ECTE333 Lecture 07

ECTE333 Spring 2011 Schedule
Week 1 2 3 4 5 L9: Timers Tutorial 9 L10: Pulse width modulator Tutorial 10 L11: Analogue-to-digital converter Tutorial 11 L12: Case studies Lab 12 L13: Revision lecture Final exam (25%), Practical exam (20%), Labs (5%)
Lam Phung University of Wollongong, 2011.
Lecture (2h) L7: C programming for the ATMEL AVR
Tutorial (1h)
Lab (2h)
Tutorial 7 L8: Serial communications Tutorial 8
Lab 7 Lab 8 Lab 9 Lab 10 Lab 11
ECTE333 Lecture 7 - C Programming for the Atmel AVR
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School of Electrical, Computer and Telecommunications Engineering University of Wollongong Australia
Lecture 7s sequence
AVR story
7.1 7.2 7.3 7.4

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Overview of ATmega16
C Development Environment for the AVR
Review of C Programming
Digital IO in ATmega16
AVR podcast by AVR TV.
University of Wollongong, 2011.
Lam Phung
7.1 Overview of ATmega16

Why using ATmega16?
To support different design requirements and reduce cost, the Atmel AVR family has many microcontrollers: ATmega8515, ATmega16, etc. Microcontrollers in the 8-bit AVR family share a similar instruction set and architecture. The ATmega16 has components that are useful for typical microcontroller applications, such as analog-to-digital converter, pulse-width-modulator.
Comparison between ATmega8515 and ATmega16

ATmega8515 Number of instructions Flash program memory Internal SRAM EEPROM External memory General-purpose 8-bit registers IO ports Serial interfaces Timers PWM channels ADC Interrupt vectors 130 8K 512 bytes 512 bytes up to 64K bytes 32 5 SPI, USART, one 8-bit, one 16-bit 3 Analogue comparator 17
ATmega16 131 16K 1K bytes 512 bytes none 32 4 SPI, USART, Two-wire two 8-bit, one 16-bit 4 Analogue comparator, 8-channel 10-bit ADC 21
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ATmega16 Block diagram

Timers Port C Interrupt Serial Port A
ATmega16 Pin layout
Port D Port B
CPU ADC
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Using the ATmega16 for embedded applications

C programming for Digital IO Serial communications Interrupts Timers PWM Analogue to digital converter Embedded applications 10 11 10 11 12 10 11 Lecture 7 8 9 Lab 7 8 9 Tutorial 7 8 9
7.2 C Development Environment for the AVR

Why using C?
C is a high-level programming language: C code is easier to understand compared to other languages. C supports low-level programming: We can access every hardware components of the microcontroller with C.
C has standard libraries for complex tasks: data type conversions, standard input/output, long-integer arithmetic.
In Lecture 7, well study digital IO ports of the ATmega16. Other peripherals will be studied in depth, from Lectures 8 to 11.
The Atmel AVR instruction set has been designed to support C compilers: C code can be converted efficiently to assembly code.
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C tools
We need two tools for C development: Atmel AVR Studio and WinAVR. Atmel AVR Studio An integrated development environment for Atmel AVR microcontroller. It includes editor, assembler, emulator, HEX file downloader. Available from Atmel website,
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725
Installing C tools
For ECTE333, we use the following versions: * Atmel AVR Studio version 4.18 build 692 * WinAVR release 2010.01.10 1) Uninstall earlier versions of WinAVR and Atmel AVR Studio. 2) Download setup files for Atmel AVR Studio and WinAVR
http://www.elec.uow.edu.au/avr/getdoc.php?doc=tools/AvrStudio4Setup.exe http://www.elec.uow.edu.au/avr/getdoc.php?doc=tools/AVRStudio4.18SP1.exe http://www.elec.uow.edu.au/avr/getdoc.php?doc=tools/WinAVR-20100110-install.exe
WinAVR A C compiler for AVR microcontroller. Can be used alone or as a plug-in for Atmel AVR Studio. Available at: http://winavr.sourceforge.net/
3) Run setup file for Atmel AVR Studio. Accept default options. 4) Run setup file for WinAVR. Accept default options.
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Development cycle for C

