1 Microcontroller overview 1.1 Industrial automation systems overview 1.2 Microcontroller architecture 1.3 The pedagogical robot 1.4 Digital Inputs/Outputs 1.5 Embedded C Language

1. Microcontroller Lab.
Eng.Khaled Tamizi
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 1
PPU IUT Cachan
Mechanical Department
Mechatronic

2. 1 Microcontroller overview
Microcontroller in an industrial system
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 2
PTC Khadoury IUT Cachan

3. 1.1 Industrial automation systems overview
1.2 Microcontroller architecture
1 Microcontroller overview
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 3
1.3 The pedagogical robot
1.4 Digital Inputs/Outputs
1.5 Embedded C Language

4. 1.1 Industrial automation systems overview
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 4

5. 1.1 Industrial automation systems overview
Energy
Commands Pre-
actuators
Actuators
Energy
other
microcontrollers
other systems
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 5
User
Operative part
Informations
Command
Part
Sensors
Human-
Machine
Interface Interface

6. Energy
Commands Pre-
Actuators
Actuators
Energy Actuators
Electric
Actuators :
Motors
other
microcontrollers
other systems
1.1 Industrial automation systems overview
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 6
Command
Part
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part
Pneumatic
or hydraulic
actuators :
cylinders

7. Energy
Commands Pre-
Actuators
Actuators
Energy
1.1 Industrial automation systems overview
other
microcontrollers
other systems
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 7
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part

8. Energy
Commands Pre-
Actuators
Actuators
Energy
Pre-Actuators
Motor
drives / inverters
1.1 Industrial automation systems overview
other
microcontrollers
other systems
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 8
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part
electropneumatic
or electrohydraulic valves

9. Energy
Commands Pre-
Actuators
Actuators
Energy
1.1 Industrial automation systems overview
other
microcontrollers
other systems
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 9
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part

10. Energy
Commands Pre-
Actuators
Actuators
Energy
other
microcontrollers
other systems
Sensors
optical detectorinductive detector
contact
detector
1.1 Industrial automation systems overview
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User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part
optical detectorinductive detector
Optical encoder
(for motor axes)
detector
Camera

11. Energy
Commands Pre-
Actuators
Actuators
Energy
1.1 Industrial automation systems overview
other
microcontrollers
other systems
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 11
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part

12. Energy
Commands Pre-
Actuators
Actuators
Energy
other
microcontrollers
other systems
Human-Machine Interface
1.1 Industrial automation systems overview
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 12
User
Operative part
Informations
Sensors
Human-
Machine
Interface Interface
Command
Part
Touch screens
Lights and buttons

13. 1.1 Industrial automation systems overview
Which device for command part ?
Few systems : for example Factory Automation
Low development cost
Quick and safe development
PLC
(programmable logic controller)
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Many systems : for example Automotive Brake system
Cheap and small device
(programmable logic controller)
Microcontroller

14. 1.1 Industrial automation systems overview
Microcontroller applications
Automotive : safety, comfort, motor control…
Embedded control : inverter, PLC (!), hover, wash machine
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Automotive : safety, comfort, motor control…
Multimedia devices : phones, PDA, …

15. 1.2 Microcontroller architecture
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 15

16. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 16
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

17. Commands
Output
Central
Processing
Unit
(CPU) Digital
Outputs
communication
peripheralsother
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
1.2 Microcontroller architecture
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Information
User
Commands
User
Information
Output
peripherals
Input
peripherals
Internal
peripherals
Digital
Inputs
Fast
counting
Inputs
Timers
Internal
clock
PWM Outputs
(Pulse Width
Modulation)
Analog to
digital
converter
Databus

18. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
CPU
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 18
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

19. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
CPU
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 19
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

20. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
Program
Memory
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 20
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

21. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Data
memory
(RAM)
Databus
control signals
control signals
Program
Memory
Program
memory
(Flash)
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 21
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

22. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
Data
Memory
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 22
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

23. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Databus
control signals
Data
Memory
Program
memory
(Flash)
Data
memory
(RAM)
control signals
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 23
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

24. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Program
memory
(Flash)
Data
memory
(RAM)
Databus
control signals
control signals
Data
bus
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 24
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

25. Commands
1.2 Microcontroller architecture
Output
communication
peripherals
Central
Processing
Unit
(CPU)
other
command
parts
Databus
control signals
Data
bus
Program
memory
(Flash)
Data
memory
(RAM)
control signals
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 25
information
Output
peripherals
inputs
peripherals
User
Commands
User
information
internal
peripherals
Databus
control signals
control signals
control signals
control signals

26. 1.2 Microcontroller architecture
semiconductors manufacturers
8 bits microcontrollers
- Microchip
- Freescale (ex. Motorola)
- Cypress (µC and PSoC)
- Nec, Toshiba, ST, Philips,…
16 bits microcontrollers
- Renesas (ex. Mitsubishi / Hitachi)
5%
37%
27%
31%
4 bits 8 bits
16 bits 32 bits
2004 : 12 Milliards $
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- Renesas (ex. Mitsubishi / Hitachi)
- Microchip (µC and Digital Signal Controller)
- Infineon (ex. Siemens)
- Atmel, Freescale, Intel, Texas Instruments, Toshiba…
32 bits microcontrollers
- Atmel (Arm core)
- Infineon (TriCore : Risc, Cisc & DSP)
- Freescale (Arm, PowerPC or Coldfire 68000 core)
- Renesas, Nec, Texas Instruments, Toshiba…
source IC Insights

27. 1.3 The pedagogical robot
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1.3 The pedagogical robot

