Microcontrollers and embedded devices

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Microcontrollers and Embedded DevicesMicrocontrollers and Embedded Devices

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Th

● Introduction to microcontrollers and embedded devices.– History– Single-board computer– Single-chip computers– Embedded devices– Robots.

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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

https://en.wikipedia.org/wiki/Single-board_computer

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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

https://en.wikipedia.org/wiki/System_on_a_chip

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Th History: Embedded systems, microcontrollers

REF: https://en.wikipedia.org/wiki/Embedded_systemREF: https://en.wikipedia.org/wiki/Microcontroller

● Apollo Guidance Computer

● Microcontroller

https://en.wikipedia.org/wiki/Embedded_system

https://en.wikipedia.org/wiki/Microcontroller

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Th Little History: Robots

REF: https://en.wikipedia.org/wiki/Robot

Karel Čapek

ASIMO by Hondaadvanced humanoid robot

Industrial robots assembling cars

https://en.wikipedia.org/wiki/Robot

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Th Little History: Internet-of-things (IoT)

REF: https://en.wikipedia.org/wiki/Internet_of_things

https://en.wikipedia.org/wiki/Internet_of_things

@Th-01/1.99 PAUSE #8/88

Th

@Th-01/2.00 TITLE #9/88

Th

● Numeral systems. Logical and bitwise operations.– Numeral systems; decimal, binary and other

numbers – conversion from and to; Logical and bitwise operations.

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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 9A B C D E F

https://en.wikipedia.org/wiki/Numeral_system

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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

https://en.wikipedia.org/wiki/Decimal

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Th Numeral system: Binary

● Binary:

0 or 1

true or false

yes or no

REF: https://en.wikipedia.org/wiki/Binary_number

binary decimal000 0

001 1

010 2

011 3

100 4

101 5

110 6

111 7

https://en.wikipedia.org/wiki/Binary_number

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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 FREF: https://en.wikipedia.org/wiki/Hexadecimal

https://en.wikipedia.org/wiki/Hexadecimal

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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 7REF: https://en.wikipedia.org/wiki/Octal

https://en.wikipedia.org/wiki/Octal

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Th Numeral system: Binary coded decimal

● Binary clock

REF: https://en.wikipedia.org/wiki/Binary-coded_decimal

binary decimal0000 0

0001 1

0010 2

0011 3

0100 4

0101 5

0110 6

0111 7

1000 8

1001 9

https://en.wikipedia.org/wiki/Binary-coded_decimal

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Th Boolean algebra

REF: https://en.wikipedia.org/wiki/Boolean_algebra

https://en.wikipedia.org/wiki/Boolean_algebra

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Th Boolean operations, Truth tablec4 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

https://en.wikipedia.org/wiki/Truth_table

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Th Bitwise operations

REF: https://en.wikipedia.org/wiki/Bitwise_operation

● AND ● OR ● XOR

● XNOR● NOR● NANDA1 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 1 B

0 0 1

0 1 1

1 0 1

1 1 0

A1 1 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

https://en.wikipedia.org/wiki/Bitwise_operation

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Th Bitshift operations


● Logical shift– Left – Right


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● Arithmetic shift

– Left – Right


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● Rotate no carry– Left – Right


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● Rotate through carry

– Left – Right


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Th

#Lab-01/1.00 TITLE @24

LAB

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

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LAB Demo: Embedded devices and robots

● Digital alarm clock ● Rover

● EmbeddedComputer

REF: https://en.wikipedia.org/wiki/Embedded_system REF: https://en.wikipedia.org/wiki/Rover_(space_exploration)

https://en.wikipedia.org/wiki/Embedded_system

https://en.wikipedia.org/wiki/Rover_(space_exploration

#Lab-01/1.02 @26

LAB Demo: Quadcopter

REF: https://en.wikipedia.org/wiki/Quadcopter

https://en.wikipedia.org/wiki/Quadcopter

#Lab-01/1.03 @27

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

#Lab-01/1.04 @28

LAB Simulation: Microcontrollers – Atmel Studio Stimuli

● Atmel StudioStimuli

REF: Atmel Studio Stimuli

#Lab-01/1.05 @29

LAB Simulation: Microcontrollers – Web based platforms

● Autodesk 123D – Circuit.io

REF: https://circuits.io

https://circuits.io/

#Lab-01/1.99 PAUSE @30

LAB

#Lab-01/2.00 TITLE @31

LAB

● Introduction to microcontrollers and embedded devices.– Conversion between numeral systems.– Logical, bitwise and and arithmentic operations. Optimizations.

