Mechatronics WIB

8/2/2019 Mechatronics WIB

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2005 Microchip Technology Incorporated. All Rights Reserved. Mechatronics Workshop-in-a-Box Slide 1

MechatronicsWorkshop-in-a-Box

Welcome Everybody

(If you are presenting this Workshop to a group of people, the Presenter Notes initalics contain special instructions or information for you).

Dear Presenter,

We are pleased that you are taking the time to teach this WIB to others. AtMicrochip Technology we are excited about the abundant opportunities forincorporating PICmicrocontrollers into mechanical applications. Thank you for

joining us in introducing others to this exciting technological frontier.

The following presentation includes speaker notes that you can refer to during yourpresentation. Please pay special attention to the TRANSISTION sentences called

out at the end of many of the slide notes. Using these transition sentences willallow the presentation to flow much smoother.

We hope you enjoy teaching the class as much as we enjoyed creating it. Have funwith it!


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When you walk out of here todayyou will know

Why designing a PICmicrocontroller into a

mechanical system is beneficial to you

How easyit is to get started with Microchipand PICmicrocontrollers

How to use Microchips low-cost tools tochange, adaptand add featuresto a design

How to perform basic mechatronic tasksusing a PICmicrocontroller

The purpose of the slide is to peak the audiences curiosity. Start off early with whatthey will learn today.

There must be a compelling reason for the audience to want to migrate from amechanical to a mechatronic solution. Well take a look at the benefits ofMechatronics at the beginning of this lecture.

We will show you how easy it is to get started with Microchips products withminimal financial and time investment.

The reality is that for any engineering project, the requirements will change.Those darn Marketing folks can never make up their mind and will always wantsomething else halfway through the project. One of the biggest advantages ofMicrochips products is that we offer you a wealth of options and make it easy foryou to change and adapt to changing requirements. The consistency in tools andproducts allow you to add features without starting over every time things change.

This is a workshop so that means you get to play! During a large part of this classyou will be working on labs that will show you how to make a PIC microcontrollerdo simple tasks.


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Agenda

Introduction to Microchip Technology Inc.

Mechatronics examples and benefits

PICMicrocontroller Basics

- Hands-On Learning Cycles

Labs

- Simple I/O and Timer 0

- Reading an analog sensor, LCD module

- Controlling the speed of a motor Resources

Go through the basic agenda. There will be a break in the middle


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Agenda

Introduction to Microchip




Labs




Lets first take a brief look at who Microchip is and what products they make.


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Microchip Technology Inc.

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

$847M in net sales in FY05

More than 3,800 employees

#1 Unit shipments of 8-bit Microcontrollers*

* Gartner Dataquest, 2003 Microcontroller Market Share & Unit Shipments, Tom Starnes, June 2003.

Introduce Microchip Technology Ask Who knows Microchip?

Microchip entered this 8-bit microcontroller market back in 1990 as avirtually unknown company, with a non-standard product architecture andin a market crowded by the worlds largest competitors in the U.S., Europe,Asia and Japan.

1990 rank of #20 achieved with a handful of products. Company was stillprivate until March 1993.

Our market share has gone up every year. We are currently at the #2position, behind the long term industry leader Motorola.

I would say that such marketshare gains have never been accomplished ina highly competitive field of well entrenched competitors. And while doingthis, we have not lost money in a single quarter in the last 12 years, noteven in the recessionary years of 1991, 1996, 1998 and 2001.

Currently #1 supplier of 8-bit Microcontrollers in the world by Units shipped

Most important aspect:

Microchip has had phenomenal growth over the last 15 years.

We grow because customers buy our products We have no internal consumption

People buy our products, because it makes them successful in business If ourcustomers are not successful, we are not successful.

Transition Question: Lead in to next slide is asking How do we do it? Why dopeople buy our products?


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Microchip Delivers Solutions

Low-risk product development

Lower total system cost

Faster time to market

Dependable delivery

High-quality devices

Outstanding support through all phases

Risk free development environmentSeamless Flash program size expansion -Allows for product feature changes without loss of

work already completed

Pinout compatibility - Consistent by package, Similar throughout

Software development environment consistency

Proven Libraries, reference designs and application notes

Lower total system solution costAppropriate level of integration - From simple digital to high level of analog on board

Vast array of hardware and software peripherals

Lower cost of ownership - System level development assistance and optimization

Faster time to marketOne consistent hardware and software development environment

Seamless migration allows for no lost time due to end product feature creep

All platform technologies available from one source - Micro, Analog, Memory, RF

Dependable delivery

Consistently short lead times

High-Quality

Decade+ of product lifetime, In house manufacturing, World class quality, QS9000 - Best in classFlash reliability - Customer recognized quality

Outstanding SupportProven Libraries, reference designs and application notes - 25 technical support centers worldwide

Global, real-time technical phone and e-mail support - Free On-line product samples

Worldwide MASTERS conferences - Technical seminars - Web based technical support

Highly consultative sales team


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High Performance10 MIPs, Up to 64k

Instructions, 18-84 pins

Baseline5 MIPs, up to 2k


The PICMicrocontroller Family

Pins

Memory(kBytes)

6 8 14 18 28 40 64 84

1

256

128

64

32

16

8

4

2

Mid-Range5 MIPs, Up to 8k


dsPICDigital Signal Controller (DSC)

30 MIPs, Up to 48kInstructions, 18-84 pins

Microchips PIC microcontroller family currently consist of 4 Families or Architectures

Baseline

Mid-Range

High Performance

dsPIC digital signal controllers

Baseline Products

12-bit Instruction set covering 6-40-Pin and up to 3kByte Program Memory or 2k Instructions Up to 5 MIPS Performance

Basic Peripheral set including comparators and A/D

Mid-Range Products

14-bit Instruction set covering 8-64-Pin and up to 14kByte Program Memory or 8k Instructions

Up to 5 MIPS Performance

More Advanced Peripheral set including Serial Communications, Capture/Compare/PWM, LCD, EEPROM, 10-bit A/D

Part numbers begin with PIC12, PIC16

High Performance Products

16-bit Instruction set covering 18-84-Pin and up to 128kByte Program Memory or 64k Instructions

Up to 10 MIPS Performance with hardware multiply

Very Advanced Peripheral set including Advanced Serial Communications (CAN, USB), Capture/Compare/PWM, LCD,EEPROM, 10-bit A/D

dsPIC 16-bit Digital Signal Controller Products

24-bit Instruction set covering 18-84-Pin and up to 144kByte Program Memory

Up to 30 MIPS Performance with Digital Signal Processing Capability

Very Advanced 16-bit Peripheral set including Motor Control, Faster A/D, Serial Communications

Extensive Software Library available

Point to overlap that allows for migration between different families


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Migration between Different ProductsExample: Mid-Range Parts

Pin Compatible

within specificpinouts

Code Compatible

PeripheralConsistency

8-P

in

14-P

in

VDD

RA5

RA4

RA3

VSS

RA0

RA1

RA2

RC0

RC1

RC2RC3

RC4

RC5

RB4

RB5

RB6RB7

RC7

RC6

20-P

in

Seamless Migrationacross more than

200 Products

Many of the new microcontrollers in the Baseline and Mid-Range families allow youto easily migrate between devices with different number of pins. This means if youstart development with one part, and the requirements for your project changeduring development or between product revisions, you can easily change to a partthat meets your new requirements. This slide shows the migration from 8 to 14 to

20 pins in Microchips Mid-Range family. As you can see the I/O pins and powerand ground pins are consistent throughout.


