PIC32 Training

Prajin Palangsantikul
APPSOFTTECH CO.,LTD
11/12/53 1
Agenda..
Whats
a Microcontroller? Microcontroller PIC/dsPIC/PIC32 PIC32 Block diagram PIC32MX460F512L PIC32 Start kit Install : MPLAB, MPLAB C32
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Agenda..
32-Bit
Language Tools Libraries How to PIC32 Programming Oscillator

Lab 1 : Osc Basic
I/O
PORT
Lab 2 : Blink an LED Lab 3 : Port Basic

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Agenda..
Interrupt
Lab 4 : CN Interrupt Lab 5 : External Interrupt Lab 6 : Timer Lab 7 : Counter
Timer/Counter
UART
PIC32 Robot Question

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LAB 8 : UART Polling LAB 9 : UART Interrupt
Application.
4
Whats a Microcontroller?
A
microcontroller
(sometimes abbreviated C, uC or MCU) is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals
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Microcontroller.
AVR ARM7 Basic
Stamp MCS-51 MSP-430 PIC/dsPIC/PIC32 PSoC STM32

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PIC/dsPIC/PIC32
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PIC32 Block diagram.
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PIC32MX460F512L

Operating Frequency
DC 80 MHz
Program Memory (Bytes)

512K
Interrupt Sources / Vectors

95 / 63
I/O Ports
Ports A, B, C, D, E, F, G
Total I/O Pins

83
DMA Channels
4 + 2 USB 9
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PIC32MX460F512L
Timers:
Input Capture Channels

5 5
Total number (16-bit) = 5 32-bit (from paired 16-bit timers) = 2 32-bit Core Timer = 1
Output Compare/PWM Channels Input Change Interrupt Notification Serial Communications:

Enhanced UART = 2 SPI (3-wire/4-wire) = 2 I2C = 2
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PIC32MX460F512L
Parallel JTAG
Communications (PMP/PSP)
Yes, 8-bit/16-bit
Boundary Scan Debug and Program 2-wire Debug and Program Trace
11
Yes
JTAG
Yes
ICSP
Yes
Instruction
Yes
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PIC32MX460F512L
Hardware 10-bit
Break Points:
6 Instruction, 2 Data
Analog-to-Digital Module (input channels)

16
Analog
Comparators LDO
12
2
Internal
Yes
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PIC32MX460F512L
Resets
(and Delays)
POR, BOR, /MCLR, WDT, SWR (Software Reset), CM (Configuration Bit Mismatch) (PWRT, OST, PLL Lock)
Instruction
Support
MIPS32 Enhanced Architecture (Release 2) MIPS16e Code Compression

Packages
100-pin TQFP
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PIC32 Start Kit.
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PIC32 Start Kit.
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PIC32 Start Kit.

MCU 16Bit 32Bit Microchips 100Pin MCU PIC24F/PIC24H/dsPIC33 PIC32 MCU PIC24FJ128GB110, PIC24HJ256GP210, dsPIC33FJ256MC710, PIC32MX360F512L PIC32MX460F512L XTAL 8.00 MHz System Clock Source XTAL 32.768 KHz RTCC Clock Source
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PIC32 Start Kit.

Ethernet LAN Driver (ENC28J60) RJ45 Ethernet LAN Port 1 SPI EEPROM (25LC256) Web Page Code Ethernet LAN Application Note Microchips TCP/IP Stack SD Card Interface Card Detect Write Protect 1
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PIC32 Start Kit.

UART Driver RS232 CPA-4 2 USB Interface USB Device/OTG Host PIC32MX460F512 PIC24FJ128GB110 14Pin Header (Character Dot-Matrix LCD Interface) 1 LED Indicator Output Logic 4
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PIC32 Start Kit.

SW Push Button Input Logic 4 Volume (VR) 0-3.3V ADC 1 ICD2 Port RJ11 ICD2 Microchips InCircuit Program Debug Program/Debug LED
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PIC32 Start Kit.

JTAG Port IDE Header 14 Pin Program/Debug JTAG Tools Microchips DEBUG Port(Debug Trace Port) IDE Header 10 Pin Debug Debug Tools(MPLAB REAL ICE In-Circuit Emulator) Microchips Regulate 3.3V/3A Switching Regulate LED +5V Type-B
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PIC32 Start Kit.
I/O Port PIN
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PIC32 Start Kit.

LED
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PIC32 Start Kit.

Push Button Switch
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PIC32 Start Kit.

RS232
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PIC32 Start Kit.
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MPLAB, MPLAB C32

Install/Setup
MPLAB IDE MPLAB C32

Demo
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32-Bit Language Tools Libraries.

