DsPIC Seminar Q205

dsPIC® DSC Introductory Seminar

© 2004, Microchip Technology Incorporated, All Rights Reserved.

1

© 2005 Microchip Technology Incorporated dsPIC® DSC Introductory Seminar Slide 1

dsPIC®

Digital Signal Controller (DSC) Introductory Seminar

2005

30 MIPS Computing Power in a 6x6 mm Package


Seminar Agenda

Session Time

Corporate Overview 9:00—9:15am

Architecture 9:15—10:30am

Break 10:30—10:45am

MPLAB® VDI Demonstration 10:45—11:15am

Peripherals 11:15—11:50am

Live Demonstrations 11:50—12:30pm

Lunch 12:30—1:30pm

Software/Hardware Tools 1:30—1:50pm

Hands-on 1:50—2:50pm

Libraries/Applications 2:50—3:15pm

Session Wrap-up 3:15—3:30pm



2


Learning Objectives

What is a Digital Signal Controller

Identify key dsPIC® DSC architecture features

Identify key dsPIC DSC DSP architecture features

Identify the advanced dsPIC DSC peripheral set

What software development tools are available

What hardware development tools are available

What software libraries are available

What application libraries are available

Where do you go from here


Who is Microchip?

Leading semiconductor manufacturer:

of high-performance, field-programmable, 8-bit & 16-bit RISC Microcontrollers

of Analog & Interface products

of related Memory products

for high-volume embedded control applications

$699M in product sales in FY04

More than 3,500 employees

Headquartered nearPhoenix in Chandler, AZ

“The Silicon Desert”



3


Worldwide Technical Support Centers & Manufacturing Facilities

DetroitChicagoToronto

BostonSan JoseLos Angeles New York

DallasAtlanta

LondonParis

MilanMunich

Bangalore Hong Kong

Seoul

Shenzhen

Beijing •.•.

Phoenix

Kaohsiung

ChengduFuzhou

Sydney

Kokomo

•.Copenhagen

•.Qingdao

Arizona Manufacturing and

Corporate HQ

OregonManufacturing

Bangkok Test & Assembly

Shanghai

Shanghai Test & Assembly

Singapore

Shin-Yokohama

Taipei


Worldwide 8-Bit Microcontroller Market Share (Units)

Based on unit shipment volume 1990-2002, Source: Dataquest, July 2003

1990 1991 1992 1993 1994 1995/96 1997-01 2002-2004No. Rank Rank Rank Rank Rank Rank Rank Rank1 Motorola Motorola Motorola Motorola Motorola Motorola Motorola Microchip2 Mitsubishi Mitsubishi Mitsubishi Mitsubishi Mitsubishi Mitsubishi Microchip Motorola3 NEC NEC Intel NEC NEC SGS-Thomson ST-Micro ST-Micro4 Intel Intel NEC Hitachi Philips NEC NEC NEC5 Hitachi Hitachi Philips Philips Intel Microchip Philips Atmel6 Philips Philips Hitachi Intel Microchip Philips Atmel Sunplus7 Matsushita Matsushita Matsushita SGS-Thomson Zilog Zilog Hitachi Hitachi8 National SGS-Thomson SGS-Thomson Microchip SGS-Thomson Hitachi Toshiba Fijitsu9 Siemens Siemens National Matsushita Matsushita Fujitsu Samsung Philips10 TI TI TI Toshiba Hitachi Intel Elan Toshiba11 Sharp National Zilog National Toshiba Siemens Zilog Mitsubishi12 Oki Toshiba Toshiba Zilog National Toshiba Matsushita Samsung13 Toshiba Sony Siemens TI TI Matsushita Infineon Elan14 SGS-Thomson Sharp Microchip Siemens Ricoh TI Fujitsu Winbond15 Zilog Oki Sharp Sharp Fujitsu National Mitsubishi Zilog16 Matra MHS Zilog Sanyo Oki Siemens Temic Sanyo Sanyo17 Sony Microchip Matra MHS Sony Sharp Sanyo Winbond Matsushita18 Fujitsu Matra MHS Sony Sanyo Oki Ricoh National Infineon19 AMD Fujitsu Oki Fujitsu Sony Oki Sony Holtek20 Microchip Sanyo Fujitsu AMD Temic Sharp Holtek National



4


PIC® MicrocontrollerProduct Migration Path

80/84-PinFamily64/68-Pin

Family40/44-Pin

Family28-PinFamily

18/20-PinFamily

14-PinFamily

.5K—2K Words

1K—2K Words

.5K—4K Words

.5K—16K Words

2K—16K Words

4K—64K Words

8K—64K Words

Seamless Migration

212 ProductsFlash, OTP and ROM Superior Analog functionalityOutstanding Flash enduranceIndustry’s strongest product and family migration path

8-PinFamily


Where Are We Today?RF

Xmit/receive IR

Commu-nications

PowerDrivers

MotorsRelays

Print-heads

DigitalPeripherals

PWMRTC

LEDDrivers

LCDDrivers

AmplifiersSensors Filters

SRAM

A/D

Microcontrollers D/A

PrecisionVoltage

Reference

Bus Comm.- CAN bus - USB- LinBus

PowerManagementPower

High Voltage

I/O’s

TelecomDTMFCodec

Serial NVMemory

Digital Pot

Xceivers- RS232/485- CAN bus- USB

Offered by Microchip



5


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






16-bit Digital Signal Controller

Architecture



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The DSP

Space

8-bit MCU1 - 10 MIPS

16-bit MCU5 - 15 MIPS

32-bit MCU

PRICE

PER

FOR

MA

NC

E

What is DSC ?Digital Signal Control

Embedded Control+

Digital Signal Processing

dsPIC30FThe 16-bit MCU with

the power of DSP


Digital Signal Controller

Looks Like a MCU

Performs Like a DSP

Priced Like a MCU



7


Why DSC?

100% Flash with automotive quality

Innovation with new hardware modules

Focus on low pin count with migration option from day 1 on.

Up to 30 MIPS performance

Focus on ease-of-use with common tools

DS


dsPIC30F Controller Family

Flash Program Memory: 12 K—144 KbytesRAM 512—8 KbytesData EEPROM 1K—4 KbytesPin-count 18—80 pinsTimers 16-bit Up to 5Input Capture Up to 8Output Compare/PWM Up to 8 (individual time bases)Motor Control PWM 6 or 8 with shutdown pinsA/D converter 10-bit, 1 Msps, up to 16 ch A/D converter 12-bit, 200 ksps, up to 16 chUART 1—2SPI™ (8-/16-bit) 1—2I2C™ 1QEI 1Codec interface 1CAN 1—2



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High performance 16-bit CPU with industry leading C compiler efficiency

Seamless integration of DSP and MCU functionality

Flexible, reliable Flash program memory

Wide operating voltage range (2.5V—5.5 V)

Fast, deterministic interrupt system—5 cycle latency

Competitive DSP performance

Advanced peripheral I/O features

Fast, precise 10- & 12-bit A-to-D Converters

Data EEPROM and SRAM

In-circuit debug capabilities

Designed for the Pole Position


194%186%

161%

100%108%

118%

141%

C Compiler Efficiency

Nea

rest

Com

pet

itor

Furt

hes

t Com

pet

itor

dsP

IC30F

dsPIC30F includes features to enhance C code

efficiency

⇓New instruction types

+

More flexible addressing

+

Software stack

=

Smallest C code

32-bit math-intensive code16-bit competition(~ 50KB code)

EEMBC industry std. Benchmarks, Automotive Suite



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dsPIC® DSC Performance Benchmark

Company MCUFamily

InstructionCycle Rate

(MHz) #

# of Cyclesper

Instruction

AverageThroughput

(MIPS) 1

Microchip dsPIC30F 30 1-2 28

Infineon XC166 40 1-6 28

TI 320LF240x 40 1-4 21

Motorola 56F80x 40 1-8 19

Hitachi H8S/26xx 33 1-7 15

Infineon C16x 25 2-4 12

ST Micro ST10F269 20 2-4 9

Mitsubishi M16C 20 1-8 8

Motorola MC9S12D 25 2-6 6

Company MCUFamily

InstructionCycle Rate

(MHz) #

# of Cyclesper

Instruction

AverageThroughput

(MIPS) 1

Microchip dsPIC30F 30 1-2 28

Infineon XC166 40 1-6 28

TI 320LF240x 40 1-4 21

Motorola 56F80x 40 1-8 19

Hitachi H8S/26xx 33 1-7 15

Infineon C16x 25 2-4 12

ST Micro ST10F269 20 2-4 9

Mitsubishi M16C 20 1-8 8

Motorola MC9S12D 25 2-6 6

1. dsPIC30F actual, other estimated based on instruction frequency analysis using control-centric code.


Seamless integration of DSP and MCU

W Array

16 x 16

24-bit PCControl

DSPEngine

MCU ALU

Data Memory(RAM)

32K x 16 bit

DSP: dual accessMCU: single access

X A

GU

Y A

GU

InstructionPre-fetch & Decode

PS

V/

TA

BLE

Ac c

ess

Cn

trl

Address PathMCU/DSP Data Path Program Data/Control Path

DSP Data Path

ProgramMemory

4M x 24 bit

Linear

One instruction setOne register file



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Flash Performance Summary

All dsPIC® DSC devices are Flash

PMOS Electrically Erasable Cell (PEEC) Flash

Industry leading reliability

Endurance up to 1M E/W Cycles

Data retention >40+ years

Flexible operation

Fast programming times for program memory

Self-programmable (RTSP)


Flash Performance Summary

25°CE/W Cycles

85°CE/W Cycles Retention

ProgramFlash 100,000 10,000 >40 Years

Data EEMemory 1,000,000 100,000 >40 Years



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Operating Parameters

Operating Speed @ 5V (-40ºC to 85ºC) : 30 MIPS

VDD: 2.5 to 5.5V

Temp: -40º C to 125º C

Program Memory: Flash (PEEC)

Data Memory: SRAM, EEPROM (PEEC)

Analog: 10-bit & 12-bit precision

Package sizes

18-pin SO & SP

28-pin SO, SP and QFN

40-pin SP; 44-pin TQFP and QFN

64- and 80-pin TQFP

DS


Knowledge Check #1

Which of these features help the C compiler generate efficient code?

A: New addressing modes

B: Software stack

C: Lots of caffeine

D: 16 W registers

E: New instructions

Bonus Question: Which item above helps the C compiler programmer generate efficient code?