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Complete Signal Chain Solutionsfrom Microchip

Performance:Low Power, High Precision

Low Cost:System Cost, Low Component count

Size:Small Packaging SC70, SOT23, DFN

SensorOpAmp

Ref

Mux Filter

Digital

Pot

A/DPIC

microcontroller

Microchip makes more that just PIC Microcontrollers. Microchip offers a wholerange of products in the signal chain that offer:

High performance - our op amp performance (GBWP) to current consumptionratio is industry-leading (as good or better than the more well-known analogsuppliers)

Low Cost Low component count, high integration - The PGA and Digitalpotentiometers are a good example

In very small packages - examples include LDOs, op amps, comparators,supervisors, etc. in SC-70 (~1/2 the size of SOT-23), 12-bit ADCs in SOT23, 2LDOs + 1 supervisor in one MSOP package, etc.


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Linear Regulators CAN Peripherals

Fan Speed ControllersFan Fault Detectors

SwitchingRegulators/Controllers

Charge PumpDC/DC Converters

SAR/Delta-SigmaA/D Converters

VoltageReferences

Display A/DConverters

CPU/SystemSupervisors

SystemD/A Converters

Voltage Detectors

Power MOSFETDrivers

Battery Management

PowerManagement

ThermalManagement

MixedSignal

InterfaceProducts

V/F and F/VConverters

Digital Potentiometers

TemperatureSensors

Dual Slope A/DConverters

Infrared Peripherals

Single SupplyCMOS Op Amps

Comparators

LinearProducts

Linear Integrated

Devices

LIN Transceivers

Serial Peripherals

Programmable GainAmplifiers

Analog & Interface Products

PWM Controller

Shown here are the 5 major product lines in Microchip's stand-alone analogportfolio. They are Power Management, Thermal Management, Linear,Mixed-Signal, and Interface products. The main attribute of these productlines is their excellent performance while focusing on low power (low voltage,low current consumption).


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Overview of Memory Products

MicrochipSerial

EEPROMProducts

Wide

OperatingVoltage

1.8V 5.5V

HighEndurance

1M Erase/WriteCycles

SupportsMajor Busses

Microwire,I2C,SPI

High Density128 1 Mbits

SmallPackaging

DFN, SOT-23TSSOP,MSOP

Microchip also offers exceptional memory products


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Proven Quality Record across allProduct Families

ISO9001 Certification

QS9000 Certification

Quality Awards fromnumerous Fortune 100customers

PPM levels consistentlybelow 10

Field Failures for

PICmicrocontrollersvirtually non-existent

Accolades from customers for quality.

Microchip engages the automotive business.

DNV comes annually to audit Microchip for quality

We are in the process of qualifying for the TS16949 certification and expect

to finalize the audit process in August of this year (CY2003)


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Agenda





Labs




Now we are going to talk a little about mechatronics and how it benefits you.

Pose Question: What is Mechatronics?


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Mechatronics is:

Implementingelectronic controls in amechanical system

Enhancingexisting mechanical designs withintelligent controls

Replacingmechanical components with anelectronic solution

A perfect system for a PIC

microcontroller!!

Mechatronics can be defined in several ways.

Mechatronics is implementing electronic control in a mechanical system. Acomputer controlled irrigation valve would be an example of this.

Second, mechatronics refers to enhancing existing mechanical designs with

intelligent controls. An example of this would be the power seats in a high endcar. The car remembers the preferred position of the seats for a given key fob.

Third, mechatronics is also replacing mechanical components with an electronicsolution. The thermometer you have at home for taking a childs temperature isand example of this. The old mercury thermometers have been replaced with anelectronic solution.

TRANSITION: In order to grasp in more detail what Mechatronics is and whymechatronics benefits you as both a consumer and a manufacturer, we will takea look a three examples in the next few slides.


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Example 1: Flashlight Switch

Traditional Flashlight: On or Off

Hybrid Flashlights: Mode selector

LEDs

Xenon Bulb

The first example we will be looking at is a flashlight switch.

In the traditional flashlight, the switch either slides or is pushed. Contact is beingphysically broken and made to turn the flashlight off and on.

Many new flashlight are hybrids with a xenon bulb for bright spotting applicationsand white LEDs for a longer-lasting flood light. The switch in these flashlights istypically a tactile switch integrated with a microcontroller that acts as a modeselector.


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Intelligent Switch

Modes:

Xenon bulb on

LEDs on (dim)

LEDs on (bright)

PICMicrocontrollerPush Button/

Tactile Switch

Xenon

Bulb

LED

Strobe LEDs

Flashlight off

A microcontroller switches on the different lighting elements based on the mode ofthe system. This slide shows some of the possible modes:

1. Turn on the xenon bulb

2. Turn on the LEDs at half power

3. Turn on the LEDs at full power4. Strobe the LEDs for to indicate an emergency situation

5. Turn off the flashlight

Other possible advanced features:

The microcontroller can do things like sequence through the modes when the buttonin pressed in rapid succession. After a mode is selected and has been used awhile the next button press results in the flashlight turning off. The switch canremember the users favorite position an default to that when the flashlight is first

turned on. As you can see the design is very flexible! The same switch can beprogrammed to do any number of things.


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Switch Comparison

YES!NO!Adaptable

YesNoStrobe Capable

YesNoLow BatteryDetect

YesNoProgrammable

YesNoCurrent Control

YesNoHybrid Control

IntelligentMechanical

Here is a comparison between the mechanical and intelligent switch. Clearly thebiggest advantage to the Intelligent switch is that it is adaptable. Changing thefirmware in the microcontroller can make the same hardware do something elseentirely. This flexibility also allows you as the manufacturer add features andoptions that will make your product stand out on the shelf when the consumer is

looking at a row of similar products.


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Possible Solution: PIC10F20x

SOT-23 package 6 pins:

- 3 Input/Output pins- 1 Input only- 1 Power, 1 Ground

4 MHz internal oscillator- 2% accuracy over voltage and

temperature

one analog comparator- internal voltage reference

Ultra-low sleep current

8-bit timer 2V to 5V operating range

Actual Size

So what microcontroller would be a good candidate for a design like this. Microchiprecently introduced the worlds smallest microcontroller the 6-pin PIC10F20xfamily. These parts are small really small. The PIC10F20x parts are enclosed ina SOT-23 package, include a 4Mhz internal oscillator, and have an onboardcomparator.


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2005 Microchip Technology Incorporated . All Rights Reserved. Mechatronics Workshop-in-a-Box Slide 19

Example 2:Household Thermostat

The next example Ill be discussing in detail is the household thermostat.You may have now, or had growing up, the mechanical thermostat on theleft. Modern thermostats are an excellent example of mechatronics. Thesethermostats perform the same job of the mechanical thermostat but offermany advantages over its predecessor.