Step 1: Create AVR Studio project project name project type C select simulator and device Step 2: Enter a C program. Step 3: Compile the C program to produce a HEX file. Step 4: Download and test the HEX file on Atmel AVR microcontroller. Well illustrate these steps using an example. Refer to the lab notes for debugging techniques.
Development cycle for C Example
A program that lets user turn on LED by pressing a switch. Video demo link: [avr]/ecte333/lab07_task123.mp4 13
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Step 1: Create AVR Studio project

Start the AVR Studio program. Select menu Project | New Project. project type: AVR GCC project name: led project location: C:\AVR option Create initial file option Create folder Click Next.
Create AVR Studio project
Select debug platform and device. debug platform: AVR Simulator device: ATmega16 Click Finish.
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Step 2: Enter a C program
Enter a C program
project files
c /* File: led.c Description: Simple C program for the ATMEL AVR uC (ATmega16 chip) It lets user turn on LEDs by pressing the switches on STK500 board */ #include <avr/io.h> // AVR header file for all registers/pins int main(void){ unsigned char i; // temporary variable DDRA = 0x00; DDRB = 0xFF; PORTB = 0x00; // set PORTA for input // set PORTB for output // turn ON all LEDs initially
program led.c
status messages
while(1){ // Read input from PORTA. // This port will be connected to the 8 switches i = PINA; // Send output to PORTB. // This port will be connected to the 8 LEDs PORTB = i;
The AVR Studio window.

}
} return 1; 17
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Step 3: Compile the C program
Step 4: Download/test HEX file on microcontroller

PORTA to switches ATmega16 chip power switch
12-V power supply
serial cable to PC
programming mode PORTB to LEDs
Select menu Build | Build to generate HEX file led.c.

Hardware setup for example program. Connections to PORTA & PORTB are only for this example.
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Download/run HEX file on microcontroller

Select menu Tools | Program AVR | Connect. Select platform and port. STK500 or AVRISP Auto Click Connect.
Download/run HEX file on microcontroller

Select Input HEX file, generated in Step 3. Click Program. After this, the program is downloaded to and run on the STK500 board. The program remains even after power-off. To erase, click Erase Device.
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7.3 Review of C Programming

Most students in this class learnt C programming in their first year.
7.3.1 Structure of a C program

A C program typically has two main sections. #include section: to insert header files. main() section: code that runs when the program starts.
Here, we review briefly major aspects of the C programming language. 7.3.1 7.3.2 7.3.3 7.4.4 Structure of a C program Data types and operators Flow control in C C functions
In the example below, <avr/io.h> is a header file that contains all register definitions for the AVR microcontroller.
#include <avr/io.h> // avr header file for all registers/pins int main(void){ unsigned char i; // temporary variable DDRA = 0x00; // set PORTA for input DDRB = 0xFF; // set PORTB for output PORTB = 0x00; // turn ON all LEDs initially while(1){ // Read input from PORTA, which is connected to the 8 switches i = PINA; // Send output to PORTB, which is connected to the 8 LEDs PORTB = i; } return 1; } Lam Phung University of Wollongong, 2011.
In all lectures of ECTE333, C code examples will be used extensively.
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C comments
Comments are text that the compiler ignores. For a single-line comment, use double back slashes
DDRA = 0x00; // set PORTA for input
C statements and blocks

C statements C statements control the program flow. They consist of keywords, expressions and other statements. A statement ends with semicolon.
DDRB = 0xFF; // set PORTB for output
For a multi-line comment, use the pair /* and */

/* File: led.c Description: Simple C program for the ATMEL AVR(ATmega16 chip) It lets user turn on LEDs by pressing the switches on the STK500 board */
C blocks A C block is a group of statements enclosed by braces {}. Usually, a C block is run depending on some logical conditions.
while (1){ // Read input from PORTA - connected to the 8 switches
Always use comments to make program easy to understand.

}
i = PINA; // Send output to PORTB - connected to the 8 LEDs PORTB = i;
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7.3.2 Data types and operators