C: Lots of caffeine



12


dsPIC® DSC/PIC® MCU Compatibility

Compatibility made easy

dsPIC® DSC is very compatible with PIC® MCUCompatible pinouts

Compatible peripheral look and feel

Compatible instructions

Compatible tools

Remember—dsPIC DSC is:

DSP plus a lot of PIC MCU


dsPIC® DSC peripherals have the same I/O as PIC® MCU peripheralsdsPIC DSC peripherals have the same functionality as PIC MCU

peripherals

Peripheral Compatibility

TMR TMR

SPI™

SDO

SDI

SCK

CCP CCP

UARTTX

RX

I2C™SCL

SDA

CANTXx

RXx

TMR TMR

SPI™

SDO

SDI

SCK

IC IC

OC

UARTTX

RX

I2C™SCL

SDA

CANTXx

RXx

PIC® MCU dsPIC® DSC

OC



13


dsPIC® DSC INSTRUCTIONS

Instruction Set Compatibility

dsPIC® DSC processor architecture is based on PIC®

MCU

dsPIC DSC Programmer’s Model is a superset of PIC MCU

Many PIC18XXX instructions are included in dsPIC DSC

PIC® MCU INSTRUCTIONS


Tools Compatibility

All Microchip tools are useable on dsPIC® DSC

Same user interface

PIC® MCU customers will be comfortable using dsPIC DSC tools



14


Memory Organization


Program Memory

Modified Harvard Bus Architecture

Single Core : MCU + DSP

Instruction is 24-bit wide

Total Architecture Reach:

4M x 24-bitLinear Program Space

Devices contain up to 144 Kbytes Flash Memory

No Paging or Segmentation

144 Kbytes Flash

4M Total

24 Bit Instruction



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Programming Flash Memory

Run-Time Self Programming (RTSP):

Run Time Self Programming OR Self Programming

Device can program its own Flash memory

Programs a block of 96 bytes at a time in ~ 2 ms

Ideal for calibration or parameterization in system cal

Ideal for remote code update

All dsPIC® DSC devices support RTSP


Programming Flash Memory

In-circuit Serial Programming™ (ICSP™) capability:

Device is soldered in the system

Programming is done using:

2 data/clock pins + reset pin forced high

Ideal for combined programming and final test at system level

Ideal for field update of Flash memory through a small header

Programming time: ~18 seconds for 144 Kbytes

All dsPIC® DSCs support ICSP capability



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Up to 4 Kbytes Data EE Memory

Run-time programmable

Row and word erasable

Row and word programmable

Modify a row of 16 words in 2 ms

Can access data EEPROM for 16-bit data read operations

MOV [++w4], [w6++]

Data EEPROM Memory used as source address for data read operation

Data EEPROM Memory


Data Memory

Data is 16-bit wide

Byte addressable

Total Space:

64 Kbytes Linear Data Space

No Banking

Devices contain up to 8 Kbytes User RAM

Addressable Indirectly or with Memory Direct ‘MOV’ Instruction

8 Kbytes RAM

64 K Total

16 Bit Data



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Program Space Mapping into Data Space using PSV

32 Kbytes of Data Space may be mapped into any 16 K word ‘page’ in User Program Space

If PSV bit (CORCON<2>) = 1 and EA<15> =1 (e.g. EA<15:1> = 0x8000), then Data Space window in Program Space is used

PSVPAG (Program Space Visibility Page Register) supplies the upper byte in the 24-bit PS address

Supported for X Data Memory Reads Only

May be used for accessing constant coefficients in a FIR or FFT algorithm


Data Memory

Example—Program Space Visibility

Program Memory

0x02

PSVPAG

0xABCD0xFFFF

32K PSVWindow

0x9000

0x8000

0x0000

+

0x017FFE

15 00x010000

0x000000

0x011000

0xABCD15 023

EA<15>=1and PSV = 1



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Instruction Set/Addressing Modes


Instruction Set Functional Groups

Instruction Set Grouped by Function

Move instructions

Math and logic instructions

Bit instructions

Compare/skip instructions

Stack control instructions

Program flow control instructions

CPU operating mode control instructions

DSP instructions

MAC class of instructions

Non-MAC class of instructions



19


Instruction Set Overview

84 instructions (including DSP)

Nearly all are one word (24 bits)

Four are two words

Most instructions execute in 1 Cycle, except:

Program flow changes (2 cycles)

TABLE instructions (2 cycles)

Double Move instructions (2 cycles)

DO instruction (2 cycles)

Divide instruction (18 cycles)

Three operand instructions

A = B op C

Boosts code efficiency (assembly or C)


Programmer’s Model

Stack Pointer

W Registers

General PurposeData Registers

orAddress Pointers

DSP OPERANDRegisters

DSP ADDRESSRegisters

DSP Accumulators (40-bit)

ACCAACCB

Status Register

W0W1W2W3W4W5W6W7W8W9

W10W11W12W13W14W15

15 0

01516313239

Frame Pointer

CZOVNRAIPL1IPL2SABOABSBSAOBOA DA DC IPL0

Divide QuotientDivide Remainder

Stack Pointer Limit 15 0

SPLIM

0



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Knowledge Check #2

Most dsPIC® DSC instructions execute in?

A: not sure

B: 1 cycle

C: 2 cycles

D: 33 ns @ 30 MIPS

E: Answers B & D

F: Answer B only


Addressing Modes

Generic Addressing Modes:

Inherent ⇒ NOP, RESET, PUSH, POP, etc.

Literal (immediate) ⇒ MOV #0x1800, W0Register ⇒ ADD W4, W5, W6Memory Direct ⇒ ADD 0x500, WREGRegister Indirect with:

Pre-inc or Pre-dec ⇒ ADD W4, [++W5], [--W6]Post-inc or Post-dec ⇒ MOV [W4++], [W8--]Signed Literal Offset

Register Indexed ⇒ MOV [W4+W5], [W6]Special Addressing Modes:

Modulo (for circular buffers)

Bit Reverse (for FFT’s)



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Modulo Addressing

Modulo or “Circular” AddressingEliminates the software overhead associated with effective address (EA) correction, e.g. in FIR filters

Data address boundary checks are performed in hardware

Three types of modulo buffers for MCU and DSP operations

Buffer Start

Buffer End

Incrementing

Buffer Start

Buffer End

Decrementing

Buffer Start

Buffer End

Bi-directional


Interrupt Subsystem



22


Interrupt Subsystem Highlights

Interrupt Vector Table (IVT) has a unique vector for each source

8 non-maskable trap vectors

54 interrupt vectors

Vector location contains ISR address

Alternate IVT for flexible processing of interrupts

7 user-assigned priority levels for each interrupt

CPU has 16 priority operating levels

Sources with priority level greater than current CPU level can interrupt the CPU

Interrupt nesting supported

5 cycle latency for entry into ISR

3 cycles to return from ISR


Reset—GOTO AddressReserved

Address Error TrapStack Error Trap

Math Error TrapReservedReservedReserved

Oscillator Fail Trap

Interrupt Vector 0 Interrupt Vector 1 Interrupt Vector 2

••

Interrupt Vector 53 Reserved

0x000000

0x000084

0x0000FE

Interrupt Vector Table (IVT)

0x000004

Reset—GOTO Instruction

Reserved

0x00007E

Oscillator Fail Trap

Interrupt Vector 53

••••

Alternate Interrupt Vector

Table (AIVT)

Decreasing Natural Order Priority

Interrupt Vector Table

Reserved



23


Knowledge Check #3

Interrupt Entry Latency is?

A: 5 cycles

B: No need for interrupts, service in foreground

C: 3 cycles

D: 167 ns @ 30 MIPS

E: Answer A and D

Bonus Question: Do traps have a higher natural priority relative to normal interrupts?

A: Yes

B: No

C: In most cases


Traps for Robust Operation

Oscillator Failure Trap (level 14)

Address Error Trap (level 13)

Instruction fetch from illegal program space

Data fetch from unimplemented data space

Unaligned word access from data space

Stack Error Trap (level 12)

Stack overflow or underflow

Arithmetic Error Trap (level 11)

Divide by Zero

Unsaturated Accumulator Overflow (A or B)

Catastrophic Accumulator Overflow (either)

Accumulator Shift Overflow



24


DSP Engine


DSP Engine Block Diagram

40-bit Accumulator A

40-bit Accumulator B

Adder

Saturate

Negate

Sign Extend

17-bit Multiplier/Scaler

Operand Pre-processing

Zer

o-b

ackf

ill

Round L

ogic

Satu

rate

Bar

rel

Shi fte

r

From W Array

X D

ata

Bu

s

Enable

16

40

16

16

3233

40

40

40

To W Array

16 16

Key Modules:

17x17-bit Multiplier / Scaler

Sign Extend / Zero Backfill Logic

40-bit Adder and two Accumulators

Rounding and Saturation Logic

40-bit Barrel Shifter



25


DSP Features

There is a set of special DSP instructions included in dsPIC®

DSC that speed processing of the typical mathematic calculations used in filters, control loops and more

MAC instruction—Multiply and Accumulate

Also Multiply and Subtract, Square and Accumulate, etc.

19 special DSP instructions total

MULTIPLY, DIVIDE and bit shift instructions

REPEAT instruction—repeats an instruction many times

DO instruction—repeats a block of instructions many times

With DSP instructions, this complex equation can be computed using only 2 instruction words and 5 instruction cycles!

[ ] [ ] [ ] [ ] [ ]321 3210 −+−+−+= nxbnxbnxbnxbny


Single Cycle MAC Instruction

Sample Instruction SyntaxMAC W4*W5, A, [W8]+=2, W4, [W10]-=6, W5, W13

Optional Arguments

Source operand registers

X prefetch source

Y prefetch source

X prefetch

destination

Y prefetch

destinationDestination accumulator

Other Acc.Write-backdestination

Basic Syntax

FIR Filter Tap = 1 instruction cycle (33 ns)



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Special DSP Features

How does dsPIC® DSC assist real time processing?30 MIPS—up to 30 million calculations per secondPowerful instructions do many operations at the same time

Example: MAC instructionGets 2 data values from memoryMultiplies them togetherAdds the result to the accumulator

What does dsPIC® DSC have to help with high precision calculations?

