MHz
System
Clock Source
64 MHz
Clock
Source
Select
Clock
Source
Select
CKSEL – clock select CLKPS – clock prescale
External
Oscillator
1...20 MHz
External
Oscillator
1...20 MHz
Pre-scaler
X MHz
Pre-scaler
X MHz

@ #91/213
Th Peripherals: Digital input/output
MCU
DDRB
- - - 0 0 1 1 1
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET PORTB
- - - 0 0 0 0 0
PINB
- - - 0 0 0 0 0
B2
B1

@ #92/213
Th Peripherals: Analog input
MCU
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET
ADCH
0 0 0 0 0 0 0 0
ADCL
0 0 0 0 0 0 0 0

@ #93/213
Th Peripherals: Analog output
MCU
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET

@ #94/213
Th Peripherals: Interrupts
MCU
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET
B1
InterruptsInterrupts
void init_button(void) {
// Set PB0 as input
DDRB &= ~(1 << PB0);
// Enable pull up on PB0
PORTB |= (1 << PB0);
// Clear pin change intr flag
GIFR = (1 << PCIF);
// Enable pin change interrupt
GIMSK |= (1 << PCIE);
// Pin Change Mask
PCMSK |= (1 << PCINT0);
}
// Define interrupt vector
ISR (SIG_PIN_CHANGE) {
// Flip the LED bit vector
PORTB ^= (1 << LED1_PORT);
}

@ #95/213
Th Peripherals: Serial Interfaces
1 0 1 0 1 0 1 0
1 0 1 0 0 1 0 1

@ #97/213
Th
● Memory
● Registers
● Program counter
● Machine instructions
● Addressing methods
● Stack

@ #101/213
Th Machine Instructions
30: b8 9a sbi 0x17, 0
32: b9 9a sbi 0x17, 1
34: c0 9a sbi 0x18, 0
36: c1 98 cbi 0x18, 1
38: 8f e4 ldi r24, 0x4F
3a: 93 ec ldi r25, 0xC3
3c: 01 97 sbiw r24, 0x01
3e: f1 f7 brne .-4
40: 00 c0 rjmp .+0
42: 00 00 nop
44: c1 9a sbi 0x18, 1
46: c0 98 cbi 0x18, 0
48: 9f e7 ldi r25, 0x7F
4a: 28 e3 ldi r18, 0x38
4c: 81 e0 ldi r24, 0x01
4e: 91 50 subi r25, 0x01
50: 20 40 sbci r18, 0x00
52: 80 40 sbci r24, 0x00
54: e1 f7 brne .-8
56: 00 c0 rjmp .+0
58: 00 00 nop
5a: ec cf rjmp .-40
5c: f8 94 cli
5e: ff cf rjmp .-2

@ #102/213
Th Addressing Methods

# @105
LAB
● Machine instructions
● Machine cycles
● Delay implementation

# @106
LAB Machine Instructions

# @108
LAB Delay Implementation
inline void my_delay(uint8_t d) {
for (uint8_t i = d; i != 0; i--) {
asm volatile ("nopnt");
}
}
inline void my_delay(uint8_t d) {
for (uint8_t i = d; i != 0; i--) {
asm volatile ("nopnt");
}
}

# @110
LAB
● Types of memory
● Working with memory
● Addressing methods
● Capabilities and limitations
● Variables and size of the data
● Code and size of the code

# @111
LAB Types of Memory
● Flash Memory
● RAM
● EEPROM

# @112
LAB Working with Memory

# @114
LAB Variables and Size of the Data

# @115
LAB Capabilities and Limitations
● Atmel ATtiny85
– 8 Kbytes Flash
– 512 Bytes for data in the SRAM
– 512 Bytes for data in the EEPROM

# @116
LAB Code and Size of the Code

@ #118/213
Th
● Electricity
● Current and voltage
● Resistance
● Ohm’s law

@ #119/213
Th Electricity
● Electric charge
● Electric current
● Electric field
● Electric potential
REF: https://en.wikipedia.org/wiki/Electricity
REF: https://en.wikipedia.org/wiki/Electric_potential

@ #120/213
Th Current and voltage
● I – ampere
● V – volt
– AC & DC
● Current – a flow of electric charge
● Voltage – the difference in electric potential
REF: https://en.wikipedia.org/wiki/Voltage
REF: https://en.wikipedia.org/wiki/Electric_current

@ #121/213
Th Resistance
● Electrical conductor
● Resistance is the
difficulty to pass an
electric current
● R, Ohm
● G, conductance
G = 1 / R
REF: https://en.wikipedia.org/wiki/Electrical_resistance_and_conductance

@ #122/213
Th Ohm’s law
● Electric power
● P – watt
REF: https://en.wikipedia.org/wiki/Ohm's_law
REF: https://en.wikipedia.org/wiki/Electric_power

@ #124/213
Th
● Signals
● Electric signals
● Analog signals
● Digital signals
● Logic signals

@ #125/213
Th Signals
● Motion
● Sound
● Images, Videos
● Biological membrane
potentials
REF: https://en.wikipedia.org/wiki/Signal_(electrical_engineering)