#Lab-01/2.01 @32

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=...

#Lab-01/2.02 @33

LAB Numerical conversion: decimal to binary

#Lab-01/2.03 @34

LAB Numerical conversion: hexadecimal to/from binaryDEC 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

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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 */

https://en.wikipedia.org/wiki/Bitwise_operations_in_C

#Lab-01/2.05 @36

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 */


#Lab-01/2.06 @37

LAB Bitwise operations: shifting, arithmetic equivalents

● Right shiftDivide 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 shiftMultiply 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 */



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LAB Bitwise operations: Microcontroller – simplified architecture

#Lab-01/2.08 @39

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 */

#Lab-01/2.09 @40

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 */

#Lab-01/2.10 @41

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 */

#Lab-01/2.11 @42

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 */ }

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LAB Bitwise operations: Check and conditionally set/clear bit

● Check if a bit is set/clear and depending on that set/clear another bit

#Lab-01/2.99 PAUSE @44

LAB

@Th-02/1.00 TITLE #45/88

Th

● Designing of a microcontroller system– Basic principles in the design of a microcontroller

systems.– Defining of the requirements and

implementation.

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Th

Microcontroller

Designing of a microcontroller system: Basic principles

CPUCPURAMRAM

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

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Th

Protection

Designing of a microcontroller system: Basic principles

PowerPower

ResetReset

Peripherals Peripherals

Microcontroller Microcontroller ProgrammingProgramming

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Th

@Th-02/2.00 TITLE #49/88

Th

● Minimal microcontroller configuration– The minimal allowed

(or acceptable, based on the requirements)microcontroller configuration.

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Th Minimal microcontroller configuration: Atmel ATtiny85

Microcontroller

AtmelATtiny85

● RAM 512 bytes● Flash 8 Kbytes● ROM 512 Bytes

● Clock 1/8/20 MHz

Microcontroller

AtmelATtiny85



Vcc Vcc

PB2PB2

PB1 PB1

PB0 PB0

ResetReset

PB3PB3

PB4PB4

GND GND

(+)PowerSupply

(-)

(+)PowerSupply

(-)

ResetReset

@Th-02/2.02 #51/88

Th Tinusaur

● Digital input● Digital output● Analog to digital input● Pulse-width modulation

(analog output)● Timers● Serial input and output

PB0PB0

PB1PB1

PB2PB2

PB3PB3

PB3PB3

@Th-02/2.99 PAUSE #52/88

Th

#Lab-02/1.00 TITLE @53

LAB

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

#Lab-02/1.01 @54

LAB Circuit diagram

Microcontroller

AtmelATtiny85



Microcontroller

AtmelATtiny85



Vcc Vcc

PB2PB2

PB1 PB1

PB0 PB0

ResetReset

PB3PB3

PB4PB4

GND GND

(+)

Power3.3 V

(-)

(+)

Power3.3 V

(-)

Reset

10K

100uF

100nF

REF: https://en.wikipedia.org/wiki/Circuit_diagram

https://en.wikipedia.org/wiki/Circuit_diagram

#Lab-02/1.02 @55

LAB PCB

#Lab-02/1.03 @56

LAB Assembling

#Lab-02/1.99 PAUSE @57

LAB

#Lab-02/2.00 TITLE @58

LAB

● Minimal microcontroller configuration– Programming and testing of a minimal microcontroller system.

(under Windows and Linux)

#Lab-02/2.01 @59

LAB Programming the microcontroller

#include <avr/io.h>#include <util/delay.h>

int main(void) { DDRB |= (1 << PB3);

while (1) { PORTB |= (1 << PB3); _delay_ms(200); PORTB &= ~(1 << PB3); _delay_ms(400); }

return (0);}

#Lab-02/2.02 @60

LAB Testing Programs

● Testing programs forShield LEDx2– Blinking LED– Blinking LEDs– Fading LED/LEDs

● Testing programs forShiled EDUx4IO– Blinking LED– Buzzer sound

#Lab-02/2.99 PAUSE @61

LAB

@Th-03/1.00 TITLE #62/88

Th

● Development tools.● Compiling the source code to binary.● Cross-compilers for C/C++ and Assembly

language.● Specialized development environments.

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Th Development Tools

● Compilers● Linkers and other tools.● Programmers.● Debugging tools.

