Microcontroller

Fundamentals
B. Furman
15SEP2015

Learning Objectives

Explain the general architecture of a

microcontroller
List the key features of the ATmega328
microcontroller
Explain the features and elements of the Arduino
and Spartronics Experimenter Shield (SES)
Explain the concepts of microcontroller pins as
inputs and outputs
Convert between binary and hexadecimal digits

Mechatronics Concept Map

Power
Source

User
Interface

ME 106
ME 120

Controller
ME 106

(Hardware & Software)

Power
Interface
INTEGRATION

ME 106
ME 154
ME 157
ME 195

Signal
Conditioning

ME 106
ME 190
ME 187

ME 106
ME 120

Actuator
Sensor
System to
Control ME 110

ME 182
ME 136 ME 189
ME 154 ME 195
ME 157

ME 120
ME 297A

BJ Furman 22JAN11

What is a Microcontroller?

ANALOG
INPUTS

What is the difference between a Digital Input and an Analog Input?

http://www.freescale.com/files/microcontrollers/doc/ref_manual/M68HC05TB.pdf

ATmega328 Internal Architecture

ATmega328 data sheet pp. 2, 5

http://www.adafruit.com/index.php?main_page=popup_image&pID=50

ATmega328 Features

ATmega328 data sheet p. 1

http://www.atmel.com/Images/Atmel-8271-8-bit-AVR-Microcontrol
ler-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet.pdf

Arduino Duemilanove
http://www.arduino.cc/en/Main/ArduinoBoardDuemilanove
See the handout: Arduino_ATmega328_pin_mapping_and_schematic

Pin 13
LED
USB
connect
or

Digital pins
header
Reset
button
ATmega328
MCU

Barrel
jack

Analog pins
header
Power-ground
header

http://arduino.cc/en/uploads/Main/ArduinoDuemilanove.jpg

Arduino Uno R3
ATmega16u2 replaces FT232RL for USB-serial communication

http://www.adafruit.com/index.php?main_page=popup_image&pID=50

See: http://learn.adafruit.com/arduino-tips-tricks-and-techniques/arduino-uno-faq

Arduino Due

Note: 3.3 V !!

Atmel SAM3X8E processor (32 bit ARM Cortex M3 architecture, 84MHz)

http://www.adafruit.com/index.php?main_page=popup_image&pID=1076

See: http://arduino.cc/en/Main/ArduinoBoardDue

Arduino Duemilanove/Uno Features

Microcontroller

ATmega168/328

Operating Voltage

5V

Input Voltage (recommended)

7-12V

Input Voltage (limits)

6-20V

Digital I/O Pins

14 (of which 6 provide PWM output)

Analog Input Pins

DC Current per I/O Pin

40 mA

DC Current for 3.3V Pin

50 mA

Flash Memory

16 KB (ATmega168) or 32 KB (ATmega328) of which 2

KB used by bootloader

SRAM

1 KB (ATmega168) or 2 KB (ATmega328)

EEPROM

512 bytes (ATmega168) or 1 KB (ATmega328)

Clock Speed

16 MHz
http://www.arduino.cc/en/Main/ArduinoBoardDuemilanove

http://arduino.cc/en/uploads/Main/arduino-duemilanove-schematic.pdf

ATmega328 Microcontroller
Pin
name

Pin
number

Special
functio
n

Note the
limitations!
p. 316

Source:http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega328P

Absolute Maximums

ATmega328 data sheet p. 316

Microcontroller Ports and Pins

The communication channels

through which information
flows into or out of the
microcontroller

Ex. PORTB
Pins PB0 PB7
May not be contiguous
Often bi-directional
See next slides!

Port Pin Data Directionality

Input

Output

When you want to take information from the external

world (sensors) into the MCU
When you want to change the state of something
outside the MCU (turn a motor on or off, etc.)

