Chapter 3

Programming Embedded Systems

Dr. Dereje Shiferaw Negash, AAIT

 Contents
• Embedded System Design Steps
• Assembly programming of 8051
• Assembly programming of PIC
• C programming

Dr. Dereje Shiferaw Negash, AAIT

 Embedded System Design Steps
• An embedded system contains hardware and
software system
• Design of an embedded system means
– Specifying hardware required
– Specifying sensors and actuators to be used
– System integration and Writing the code required
– Testing the system performance

Dr. Dereje Shiferaw Negash, AAIT

 Embedded system design
• Specifying the hardware required
– This needs the understanding of the objective to be
achieved or what the embedded system has to do
– Hardware required means
• The processor to be used
• Required interface (external memory, I/O ports etc)
• Power supply and clock
• Reset circuits for the processor
– In the selection, the cost and performance should
be optimized
Dr. Dereje Shiferaw Negash, AAIT
 Embedded system design
• Specify sensors and actuators required
– In design of embedded system, there will always
be a control to be performed
– Hence the external environment to be sensed and
the output signal required needs to be identified
– This will determine the sensors and actuators to
be used
• Sensors can have digital or analog output
• Actuators can be driven by analog or digital signal
• Required interface like ADC or DAC need to identified
Dr. Dereje Shiferaw Negash, AAIT
 Design of Embedded systems
• System integration and code writing
– System integration is assembling the hardware parts
• Connecting the microcontroller with the system inputs
• Connecting external ports and memory
• Connecting sensors and actuators required
– Code writing
• Program for an embedded system can be written in assembly
language or HLP
• Assembly language programming needs assembler while HLP
needs compiler
• The best practice is to use HLP languages and emulators to write
the program and test its performance before downloading it to the
processor
Dr. Dereje Shiferaw Negash, AAIT
 Embedded system design
• System integration and code writing
– Code writing
• There are various types of software used for developing
embedded systems
• Some of them even are used to test the hardware
integration also (protus 8)
• The most widely used ones are
– Code composer studio (CSS)
– Kiel uvision
– Xilinx etc
– EDSIM51

Dr. Dereje Shiferaw Negash, AAIT

 Embedded system design
• The code writing/ firm ware development/
consists of
– Writing the source code using editor
– Translating the code using assembler or compiler
– Debugging for error
– Simulating the system (microcontroller with
peripherals , emulator, starter kits, mother board
and daughter cards )
– Downloading the code to the target device or
burning the EEPROM
Dr. Dereje Shiferaw Negash, AAIT
Embedded system design example
• Autonomous guided vehicle
– The vehicle is to navigate through an environment
where there are obstacles
– The vehicle has to avoid obstacles
• Two bump detectors
• Ultrasound detector
• Two motor actuators
• Encoder to calculate distance
• Motor drive circuit
– Microcontroller reads the environment and drives the
actuator using a program
Dr. Dereje Shiferaw Negash, AAIT
Embedded system design example

Dr. Dereje Shiferaw Negash, AAIT

Connecting devices to parallel port
• Connecting switch
– Push button, toggle switch, micro switch
– Micro switch

Dr. Dereje Shiferaw Negash, AAIT

Connecting devices to parallel port
• LED
– Used as indicators, display etc
– Need a current of 10mA to 20mA

Dr. Dereje Shiferaw Negash, AAIT

 Assembly programming
• Program is a list of instructions combined
together to do a specific task
• Assembly programming using mnemonics
– Has four columns
• Label : name given to a program line
• Mnemonic: specific code for the task to be performed
• Operand : data needed to complete the instruction
• Comment: clarification

Dr. Dereje Shiferaw Negash, AAIT

 Assembly language programming
• Assembler directives
– Are instructions for the assembler which it uses to
process the assembly language program
– Some common directives are
• Org :start address of a program
• Equ :define a constant
• End : end program
• List :specify processor type
• #include :include additional files

