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PIC32 Microcontrollers
and the Digilent chipKIT
Introductory to Advanced Projects
Dogan Ibrahim
AMSTERDAM • BOSTON • HEIDELBERG • LONDON
NEW YORK • OXFORD • PARIS • SAN DIEGO
SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO
Newnes is an Imprint of Elsevier
Newnes is an imprint of Elsevier
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First edition 2015
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Contents
Preface ��������������������������������������������������������������������������������������������������������������xv
Acknowledgments ���������������������������������������������������������������������������������������������xvii
Chapter 1: Microcomputer Systems�����������������������������������������������������������������������1
1.1 Introduction ...................................................................................................................2
1.2 Microcontroller Systems ...............................................................................................2
1.2.1 RAM .................................................................................................................5
1.2.2 ROM .................................................................................................................6
1.2.3 PROM ...............................................................................................................6
1.2.4 EPROM .............................................................................................................6
1.2.5 EEPROM ..........................................................................................................6
1.2.6 Flash EEPROM ................................................................................................7
1.3 Microcontroller Features ...............................................................................................7
1.3.1 Supply Voltage ..................................................................................................7
1.3.2 The Clock .........................................................................................................7
1.3.3 Timers ...............................................................................................................8
1.3.4 Watchdog ..........................................................................................................8
1.3.5 Reset Input ........................................................................................................8
1.3.6 Interrupts ...........................................................................................................8
1.3.7 Brown-Out Detector .........................................................................................9
1.3.8 Analogue-to-Digital Converter .........................................................................9
1.3.9 Serial Input–Output ..........................................................................................9
1.3.10 EEPROM Data Memory ...............................................................................10
1.3.11 LCD Drivers .................................................................................................10
1.3.12 Analogue Comparator ...................................................................................10
1.3.13 Real-Time Clock ...........................................................................................10
1.3.14 Sleep Mode ...................................................................................................10
1.3.15 Power-On Reset ............................................................................................11
1.3.16 Low-Power Operation ..................................................................................11
1.3.17 Current Sink/Source Capability ....................................................................11
1.3.18 USB Interface ...............................................................................................11
1.3.19 Motor Control Interface ................................................................................11
1.3.20 CAN Interface ...............................................................................................11
1.3.21 Ethernet Interface .........................................................................................11
1.3.22 ZigBee Interface ...........................................................................................12
1.3.23 Multiply and Divide Hardware .....................................................................12
v
vi Contents
1.3.24 Operating Temperature .................................................................................12
1.3.25 Pulse Width Modulated (PWM) Outputs ......................................................12
1.3.26 JTAG Interface ..............................................................................................12
1.3.27 Package Size .................................................................................................12
1.3.28 DMA .............................................................................................................12
1.4 Microcontroller Architectures .....................................................................................12
1.4.1 RISC and CISC ...............................................................................................13
1.5 8, 16, or 32 Bits? .........................................................................................................13
1.6 Summary ....................................................................................................................14
1.7 Exercises .....................................................................................................................14
Chapter 2: PIC32 Microcontroller Series �������������������������������������������������������������15
2.1 The PIC32MX360F512L Architecture .......................................................................18
2.1.1 The Memory ...................................................................................................21
2.1.2 The Microcontroller Clock .............................................................................25
2.1.3 Resets ..............................................................................................................28
2.1.4 The Input/Output Ports ...................................................................................29
2.1.5 The Parallel Master Port (PMP) .....................................................................33
2.1.6 Timers .............................................................................................................36
2.1.7 Real-Time Clock and Calendar ......................................................................47
2.1.8 Analogue-to-Digital Converter .......................................................................48
2.1.9 Interrupts .........................................................................................................55
2.2 Summary ....................................................................................................................59
2.3 Exercises .....................................................................................................................60
Chapter 3: PIC32 Microcontroller Development Tools ������������������������������������������61
3.1 Software Development Tools ......................................................................................62
3.1.1 Text Editors .....................................................................................................62