Pins default to input direction on power-up or

reset
Your program can set or change the directionality
of a pin at any time

ATmega328
Block Diagram

Inpu
t
Outp
ut

M68HC11 microcontroller

Setting the Pin Data Direction

Arduino

pinMode(pin_no., dir)

Ex. Make Arduino pin 3 (PD3) an output

pinMode(3, OUTPUT);
pinMode(PIN_D3, OUTPUT); // with me106.h

Note: one pin at a time

Suppose you wanted Arduino pins 3, 5, and 7 (PD3,
PD5, and PD7) to be outputs?
Is there a way to make them all outputs at the same
time?

Yes! Answer coming later

Pin Voltages

Microcontrollers are fundamentally digital

devices. For digital IO pins:

Information is coded in two discrete states:

HIGH or LOW (logic: 1 or 0)
Voltages

TTL
5 V (for HIGH)
0 V (for LOW)

3.3 V CMOS
3.3 V (for HIGH)
0 V (for LOW)

Pin Used as an Output

Turn on an LED, which is

connected to pin Arduino pin 0
(PD0) (note the resistor!)
What should the data
direction be for pin 0 (PD0)?

Turn on the LED

pinMode(____, ____);
digitalWrite(PIN_LED,HIGH);

Turn off the LED

digitalWrite(PIN_LED,LOW);

ATmega328
Ardui
no
pin 0
(PD0)

Pins as Inputs and Pull-up Resistors - 1

Using a switch as a sensor

Ex. Seat belt sensor
Detect the switch state

What should the data direction

be for Arduino pin 3 (PD3)?
pinMode(____, ____);
What will the voltage be on PD3
when the switch is closed?
What will the voltage be on PD3
when the switch is open?

ATmega328
Ardui
no
pin 3
(PD3)

Indeterminate!

SPST

momentary

Pins as Inputs and Pull-up Resistors - 2

Switch as a sensor, cont.

Make the voltage on the pin

determinate by turning on the pullup resistor for PD3

Assuming PD3 is an input:

digitalWrite(PIN_SWITCH,HIGH);

turns on the pull-up resistor

pinMode(PIN_SWITCH,INPUT_PULLUP);

What will the voltage on PD3 be when

the switch is open?
VTG

What will the voltage on PD3 be when

the switch is closed?

ATmega328
VTG= +5V

PD3
0

Pins as Inputs and Pull-up Resistors - 3

Switch as a sensor, cont.

To turn off the pull-up

resistor

Assuming PD3 is an input:

digitalWrite(PIN_SWITCH,LOW);
turns the pull-up resistor off

ATmega328
VTG= +5V

PD3
0

Pins as Inputs and Pull-up Resistors - 4

Possibility of weak drive

when pull-up resistor is
turned on

Pin set as an input with a

pull-up resistor turned on
can source a small current

Remember this!

ATmega328
VTG= +5V

iweak

PD3
0

Spartronics Experimenter Shield

Digital pins
header

RC servo
header

RGB
LED
Red-RGB
jumper
Tact
switches
Red
LEDs
Pwr-gnd

Piezo
speake
r

header
Reset
button
Temperature
sensor

Photoresist
or
Analog pins
header

Potentiomet
er

Handling the Arduino - How NOT to Do It!

Improper Handling - NEVER!!!

Handling the Arduino - The Proper Way

Proper Handling - by the edges!!!

Spartronics Experimenter LED Pinout

Pin and LED map

11 - LED0 (red)
9 - LED1 (red) or RGB (green)
6 - LED2 (red) or RGB (blue)
3 - LED3 (red) or RGB (red)
13 - LED on Arduino

Jumper determines whether pins

map to red LEDs or the RGB
11

Spartronics Experimenter Digital Pin

Assignments
13

12

11

10

SCK

MISO

MOSI

SS

OC1

ICP

AIN1

AIN0

T1

T0

INT1

INT0

TXD

RXD

LED

LED

LED
pwm

pwm

LED0

pwm

pwm

pwm

pwm

LED1

LED2

LED3

green

blue

red
piezo

servo
SW0

SW1

SW2

SW3

See the Introduction to the Arduino Microcontroller laboratory exercise

Spartronics Experimenter Analog Pin

Assignments
7

photocell

POT

temp sensor

See the Introduction to the Arduino Microcontroller laboratory exercise

Binary and Hexadecimal Numbers - 1

Microcontrollers are fundamentally digital

(as opposed to analog) and use binary
logic

Two states: high and low, 1 or 0, on or off

Often 5V or 0V

One binary digit is called a bit

It can take on two possible states: 1 or 0

Eight binary digits are called a byte

Four binary digits are called a nibble

Binary and Hexadecimal Numbers - 2

Byte and bits

Bit No.