The working registers of dsPIC DSC are all 16-bitsThe dsPIC DSC does 32-bit multiply and 32-bit divideThe dsPIC DSC has two 40-bit accumulators for calculation resultsSpecial instructions allow simple transfers of 16- and 32-bit data


Special Addressing Modes

DSP calculations involve a lot of data words. dsPIC® DSC has special addressing modes that help

Modulo addressing – scans through a block of data

Bit reversed addressing – needed by Fast Fourier Transform (FFT) calculation software

16-bit and 32-bit data move operations

DSP calculations also need to adjust the values of the data —this can be termed “scaling”.

dsPIC DSC has two 40-bit accumulators and automatic scaling of data on reads and writes for each



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Knowledge Check #4

Super Bonus Question:

What is this equation used for?

What is it called?

[ ] [ ] [ ] [ ] [ ]321 3210 −+−+−+= nxbnxbnxbnxbny

This equation represents a digital filter

Finite Impulse Response (FIR) Filter


Normalized Cycle-Count ComparisonUsing BDTI Benchmarks

BDTI

Benchmark Results

Microchip dsPIC

30Fxxx* TI

C24x/C24xx

Motorola 56F83xx (56800E)

ADI 2199x (219x)

Vector Dot Product Real Block FIR Two Bi-Quad IIR Control**

1.00 1.00 1.00 1.00

1.16 1.32 2.12 2.05

1.07 1.11 1.29 2.06

1.32 1.02 1.47 1.76

* Projected Results ** Optimized for memory use; all other benchmarks optimized for speed.

BDTI

Benchmark Results

Microchip dsPIC

30Fxxx* TI

C24x/C24xx

Motorola 56F83xx (56800E)

ADI 2199x (219x)

Vector Dot Product Real Block FIR Two Bi-Quad IIR Control**

1.00 1.00 1.00 1.00

1.16 1.32 2.12 2.05

1.07 1.11 1.29 2.06

1.32 1.02 1.47 1.76


Results © 2005 Berkeley Design Technology, Inc.

Contact [email protected] for info.

DSP Performance Benchmark



28


Normalized Execution-Time ComparisonUsing BDTI Benchmarks (Lower is Better)

BDTI

Benchmark Results

Microchip dsPIC

30Fxxx* (30 MIPS)

TI C24x/C24xx

(40 MIPS)

Motorola

56F83xx (56800E) (60 MIPS)

ADI 2199x (219x) (160 MIPS)

Vector Dot Product Real Block FIR Two-Biquad IIR Control**

1.00 1.00 1.00 1.00

0.87 0.99 1.59 1.54

0.53 0.55 0.65 1.03

0.25 0.19 0.28 0.33


BDTI

Benchmark Results

Microchip dsPIC

30Fxxx* (30 MIPS)

TI C24x/C24xx

(40 MIPS)

Motorola

56F83xx (56800E) (60 MIPS)

ADI 2199x (219x) (160 MIPS)

Vector Dot Product Real Block FIR Two-Biquad IIR Control**

1.00 1.00 1.00 1.00

0.87 0.99 1.59 1.54

0.53 0.55 0.65 1.03

0.25 0.19 0.28 0.33



Results © 2005 Berkeley Design Technology, Inc.Contact [email protected] for info.


Normalized Memory-Use ComparisonUsing BDTI Benchmarks (Lower is Better)

BDTI

Benchmark Results

Microchip dsPIC

30Fxxx*

TI C24x/C24xx

Motorola

56F83xx (56800E)

ADI 2199x (219x)

Control

1.00

1.30

0.85

1.44

* Projected Results

BDTI

Benchmark Results

Microchip dsPIC

30Fxxx*

TI C24x/C24xx

Motorola

56F83xx (56800E)

ADI 2199x (219x)

Control

1.00

1.30

0.85

1.44

* Projected Results


Results © 2004 Berkeley Design Technology, Inc.Contact [email protected] for info.



29


System Management Features


System Management Features

dsPIC® DSC has the same system management features that PIC® MCU users love:

♥Configurable Watchdog Timer with its own RC oscillatorProgrammable Time out: 2 ms—16 sec

♥Power-on Reset with a programmable delay 0, 4, 16, 64 ms

♥Brown-out Reset with programmable levels

♥Low VDD Detect Interrupt with programmable levels



30


Clock sources

XTL, XT, HSPrimaryXtal OSC

Clock Divide By

1, 4, 16, 64

32 KHzTimer1 Xtal

OSC

SystemClock

Fast RC 7.37 MHz

Low Pwr RC 512 kHz

EC Clock

SOSCI

SOSCO

OSC1

OSC2

PLL4x,8x,16x

or bypass

Includes 2 internal RC oscillators

Primary oscillator for crystals

PLL multiplies oscillator source for high frequency operationClock divide can optionally slow clock to conserve power

32 kHz for teal time clock


Power Control in dsPIC® DSC

How do I manage the dsPIC DSC power consumption?

dsPIC DSC PWRSAV Instruction provides 2 power-down modes, Sleep and Idle

Sleep mode stops core and all peripherals

Idle mode stops core and ...

Optionally stops peripherals

Peripherals interrupt will wake-up device

Dynamic PLL mode switching

Run-Time input clock divide



31


Fail-Safe Operation

Features that make the target system safe!

Clock monitor detects oscillator failure

Automatic switch to an internal RC clock

Illegal Program Instruction

Device resets

Traps let software handle error conditions

Oscillator failAddress out-of-rangeStack out-of-rangeMath errors


Knowledge Check #5

Your application needs to run at 30 MIPS. How can the oscillator circuit be configured?

A: Use the Fast RC oscillator

B: Use the XT oscillator and the x16 PLL

C: Use the Internal 7.37 MHz Fast RC Oscillator and the x16 PLL

The system needs to minimize power, but receive a character from the UART. Which power saving state should the dsPIC® DSC be in?

A: Sleep mode

B: Comatose mode

C: Idle mode

D: UART mode



32


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






MPLAB® Visual Device Initializer (VDI)

Getting the dsPIC30F2010 Initialized with MPLAB VDI



33


MPLAB® VDI—Overview

Quick configuration of CPU and peripherals with resource conflict checks

Generates code for peripheral initialization

Readily extensible to other families and variants

Currently supports:PIC18C242, PIC18C252, PIC18C442, PIC18C452PIC18F2420, PIC18F2520, PIC18F2525, PIC18F2620, PIC18F4420, PIC18F4520, PIC18F4525, PIC18F4620PIC18F4680PIC18F6520, PIC18F6620, PIC18F6720, PIC18F8520, PIC18F8620, PIC18F8720dsPIC30F2010, dsPIC30F2011, dsPIC30F2012, dsPIC30F3010, dsPIC30F3011, dsPIC30F3012, dsPIC30F3013, dsPIC30F3014, dsPIC30F4011, dsPIC30F4012, dsPIC30F4013, dsPIC30F5011, dsPIC30F5013, dsPIC30F5015, dsPIC30F5016dsPIC30F6010, dsPIC30F6011, dsPIC30F6012, dsPIC30F6013, dsPIC30F6014, dsPIC30F6015dsPIC30F6010A, dsPIC30F6011A, dsPIC30F6012A, dsPIC30F6013A, dsPIC30F6014AComing soon: PIC16F785


Drag and drop operation

Context (right-click) menus

Feature configuration

Error (also reflected in Output window)

Zoom (shows pin allocation and signal direction)

One-click configuration of individual modules

Clicking on a module opens configuration dialog

MPLAB® VDI—Device Configuration



34


VDI is built into the MPLAB menu system as a plug-in (under Tools menu)

Code generation

Generates a C-callable assembly function

Uses ASM30 syntax for dsPIC30F

Uses MPASM syntax for PIC18XXX

Generates a C header file and an assembly include file

Project aware

Generated code written to project directory, automatically included in project

MPLAB® VDI—Integration into MPLAB Project


Pin mouse-over

Shows pin number, functions and selection

Allocates resources for ICSP™ programming/ICD, if needed

Device package selection (if others are available)

Support Information

VDI Report Generation

Separate reports for interrupts, pins and SFRs

Spawns Acrobat for Data Sheet and Errata

MPLAB® VDI—Other Features



35


MPLAB® IDE

User-friendly interface for editing, compiling, programming and debugging code

Color-coded source editor

Includes free assembler, linker and simulator

Support for several programming tools

MPLAB ICD 2, PRO MATE® II, PM3, MPLAB ICE-4000

C source level debugging

Supports third party tools

MPLAB Visual Device Initializer (VDI) support


MPLAB® VDI—Demo 1

See Appendix A

Getting your dsPIC® DSC Initialized with MPLAB VDI



36


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






dsPIC30F Advanced Peripherals



37


dsPIC30F Peripheral Summary

Analog Peripherals

10-bit A/D Converter

12-bit A/D Converter

Digital Peripherals

16-bit Timers (5)

Input Capture (8)

Output Compare (8)

Quadrature Encoder Interface

Motor Control PWM

Communication

UART (2)

SPI™ (2)

I2C™

Audio Codec Interface

CAN (2)

dsPIC30F has advanced peripherals for advanced applications



A/D Converters

10- or 12-bit

High-speed, Multi-channel



38


Feature Summary

Two A/D’s available on dsPIC® DSC depending on device family

10-bit A/D10-bit resolution with ± 1-bit accuracySample time—84 ns (typ.)1 µsec/1Msps conversion timeUp to 16 analog inputs, 4 S/H amplifiers

12-bit A/D 12-bit resolution with ± 1-bit accuracySample time—334 ns (typ.)5 µsec/200 ksps conversion timeUp to 16 analog inputs, 1 S/H amplifiers


Common Feature Summary

External VREF+ and VREF-

Analog Input Range: (VREF-) to (VREF+)

Allows uni-polar differential measurements

Reject common mode noise

Programmable sampling sequence

16 sample, dual-ported result buffer

Scan mode

Alternate sample mode

Multiple conversion trigger sources

Selectable result formats

Conversions in Sleep and Idle modes



39


12-bit A/D Block Diagram

VREF+

VREF-

A D C12-bit

200 ksps

ConversionControl

Bus Interface

DataFormat

16 wordBuffer

SampleSequence

Control

InputM

uxes

AN0

AN1S/H

AN15

CH0


10-bit A/D Block Diagram

VREF+

VREF-

A D C10-bit

1 Msps

ConversionControl

Bus Interface

DataFormat

16 wordBuffer

SampleSequence

Control

Input Muxes

AN0

AN1S/H

S/H

S/H

S/H

AN15

CH0

CH1

CH2

CH3



40


Multi-Channel Sampling

10-bit A/D has 4 Sample/Hold amplifiers

Enable 1, 2, or 4 per conversion sequence

Simultaneous sample, then convert OR

Sequentially sample

AN0

AN1

AN2

AN3

SIMULTANEOUSSAMPLING

SEQUENTIALSAMPLING

AN0

AN1

AN2

AN3

SIMULTANEOUSSAMPLING

SEQUENTIALSAMPLING


Knowledge Check #6

You need to oversample a 50 kHz signal by 10x. Which ADC module can you use?