In the next few slides were going to dissect each of these thermostats andtalk about the process of migrating from the mechanical solution to themechatronic solution.


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Example Application:Thermostat

6070

80

50

40

DesiredTemperature

CurrentTemperature

Dial

To HeatingUnit

60

70

80

50

40

Heres a look a the mechanical thermostat. The thermostat allows the userto set the desired temperature by turning a dial. The current temperature ofthe room is fed back to the user by a thermometer of some kind.


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Example Application:Thermostat

6070

80

50

40

DesiredTemperature

CurrentTemperature

To HeatingUnit

60

70

80

50

40

Sensor/Switch

If we remove the dial we find a metal coil. This coil expands and contractswith temperature it is the temperature sensor for this system. The coilmakes contact with a switch that turns the heating unit on and off.

Disadvantages:

The thermostat has to be calibrated at the factory. Even after beingcalibrated the unit typically has plus/minus two or three degrees of error.

The resolution of the dial is very poor its user is essentiallyguesstimating what temperature he or she is setting the dial to.

Toxic materials, such as mercury, are used to make the thermostat.

The only way for a user to change the temperature of the room is to walkover to the thermostat and turn the dial. No programmability on theusers part is available.

If we were going to design a mechatronic version of this thermostat howwould we go about doing that? I propose we first break the thermostatdown into its components at the system level.


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Breakdown of Thermostat

TemperatureSensor

Switch toturn on Heater

User Input

60

70

80

50

40

User Feedback

User Feedback60

70

80

50

40

Heres a breakdown of the thermostat. There are several sources of userfeedback. First, the dial position tells the user what the desired temperaturesetpoint is. Secondly, the current temperature is conveyed to the user bythe thermometer. User inputs are introduced to the system by the turning ofthe dial. Temperature information for the system is gathered by the

mechanical coil. Finally, the output from the system, namely, turning on andoff the heater, is handled by the thermal switch.

In our mechatronic solution we would like to eliminate some of thedisadvantages discussed in the previous slide. This will mean replacingthese components. So what are some of the electronic equivalents of thesecomponents?


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Conversion to Mechatronic Design

User FeedbackLCD

TemperatureSensor

Small IC

Control

PICMicrocontroller

User InputTactile Switches

Switch toturn on Heater

MOSFET

Power

Regulator

Here they are. In the mechatronic solution, feedback to the user, both thedesired temperature and current temperature, can be displayed on an LiquidCrystal Display (or LCD).

Temperature information can be gathered from a solid-state temperaturesensor. Here, weve chosen small IC temperature sensor that varies itsanalog voltage output proportional to temperature. A microcontroller with a10-bit ADC can interpret this voltage into tenths of degrees. This is muchhigher precision than the mechanical thermostat.

A MOSFET, controlled by the microcontroller, will switch the heater on anoff.

User inputs are entered into the system using several tactile switches. Moreswitches can be added for increased functionally. For a direct comparison,Im just showing the two switches.

At the center of the system is a microcontroller. Its job is read user inputs

from the tactile switches and gather temperature information from thetemperature sensor. This information is then displayed on the LCD as thedesired temperature and the current temperature. This same information isinterpreted by the microcontroller into an output to the MOSFET.

One other component remains. A regulator is needed to provide theappropriate DC voltage to the microcontroller, LCD, and temperature sensor.


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Finished Design

DesiredDesiredTemperatureTemperature

CurrentCurrentTemperatureTemperature

74oF 70oF

Higher resolution and accuracy

Reduces household heating costs

Self calibrating Flexible Design

Environmentally Friendly

Heres the finished product!

Benefits:

This solution will provide higher accuracy due to the precision of the

temperature sensor and A/D converter on the PIC microcontroller. The unit can offer a feature that will allow the user to program the unit to

automatically lower the temperature setpoint when he or she is awayduring the day. This offers significant energy savings to the user.

The microcontroller can automatically calibrate the sensor input, saving themanufacturer valuable time during the manufacturing process. One ofbiggest benefits to the manufacturer is that the design is very flexible.Changes to the design can be made by simply reprogramming themicrocontroller. This avoids costly design changes should the designparameters change at some point. In addition, the same hardware can be

used for models that are produced for countries that use degrees Celsiusor degrees Fahrenheit.

The mechatronic design is environmentally friendly as it does not employthe use of hazardous materials in its makeup.


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Possible Solution: PIC16F917

10-bitADC

LCDModule

Internal

Oscillator

FLASH

CCPs

AUSART

EEPROM

I2C/SSP

Comp-

arators

PIC16F917

A suggested PIC microcontroller product for this type of application is thePIC16F91x family of parts. Some key features for these parts are:

Drive up to 98 LCD segments

8 MHz internal oscillator

1 or 2 PWM modules Flash program memory (reprogrammable)

Wider operating voltage range: 2V - 5.5V

We will be using the PIC16F917 during the Labs in this class.


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Temperature Sensing Optionsfrom Microchip

Logic Output

TC6501/2/3/4

Voltage Output Serial Output

TC620/1/2/3/4

TC1046

TC1047/47A

TC72

TC77

TC74

TCN75A

SPI

MCP9800/1/2/3

MCP9700/1

TemperatureSensors

SMBus/I2C

Microchip also offers an assortment of temperature sensors. These sensorscan be interfaced to a PIC microcontroller in a number of ways:

The first is a logic output You can use a standard I/O to interface to thistemp sensors. Logic output temp sensors are 'temp switches'. Theyprovide a logic output (like a fault indication) when an event is detected

The second is a voltage output. This can be digitized with a A/D typicallyfound on a microcontroller This is the temperature sensor found on yourPICDEM Mechatronics Board in the upper left-hand corner

The last way is to have a Serial Output temp sensor Here you can readthe temperature value though SMBUS, I2C or SPI.


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Temperature Sensing Optionsfrom Microchip

Logic Output

TC6501/2/3/4

Voltage Output Serial Output

TC620/1/2/3/4

TC1046

TC1047/47A

TC72

TC77

TC74

TCN75A

SPI

MCP9800/1/2/3

MCP9700/1

TemperatureSensors

SMBus/I2C

Lets take a look at the TC1047A for a moment as this is the temperaturesensor used on the PICDEM Mechatronics board.


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Linear OutputTC1047A Temperature Sensor

Linear Slope

- 10 mV/C

-40 to 125CTemperatureRange

2C Accurate

Low CurrentConsumption

Small Package

- SOT-23

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

-40 -20 0 20 40 60 80 100 120

Temperature (deg C)

VoltageOut(V)

The voltage output of the TC1047A changes linearly with corresponding changes intemperature. The TC1047A transfer function have a slope of 10 mV for every degCchange and can detect a range of -40 to 125 degC. It gives you +/- 2% accuracyand consumes very little current. It is also a nice small package that does not takeup a lot of board space (check it out.) Microchip has developed an even smaller

analog-out temperature sensor the MCP9700 .