Upper nibble
(4 bits)
MSB
(Most Significant Bit)

Lower nibble
(4 bits)
LSB
(Least Significant Bit)

Binary and Hexadecimal Numbers - 3

Place Value

1 1 3 8

(Base 10 or decimal number)

1 103 1 102 3 101 8 100

1000 100
Bit No.

30

1138

(Base 10)

(Base 2 or binary number )

1 23 1 2 2 0 21 1 2 0
8

1 13

(Base 10)

What range of decimal values can 4 bits represent?

How many values in total can 4 bits represent? 16

0 to 15

Binary and Hexadecimal Numbers - 4

HEX

Binary
0

Why is hex important?

One hex digit can be

used as shorthand to
represent four binary
digits

Two hex digits can be

used as shorthand to
represent eight
binary digits or one
byte

Using Hex Values

Practice

0b11000111 in hex (0b is C notation that says,

interpret what follows as a binary number)

0b10011001 in hex
0b10011001 as a base 10 number
0x5A in binary (use 8 bits)
0b11111111 in hex and as a base 10 number
(37)10 in binary and hex

the prefix '0x' is C notation that means that the digits which follow are hex digits
the prefix '0b' means that the digits which follow are binary digits
Back to PORT

Solution
1100 0111 in hex = 0xC7
1001 1001 in hex = 0x99
1001 1001 in base 10 = 153
0x5A in binary = 0b0101 1010
0b1111 1111 = 0xFF or 255
(37) = 0b0010 0101 or 0x25

So What?

Recall the question:

All the work of MCU happens through registers

(special memory locations)

Is there a way change the data direction for a set of

pins all at the same time?

Registers on the Atmega328 are 8-bits wide

The data direction register (DDRx) handles the

data directions for pins in PORTx

Source:http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega328P p. 93

Data Direction Register

If the bit is zero -> pin will be an input

If the bit is one -> pin will be an output

Making a bit to be zero == clearing the bit

Making a bit to be one == setting the bit

To change the data direction for a set of pins

belonging to PORTx at the same time:
1.
2.

Determine which bits need to be set and cleared in

DDRx
Store the binary number or its equivalent (in an
alternate base, such as hex) into DDRx

ATmega328 Registers of Interest

See the ATmega328 data sheet, pp. 76-94
For digital IO, the important registers are:

DDRx

PORTx

Data Direction bit in DDRx register (read/write)

PORTx data register (read/write)

PINx

PINx register (read only)

PORT Pin and

register details
ATmega328 datasheet, pp. 76-94

Jump to

Example 1

Make Arduino pins 3, 5, and 7 (PD3, PD5, and

PD7) to be outputs
Alternate approach
Arduino approach
pinMode(3, OUTPUT);
pinMode(5, OUTPUT);
pinMode(7, OUTPUT);
Or if me106.h is used:

pinMode(PIN_D3, OUTPUT);
pinMode(PIN_D5, OUTPUT);
pinMode(PIN_D7, OUTPUT);

DDRD = 0b10101000;
or
DDRD = 0xA8;
or
DDRD | = 1<<PD7 | 1<<PD5 | 1<<PD3;
More on this coming soon!