A: 12-bit ADC

B: 10-bit ADC

C: Both

Which ADC module supports scanning mode?

A: 10-bit ADC

B: 12-bit ADC

C: Answer A only

D: Answer A and B



41



Motor Control PWM

Comprehensive Motor Drive


Motor PWM Feature Summary

Need an inverter control solution for ACIM, BLDC, SR motors?

Dedicated 16-bit timebase

Four PWM generators

Each PWM generator drives a pair of I/O pins

I/O can be complementary or independent

Center or edge aligned PWM

Programmable output polarity for I/O

Dead time unit prevents power shoot-through

Manual override control for motor commutation

2 fault pins control outputs without software

Programmable shutdown state

Two operating modes



42


Motor Control PWM Block Diagram

Four PWM output pairs with output polarity

control

Duty Cycle

Generator #3

Duty Cycle

Generator #2

Duty Cycle

Generator #1

Duty Cycle

Generator #4

PWM Override Logic

Dead Time Unit

Dead Time Unit

Dead Time Unit

Dead Time Unit

Fault A

Fault B

PWM4H

PWM1L

PWM1H

PWM2L

PWM2H

PWM3L

PWM3H

PWM4L

Two fault pins w/ programmable

fault states

16-bit Time Base

A/D Conversion Trigger

Dead Time B

Dead Time AOverride Control


Motor Control PWM

Independent mode used for switched reluctance motor

Special inverter circuit to control current in SR motors

Independent mode enables both devices to turn on

+V

PWM1H

PWM1L

PWM2H

PWM2L

PWM3H

PWM3L

PWM4H

PWM4L



43


Motor Control PWM

Complementary mode used for 3-Phase AC Motor

Dead time avoids shoot through

+V

PWM1H

PWM1L

3 PhaseACIM

PWM2H

PWM2L

PWM3H

PWM3L


Dead Time A Dead Time B

PWM1H

PWM1L

PWM1H

PWM1L

MCPWM Dead Time Insertion

Use in Complementary mode

Two programmable dead times

One dead time per pair for multiple inverters OR

Two dead times per pair for distortion optimization

33 nsec minimum resolution, up to 10 µsec



44


MCPWM A/D Synchronization

SEVTCMP register sets A/D conversion start time in PWM cycle

Ensure A/D properly captures shunt current

Can also used to minimize control loop update delay

To A/D

PWM1LPWM1H

PWM1H

PWM1L

Trigger conversion at end of bottom transistor on-time

T


Knowledge Check #7

How many PWM outputs does the MC PWM peripheral support?

A: 4 complementary pairs

B: 8 independent pins

C: Answer A and B

Dead-time insertion may be implemented to prevent “shoot-through” for which PWM mode?

A: Independent mode

B: Overworked mode

C: Complementary mode

D: Answer A and C



45




Motion Control Feedback Peripheral


Incremental Encoders



46


Encoder Timing Diagram

+1 +1+1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 +1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1COUNT

PHASE A

PHASE B

State machine determines relative phase at each edge



Hardware to assist in calculations of position and speed?

Three Input Quadrature Encoder Interface

Two inputs for Phase A and Phase B signals

Index pulse input (output from encoder)

16-bit position counter

Rollover count register (MAXCNT) simplifies RPM detection

Module may function as 16-bit Up/down Timer

Digital noise filter on all inputs



47



Data Converter Interface (DCI)

Audio Interface Peripheral


DCI Applications

Digital interface for higher quality audio & speech

Typical sample rate, 8 to 48 kHz

Typical codec word size 13 to > 24 bits

Modem/telephony

Musical instrument effects

Speech recognition

Speech/audio compression

Echo cancellation

Consumer-quality audio

AC Power Quality Analyzer



48


Codec Communication

DCI designed for continuous, streaming data

Works like SPI™, but SCK is continuous

Streaming data is organized into frames

TDM data slots

Multiple data words can be transferred

Specific data assigned to a “timeslot”

Frame Sync (FS) signal marks the frame

FS starts a data transfer

FS usually occurs at the audio sample rate


Multi-channel (Slot) Timing

MSB LSB MSB LSB MSB MSBLSB LSB

SCK

FS

Data

Timeslot 0 Timeslot 1 Timeslot 2 Timeslot n

MSB LSB MSB

SCK

FS

Data

Single Word Transfer

Multiple Word Transfer



49


DCI Features

Automatic synchronous serial data transfer

TDM features support up to 16 data timeslots

Automatic slot management

Module has up to 4 word buffer (16-bit words)

Master or slave operation

Separate baud generator for SCK signal

Support for I2S (Inter-IC Sound) and AC’97 protocols


I2S Protocol

MSB LSB MSB LSB

COFS

CSDx

Left Channel Right Channel

Philips specification (Inter-IC Sound)

Common interface for high fidelity 2 channel stereo codecs

FS has 50% duty cycle

FS edge initiates transfer of appropriate channel



50


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






Live Demonstrations

Using dsPIC30F tools

in MPLAB® Integrated

Development Environment



51


Built-InEditor

ProjectManager

Source LevelDebug

OpenInterface

MPLAB IDEIntegrated Development Environment

AssemblerSoftwareSimulator

RTOSOSEK

LinkerLibrarian

MPLAB C30Compiler

MPLAB ICD 2In-Circuit Debugger

MPLABICE 4000 MPLAB PM3

CompilersIAR, HiTech

ApplicationLibraries

Languages Low costDebugging

Emulation DeviceProgramming

3rd partyTools


MPLAB® C30 C Compiler



52


MPLAB® C30 Compiler

GNU-based

Assembler, linker and librarian included

ANSI C compliant, with standard libraries

Optimized for dsPIC® DSC architectural features

Utilizes advanced addressing modes

Efficient multi-bit shift operations

Efficient signed/unsigned comparisons

Flexible memory usage models

Support for constants stored in program memory


Compiler supports 5 levels of code optimization

-O1, -O2, -O3, -Os, and no optimization

Optional Loop Unrolling

Replacing loops with repeated code, to reduce execution time

Optional Procedural Abstraction

Combining similar pieces of code into common functions, to reduce code size

Compiler Optimization



53


Code size examples for different optimization levels for a brushless DC motor control application

No optimization: 19584 bytes

Loop Unrolling only: 14031 bytes

Optimization Level 1 (-O1): 14361 bytes



Optimization for Size (-Os): 13632 bytes

See Application Note AN901 (v1.00)MPLAB C30 v1.31.00

Compiler Optimization


Run-Time Startup

Executes before the application’s main( )

Initializes C framework

Initializes stack

Initializes constants

Initializes data memory

Calls the user’s “main” function

If no data memory needs to be initializedLink with the --no-data-init option

Saves 50 instruction words



54


MPLAB® IDE—Demo 2

See Appendix B

Getting started with dsPIC30F and MPLAB IDE


Advanced Breakpoints

MPLAB® ICD 2 provides breakpoints triggered by the following events

X bus read/write

X bus read/write of a specific byte/word

Y bus read

Y bus read of a specific word

Program memory execution

TBLRD/TBLWT program memory

PSV read

Select Debugger > Advanced Breakpoints



55



See Appendix C

Debugging an application with MPLAB ICD 2


What’s For LUNCH?

That’s what I’m talking about!



56


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






dsPIC® DSC Software and Hardware Tools

Vital building blocks to get your application running



57


Product Description Prod.

MPLAB® v7.10 Integrated Dev. Environment now

MPLAB C30 Microchip ANSI C Compiler now

MPLAB ASM30 Assembler now

MPLAB LINK30 Linker now

MPLAB LIB30 Librarian now

MPLAB SIM Soft. Simulator (w/ Peripherals) now

MPLAB VDI Visual Device Initializer now

dsPIC30FThe Essential Software Tools


Product / Description Prod.MPLAB® ICD 2 - In Circuit Debugger now

MPLAB ICE 4000 - In Circuit Emulator now

MPLAB PM3 - Universal Device Programmer now

Motor Control Development Board now

dsPICDEM™ 28-pin Demo Board now

dsPICDEM 1.1 General Purpose Development Board now

dsPICDEM Starter Demo Board now

dsPICDEM.net™ Connectivity Development Board now

dsPICDEM 2 Development Board June ‘05

dsPIC30FThe Essential Hardware Tools



58


Application Development Platforms


dsPICDEM MC1 Development Board—DM300020

Full featured development board—US $299 retail

Excellent starting point for motor control-based applications

Example code with Documentation CD

Works with MPLAB® ICD 2 In-Circuit Debugger/Programmer

MPLAB ICE 4000 Emulator-ready

Supports AC Induction Motor (ACIM)

Supports Brushless DC (BLDC)

dsPICDEM™ MC1 Motor Control Development Board



59


Hall-effect sensor terminals to capture pins

Encoder input terminals to QEI

QEI direction status LED

Prototyping area

37-pin Interface to Power Module

16 x 2 LCD display

Potentiometers (2)

Buttons (4), plus PWM fault button

Power supply

MPLAB® ICD interface and comm. selection switch

RS-232 interface

CAN interface

RS-485 interface

LEDs (4)

dsPIC® DSC emulation header

Motor control test points

dsPICDEM™ MC1 Motor Control Development Board


dsPIC® DSC Motor Control Development Kit

3-Phase High Voltage Power Module

Input SourceConnections

Motor Connections(not shown)

Motor ControlDevelopment Board



60


ACIM Development Components

dsPICDEM™ MC1 Motor Control Development BoardDM300020—(US $299 retail)

dsPICDEM MC1H 3-Phase High Voltage Power ModuleDM300021—(US $800 retail)

3-Phase ACIM High Voltage Motor (208/460V)AC300021—(US $120 retail)

Comes with example software and documentation CD


BLDC Development Components

dsPICDEM™ MC1 Motor Control Development BoardDM300020—(US $299 retail)

dsPICDEM MC1L 3-Phase Low Voltage Power ModuleDM300022—(US $700 retail)

3-Phase BLDC Low Voltage Motor (24V)AC300020—(US $120 retail)