Dr. Dereje Shiferaw Negash, AAIT

 Assembly language programming
• Flow control
– This is done by using subroutines and branching
instructions
– Branching instructions
• Conditional or unconditional
– JMP, JC, JNZ
• Used to implement looping or branching
– Subroutine
• Is a small program which is repeatedly used in a program
• It may be a delay or other special function code

Dr. Dereje Shiferaw Negash, AAIT

 Assembly language programming
• Writing delays
– Load a register by a data value that can give a
specified time delay
– Decrement the data
– Loop back
• Table look up
– This is accessing a list of data which is stored in a
separate memory location
– This is used when displaying or manipulating a list of
data values
Dr. Dereje Shiferaw Negash, AAIT
 C Programming
• Developed in Bell laboratories in 1970s
• Of higher level languages, C is the closest to assembly
languages
– bit manipulation instructions
– pointers (indirect addressing)
• Most microcontrollers have available C compilers
• Writing in C simplifies code development for large
projects.
• A c program contains
– Comment
– Declaration
– Main directive
– Program statementsDr. Dereje Shiferaw Negash, AAIT
 C programming
• Like most high level languages, C is a modular
programming language (but NOT an object
oriented language)
• Each task can be encapsulated as a function.
• Entire program is encapsulated in “main”
function

Dr. Dereje Shiferaw Negash, AAIT

 C programming
• Simple program
/* simple program
#include <c8051F020.h> /* define SFR
Unsigned char counter
Void main (void)
{
P1=0;
Counter=1;
P1=counter;
}

Dr. Dereje Shiferaw Negash, AAIT

 C programming
• Key words
– Are reserved words which are recognized by the
compiler
– This words should not be used for other variables
or functions
– Used for
• Data types
• Flow control
• Other uses

Dr. Dereje Shiferaw Negash, AAIT

 Variables in C
• All variables must be declared at top of program, before the
first statement.
• Declaration includes type and list of variables.
Example: void main (void) {
int var, tmp;
• Types:
– int (16-bits in our compiler)
– char (8-bits)
– short (16-bits)
– long (32-bits)
– sbit (1-bit)
– others that we will discuss later

Dr. Dereje Shiferaw Negash, AAIT

Data types in C

Dr. Dereje Shiferaw Negash, AAIT

 Statements in c
• When we write a program in c, we write statements
to accomplish a task
• The most important statement is assignment
• Assignment statement:

variable = constant or expression or variable

examples: upper = 60;

I = I + 5;
J = I;
Dr. Dereje Shiferaw Negash, AAIT
 Statements in c
• The other types of statements are arithmetic or
logic operations
• Operations and symbols in c
– Arithmetic: +, -, *, /
– Relational comparisons: >, >=, <, <=
– Equality comparisons: ==, !=
– Logical operators: && (and), || (or)
– Increment and decrement: ++, --
– Example:
if (x != y) && (c == b)
{
a=c + d*b;
a++;
}
Dr. Dereje Shiferaw Negash, AAIT
 Comparison of Assembly and C
• Example program for adding two 16 bit
numbers
#include <c8051f020.h>
$INCLUDE (C8051F020.inc)
XL equ 0x78 void main (void) {
XH equ 0x79 int x, y, z; //16-bit variables
YL equ 0x7A z = x + y;
YH equ 0x7B
ljmp Main }
; Disable watchdog timer
Main: mov 0xFF, #0DEh
mov 0xFF, #0ADh
mov a, XL
add a, YL
mov XL, a
mov a, XH
addc a, YH
mov XH, a
nop
end

Dr. Dereje Shiferaw Negash, AAIT

Reserved words for program flow

Dr. Dereje Shiferaw Negash, AAIT

Data storage class

Dr. Dereje Shiferaw Negash, AAIT

Pre-processor directives

Dr. Dereje Shiferaw Negash, AAIT

 Loop statements
• While loop:

while (condition) { statements }

while condition is true, execute statements

if there is only one statement, we can lose the {}

Example: while (1) ; // loop forever

Dr. Dereje Shiferaw Negash, AAIT

 Loop statements
• For statement:

for (initialization; condition; increment)