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Example 3:Washing Machine

AC Induction MotorControl

User interface

Sensors (door closed,water level, balancesensor)

In our final example we are going to look at a mechatronic example thatincorporates several microcontrollers in its makeup. In large appliances like awashing machine, the user interface and motor control circuits are isolated from oneanother in order to meet safety standards. In this example a central microcontrollertakes user inputs from the cycle select, water level, water temperature, extra rinse,

and cycle buzzer buttons and dials. The microcontroller also reads the varioussensors: water level sensor, balance sensor, turbidity sensor, door sensor. Anothermicrocontroller controls the AC induction motor and changing between the spin andagitate cycles. The motor control microcontroller takes commands from the centralmicrocontroller.


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User Interface Improvements

Use standard dials and knobs

Same knobs used on different models

Reprogramming microcontroller givesknobs different functionality

Switches less prone to wear compared tomechanical washing machine

One of the biggest areas of improvement on the washing machine is the user interface. Inmechanical washing machines the cycle knob actually had plastic bumps on the back of the dial thatacted like the software of the system. The user would turn the dial and a mechanical timer wouldstart running, slowly turning the dial to the off position. As the dial turned the bumps on the back ofthe dial would come in contact with various switches that would turn on the spin cycle, fill the washer,or any number of other functions. This system worked but it had several drawbacks. First, the dial

had to be fabricated for just one washer. When the timing of one of the cycles changed, for instance,a new dial had to be made. Secondly, the plastic bumps would eventually wear down or themechanical timer would go bad. This meant the knob would have to be replaced. In modernwashers, the same knob can be used on different washer models. Instead of configuring a physicalknob for a certain washer, now the firmware in the microcontroller is configured for that washer. Thisstandardizes parts and keeps inventory low.

Lowering Cost:

Cost is an important consideration in all design, however, in the world of appliances, designers willgive up almost anything (including their first-born) to shave a penny off of the cost of a product. Oneof the reasons mechatronic designs are on the rise for appliances is that total system cost is beingreduced. In some cases, converting a design to a mechatronic solution may appear to be more

expensive on just a part-by-part basis. However, when the whole product solution is considered(including inventory, warranty repairs, customer support, and quantity pricing over all products) themechatronic solution becomes the more-cost effective solution while making your product moredesirable to customers (compared to competitors.)


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Benefits of Modern Sensors

Turbidity sensor*: How much dirt is in the water?

Door position sensor**: Is the door ajar?

Balance sensor**: Is the machine unbalanced?

Water Level sensor*: Determined by size of load.

Benefits:

* More efficient washing

- Energy efficient

- Water efficient** Make washing safer (for people and the machine)

With a microcontroller in the system a whole array of sensors can be incorporatedinto the product to make it safer and more efficient.

Turbidity sensor measures how much particles are in the water. These meansinstead of running a set time in order to clean the closes, the washer now cleansthe clothes until there are clean. It also rinses the clothes until all soaps arerinsed from the clothes.

The door position sensor ensures the machine will not enter the spin cycle withthe door open. This prevents a child from getting harmed by sticking his arm inthe machine while it is spinning.

A balance sensor monitors the balance of the machine. Should the machine startoscillating violently, the machine shuts itself off in order to prevent harm to themachine and its surroundings.

Water level sensor allows the user to set a load size, furthering the waterefficiency of the machine.

With the addition of sensors, modern high-tech washers use half the energy andwater of older machines, in addition to getting clothes cleaner than before.


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AC Induction Motor Control

Benefits to Microcontroller-based speed

control:

Smaller motor

Standardized motor

Higher efficiency

Consistency over varying load conditions

Precision speed-control (more speedspossible)

History:

Mechanical washing machines typically use a two speed motor to spin the drum andagitator. Depending on the durability of the load, the motor may run at low speed(for delicates) or high speed (for blue-jeans and towels.) The two speeds areachieved by the number of windings turned on in the motor. In a two winding motor,one winding is turned on for low speed, two are turned on for high speed.

Comparison to Modern designs:

In a mechatronic washing machine, this two-speed motor is replaced with astandard smaller motor. This motor produces the same power as the two speeddesign, but because it doesnt have the complexity of the two-speed motor it issmaller. A microcontroller is used to control the speed of this motor by modulatingthe windings. Compared to the two-speed system, the motor in the modernmachine has a far greater number of speed settings. This means the speed of the

motor can be set for individual load types (perma-press, delicates, cotton, wool,etc.) In addition, feedback in the system allows the motor to provide a consistentspeed independent of the weight of the load. Finally, because more control over thepower usage of the motor is now available, the motor can be run at its optimumsetting for a given load in order to optimize efficiency.


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Possible Solution: PIC18F4431

PWM Output: 8 independent channels

- Up to 14-bit resolution

- Edge and center-aligned

- Programmable dead-time

3-ch Quadrature Encoder Interface

10-bit High-Speed A/D Converter

Created from the ground upfor precision motor control!

Lets take a look at what Microchip products are being used in these newmechatronic marvels. On the motor control side of the things, MicrochipsPIC16F4431 microcontroller is an excellent candidate for Brushless DC and ACinduction motor control systems. Some of its motor-control specific features arelisted on this slide. Basically, what you need to know is that for high-end motor

control applications, this is a microcontroller that was built from the ground up totarget those applications.


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Microchip MOSFET DriverSolutions

Power MOSFET Drivers

0.5A Peak Output

TC1410/Nsingle

TC1411/Nsingle

1A Peak Output

1.2A Peak Output

TC1426/7/8dual

TC4467/8/9quad

1.5A Peak Output

Single

TC4626/7voltage boost

TC4431/230V high/low

TC4403floating load

Dual

TC4x6/7/8Enhanced

TC442xAmatched delay

TC4404/5split out, open drain

2A Peak Output

TC1412/Nsingle

TC1413/Nsingle

TC4423/4/5dual

TC429 TC4420/9single

TC4421/2single

6A Peak Output

3A Peak Output 9A Peak Output

Microchip is one of the first and leading suppliers of MOSFT Drivers. Ourportfolio consists of a wide range of products that can deliver up to 9A peakoutput current and come in several configurations (single/dual/quad andinverting/non-inverting). Our solutions are very robust: they lead the industryin latch-up immunity/stability. (They are used to drive the high-power

devices, like IGBTs, MOSFETs, and Bipolar transistors.)


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Mechatronics Review

Mechatronics is _________________. What are the benefits to mechatronics?

- How does the consumer benefit?

- How does the manufacturer benefit?

What is the worlds smallest microcontroller?

What microcontroller can directly drive a

LCD?

Review mechatronics with the students:

Answers:

Mechatronics is implementing electronic control in a mechanical system. Itis also replacing mechanical components in a system with electrical

components. Benefits:

Consumer: more features, more user friendly, more reliable, lowercost, safer, environmentally friendly, more efficient

Manufacturer: flexible, lower cost, more market appear, higherresolution, less warranty repairs

PIC10F20x family

Hint: Its the microcontroller on the PICDEM Mechatronics board thePIC16F91x family


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Agenda





Labs




In this next section we will be taking a introductory look at PIC microcontrollers.Rather than just telling you about how a PIC microcontroller works, you will be ableto experience the PIC microcontroller working yourself with the tools provided forthis class. The knowledge you learn in this section will be tested during the Labsthat follow this section.