Comes with getting started documentation



61


dsPICDEM 28-pin Starter Demo Board—DM300017

Simple low-cost demo board—US $79 retail

Basic step-by-step getting started with dsPIC® DSC

Good starting point for 1st time user and beginners

Simple demo and source code provided exercising

Interrupts, UART, I/O

Complete User’s Guide available

Works with MPLAB® ICD 2 In-circuit Debugger/Programmer

dsPICDEM™ 28-pin Starter Demo Board



UART

LED(1)

MPLAB® ICD 2 +9Vdc

ResetSwitch

XTAL

dsPIC® DSC

I/O PinHeader

PrototypingArea

Power-onLED



62


dsPICDEM 1.1 Development Board—DM300014

Full featured development board—US $299 retail

Excellent starting point for all general purpose applications

Step-by-step getting started with simple tutorial project

Enhanced digital signal processing demo and source code provided

Complete User’s Guide

Works with MPLAB ICD 2 In-circuit Debugger/Programmer

MPLAB® ICE 4000 Emulator-ready

dsPICDEM™ 1.1 Development Board


dsPICDEM™ 1.1 Development Board

LCD

CANUARTs (2)

RS-485 ICD 2

Switches (4) POTs (3)

CodecMIC In/Spkr Out

Plug-InModuleHeader

dsPIC DSCXTAL

Codec

LEDs (4)

+9VdcIn

TempSensor

+5V Reg.

dsPIC® DSCClock

122x32 Dot-Addressable

CodecClock



63


dsPICDEM™ Starter Demo Board

dsPICDEM Starter Demo Board (SDB)—DM300016

Simple low-cost demo board—US $79 retail/($209 w/ MPLAB® ICD 2)

Basic step-by-step getting started with dsPIC® DSC

Good starting point for first time user and beginners

Simple demo and source code provided

Complete User’s Guide available

Works with MPLAB ICD 2 In-circuit Debugger/Programmer


dsPICDEM™ Starter Demo Board

UART

Switches

LEDs

MPLAB® ICD 2

Low Pass Filter

+9Vdc

ResetSwitch

Digital Pot

Potentiometer

XTAL

Plug-inModule



64


dsPICDEM.net™ Connectivity Board

dsPICDEM.net Connectivity Board—DM300004-1/2

Full-featured Connectivity board—US $389 retail

Excellent starting point for connectivity-based applications

Step-by-step getting started with simple tutorial project

Enhanced demo project utilizing all board functions

Full C and assembly code provided

V.22bis Soft-Modem Demo—(full source code provided)

CMX-MicroNet WEB Server Demo—(.hex file)

CMX-MicroNet FTP Server Demo—(.hex file)

Complete and Comprehensive User’s Guide

MPLAB® ICD 2 and MPLAB ICE 4000 Emulator-ready


dsPICDEM.net™ Connectivity Board

PSTNInterface

10-Base TEthernetNIC

64Kx16SRAM

UART

LCD

CAN

CallProgressSpeaker

MPLAB® ICD 2RS-485

Plug-inModuleHeader

Switches (3)LEDs (3)POTs (2)

XTAL

TempSensor

+9VdcIn

24LC515

+5Vdc Reg.

2x16 Characters



65


dsPICDEM™ 2 General Purpose Development Board

Motor Control FamilydsPIC DSCs or

MPLAB ICE 4000 device adapter installed here

Sensor and General PurposeFamily dsPIC devices or

MPLAB ICE 4000 device adapter installed here

MPLAB® ICD 2 compatible

+9VdcIn

UART CAN

LCD 2x16 Characters


dsPICDEM 2 Demo Board — DM300018

Simple low-cost demo board - US $99 retail

Development platform for 11 dsPIC30F devices

18-, 28- and 40-pin packages

Motor Control, Sensor and General Purpose

MPLAB® ICD 2 and MPLAB ICE 4000 -ready

On-board CAN and UART support

Support for Multiple Oscillator options

C Example Code and User Guide provided

dsPICDEM™ 2 General Purpose Development Board

Available June



66


Desktop Tools

Windows®-based applications to assist you with your design


dsPIC® Digital Filter Design

What’s so great about digital filters?

More accuracy than analog filters

No age or temperature drift

Better phase response, frequency response

Simple to modify

Hardware doesn’t change—just coefficients!

Benefits of replacing analog filters

Fewer components

Less board space

Lower cost



67



Graphically design all types of digital filters

Low-pass, high-pass

Band-pass, band-stop

Digital filter algorithm kernels are provided for:

FIR—Finite Impulse Response

IIR—Infinite Impulse Response

Designing coefficients to control the filter response is the tricky part

You can do the math or use this tool!!

Quickly observe filters response

Generated code and coefficients fully compatible with MPLAB® C30 C Compiler language tools





68


dsPICWorks™ Data Analysis and DSP Software

Graphical signal analysis and generation tool

Create waveforms and process them

Signal generation

SIN, square, swept SIN, triangular, etc...

Signal operations

Add, Flip and Shift, Multiply, etc...

DSP operations

Filtering, correlation, FFT, LPC analysis, etc...

Designed especially for the dsPIC30F

Import/export data with MPLAB® compatible files

Processes filter files saved from dsPIC® Digital Filter Design

FREE


dsPICWorks™ Data Analysis and DSP Software



69


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






Hands-on Session—Part 1

dsPIC® Digital Filter Design & dsPICworks™ Visual Algorithm Analyzer

Digital Filtering and DSP Simulations in a Jiffy!!



70


Hands-on Session—Objectives

Design a FilterUse dsPIC® Filter Design Lite

IIR band-stop filter specification:Sampling Rate = 11127 HzStop Band: 1200 Hz to 1250 HzStop Band Attenuation = 50 dB Pass Band: Up to 1000 Hz and > 1400 HzPass Band Ripple = 0.1 dB

Simulate Filter OperationUse dsPICworks™ Analyzer

Use the designed filter to remove 1225 Hz tone component from a WAV file


The Essential DSP Tools

dsPIC® DSC Digital Filter Design

Design optimal IIR and FIR filters

Band-pass, band-stop, high-pass and low-pass filters

Graphical user interface to further ease design

Plots and graphs include

Magnitude and phase response

Pole-zero plots on the unit circle

Impulse and step response

dsPIC DSC support

Filter coefficient and code generation



71


Digital Filter Design Lite

Digital Filter Design Tool available in two flavors:

Full-blown version

Lite version

Lite version provided with dsPIC® DSC Seminar Software

Get Started—Invoke our enLitened Filter Guru

from the Windows® Start Menu OR

“Start > Programs > MDS > dsPICfdlite”

click on the short-cut on your desktop


Digital Filter Design Lite

Click here to loadfilter specification file

Let’s load an existing filter specification file

Click on the SPC icon to load a specification file created for this demo



72


The Essential DSP Tools—Exercise 1

See Appendix D

Using Digital Filter Design Lite


The Essential DSP Tools

dsPICworks™ Analyzer: Data Analysis & DSP Software

Simulate complex DSP functions & mathematical expressions

Difference equations, scaling etc.

Digital Filters, FFT, Inverse-FFT etc.

Generate Signals

Sine, triangular, square etc.

Add noise to signals

Analyze data in frequency-domain

1-, 2- and 3-d FFT plots

Import/export capabilities



73


dsPICworks™ Analyzer: Filters in Action

A sample Windows® WAV file is provided to you<Your Path:\>dsPIC Seminar\Follow_Along\Part 1

WAV file has spurious tonal noise at 1225 Hz

You could listen to it on your PC!

We will now use dsPICworks Analyzer to

Import the WAV file

Run the data through the designed filter

Export the filtered data to a Windows WAV file

Listen to the WAV file

Get Started—Invoke dsPICworks Analyzer

Click on the desktop icon OR

from the Windows Start menu

Start > Programs > MDS > dsPICworks


The Essential DSP Tools—Exercise 2

See Appendix E

Using dsPICworks™ Visual Algorithm Analyzer



74


Thank You

That was pretty easy!

I want to see some closed loop action!!

Take me to the PID Control Demo Now!!!



PI Controller



75


PI Controller Follow-Along

Use tools and dsPIC30F to simulate closed loop process

Control loop examples:

Motor position servo

Temperature control

Fluid level control

Use PI controller to stabilize control loop

Adjust for quickest response without overshoot

Use the Digital Filter Design tool to model the controlled process

Write code in C for PI controller

Call assembly code digital filter code from C

Display simulation results using dsPICworks™ Analyzer


PI Control

PI Control PlantSetpoint

Feedback

ErrorΣ

Plant Output

Control Loop

Measure feedback representing plant output

Calculate error based on desired output

Calculate input to plant using PI controller

Write PI Controller in C code

Develop plant functionwith dsPIC® Digital Filter Design

Display controller outputin dsPICworks™ analyzer



76


PI Control

What does a PI(D) controller do?

(P)roportional term responds to magnitude of error

(I)ntegral term responds to time accumulation of error

(D)erivative term responds to time change in error

Proportional term sets overall response of controller

Integral term corrects small steady-state errors

Derivative term speeds up/slows down response

PID controller allows empirical tuning of system

‘Tweak’ knobs until system is well-behaved

PID_Output = err*Kp + Σerr*Ki + ∆err*Kd



See Appendix F

PI Controller Hands-on



77


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






dsPIC30F Libraries and Tools

Trusted software to speed up

your development cycle



78


dsPIC30F Libraries

Developed by Microchip and reputable third parties

Ease of use for getting your application running

Optimized for dsPIC30F architecture

Smallest footprint (RAM and Flash)

Fast execution

Compliant with Microchip MPLAB® C30 C Compiler development tools

Three Classes of Tools and Libraries

General Libraries—DSP, Math and Peripheral

Application Libraries—Encryption, Noise Suppression, more.

Desk Top Tools—dsPIC® Digital Filter Design, dsPICworks™ Visual Algorithm Analyzer


General Libraries

These libraries are generic enough

to be used by most applications



79


Math Library

Supports all of <MATH.H> from ANSI “C”

Trigonometric Functions

Exponent and Log Functions

Power, Square Root, Floor, Ceiling, etc.

IEEE-754 Compliant

Optimized for code size, developed in Assembly

Supports 2 data types

32-bit floating point

64-bit double

Benefits any application which uses floats/doubles

C and assembly callable

FREE


DSP Library

Libraries for your DSP requirements

Collection of 49 of the most common DSP functions

Vector and Matrix Functions

Add, Subtract, Multiply, Max, Min

Convolution, Correlation, Power, etc...