Standard PIC32
Standard ANSI C library functions are contained in the libraries libc.a and libgcc.a.
C Libraries (with Math Functions)
PIC32
functions and macros contained in the 32-bit peripheral libraries (use peripheral libraries need to include <plib.h> file in their source file.) Vector Math Functions Filters Transforms Video
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Peripheral Libraries
DSP Library
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PIC32 Peripheral Libraries.

System
The PIC32MX system library consists of functions and macros to perform system level operations.
Functions
Oscillator
The PIC32MX has multiple clock sources, with varying degrees of adjustability. The oscillator library functions are available to allow high-level control of the clock source and scaling of the frequency at runtime. The 32-bit I/O PORT Peripheral Library consists of simple, code efficient macros and functions supporting the configuration and use of this peripheral.
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Functions
I/O
PORT Functions
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PIC32 Peripheral Libraries.

Interrupt
Functions
Functions for Peripheral Interrupt and Software Interrupt.

Timer
Functions
The 32-bit TIMER Peripheral Library consists of simple, code efficient macros and functions supporting the configuration and use of this peripheral.
UART
Functions
Functions for UART module and an example of use of the functions. Functions may be implemented as macros.
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How to PIC32 Programming.

Development MPLAB
Board
IDE PIC32 LIBRARY C Language for PIC32 Datasheet Go.
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C Language for PIC32

File
naming conventions
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Integer
Representation
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Floating-Point
Representation
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Single
File
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Multiple
Files
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Interrupt
Handler Function
// configure the Timer 1 interrupt handler void __ISR(_TIMER_1_VECTOR, ipl2) Timer1Handler(void) { // clear the interrupt flag mT1ClearIntFlag(); // .. in this case, toggle the LED mPORTDToggleBits(BIT_0); } Ref.. (sys/attribs.h) (proc\p32mx460f512l.h) 11/12/53 36

Low
Level Processor Control
Include either the generic processor header file (i.e., p32xxxx.h) or the processor-specific header file for the appropriate device (e.g., proc/p32mx360f512l.h).
#include Example,
<p32xxxx.h>
Access SFRs like any other C variables.

the following statement clears all the bits to zero in the special function register for Timer 1:
TMR1 = 0;
The
next statement enables the Watchdog Timer:

WDTCONbits.ON = 1;
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Configuration Bit Access #pragma config

The
The
example does the following: Enables the Watchdog Timer, Sets the Watchdog Postscaler to 1:128, and Selects the HS Oscillator for the Primary Oscillator
#pragma config directive specifies the processor-specific configuration settings (i.e., configuration bits) to be used by the application.
#pragma config FWDTEN = ON, WDTPS = PS128 #pragma config POSCMOD = HS void main (void) { ... } 11/12/53 38

// Include either the generic processor header file #include <p32xxxx.h> // Master header file for all peripheral library includes #include <plib.h> #pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1 #pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_4 #pragma config FWDTEN = OFF #define SYS_FREQ (80000000L)
int main(void) { // Configure System Clock SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); while (1) ; }
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Oscillator.
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Oscillator.
Primary
Oscillator Operating Modes
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Primary Oscillator (POSC) Configuration.
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Configuration Bits register.

COSC<2:0>
Current Oscillator Selection bits

FPLLIDIV<2:0>
Default PLL Input Divider Value bits

PLLMULT<2:0>
PLL Multiplier bits

PLLODIV<2:0>
Output Divider for PLL

HSPLL
Primary
43
Oscillator with PLL module

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System Functions.
SYSTEMConfig()
function
Include: plib.h Prototype: void SYSTEMConfig(unsigned int sys_clock, unsigned int flags); Code Example:
SYSTEMConfig(80000000, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); // Does no configure PBDIV.
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Configuration Settings "PIC32MX460F512L"
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Setting Configuration Bits in Code.
// Configuration Bit settings

// SYSCLK = 80 MHz (8MHz Crystal/ FPLLIDIV * FPLLMUL / FPLLODIV) // PBCLK = 40 MHz // Primary Osc w/PLL (XT+,HS+,EC+PLL) // WDT OFF // Other options are don't care
#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF #pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_8
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SYSCLK:80Mhz Calculation.
SYSCLK = 80 MHz (8MHz Crystal/ FPLLIDIV * FPLLMUL / FPLLODIV) FPLLIDIV = 2, FPLLMUL = 20, FPLLODIV = 1 SYSCLK = 8MHz Crystal/2 = 4MHz = 4MHz x 20 = 80MHz/1 = 80MHz // Fin:4MHz-5MHz
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Oscillator Functions.
OSCConfig()
function
Include: plib.h Prototype:
void OSCConfig(unsigned long int config1, unsigned long int config2, unsigned long int config3, unsigned long int config4); OscConfig(OSC_POSC_PLL, OSC_PLL_MULT_15, OSC_PLL_POST_1, 0);
Code Example:
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Oscillator Functions.
mOSCSetPBDIV()
function
Include: plib.h Prototype:
mOSCSetPBDIV(unsigned int config); mOscSetPBDIV(OSC_PB_DIV_8);
Code Example:
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Config Oscillator Examples.