Example 2

Make pins Arduino pins 0 and 1 (PD0 and PD1)

inputs, and turn on pull-up resistors

Arduino approach
pinMode(0, INPUT);
pinMode(1, INPUT);
digitalWrite(0, HIGH);
digitalWrite(1, HIGH);
Or if me106.h is used:

pinMode(PIN_D0, INPUT);
pinMode(PIN_D1, INPUT);
digitalWrite(PIN_D0, HIGH);
digitalWrite(PIN_D1, HIGH);

Alternate approach

DDRD = 0; // all PORTD pins inputs

PORTD = 0b00000011;
or
PORTD = 0x03;
or better yet:
DDRD & = ~(1<<PD1 | 1<<PD0);
PORTD | = (1<<PD1 | 1<<PD0);
More on this coming soon!

Structure of an Arduino Program

An arduino program == sketch

Must have:

setup()

setup()
loop()
configures pin modes and
registers

loop()

runs the main body of the

program forever

like while(1) {}

Where is main() ?

Arduino simplifies things

Does things for you

/* Blink - turns on an LED for DELAY_ON msec,

then off for DELAY_OFF msec, and repeats
BJ Furman rev. 1.1 Last rev: 22JAN2011
*/
#define LED_PIN 13 // LED on digital pin 13
#define DELAY_ON 1000
#define DELAY_OFF 1000
void setup()
{
// initialize the digital pin as an output:
pinMode(LED_PIN, OUTPUT);
}
// loop() method runs forever,
// as long as the Arduino has power
void loop()
{
digitalWrite(LED_PIN, HIGH); // set the LED on
delay(DELAY_ON); // wait for DELAY_ON msec
digitalWrite(LED_PIN, LOW); // set the LED off
delay(DELAY_OFF); // wait for DELAY_OFF msec
}

Digital IO Practice 1

Reading a pin

Write some lines of C code for the

Arduino to determine a course of
action if the seat belt has been
latched (switch closed).

If latched, the ignition should be

enabled through a call to a function
ig_enable().
If not latched, the ignition should be
disabled through a call to a function
ig_disable()

Write pseudocode first

ATmega328

PD3

Digital IO Practice 1 Solution

Reading a pin

Pseudocode:
Set up PD3 as an input
Turn on PD3 pull-up resistor
Read voltage on Arduino pin 3 (PIN_D3)
IF PIN_D3 voltage is LOW (latched), THEN
call function ig_enable()
ELSE
call function ig_disable()

ATmega328
VTG= +5V

PD3
0

Digital IO Practice 1 Solution

ATmega328

Reading a pin

VTG= +5V

Pseudocode:
Set up PD3 as an input
Turn on PD3 pull-up resistor
Read voltage on Arduino pin 3 (PIN_D3)
IF PIN_D3 voltage is LOW (latched), THEN
call function ig_enable()
ELSE
call function ig_disable()

One way
(snippet, not full program)

PD3
0

#define PIN_SWITCH 3
#define LATCHED LOW
pinMode(PIN_SWITCH,INPUT_PULLUP);
belt_state = digitalRead(PIN_SWITCH);
if (belt_state == LATCHED)
{ ig_enable(); }
else
{ ig_disabled(); }

Digital IO Practice 2

Reading from and writing to a

pin

Write some lines of C code for

the Arduino to turn on a lamp
(PD2) and buzzer (PD3) if the
key is in the ignition (PD0
closed), but seat belt is not
latched (PD1 open)

(diagram shows only one of the two

switches, but both are similar)

Pseudocode first

ATmega328
PD3
PD2

PD0, PD1

Digital IO Practice 2 Pseudocode

Pseudocode:
Set up data direction of pins
Make PD0 and PD1 inputs
Turn on pull up resistors for PD0 and PD1
Make PD2 and PD3 outputs
Loop forever

ATmega328
PD3
PD2

IF key is in ignition THEN

IF belt is latched, THEN

Turn off buzzer

Turn off lamp

VTG= +5V

ELSE

Turn on lamp
Turn on buzzer

PD0, PD1

ELSE

Turn off buzzer

Turn off lamp

Digital IO Practice 2 (Arduino style code)