3.1.2 Assemblers and Compilers .............................................................................63
3.1.3 Simulators .......................................................................................................63
3.1.4 High-Level Language Simulators ...................................................................63
3.1.5 Simulators With Hardware Simulation ...........................................................64
3.1.6 Integrated Development Environment (IDE) ..................................................64
3.2 Hardware Development Tools .....................................................................................64
3.2.1 Development Boards ......................................................................................65
3.2.2 Device Programmers ......................................................................................79
3.2.3 In-Circuit Debuggers ......................................................................................80
3.2.4 In-Circuit Emulators .......................................................................................80
3.2.5 Breadboard......................................................................................................81
3.3 Summary ....................................................................................................................82
3.4 Exercises .....................................................................................................................83
Contents vii
Chapter 4: The Cerebot MX3cK (chipKIT MX3) Development Board ���������������������85
4.1 The chipKIT MX3 Development Board .....................................................................86
4.1.1 Power Supply ..................................................................................................86
4.1.2 LEDs ...............................................................................................................88
4.1.3 Reset ...............................................................................................................88
4.1.4 Pmod Connectors ............................................................................................90
4.1.5 CPU Clock ......................................................................................................92
4.1.6 I2C Bus Interface .............................................................................................92
4.1.7 SPI Bus Interface ............................................................................................93
4.1.8 UART Interface...............................................................................................94
4.1.9 Analogue Inputs ..............................................................................................95
4.1.10 External Interrupts ........................................................................................95
4.1.11 Board Connectors and Jumpers ....................................................................96
4.2 Pmod Peripheral Modules ...........................................................................................97
4.2.1 PmodSD – SD Card Slot ................................................................................97
4.2.2 PmodCLP – Character LCD With Parallel Interface ......................................98
4.2.3 PmodKYPD ....................................................................................................98
4.2.4 PmodSSD .......................................................................................................98
4.2.5 PmodBTN .......................................................................................................98
4.2.6 PmodSTEP ...................................................................................................100
4.2.7 PmodTMP3 ...................................................................................................100
4.2.8 PmodDA1 .....................................................................................................101
4.2.9 PmodRTCC ...................................................................................................101
4.2.10 PmodBB .....................................................................................................101
4.2.11 PmodAMP2 ................................................................................................101
4.3 Summary ..................................................................................................................104
Chapter 5: The MPIDE Programming Environment and Programming in C �����������105
5.1 Installing MPIDE ......................................................................................................106
5.2 The MPIDE ...............................................................................................................107
5.2.1 The Menu ......................................................................................................107
5.2.2 The Toolbar ...................................................................................................108
5.2.3 The Status Line .............................................................................................109
5.2.4 The Output Window......................................................................................109
5.3 The C Language ........................................................................................................110
5.3.1 Comments .....................................................................................................111
5.3.2 White Spaces ................................................................................................111
5.3.3 Terminating Program Statements .................................................................112
5.3.4 Case Sensitivity ............................................................................................112
5.3.5 Variable Names .............................................................................................112
5.3.6 Data Types ....................................................................................................112
viii Contents
5.3.7 Number Bases ...............................................................................................114
5.3.8 Constants ......................................................................................................114
5.3.9 Escape Sequences .........................................................................................115
5.3.10 const Data Types .........................................................................................115
5.3.11 Arrays..........................................................................................................115
5.3.12 Pointers .......................................................................................................118
5.3.13 Structures ....................................................................................................121
5.3.14 Creating New Data Types ...........................................................................123
5.3.15 Unions .........................................................................................................124
5.3.16 Operators in C Language ............................................................................124
5.3.17 Modifying the Flow of Control ..................................................................131
5.4 Functions ...................................................................................................................143
5.4.1 Functions in C Language ..............................................................................144