Examples Test..
Oscillator
Lab 1 : Osc Basic Change 80MHz to 40MHz Oscillator
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SYSCLK:40Mhz Calculation.
SYSCLK = 40 MHz (8MHz Crystal/ FPLLIDIV * FPLLMUL / FPLLODIV) FPLLIDIV = 2, FPLLMUL = 20, FPLLODIV = 2 SYSCLK = 8MHz Crystal/2 = 4MHz = 4MHz x 20 = 80MHz/2 = 40MHz // Fin:4MHz-5MHz
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I/O PORT.
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Pin Diagram (100-Pin USB).
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I/O PORT.
The
key features of this module:
Individual output pin open-drain enable/disable Individual input pin pull-up enable/disable Monitor select inputs and generate interrupt on mismatch condition Operate during CPU SLEEP and IDLE modes Fast bit manipulation using CLR, SET and INV registers
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Block diagram of a typical port structure
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I/O PORT.
The
I/O Ports module consists of the following Special Function Registers (SFRs):
TRISx: Data Direction register for the module x PORTx: PORT register for the module x LATx: Latch register for the module x ODCx: Open-Drain Control register for the module x CNCON: Interrupt-on-Change Control register CNEN: Input Change Notification Interrupt Enable register CNPUE: Input Change Notification Pull-up Enable register
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I/O PORT.
The
I/O Ports module also has the following associated bits for interrupt control:
Interrupt Enable Control bits for CN events (CNIE) in INT register IEC1: Interrupt Enable Control Register 1. Interrupt Flag Status bits for CN events (CNIF) in INT register IFS1: Interrupt Flag Status Register 1. Interrupt Priority Control bits (CNIP<2:0>) in INT register IPC6: Interrupt Priority Control Register 6.
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I/O PORT.
CONTROL
REGISTERS
TRIS (tri-state) Registers configure the data direction flow through port I/O pin(s). PORT Registers
PORT LAT
registers allow I/O pins to be accessed (read).
LAT Registers
registers (PORT data latch) hold data written to port I/O pin(s).
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Control Registers.
TRIS (tri-state) Registers TRIS registers configure the data direction flow through port I/O pin(s). The TRIS register bits determine whether a PORT I/O pin is an input or an output.
A TRIS bit set = 1 configures the corresponding I/O port pin as an input. A TRIS bit set = 0 configures the corresponding I/O port pin as an output. A read from a TRIS register reads the last value written to the TRIS register. All I/O port pins are defined as inputs after a Power-on Reset. 11/12/53 59
Control Registers.
PORT
Registers
PORT registers allow I/O pins to be accessed (read).

A write to a PORT register writes to the corresponding LAT register (PORT data latch). Those I/O port pin(s) configured as outputs are updated. A write to a PORT register is the effectively the same as a write to a LAT register. A read from a PORT register reads the synchronized signal applied to the port I/O pins.
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Control Registers.
LAT
Registers LAT registers (PORT data latch) hold data written to port I/O pin(s).
A write to a LAT register latches data to corresponding port I/O pins. Those I/O port pin(s) configured as outputs are updated. A read from LAT register reads the data held in the PORT data latch, not from the port I/O pins.
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Modes of Operation.
Digital
Inputs Inputs Outputs
Setting the corresponding bit in the AD1PCFG register = 1 enables the pin as a digital pin.
Analog
Setting the corresponding bits in the AD1PCFG register = 0 enables the pin as an analog input pin.
Digital
setting the corresponding TRIS register bits = 0. When configured as digital outputs, these pins are CMOS drivers or can be configured as open-drain outputs by setting the corresponding bits in the ODC register.
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I/O Port Code Example.
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I/O PORT Functions & Macros.
Port Pin Digital Functions and Macros