The main data types in C are
char: int: long int: 8-bit integer 16-bit integer 32-bit integer
C operators
C has a rich set of operators Arithmetic operators Relational operators
The above data types can be modified by keyword unsigned

char a; unsigned char b; // a value range -128, 0, , 127 // b value range 0, 1, 2, , 255
Logical operators Bit-wise operators Data access operators
unsigned long int c; // c value range 0,, 232 - 1
Some examples of variable assignment

a = 0xA0; b = 1; c = 2000ul; // a stores hexadecimal value of A0 // b stores ASCII code of character 1 // c stores a unsigned long integer 2000
Miscellaneous operators
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Arithmetic operators
Operator * / % + ++ Name Multiplication Division Modulo Addition Subtraction Increment Decrement Example x * y x / y x % y x + y x y x++ ++x -x---x Description Multiply x times y
Relational operators
Operator Divide x by y Remainder of x divided by y Add x and y < Subtract y from x <= Increment x by 1 after using it Increment x by 1 before using it Decrement x by 1 after using it Decrement x by 1 before using it Negate x 29
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Name Greater than Greater than or equal to Less than Less than or equal to Equal to Not equal to
Example x > 5 x >=5
Description 1 if x is greater than 5, 0 otherwise 1 is x is greater than or equal to 5, 0 otherwise 1 if x is smaller than y, 0 otherwise 1 is x is smaller than or equal to y, 0 otherwise 1 is x is equal to y, 0 otherwise 1 is x is not equal to 4, 0 otherwise
> >=
x < y x <= y
== !=
x == y x != 4
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Negation
-x
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Logical operators
Bit-wise operators
These operate on individual bits of a variable/constant.
These operate on logical variables/constants.

Operator Operator ! && || Name Logical NOT Logical AND Logical OR Example !x x && y x || y Description 1 if x is 0, otherwise 0 & 1 is both x and y are 1, otherwise 0 | 0 if both x and y are 0, otherwise 1 ^ << >> ~ Name Bit-wise complement Bitwise AND Bitwise OR Bitwise XOR Shift left Shift right Example ~x Description Toggle every bit from 0 to 1, or 1 to 0 Bitwise AND of x and y Bitwise OR of x and y Bitwise XOR of x and y Shift bits in x three positions to the left Shift bits in x one position to the right
x & y x | y x ^ y x << 3 x >> 1
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Data-access operators
These operate on arrays, structures or pointers. Well learn more about these operators later.
Miscellaneous operators
Operator Name Operator Name [] . -> * & Array element Member selection Member selection Indirection Address of Example x[2] x.age p->age *p &x Description Third element of array x Field age of structure variable x ? Field age of structure pointer p Content of memory location pointed by p Conditional evaluation () Function Type cast
Example _delay_ms(250)
Description Call a function to create delay of 250ms x is 8-bit integer x is converted to 16-bit integer This is equivalent to if (x > 5) y = 10; else
(type)
char x = 3; (int) x char x; y=(x>5)?10:20;
Address of the memory location where variable x is stored
y = 20;
commonly used by C coders.
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7.3.3 Flow control in C

By default, C statements are executed sequentially. To change the program flow, there are six types of statements if-else statement switch statement while statement for statement do statement goto statement Should be avoided! Iterative Conditional
if-else statement
General syntax if (expression) statement_1; else statement_2; Example code char a, b, sum; a = 4; b = -5; sum = a + b; if (sum < 0) printf(sum is negative); else if (sum > 0) printf(sum is positive); else printf(sum is zero);
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switch statement
General syntax switch (expression) case constant_1: statement_1; break; case constant_2: statement_2; break; case constant_n: statement_n; break; default: statement_other; }
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switch statement Example

Lab 7: Find the bit pattern to display a digit on the 7-segment LED.
Use break to separate different cases.
Bit pattern for digit 1: Bit pattern for digit 2:

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0 0
0 0
0 0
0 1
0 1
1 0
1 1
0 1
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switch statement Example

unsigned char digit; unsigned char led_pattern; switch (digit) case 0: led_pattern = 0b00111111; break; case 1: led_pattern = 0b00000110; break; case 2: led_pattern = 0b01011011; break; //you can complete more cases here... default: } PORTB = led_pattern; // send to PORTB and 7-segment LED
while statement
General syntax while (expression){ statements; } Example code: Compute the sum of 1 + 2+ + 100 int sum, i; i = 1; sum = 0; while (i <= 100){ sum = sum + i; i = i + 1; }
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for statement
General syntax for (expression1; expression2; expression3){ statements; } expression1 is run before the loop starts. expression2 is evaluated before each iteration. expression3 is run after each iteration. Example code: Compute the sum of 1 + 2+ + 10 int sum; sum = 0; for (int i = 1; i <= 10; i++){ sum = sum + i; }
do statement
General syntax do { statements; } while (expression);
Example code: compute the sum of 1 + 2 + + 10 int sum, i; i = 1; sum = 0; do{ sum = sum + i; i = i + 1; } while (i <= 10);
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break statement in loop