Filter Functions—block and single sample processing

FIR, IIR, Adaptive LMS, Lattice and more

Transform Functions

FFT, Inverse FFT, Discrete Cosine Transform

Window Functions

Bartlett, Blackman, Hamming, Hanning, Kaiser

Most functions are hand coded in assembly language

Fast execution time, C and assembly callable

FREE



80


Peripheral Library

Libraries for initializing the dsPIC® DSC Peripherals

275 driver functions for all dsPIC30F modulesADC (10-bit and 12-bit)CAN, DCI I2C™, SPI™, UARTInput capture, output compareMotor control PWM, QEIExternal interrupts, I/O Ports, reset moduleTimers

Peripheral Library is written in CCompiled for size optimization

BenefitsMaster the peripheral learning curveEasy-to-learn standard interface

FREE


Real-Time Operating Systems (RTOS)

What is an RTOS?

What are the benefits of an RTOS?

Easy real-time management—well suited for...

Large applications

Scalable applications

Inter-task communication and event handling

Event flags, queues and message mailboxes

Code becomes well structured

Independent processes or “tasks”

Faster than the usual while(1) loop

Provides true preemption capability



81


RTOS and the dsPIC30F

RTOS was written by CMX Systems, Inc.

Industry leading RTOS developer

3 different flavors were ported to the dsPIC® DSC

CMX-RTX™—full featured RTOS

CMX-Tiny+™—contains many features of CMX-RTX

CMX Scheduler™—limited to 5 tasks, minimal features

Each RTOS features

Small memory footprint

Fast context switch times

Reasonable interrupt latency

No royalty payments

FREE


Application Specific Libraries

These libraries provide a “system solution” which can be used as a major building block

for your design



82


Embedded Modem Library

Software Modem (soft-modem) Support

Replacing external modem chip with software!

Benefits

Single-chip integrated solution (up to 14.4 kbps)

Quick dialup and connection times

Perfect for small transactions on analog phone line

Application Examples

Home automation, remote access, security systems

POS applications, web-enabled devices

Tele-metering, remote upgrades

Library supplied with full DTMF Generation/Detection modules


Soft-Modem Resource Summary

ITU-T Specification

Bit Rate(bps)

RAM(Bytes)

Program Memory(Kbytes)

MIPS

V.32bis 14400 3600 36 15V.32 9600 3200 31 12V.22bis 2400 1700 22 7V.23 600/1200 1000 15 4.5V.21 300 1000 13 4.5V.42 (Error Corr.) na 2000 14 1.5

dsPIC30F implementation leaves room for other tasks...

FREE

Includes DTMF Library



83


Microchip FREE TCP/IP Stack for dsPIC

Main Features

Portable across dsPIC30F microcontrollers

Out of the box support for Microchip MPLAB C30 compiler

RTOS Independent

Full TCP State machine

Modular Design

Socket support for TCP and UDP

Microchip File System (MPFS)

Use it as a HTTP Server (included) or any customer TCP/IP based application


CMX-MicroNet Library

Features

A complete connectivity solution which supports...

HTTP Server

File transfers

E-mail client

Benefits

Single-chip solution

Small Flash and RAM requirements

One time fee—no royalties on deployed products

Target Products

Web browsers, remote monitoring, file transfer



84


CMX-MicroNet Protocols

Base Protocols

TCP (robust)

UDP (no handshaking)

IP (must have)

SLIP (serial port)

PPP (modem layer to ISP)

ARP (Ethernet address)

Application Layer Protocols

BOOTP

HTTP (Web Server)

FTP Server (File Transfer)

TFTP Client (UDP)

SMTP Client (E-Mail)

DHCP Client

Supported Physical Connections

Direct connect

Ethernet

Dialup (modem)


Performs speech compression / decompression

Encoder - 16:1 compression ratio

Speech input: 8 KHz, 16-bit mono

Encoded output: 8kbps data stream

Decoder

Decoder input: 8 kbps data stream

Speech output: 8 KHz, 16-bit mono

Based on Speex

Open source technology

Numerous PC plug-ins / apps readily available

www.speex.org

Includes PC Utility for making “playback” files

Speech Coding Library



85


Speech Coding LibraryHow may it be used?

By any application with voice communication

Benefits

Reduces communication bandwidth

Reduces storage requirements

Sample Applications

Digital radios / walkie-talkies

Answering machines / voice recorders

Playback-only systems

Security Systems (building evacuation)

Museum Guides

Application Voice Prompts


Encoder DecoderMIPs 19 3RAM 5.4 KB 3.2 KBFlash 33 KB 15 KB

Small Decoder footprint / Encoder is RAM intensive

2 analog interfaces supported

Silicon Labs Si-3000 Codec

Alternate interface for cost-sensitive applications

ADC for microphone input

Output compare for speaker output

Sample circuits provided in User’s Guide

Speech Coding LibraryResource Requirements



86


Acoustic Echo Cancellation Library

Provides ‘far-end’ echo cancellation

Speaker output is picked up by the local microphone and transmitted back to the sender

Features

G.167-compliant algorithm (up to 64 msec)

Supports full-duplex operation

Receiver

G.167

Sender

G.167

AcousticEcho

TransmissionMedium

Speech


Acoustic Echo Cancellation Library

G.167 CPU Resources

Target Applications

Speakerphone

Hands-free car phone

Intercom

Emergency alarm units

Echo DelayRAM(KB)

Program Memory

(KB)MIPS

16 msec 4.6* 6 7.532 msec 5.4* 6 10.564 msec 7.7* 6 16.5

* Includes up to 2KB for CODEC and UART buffers and A/U-law compression



87


Noise Suppression Library

Removes extraneous noise picked up by microphone

Voice activity detector differentiates noise and speech

Noise reduction filters adjust every 10 ms during periods of speech inactivity (uses FFT analysis)

Speech is continuously filtered, reducing noise

Noise Suppression

Library

Comm. System

Speech

Noise

Noise

Speech—Noise


Noise Suppression Library

Noise Suppression CPU Resources

3.3 MIPS

5 Kbytes Flash memory

2 Kbytes RAM

Includes up to 1 Kbyte for buffering Codec data

Target Applications

Front end for any voice based system

Headsets

Hands-free telephone

Intercom

Speech recognition

Speech coding



88


Embedded Encryption Libraries

dsPIC30F Symmetric Key Library

Message Digests: SHA-1, MD5

Symmetric Key Encryption: T-DES, AES

Deterministic Random Bit Generator: ANSI X9.82

dsPIC30F Asymmetric Key Library

Signing and Verification: RSA, DSA

Public Key Encryption: RSA

Key Agreement Protocol: Diffie-Hellman

Big Integer Arithmetic Package


Embedded Encryption Applications

Secure Web Transactions

Secure web access (SSL/TLS)

E-mail (S/MIME), secure XML transactions, and Virtual Private Networks (IPsec)

Smart Card Readers

PDAs and other mobile devices

Secure communications between a dsPIC® DSC application and personal computers

Trusted Computing Group (TCG)

Microsoft® Next Generation Secure Computing Base (NGSCB)



89


Motor Control Solutions


dsPIC30F for Motor Control

When is dsPIC30F needed for motor control?

Closed loop variable speed control

Eliminate sensors

High speed operation

Support other tasks

dsPIC30F benefits

16-bit math

Fast 10-bit A/D converter - (1 Msps)

Dedicated motor peripherals (PWM and QEI)

Large program memory, large RAM



90



Vector Control of AC Induction Motor

Open Loop AC Induction Motor Control

Sensorless Control of Brushless DC Motor

Sensored Control of Brushless DC Motor

dsPICDEM™ MC1 Motor Control Development System

PICDEM™ MCLV Motor Control Development Board

dsPICDEM™ MC1 Motor Control Development System allows rapid development of motor control software.


Vector Control of ACIM

ACIM is widely used

Why? Simple construction and AC power

Can be difficult to control variable speed

Vector math makes AC motor look like DC motor

Less expensive ACIM is better controlled

Benefits of vector control

Current, torque and speed controlled closed-loop

Transient response to load changes

Efficiency



91


Vector Control of ACIM

Closed-loop control for 3-phase motors

Microchip Application Note: AN-908

Well-documented solution including source code

Designed to run on motor control board

Example Applications

Residential

Washing machine, electric scooter

Industrial

Conveyor, hoist, mixer

Automotive

Electrically driven engine accessories

FREE


Open Loop Control of ACIM

Open-loop control for 1-phase 3-phase motors


Well-documented solution including source code

Designed to run on dsPICDEM™ MC1 System

Introductory application note to help you get started with AC Induction Motor control

FREE



92


Sensorless BLDC Control

BLDC is an ‘inside-out’ brush DC motor

External sensors replace the function of brushes and tell external logic when to energize phases (similar to automotive engine distributor)

Sensorless approach monitors motor phases during non-driven periods to find timing reference points using A/D converter

dsPIC® DSC performs sensorless commutation, current control, speed control, and sensorless error detection




Who can use sensorless BLDC control?

Application needs efficiency of BLDC motor

Low speed operation not required

Closed loop control needed, but not fast response

Want to eliminate cost of sensors, wiring

Sensors cannot tolerate operating environment

Sensorless algorithm well suited for fans, pumps

HVAC blower motor

Refrigerator compressor

Automotive fuel pump, radiator fan

Medical tool/instruments

FREE



93



Microchip Application Note: (June 2005 release)

Sensorless BLDC motor Control using 28-pin dsPIC30F devices

AN901 code transferred to dsPIC30F2010

Operates on PICDEM™ MCLV board

Code has optional ASCII Serial User Interface to set all Control, Motor and User Parameters

FREE


Available Q3


Sensorless BLDC Motor Control GUI

Included for free with MPLAB® software

Tune control loops and starting parameters with MPLAB ICD 2

Shorten sensorless software development time



94


PICDEM™ MCLV Board

Supports dsPIC30F2010 and PIC18F23X1

Supports BLDC from 10V to 40V DC

Hall sensor or sensorless control

Out-of-Box: 24V Pwr. Supply, Hurst BLDC motor dsPIC30F2010 and PIC18F23X1 firmware

MPLAB® ICD 2 Debug/Programming capability

Serial Interface

New



AlgorithmRAM

(Bytes)

Program Memory

(KB)MIPS

Vector ACIM 244 7.3 9

Sensorless BLDC 268 10 5

CPU Resource Requirements for Advanced Algorithms

Small code footprints!