28. 1.3 The pedagogical robot
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29. 1.3 The pedagogical robot
Pulse width
modulation
control
dataUltrasonic
Lead
battery
Microcontroller
Synoptic
Optical
sensors
Analog and digital
sensors data
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 29
dataUltrasonic
sensor
Microcontroller
board
Power
electronic board
Optical
encoders
Line
Obstacle
Angular positions
Buttons LCD

30. jack &
Commands
Energy
I2C
PWM
Outputs
Digital
communication
peripherals
1.3 The pedagogical robot
Chopper
+ Motors
ultrasonic
telemeter
UART
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 30
LCD
Display
jack &
buttons
line info
Micro-
controller
Digital
Input
Analog to
digital
converter
Digital
outputs
Fast
counting
Inputs
Analog to
digital
converter
Infrared
sensors
Motors
encoders
position
info
Potentio-
meter

31. 1.3 The pedagogical robot
Speed &
position
control
The robot
follows
the line
The robot
starts and
stops
Obstacle
detection
Shortcut
detection
THE
RACE
AnalogtoDigitalConverter
BasicStateMachine
Developmenttools
DigitalInputs/Outputs
Timers/Counters
PulseWidthModulation
CommunicationPeripherals
Interrupts
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 31
AnalogtoDigitalConverter
BasicStateMachine
Developmenttools
DigitalInputs/Outputs
Timers/Counters
PulseWidthModulation
CommunicationPeripherals
Interrupts

32. 1.4 Digital inputs / outputs
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33. 1.4 Digital inputs / outputs
communication
peripherals
Databus
control signals
Program
memory
(Flash)
Data
memory
(RAM)
control signals
Central
Processing
Unit
(CPU)
Output
control signals
VCC = 5V
Example of device plugged on a digital input : a pushbutton
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 33
internal
peripherals
Databus
control signals
control signals
control signals
Output
peripherals
inputs
peripherals
control signals
control signals
VCC = 5V
GND
4,7kOhms
BPx
5 V
i=0 A
VR=0 VVR=5 V
i=1 mA
0 V
pushbutton pressed : logic level 0
pushbutton not pressed : logic level 1
RB3

34. 1.4 Digital inputs / outputs
VCC = 5V
Central
Processing
Unit
(CPU)
Other
peripherals
Example of device plugged on a digital input : a pushbutton
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 34
8-bitdatabus
Enable
reading PORTB
VCC = 5V
GND
4,7kOhms
BPx
RB3
Tri-state buffer

35. 1.4 Digital inputs / outputs
communication
peripherals
Databus
control signals
Program
memory
(Flash)
Data
memory
(RAM)
control signals
Central
Processing
Unit
(CPU)
control signals
Example of device plugged on a digital output : a led
RA6Output 01
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 35
internal
peripherals
Databus
control signals
control signals
control signals
inputs
peripherals
control signals
control signals
GND
Logic level 0 : the led is OFF
Logic level 1 : the led is ON
RA6Output
peripherals
680Ohms
0
VA6=0V
i = 0 mA
1
VA6=5V
i = 6 mA

36. 1.4 Digital inputs / outputs
Central
Processing
Unit
(CPU)
Other
peripherals
Example of device plugged on a digital output : a led
RA6
latch
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 36
8-bitdatabus
writing on
PORTA
GND
RA6
680Ohms

37. 1.4 Digital inputs / outputs
communication
peripherals
Databus
control signals
Program
memory
(Flash)
Data
memory
(RAM)
control signals
Central
Processing
Unit
(CPU)
Example of device plugged on digital in/outputs : LCD display
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 37
internal
peripherals
Databus
control signals
control signals
Input / Output
peripherals
control signals
Parallel Port
4
RD0-RD3

38. 1.4 Digital inputs / outputs
Central
Processing
Unit
(CPU)
Other
peripherals
latch Tri-state
buffer
Example of device plugged on digital in/outputs : LCD display
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 38
8-bitdatabus
writing on
PORTD
reading
PORTD
Tri-state
buffer
RD0
En
En
selecting
input or
output mode

39. 1.4 Digital inputs / outputs
Generic Input / output pin schematic
Tri-state buffer
to select input
or output mode
selecting
output latch
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 39
selecting
mode circuit
Tri-state buffer
for input reading

40. 2nd step, configure RB3 as an input
TRISB x x x 1 x x xx
1.4 Digital inputs / outputs
How to program input reading
(for example the state of a pushbutton bp0 plugged on RB3)
1st step, define a variable to store the state of the pushbutton
char bp0;
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 40
RB3 is configured as an input
char bp0;
TRISB = TRISB | 0b00001000;
3rd step, read the value of RB3
and store it in bp0
bp0 = PORTBbits.RB3;
or
bp0 = PORTB & 0b00001000;

41. 1st step, configure RA6 as an output
TRISA 0 x x x x x xx
1.4 Digital inputs / outputs
How to program output writing
(for example switching on a led plugged on RA6)
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 41
RA6 is configured as an output
TRISA = TRISA & 0b10111111;
2nd step, write a value of RA6
PORTAbits.RA6 = 1;
or
PORTA = PORTA | 0b01000000;

42. 1st step, configure RA6 as an output
TRISA 0 x x x x x xx
1.4 Digital inputs / outputs
How to program output writing
(for example switching off a led plugged on RA6)
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 42
RA6 is configured as an output
TRISA = TRISA & 0b10111111;
2nd step, write a value of RA6
PORTAbits.RA6 = 0;
or
PORTA = PORTA & 0b10111111;

43. 1.5 Embedded program flow chart
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44. Peripherals configuration
variables definition and initialization
1.5 Flow chart
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 44
Inputs reading
Treatment
Outputs writing

45. Variables definition and initializations
peripherirals configuration
while (1) {
Inputs reading
main(){
1.5 Flow chart
Project Pedagogy approach of Microcontroller – Palestinian Robotic Cup 45
Inputs reading
treatments
Outputs writing
}
}