The break statement inside a loop forces early termination of the loop.
continue statement in loop

The continue statement skips the subsequent statements in the code block and forces the execution of the next iteration.
What is the value of sum after the following code is executed? int sum, i; i = 1; sum = 0; while (i <= 10){ sum = sum + i; i = i + 1; if (i > 5) break; }
What is the value of sum after the following code is executed? int sum, i; i = 1; sum = 0; while (i <= 10){ i = i + 1; if (i < 5) continue; sum = sum + i; }
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C arrays
An array is a list of values that have the same data type. In C, array index starts from 0. An array can be one-dimensional, two-dimensional or more. This code example creates a 2-D array (multiplication table):
int a[8][10]; for (int i = 0; i < 8; i++) for (int j = 0; i < 10; j++) a[i][j]= i * j;
7.3.4 C functions
C functions are sub-routines that can be called from the main program or other functions. Functions enable modular designs, code reuse, and hiding of complex implementation details.
A C function can have a list of parameters and produce a return value.
An array can be initialized when it is declared.

int b[3] = {4, 1, 10}; unsigned char keypad_key[3][4] = {{'1', '4', '7', '*'}, {'2', '5', '8', '0'}, {'3', '6', '9', '#'}};
Let us study C functions through examples.
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Functions Example 1
Write a function to compute the factorial n! for a given n.
// factorial is the name of the custom function // it accepts an input n of type int, and return an output of type int int factorial(int n){ int prod = 1; for (int i = 1; i <=n; i++) prod = prod * i; return prod; // return the result } int main(void){ int n = 5; // some example value of n int v; // variable to storage result v = factorial(n); // call the function, store return value in v return 1; }
Functions Example 2
Write a function to compute the factorial n! for a given n.
// factorial is the name of the custom function // it accepts an input n of type int, // it stores output at memory location by int pointer p void factorial(int n, int* p){ int prod = 1; for (int i = 1; i <=n; i++) prod = prod * i; *p = prod;// store output at memory location pointed by p } int main(void){ int n = 5; // some example value of n int v; // variable to storage result factorial(n, &v); // call the function, store return value in v }
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Guidelines on C coding and documentation

Optimize the C code for efficiency and length. Delete unnecessary lines of code. The C code must be properly formatted. For printing, use a fixed-width font such as Courier New for code. Use indentation to show the logical structure of the program. Use a blank line to separate code sections. Use meaningful variable names and function names. If a C statement is too long for one printed line, split it logically into multiple lines. Use C comments concisely to explain code. Observe the way that C code is presented in the lecture notes or lab notes.
7.4 Digital IO in ATmega16

ATmega16 has fours 8-bit digital IO ports: PORT A, PORT B, PORT C, and PORT D. Each port has 8 data pins. Every port is bi-directional. Each of the 8 pins can be individually configured as input (receiving data into microcontroller), or output (sending data from microcontroller).
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Digital IO in ATmega16 Pins
Digital IO in ATmega16 Configuring for input/output

For each port, there are three relevant 8-bit registers. Data Direction Register (DDRx) Input Pins Address (PINx) Data Register (PORTx) Here, x denotes A, B, C or D. Data Direction Register (DDRx) is used to configure a specific port pin as output (1) or input (0). Example: To set Port A pins 0 to 3 for input, pins 4 to 7 for output, we write C code DDRA = 0b11110000; // configure pins
bit DDRA 7
1
6
1
5
1
4
1
3
0
2
0
1
0
0
0
for output
for input 52
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Digital IO in ATmega16 Reading from/Writing to Port

Register Data Register (PORTx) is used to write output data to port. Example: To write a binary 0 to output pin 6, binary 1 to other pins of Port A, we write C code
PORTA = 0b10111111; // write output
AVR header file

To access all AVR microcontroller registers, your program must include the header file <io.h>, which is found in the WinAVR folder. #include <avr/io.h> Depending on which device selected in your project, file io.h will automatically redirect to a specific header file. Example For ATmega16, the specific header file is avr/iom16.h. This header file is printed in Appendix A of the lab notes. The header file lists the C names for all registers in ATmega16, and their memory locations. We always use the C names in our code.
Register Input Pins Address (PINx) is used to read input data from port. Example: To read the input pins of Port A, we write C code
unsigned char temp; // temporary variable temp = PINA; // read input
Where do the C names PINA, PORTA, DDRA come from?