PORTSetPinsDigitalIn PORTSetPinsDigitalOut mPORTxSetPinsDigitalIn mPORTxSetPinsDigitalOut
Port Pin Direction Functions and Macros

mPORTxDirection mPORTxGetDirection mPORTxReadDirection mPORTxReadDirectionBits mPORTxCloseBits mPORTxCloseAll PORTResetPins
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Port Pin Digital Examples

PORTSetPinsDigitalIn
Code Example: PORTSetPinsDigitalIn(IOPORT_C, BIT_1 | BIT_0);

mPORTxSetPinsDigitalIn
Code Example: mPORTCSetPinsDigitalIn(BIT_1 | BIT_0);

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I/O PORT Functions & Macros.
Port Input Functions and Macros

mPORTxRead mPORTxReadBits mPORTxReadLatch mPORTxReadLatchBits PORTRead PORTReadBits mPORTxWrite mPORTxSetBits mPORTxClearBits mPORTxToggleBits PORTWrite PORTSetBits PORTClearBits PORTToggleBits
Port Output Functions and Macros
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Port Input Examples

PORTRead
Code Example: value = PORTRead(IOPORT_C);

mPORTxRead
Code Example: value = mPORTCRead();
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I/O Port Examples.

Examples
Lab 2 : Blink an LED Lab 3 : Port Basic

Test..
OUTPUT
INPUT
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Change Notification Pins.

The
Change Notification (CN) pins provide PIC32MX devices the ability to generate interrupt requests to the processor in response to a change of state on selected input pins (corresponding TRISx bits must = 1). Note: Pull up on CN pins should always be disabled whenever the port pin is configured as a digital output.
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Input Change Notification Block Diagram.
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Change Notice Configuration Example.
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Change Notice ISR Code Example.
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Interrupt.
Interrupt
ISR
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Interrupt.
Internal
Interrupt
Timer/Counter Serial A/D Etc.

External
Interrupt
Int CN
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External Interrupts.
The
interrupt controller supports five external interrupt-request signals (INT4-INT0). These inputs are edge sensitive, they require a low-to-high or a high-to-low transition to create an interrupt request. The INTCON register has five bits that select the polarity of the edge detection circuitry:
INT4EP INT3EP INT2EP INT1EP INT0EP (INTCON<4>) (INTCON<3>) (INTCON<2>) (INTCON<1>) (INTCON<0>).
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Setting External Interrupt Polarity.
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Interrupt Examples.
Examples
Lab 4 : CN Interrupt Lab 5 : INT Interrupt

Test..
Output
Interrupt
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Timer/Counter.
All
timers are classified into two types to account for their functional differences.
Type A Timer (16-bit synchronous/asynchronous timer/counter with gate) Type B Timer (16-bit, 32-bit synchronous timer/counter with gate and Special Event Trigger)
All
Timer modules includes the following common features:

16-bit timer/counter Software-selectable internal or external clock source Programmable interrupt generation and priority Gated external pulse counter
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Timer/Counter.
Beyond
the common features, each timer type offers these additional features:
Type A:
Asynchronous
timer/counter with a built-in oscillator Operational during CPU SLEEP mode Software selectable prescalers 1:1, 1:8, 1:64 and 1:256
Type B:
Ability
to form a 32-bit timer/counter Software prescalers 1:1, 1:2, 1:4, 1:8, 1:16, 1:32, 1:64 and 1:256 Event trigger capability 11/12/53 79
Type A Timer Block Diagram.
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Type B Timer Block Diagram (16-Bit).
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Type B Timer Block Diagram (32-Bit).
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Timer Functions.
The
32-bit TIMER Peripheral Library consists of simple, code efficient macros and functions supporting the configuration and use of this peripheral.
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Timer Functions.
CPU
Core Timer Functions and Macros
OpenCoreTimer UpdateCoreTimer mConfigIntCoreTimer mEnableIntCoreTimer mDisableIntCoreTimer mSetPriorityIntCoreTimer ReadCoreTimer WriteCoreTimer

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Timer Functions.
General
Macros OpenTImer, CloseTimer ConfigIntTimer SetPriorityIntT DisableIntT, EnableIntT ReadTimer, WriteTimer ReadPeriod, WritePeriod
Purpose Timers Functions and
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Timer/Counter Examples.
Examples
Lab 6 : Timer Lab 7 : Counter

Test..
Timer
Counter
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UART.
The
are:
primary features of the UART module
Full-duplex, 8-bit or 9-bit data transmission Even, odd or no parity options (for 8-bit data) One or two Stop bits Hardware auto-baud feature and flow control option Fully integrated Baud Rate Generator with 16-bit prescaler Baud rates ranging from 76 bps to 20 Mbps at 80 MHz Parity, framing and buffer overrun error detection Support for interrupt only on address detect (9th bit = 1) Separate transmit and receive interrupts
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UART Baud Rate Generator.