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Objectives of PICMicrocontrollerBasics

We will learn how to:

Create code

Compile

Test and debug

Use MPLAB Integrated Development

Environment (IDE)

. . . all with a focus on learning about PIC microcontroller

architecture and terms

These are the objectives for the PIC Microcontroller Basics section:

Create code

Compile source code

Test and Debug code

Use MPLAB Integrated Development Environment (IDE)

While we are creating, compiling and testing code you will be becomingfamiliar with PIC microcontroller architecture and terms


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What is MPLAB IDE?

MPLAB

IDE is the name of Microchips freeIntegrated Development Environment

Software that runs on your PC

Complete development environment for your

embedded system

Our basic tool for the rest of this class

I just mentioned we are going to learn how to use MPLAB IDE. What is MPLABIDE? Microchips Free MPLAB IDE is downloadable from Microchips website,www.microchip.com. MPLAB IDE is a Windowsprogram that runs on your PC. Asyoull soon see, the software is fairly easy to use.


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Embedded Software DesignCycle

Write Code

Build CodeRun Code

Debug Code

This slide shows the embedded software design cycle. Embedded refers tocreating software for a microcontroller or other programmable integrated controller.This Cycle begins with you brainstorming the design at a high level. You maycreate flowcharts, outlines, or storyboards for the program flow. Next youll writesource code. Then youll build the code using MPLAB IDE (or check for errors.)

Next you will run the code either in a simulator or on the part using a debugger.Finally, youll test or debug the code. Does the code do what it is supposed to. Ifthe answer is no, then the cycle continues until you have a finished piece of code.


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Agenda





Labs




Cycle #1

We will be going through several hands-on learning cycles. These cycleswill begin with me explaining a piece of PIC microcontroller architecture.Well then write some instructions together to create an application. Finally,well test the application. We will now begin learning cycle #1.


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Architecture: Overview

SpecialFeatures

Input /OutputPorts

ProgramMemory

DataMemory

This is a simplified look at PIC microcontroller architecture. There are four majorcomponents to the PIC microcontroller architecture:

Program memory

Data memory

Input/Output Ports and Special Features


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SpecialFeatures

I/OPorts

ProgramMemory

DataMemory

We are going to first look at the memory on a PIC microcontroller.


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Architecture: PIC16F917

ProgramMemory

14 bits wide

8192 words

HardDrive

The part that we will be using on the PICDEM Mechatronics board is thePIC16F917. Therefore, well be discussing all these architecture componentsspecifically for the PIC16F917. The first component is program memory. Think ofprogram memory as your hard disk drive. The drive contains all the programs yourun on your PC. On the PIC16F917 the program memory is 14 bits wide by 8192

words. Commit these numbers to memory for a few moments.


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Architecture: PIC16F917

DataMemory

8 bits wide

512 bytes

FloppyDisk

A microcontroller also has data memory. This memory is memory that is constantlychanging. You may think of it as a floppy disk. The data memory is 8 bits wide by512 bytes. Commit these numbers to memory as well.


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Hands-on with MPLABIDE

MPLAB IDEMPLAB IDE

Lets look at both of these memory types on the PIC16F917. Open MPLAB IDE byclicking on these ICON on your desktop.


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Configure Select Device

Choose Configure -> Select Device.


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Selecting PIC16F917

Choose the PIC16F917.


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Program Memory View

We have just set up MPLAB IDE to develop code for the PIC16F917. Do you stillremember those numbers I had you commit to memory?

Question to Pose: How many bits wide is the Program memory? How many

words?

Lets look at the program memory.

Choose View -> Program Memory


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Program Memory View

A window showing the program memory will appear.

Near the bottom of the window click on the Machine tab.

Scroll to the last memory location

What line is this? Does this number look familiar?

Look at the Opcode column. Can anybody tell by how many bits long theopcode is? (Answer: 14)


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Hexadecimal to Binary

3FFF

11111111111111

If youre unfamiliar with hexadecimal numbers bring up the calculator in Windows:

Start -> All Programs -> Accessories -> Calculator

In Calculator click View -> Scientific

Select the Hex radio button near the top left of the window

Type in 3FFF

Select the Bin radio button

How many 1s are in the window? There are 14.


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Data Memory (File) View

Now, lets take a look at the data memory. Data memory is also called fileregisters.

Choose View -> File Registers


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Data Memory (File) View

8 bits

In the File Registers window, click on the symbolic Tab.

Scroll to the end of the memory.

The last address is 01FF. What is the number in decimal? (Answer 512.) Usethe calculator to show the audience if necessary.

How long is each register? Look at binary column. Each 0 represents a bit.


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Special Function Registers

Open your window wide enough so that you can see the symbol name column.

Scroll back to the top of the file registers.

You can see that some for the data memory has already been assigned a symbol

name. These registers are called Special Function Registers or SFRs. Youdont need to understand what these registers are yet, however, just rememberthat they exist because well be learning more about these registers later.


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Separate Program & Data

ProgramMemory

DataMemory

Program and Data memory

are separate entities

Why separate?

As you can see program and data memory are separate entities. Why? Whatpurpose do these different memory entities serve?

Answer:

Program Memory This is the memory that contains the source code. Its actuallythe numerical equivalence of source code. This memory is fixed once it isprogrammed into a PIC microcontroller.

Data Memory This memory is dynamic. It is constantly changing. This memorycontains variables and information about the current state of input/output pins on thePIC microcontroller.


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Cycle #1: What Did I Learn?

I learned how to select my target device

Program memory is ___ bits by ___ words

Data memory is ___ bits by ___ words

A file register is just another name for ___

Program and data memory are separate

Certain file registers are special function

Lets review Cycle #1.

You learned how to select a device in MPLAB

Program memory is 14 bits by 8192 words

Data memory is 8 bits by 512 words

A file register is just another name for Data memory.

Program and data memory are separate

Certain file registers are Special function registers


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Cycle #2

Agenda





Labs




We are now ready for hand-on learning cycle #2.


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SpecialFeatures

I/OPorts

ProgramMemory

DataMemory

In this cycle we will be learning about one of the PIC microcontrollers specialfeatures.


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Architecture: W Register

SpecialFeatures

W register is an

8-bit temporary

working register

W register is

used in many

instructions

The W register is an 8-bit temporary working register. The W register is used inmany instructions. If you want to add two numbers together, for instance, you willmove one number into the W register, then add the other number to W.


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MPLAB IDEMPLAB IDE

The best way to understand the W register is to use it. Were going to do that nowby writing your first PIC microcontroller source code.


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MPLABSimulator

Lets begin by opening the MPLAB Simulator. The MPLAB Simulator simulateswhat the PIC16F917 will do on your PC. Its a great tool for learning and trying outnew instructions. Its possible to use the simulator to debug a piece of code withoutever programming a PIC microcontroller.

Choose Debugger -> Select Tool -> MPLAB SIM


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Creating My First Program

Click on File New

Enter the four lines of code below:

addlw 1

movwf 0x20

goto 0end

We have to write some code for the simulator to simulate. To do this:

Choose File -> New

Enter the four lines of code below

This four lines are included in the Hands-on Guide hand-out. In the Hands-onGuide, each line is commented to tell you how each instruction works.