5.4.2 Passing Parameters to Functions ..................................................................151
5.4.3 Passing Variables by Reference to Functions ...............................................156
5.4.4 Static Variables in Functions ........................................................................158
5.4.5 Function Prototypes ......................................................................................159
5.5 Microcontroller-Specific Features.............................................................................161
5.5.1 Microcontroller Digital Inputs and Outputs .................................................161
5.5.2 Logical I/O Port Pin Numbers ......................................................................161
5.5.3 Controlling the I/O Ports Using MPIDE ......................................................162
5.5.4 I/O Pin Voltage Levels ..................................................................................162
5.6 Built-In Functions .....................................................................................................163
5.6.1 Data Conversion Functions ...........................................................................164
5.6.2 Digital I/O Functions ....................................................................................164
5.6.3 Analogue I/O Functions ................................................................................164
5.6.4 Other I/O Functions ......................................................................................165
5.6.5 Time Functions .............................................................................................166
5.6.6 Mathematical Functions ...............................................................................166
5.6.7 Trigonometric Functions ..............................................................................167
5.6.8 Bit and Byte Functions .................................................................................168
5.6.9 Interrupt Enable/Disable Functions ..............................................................168
5.7 Summary ..................................................................................................................168
5.8 Exercises ...................................................................................................................169
Chapter 6: Microcontroller Program Development ����������������������������������������������173
6.1 Using the Program Description Language and Flow Charts .....................................174
6.1.1 BEGIN–END ................................................................................................174
6.1.2 Sequencing....................................................................................................174
6.1.3 IF–THEN–ELSE–ENDIF .............................................................................175
6.1.4 DO–ENDDO ................................................................................................175
Contents ix
6.1.5 REPEAT–UNTIL..........................................................................................177
6.1.6 Calling Subprograms ....................................................................................178
6.1.7 Subprogram Structure ...................................................................................178
6.2 Examples ...................................................................................................................178
6.3 Representing for Loops in Flow Charts ....................................................................183
6.3.1 Method 1 .......................................................................................................183
6.3.2 Method 2 .......................................................................................................184
6.3.3 Method 3 .......................................................................................................184
6.4 Summary ..................................................................................................................184
6.5 Exercises ...................................................................................................................185
Chapter 7: Simple chipKIT MX3–Based Projects ������������������������������������������������187
7.1 Project 7.1 – Flashing LED ......................................................................................192
7.1.1 Project Description ......................................................................................192
7.1.2 Current-Sinking ...........................................................................................192
7.1.3 Current-Sourcing .........................................................................................193
7.1.4 Project Hardware .........................................................................................193
7.1.5 Project PDL .................................................................................................193
7.1.6 Project Program ...........................................................................................194
7.2 Project 7.2 – Alternately Flashing LEDs .................................................................198
7.2.1 Project Description ......................................................................................198
7.2.2 Project Hardware .........................................................................................198
7.2.3 Project PDL .................................................................................................198
7.2.4 Project Program ...........................................................................................198
7.3 Project 7.3 – Lighthouse Flashing LED ...................................................................199
7.3.1 Project Description ......................................................................................199
7.3.2 Project Hardware .........................................................................................200
7.3.3 Project PDL .................................................................................................200
7.3.4 Project Program ...........................................................................................200
7.4 Project 7.4 – LED With Push-Button Switch ...........................................................201
7.4.1 Project Description ......................................................................................201
7.4.2 Block Diagram .............................................................................................201
7.4.3 Project Hardware .........................................................................................202
7.4.4 Project PDL .................................................................................................203
7.4.5 Project Program ...........................................................................................203
7.5 Project 7.5 – Wait Before Flashing the LED ............................................................204
7.5.1 Project Description ......................................................................................204
7.5.2 Block Diagram .............................................................................................206
7.5.3 Project Hardware .........................................................................................206
7.5.4 Project PDL .................................................................................................206
7.5.5 Project Program ...........................................................................................206