@ #126/213
Th Electric signals
● Transducers
● Signal processing
REF: https://en.wikipedia.org/wiki/Signal_processing

@ #127/213
Th Analog signals
REF: https://en.wikipedia.org/wiki/Analog_signal

@ #128/213
Th Digital signals
REF: https://en.wikipedia.org/wiki/Digital_signal

@ #129/213
Th Logic signals
REF: https://en.wikipedia.org/wiki/Logic_level

# @131
LAB
● Voltage, current, resistance
● Working with multimeter
● Ohm’s law in practice
● Analog signals
– Graphical representation
● Working with oscilloscope

# @132
LAB Voltage, current, resistance

# @133
LAB Working with multimeter

# @134
LAB Ohm’s law in practice
● VS
= 5 V
● VLED
= 2 V
● ILED
= 10 mA
--------------------
● R = 300 Ohm
● PLED
= 0.02 W
REF: http://www.ohmslawcalculator.com/led-resistor-calculator

# @135
LAB Analog signals
REF: https://en.wikipedia.org/wiki/Sampling_(signal_processing)

# @136
LAB Working with oscilloscope
REF: https://en.wikipedia.org/wiki/Oscilloscope

# @138
LAB
● Digital signals
● Logic signals
● Working with oscilloscope
● Logic analyzer

# @139
LAB Digital signals
● Bipolar encoding
– AMI (Alternate mark inversion)
REF: https://en.wikipedia.org/wiki/Bipolar_encoding

# @140
LAB Logic signals
A logic signal waveform:
1)low level
2)high level
3)rising edge
4)falling edge
Technology L voltage H voltage Notes
CMOS 0 V to 1/3 VDD
2/3 VDD
to VDD
VDD
= supply voltage
TTL 0 V to 0.8 V 2 V to VCC
VCC
= 5 V ±10%
ECL VEE
to −1.4 V −1.2 V to 0 V VEE
is about −5.2 V

# @141
LAB Working with oscilloscope
● DSO Quad - 4 Channel Digital
Storage Oscilloscope

# @142
LAB Logic analyzer
REF: https://en.wikipedia.org/wiki/Logic_analyzer

# @143
LAB Logic analyzer - Software

@ #145/213
Th
● Digital signal
vs. Logic signal
● Continuous-time signal
vs. Discrete-time signal

@ #146/213
Th Digital Signal vs. Logic Signal
REF: https://en.wikipedia.org/wiki/Digital_signal
● Digital signal
● Logic signal

@ #147/213
Th Continuous-time Signal vs. Discrete-time Signal
● Continuous-time
Signal
● Discrete-time Signal
REF: https://en.wikipedia.org/wiki/Continuous_signal
REF: https://en.wikipedia.org/wiki/Discrete-time_signal

@ #149/213
Th
● Digital input-output ports
● Modes and configuration
● Digital output
● Working with bits
● Bitwise operations

@ #150/213
Th Digital Input-Output Ports
MCU
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET
OutputOutput
InputInput

@ #151/213
Th Modes and Configuration
MCU
DDRB
- - - 0 0 1 1 1
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET PORTB
- - - 0 0 0 0 0
PINB
- - - 0 0 0 0 0

@ #152/213
Th Digital Output
MCU
DDRB
- - - 0 0 1 1 1
PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET PORTB
- - - 0 0 0 0 0
PINB
- - - 0 0 0 0 0

@ #153/213
Th Working with Bits

@ #154/213
Th Bitwise Operations
● AND
– Set to 0
Clear
● OR
– Set to 1
Set
● XOR
– Change
Flip
A1 A2 B
0 0 0
0 1 1
1 0 1
1 1 1
A1 A2 B
0 0 0
0 1 0
1 0 0
1 1 1
A1 A2 B
0 0 0
0 1 1
1 0 1
1 1 0

# @156
LAB
● Working with bits
● Input-output ports configuration
● Digital output: set and clear a bit

# @157
LAB Working with Bits
Set the bit:
Bit 0 of register DDRB is 1
#include <avr/io.h>
int main(void) {
DDRB |= (1 << 0);
DDRB &= ~(1 << 4);
for (;;) {
// ...
// ...
}
return (0);
}
Clear the bit:
Bit 4 of register DDRB is 0

# @158
LAB Input-Output Ports Configuration
Set the bit:
Bit 0 (PB0) of register DDRB is 1
The port is configured as output
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB0);
DDRB &= ~(1 << PB4);
for (;;) {
// ...
// ...
}
return (0);
}
Clear the bit:
Bit 4 (PB4) of register DDRB is 0
The port is configured as input

# @159
LAB Digital Output: Set and Clear a Bit
Set the bit:
Bit 0 (PB0) of register PORTB is 1
LED turns on
Clear the bit:
Bit 0 (PB0) of register PORTB is 0
LED turns off
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB0);
for (;;) {
PORTB |= (1 << PB0);
_delay_ms(200);
PORTB &= ~(1 << PB0);
_delay_ms(400);
}
return (0);
}