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Creating Your First Program

Click on File Save As

c:\h1.asm

Project Quickbuild h1.asm

Look in the Output Window for

BUILD SUCCEEDED

Save the file as h1.asm under C:\

Build the project using Project -> Quickbuild h1.asm

Verify that the build was successful in the output window


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Running Your First Program

Have the students cursor over the simulator buttons and explain how run, halt,animate, single step, and reset work.

Explain the status bar:

MPLAB SIM this location shows the tool MPLAB is currently configured for PIC16F917 this location shows the processor MPLAB is currently configured for

PC Program Counter This shows the code line of code you are currentlyexecuted.

W The value of the W register

Have the students single-step through that code. What happens to W and PC?


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Adding a Watch Window

Click onView Watch

0x20

We are moving W to address 0x20. Wed like to see the current state of address0x20. This can be done by creating a watch window.

Create a watch window:

Choose View -> Watch In the address column type in 0x20

Optional: In the symbol name column type WREG

Let the students single step through the code and see how the instructions work.Show them what happens when they click animate.


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W Register

Create a .asm file

Quickbuild

MPLABSIM step, animate

Watch window

Status bar

Three instructions One assembler directive

In Cycle #2 you learned:

About the working register

How to create and .asm file

How to quickbuild

How to use Simulator

What a watch window is

What the status bar tells you

Three instructions movwf, addlw, goto

One assembler directive end


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Agenda





Labs




Cycle #3

Now for cycle #3.


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SpecialFeatures

I/OPorts

ProgramMemory

DataMemory

The Input/Output ports are what enable the microcontroller to receive inputs andoutput signals. These ports are how the microcontroller interacts with the worldaround it.


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I/O Ports: PORTA Register

PORTA 0x05

RA0RA7

PORTA is an 8-bit register that controls the state of pins RA0 through RA7. Look atthe PICDEM Mechatronics board. Near the top left corner of the PIC16F917 youllsee pins labeled RA0, RA1, etc. The state of these pins is controlled by PORTA.On this slide everything in the dashed box is inside the PIC microcontroller.Everything outside this box represents what is outside the microcontroller, namely

the pins.

PORTA is memory location 0x05.


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I/O Ports: PORTA Register

1 0 0 0 0 1 1 1

5V

0V

R

A7

R

A0

This slide shows the state of RA7 through RA0. Starting with RA7 the pins are at5V, 0V, 0V, 0V, 0V, 5V, 5V, and 5V. As you can see PORTA is equal to a binarynumber: 10000111.


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I/O Ports: TRISA Register

RA0RA7

TRISA 0x85

TRISA is an 8-bit register (memory location 0x85) that controls the direction of eachpin in Port A. In other words, TRISA determines whether a pin is either an output oran input. A pin is an input if the corresponding bit in TRISA is a 1. A pin is anoutput if the corresponding bit in TRISA is a 0. This is easy to remember because0 looks like O for output. 1 looks like I for input.

If a pin is an output then you have control over the state of the pin by setting orclearing the corresponding bit in PORTA.

If a pin is an input then you can only read the state of the pin in PORTA.Manipulating a input pin is not possible.


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I/O Ports: TRISA Register

RA0RA7

0 0 0 1 0 1 1 0

This slide shows the TRISA register and the correlation to an input or output pin.

If TRISA is set as show here which pins do you have control over?


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I/O Ports: Port D

PORTD: 8-bit I/O port PORTD is actually data memory 0x08

TRISD: 8-bit direction control register

TRISD is actually data memory 0x88

Weve talked about Port A. As you can see there are more Ports on thePIC16F917, according to the labels next to microcontroller on the PICDEMMechatronics Board. PORT D is another 8-bit I/O port. PORTD is memory location0x08. The direction control register is TRISD and it is data memory 0x88.


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MPLAB IDEMPLAB IDE

Lets do another hand-on. In this hands-on we will write code to make PORT D alloutputs and turn on and off all the pins in this port. Well use the simulator and awatch window to check to see if our source code is actually doing what it should.


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Code Round 3

Change your code to

Quickbuild

Change the Watch address to 8

movlw b00000000

movwf 0x08

movlw b11111111

movwf 0x08

goto 0

Change the code in h1.asm to this. Dont forget the end directive at the end ofthe code.

Choose Project -> Quickbuild

Change the Watch address to 8 (Note the symbol name shown next to the

address)


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Stepping Through the Code

Do aWindow Tile Horizontally

Use F7 to Single-Step through the code

movlw b00000000

movwf 0x08

movlw b11111111

movwf 0x08

goto 0

Tile the Windows horizontally by choosing Window -> Tile horizontally

Single step through the code using F7.

What should the code be doing? (Loading PORTD with 0 and then loading PORTD

with 0xFF)What is the code doing? (PORTD never changes.)

Why isnt the code doing what it is supposed to?


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PORTD Direction Control

Add TRISD (0x88) to your Watch

PORTD is all inputs!

Set TRISD to all outputs (zeros)

Lets take a look at the Direction control register, TRISD. Add TRISD to your watchwindow. What is it. TRISD is all 1s.

Remember a binary 1 means a pin in an input. PORTD is all inputs according to theTRISD register.

We have to make TRISD all outputs (zeros). Lets do that in the code.


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TRISD - Direction Control

Add this line to the top of your code

Build, single-step

Can you see TRISD being cleared?

clrf 0x88 ; clear TRISD

Add the line of code to the top of you code. Any guesses as to what the clrf (clearfile) command does?

Our intention is to make all the 1s in TRISD all 0s. We could use the movlw

command to move 0 into W and then the movwf to move W into TRISD. However,the clrf (clear file) register allows us to do this in one instruction rather than two.

Build, single-step

Is TRISD all zeros? (No.)


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Why doesnt TRISD clear?

Lets revisit data memory

Why doesnt TRISD clear?

TRANSTITION: The reason TRISD is not being cleared requires us to learn alittle more about PIC microcontroller architecture.


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SpecialFeatures

I/OPorts

ProgramMemory

DataMemory

Lets look more closely at how instructions operate on data memory.


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Accessing Data Memory

DataMemory

clrf 0x88

Again, our intention is to clear data memory location 0x88 or the TRISD register.


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Architecture: Data Memory

DataMemory

Address

clrf 0x88

What youve probably figured out is that 0x88 is actually a data memory address.When we use clrf 0x88 we expect address 0x88 to be cleared.


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DataMemory

Address

32

clrf b10001000

What I didnt tell you before is that you can only specify the first 7-bits of an addressafter an instruction. That why clearing 0x88 didnt change TRISD. 0x88 is shownhere as a binary number. The bit in red is out of the range of the instruction tooperate on. With 512 bytes of data memory, we need 9-bits of addressing. Thesetwo other bits are in register 3, bits 5 and 6.


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Bank 00-7F

00xxxxxxx

Bank 180-FF

01xxxxxxx

Bank 2100-17F

10xxxxxxx

Bank 3180-1FF

11xxxxxxx

00 01 10 11

3,6 3,5

This effectively splits the memory into 4 banks. An instruction will reference Bank0when bits 5 and 6 of register 3 are zero. An instruction will reference Bank1 when3,6 is 0 and 3,5 is 1. When 3,6 is a 1 and 3,5 is a 0 an instruction will referenceBank 2. Finally, when both bits are set, an instruction will address registers inBank3.