ACIM and BLDC will run on the dsPIC30F2010



95


Seminar Agenda

Session Time



Break 10:30—10:45am




Lunch 12:30—1:30pm






Where do you go from here?

Microchip web site

Web Seminars

Workshop-in-a-Box

Key dsPIC® DSC documents to review

Microchip online discussion groups

Application development platforms

buy.microchip.com

MASTERs 2005



96


dsPIC30F Product Families

Motor Control & Power Conversion Family

Brushless DC motor controlAC induction motor controlSwitch reluctance motor controlUPS, inverters and power supplies

AppliancesPower toolsAutomotiveIndustrial

Product Pins

FlashKB

SRAMBytes

EEBytes

Timer16-bit

InputCap

OutputComp/

StdPWM

Motor Cntrl PWM

10-bit A/D

500 Ksps(2 us)

Quad Enc

UART

SPI™

I2

C™

CAN

dsPIC30F2010 28 12 512 1024 3 4 2 6 6 ch Yes 1 1 1

dsPIC30F3010 28 24 1024 1024 5 4 2 6 6 ch Yes 1 1 1

dsPIC30F4012 28 48 2048 1024 5 4 2 6 6 ch Yes 1 1 1 1

dsPIC30F3011 40 24 1024 1024 5 4 4 6 9 ch Yes 2 1 1

dsPIC30F4011 40 48 2048 1024 5 4 4 6 9 ch Yes 2 1 1 1

dsPIC30F5015 64 66 2048 1024 5 4 4 8 16 ch Yes 1 2 1 1

dsPIC30F6010 80 144 8192 4096 5 8 8 8 16 ch Yes 2 2 1 2

All dsPIC® DSC Released to Production (except 5015)


General Purpose Family

Product Pins FlashKB

SRAMBytes

EEBytes

Timer16-bit

InputCapture

OutputCompareStd PWM

A/D12-bit100

KSPS

UART

SPI™

I2

C™

CAN

Codec Interface

dsPIC30F3014 40 24 2048 1024 3 2 2 13 ch 2 1 1

dsPIC30F4013 40 48 2048 1024 5 4 4 13 ch 2 1 1 1 AC97, I2S

dsPIC30F5011 64 66 4096 1024 5 8 8 16 ch 2 2 1 2 AC97, I2S

dsPIC30F6011 64 132 6144 2048 5 8 8 16 ch 2 2 1 2

dsPIC30F6012 64 144 8192 4096 5 8 8 16 ch 2 2 1 2 AC97, I2S

dsPIC30F5013 80 66 4096 1024 5 8 8 16 ch 2 2 1 2 AC97, I2S

dsPIC30F6013 80 132 6144 2048 5 8 8 16 ch 2 2 1 2

dsPIC30F6014 80 144 8192 4096 5 8 8 16 ch 2 2 1 2 AC97, I2S


Classic General Purpose 16-bit Controller FamilyMembers with codec are ideal for speech/audio applications

All dsPIC® DSC listed are Released to Production



97



ProductPins Flash

KBSRAMBytes

EEBytes

Timer16-bit

InputCapture

OutputCompareStd PWM

12-bit A/D100 Ksps(10us)

UART

SPI™

I2

C™

CAN

dsPIC30F2011 18 12 1024 3 2 2 8 ch 1 1 1

dsPIC30F3012 18 24 2048 1024 3 2 2 8 ch 1 1 1

dsPIC30F2012 28 12 1024 3 2 2 8 ch 1 1 1

dsPIC30F3013 28 24 2048 1024 3 2 2 8 ch 2 1 1

Sensor Processor Family

Glass break detectGas sensorTorque sensorSteering angle sensorVoice activationBar code reader

Low power, smart sensorAirbag smart sensorPressure sensorsVibration measurementGyroscope

All dsPIC® DSC listed are Released to Production


Microchip Application Support

www.microchip.comData Sheets, Application Notes, Design Centers

Order Free SamplesSelect Best Devices



98


What is a dsPIC® DSC?

Introduction to the dsPIC30F Architecture (2 modules)

dsPIC30F Addressing Modes (2 modules)

dsPIC30F DSP Engine & ALU

dsPIC30F Interrupts

dsPIC30F 12-bit ADC Module (2 modules)

dsPIC30F 10-bit ADC Module (2 modules)

dsPIC30F Motor Control PWM Module

dsPIC30F Quadrature Encoder Interface Module

dsPIC30F UART Communication Module

dsPIC30F SPI™ Communication Module

dsPIC30F CAN Communication Module

dsPIC30F I2C™ Communication Module

dsPIC30F General Purpose Timer Module

dsPIC30F On-Line Web Seminars


Workshop in a Box TrainingGetting Started

dsPIC® DSC Workshop in a Box (WIB)6 hour training session with hands-on exercises

Focused on Getting Started with the basics

Use laptops and MPLAB® ICD 2 (supplied)

Purchase a kit for US $99.00 retail

Includes dsPICDEM™ 1.1 Development Board

Microchip and Distributor FAEs conduct the training



99


dsPIC® DSC Workshop in a Box (WIB)6 hour training session with hands-on exercises

Focused on BLDC motor, Sensored and Sensorless control

Use laptops, MPLAB® ICD 2 and BLDC motor (supplied)

Purchase a kit for US $99.00 retail (w/o motor)

Includes PICDEM™ MCLV Development Board

Microchip and Distributor FAEs conduct the training

Release: CQ3 2005

Coming Soon !

Workshop in a Box TrainingBLDC Motor Control


Device Selection Reference Document#

General Purpose and Sensor Family Data Sheet DS70083

Motor Control and Power Conv. Data Sheet DS70082

Product Family Overview DS70043

Base Design Reference Document#

dsPIC30F Family Reference Manual DS70046

dsPIC30F Programmer’s Reference Manual DS70030

MPLAB® C30 C Compiler’s User’s Guide DS51284

MPLAB ASM30, LINK30 & Utilities User’s Guide DS51317

dsPIC® DSC Key Support Documents



100


Device Specific Reference Document#

dsPIC30F6011/12/13/14 Data Sheet DS70117

dsPIC30F6010 Data Sheet DS70119

dsPIC30F2010 Data Sheet DS70118

dsPIC30F5011/5013 Data Sheet DS70116


dsPIC30F2011/2012/3012/3013 DS70139


dsPIC® DSC Key Support Documents


Online Discussion Group

Join Now



101


MASTERs Conference


dsPIC30F

Looks Like a MCU

Performs Like a DSP

Priced Like a MCU

The 16-bit MCU with the power of DSP



102


That’s It!!

Thank You!


Appendices



103


Demos/Hands-on

Demos

Appendix A—Getting started with MPLAB® VDI

Appendix B—MPLAB® IDE Demo

Appendix C—Debugging with MPLAB ICD 2

Hands-on

Appendix D—Using dsPIC® Filter Design Lite

Appendix E—Using dsPICworks™ Analyzer

Appendix F—PI Controller


Appendix A

Demo 1

Getting your dsPIC® DSC initialized with MPLAB® VDI



104


MPLAB® VDI—Demo 1

Open tools1.mcw

Click Tools > Visual Initializer to open MPLAB VDI


MPLAB® VDI—Demo

Click on the 16-bit Timer1 icon

Configure the Timer1 peripheral

Enable module

Enable interrupt

Prescaler = 1:256

Time period = 500 ms



105


MPLAB® VDI—Demo

Build, program and run

LED blinks every 1 sec!


Appendix B

Demo 2



106



Learn to use dsPIC30F tools in MPLAB IDE

Four steps

Step 1—Create a project in MPLAB IDE

Step 2—Compile code using the MPLAB C30 C Compiler

Step 3—Program a dsPIC30F device on a dsPICDEM™ 28-pin Starter Demo Board using MPLAB ICD 2

Step 4—Run and debug code on a dsPICDEM 28-pin Starter Demo Board using MPLAB ICD 2


Step 1

Creating an MPLAB® IDE Project



107



Start MPLAB IDE

Project View

Menu BarTool Bar

Output View

Status Bar



Click Project menu

Select Project Wizard

Project Wizard screen opens

Click Next



108



Select dsPIC30F2010

Click Next

Select Microchip C30 Toolsuite

Click Next



Type the Project Name

Click Browse

Navigate to project path

Click Select

Click Next



109



Select the required source files and linker script file (p30F2010.gld)

Click Add and Next



Summary screen appears

Click Finish

This creates a Workspace (.mcw) and a Project (.mcp) file



110



Project Window now shows the demo project

Files can also be added by right-clicking a file category

Include files can also be added for reference

Double-click any file to view and edit the file


Step 2

Compile and Link

the Project



111


Compiling and Linking an MPLAB® IDE Project

Before we compile and link:

Tell compiler where to find device header file

#include <p30F2010.h>

Tell linker to reserve RAM for MPLAB ICD 2

Click Project menu, and select Build Options > Project


Find Include Path

Click Browse




112


Include path now points to header files

Click MPLAB LINK30 tabSelect Link for ICD 2 and click OK



Click Project menu

Select Make




113


Build results, and sizes of various code sections, are shown in Output window



Step 3

Use the MPLAB® ICD 2

to program

the code



114


Programming the Device

Hardware

MPLAB® ICD 2



Programming the device

Set up the hardware

Connect power to the dsPICDEM™ 28-pin Demo Board

Connect USB cable from PC to MPLAB®

ICD 2

Connect MPLAB ICD 2 to the board

Click Debugger menu

Choose Select Tool and MPLAB ICD 2



115


Programming the device

Click Debugger menu

Choose Connect

Operating System Download

MPLAB® IDE may ask to download a new operating system

Click Yes


Programming the Device

Output window

MPLAB® ICD 2 automatically identifies the target device

Click Debugger menu and Program



116


Step 4

Use the MPLAB® ICD 2

debugging features


Running and Debugging

Click View menu

Choose Program Memory

Press F6 to Reset

Press F9 to Run

Press F5 to Halt



117



3 different debugging options

Program Memory window (shown in previous slide)

C or assembly source file

Simply open source file

Disassembly window

Click View menu and Disassembly Listing

Observe the compact code!



