Microcontroller

Fundamentals
B. Furman
13FEB2014
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
Controller
(Hardware & Software)
System to
Control
Sensor
Signal
Conditioning
Power
Interface
Actuator
User
Interface
Power
Source
BJ Furman 22JAN11
ME 106
ME 154
ME 157
ME 195
ME 120
ME 297A
ME 106
ME 120
ME 106
ME 190
ME 187
ME 110
ME 136
ME 154
ME 157

ME 182
ME 189
ME 195
ME 106
ME 120
ME 106
INTEGRATION
What is a Microcontroller?
http://www.freescale.com/files/microcontrollers/doc/ref_manual/M68HC05TB.pdf
ANALOG
INPUTS
What is the difference between a Digital Input and an Analog Input?
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-Microcontroller-
ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet.pdf
Arduino Duemilanove
http://www.arduino.cc/en/Main/ArduinoBoardDuemilanove
http://arduino.cc/en/uploads/Main/ArduinoDuemilanove.jpg
Pin 13 LED
USB
connector
Barrel jack
Digital pins header
Reset button
ATmega328 MCU
Analog pins header
Power-ground header
See the handout: Arduino_ATmega328_pin_mapping_and_schematic
Arduino Uno R3
http://www.adafruit.com/index.php?main_page=popup_image&pID=50
ATmega16u2 replaces FT232RL for USB-serial comms
See: http://learn.adafruit.com/arduino-tips-tricks-and-techniques/arduino-uno-faq
Arduino Due
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
Note: 3.3 V !!
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 6
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 number
Pin name
Special
function
Source:http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega328P
Note the
limitations!
p. 316
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
C
See next slides!
Port Pin Data Directionality
Input
When you want to take information from the external
world (sensors) into the MCU
Output
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
Input
Output
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 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)?
pinMode(____, ____);
Turn on the LED
digitalWrite(0,HIGH);
Turn off the LED
digitalWrite(0,LOW);

ATmega328
Arduino
pin 0
(PD0)
Pin Voltages
Microcontrollers are fundamentally digital
devices
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)
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?
Indeterminate!
ATmega328
Arduino
pin 3
(PD3)
Pins as Inputs and Pull-up Resistors - 2
Switch as a sensor, cont.
Make the voltage on the pin
determinate by turning on
the pull-up resistor for PD3
Assuming PD3 is an input:
digitalWrite(3,HIGH); turns
on the pull-up resistor
pinMode(3,INPUT_PULLUP);
What will the voltage on PD3
be when the switch is open?
V
TG

What will the voltage on PD3
be when the switch is closed?
ATmega328
PD3
V
TG
= +5V
0
1
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(3,LOW); turns
the pull-up resistor off
ATmega328
PD3
V
TG
= +5V
0
1
Pins as Inputs and Pull-up Resistors - 4
Possibility of weak drive
Pin set as an input with a
pull-up resistor turned on
can source a small current
Remember this!
ATmega328
PD3
V
TG
= +5V
0
1
i
weak

Spartronics Experimenter Shield
RGB LED
RC servo header
Temperature sensor
Digital pins header
Reset button
Piezo
speaker
Analog pins header
Potentiometer
Photoresistor
Pwr-gnd header
Red LEDs
Tact switches
Red-RGB jumper
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 9 6 3
13 12 11 10 9 8 7 6 5 4 3 2 1 0
SCK MISO MOSI SS OC1 ICP AIN1 AIN0 T1 T0 INT1 INT0 TXD RXD
LED LED LED
pwm pwm pwm pwm pwm pwm
LED0 LED1 LED2 LED3
green blue red
piezo
servo
SW0 SW1 SW2 SW3
Spartronics Experimenter Digital Pin
Assignments
See the Introduction to the Arduino Microcontroller laboratory exercise
7 6 5 4 3 2 1 0
photocell POT temp sensor
Spartronics Experimenter Analog Pin
Assignments
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
1 1 0 0 1 1 0 1
7 6 5 4 3 2 1 0
Bit No.
Lower nibble
(4 bits)
Upper nibble
(4 bits)
LSB
(Least Significant Bit)
MSB
(Most Significant Bit)
Byte and bits
Binary and Hexadecimal Numbers - 3
1 1 3 8 (Base 10 or decimal number)
1138 8 30 100 1000
10 8 10 3 10 1 10 1
0 1 2 3


