Microprocessor Systems

General Purpose I/O

1
 Overview
n How do we make a program light up LEDs in
response to a switch?
n GPIO
n Basic Concepts
n Port Circuitry
n Control Registers
n Accessing Hardware Registers in C
n Clocking and Muxing
n Circuit Interfacing
n Inputs
n Outputs
n Additional Port Configuration
 Basic Concepts

n Goal: light either LED1 or LED2 based on switch SW1 position

n GPIO = General-purpose input and output (digital)
n Input: program can determine if input signal is a 1 or a 0
n Output: program can set output to 1 or 0
n Can use this to interface with external devices
n Input: switch
n Output: LEDs
 KL25Z GPIO Ports

n Port A (PTA) through

Port E (PTE)

n Not all port bits are

available

n Quantity depends on
package pin count
 GPIO Port Bit Circuitry in MCU

n Control Data Bus

bit n
Address
Bus

n Direction Address
Decoder
n MUX PDDR select

n Data Port Data

Output (different
D Direction Q
n Register

ways to access it) PDOR select

n Input PSOR select

PCOR select
Set
Rst Port Data
PTOR select Pin or
Tgl Output
Pad on
D Register Q package

I/O Clock
PDIR select
Port Data Pin Control
D Input Q Register
Register MUX field
 Control Registers

n One set of control registers per port

n Each bit in a control register corresponds to a port bit
 PDDR: Port Data Direction
Data Bus Address
bit n Bus

n Each bit can be Address

Decoder

configured PDDR select

differently
Port Data

n Input: 0 D Direction
Register
Q

n Output: 1 PDOR select

n Reset clears port PSOR select

PCOR select
Set

bit direction to 0
Rst Port Data
PTOR select Pin or
Tgl Output
Pad on
D Register Q package

I/O Clock
PDIR select
Port Data Pin Control
D Input Q Register
Register MUX field
 Writing Output Port Data
Data Bus Address

n Direct: write value to bit n Bus

PDOR Address
Decoder

PDDR select

n Toggle: write 1 to Port Data

PTOR D Direction
Register
Q

PDOR select

n Clear (to 0): Write 1 PSOR select

PCOR select
Set

to PCOR PTOR select

Rst Port Data
Tgl Output
Pin or
Pad on
D Register Q package

n Set (to 1): write 1 to I/O Clock

PSOR PDIR select
Port Data Pin Control
D Input Q Register
Register MUX field
 Reading Input Port Data
Data Bus Address
bit n Bus
n Read from PDIR
Address
Decoder

n Corresponding bit PDDR select

holds value which Port Data

was read D Direction

Register
Q

PDOR select

PSOR select
Set
PCOR select
Rst Port Data
PTOR select Pin or
Tgl Output
Pad on
D Register Q package

I/O Clock
PDIR select
Port Data Pin Control
D Input Q Register
Register MUX field
 Pseudocode for Program
// Make PTA1 and PTA2 outputs
set bits 1 and 2 of GPIOA_PDDR
// Make PTA5 input
clear bit 5 of GPIOA_PDDR
// Initialize the output data values: LED 1 off, LED 2 on
clear bit 1, set bit 2 of GPIOA_PDOR

// read switch, light LED accordingly

do forever {
if bit 5 of GPIOA_PDIR is 1 {
// switch is not pressed, then light LED 2
set bit 2 of GPIOA_PDOR
clear bit 1 of GPIO_PDOR
} else {
// switch is pressed, so light LED 1
set bit 1 of GPIOA_PDOR
clear bit 2 of GPIO_PDOR
}
}
 CMSIS - Accessing Hardware Registers in C
n Header file MKL25Z4.h defines C data structure types to
represent hardware registers in MCU with CMSIS-Core
hardware abstraction layer