{statements}

initialization done before statement is executed

condition is tested, if true, execute statements

do increment step and go back and test condition again

repeat last two steps until condition is not true

Dr. Dereje Shiferaw Negash, AAIT

 Decision statements
• If
if (condition1)
{statements1}
else if (condition2)
{statements2}
…
else
{statements}

Dr. Dereje Shiferaw Negash, AAIT

 Decision statements
• switch (expression)
{
case const-expr: statements
case const-expr: statements
default: statements
}

Dr. Dereje Shiferaw Negash, AAIT

 Arrays in C
temp_array[0]
• Useful for storing data temp_array[1]
temp_array[2]
temp_array[3]
...
type arr_name[dimension] temp_array[253]
temp_array[254]
temp_array[255]
char temp_array[256]

Array elements are stored in adjacent locations in memory.

Dr. Dereje Shiferaw Negash, AAIT

 Example C program to Switch/LED
• #include <c8051F020.h>
• #pragma SRC // Need this to generate .SRC file
• void PORT_Init (void);
• char Get_SW(void) {
• #pragma ASM
• mov a, P3
• anl a, #80h ; mask all but P3.7
• mov R7, a ; function value (char) returned in R7
• #pragma ENDASM
• }
• void Set_LED(void) {
• #pragma ASM
• setb P1.6
• #pragma ENDASM
• }
• void Clr_LED(void) {
• #pragma ASM
• clr P1.6
• #pragma ENDASM
• }
• void PORT_Init (void){ XBR2 = 0x40; // Enable crossbar and enable P1.6 (LED) as push-pull output}
• P1MDOUT |= 0x40; // enable P1.6 (LED) as push-pull output
• }
• void main(void) {
• PORT_Init();
• while (1)
• if (Get_SW()) Set_LED();
• else Clr_LED();
• }

Dr. Dereje Shiferaw Negash, AAIT

 Functions
• The basis for modular structured
programming in C.

return-type function-name(argument declarations)

{
declarations and statements
}

Dr. Dereje Shiferaw Negash, AAIT

 Example – no return value or arguments
void SYSCLK_Init (void) {
// Delay counter
int i;
// Start external oscillator with 22.1184MHz crystal
OSCXCN = 0x67;
// Wait for XTLVLD blanking interval (>1ms)
for (i = 0; i < 256; i++) ;
// Wait for crystal osc. to settle
while (!(OSCXCN & 0x80)) ;
// Select external oscillator as SYSCLK
OSCICN = 0x88;
}

Dr. Dereje Shiferaw Negash, AAIT

 Example – with arguments
void Timer3_Init (int counts) {
// Stop timer, clear TF3, use SYSCLK as timebase
TMR3CN = 0x02;
// Init reload value
TMR3RL = -counts;
// Set to reload immediately
TMR3 = 0xffff;
// Disable interrupts
EIE2 &= ~0x01;
// Start timer
TMR3CN |= 0x04;
}

Dr. Dereje Shiferaw Negash, AAIT

Example – with return value
char ascii_conv (char num) {
return num + 30;
}

Dr. Dereje Shiferaw Negash, AAIT

 Header Files
• Use to define global constants and variables
// 16-bit SFR Definitions for 'F02x
sfr16 TMR3RL = 0x92; // Timer3 reload value
sfr16 TMR3 = 0x94; // Timer3 counter
sfr16 ADC0 = 0xbe; // ADC0 data
sfr16 DAC0 = 0xd2; // DAC data
sfr16 DAC1 = 0xd5;
// Global CONSTANTS
#define SYSCLK 22118400 // SYSCLK frequency in Hz
sbit LED = P1^6; // LED='1' means ON
sbit SW1 = P3^7; // SW1='0' means switch pressed
#define MAX_DAC ((1<<12)-1) // Maximum value of the DAC register 12
bits
#define MAX_INTEGRAL (1L<<24) // Maximum value of the integral
// Function PROTOTYPES
void SYSCLK_Init (void);
void PORT_Init (void);
void ADC0_Init (void);
void DAC_Init (void);
void Timer3_Init (int counts);
void ADC0_ISR (void);
Dr. Dereje Shiferaw Negash, AAIT