1 1 0 1
(Base 2 or binary number )
13 1 0 4 8
2 1 2 0 2 1 2 1
0 1 2 3


(Base 10)
3 2 1 0 Bit No.
Place Value
What range of decimal values can 4 bits represent?
How many values in total can 4 bits represent?
(Base 10)
0 to 15
16
Binary and Hexadecimal Numbers - 4
0 0 0 0 0
0 0 0 1 1
0 0 1 0 2
0 0 1 1 3
0 1 0 0 4
0 1 0 1 5
0 1 1 0 6
0 1 1 1 7
1 0 0 0 8
1 0 0 1 9
1 0 1 0 A
1 0 1 1 B
1 1 0 0 C
1 1 0 1 D
1 1 1 0 E
1 1 1 1 F
HEX Binary
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 details
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:
Is there a way change the data direction for a set of
pins all at the same time?
All the work of MCU happens through registers
(special memory locations)
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
Making a bit to be zero == clearing the bit
If the bit is one -> pin will be an output
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. Determine which bits need to be set and cleared in
DDRx
2. Store the binary number or its equivalent (in an
alternate base, such as hex) into DDRx
PORT Pin and
register details
ATmega328 datasheet, pp. 76-94
Jump to bits
ATmega328 Port Pin Details
See the ATmega328 data sheet, pp. 76-94
Port pin functionality is controlled by three
register (special memory location) bits:
DDRx
Data Direction bit in DDRx register (read/write)
PORTxn
PORTxn bit in PORTx data register (read/write)
PINxn
PINxn bit in PINx register (read only)
Example 1
Arduino approach Alternate approach
Make Arduino pins 3, 5, and 7 (PD3, PD5, and
PD7) to be outputs
pinMode(3, OUTPUT);
pinMode(5, OUTPUT);
pinMode(7, OUTPUT);
DDRD = 0b10101000;

or

DDRD = 0xA8;

or


DDRD | = 1<<PD7 | 1<<PD5 | 1<<PD3;
More on this next lecture!
Or if me106.h is used:
pinMode(PIN_D3, OUTPUT);
pinMode(PIN_D5, OUTPUT);
pinMode(PIN_D7, OUTPUT);
Example 2
Arduino approach Alternate approach
Make pins Arduino pins 0 and 1 (PD0 and PD1)
inputs, and turn on pull-up resistors
pinMode(0, INPUT);
pinMode(1, INPUT);
digitalWrite(0, HIGH);
digitalWrite(1, HIGH);
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 next lecture!
Or if me106.h is used:
pinMode(PIN_D0, INPUT);
pinMode(PIN_D1, INPUT);
digitalWrite(PIN_D0, HIGH);
digitalWrite(PIN_D1, HIGH);
Structure of an Arduino Program
An arduino program == sketch
Must have:
setup()
loop()
setup()
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
PD3
V
TG
= +5V
0
1
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
PD3
V
TG
= +5V
0
1
#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(); }
One way
(snippet, not full program)
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
PD0, PD1
PD2
PD3
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
IF key is in ignition THEN
IF belt is latched, THEN
Turn off buzzer
Turn off lamp
ELSE
Turn on lamp
Turn on buzzer
ELSE
Turn off buzzer
Turn off lamp

ATmega328
PD0, PD1
V
TG
= +5V
0
1
PD2
PD3
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
PD0, PD1
V
TG
= +5V
0
1
PD2
PD3
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
{
digitalWrite(PIN_BUZZER, BUZZER_ON);
digitalWrite(PIN_LED, LED_ON);
}
else
{
digitalWrite(PIN_BUZZER, BUZZER_OFF);
digitalWrite(PIN_LED, LED_OFF);
}
}
}
ATmega328
PD0, PD1
V
TG
= +5V
0
1
PD2
PD3
Digital IO Practice 3 (Port style code)
/* NOTE: #defines use predefined PORT pin numbers for ATmega328 */
#define PIN_IGNITION PD0
#define PIN_SEATBELT PD1
#define PIN_LED PD2
#define PIN_BUZZER PD3
#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
#define _BIT_MASK( bit ) ( 1 << (bit) ) // same as _BV( bit)
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 */
ATmega328
PD0, PD1
V
TG
= +5V
0
1
PD2
PD3
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
PD0, PD1
V
TG
= +5V
0
1
PD2
PD3
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