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Bank 00-7F

00xxxxxxx

Bank 180-FF

01xxxxxxx

Bank 2100-17F

10xxxxxxx

Bank 3180-1FF

11xxxxxxx

00 01 10 11

88


TRISD, or data memory address 0x88, is clearly in Bank 1 as seen in this diagram.


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Architecture: Bank 1 Select

01

bsf 3,5Bank 00-7F

00xxxxxxx

00

Bank 180-FF

01xxxxxxx

Therefore, if we want an instruction to address TRISD we have to first set the 3,5bit. We use the bsf or bit set file instruction to set a bit in a file register.


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Architecture: TRISD

01

bsf 3,5

clrf 0x88Bank 00-7F

00xxxxxxx

00

Bank 180-FF

01xxxxxxx

88

Once we are in bank1, we can clear TRISD. We can enter clrf 0x88.


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Architecture: Bank 0 Select

01

bsf 3,5

clrf 0x88

????

Bank 00-7F

00xxxxxxx

00

Bank 180-FF

01xxxxxxx

8

Once we are done setting up the TRISD register, we want to be able to manipulatePORTD, or address 8.

What do we need to do to return to Bank0?


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TRISD - Direction Control

Our final code

bsf 3,5clrf 0x88

bcf 3,5

movlw b00000000

movwf 0x08

movlw b11111111

movwf 0x08goto 3

The answer is, clear bit 3,5. This is done with the bcf instruction.

Modify the your code as shown on this slide. Refer to the handout for commentsabout what each line of code is doing. Step through the code. Is TRISD being set

appropriately? What is happening to PORTD?


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Symbol Name and File RegisterCorrelation

include

bsf 3,5 bsf STATUS,RP0

clrf 8 clrf TRISD

bcf 3,5 bcf STATUS,RP0

Loop

movlw 0 movlw 0

movwf 8 movwf PORTD

movlw 0xff movlw 0xff

movwf 8 movwf PORTD

goto 3 goto Loop

Remembering the address of every register would be hard to do. Fortunately, youcan include a file with all the symbol names defined for a given part. This allowsyou to address addresses by name rather than number.

Add include to the top of the code.

After the 3rd

instruction add the label Loop. Change the goto 3 instruction togoto Loop.

You may have made the connection that the microcontroller manipulates numbers.In order to make these numbers easier for a human to work with, specific addressesare given names that represent what that address is responsible for.

Youll also notice by the changes to the code that register 3 is the STATUS register.Well learn more about some of the other bits in the STATUS register later.

One important note regarding symbol names and labels They are case sensitive!The compiler will interpret PORTD and portd differently. The same goes for Loopand LOOP.


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PORTx Registers TRISx Registers

Banking

STATUS register, bits RP0 & RP1

Symbol name and number correlation

Four instructions

One assembler directive

Review Cycle #3

PORTx

PORTx

Banking

STATUS bits RP0 and RP1

Symbol name and number correlation

4 instructions: bsf, bcf, clrf, movlw

One assembler directive: include


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Agenda





Labs




Cycle #4

Up until now, weve been working will the simulator. In cycle #4, we areactually going to make the PIC16F917 interact with the physical world.


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SpecialFeatures

I/OPorts

ProgramMemory

DataMemory

We will be doing this with the I/O ports that you were introduced to in cycle #4.


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Introduction to thePICDEM Mechatronics Board

The PICDEM Mechatronics Boards that you purchased for this workshop will be thevehicle that we use to experiment with the PIC16F917. It will allow you to see themicrocontroller working. In cycle #4 we will be using the PICDEM mechatronicsboard to observe firmware reading and manipulating the digital I/O pins.

A few things you should know about the board are:

We are going to power the board from a 9V, 0.75 supply

The on-board regulator drops the voltage on the board to 5V

What all this means is that, this board will not electrocute you!

TRANSISION: First, we need to connect the microcontroller on the PICDEMMechatronic board to some of the surrounding components.


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Connect the Hardware

Lets configure the board for our next hands on.

For cycle#4 we will set up one input. The input will be a tactile switch connected toRA4. PORTD will be all outputs. We are going to attach each pin in PORT D to anLED. This essentially gives us a visual binary representation of PORTD. Thestudent handout contains the wiring diagram shown on this slide.

Using Jumper wires connect:

SW2 (J4) to RA4 (J13)

D0 (J14) to RD7 (J10)

D1 (J14) to RD6 (J10)

D2 (J14) to RD5 (J10)

D3 (J14) to RD4 (J10)

D4 (J14) to RD3 (J10)

D5 (J14) to RD2 (J10)

D6 (J14) to RD1 (J13)

D7 (J14) to RD2 (J13)


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Connecting the ICD 2 and Power

ICD2ICD2

J11

J9

USB

Next, we need to connect the PICDEM Mechatronics Board to power and theMPLAB ICD 2

Connect the power supply to J9

Connect the ICD 2 to J11

Connect the USB cord to the ICD 2


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Introduction to the MPLAB ICD 2

MPLAB ICD 2 is an In-circuit Debugger and

Programmer

Debug mode:

- Find out why your program isnt doing what youexpect it to do

- Look at the data memory

- Step through the code

- Set break points

Program mode:- Program a device

What is the MPLAB ICD 2?

The MPLAB ICD 2 is an in-circuit debugger. An in-circuit debugger allows you to:

Debug the code by allowing you to stop the part and step through your code.

While stepping the debugger uploads critical registers from the microcontrollerand displays these registers in the MPLAB IDE. This allows you to see what thepart is doing and find why it isnt working as suspected. In other words, thedebugger does what the simulator did only it does it using actual hardware andthe device.

Program a device


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MPLAB IDEMPLAB IDE

Now we are going to finally make the PIC16F917 interact with the outside world.


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Create a Project In MPLAB IDE

Lets first create and save a project in MPLAB IDE. The benefits of creating aproject are:

The project window gives you easy access to the file or files in you project

You can link more than one file together at build time. Well look at this more

later in the labs The advantage you will see now is that we can build at the touch of a button

rather than choosing quickbuild

Once in MPLAB IDE click on Project in the menu bar and select the ProjectWizard. The project wizard helps you create a project very quickly.


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Creating a Project Continued

Select the PIC16F917, click Next

Choose the Microchip MPASM Toolsuite,

click Next

Create a project name of test

Save in C:\, click Next

Add h1.asm to the project, click Next

Click Finish

Follow these steps to finish creating a project


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Save Workspace

Save the Workspaceas test in C:\

MPLAB IDE may automatically prompt you to save the workspace. If it doesnt,click on File -> Save Workspace As

Next, find the c:\ and save the workspace as test.

Benefits of a Workspace

A workspace saves your MPLAB environment so that the next time you want towork on a specific project you can pick up right where you left off.

Saves the configuration bits


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Opening Source Files

The project window

contains the source,include, and linker files

Double-click on the filenames to open (or focuson) the desired file

Right-click on SourceFiles to add source files

Remove files by right-

clicking on them andchoosing Remove

The project window now shows the name of the workspace, the project name, andthe files included in the project. Use this window to add source, include and linkerfiles. Opening a file in projects is as easy as double-clicking on a file name. Usethe project window to add and delete files for a project. In our case, we only haveone file. Later on, however, youll be working with projects with more than one

source file.