/** GPIO - Register Layout Typedef */

typedef struct {
__IO uint32_t PDOR; /**< Port Data Output Register, offset: 0x0 */
__O uint32_t PSOR; /**< Port Set Output Register, offset: 0x4 */
__O uint32_t PCOR; /**< Port Clear Output Register, offset: 0x8 */
__O uint32_t PTOR; /**< Port Toggle Output Register, offset: 0xC */
__I uint32_t PDIR; /**< Port Data Input Register, offset: 0x10 */
__IO uint32_t PDDR; /**< Port Data Direction Register, offset: 0x14 */
} GPIO_Type;
 Accessing Hardware Registers in C (2)
n Header file MKL25Z4.h declares pointers to the
registers

/* GPIO - Peripheral instance base addresses */

/** Peripheral PTA base address */
#define PTA_BASE (0x400FF000u)

/** Peripheral PTA base pointer */

#define PTA ((GPIO_Type *)PTA_BASE)

PTA->PDOR = …
 Coding Style and Bit Access
n Easy to make mistakes dealing with literal binary and
hexadecimal values
n To set bits 13 and 19, use “0000 0000 0000 1000 0010 0000 0000 0000”
or “0x00082000”

n Make the literal value from shifted bit positions

n = (1UL << 19) | (1UL << 13);
n Define names for bit positions
#define GREEN_LED_POS (19)
#define YELLOW_LED_POS (13)
n = (1UL << GREEN_LED_POS) | (1UL << YELLOW_LED_POS);
n Create macro to do shifting to create mask
#define MASK(x) (1UL << (x))
n = MASK(GREEN_LED_POS) | MASK(YELLOW_LED_POS);
 Using Masks
n Overwrite existing value in n with mask
n = MASK(foo);

n Set in n all the bits which are one in mask, leaving others
unchanged
n |= MASK(foo);

n Complement the bit value of the mask

~MASK(foo);

n Clear in n all the bits which are zero in mask, leaving others unchanged
n &= MASK(foo);
 C Code
#define LED1_POS (1)
#define LED2_POS (2)
#define SW1_POS (5)
#define MASK(x) (1UL << (x))

PTA->PDDR |= MASK(LED1_POS) | MASK (LED2_POS); // set LED bits to

outputs
PTA->PDDR &= ~MASK(SW1_POS); // clear Switch bit to input

PTA->PDOR = MASK(LED1_POS); // turn on LED1, turn off LED2

while (1) {
if (PTA->PDIR & MASK(SW1_POS)) {
// switch is not pressed, then light LED 2
PTA->PDOR = MASK(LED2_POS);
} else {
// switch is pressed, so light LED 1
PTA->PDOR = MASK(LED1_POS);
}
}
 Clocking Logic
Bit Port
13 PORTE
12 PORTD
11 PORTC
10 PORTB
9 PORTA
n Need to enable clock to GPIO module
n By default, GPIO modules are disabled to save power
n Writing to an unclocked module triggers a hardware fault!
n Control register SIM_SCGC5 gates clocks to GPIO ports
n Enable clock to Port A
SIM->SCGC5 |= (1UL << 9);
n Header file MKL25Z4.h has definitions
SIM->SCGC5 |= SIM_SCGC5_PORTA_MASK;
 Register
Freescale: is the pin
mux location in this
PDOR select diagram accurate?
Connecting a GPIO Signal to a Pin
PSOR select
Set
PCOR select
Rst Port Data
PTOR select Pin or
Tgl Output
Pad on
D Register Q package

I/O Clock
PDIR select
Port Data Pin Control
D Input Q Register
Register MUX field

n Multiplexer used to increase configurability - what should pin

be connected with internally?
n Each configurable pin has a Pin Control Register
 Pin Control Register

MUX (bits Configuration

10-8)
000 Pin disabled (analog)
001 Alternative 1 – GPIO
n MUX field of PCR defines 010
011
Alternative 2
Alternative 3
connections 100 Alternative 4
101 Alternative 5
110 Alternative 6
111 Alternative 7
 CMSIS C Support for PCR
n MKL25Z4.h defines PORT_Type structure with a PCR field
(array of 32 integers)