Reset, Right-click the line to run to, and choose Run to Cursor

Instructions up to the next line are executed, and the arrow points to the next line



118



Find the line on which you want to break

Right-click and choose Set Breakpoint

Press F6 and then F9 to Run

Green arrow points to line with breakpoint



Press F7 to single step a line of code

Press F8 to step over a function call

After each single step, green arrow points to the next instruction to be executed



119



Click View menu

Choose Watch

Select the register to be watched

Click Add SFR

For user variables, use Add Symbol instead



Watch window gets updated on a Breakpoint, Halt or Reset

Watch window can also be refreshed by right-clicking and choosing Refresh

Double-clicking the Value field enables modifying the value of SFRs or variables added to Watch



120



Watch window values can be displayed in several data formats

Right-click the variable and select Properties



Breakpoint on X bus write

Specify the X bus write address which should trigger a breakpoint

Reset and run the codeWrite Breakpoint



121



Breakpoint on X bus read

Specify the X bus read address which should trigger a breakpoint

Reset and run the code Read Breakpoint



Breakpoint on X bus write of specific word (or byte)

Specify the required write address and data value which should trigger a breakpoint

Write Breakpoint



122



Breakpoint on X bus read of specific word (or byte)

Specify the required read address and data value which should trigger a breakpoint

Read Breakpoint



Now change Data Value

Now the code does not break in either case!!

Similar functionality for X bus byte reads/writes as well as Y bus word reads



123



Breakpoint Pass Count—2 types

Break 5 instructions after breakpoint

Break 5 instructions after breakpoint



Reset and run the code for each Pass Count Type

Code execution halts in either case

Break on 100 breakpoint hits

Break on 100 breakpoint hits



124


Appendix C

Demo 3

Debugging with MPLAB® ICD 2


MPLAB® IDE—Demo 3Learn to troubleshoot an application with MPLAB ICD 2

Objective: To blink the LED every 1 sec

Timer1 used to generate a 5 ms period

A variable “TimerTicks” counts the number of period matches

When TimerTicks = 100 (0.5 sec), LED is toggled

Build, program and run

LEDs are blinking too fast!!

Use Advanced Breakpoints to find the bug

Hint : Is TimerTicks prematurely getting set to 100 somehow? But where??



125



Set up an Advanced Breakpoint to test if TimerTicks is getting set to 100 in the code

Reset and run the program



Code halted immediately after

if (TimerTicks = 100)

Ah, there it is!!

Should be if (TimerTicks == 100), not if (TimerTicks = 100)



126


Appendix D

Hands-on

Using dsPIC® Filter Design Lite


Loading a Filter Spec File

Select “bsiir.spc” file in the browse window from under <Your Path:\>dsPIC Seminar\Follow_Along\Part 1\

Click here to loadfilter specification file



127


Choosing the Filter Type

For this demo the band-stop IIR filter has been selected

The *.spc file contains information on the nature of filtering action (high-pass, low-pass, band-pass or band-stop) and the filter’s exact specification

Click “Next”


Specifying the Filter Parameters

The filter specification will appear on this dialog box

This information is also retrieved from the *.SPC file

Click “Next”

User may enter desired filter

characteristics here



128


Filter Estimate

dsPIC® Filter Design estimates the filter order for several popular filter structures

The filter option with the best response for the given specification is pre-selected for the user by the tool!

Click “Next”

Best filter option advised by the tool


And you really wanted to calculate H(z) by hand!!!

PhaseResponse

Group Delay

Poles and Zeros

around theUnit Circle

MagnitudeResponse

ImpulseResponse

Step Response



129


Saving Off the Filter Coefficients

We now need to save the coefficients for the generated filter to a file

The filter coefficient file will be used in dsPICworks™ Analyzer to simulate filter action


Saving Off the Filter Coefficients

Save the filter coefficients to a file named “bsiir.flt” under <Your Path:\>dsPIC Seminar\Follow_Along\Part 1\Close dsPIC® Filter Design Lite

We will use the filter coefficient file in the next exercise

Return to foil 144



130


Appendix E

Hands-on

Using dsPICworks™ Visual Algorithm Analyzer


dsPICworks™ Analyzer—Importing Files

First, we’ll import the WAV file into dsPICworks’ Analyzer native file format (*.TIM)



131



In the Import File dialog, first select the ‘Windows Wave file’ option as the file format to be imported



Next, we select the Source file flushtone.wav, for the import operation, using the Select Waveform File dialog



132



When finished selecting the required options click OK

For WAV files, dsPICworks Analyzer will

read the sampling rate information from the file


dsPICworks™ Analyzer—Time Files

The imported time samples are stored in a TIM file that is automatically displayed



133


dsPICworks™ Analyzer—Computing FFT

Let’s perform an FFT operation on the TIM file to view the strength of the 1225 Hz tone in the spectrum

We will use the defaults in the FFT Dialog



dsPICworks Analyzer natively uses float data types to store frequency domain information

This information can be exported out of dsPICworks Analyzer in fixed point format if required

You may acknowledge the message by clicking OK



134


dsPICworks™ Analyzer—Input Data Spectrum

A frequency file (*.FRE) is created and displayed when the FFT algorithm executes

Can you spot the 1225 Hz tone?

Spurious tone


dsPICworks™ Analyzer—Signal Filtering

Next, we will try to filter the 1225 Hz tone out by using the Signal Filtering option



135



We will use the Filter Coefficient file bsiir.flt, generated earlier in dsPIC® Digital Filter Design Lite, to perform signal filtering



Next, we also select an output file for the filtered data. We will call it flush.tim and place it at:

<Your Path:\>dsPIC Seminar\Follow_Along\Part 1



136



Once all the input and output files have been chosen, click on OK


dsPICworks™ Analyzer—Filtered Output in Time-domain



137



Once again, we will compute an FFT

Use the filtered output time-domain file as input

Use all the defaults in the FFT Dialog and click OK


dsPICworks™ Analyzer—Input v/s Output Spectrum

Notice the effect of filtering on the tone at 1225 Hz

Filtered Output

Spectrum

Input Signal

Spectrum



138


dsPICworks™ Analyzer—Exporting Data

Next we will export the filtered output to a 16-bit WAV file


dsPICworks™ Analyzer—Exporting Data

Once the Export File dialog has been set up, click OK



139


dsPICworks™ Analyzer—WAV Playback

In Windows® Explorer, notice the new WAV file.

You may play this back on a Windows Media Player and notice the absence of the tonal component at 1225 Hz

Return to foil 148

WAV file containing filtered signal


Appendix F

Hands-on

PI Controller



140


Plant Response

Use dsPIC® Digital Filter Design Lite to generate plant function

Lowpass IIR filter

1000 Sampling frequency

50 Passband frequency

200 Stopband frequency

1 Passband ripple

40 Stopband ripple


Plant Response

Use dsPIC® Digital Filter Design Lite to generate plant function

Use 4th order Butterworth filter

1000 Hz sampling, 50 Hz corner frequency

Set filter specificationsNext, select Butterworth

option.



141




Plant Response

Generate code:

In dsPIC® Filter Design Lite select “Codegen-Microchip-dsPIC30” from pull down menu

Check:

“Use General Subroutine”

“C Header File”

“X Data Space”

Type in “Plant” as file name, the “.s” extension will be added automatically

Open the PID project and verify/add Plant.s to the PID project

<Your Path:\>dsPIC Seminar\Follow_Along\Part 2\PID.mcwBuild the project



142


Plant Response

Add breakpoints:

Add 2 breakpoints in the “PI demo.c” file as described in the comments, one at the Nop(); statements and the other at the while loop at the end.

Using the simulator, run the program to the first breakpoint

Open the watch window, and verify the FilterOutputarray is displayed

Right click the array, select Export Table, select OK, and export the table with a file name.

Run the program to the next breakpoint

Display the watch window

Right click the array, select Export Table, select OK, and export the table with a different file name.


Plant Response

Start dsPICworks™ Analyzer

Select File-Import File or click the “IMP” icon

Set “Import File Format” to “Fractional/Integer ASCII Hexadecimal”, sampling rate 8000, 1 channel

For the “Source File” select the first exported table, and the select OK

Note the overshoot and undershoot as seen in the next slide:



143


dsPICworks™ Analyzer—Open Loop Response


Plant Response

In dsPICworks™ Analyzer

Select File-Import or click the “IMP” icon


For the “Source File” select the second exported table, and the select OK

Note the overshoot and undershoot has been removed as seen in the next slide:

Go to Window->Graph Control->Y Direction->Zoom out to adjust the X/Y graph ratio



144


dsPICworks™ Analyzer—Closed Loop Response


Plant Response

In the “PI demo.c” file as described in the comments, remove the comments allowing the second set of PI gains to be used.

Rebuild the PID project

Using the simulator, run the program to the secondbreakpoint

Open the watch window, and verify the FilterOutputarray is displayed

Right click the array, select Export Table, select OK, and export the table with a different file name.



145


Plant Response

In dsPICworks™ Analyzer

Select File-Import or click the “IMP” icon


For the “Source File” select the third exported table, and the select OK

Note the results of the bad PI tuning:


dsPICworks™ Analyzer—Bad PI Tuning



146


Plant Response

Note effectiveness of being able to choose the tuning values and perform software simulation to witness the effects of the PI variables

Return to foil 153


Thank You!



147


Trademarks & Disclaimers

The Microchip name and logo, the Microchip logo, Accuron, dsPIC, KEELOQ, microID, MPLAB, PIC, PICmicro, PICSTART, PRO MATE, PowerSmart, rfPIC, and SmartShunt are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries.AmpLab, FilterLab, MXDEV, MXLAB, PICMASTER, SEEVAL, SmartSensor and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U.S.A.Analog-for-the-Digital Age, Application Maestro, dsPICDEM, dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR, FanSense, FlexROM, fuzzyLAB, In-Circuit Serial Programming, ICSP, ICEPIC, Migratable Memory, MPASM, MPLIB, MPLINK, MPSIM, PICkit, PICDEM, PICDEM.net, PICLAB, PICtail, PowerCal, PowerInfo, PowerMate, PowerTool, rfLAB, rfPICDEM, Select Mode, Smart Serial, SmartTel and Total Endurance are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries.SQTP is a service mark of Microchip Technology Incorporated in the U.S.A.All other trademarks mentioned herein are property of their respective companies.© 2004, Microchip Technology Incorporated, Printed in the U.S.A., All Rights Reserved.

All rights reserved. Copyright © 2004 Microchip Technology Incorporated. Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates. No representation or warranty is given and no liability is assumed by Microchip Technology Incorporated with respect to the accuracy or use of such information, or infringement of patents or other intellectual property rights arising from such use or otherwise. Use of Microchip’s products as critical components in life support systems is not authorized except with express written approval by Microchip. No licenses are conveyed, implicitly or otherwise, under any intellectual property rights.