@Slide 64 #64/88

Th Compiling to Binary




return (0);}

B 8 9 A B 9 9 AC 0 9 A C 1 9 88 F E 4 9 3 E C0 1 9 7 F 1 F 70 0 C 0 0 0 0 0C 1 9 A C 0 9 89 F E 7 2 8 E 38 1 E 0 9 1 5 02 0 4 0 8 0 4 0E 1 F 7 0 0 C 00 0 0 0 E C C FF 8 9 4 F F C F

@Slide 65 #65/88

Th Cross-compilers for C/C++ and Assembly Language




return (0);}

30: b8 9a sbi 0x17, 032: b9 9a sbi 0x17, 134: c0 9a sbi 0x18, 036: c1 98 cbi 0x18, 138: 8f e4 ldi r24, 0x4F3a: 93 ec ldi r25, 0xC33c: 01 97 sbiw r24, 0x013e: f1 f7 brne .-440: 00 c0 rjmp .+042: 00 00 nop44: c1 9a sbi 0x18, 146: c0 98 cbi 0x18, 048: 9f e7 ldi r25, 0x7F4a: 28 e3 ldi r18, 0x384c: 81 e0 ldi r24, 0x014e: 91 50 subi r25, 0x0150: 20 40 sbci r18, 0x0052: 80 40 sbci r24, 0x0054: e1 f7 brne .-856: 00 c0 rjmp .+058: 00 00 nop5a: ec cf rjmp .-405c: f8 94 cli5e: ff cf rjmp .-2


@Slide 66 #66/88

Th Specialized Development Environment

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Th

@Th-03/2.00 TITLE #68/88

Th

● Compiling the source code to binary.● Linking the compiled binary code.● Deployment.● Debugging tools.

@Slide 69 #69/88

Th Compiling the Source Code to Binary




return (0);}

B 8 9 A B 9 9 AC 0 9 A C 1 9 88 F E 4 9 3 E C0 1 9 7 F 1 F 70 0 C 0 . . .

● main.c– int main(void) {

...

... }

● mylib.c● myio.c

@Slide 70 #70/88

Th Linking the Compiled Binary Code


B 8 9 A B 9 9 AC 0 9 A C 1 9 88 F E 4 9 3 E C0 1 9 7 F 1 F 70 0 C 0 . . .

@Slide 71 #71/88

Th Deployment


● Enter programming mode● Upload binary code● Verify data● Start program

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Th Debugging Tools

● Debugging● Debugging tools

@Th-03/2.99 PAUSE #73/88

Th

#Lab-03/1.00 TITLE @74

LAB

● Development tools.– GCC-AVR, make, AVRDUDE.

● Specialized development environments.– Atmel AVR Studio.– Arduino IDE. Installation and setup.

● Specialized debugging tools.

#Slide 75 @75

LAB GCC-AVR, make, AVRDUDE

#Slide 76 @76

LAB Atmel AVR Studio

#Slide 77 @77

LAB Arduino IDE

● Edit source code● Verify source code● Upload

#Slide 78 @78

LAB Specialized Debugging Tools

● Print over serial line● Specialized tools

#Lab-03/1.99 PAUSE @79

LAB

#Lab-03/2.00 TITLE @80

LAB

● “Hello, World!” for microcontrollers: the blinking LED.– Setup and algorithm.– 1 blinking LED.– 2 blinking LEDs.

● Practical implementation.– Loop and delay.– Compiling.– Uploading.

● Advanced– Using timers – the idea.

#Slide 81 @81

LAB Setup

Microcontroller

AtmelATtiny85



Microcontroller

AtmelATtiny85



Vcc Vcc

PB2PB2

PB1 PB1

PB0 PB0

ResetReset

PB3PB3

PB4PB4

GND GND

330Ω

330Ω

#Slide 82 @82

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>#include <util/delay.h>


for (;;) { PORTB |= (1 << PB0); _delay_ms(200); PORTB &= ~(1 << PB0); _delay_ms(400); }

return (0);}

Loop: start, infinite

#Slide 83 @83

LAB 2 Blinking LEDs


// -----------------------------

#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);}

#Slide 84 @84

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 vectorISR (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);}

#Lab-03/2.99 PAUSE @85

LAB

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END.

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● Author: Neven Boyanov● Licensing: CC-BY-SA-3.0

Creative Commons Attribution–ShareAlike LicenseFull text: https://creativecommons.org/licenses/by-sa/3.0/legalcodeMore info: https://creativecommons.org/licenses/by-sa/3.0/

https://creativecommons.org/licenses/by-sa/3.0/legalcode

https://creativecommons.org/licenses/by-sa/3.0/

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Good-bye!

Microcontrollers and embedded devices

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