/** PORT - Register Layout Typedef */

typedef struct {
__IO uint32_t PCR[32]; /** Pin Control Register n,
array offset: 0x0, array step: 0x4 */
__O uint32_t GPCLR; /** Global Pin Control Low
Register, offset: 0x80 */
__O uint32_t GPCHR; /** Global Pin Control High
Register, offset: 0x84 */
uint8_t RESERVED_0[24];
__IO uint32_t ISFR; /** Interrupt Status Flag
Register, offset: 0xA0 */
} PORT_Type;
 CMSIS C Support for PCR
n Header file defines pointers to PORT_Type registers

/* PORT - Peripheral instance base addresses */

/** Peripheral PORTA base address */
#define PORTA_BASE (0x40049000u)
/** Peripheral PORTA base pointer */
#define PORTA ((PORT_Type *)PORTA_BASE)

n Also defines macros and constants

#define PORT_PCR_MUX_MASK 0x700u

#define PORT_PCR_MUX_SHIFT 8
#define PORT_PCR_MUX(x) (((uint32_t)(((uint32_t)
(x))<<PORT_PCR_MUX_SHIFT)) &PORT_PCR_MUX_MASK)
Resulting C Code for Clock Control and Mux
// Enable Clock to Port A
SIM->SCGC5 |= SIM_SCGC5_PORTA_MASK;

// Make 3 pins GPIO

PORTA->PCR[LED1_POS] &= ~PORT_PCR_MUX_MASK;
PORTA->PCR[LED1_POS] |= PORT_PCR_MUX(1);
PORTA->PCR[LED2_POS] &= ~PORT_PCR_MUX_MASK;
PORTA->PCR[LED2_POS] |= PORT_PCR_MUX(1);
PORTA->PCR[SW1_POS] &= ~PORT_PCR_MUX_MASK;
PORTA->PCR[SW1_POS] |= PORT_PCR_MUX(1);
Inputs and Outputs, Ones and Zeros, Voltages and Currents

INTERFACING
 Inputs: What’s a One? A Zero?
n Input signal’s value is
determined by voltage

n Input threshold voltages

depend on supply
voltage VDD

n Exceeding VDD or GND

may damage chip
 Outputs: What’s a One? A Zero?
n Nominal output voltages
n 1: VDD-0.5 V to VDD
n 0: 0 to 0.5 V

n Note: Output voltage

depends on current drawn by
load on pin Logic 1 out
n Need to consider source-to-
drain resistance in the transistor
Above values only specified

Vout
n

when current < 5 mA (18 mA

for high-drive pads) and VDD >
2.7 V Logic 0 out

Iout
 Output Example: Driving LEDs
n Need to limit current to a value which
is safe for both LED and MCU port
driver
n Use current-limiting resistor
n R = (VDD – VLED)/ILED
n Set ILED = 4 mA
n VLED depends on type of LED (mainly
color)
n Red: ~1.8V

n Blue: ~2.7 V

n Solve for R given VDD = ~3.0 V

n Red: 300 Ω
n Blue: 75 Ω
n Demonstration code in Basic Light
Switching Example
 Output Example: Driving a Speaker
n Create a square wave with a
GPIO output
n Use capacitor to block DC value
n Use resistor to reduce volume if
needed
n Write to port toggle output
register (PTOR) to simplify code

void Beep(void) {
unsigned int period=20000;
while (1) {
PTC->PTOR = MASK(SPKR_POS);
Delay(period/2);
}
}
 Additional Configuration in PCR

n Pull-up and pull-down resistors

n Used to ensure input signal voltage is pulled to correct value when
high-impedance
n PE: Pull Enable. 1 enables the pull resistor
n PS: Pull Select. 1 pulls up, 0 pulls down.
n High current drive strength
n DSE: Set to 1 to drive more current (e.g. 18 mA vs. 5 mA @ > 2.7 V,
or 6 mA vs. 1.5 mA @ <2.7 V)
n Available on some pins - MCU dependent