// extract for header file <avr/iom16> #define PINA #define DDRA #define PORTA
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_SFR_IO8(0x19) _SFR_IO8(0x1A) _SFR_IO8(0x1B)

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Digital IO in ATmega16 Example

/* File: led.c Description: Simple C program for the ATMEL AVR uC (ATmega16 chip) It lets user turn on LEDs by pressing the switches on STK500 board */ #include <avr/io.h> // AVR header file for all registers/pins int main(void){ unsigned char i; // temporary variable DDRA = 0x00; DDRB = 0xFF; PORTB = 0x00; // set PORTA for input // set PORTB for output // turn ON all LEDs initially
Lecture 7s summary
What we learnt in this lecture: An overview of ATmega16. The tools and the steps for programming the Atmel AVR. Basics about C programming. Programming the digital IO ports of ATmega16. What are next activities? Tutorial 7: Introduction to C programming for the AVR . Lab 7: Introduction to C programming for the AVR Complete online Pre-lab Quiz for Lab 7. Write programs for tasks 4-5 of Lab 7.
Demo in slide 14.
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while(1){ // Read input from PORTA. // This port will be connected to the 8 switches i = PINA; // Send output to PORTB. // This port will be connected to the 8 LEDs PORTB = i; } return 1; }
Use video demo of Lab 7: [avr]/ecte333/lab07_task4.mp4.

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Lecture 7 references
J. Pardue, C Programming for Microcontrollers, 2005, SmileyMicros, [Chapters 1-6].
S. F. Barrett and D. J. Pack, Atmel AVR Microcontroller Primer: Programming and Interfacing, 2008, Morgan & Claypool Publishers, [Chapter 1].
Atmel Corp., 8-bit AVR microcontroller with 16K Bytes In-System Programmable Flash ATmega16/ATmega16L, 2007.
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ECTE333 Spring 2011 Schedule

Lecture (2h) L7: C programming for the ATMEL AVR

Tutorial 7 L8: Serial communications Tutorial 8

Lab 7 Lab 8 Lab 9 Lab 10 Lab 11

ECTE333 Lecture 7 - C Programming for the Atmel AVR

School of Electrical, Computer and Telecommunications Engineering University of Wollongong Australia

7.1 7.2 7.3 7.4

C Development Environment for the AVR

University of Wollongong, 2011.

7.1 Overview of ATmega16

Comparison between ATmega8515 and ATmega16

University of Wollongong, 2011.

ATmega16 Block diagram

ATmega16 Pin layout

University of Wollongong, 2011.

Using the ATmega16 for embedded applications

7.2 C Development Environment for the AVR

Development cycle for C

Development cycle for C Example

Step 1: Create AVR Studio project

Create AVR Studio project

University of Wollongong, 2011.

University of Wollongong, 2011.

Step 2: Enter a C program

The AVR Studio window.

Step 3: Compile the C program

Step 4: Download/test HEX file on microcontroller

12-V power supply

programming mode PORTB to LEDs

Select menu Build | Build to generate HEX file led.c.

Download/run HEX file on microcontroller

Download/run HEX file on microcontroller

University of Wollongong, 2011.

University of Wollongong, 2011.

7.3 Review of C Programming

7.3.1 Structure of a C program

In all lectures of ECTE333, C code examples will be used extensively.

University of Wollongong, 2011.

C statements and blocks

For a multi-line comment, use the pair /* and */

Always use comments to make program easy to understand.

i = PINA; // Send output to PORTB - connected to the 8 LEDs PORTB = i;

University of Wollongong, 2011.

7.3.2 Data types and operators

The above data types can be modified by keyword unsigned

Logical operators Bit-wise operators Data access operators

unsigned long int c; // c value range 0,, 232 - 1

Some examples of variable assignment

University of Wollongong, 2011.

University of Wollongong, 2011.

Example x > 5 x >=5

University of Wollongong, 2011.

University of Wollongong, 2011.

These operate on logical variables/constants.

x & y x | y x ^ y x << 3 x >> 1

University of Wollongong, 2011.

University of Wollongong, 2011.

char x = 3; (int) x char x; y=(x>5)?10:20;

Address of the memory location where variable x is stored

commonly used by C coders.