PROGRAMMING AND CUSTOMIZING THE PIC MICROCONTROLLER
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1 PROGRAMMING AND CUSTOMIZING THE PIC MICROCONTROLLER MYKE PREDKO Third Edition NewYork Chicago San Francisco Lisbon London Madrid Mexico City Milan New Delhi San Juan Seoul Singapore Sydney Toronto e-
2 шшшшшшшшшш CONTENTS Introduction Acknowledgments Xl xx ' Chapter 1 Embedded Microcontrollers 1 Microcontroller Types 1 Internal Hardware 2 Applications 5 Processor Architectures 7 Instructions and Software 12 Peripheral Functions 17 Memory Types 21 Microcontroller Communication 28 Device Packaging 35 Application Development Tools 39 Chapter 2 The Microchip PIC Microcontroller 43 Accessing the Microchip Web Site 43 PIC Microcontroller Feature Summary 48 Features Unique to the PIC Microcontroller 54 PIC Microcontroller Families 59 Chapter 3 Software Development Tools 63 Tools Overview 65 High Level Languages 83 Microchip MPLAB IDE 103 Chapter 4 Programming PIC Microcontrollers 155 Hex File Format 156 Code Protection 158 Parallel Programming 159 PIC ICSP Programmer Interface 166 Microchip Programmers 178 My Programmers 181 Third-Party Programmers 204 Chapter 5 Emulators and Debuggers 207 MPLAB ICE MPLAB REAL ICE 213
3 vi CONTENTS MPLAB ICD 2 Debugger 214 The Emu-Il 219 Other Emulators 241 Chapter 6 The Microchip PIC MCU Processor Architecture 243 The CPU 244 Hardware and File Registers 248 The PIC Microcontroller's ALU 254 Data Movement 260 The Program Counter and Stack 264 Reset 268 Interrupts 271 Architecture Differences 273 Chapter 7 Using the PIC MCU Instruction Set Setting Up the MPLAB IDE Simulator with a Test Template PIC MCU Instruction Types 297 The Mid-Range Instruction Set 303 Low-End PIC Microcontroller Instruction Set 348 PIC18 Instruction Set Chapter 8 Assembly-Language Software Techniques 373 Sample Template 374 Labels, Addresses, and Flags 376 Subroutines with Parameter Passing 381 Subtraction, Comparing and Negation 385 Bit AND and OR Bit Operations 390 MulDiv, Constant Multiplication and Division 392 Delays 400 Patch Space 405 Structures, Pointers, and Arrays 407 Sorting Data 414 Interrupts 419 Reentrant Subroutines 423 Simulating Logic 423 Event-Driven Programming 426 State Machine Programming 429 Porting Code Between PIC Microcontroller Device Architectures 430 Optimizing PIC Microcontroller Applications 438 A Baker's Dozen Rules to Follow That Will Help to Avoid Application Software Problems 443 Chapter 9 Basic Operating Features 445 Power Input and Decoupling 446 Configuration Fuses 451 OPTION Register 470 TMRO 478 Interrupt Operation 483 The Right PIC Microcontroller to Learn On 485
4 CONTENTS vii Chapter 10 Macro Development 489 PIC Microcontroller Assembly-Language Macros 489 The Difference Between Defines and Macros 492 The Assembler Calculator 494 Multiline С Macros 499 Conditional Assembly/Compilation 500 Using Defines and Conditional Assembly for Application Debug 507 Debugging Macros 509 Structured Programming Macros 513 Chapter 11 Building and Linking 519 Creating Linked Applications 519 Chapter 12 Bootloaders 527 Bootloader Requirements 528 Mid-Range Bootloaders 530 PIC18 Bootloaders 535 Chapter 13 Real-Time Operating Systems 537 Low-End and Mid-Range RTOSs 541 PIC18 RTOS Design 542 Chapter 14 Debugging Your Applications 565 Document the Expected State 566 Characterize the Problem 567 Hypothesize and Test Your Hypothesis 569 Propose Corrective Actions 571 Test Fixes 572 Release Your Solution 576 Debug: An Application to Test Your Debug Skills 577 Chapter 15 PIC Microcontroller Application Design and Hardware Interfacing 589 Requirements Definition 590 PIC Microcontroller Resource Allocation 595 Effective User Interfacing 597 Project Management 599 Power Management 603 Reset 608 Interfacing to External Devices 611 Chapter 16 PIC MCU Optional Hardware Features 617 Mid-Range Built-in EEPROM/Flash Access 618 TMR1 624 TMR2 626 Compare/Capture/PWM (CCP) Module 626 Serial I/O 633 Analog I/O 649 Parallel Slave Port (PSP) 657 In-Circuit Serial Programming (ICSP) 659
5 viii CONTENTS Chapter 17 PIC MCU Input and Output Device Interfacing 661 LEDs 667 Switch Bounce 665 Matrix Keypads 668 LCDs 672 Analog I/O 682 Audio Output 690 Relays and Solenoids 692 Asynchronous (NRZ) Serial Interfaces 693 Synchronous Serial Interfaces 704 Chapter 18 Motor Control 711 Dc Motors 711 Stepper Motors 724 R/C Servo Control 733 Chapter 19 Practical PC Interfacing 739 PC Software Application Development Tools 740 Serial Port 742 Parallel Port 749 Chapter 20 PIC Microcontroller Application Basics 755 Jumping Around 755 Some Basic Functions 771 Analog Input/Output 798 I/O with Interrupts 810 Serial I/O 832 Chapter 21 Projects 853 Low-End Devices 853 Mid-Range Devices 878 PIC18 Devices 953 Appendix A Resources 965 Microchip 965 Books to Help You Learn Moreabout the PIC Microcontroller 966 Useful Books 967 Recommended PIC Microcontroller Websites 970 Periodicals 971 Other Websites of Interest 972 Part Suppliers 973 Appendix В PIC Microcontroller Summary 977 Feature to Part Number Table 977 Instruction Sets 977 I/O Register Addresses 1016 Device Pinouts 1030
6 CONTENTS ix Appendix С Useful Tables and Data 1061 Electrical Engineering Formulas 1063 Mathematical Formulas 1065 Mathematical Conversions 1066 ASCII 1067 Appendix D Miscellaneous Electronic Reference Information 1073 Basic Electronic Components and Their Symbols 1073 Test Equipment 1080 Appendix E Basic Programming Language 1089 PICBASIC 1091 Appendix F С Programming Language 1123 Common Library Functions 1130 PICC Library Functions 1133 Microchip C18 Library Functions 1138 Appendix G Reuse, Return, and Recycle 1149 Useful Snippets 1150 Mykemacs.inc 1160 Sixteen-Bit Numbers 1200 Glossary 1213 Index 1229
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