UART
Baud Rate with BRGH = 0
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UART Baud Rate Generator.

UART
Baud Rate with BRGH = 1
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Calculation of the baud rate.

calculation
of the baud rate error for the following conditions:

FPB = 4 MHz, Desired Baud Rate = 9600
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UART Function.
UART Functions
BusyUART1, BusyUART2 CloseUART1, CloseUART2 ConfigIntUART1 , ConfigIntUART2 DataRdyUART1 ,DataRdyUART2 OpenUART1, OpenUART2 ReadUART1, ReadUART2 WriteUART1, WriteUART2 getsUART1, getsUART2 putsUART1, putsUART2 getcUART1, getcUART2 putcUART1, putcUART2 UART1GetErrors, UART2GetErrors UART1ClearErrors, UART2ClearErrors 91
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UART Function.
UART
Macros
EnableIntU1RX, EnableIntU2RX EnableIntU1TX, EnableIntU2TX DisableIntU1RX, DisableIntU2RX DisableIntU1TX, DisableIntU2TX SetPriorityIntU1, SetPriorityIntU2 SetSubPriorityIntU1, SetSubPriorityIntU2 UART1SendBreak, UART2SendBreak UART1EnableAutoAddr, UART2EnableAutoAddr
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UART Examples.
Examples
Lab 8 : Polling Lab 9 : Interrupts

Test..
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PIC32 Robot Application.

Main
Controller
PIC32 Start kit

Actuator
Servo Motor
Continuous
Rotation Servo
Sensor
GP2D120
Distance
measuring range: 4 to 30 cm.

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Reference.
PDF Files
CHM files Web
MPLAB IDE MPLAB C32 C Compiler Users Guide PIC32MX3XX/4XX Family Data Sheet 32-Bit Language Tools Libraries PIC32 Peripheral Libraries for MPLAB C32 Compiler PIC32 START KIT hlpPIC32MXConfigSet.chm Microchip-PIC32MX-Peripheral-Library.chm
Development Board Development Tools

MPLAB IDE MPLAB C32
www.Microchip.com
ET-PIC16/32 Start Kit
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Thank you. Questions?

Prajin palangsantikul APPSOFTTECH CO.,LTD. 11/12/53 96

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Prajin Palangsantikul

Language Tools Libraries How to PIC32 Programming Oscillator

Lab 2 : Blink an LED Lab 3 : Port Basic

Lab 4 : CN Interrupt Lab 5 : External Interrupt Lab 6 : Timer Lab 7 : Counter

PIC32 Robot Question

LAB 8 : UART Polling LAB 9 : UART Interrupt

Stamp MCS-51 MSP-430 PIC/dsPIC/PIC32 PSoC STM32

PIC32 Block diagram.

Program Memory (Bytes)

Interrupt Sources / Vectors

Total I/O Pins

Input Capture Channels

Output Compare/PWM Channels Input Change Interrupt Notification Serial Communications:

Analog-to-Digital Module (input channels)

MIPS32 Enhanced Architecture (Release 2) MIPS16e Code Compression

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

I/O Port PIN

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

PIC32 Start Kit.

MPLAB, MPLAB C32

MPLAB IDE MPLAB C32

32-Bit Language Tools Libraries.

C Libraries (with Math Functions)

PIC32 Peripheral Libraries.

PIC32 Peripheral Libraries.

Functions for Peripheral Interrupt and Software Interrupt.

How to PIC32 Programming.

IDE PIC32 LIBRARY C Language for PIC32 Datasheet Go.

C Language for PIC32

C Language for PIC32

C Language for PIC32

C Language for PIC32

C Language for PIC32

C Language for PIC32

C Language for PIC32

Level Processor Control

Access SFRs like any other C variables.

next statement enables the Watchdog Timer:

C Language for PIC32

Configuration Bit Access #pragma config

C Language for PIC32

Oscillator Operating Modes

Primary Oscillator (POSC) Configuration.

Configuration Bits register.

Current Oscillator Selection bits

Default PLL Input Divider Value bits

PLL Multiplier bits

Output Divider for PLL

Oscillator with PLL module

Configuration Settings "PIC32MX460F512L"

Setting Configuration Bits in Code.

// Configuration Bit settings

Include: plib.h Prototype:

Include: plib.h Prototype:

mOSCSetPBDIV(unsigned int config); mOscSetPBDIV(OSC_PB_DIV_8);