#define PIN_IGNITION 0
#define PIN_SEATBELT 1
#define PIN_LED 2
#define PIN_BUZZER 3
#define SEATBELT_LATCHED LOW
#define KEY_IN_IGNITION LOW
#define LED_ON HIGH
#define LED_OFF LOW
#define BUZZER_ON HIGH
#define BUZZER_OFF LOW
void setup()
{
pinMode(PIN_IGNITION, INPUT_PULLUP); // key switch
pinMode(PIN_SEATBELT, INPUT_PULLUP); // belt latch switch
pinMode(PIN_LED, OUTPUT); // lamp
pinMode(PIN_BUZZER, OUTPUT); // buzzer
}
void loop()
{ /* see next page for code */}

ATmega328
PD3
PD2
VTG= +5V

PD0, PD1
0

Digital IO Practice 2 (Arduino style code)

/* see previous page for code before loop() */
void loop()
{
int key_state = digitalRead(PIN_IGNITION);
int belt_state = digitalRead(PIN_SEATBELT);
if (key_state == KEY_IN_IGNITION)
{
if (belt_state == SEATBELT_LATCHED)
{
digitalWrite(PIN_BUZZER, BUZZER_OFF);
digitalWrite(PIN_LED, LED_OFF);
}
else // key is in ignition, but seatbelt NOT latched
{
digitalWrite(PIN_BUZZER, BUZZER_ON);
digitalWrite(PIN_LED, LED_ON);
}
else // key is NOT in ignition
{
digitalWrite(PIN_BUZZER, BUZZER_OFF);
digitalWrite(PIN_LED, LED_OFF);
}
}
}

ATmega328
PD3
PD2
VTG= +5V

PD0, PD1
0

Digital IO Practice 3 (Port style code)

/* NOTE: #defines use predefined PORT pin numbers for ATmega328 */
#define PIN_IGNITION PD0
ATmega328
#define PIN_SEATBELT PD1
PD3
#define PIN_LED PD2
#define PIN_BUZZER PD3
PD2
#define SEATBELT_LATCHED LOW
#define KEY_IN_IGNITION LOW
VTG= +5V
#define LED_ON HIGH
#define LED_OFF LOW
#define BUZZER_ON HIGH
1
#define BUZZER_OFF LOW
PD0,
#define _BIT_MASK( bit ) ( 1 << (bit) ) // same as _BV( bit)
0
void setup()
{
PORTD = 0; // all PORTD pullups off
DDRD = _BIT_MASK(PIN_LED) | _BIT_MASK(PIN_BUZZER); // LED and buzzer
PORTD | = _BV(PIN_IGNITION) | _BV(PIN_SEATBELT); // pullups for switches
}
/* See next page for loop() code */

PD1

Digital IO Practice 3 (Port style code)

/* see previous page for setup() code */
void loop()
{
uint8_t current_PORTD_state, key_state, belt_state;
current_PORTD_state = PIND; // snapshot of PORTD pins
key_state = current_PORTD_state & _BV(PIN_IGNITION);
belt_state = current_PORTD_state & _BV(PIN_SEATBELT);
if (key_state == KEY_IN_IGNITION)
{
if (belt_state == SEATBELT_LATCHED)
{
PORTD & = ~( _BV(PIN_LED) | _BV(PIN_BUZZER) );
}
else
{
PORTD | = ( _BV(PIN_LED) | _BV(PIN_BUZZER) );
}
}
else
{
PORTD & = ~( _BV(PIN_LED) | _BV(PIN_BUZZER) );
}
}

ATmega328
PD3
PD2
VTG= +5V

PD0, PD1
0

Summary

Data direction
Input is default, but okay to set explictly
Output

Arduino style: pinMode(pin_no, mode)

Alternate: Set bits in DDRx

Pull-up resistors

Pin must be an input

Arduino style: digitalWrite(pin_no, state)
Alternate style: Set bits in PORTx

Summary, cont.

Read digital state of a pin

Arduino style: digitalRead(pin_no)
Port-style: need to form a bit mask and use it
to single-out the bit of interest

Write to a pin (assuming it is an output)

Arduino style: digitalWrite(pin_no, state)
Port-style: use a bit mask and bit
manipulation techniques to set or clear only
the bits of interest

Digital Input