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ICD 2 Setup

Debugger - Select Tool - 1 MPLAB ICD-2

Debugger - Connect

Configuration - Configuration Bits

Lets select the ICD 2 as our debugger in MPLAB.

Select ICD 2 as debugging tool: Debugger -> Select Tool -> 1 MPLAB ICD-2

Connect to the ICD-2: Debugger -> Connect

Setup Configuration bits: Configuration Configuration Bits

Oscillator equal INTOSC

Watchdog Timer off

Power Up Timer on

(The rest can remain in the default state)

Configuration bits do exactly what the name implies they configure themicrocontroller. For the PIC16F917, there are 14 configuration bits. These bits setup the clock source for the microcontroller, turn on the watchdog timer, etc. Theconfiguration bits can not be changed during runtime. In order words you have to

reprogram the part to re-configure these bits.


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Cycle #4: Write the Source Code

include

bsf STATUS,RP0

clrf TRISD

bsf TRISA,4

bcf STATUS,RP0

Loop

btfsc PORTA,4

goto Loop

incf PORTD,fgoto Loop

Type in the source code shown


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Building and Programming

In a project the build command is F10.

(Do this now!)

Once the source code is built it must beprogrammed into the PIC16F917

To program a device click on:

You mustbuildandprogramafterevery change to your source code!

The build command in a project is Project -> Make, or the F10 key. Use F10 tobuild the project now. Use this method rather than Quickbuild when working with aproject.

We are now using the ICD 2 and not the simulator. This means we have to transferthe code to the PIC16F917 before running the device. Use the indicated icon toprogram the PIC16F917.

Keep in mind that every time you make a change to your code you will have to buildthe source code and then program the PIC microcontroller before running.


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Watching the Source Run

Create a Watch window

Watch PORTD and PORTA

Click the Animate button

What happens when you press SW2?

Were almost there!

Create a watch window that watches PORTD and PORTA

Click the animate button

Watch the program flow pointer in the h1.asm file. Press SW2. What happens tothe program flow pointer. Look at PORTA in the watch window while pressing andreleasing SW2. What happens to bit 4? (Other bits might change. These bits arefloating and are electrostatically influenced by RA4. Use a jumper wire to connectthe changing pin to Vss. The pin will no longer change.)

With SW2 pressed look at PORTD in the Watch window. Look at the LEDs. Seeany correlation?


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Set up the PICDEM MechatronicsBoard

Configured the MPLAB ICD 2

Created a Project

Saved a Workspace

Built a project

Programmed the PIC16F917

Ran code using the MPLAB ICD 2

Review Cycle #4


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Agenda





Labs




Now were going to start working on the labs.


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Lab Introduction

Problem: Management wants you to design

a cooling fan for an electronics bay in thenew Mars Rover

All of our labs will focus on solving this problem:

Management wants you to create a cooling fan for an electronics bay in the newMars Rover.

The labs will all focus on solving this problem. The labs will be very basic and thengradually get more and more complex


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Agenda





Labs




LAB 1

The purpose of Lab 1 is to use the knowledge youve just learned in PICMicrocontroller Basics to perform the specific task. You will be introduced to Timer0 in this lab.

Lets take a look at our design objectives for this Lab.


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Lab 1: Design Objectives

Read the state of a thermal breaker

Turn on the fan when the breaker trips

When the breaker resets, wait 2 seconds,then turn off fan

PIC16F917Thermal BreakerFan

In Lab 1 we will be creating a very simple system. We will be using a PIC16F917to read a thermal breaker output. When the thermal breaker trips we will turn on thefan. Now, in order to up the complexity of this system a little and make putting aPIC microcontroller in it worthwhile, management has mandated that when thebreaker resets, the fan should cool for another two seconds before shutting down.


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Lab 1: Hardware

We will use a tactile switch on the board tosimulate the thermal breaker

The Brushed DC motor will substitute for thefan

For the PIC16F917 . . . . well well use that!

PIC16F917

SW2

Tactile Switch Brushed DC motor

For the lab we will be using other components on the PICDEM Mechatronics Boardto simulate our hardware requirements.

SW2 is a tactile switch. The output from SW2 is normally high (meaning at 5VDC). When the button is pressed, its output becomes low (ground or 0 V). Wewill use SW2 high to simulate a breaker operating normally. SW2 low will simulatethe breaker being tripped

The substitution for the fan is the brushed DC motor on the PICDEM MechatronicsBoard. This is relatively realistic substitution as if we put a fan blade on the motorit would cool! However, since we didnt want anybody to lose their fingers wedidnt include a fan blade.

The PIC16F917 will be taking the role of itself in this lab

TRANSITION: Lets set up our hardware first.


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Lab 1: Schematic

PIC16F917

SW2RA4

RD7

+5V

+5V

Motor

MOSFET

D0

R1

N2

Here is a simplified schematic of the system we need to create for this lab.

The line tying Switch 2 to the microcontroller is tied to +5V via a pull-up resistor,R1.

When SW2 is depressed the line is grounded. This changes the state of the inputpin from a 1 to a 0.

RD7 is our output. When RD7 is a logic 0, or at ground potential, the MOSFET willbe open and the LED off. The motor will not run when the MOSFET is open. WhenRD7 is a logic 1, or at +5V, the MOSFET will close, causing the motor to turn on.

A MOSFET is a solid-state switch that is open or closed based the input at itsgate. For simplicity its shown in this schematic as a switch.

D0 is a LED that weve also hooked up for this lab. If you get tired of the motorrunning on your desk you can connect just D0. D0 will give a visual representationof the drive control to the motor.

The lines in red show the connections you will be making on the PICDEMMechatronics board. Lets make those connections now.


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Lab 1: Connection Diagram

RA4,SW2

RD7,D0

RD7,N2

Vdd,P1

Now we are going to hook up the board like I just described.

First, connect a wire jumper between SW2 on J4 and RA4 on J13. J4 and J13 aswell as other headers on the board have horizontal pins connected together. Thisis so that you can jumper from a peripheral device to the microcontroller and alsofrom the peripheral device to a piece of test equipment or LED.

Connect a wire jumper between VDD (J10) and P1 (J1).

Connect a wire jumper between RD7 (J10) and D0 (J14). We will use the LED tovisually check the state of RD7

Connect a wire jumper between RD7 (J10) and N2 (J1)


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Lab 1: Connection Diagram

JP8: Centerand Rightusing shunt

Inspect your board for 2 pin jumpers, or shunts. The only shunt on the board willbe connecting +5 VDC to our output stage (JP8). Make sure the shunt isconnecting the middle and right pin.

Connect one lead of the brushed DC motor to the screw terminal labeled DRIVE 1

Connect the other lead of the brushed DC motor to the screw terminal labelDRIVE 2


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Timer 0

8-bit timer It continuously runs

Overflow flag: INTCON,T0IF

Example:

Timer 0 INTCON,T0IF

11111110 0

11111111 0

00000000 1

Documents

Mechatronics WIB