# @161
LAB
● Blinking LED
● Making sound
● Blinking LED and making sound
– Alternating
– Simultaneously

# @162
LAB Blinking LED
Loop
LED: turn on
Delay: 200 ms
LED: turn off
Delay: 400 ms
LED port: set as output
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB0);
for (;;) {
PORTB |= (1 << PB0);
_delay_ms(200);
PORTB &= ~(1 << PB0);
_delay_ms(400);
}
return (0);
}

# @163
LAB Making Sound
Loop
Buzzer: turn on
Delay: 500 μs
Buzzer: turn off
Delay: 500 μs
Buzzer port: set as output
#include <avr/io.h>
int main(void) {
DDRB |= (1 << PB4);
for (;;) {
PORTB |= (1 << PB4);
_delay_us(500);
PORTB &= ~(1 << PB4);
_delay_us(500);
}
return (0);
}

# @164
LAB Blinking LED and Making Sound
● Case 1 – alternating
1) LED turns on
Buzzer is silent
2) LED turns off
Buzzer makes sound
● Case 2 – simultaneously
1) LED turns on
Buzzer makes sound
2) LED turns off
Buzzer is silent

# @165
Ss
Self-study
● Wri t e a program t hat wi l l have t he f ol l owi ng
f eat ures:
– Pl ays a sequence of t ones
– Has i mpl ement ed a f unct i on ( pr ocedur e) t hat
pr oduces a t one wi t h speci f i c pi t ch
● Advanced:
– Pl ays al l t he t ones f or exact l y t he same amount
of t i me

@ #167/213
Th
● Digital input
● Continuous-time signal
vs. discrete-time signal
● Digital signal discretization

@ #168/213
Th Digital Input
MCU
DDRB
- - - 0 0 1 1 1 PB0
PB1
PB2
Vcc
GND
PB4
PB3
RESET
PINB
- - - 0 0 0 0 0

@ #169/213
Th Continuous-time Signal vs. Discrete-time Signal
● Discrete-time
signal
● Continuous-time
signal

@ #170/213
Th Digital Signal Discretization
1 0 1 0 1 0 1 0
1 0 0 1 1
REF: https://en.wikipedia.org/wiki/Discretization

@ #172/213
Th
● Digital signal vs. Analog signal
● Transient response
● Contact bounce and de-bounce

@ #173/213
Th Digital Signal vs. Analog Signal
1 0 1 0 0 1 0
1 0 1 0 1 0 1 0 1

@ #174/213
Th Transient Response
0 1 0 1 0
REF: https://en.wikipedia.org/wiki/Transient_response

@ #175/213
Th Contact Bounce and De-bounce
1 0 1 0 0
REF: https://en.wikipedia.org/wiki/Switch#Contact_bounce

# @177
LAB
● Digital input
– Reading PINB register
– Checking a bit
● I/O ports configuration
● Reading a button

# @179
LAB I/O Ports Configuration

# @182
LAB
● Button bounce
● De-bounce

# @185
Ss
Self-study
● Wri t e a program wi l l do t he f ol l owi ng:
– When you pr ess t he but t on t he LED wi l l swi t ch on
– When you pr ess t he but t on agai n t he LED wi l l
swi t ch of f

@ #187/213
Th
● Communication interfaces
● Parallel interfaces
● Serial interfaces
● Synchronous serial interfaces
● Asynchronous serial interfaces

@ #188/213
Th Communication Interfaces

@ #189/213
Th Parallel Interfaces

@ #190/213
Th Serial Interfaces

@ #191/213
Th Synchronous Serial Interfaces

@ #192/213
Th Asynchronous Serial Interfaces

@ #194/213
Th
● SPI interface
● UART interface
● RS-232 interface
● RS-485 interface

@ #197/213
Th RS-232 Interface

@ #198/213
Th RS-485 Interface

# @200
LAB
● Asynchronous serial interface implementation
– Basic principles
– Bit-banging
● Transmitting the data
– Implementation

# @201
LAB Asynchronous Serial Interface Implementation – Basic Principles

# @202
LAB Asynchronous Serial Interface Implementation – Bit-Banging

# @203
LAB Transmitting the Data - Implementation

# @204
LAB Transmitting the Data – Some Source Code

# @206
LAB
● Sending the data out
– USB-to-Serial adapter
● Transmitting data to another computer

# @207
LAB Sending the Data Out - USB-To-Serial Adapter

# @208
LAB Transmitting Data to Another Computer

# @209
Ss
Self-study
● Wri t e a program wi l l do t he f ol l owi ng:
– . . .

Friday, April 21, 2017 #212/213
● Author: Neven Boyanov
Facebook: https://www.facebook.com/boyanov
Twitter: https://twitter.com/boyanov
● Copyright (c) 2016-2017 by Neven Boyanov. All Rights Reserved.
● Licensing: CC-BY-SA-3.0
Creative Commons Attribution–ShareAlike License
Full text: https://creativecommons.org/licenses/by-sa/3.0/legalcode
More info: https://creativecommons.org/licenses/by-sa/3.0/
● Retain in your derivative work a note about the original author
Neven Boyanov and the link http://boyanov.org to the author’s
website.

Friday, April 21, 2017 #213/213
Good-bye!

Microcontrollers and embedded devices

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